version: 66.07.10.p01
glider: 573
mission: 12
dive: 292
start: 9 27 115 20 9 44
data:
$ID,573
$MISSION,12
$DIVE,292
$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,-21941.34
$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,34
$R_STBD_OVSHOOT,25
$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,291
$GPS1,270915,200021,-4504.851,625.388,38,1.0,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-69.6
$GPS2,270915,200924,-4504.941,625.440,17,1.0,19,-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,337.2,2566,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.09,-49.9,0.0,0.0,0,34,0.00,0.00,-7.82,0.000,2,0.000,0.000,61,2063,1289,0,0,0,0,0,0
$GC,37,-1.13,-116.8,3.1,-0.0,1,118,10.80,2.38,-61.20,0.000,4,0.220,0.076,2802,3471,2427,0,0,0,0,0,0
$GC,268,-1.08,-116.8,36.2,-20.7,38,276,0.08,2.28,0.00,0.000,6,0.163,0.046,2825,2071,2428,0,0,0,0,0,0
$GC,415,-1.08,-116.8,62.3,-16.2,63,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2071,2428,0,0,0,0,0,0
$GC,755,-1.08,-116.8,120.1,-17.8,93,759,0.00,2.30,0.00,0.000,4,0.000,0.062,2816,3471,2429,0,0,0,0,0,0
$GC,826,-1.08,-116.8,134.0,-18.5,96,831,0.03,2.28,0.00,0.000,6,0.199,0.045,2824,2052,2428,0,0,0,0,0,0
$GC,1147,-1.08,-116.8,188.3,-16.0,112,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2052,2429,0,0,0,0,0,0
$GC,1459,-1.08,-116.8,239.6,-16.9,127,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2429,0,0,0,0,0,0
$GC,1766,-1.08,-116.8,290.9,-16.4,142,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2052,2429,0,0,0,0,0,0
$GC,2075,-1.08,-116.8,342.6,-17.2,157,2079,0.00,2.33,0.00,0.000,4,0.000,0.062,2816,3469,2429,0,0,0,0,0,0
$GC,2138,-1.08,-116.8,353.3,-17.4,160,2142,0.08,2.22,0.00,0.000,6,0.207,0.045,2831,2060,2430,0,0,0,0,0,0
$GC,2464,-1.12,-116.8,405.9,-16.0,176,2468,0.00,2.28,0.00,0.000,4,0.000,0.062,2822,3471,2429,0,0,0,0,0,0
$GC,2518,-1.15,-116.8,415.1,-16.4,178,2524,0.00,2.25,0.00,0.000,6,0.000,0.045,2823,2063,2429,0,0,0,0,0,0
$GC,2833,-1.15,-116.8,466.2,-16.2,194,2837,0.00,2.28,0.00,0.000,4,0.000,0.058,2813,3472,2429,0,0,0,0,0,0
$GC,2860,-1.15,-116.8,470.7,-16.8,195,2864,0.00,2.25,0.00,0.000,6,0.000,0.044,2814,2059,2430,0,0,0,0,0,0
$GC,3188,-1.15,-116.8,523.7,-16.1,211,3192,0.00,2.30,0.00,0.000,4,0.000,0.061,2806,3471,2429,0,0,0,0,0,0
$GC,3214,-1.15,-116.8,528.4,-16.1,212,3219,0.00,2.25,0.00,0.000,6,0.000,0.045,2805,2062,2429,0,0,0,0,0,0
$GC,3535,-1.15,-116.8,580.2,-16.4,228,3539,0.00,2.28,0.00,0.000,4,0.000,0.060,2796,3471,2430,0,0,0,0,0,0
$GC,3640,-1.15,-116.8,597.7,-16.0,232,3647,0.03,2.25,0.00,0.000,6,0.190,0.046,2805,2066,2429,0,0,0,0,0,0
$GC,3955,-1.15,-116.8,646.3,-15.2,248,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2066,2429,0,0,0,0,0,0
$GC,4266,-1.15,-116.8,692.5,-15.0,263,4270,0.00,2.25,0.00,0.000,4,0.000,0.059,2796,3472,2430,0,0,0,0,0,0
$GC,4350,-1.15,-116.8,705.4,-15.4,267,4355,0.05,2.22,0.00,0.000,6,0.226,0.046,2806,2049,2430,0,0,0,0,0,0
