version: 66.07.10.p01
glider: 573
mission: 12
dive: 22
start: 8 1 115 14 36 20
data:
$ID,573
$MISSION,12
$DIVE,22
$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,-21065.629
$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,38
$R_STBD_OVSHOOT,56
$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,21
$GPS1,010815,142833,-4459.562,630.777,86,0.9,86,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-58.0
$GPS2,010815,143600,-4459.555,630.885,34,0.8,34,-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,259.0,1422,-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,24,-1.34,-62.6,0.0,0.0,0,58,0.00,0.00,-32.45,0.000,2,0.000,0.000,81,2062,1744,0,0,0,0,0,0
$GC,60,-1.42,-126.8,3.2,-3.1,5,100,10.70,2.20,-22.25,0.000,4,0.249,0.072,2709,3431,2417,0,0,0,0,0,0
$GC,230,-1.24,-126.8,31.8,-22.0,32,237,0.25,2.20,0.00,0.000,6,0.199,0.042,2778,2046,2419,0,0,0,0,0,0
$GC,376,-1.16,-126.8,62.1,-20.2,57,383,0.12,0.00,0.00,0.000,6,0.220,0.000,2807,2046,2420,0,0,0,0,0,0
$GC,723,-1.12,-126.8,127.2,-19.0,105,727,0.05,2.25,0.00,0.000,4,0.255,0.060,2807,3428,2420,0,0,0,0,0,0
$GC,795,-1.12,-126.8,141.1,-17.3,111,799,0.00,2.17,0.00,0.000,6,0.000,0.041,2807,2025,2420,0,0,0,0,0,0
$GC,1121,-1.12,-126.8,194.6,-16.6,141,1123,0.05,0.00,0.00,0.000,6,0.243,0.000,2817,2025,2420,0,0,0,0,0,0
$GC,1437,-1.12,-126.8,247.0,-16.6,171,1441,0.00,2.17,0.00,0.000,4,0.000,0.051,2818,636,2420,0,0,0,0,0,0
$GC,1477,-1.10,-126.8,253.7,-17.5,174,1482,0.08,2.15,0.00,0.000,6,0.232,0.041,2825,2019,2420,0,0,0,0,0,0
$GC,1801,-1.10,-126.8,305.9,-16.2,204,1805,0.00,2.25,0.00,0.000,4,0.000,0.063,2814,3449,2421,0,0,0,0,0,0
$GC,1866,-1.10,-126.8,317.1,-16.6,209,1873,0.03,2.20,0.00,0.000,6,0.200,0.041,2822,2037,2421,0,0,0,0,0,0
$GC,2192,-1.10,-126.8,368.8,-15.4,240,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2037,2421,0,0,0,0,0,0
$GC,2507,-1.10,-126.8,417.4,-15.6,265,2511,0.00,2.28,0.00,0.000,4,0.000,0.062,2813,3452,2421,0,0,0,0,0,0
$GC,2539,-1.10,-126.8,422.7,-16.0,266,2545,0.00,2.20,0.00,0.000,6,0.000,0.041,2813,2039,2421,0,0,0,0,0,0
$GC,2855,-1.10,-126.8,473.0,-16.2,282,2857,0.08,0.00,0.00,0.000,6,0.220,0.000,2828,2038,2421,0,0,0,0,0,0
$GC,3165,-1.12,-126.8,520.2,-15.2,297,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2038,2421,0,0,0,0,0,0
$GC,3474,-1.14,-126.8,569.2,-16.0,312,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2039,2421,0,0,0,0,0,0
$GC,3784,-1.17,-126.8,617.8,-15.2,327,3785,0.08,0.00,0.00,0.000,6,0.130,0.000,2792,2039,2421,0,0,0,0,0,0
$GC,4093,-1.17,-126.8,668.0,-16.0,342,4097,0.00,2.25,0.00,0.000,4,0.000,0.063,2784,3441,2420,0,0,0,0,0,0
$GC,4177,-1.14,-126.8,682.0,-16.3,346,4182,0.12,2.15,0.00,0.000,6,0.195,0.043,2815,2039,2420,0,0,0,0,0,0
$GC,4504,-1.14,-126.8,731.0,-14.9,362,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2039,2421,0,0,0,0,0,0
