version: 66.07.10.p01
glider: 573
mission: 12
dive: 10
start: 7 30 115 15 8 10
data:
$ID,573
$MISSION,12
$DIVE,10
$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,335
$T_MISSION,350
$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,150
$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,220
$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,-21037.605
$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,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,51
$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,1882
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,9
$GPS1,300715,145603,-4500.118,630.138,31,1.1,31,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-66.1
$GPS2,300715,150749,-4500.109,630.230,33,0.8,33,-24.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,SAF_1
$TGT_LATLONG,-4500.000,630.000
$TGT_RADIUS,800.000
$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,328.2,363,-27.8,-9.950
$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,23,-1.34,-62.6,0.0,0.0,0,70,0.00,0.00,-44.25,0.000,2,0.000,0.000,80,2096,1833,0,0,0,0,0,0
$GC,72,-1.41,-119.4,3.2,-3.9,7,105,11.07,2.20,-16.92,0.000,4,0.258,0.084,2717,3422,2370,0,0,0,0,0,0
$GC,156,-1.27,-119.4,14.5,-20.1,20,164,0.17,2.22,0.00,0.000,6,0.197,0.047,2765,2048,2372,0,0,0,0,0,0
$GC,215,-1.18,-119.4,26.9,-19.6,29,222,0.15,0.00,0.00,0.000,6,0.213,0.000,2801,2047,2372,0,0,0,0,0,0
$GC,364,-1.15,-119.4,54.9,-18.5,54,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2047,2373,0,0,0,0,0,0
$GC,707,-1.11,-119.4,121.1,-20.1,105,711,0.10,2.28,0.00,0.000,4,0.210,0.067,2814,3434,2373,0,0,0,0,0,0
$GC,740,-1.11,-119.4,128.1,-19.3,108,744,0.00,2.17,0.00,0.000,6,0.000,0.043,2814,2033,2373,0,0,0,0,0,0
$GC,1069,-1.11,-119.4,188.8,-17.9,139,1073,0.00,2.22,0.00,0.000,4,0.000,0.055,2814,635,2374,0,0,0,0,0,0
$GC,1091,-1.11,-119.4,192.8,-17.8,140,1099,0.05,2.20,0.00,0.000,6,0.207,0.044,2820,2019,2374,0,0,0,0,0,0
$GC,1415,-1.11,-119.4,247.5,-16.9,171,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2019,2374,0,0,0,0,0,0
$GC,1736,-1.11,-119.4,300.9,-16.8,201,1741,0.00,2.28,0.00,0.000,4,0.000,0.065,2809,3454,2374,0,0,0,0,0,0
$GC,1798,-1.11,-119.4,311.8,-17.1,206,1803,0.05,2.20,0.00,0.000,6,0.221,0.043,2818,2036,2374,0,0,0,0,0,0
$GC,2122,-1.11,-119.4,363.9,-16.3,236,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2036,2375,0,0,0,0,0,0
$GC,2439,-1.11,-119.4,413.6,-15.7,262,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2036,2375,0,0,0,0,0,0
$GC,2748,-1.11,-119.4,461.4,-15.2,277,2752,0.00,2.25,0.00,0.000,4,0.000,0.065,2809,3446,2375,0,0,0,0,0,0
$GC,2787,-1.11,-119.4,467.3,-15.1,279,2791,0.00,2.17,0.00,0.000,6,0.000,0.044,2810,2037,2375,0,0,0,0,0,0
$GC,3112,-1.11,-119.4,516.7,-15.2,295,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2037,2375,0,0,0,0,0,0
$GC,3422,-1.11,-119.4,565.1,-15.6,310,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2037,2374,0,0,0,0,0,0
$GC,3731,-1.11,-119.4,614.5,-16.1,325,3733,0.03,0.00,0.00,0.000,6,0.276,0.000,2818,2037,2374,0,0,0,0,0,0