$GC,4682,-1.15,-116.8,755.7,-15.4,283,4686,0.00,2.33,0.00,0.000,4,0.000,0.063,2797,3469,2429,0,0,0,0,0,0
$GC,4742,-1.15,-116.8,765.0,-14.7,285,4747,0.00,2.25,0.00,0.000,6,0.000,0.046,2798,2063,2430,0,0,0,0,0,0
$GC,5058,-1.15,-116.8,812.5,-14.8,301,5062,0.00,2.28,0.00,0.000,4,0.000,0.058,2789,3477,2429,0,0,0,0,0,0
$GC,5123,-1.15,-116.8,822.7,-15.0,304,5128,0.05,2.28,0.00,0.000,6,0.185,0.045,2806,2054,2429,0,0,0,0,0,0
$GC,5449,-1.15,-116.8,871.7,-14.9,320,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2054,2430,0,0,0,0,0,0
$GC,5761,-1.18,-116.8,917.2,-14.5,335,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2055,2429,0,0,0,0,0,0
$GC,6069,-1.22,-116.8,963.3,-14.9,350,6073,0.00,2.33,0.00,0.000,4,0.000,0.065,2798,3469,2429,0,0,0,0,0,0
$GC,6134,-1.22,-116.8,974.0,-16.1,353,6139,0.00,2.25,0.00,0.000,6,0.000,0.047,2798,2060,2429,0,0,0,0,0,0
$STATE,6315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6315,begin apogee
$GC,6320,-0.19,0.0,1002.2,16.1,362,6432,1.10,0.00,108.28,1.285,6,0.171,0.000,3113,1594,1950,0,0,0,0,0,0
$STATE,6433,end apogee,CONTROL_FINISHED_OK
$STATE,6433,begin climb
$GC,6435,1.13,116.8,1007.3,0.0,367,6558,1.30,2.55,113.45,1.245,4,0.088,0.054,3554,192,1473,0,0,0,0,0,0
$GC,6658,1.13,116.8,986.8,13.8,377,6663,0.00,2.42,0.00,0.000,6,0.000,0.035,3553,1617,1469,0,0,0,0,0,0
$GC,6980,1.13,116.8,943.6,13.7,393,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1617,1466,0,0,0,0,0,0
$GC,7288,1.13,116.8,901.5,13.5,408,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1617,1466,0,0,0,0,0,0
$GC,7599,1.13,116.8,860.1,12.9,423,7603,0.00,2.35,0.00,0.000,4,0.000,0.054,3563,188,1465,0,0,0,0,0,0
$GC,7698,1.13,116.8,846.3,14.3,427,7704,0.03,2.28,0.00,0.000,6,0.191,0.036,3555,1604,1465,0,0,0,0,0,0
$GC,8014,1.13,116.8,805.4,12.7,443,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1604,1464,0,0,0,0,0,0
$GC,8322,1.13,116.8,767.3,12.5,458,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1604,1464,0,0,0,0,0,0
$GC,8633,1.13,116.8,729.2,12.1,473,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1604,1463,0,0,0,0,0,0
$GC,8941,1.13,116.8,691.9,11.9,488,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1604,1463,0,0,0,0,0,0
$GC,9252,1.13,116.8,653.5,12.9,503,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1604,1463,0,0,0,0,0,0
$GC,9560,1.17,116.8,613.7,13.0,518,9564,0.00,2.30,0.00,0.000,4,0.000,0.053,3563,185,1463,0,0,0,0,0,0
$GC,9648,1.17,116.8,601.4,14.3,522,9652,0.00,2.25,0.00,0.000,6,0.000,0.036,3563,1608,1462,0,0,0,0,0,0
$GC,9974,1.17,116.8,558.9,12.7,538,9978,0.00,2.30,0.00,0.000,4,0.000,0.054,3573,190,1462,0,0,0,0,0,0
$GC,10051,1.17,116.8,548.1,14.1,541,10057,0.03,2.22,0.00,0.000,6,0.196,0.035,3565,1604,1462,0,0,0,0,0,0
$GC,10374,1.17,116.8,507.8,12.3,557,10378,0.00,2.22,0.00,0.000,4,0.000,0.054,3565,2996,1462,0,0,0,0,0,0
