version: 66.07.10.p01
glider: 573
mission: 12
dive: 309
start: 10 1 115 13 30 54
data:
$ID,573
$MISSION,12
$DIVE,309
$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,-21999.361
$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,32
$R_STBD_OVSHOOT,48
$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,308
$GPS1,011015,131720,-4457.920,636.141,27,1.4,41,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-69.1
$GPS2,011015,133034,-4457.790,636.015,19,1.2,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,24.1,3314,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-25.48,0.000,2,0.000,0.000,80,2079,1624,0,0,0,0,0,0
$GC,55,-1.13,-105.7,3.1,-2.1,4,106,11.57,2.35,-29.95,0.000,4,0.248,0.062,2813,649,2383,0,0,0,0,0,0
$GC,359,-1.07,-105.7,51.3,-17.9,54,367,0.10,2.25,0.00,0.000,6,0.177,0.041,2833,2038,2385,0,0,0,0,0,0
$GC,698,-1.07,-105.7,107.4,-16.2,92,702,0.00,2.35,0.00,0.000,4,0.000,0.062,2823,3478,2385,0,0,0,0,0,0
$GC,828,-1.07,-105.7,128.7,-16.7,98,833,0.05,2.20,0.00,0.000,6,0.227,0.039,2835,2058,2385,0,0,0,0,0,0
$GC,1154,-1.07,-105.7,178.7,-13.8,114,1158,0.00,2.30,0.00,0.000,4,0.000,0.060,2826,3471,2385,0,0,0,0,0,0
$GC,1324,-1.07,-105.7,204.2,-14.4,121,1328,0.00,2.20,0.00,0.000,6,0.000,0.041,2826,2060,2385,0,0,0,0,0,0
$GC,1639,-1.07,-105.7,248.4,-14.0,136,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2059,2386,0,0,0,0,0,0
$GC,1951,-1.07,-105.7,293.1,-14.3,151,1955,0.00,2.30,0.00,0.000,4,0.000,0.059,2817,3480,2386,0,0,0,0,0,0
$GC,1999,-1.07,-105.7,301.2,-16.0,153,2005,0.05,2.22,0.00,0.000,6,0.176,0.039,2835,2062,2386,0,0,0,0,0,0
$GC,2322,-1.10,-105.7,347.2,-14.6,169,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2062,2386,0,0,0,0,0,0
$GC,2630,-1.14,-105.7,392.0,-14.2,184,2632,0.05,0.00,0.00,0.000,6,0.170,0.000,2806,2063,2386,0,0,0,0,0,0
$GC,2940,-1.14,-105.7,438.9,-15.2,199,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2062,2386,0,0,0,0,0,0
$GC,3248,-1.14,-105.7,486.8,-15.3,214,3252,0.00,2.30,0.00,0.000,4,0.000,0.060,2797,3477,2386,0,0,0,0,0,0
$GC,3315,-1.14,-105.7,497.3,-16.1,217,3320,0.08,2.20,0.00,0.000,6,0.198,0.043,2813,2063,2386,0,0,0,0,0,0
$GC,3647,-1.14,-105.7,549.5,-15.7,233,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2063,2386,0,0,0,0,0,0
$GC,3955,-1.14,-105.7,595.2,-14.4,248,3959,0.00,2.30,0.00,0.000,4,0.000,0.060,2804,3478,2386,0,0,0,0,0,0
$GC,3974,-1.14,-105.7,597.5,-13.8,249,3978,0.00,2.22,0.00,0.000,6,0.000,0.042,2805,2055,2385,0,0,0,0,0,0
$GC,4301,-1.14,-105.7,643.6,-13.4,265,4305,0.00,2.30,0.00,0.000,4,0.000,0.062,2796,3475,2385,0,0,0,0,0,0
$GC,4349,-1.14,-105.7,651.2,-14.7,267,4355,0.05,2.25,0.00,0.000,6,0.175,0.044,2812,2063,2385,0,0,0,0,0,0
$GC,4672,-1.14,-105.7,696.5,-13.9,283,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2063,2385,0,0,0,0,0,0
$GC,4979,-1.14,-105.7,738.3,-13.6,298,4983,0.00,2.30,0.00,0.000,4,0.000,0.059,2803,3478,2384,0,0,0,0,0,0