$GC,4813,-1.14,-126.8,776.3,-14.5,377,4817,0.00,2.25,0.00,0.000,4,0.000,0.060,2805,3445,2420,0,0,0,0,0,0
$GC,4867,-1.14,-126.8,785.2,-16.0,379,4874,0.00,2.17,0.00,0.000,6,0.000,0.042,2805,2046,2419,0,0,0,0,0,0
$GC,5184,-1.14,-126.8,833.1,-14.8,395,5188,0.00,2.20,0.00,0.000,4,0.000,0.054,2805,635,2420,0,0,0,0,0,0
$GC,5204,-1.14,-126.8,836.4,-15.2,396,5209,0.05,2.20,0.00,0.000,6,0.207,0.042,2811,2036,2419,0,0,0,0,0,0
$GC,5531,-1.14,-126.8,883.1,-14.2,412,5535,0.00,2.22,0.00,0.000,4,0.000,0.063,2801,3443,2418,0,0,0,0,0,0
$GC,5563,-1.14,-126.8,887.8,-13.4,413,5569,0.00,2.17,0.00,0.000,6,0.000,0.042,2802,2042,2419,0,0,0,0,0,0
$GC,5879,-1.14,-126.8,932.6,-14.3,429,5881,0.05,0.00,0.00,0.000,6,0.240,0.000,2811,2042,2419,0,0,0,0,0,0
$GC,6189,-1.16,-126.8,974.4,-13.6,444,6193,0.00,2.22,0.00,0.000,4,0.000,0.061,2802,3442,2419,0,0,0,0,0,0
$GC,6299,-1.16,-126.8,990.3,-13.9,449,6304,0.00,2.17,0.00,0.000,6,0.000,0.042,2802,2040,2418,0,0,0,0,0,0
$STATE,6378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6378,begin apogee
$GC,6382,-0.23,0.0,1001.5,14.3,453,6501,1.02,0.00,115.88,1.302,6,0.176,0.000,3107,1746,1900,0,0,0,0,0,0
$STATE,6502,end apogee,CONTROL_FINISHED_OK
$STATE,6502,begin climb
$GC,6503,1.42,126.8,1005.3,0.0,459,6633,1.62,2.47,119.85,1.255,4,0.096,0.047,3641,342,1381,0,0,0,0,0,0
$GC,6654,1.32,126.8,986.8,19.5,466,6660,0.10,2.38,0.00,0.000,6,0.177,0.034,3613,1751,1378,0,0,0,0,0,0
$GC,6976,1.26,126.8,929.7,17.9,482,6981,0.10,2.28,0.00,0.000,4,0.215,0.045,3601,349,1374,0,0,0,0,0,0
$GC,7041,1.21,126.8,918.0,17.1,485,7047,0.08,2.25,0.00,0.000,6,0.181,0.034,3576,1743,1373,0,0,0,0,0,0
$GC,7369,1.21,126.8,868.8,15.2,501,7373,0.00,2.28,0.00,0.000,4,0.000,0.047,3585,340,1372,0,0,0,0,0,0
$GC,7521,1.18,126.8,844.3,16.7,508,7526,0.10,2.22,0.00,0.000,6,0.201,0.033,3562,1758,1371,0,0,0,0,0,0
$GC,7847,1.18,126.8,795.8,15.0,524,7851,0.00,2.28,0.00,0.000,4,0.000,0.046,3570,342,1371,0,0,0,0,0,0
$GC,8013,1.18,126.8,769.7,15.3,531,8020,0.00,2.20,0.00,0.000,6,0.000,0.032,3571,1742,1370,0,0,0,0,0,0
$GC,8329,1.18,126.8,720.7,16.2,547,8333,0.00,2.22,0.00,0.000,4,0.000,0.047,3580,348,1370,0,0,0,0,0,0
$GC,8378,1.15,126.8,712.4,17.1,549,8383,0.05,2.20,0.00,0.000,6,0.187,0.032,3564,1756,1370,0,0,0,0,0,0
$GC,8701,1.15,126.8,661.7,16.1,565,8705,0.00,2.25,0.00,0.000,4,0.000,0.047,3573,343,1370,0,0,0,0,0,0
$GC,8732,1.15,126.8,656.1,17.6,566,8739,0.05,2.20,0.00,0.000,6,0.187,0.033,3558,1751,1370,0,0,0,0,0,0
$GC,9049,1.15,126.8,607.6,15.1,582,9053,0.00,2.22,0.00,0.000,4,0.000,0.047,3566,348,1370,0,0,0,0,0,0
$GC,9142,1.15,126.8,593.0,15.8,586,9147,0.00,2.20,0.00,0.000,6,0.000,0.034,3566,1750,1369,0,0,0,0,0,0
$GC,9464,1.15,126.8,544.7,14.9,602,9468,0.00,2.22,0.00,0.000,4,0.000,0.046,3575,337,1369,0,0,0,0,0,0
