version: 66.07.10.p01
glider: 573
mission: 12
dive: 289
start: 9 27 115 7 15 30
data:
$ID,573
$MISSION,12
$DIVE,289
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21930.227
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,288
$GPS1,270915,070723,-4505.276,625.145,66,1.1,66,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-71.7
$GPS2,270915,071510,-4505.309,625.202,16,1.1,17,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,351.4,2890,-27.7,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,35,0.00,0.00,-8.15,0.000,2,0.000,0.000,62,2060,1297,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.2,-0.0,1,113,11.32,2.30,-56.65,0.000,4,0.239,0.076,2805,3448,2426,0,0,0,0,0,0
$GC,147,-1.09,-116.8,8.7,-14.8,18,155,0.08,2.22,0.00,0.000,6,0.171,0.046,2827,2077,2428,0,0,0,0,0,0
$GC,206,-1.09,-116.8,19.1,-17.6,27,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2077,2428,0,0,0,0,0,0
$GC,264,-1.09,-116.8,29.8,-19.0,36,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2077,2428,0,0,0,0,0,0
$GC,413,-1.09,-116.8,57.8,-18.8,61,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2077,2429,0,0,0,0,0,0
$GC,740,-1.09,-116.8,118.3,-18.1,92,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2078,2429,0,0,0,0,0,0
$GC,1051,-1.09,-116.8,172.6,-17.0,107,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2078,2429,0,0,0,0,0,0
$GC,1358,-1.09,-116.8,221.5,-16.7,122,1362,0.00,2.33,0.00,0.000,4,0.000,0.057,2828,645,2429,0,0,0,0,0,0
$GC,1428,-1.09,-116.8,233.5,-17.8,125,1432,0.00,2.22,0.00,0.000,6,0.000,0.044,2819,2044,2429,0,0,0,0,0,0
$GC,1756,-1.09,-116.8,293.1,-17.6,141,1760,0.00,2.33,0.00,0.000,4,0.000,0.061,2808,3477,2429,0,0,0,0,0,0
$GC,1885,-1.09,-116.8,317.1,-18.0,147,1890,0.10,2.20,0.00,0.000,6,0.190,0.044,2832,2057,2429,0,0,0,0,0,0
$GC,2211,-1.09,-116.8,370.9,-16.1,163,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2057,2430,0,0,0,0,0,0
$GC,2521,-1.12,-116.8,418.7,-15.3,178,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2057,2430,0,0,0,0,0,0
$GC,2830,-1.16,-116.8,465.7,-15.2,193,2832,0.05,0.00,0.00,0.000,6,0.166,0.000,2802,2056,2430,0,0,0,0,0,0
$GC,3138,-1.16,-116.8,518.2,-17.2,208,3142,0.00,2.30,0.00,0.000,4,0.000,0.063,2792,3468,2430,0,0,0,0,0,0
$GC,3160,-1.13,-116.8,522.1,-17.4,209,3164,0.10,2.22,0.00,0.000,6,0.195,0.044,2814,2051,2429,0,0,0,0,0,0
$GC,3487,-1.13,-116.8,575.7,-16.5,225,3491,0.00,2.30,0.00,0.000,4,0.000,0.063,2806,3471,2429,0,0,0,0,0,0
$GC,3535,-1.13,-116.8,584.2,-17.1,227,3539,0.00,2.25,0.00,0.000,6,0.000,0.046,2806,2063,2429,0,0,0,0,0,0
$GC,3857,-1.13,-116.8,635.0,-15.5,243,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2063,2429,0,0,0,0,0,0
$GC,4165,-1.13,-116.8,682.1,-15.5,258,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2063,2429,0,0,0,0,0,0
$GC,4476,-1.13,-116.8,729.2,-15.2,273,4480,0.00,2.28,0.00,0.000,4,0.000,0.060,2797,3467,2429,0,0,0,0,0,0