$GC,10422,1.17,116.8,501.4,12.3,559,10428,0.03,2.20,0.00,0.000,6,0.201,0.037,3565,1594,1462,0,0,0,0,0,0
$GC,10744,1.17,116.8,461.8,12.1,575,10749,0.00,2.28,0.00,0.000,4,0.000,0.056,3575,192,1462,0,0,0,0,0,0
$GC,10844,1.13,116.8,448.7,13.0,579,10850,0.05,2.22,0.00,0.000,6,0.174,0.037,3550,1600,1462,0,0,0,0,0,0
$GC,11161,1.18,116.8,412.3,11.2,595,11165,0.00,2.28,0.00,0.000,4,0.000,0.054,3559,195,1462,0,0,0,0,0,0
$GC,11271,1.18,116.8,399.0,11.5,600,11276,0.00,2.22,0.00,0.000,6,0.000,0.038,3559,1601,1462,0,0,0,0,0,0
$GC,11597,1.18,116.8,363.0,11.2,616,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1602,1461,0,0,0,0,0,0
$GC,11909,1.22,116.8,326.6,11.9,631,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1602,1461,0,0,0,0,0,0
$GC,12218,1.25,116.8,291.1,11.3,646,12223,0.08,2.28,0.00,0.000,4,0.124,0.053,3610,190,1462,0,0,0,0,0,0
$GC,12336,1.16,116.8,275.3,13.0,651,12341,0.20,2.22,0.00,0.000,6,0.181,0.037,3559,1617,1462,0,0,0,0,0,0
$GC,12653,1.19,116.8,240.5,10.7,666,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1618,1462,0,0,0,0,0,0
$GC,12964,1.24,116.8,205.0,11.9,681,12968,0.08,2.20,0.00,0.000,4,0.125,0.055,3598,2989,1462,0,0,0,0,0,0
$GC,13058,1.18,116.8,191.8,13.0,685,13063,0.15,2.17,0.00,0.000,6,0.195,0.037,3569,1584,1462,0,0,0,0,0,0
$GC,13381,1.19,121.5,161.1,8.0,701,13385,0.00,2.25,0.00,0.000,4,0.000,0.055,3579,192,1462,0,0,0,0,0,0
$GC,13639,1.19,121.5,133.3,10.1,712,13649,0.00,2.22,3.45,0.405,6,0.000,0.037,3578,1602,1453,0,0,0,0,0,0
$GC,13956,1.19,121.5,97.4,12.4,728,13960,0.00,2.28,0.00,0.000,4,0.000,0.053,3588,199,1454,0,0,0,0,0,0
$GC,14221,1.13,121.5,64.1,12.3,757,14227,0.15,2.20,0.00,0.000,6,0.177,0.037,3549,1606,1454,0,0,0,0,0,0
$GC,14582,1.19,121.5,19.2,13.8,818,14590,0.00,2.33,0.00,0.000,4,0.000,0.055,3558,196,1454,0,0,0,0,0,0
$GC,14672,1.13,121.5,4.1,18.3,832,14679,0.00,2.20,0.00,0.000,6,0.000,0.036,3558,1605,1454,0,0,0,0,0,0
$STATE,14687,end climb,SURFACE_DEPTH_REACHED
$STATE,14687,begin surface coast
$FINISH,1.6,1.012004
$STATE,14707,end surface coast,CONTROL_FINISHED_OK
$STATE,14707,begin surface
$SM_CCo,14725,39.38,0.054,0,0,1133,200.16
$SM_GC,2.55,0.00,0.00,39.38,0.000,0.000,0.054,66,2057,1133,-9.75,-0.08,200.16
$IRIDIUM_FIX,-4447.43,618.73,240708,000058
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.10
$XPDR_PINGS,1
$24V_AH,22.5,36.444
$10V_AH,9.8,38.353
$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,23.500,105.925,225.175,39.375,0.000,36.950,73.080,304.137,0.250,0.000,21.455,1839.073,10403.341,352.946,2549.151,164.920,0.000,1268.626,0.000,2032.029,0.000,0.540,0.000
$DEVICE_MAMPS,225.675,75.735,1285.200,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.544,1193.253,650.347,363.860,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,60841,837
$CAP_FILE_SIZE,126675,0
$CFSIZE,2097086464,2053865472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280915,001751,-4503.748,624.831,67,3.4,86,-24.4