version: 66.07.10.p01
glider: 573
mission: 12
dive: 297
start: 9 28 115 20 13 6
data:
$ID,573
$MISSION,12
$DIVE,297
$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,-21958.045
$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,36
$R_STBD_OVSHOOT,36
$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,296
$GPS1,280915,200433,-4505.344,623.241,101,1.4,101,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-69.1
$GPS2,280915,201246,-4505.342,623.219,16,1.4,17,-24.3
$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,46.6,2687,-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,-8.23,0.000,2,0.000,0.000,63,2065,1295,0,0,0,0,0,0
$GC,38,-1.13,-116.8,3.1,-0.0,1,113,11.12,2.38,-53.45,0.000,4,0.231,0.073,2813,657,2428,0,0,0,0,0,0
$GC,385,-1.03,-116.8,59.8,-23.5,58,391,0.17,2.25,0.00,0.000,6,0.182,0.044,2849,2054,2430,0,0,0,0,0,0
$GC,719,-1.03,-116.8,117.1,-16.3,87,723,0.00,2.30,0.00,0.000,4,0.000,0.059,2838,3467,2430,0,0,0,0,0,0
$GC,796,-1.03,-116.8,130.6,-16.8,90,805,0.00,2.25,0.00,0.000,6,0.000,0.042,2838,2058,2431,0,0,0,0,0,0
$GC,1113,-1.03,-116.8,180.4,-16.0,106,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2058,2431,0,0,0,0,0,0
$GC,1424,-1.03,-116.8,225.9,-15.1,121,1428,0.00,2.25,0.00,0.000,4,0.000,0.057,2838,656,2431,0,0,0,0,0,0
$GC,1445,-1.03,-116.8,229.8,-15.2,122,1450,0.05,2.28,0.00,0.000,6,0.177,0.044,2844,2062,2431,0,0,0,0,0,0
$GC,1773,-1.07,-116.8,278.2,-15.3,138,1777,0.00,2.28,0.00,0.000,4,0.000,0.064,2834,3466,2431,0,0,0,0,0,0
$GC,1822,-1.11,-116.8,286.6,-16.0,140,1826,0.00,2.25,0.00,0.000,6,0.000,0.044,2836,2055,2431,0,0,0,0,0,0
$GC,2143,-1.15,-116.8,338.8,-16.4,156,2147,0.05,2.33,0.00,0.000,4,0.167,0.062,2794,3468,2431,0,0,0,0,0,0
$GC,2181,-1.10,-116.8,345.7,-18.4,158,2186,0.12,2.22,0.00,0.000,6,0.180,0.044,2827,2055,2431,0,0,0,0,0,0
$GC,2506,-1.10,-116.8,399.3,-16.1,174,2510,0.00,2.33,0.00,0.000,4,0.000,0.062,2817,3474,2431,0,0,0,0,0,0
$GC,2529,-1.10,-116.8,402.8,-16.0,175,2533,0.00,2.22,0.00,0.000,6,0.000,0.045,2818,2061,2431,0,0,0,0,0,0
$GC,2855,-1.10,-116.8,455.7,-16.0,191,2859,0.00,2.30,0.00,0.000,4,0.000,0.060,2808,3469,2432,0,0,0,0,0,0
$GC,2898,-1.10,-116.8,463.3,-16.6,193,2903,0.05,2.25,0.00,0.000,6,0.170,0.044,2824,2057,2431,0,0,0,0,0,0
$GC,3225,-1.10,-116.8,514.5,-15.6,209,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2057,2431,0,0,0,0,0,0
$GC,3533,-1.10,-116.8,561.2,-15.0,224,3537,0.00,2.33,0.00,0.000,4,0.000,0.063,2815,3475,2430,0,0,0,0,0,0
$GC,3571,-1.10,-116.8,567.2,-15.8,225,3576,0.00,2.25,0.00,0.000,6,0.000,0.045,2815,2062,2430,0,0,0,0,0,0
$GC,3887,-1.10,-116.8,615.5,-15.2,241,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2061,2430,0,0,0,0,0,0
$GC,4195,-1.10,-116.8,661.5,-14.9,256,4199,0.00,2.30,0.00,0.000,4,0.000,0.061,2806,3484,2430,0,0,0,0,0,0