$GC,4515,-1.13,-116.8,735.4,-15.5,275,4520,0.08,2.20,0.00,0.000,6,0.202,0.044,2814,2049,2429,0,0,0,0,0,0
$GC,4842,-1.13,-116.8,785.7,-15.9,291,4846,0.00,2.30,0.00,0.000,4,0.000,0.062,2805,3469,2429,0,0,0,0,0,0
$GC,4885,-1.13,-116.8,793.0,-16.6,293,4890,0.00,2.22,0.00,0.000,6,0.000,0.045,2805,2067,2429,0,0,0,0,0,0
$GC,5213,-1.13,-116.8,844.5,-15.9,309,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2067,2429,0,0,0,0,0,0
$GC,5521,-1.13,-116.8,894.0,-15.8,324,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2067,2428,0,0,0,0,0,0
$GC,5831,-1.13,-116.8,941.2,-14.6,339,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2067,2428,0,0,0,0,0,0
$GC,6139,-1.13,-116.8,985.9,-14.5,354,6141,0.05,0.00,0.00,0.000,6,0.246,0.000,2814,2068,2428,0,0,0,0,0,0
$STATE,6261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6262,begin apogee
$GC,6267,-0.19,0.0,1002.7,13.5,360,6379,1.05,0.00,108.18,1.288,6,0.164,0.000,3119,1595,1950,0,0,0,0,0,0
$STATE,6380,end apogee,CONTROL_FINISHED_OK
$STATE,6380,begin climb
$GC,6382,1.13,116.8,1005.9,0.0,365,6505,1.27,2.53,113.22,1.242,4,0.085,0.053,3552,200,1473,0,0,0,0,0,0
$GC,6582,1.13,116.8,986.1,14.5,374,6587,0.00,2.40,0.00,0.000,6,0.000,0.036,3553,1604,1469,0,0,0,0,0,0
$GC,6903,1.13,116.8,941.8,13.6,390,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1604,1466,0,0,0,0,0,0
$GC,7214,1.13,116.8,899.3,13.7,405,7218,0.00,2.33,0.00,0.000,4,0.000,0.053,3562,195,1465,0,0,0,0,0,0
$GC,7280,1.10,116.8,889.5,14.6,408,7285,0.10,2.25,0.00,0.000,6,0.187,0.036,3539,1607,1465,0,0,0,0,0,0
$GC,7601,1.15,116.8,849.0,12.5,424,7605,0.00,2.33,0.00,0.000,4,0.000,0.052,3548,195,1464,0,0,0,0,0,0
$GC,7650,1.15,116.8,842.5,13.4,426,7654,0.00,2.25,0.00,0.000,6,0.000,0.036,3548,1601,1464,0,0,0,0,0,0
$GC,7977,1.15,116.8,802.9,12.0,442,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1601,1464,0,0,0,0,0,0
$GC,8287,1.15,116.8,766.8,11.8,457,8291,0.00,2.25,0.00,0.000,4,0.000,0.054,3548,2997,1464,0,0,0,0,0,0
$GC,8353,1.15,116.8,758.6,12.0,460,8357,0.00,2.20,0.00,0.000,6,0.000,0.036,3557,1601,1464,0,0,0,0,0,0
$GC,8680,1.15,116.8,716.9,13.3,476,8684,0.00,2.28,0.00,0.000,4,0.000,0.055,3567,198,1464,0,0,0,0,0,0
$GC,8746,1.11,116.8,707.5,13.9,479,8751,0.05,2.22,0.00,0.000,6,0.176,0.037,3544,1602,1463,0,0,0,0,0,0
$GC,9073,1.15,116.8,666.9,12.4,495,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1602,1463,0,0,0,0,0,0
$GC,9381,1.20,116.8,629.1,12.2,510,9383,0.08,0.00,0.00,0.000,6,0.128,0.000,3586,1602,1463,0,0,0,0,0,0
$GC,9692,1.16,116.8,586.7,13.9,525,9697,0.10,2.30,0.00,0.000,4,0.189,0.053,3573,190,1463,0,0,0,0,0,0
$GC,9836,1.12,116.8,566.0,14.2,531,9842,0.08,2.22,0.00,0.000,6,0.166,0.036,3550,1602,1463,0,0,0,0,0,0
$GC,10153,1.16,116.8,526.3,12.5,547,10157,0.00,2.20,0.00,0.000,4,0.000,0.054,3549,2993,1463,0,0,0,0,0,0
$GC,10196,1.16,116.8,520.7,12.9,549,10200,0.00,2.17,0.00,0.000,6,0.000,0.036,3558,1604,1463,0,0,0,0,0,0