$GC,9512,1.15,126.8,536.6,15.5,604,9518,0.05,2.22,0.00,0.000,6,0.187,0.034,3560,1765,1369,0,0,0,0,0,0
$GC,9834,1.18,126.8,490.4,14.1,620,9838,0.00,2.22,0.00,0.000,4,0.000,0.047,3569,348,1369,0,0,0,0,0,0
$GC,9968,1.18,126.8,471.2,14.7,626,9972,0.00,2.15,0.00,0.000,6,0.000,0.033,3569,1746,1369,0,0,0,0,0,0
$GC,10294,1.18,126.8,425.0,14.4,642,10298,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,340,1369,0,0,0,0,0,0
$GC,10415,1.18,126.8,406.1,15.7,647,10422,0.03,2.17,0.00,0.000,6,0.202,0.033,3569,1748,1369,0,0,0,0,0,0
$GC,10739,1.18,126.8,359.2,14.8,676,10743,0.00,2.22,0.00,0.000,4,0.000,0.046,3578,339,1369,0,0,0,0,0,0
$GC,10790,1.18,126.8,351.6,15.3,680,10794,0.05,2.17,0.00,0.000,6,0.235,0.034,3568,1758,1369,0,0,0,0,0,0
$GC,11114,1.18,126.8,307.7,13.6,710,11118,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,346,1369,0,0,0,0,0,0
$GC,11220,1.18,126.8,292.5,14.3,719,11225,0.00,2.15,0.00,0.000,6,0.000,0.033,3576,1749,1369,0,0,0,0,0,0
$GC,11547,1.18,126.8,248.0,14.3,749,11551,0.00,2.22,0.00,0.000,4,0.000,0.046,3586,338,1369,0,0,0,0,0,0
$GC,11619,1.18,126.8,237.0,14.6,755,11624,0.10,2.17,0.00,0.000,6,0.198,0.034,3562,1759,1369,0,0,0,0,0,0
$GC,11946,1.20,126.8,195.0,12.9,785,11950,0.00,2.22,0.00,0.000,4,0.000,0.046,3571,344,1369,0,0,0,0,0,0
$GC,12053,1.20,126.8,179.9,15.4,794,12057,0.00,2.15,0.00,0.000,6,0.000,0.032,3571,1752,1369,0,0,0,0,0,0
$GC,12377,1.20,126.8,134.5,13.7,824,12381,0.00,2.22,0.00,0.000,4,0.000,0.046,3580,339,1369,0,0,0,0,0,0
$GC,12450,1.20,126.8,123.9,14.9,830,12454,0.00,2.17,0.00,0.000,6,0.000,0.032,3580,1761,1369,0,0,0,0,0,0
$GC,12785,1.20,126.8,78.1,11.3,875,12790,0.00,2.22,0.00,0.000,4,0.000,0.047,3589,348,1369,0,0,0,0,0,0
$GC,12987,1.20,126.8,49.0,15.1,910,12993,0.08,2.15,0.00,0.000,6,0.215,0.032,3573,1765,1369,0,0,0,0,0,0
$STATE,13318,end climb,SURFACE_DEPTH_REACHED
$STATE,13318,begin surface coast
$FINISH,1.4,1.022824
$STATE,13345,end surface coast,CONTROL_FINISHED_OK
$STATE,13345,begin surface
$SM_CCo,13360,36.12,0.057,0,0,1063,205.07
$SM_GC,2.32,0.00,0.00,36.12,0.000,0.000,0.057,68,2045,1063,-9.74,0.14,205.07
$IRIDIUM_FIX,-4441.36,630.50,270508,232341
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,8.371
$10V_AH,10.2,5.432
$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,24.075,116.100,235.725,36.125,0.000,24.356,56.677,245.034,0.000,0.000,36.865,2445.239,8204.497,378.396,2718.778,97.052,0.000,1334.253,0.000,2224.456,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,71.910,1302.030,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.131,1787.530,721.799,393.782,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,66976,969
$CAP_FILE_SIZE,133028,0
$CFSIZE,2097086464,2089254912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010815,182050,-4500.739,629.162,19,2.5,38,-24.4