version: 66.07.10.p01
glider: 573
mission: 12
dive: 21
start: 8 1 115 10 36 0
data:
$ID,573
$MISSION,12
$DIVE,21
$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,205
$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,-21063.219
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,40
$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,1900
$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,20
$GPS1,010815,102902,-4500.277,632.088,29,1.1,29,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-63.2
$GPS2,010815,103540,-4500.267,632.226,19,1.2,19,-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,304.0,2956,-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,-62.6,0.0,0.0,0,58,0.00,0.00,-32.85,0.000,2,0.000,0.000,78,2062,1746,0,0,0,0,0,0
$GC,60,-1.41,-121.5,3.2,-3.7,5,99,10.80,2.20,-21.62,0.000,4,0.252,0.070,2711,3437,2392,0,0,0,0,0,0
$GC,199,-1.25,-121.5,26.5,-22.4,27,208,0.22,2.20,0.00,0.000,6,0.203,0.041,2772,2046,2395,0,0,0,0,0,0
$GC,350,-1.17,-121.5,58.6,-18.1,52,356,0.12,2.25,0.00,0.000,4,0.226,0.059,2791,3436,2395,0,0,0,0,0,0
$GC,396,-1.11,-121.5,67.4,-18.7,60,405,0.08,2.20,0.00,0.000,6,0.194,0.040,2815,2037,2395,0,0,0,0,0,0
$GC,736,-1.09,-121.5,127.4,-18.6,107,740,0.08,2.22,0.00,0.000,4,0.221,0.052,2833,633,2395,0,0,0,0,0,0
$GC,778,-1.09,-121.5,135.4,-17.2,110,785,0.00,2.22,0.00,0.000,6,0.000,0.042,2824,2030,2395,0,0,0,0,0,0
$GC,1106,-1.09,-121.5,187.7,-16.2,141,1110,0.00,2.28,0.00,0.000,4,0.000,0.060,2813,3460,2396,0,0,0,0,0,0
$GC,1178,-1.09,-121.5,200.1,-17.4,147,1183,0.08,2.20,0.00,0.000,6,0.211,0.041,2828,2034,2396,0,0,0,0,0,0
$GC,1505,-1.09,-121.5,251.4,-16.1,177,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2034,2396,0,0,0,0,0,0
$GC,1821,-1.09,-121.5,302.4,-16.3,207,1825,0.00,2.30,0.00,0.000,4,0.000,0.061,2818,3462,2397,0,0,0,0,0,0
$GC,1886,-1.09,-121.5,314.0,-17.4,212,1895,0.00,2.20,0.00,0.000,6,0.000,0.040,2819,2047,2397,0,0,0,0,0,0
$GC,2212,-1.09,-121.5,367.6,-17.0,243,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2047,2397,0,0,0,0,0,0
$GC,2537,-1.09,-121.5,421.8,-16.8,268,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2046,2397,0,0,0,0,0,0
$GC,2847,-1.09,-121.5,471.1,-15.7,283,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2046,2397,0,0,0,0,0,0
$GC,3156,-1.09,-121.5,518.5,-15.2,298,3160,0.00,2.25,0.00,0.000,4,0.000,0.059,2809,3454,2397,0,0,0,0,0,0
$GC,3209,-1.09,-121.5,527.1,-15.9,300,3217,0.05,2.20,0.00,0.000,6,0.177,0.041,2825,2038,2397,0,0,0,0,0,0
$GC,3526,-1.11,-121.5,574.2,-14.7,316,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2038,2397,0,0,0,0,0,0
$GC,3836,-1.13,-121.5,619.4,-14.5,331,3840,0.00,2.28,0.00,0.000,4,0.000,0.061,2816,3460,2397,0,0,0,0,0,0
$GC,3875,-1.13,-121.5,625.4,-14.6,333,3879,0.00,2.17,0.00,0.000,6,0.000,0.040,2816,2034,2396,0,0,0,0,0,0