$GC,4239,-1.10,-116.8,668.3,-15.8,258,4244,0.05,2.25,0.00,0.000,6,0.170,0.044,2822,2060,2430,0,0,0,0,0,0
$GC,4572,-1.14,-116.8,718.2,-14.8,274,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2060,2430,0,0,0,0,0,0
$GC,4881,-1.18,-116.8,764.1,-14.9,289,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2060,2429,0,0,0,0,0,0
$GC,5189,-1.23,-116.8,808.1,-13.8,304,5191,0.10,0.00,0.00,0.000,6,0.102,0.000,2775,2060,2429,0,0,0,0,0,0
$GC,5500,-1.18,-116.8,855.2,-15.2,319,5502,0.10,0.00,0.00,0.000,6,0.211,0.000,2797,2060,2429,0,0,0,0,0,0
$GC,5809,-1.18,-116.8,900.3,-14.7,334,5813,0.00,2.30,0.00,0.000,4,0.000,0.062,2788,3466,2429,0,0,0,0,0,0
$GC,5903,-1.18,-116.8,914.9,-15.3,338,5907,0.00,2.25,0.00,0.000,6,0.000,0.045,2793,2054,2428,0,0,0,0,0,0
$GC,6223,-1.18,-116.8,961.9,-14.7,354,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2053,2429,0,0,0,0,0,0
$STATE,6491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6491,begin apogee
$GC,6496,-0.19,0.0,1001.9,15.2,367,6612,1.12,0.00,108.55,1.286,6,0.168,0.000,3115,1592,1949,0,0,0,0,0,0
$STATE,6613,end apogee,CONTROL_FINISHED_OK
$STATE,6613,begin climb
$GC,6615,1.13,116.8,1007.3,0.0,373,6738,1.30,2.53,114.00,1.245,4,0.089,0.054,3555,199,1474,0,0,0,0,0,0
$GC,6821,1.13,116.8,988.3,13.1,382,6827,0.00,2.40,0.00,0.000,6,0.000,0.037,3555,1605,1470,0,0,0,0,0,0
$GC,7136,1.13,116.8,947.1,13.4,398,7140,0.00,2.30,0.00,0.000,4,0.000,0.054,3555,3004,1467,0,0,0,0,0,0
$GC,7197,1.13,116.8,938.4,13.9,400,7203,0.03,2.28,0.00,0.000,6,0.199,0.037,3556,1602,1467,0,0,0,0,0,0
$GC,7512,1.13,116.8,895.6,13.4,416,7515,0.00,2.30,0.00,0.000,4,0.000,0.055,3566,193,1466,0,0,0,0,0,0
$GC,7580,1.13,116.8,886.0,14.6,419,7585,0.08,2.25,0.00,0.000,6,0.201,0.037,3550,1609,1464,0,0,0,0,0,0
$GC,7912,1.13,116.8,840.4,13.8,435,7916,0.00,2.25,0.00,0.000,4,0.000,0.054,3550,3001,1464,0,0,0,0,0,0
$GC,7960,1.13,116.8,833.2,15.4,437,7965,0.00,2.22,0.00,0.000,6,0.000,0.037,3558,1601,1464,0,0,0,0,0,0
$GC,8283,1.13,116.8,787.7,14.1,453,8287,0.00,2.30,0.00,0.000,4,0.000,0.056,3569,193,1464,0,0,0,0,0,0
$GC,8434,1.10,116.8,765.5,14.4,460,8439,0.12,2.20,0.00,0.000,6,0.183,0.037,3539,1608,1463,0,0,0,0,0,0
$GC,8761,1.16,116.8,726.2,11.7,476,8765,0.00,2.33,0.00,0.000,4,0.000,0.054,3549,190,1463,0,0,0,0,0,0
$GC,8804,1.16,116.8,720.5,12.3,478,8808,0.00,2.22,0.00,0.000,6,0.000,0.036,3548,1600,1463,0,0,0,0,0,0
$GC,9131,1.20,116.8,679.0,13.0,494,9132,0.08,0.00,0.00,0.000,6,0.123,0.000,3589,1600,1463,0,0,0,0,0,0
$GC,9441,1.17,116.8,633.3,15.4,509,9443,0.10,0.00,0.00,0.000,6,0.193,0.000,3564,1602,1463,0,0,0,0,0,0
$GC,9749,1.17,116.8,590.8,13.4,524,9753,0.00,2.30,0.00,0.000,4,0.000,0.054,3574,195,1463,0,0,0,0,0,0
$GC,9817,1.13,116.8,581.3,14.1,527,9822,0.10,2.20,0.00,0.000,6,0.192,0.037,3550,1604,1462,0,0,0,0,0,0
$GC,10145,1.18,116.8,541.9,11.8,543,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1604,1462,0,0,0,0,0,0