$GC,4040,-1.11,-119.4,662.4,-15.5,340,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2037,2373,0,0,0,0,0,0
$GC,4350,-1.11,-119.4,710.5,-15.2,355,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2037,2373,0,0,0,0,0,0
$GC,4659,-1.14,-119.4,758.0,-15.2,370,4663,0.00,2.25,0.00,0.000,4,0.000,0.063,2808,3456,2373,0,0,0,0,0,0
$GC,4708,-1.14,-119.4,765.8,-15.4,372,4713,0.00,2.20,0.00,0.000,6,0.000,0.042,2809,2041,2373,0,0,0,0,0,0
$GC,5030,-1.14,-119.4,813.1,-14.8,388,5034,0.00,2.22,0.00,0.000,4,0.000,0.060,2800,3448,2372,0,0,0,0,0,0
$GC,5061,-1.14,-119.4,818.3,-15.8,389,5068,0.03,2.20,0.00,0.000,6,0.188,0.043,2808,2032,2373,0,0,0,0,0,0
$GC,5377,-1.14,-119.4,865.0,-14.8,405,5381,0.00,2.25,0.00,0.000,4,0.000,0.064,2799,3447,2372,0,0,0,0,0,0
$GC,5431,-1.14,-119.4,873.6,-15.8,407,5439,0.03,2.20,0.00,0.000,6,0.191,0.044,2807,2040,2372,0,0,0,0,0,0
$GC,5748,-1.14,-119.4,919.8,-14.9,423,5752,0.00,2.25,0.00,0.000,4,0.000,0.061,2799,3451,2372,0,0,0,0,0,0
$GC,5835,-1.14,-119.4,933.4,-15.8,427,5841,0.03,2.20,0.00,0.000,6,0.196,0.043,2807,2036,2372,0,0,0,0,0,0
$GC,6162,-1.14,-119.4,982.1,-15.0,443,6167,0.00,2.28,0.00,0.000,4,0.000,0.064,2798,3454,2372,0,0,0,0,0,0
$GC,6228,-1.14,-119.4,992.3,-15.0,446,6233,0.05,2.20,0.00,0.000,6,0.187,0.042,2813,2037,2372,0,0,0,0,0,0
$STATE,6286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6286,begin apogee
$GC,6290,-0.23,0.0,1000.9,15.0,449,6407,0.98,0.00,110.32,1.307,6,0.177,0.000,3101,1774,1882,0,0,0,0,0,0
$STATE,6408,end apogee,CONTROL_FINISHED_OK
$STATE,6408,begin climb
$GC,6409,1.41,119.4,1006.2,0.0,455,6532,1.62,2.42,111.47,1.262,4,0.100,0.048,3634,390,1394,0,0,0,0,0,0
$GC,6622,1.31,119.4,979.7,17.8,465,6627,0.12,2.33,0.00,0.000,6,0.197,0.037,3607,1799,1388,0,0,0,0,0,0
$GC,6949,1.26,119.4,926.4,16.2,481,6954,0.08,2.30,0.00,0.000,4,0.231,0.049,3601,387,1386,0,0,0,0,0,0
$GC,6992,1.20,119.4,919.0,16.4,483,6997,0.08,2.28,0.00,0.000,6,0.181,0.036,3577,1794,1386,0,0,0,0,0,0
$GC,7319,1.20,119.4,870.1,14.9,499,7323,0.00,2.25,0.00,0.000,4,0.000,0.047,3586,391,1385,0,0,0,0,0,0
$GC,7471,1.16,119.4,846.0,16.1,506,7476,0.10,2.22,0.00,0.000,6,0.200,0.036,3563,1800,1384,0,0,0,0,0,0
$GC,7797,1.16,119.4,799.1,14.2,522,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1800,1384,0,0,0,0,0,0
$GC,8106,1.16,119.4,756.3,13.8,537,8110,0.00,2.28,0.00,0.000,4,0.000,0.047,3572,381,1383,0,0,0,0,0,0
$GC,8291,1.14,119.4,729.6,13.8,545,8296,0.08,2.22,0.00,0.000,6,0.213,0.037,3556,1799,1383,0,0,0,0,0,0
$GC,8606,1.14,119.4,688.9,12.6,560,8610,0.00,2.25,0.00,0.000,4,0.000,0.049,3565,390,1383,0,0,0,0,0,0
$GC,8716,1.14,119.4,674.3,12.9,565,8722,0.03,2.20,0.00,0.000,6,0.214,0.037,3557,1782,1382,0,0,0,0,0,0
$GC,9044,1.14,119.4,632.4,12.9,581,9048,0.00,2.20,0.00,0.000,4,0.000,0.049,3566,388,1382,0,0,0,0,0,0
$GC,9210,1.14,119.4,609.5,13.6,588,9217,0.03,2.20,0.00,0.000,6,0.211,0.036,3558,1787,1382,0,0,0,0,0,0
$GC,9526,1.14,119.4,567.4,13.5,604,9530,0.00,2.20,0.00,0.000,4,0.000,0.050,3566,390,1382,0,0,0,0,0,0