$GC,5034,-1.14,-105.7,746.3,-13.9,300,5039,0.00,2.25,0.00,0.000,6,0.000,0.043,2804,2058,2384,0,0,0,0,0,0
$GC,5355,-1.14,-105.7,789.5,-13.6,316,5359,0.00,2.30,0.00,0.000,4,0.000,0.061,2796,3473,2384,0,0,0,0,0,0
$GC,5417,-1.14,-105.7,798.1,-13.8,318,5423,0.08,2.22,0.00,0.000,6,0.203,0.045,2812,2053,2384,0,0,0,0,0,0
$GC,5731,-1.14,-105.7,837.1,-11.7,334,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2053,2384,0,0,0,0,0,0
$GC,6042,-1.14,-105.7,874.7,-12.3,349,6046,0.00,2.33,0.00,0.000,4,0.000,0.063,2803,3471,2383,0,0,0,0,0,0
$GC,6141,-1.14,-105.7,887.7,-12.9,353,6146,0.00,2.25,0.00,0.000,6,0.000,0.046,2804,2061,2383,0,0,0,0,0,0
$GC,6457,-1.14,-105.7,925.7,-12.2,369,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2061,2383,0,0,0,0,0,0
$GC,6765,-1.14,-105.7,963.2,-12.2,384,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2061,2383,0,0,0,0,0,0
$STATE,7075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7075,begin apogee
$GC,7080,-0.19,0.0,1001.1,12.3,399,7183,1.10,0.00,99.28,1.281,6,0.168,0.000,3118,1592,1950,0,0,0,0,0,0
$STATE,7184,end apogee,CONTROL_FINISHED_OK
$STATE,7184,begin climb
$GC,7186,1.13,105.7,1004.7,0.0,404,7298,1.27,2.50,103.22,1.241,4,0.090,0.054,3549,199,1518,0,0,0,0,0,0
$GC,7404,1.13,105.7,981.5,13.6,414,7409,0.00,2.40,0.00,0.000,6,0.000,0.037,3549,1610,1512,0,0,0,0,0,0
$GC,7724,1.16,105.7,938.4,13.6,430,7728,0.00,2.28,0.00,0.000,4,0.000,0.055,3549,2996,1509,0,0,0,0,0,0
$GC,7790,1.16,105.7,929.0,13.7,433,7795,0.00,2.25,0.00,0.000,6,0.000,0.037,3558,1603,1509,0,0,0,0,0,0
$GC,8118,1.16,105.7,884.1,14.0,449,8122,0.00,2.33,0.00,0.000,4,0.000,0.056,3569,193,1508,0,0,0,0,0,0
$GC,8284,1.16,105.7,858.6,15.3,456,8291,0.00,2.25,0.00,0.000,6,0.000,0.037,3569,1598,1507,0,0,0,0,0,0
$GC,8600,1.16,105.7,814.5,13.8,472,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1598,1507,0,0,0,0,0,0
$GC,8910,1.16,105.7,772.9,13.2,487,8914,0.00,2.33,0.00,0.000,4,0.000,0.054,3578,185,1506,0,0,0,0,0,0
$GC,8960,1.13,105.7,766.0,13.5,489,8964,0.12,2.25,0.00,0.000,6,0.174,0.037,3547,1632,1506,0,0,0,0,0,0
$GC,9282,1.18,105.7,725.6,12.8,505,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1632,1506,0,0,0,0,0,0
$GC,9590,1.23,105.7,684.7,13.5,520,9594,0.10,2.35,0.00,0.000,4,0.097,0.054,3608,193,1506,0,0,0,0,0,0
$GC,9644,1.14,105.7,675.9,16.3,522,9651,0.17,2.22,0.00,0.000,6,0.161,0.036,3547,1602,1505,0,0,0,0,0,0
$GC,9959,1.19,105.7,633.9,13.0,538,9964,0.05,2.28,0.00,0.000,4,0.168,0.055,3594,192,1506,0,0,0,0,0,0
$GC,10027,1.13,105.7,624.0,15.0,541,10032,0.17,2.20,0.00,0.000,6,0.174,0.037,3549,1610,1505,0,0,0,0,0,0
$GC,10355,1.18,105.7,582.5,12.6,557,10359,0.00,2.33,0.00,0.000,4,0.000,0.054,3558,188,1505,0,0,0,0,0,0
$GC,10422,1.18,105.7,573.4,13.8,560,10426,0.00,2.20,0.00,0.000,6,0.000,0.036,3557,1610,1504,0,0,0,0,0,0
$GC,10741,1.22,105.7,534.2,11.7,576,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1610,1505,0,0,0,0,0,0