$GC,4201,-1.13,-121.5,674.7,-15.0,349,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2034,2396,0,0,0,0,0,0
$GC,4510,-1.13,-121.5,719.6,-14.6,364,4514,0.00,2.28,0.00,0.000,4,0.000,0.062,2807,3456,2395,0,0,0,0,0,0
$GC,4580,-1.13,-121.5,730.3,-14.5,367,4585,0.00,2.20,0.00,0.000,6,0.000,0.041,2807,2036,2396,0,0,0,0,0,0
$GC,4904,-1.13,-121.5,776.7,-14.5,383,4908,0.00,2.28,0.00,0.000,4,0.000,0.062,2798,3456,2395,0,0,0,0,0,0
$GC,4989,-1.13,-121.5,788.8,-14.0,387,4994,0.08,2.17,0.00,0.000,6,0.207,0.041,2813,2035,2395,0,0,0,0,0,0
$GC,5314,-1.13,-121.5,832.7,-13.5,403,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2035,2395,0,0,0,0,0,0
$GC,5624,-1.13,-121.5,875.5,-13.8,418,5628,0.00,2.28,0.00,0.000,4,0.000,0.063,2805,3458,2395,0,0,0,0,0,0
$GC,5685,-1.13,-121.5,884.2,-13.5,421,5689,0.00,2.15,0.00,0.000,6,0.000,0.041,2805,2035,2395,0,0,0,0,0,0
$GC,6016,-1.13,-121.5,929.2,-13.5,437,6020,0.00,2.28,0.00,0.000,4,0.000,0.061,2795,3461,2395,0,0,0,0,0,0
$GC,6047,-1.13,-121.5,933.8,-14.6,438,6054,0.05,2.20,0.00,0.000,6,0.187,0.041,2811,2039,2394,0,0,0,0,0,0
$GC,6363,-1.13,-121.5,975.8,-13.3,454,6367,0.00,2.25,0.00,0.000,4,0.000,0.060,2803,3451,2394,0,0,0,0,0,0
$GC,6406,-1.13,-121.5,982.0,-14.1,456,6411,0.00,2.17,0.00,0.000,6,0.000,0.041,2803,2042,2394,0,0,0,0,0,0
$STATE,6547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6547,begin apogee
$GC,6551,-0.23,0.0,1001.5,14.1,463,6668,1.02,0.00,109.97,1.306,6,0.176,0.000,3108,1747,1900,0,0,0,0,0,0
$STATE,6669,end apogee,CONTROL_FINISHED_OK
$STATE,6669,begin climb
$GC,6670,1.41,121.5,1005.8,0.0,469,6793,1.62,2.40,113.97,1.259,4,0.096,0.045,3644,350,1404,0,0,0,0,0,0
$GC,6848,1.31,121.5,983.0,19.3,477,6853,0.10,2.35,0.00,0.000,6,0.177,0.034,3609,1761,1398,0,0,0,0,0,0
$GC,7169,1.26,121.5,928.3,16.8,493,7174,0.08,2.30,0.00,0.000,4,0.227,0.045,3603,349,1395,0,0,0,0,0,0
$GC,7268,1.20,121.5,911.0,17.2,497,7275,0.10,2.25,0.00,0.000,6,0.180,0.033,3574,1755,1394,0,0,0,0,0,0
$GC,7584,1.20,121.5,860.7,16.2,513,7588,0.00,2.25,0.00,0.000,4,0.000,0.046,3582,348,1394,0,0,0,0,0,0
$GC,7759,1.17,121.5,831.1,17.2,521,7764,0.10,2.22,0.00,0.000,6,0.200,0.034,3559,1765,1393,0,0,0,0,0,0
$GC,8085,1.17,121.5,780.6,15.3,537,8089,0.00,2.28,0.00,0.000,4,0.000,0.047,3569,348,1393,0,0,0,0,0,0
$GC,8178,1.17,121.5,765.3,15.7,541,8183,0.00,2.20,0.00,0.000,6,0.000,0.032,3569,1746,1392,0,0,0,0,0,0
$GC,8501,1.17,121.5,716.8,14.8,557,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1746,1392,0,0,0,0,0,0
$GC,8811,1.17,121.5,671.4,14.6,572,8815,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,348,1392,0,0,0,0,0,0
$GC,8949,1.17,121.5,650.1,14.9,578,8954,0.05,2.20,0.00,0.000,6,0.184,0.034,3562,1758,1392,0,0,0,0,0,0
$GC,9271,1.17,121.5,604.9,14.6,594,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1758,1392,0,0,0,0,0,0
$GC,9580,1.17,121.5,561.1,14.0,609,9584,0.00,2.25,0.00,0.000,4,0.000,0.047,3571,338,1392,0,0,0,0,0,0