$GC,9637,1.14,119.4,551.3,14.8,609,9642,0.03,2.20,0.00,0.000,6,0.205,0.035,3558,1791,1382,0,0,0,0,0,0
$GC,9964,1.14,119.4,506.2,14.0,625,9968,0.00,2.20,0.00,0.000,4,0.000,0.048,3567,390,1382,0,0,0,0,0,0
$GC,10051,1.14,119.4,493.1,14.6,629,10057,0.03,2.20,0.00,0.000,6,0.213,0.037,3559,1783,1382,0,0,0,0,0,0
$GC,10379,1.16,119.4,448.2,13.9,645,10383,0.00,2.20,0.00,0.000,4,0.000,0.049,3568,390,1382,0,0,0,0,0,0
$GC,10568,1.16,119.4,420.3,15.0,653,10574,0.00,2.20,0.00,0.000,6,0.000,0.037,3567,1790,1382,0,0,0,0,0,0
$GC,10899,1.16,119.4,375.1,13.3,677,10903,0.00,2.22,0.00,0.000,4,0.000,0.048,3576,387,1382,0,0,0,0,0,0
$GC,10975,1.16,119.4,363.5,15.1,683,10982,0.05,2.20,0.00,0.000,6,0.186,0.037,3559,1789,1382,0,0,0,0,0,0
$GC,11301,1.18,119.4,320.6,13.1,714,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1788,1382,0,0,0,0,0,0
$GC,11620,1.21,119.4,280.3,12.4,744,11624,0.00,2.20,0.00,0.000,4,0.000,0.049,3568,382,1382,0,0,0,0,0,0
$GC,11762,1.21,119.4,261.6,13.0,756,11766,0.00,2.20,0.00,0.000,6,0.000,0.037,3567,1805,1382,0,0,0,0,0,0
$GC,12091,1.21,119.4,220.2,12.5,787,12095,0.00,2.22,0.00,0.000,4,0.000,0.048,3577,384,1382,0,0,0,0,0,0
$GC,12224,1.21,119.4,202.3,13.8,798,12230,0.00,2.20,0.00,0.000,6,0.000,0.037,3576,1787,1382,0,0,0,0,0,0
$GC,12553,1.21,119.4,161.5,11.3,829,12557,0.00,2.20,0.00,0.000,4,0.000,0.047,3586,388,1382,0,0,0,0,0,0
$GC,12708,1.21,119.4,140.9,12.8,842,12714,0.00,2.20,0.00,0.000,6,0.000,0.038,3586,1788,1382,0,0,0,0,0,0
$GC,13035,1.21,119.4,99.5,12.4,873,13043,0.00,2.22,0.00,0.000,4,0.000,0.047,3595,391,1382,0,0,0,0,0,0
$GC,13165,1.18,119.4,82.7,13.4,895,13171,0.12,2.17,0.00,0.000,6,0.194,0.038,3564,1799,1382,0,0,0,0,0,0
$GC,13513,1.21,119.4,45.9,12.3,956,13519,0.00,2.20,0.00,0.000,4,0.000,0.047,3573,387,1382,0,0,0,0,0,0
$GC,13731,1.21,119.4,15.4,14.6,992,13738,0.00,2.20,0.00,0.000,6,0.000,0.040,3573,1785,1382,0,0,0,0,0,0
$GC,13789,1.17,119.4,6.2,15.8,1001,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1785,1382,0,0,0,0,0,0
$STATE,13808,end climb,SURFACE_DEPTH_REACHED
$STATE,13809,begin surface coast
$FINISH,1.2,1.023371
$STATE,13829,end surface coast,CONTROL_FINISHED_OK
$STATE,13829,begin surface
$SM_CCo,13844,47.15,0.057,0,0,983,220.03
$SM_GC,2.44,0.00,0.00,47.15,0.000,0.000,0.057,84,2048,983,-9.69,0.23,220.03
$IRIDIUM_FIX,-4444.39,633.87,260508,040451
$TT8_MAMPS,0.026964
$HUMID,61.93
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.4,7.128
$10V_AH,10.2,4.202
$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,24.125,112.000,221.800,47.150,0.000,53.934,73.082,391.676,0.000,0.000,35.469,2533.355,8535.561,374.885,3046.871,109.331,0.000,1404.307,0.000,2350.675,0.000,0.540,0.000
$DEVICE_MAMPS,276.165,84.150,1306.620,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.229,1837.282,748.158,400.228,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,70343,1007
$CAP_FILE_SIZE,140403,0
$CFSIZE,2097086464,2090827776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300715,190057,-4459.300,628.714,41,0.9,42,-24.4