$GC,11052,1.26,105.7,497.7,11.8,591,11054,0.10,0.00,0.00,0.000,6,0.101,0.000,3604,1611,1505,0,0,0,0,0,0
$GC,11361,1.21,105.7,455.9,13.6,606,11363,0.12,0.00,0.00,0.000,6,0.184,0.000,3573,1612,1505,0,0,0,0,0,0
$GC,11670,1.21,105.7,419.4,12.1,621,11674,0.00,2.33,0.00,0.000,4,0.000,0.055,3582,189,1505,0,0,0,0,0,0
$GC,11794,1.18,105.7,403.0,14.1,626,11800,0.08,2.20,0.00,0.000,6,0.207,0.036,3566,1608,1504,0,0,0,0,0,0
$GC,12108,1.21,105.7,365.0,12.3,642,12112,0.00,2.30,0.00,0.000,4,0.000,0.054,3575,187,1504,0,0,0,0,0,0
$GC,12176,1.21,105.7,355.9,13.7,645,12180,0.00,2.17,0.00,0.000,6,0.000,0.036,3575,1602,1504,0,0,0,0,0,0
$GC,12502,1.21,105.7,314.9,12.6,661,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1602,1504,0,0,0,0,0,0
$GC,12811,1.21,105.7,276.7,12.4,676,12815,0.00,2.20,0.00,0.000,4,0.000,0.054,3576,2996,1504,0,0,0,0,0,0
$GC,12861,1.21,105.7,270.4,12.0,678,12865,0.00,2.20,0.00,0.000,6,0.000,0.037,3584,1595,1505,0,0,0,0,0,0
$GC,13183,1.21,105.7,231.1,12.1,694,13187,0.00,2.28,0.00,0.000,4,0.000,0.056,3594,189,1504,0,0,0,0,0,0
$GC,13405,1.16,105.7,205.3,10.8,704,13410,0.15,2.17,0.00,0.000,6,0.182,0.037,3557,1604,1504,0,0,0,0,0,0
$GC,13733,1.21,105.7,171.6,10.4,720,13737,0.00,2.30,0.00,0.000,4,0.000,0.054,3565,192,1504,0,0,0,0,0,0
$GC,13799,1.21,105.7,163.0,12.5,723,13804,0.00,2.22,0.00,0.000,6,0.000,0.036,3565,1603,1504,0,0,0,0,0,0
$GC,14129,1.25,105.7,123.8,11.4,739,14134,0.05,2.20,0.00,0.000,4,0.168,0.054,3597,2992,1504,0,0,0,0,0,0
$GC,14387,1.21,105.7,91.1,12.5,750,14396,0.10,2.17,0.00,0.000,6,0.173,0.037,3575,1594,1504,0,0,0,0,0,0
$GC,14727,1.24,105.7,53.7,11.2,796,14732,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1594,1504,0,0,0,0,0,0
$GC,15093,1.24,105.7,13.5,10.7,857,15101,0.00,2.28,0.00,0.000,4,0.000,0.054,3586,200,1504,0,0,0,0,0,0
$GC,15164,1.24,105.7,4.5,13.3,868,15171,0.00,2.20,0.00,0.000,6,0.000,0.037,3585,1600,1504,0,0,0,0,0,0
$STATE,15178,end climb,SURFACE_DEPTH_REACHED
$STATE,15178,begin surface coast
$FINISH,1.6,1.003285
$STATE,15204,end surface coast,CONTROL_FINISHED_OK
$STATE,15204,begin surface
$SM_CCo,15222,47.45,0.054,0,0,1133,200.16
$SM_GC,2.81,0.00,0.00,47.45,0.000,0.000,0.054,67,2085,1133,-9.75,0.71,200.16
$IRIDIUM_FIX,-4441.36,738.09,280708,020256
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,22.6,38.283
$10V_AH,9.7,40.210
$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,24.800,110.200,202.500,47.450,0.000,54.365,93.217,416.365,0.250,0.000,22.824,1935.208,10746.668,337.436,2849.730,185.907,0.000,1287.486,0.000,2161.357,0.000,0.540,0.000
$DEVICE_MAMPS,247.860,63.495,1281.375,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.151,1270.196,706.260,422.430,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,63628,874
$CAP_FILE_SIZE,134105,0
$CFSIZE,2097086464,2051604480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,011015,174633,-4456.165,636.788,33,1.0,33,-24.4