$GC,9667,1.17,121.5,548.3,14.9,613,9672,0.00,2.20,0.00,0.000,6,0.000,0.034,3571,1744,1391,0,0,0,0,0,0
$GC,9995,1.17,121.5,501.2,14.6,629,9999,0.00,2.20,0.00,0.000,4,0.000,0.045,3580,348,1391,0,0,0,0,0,0
$GC,10034,1.15,121.5,495.5,15.2,631,10039,0.10,2.17,0.00,0.000,6,0.200,0.034,3557,1764,1391,0,0,0,0,0,0
$GC,10361,1.17,121.5,450.4,13.7,647,10365,0.00,2.25,0.00,0.000,4,0.000,0.047,3565,343,1391,0,0,0,0,0,0
$GC,10459,1.17,121.5,436.4,13.8,651,10466,0.00,2.17,0.00,0.000,6,0.000,0.032,3565,1744,1391,0,0,0,0,0,0
$GC,10776,1.17,121.5,395.6,12.5,668,10780,0.00,2.20,0.00,0.000,4,0.000,0.045,3574,348,1390,0,0,0,0,0,0
$GC,10895,1.17,121.5,379.9,13.9,678,10899,0.00,2.15,0.00,0.000,6,0.000,0.033,3574,1753,1391,0,0,0,0,0,0
$GC,11219,1.17,121.5,337.3,13.8,708,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1753,1391,0,0,0,0,0,0
$GC,11538,1.17,121.5,294.9,12.8,738,11542,0.00,2.22,0.00,0.000,4,0.000,0.045,3584,341,1391,0,0,0,0,0,0
$GC,11661,1.17,121.5,277.6,14.1,748,11669,0.05,2.17,0.00,0.000,6,0.181,0.034,3568,1745,1391,0,0,0,0,0,0
$GC,11986,1.17,121.5,236.0,12.6,779,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1745,1391,0,0,0,0,0,0
$GC,12307,1.17,121.5,194.4,13.0,809,12311,0.00,2.20,0.00,0.000,4,0.000,0.046,3576,345,1390,0,0,0,0,0,0
$GC,12441,1.17,121.5,175.8,13.4,820,12449,0.00,2.17,0.00,0.000,6,0.000,0.033,3576,1754,1390,0,0,0,0,0,0
$GC,12766,1.17,121.5,135.9,11.9,851,12771,0.05,2.17,0.00,0.000,4,0.239,0.045,3575,346,1390,0,0,0,0,0,0
$GC,13012,1.17,121.5,103.6,12.7,872,13021,0.03,2.17,0.00,0.000,6,0.207,0.033,3567,1758,1390,0,0,0,0,0,0
$GC,13358,1.20,121.5,58.5,14.8,930,13366,0.00,2.25,0.00,0.000,4,0.000,0.047,3576,342,1390,0,0,0,0,0,0
$GC,13440,1.20,121.5,46.7,14.2,944,13445,0.00,2.12,0.00,0.000,6,0.000,0.032,3576,1749,1390,0,0,0,0,0,0
$STATE,13758,end climb,SURFACE_DEPTH_REACHED
$STATE,13759,begin surface coast
$FINISH,1.3,1.023329
$STATE,13779,end surface coast,CONTROL_FINISHED_OK
$STATE,13779,begin surface
$SM_CCo,13795,38.45,0.057,0,0,1063,205.07
$SM_GC,1.96,0.00,0.00,38.45,0.000,0.000,0.057,83,2062,1063,-9.69,0.62,205.07
$IRIDIUM_FIX,-4441.36,630.84,270508,202015
$TT8_MAMPS,0.026964
$HUMID,62.71
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,8.266
$10V_AH,10.2,5.330
$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,23.925,112.025,223.950,38.450,0.000,24.648,18.029,246.971,0.000,0.000,22.115,2506.914,8513.809,361.874,2748.528,102.885,0.000,1364.322,0.000,2295.381,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,70.380,1305.855,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,696.505,1831.139,728.397,392.473,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353736
$DATA_FILE_SIZE,70156,1000
$CAP_FILE_SIZE,133656,0
$CFSIZE,2097086464,2089385984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010815,142833,-4459.562,630.777,86,0.9,86,-24.4