$GC,10452,1.23,116.8,507.0,11.2,558,10454,0.08,0.00,0.00,0.000,6,0.125,0.000,3594,1604,1463,0,0,0,0,0,0
$GC,10763,1.20,116.8,469.2,12.3,573,10768,0.10,2.30,0.00,0.000,4,0.194,0.054,3580,195,1462,0,0,0,0,0,0
$GC,10840,1.16,116.8,459.3,12.3,576,10847,0.05,2.20,0.00,0.000,6,0.181,0.037,3564,1587,1462,0,0,0,0,0,0
$GC,11154,1.16,116.8,423.1,11.4,592,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1587,1462,0,0,0,0,0,0
$GC,11465,1.16,116.8,388.0,11.1,607,11469,0.00,2.22,0.00,0.000,4,0.000,0.054,3564,2994,1462,0,0,0,0,0,0
$GC,11549,1.16,116.8,378.0,12.0,611,11553,0.00,2.17,0.00,0.000,6,0.000,0.037,3573,1589,1462,0,0,0,0,0,0
$GC,11881,1.16,116.8,338.1,12.1,627,11885,0.00,2.28,0.00,0.000,4,0.000,0.056,3583,186,1462,0,0,0,0,0,0
$GC,11983,1.12,116.8,324.8,13.3,631,11988,0.15,2.22,0.00,0.000,6,0.181,0.037,3546,1613,1461,0,0,0,0,0,0
$GC,12300,1.19,116.8,286.9,12.0,646,12304,0.05,2.28,0.00,0.000,4,0.170,0.053,3589,195,1462,0,0,0,0,0,0
$GC,12394,1.15,116.8,273.4,13.5,650,12399,0.08,2.22,0.00,0.000,6,0.174,0.037,3557,1605,1462,0,0,0,0,0,0
$GC,12716,1.19,116.8,235.4,11.2,666,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1606,1461,0,0,0,0,0,0
$GC,13027,1.25,116.8,201.3,11.1,681,13029,0.08,0.00,0.00,0.000,6,0.125,0.000,3596,1606,1462,0,0,0,0,0,0
$GC,13334,1.25,116.8,166.6,10.6,696,13338,0.00,2.30,0.00,0.000,4,0.000,0.054,3606,193,1462,0,0,0,0,0,0
$GC,13593,1.18,116.8,133.3,14.3,707,13597,0.15,2.20,0.00,0.000,6,0.189,0.035,3568,1610,1461,0,0,0,0,0,0
$GC,13916,1.22,116.8,97.5,10.8,723,13920,0.00,2.30,0.00,0.000,4,0.000,0.053,3577,183,1461,0,0,0,0,0,0
$GC,14176,1.22,116.8,65.9,11.8,749,14181,0.00,2.20,0.00,0.000,6,0.000,0.035,3577,1602,1462,0,0,0,0,0,0
$GC,14537,1.26,116.8,21.1,9.9,810,14544,0.00,2.33,0.00,0.000,4,0.000,0.051,3587,186,1462,0,0,0,0,0,0
$STATE,14710,end climb,SURFACE_DEPTH_REACHED
$STATE,14710,begin surface coast
$FINISH,1.8,1.023410
$STATE,14736,end surface coast,CONTROL_FINISHED_OK
$STATE,14736,begin surface
$SM_CCo,14756,40.78,0.057,0,0,1132,200.16
$SM_GC,2.41,0.00,0.00,40.78,0.000,0.000,0.057,60,2055,1132,-9.76,-0.11,200.16
$IRIDIUM_FIX,-4447.43,624.79,250708,040457
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.5,36.959
$10V_AH,9.8,38.861
$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,24.850,110.575,222.550,40.775,0.000,27.300,24.617,306.080,0.000,0.000,19.173,1856.564,10401.591,352.356,2510.817,166.896,0.000,1254.324,0.000,2046.918,0.000,0.540,0.000
$DEVICE_MAMPS,231.030,73.440,1285.965,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.940,1235.353,689.642,416.910,0.000,0.000,0.000,0.000,0.000,0.000
$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,60620,842
$CAP_FILE_SIZE,127431,0
$CFSIZE,2097086464,2053210112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290915,002119,-4504.350,625.771,40,3.0,59,-24.4