$GC,10523,1.16,116.8,481.0,11.9,565,10527,0.00,2.28,0.00,0.000,4,0.000,0.054,3569,186,1463,0,0,0,0,0,0
$GC,10608,1.16,116.8,470.1,13.2,569,10612,0.00,2.20,0.00,0.000,6,0.000,0.036,3569,1603,1463,0,0,0,0,0,0
$GC,10940,1.16,116.8,430.8,11.6,585,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1604,1463,0,0,0,0,0,0
$GC,11248,1.16,116.8,394.6,11.4,600,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1603,1463,0,0,0,0,0,0
$GC,11558,1.16,116.8,358.9,11.3,615,11563,0.00,2.28,0.00,0.000,4,0.000,0.051,3577,189,1463,0,0,0,0,0,0
$GC,11670,1.12,116.8,345.1,12.5,620,11675,0.10,2.22,0.00,0.000,6,0.164,0.035,3547,1606,1463,0,0,0,0,0,0
$GC,11996,1.17,116.8,308.8,10.9,636,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1607,1463,0,0,0,0,0,0
$GC,12310,1.23,116.8,275.3,10.9,651,12315,0.10,2.30,0.00,0.000,4,0.102,0.052,3609,190,1463,0,0,0,0,0,0
$GC,12445,1.13,116.8,256.1,14.1,657,12450,0.22,2.17,0.00,0.000,6,0.180,0.035,3549,1605,1463,0,0,0,0,0,0
$GC,12769,1.19,116.8,218.7,11.4,673,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1605,1463,0,0,0,0,0,0
$GC,13076,1.24,116.8,187.2,10.1,688,13077,0.10,0.00,0.00,0.000,6,0.103,0.000,3597,1605,1463,0,0,0,0,0,0
$GC,13387,1.20,116.8,153.8,10.5,703,13389,0.10,0.00,0.00,0.000,6,0.201,0.000,3573,1610,1463,0,0,0,0,0,0
$GC,13694,1.20,116.8,121.6,10.3,718,13698,0.00,2.28,0.00,0.000,4,0.000,0.052,3584,193,1463,0,0,0,0,0,0
$GC,13953,1.17,116.8,92.8,11.2,729,13957,0.08,2.15,0.00,0.000,6,0.210,0.034,3567,1602,1463,0,0,0,0,0,0
$GC,14287,1.21,116.8,58.9,10.0,771,14295,0.00,2.30,0.00,0.000,4,0.000,0.051,3575,198,1463,0,0,0,0,0,0
$GC,14467,1.21,116.8,39.6,11.3,802,14475,0.00,2.20,0.00,0.000,6,0.000,0.035,3576,1598,1463,0,0,0,0,0,0
$GC,14626,1.21,116.8,23.7,8.8,827,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1598,1463,0,0,0,0,0,0
$GC,14780,1.21,116.8,8.4,10.3,852,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1598,1463,0,0,0,0,0,0
$STATE,14837,end climb,SURFACE_DEPTH_REACHED
$STATE,14837,begin surface coast
$FINISH,1.9,1.023439
$STATE,14875,end surface coast,CONTROL_FINISHED_OK
$STATE,14875,begin surface
$SM_CCo,14893,41.00,0.054,0,0,1133,200.16
$SM_GC,2.70,0.00,0.00,41.00,0.000,0.000,0.054,67,2070,1133,-9.74,0.28,200.16
$IRIDIUM_FIX,-4447.43,624.79,230708,161607
$TT8_MAMPS,0.026964
$HUMID,64.01
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.6,36.136
$10V_AH,9.8,38.073
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.450,87.400,221.400,41.000,0.000,25.400,53.929,261.431,0.000,0.000,19.675,1894.690,10490.615,342.367,2507.124,167.895,0.000,1243.760,0.000,2056.167,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,76.500,1288.260,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.783,1287.554,739.120,453.111,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,63862,867
$CAP_FILE_SIZE,125272,0
$CFSIZE,2097086464,2054258688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270915,112554,-4503.979,624.954,54,1.2,54,-24.4