version: 66.07.10.p01
glider: 573
mission: 12
dive: 26
start: 8 2 115 6 13 37
data:
$ID,573
$MISSION,12
$DIVE,26
$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,-21075.934
$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,39
$R_STBD_OVSHOOT,42
$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,25
$GPS1,020815,060633,-4459.903,629.177,24,1.2,25,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-69.9
$GPS2,020815,061317,-4459.888,629.202,20,0.8,20,-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,125.6,1065,-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,23,begin dive
$GC,24,-1.34,-62.6,0.0,0.0,0,58,0.00,0.00,-32.12,0.000,2,0.000,0.000,82,2051,1728,0,0,0,0,0,0
$GC,60,-1.41,-117.9,3.2,-4.1,5,105,10.98,2.28,-26.35,0.000,4,0.259,0.073,2713,3436,2378,0,0,0,0,0,0
$GC,297,-1.25,-117.9,43.6,-22.4,43,302,0.25,2.17,0.00,0.000,6,0.199,0.040,2777,2036,2381,0,0,0,0,0,0
$GC,646,-1.17,-117.9,112.9,-19.4,99,651,0.12,2.20,0.00,0.000,4,0.218,0.052,2805,633,2381,0,0,0,0,0,0
$GC,696,-1.11,-117.9,122.4,-18.7,103,701,0.10,2.20,0.00,0.000,6,0.218,0.044,2820,2030,2381,0,0,0,0,0,0
$GC,1023,-1.11,-117.9,176.0,-16.0,133,1027,0.00,2.25,0.00,0.000,4,0.000,0.062,2810,3445,2381,0,0,0,0,0,0
$GC,1201,-1.11,-117.9,204.6,-15.3,148,1210,0.03,2.20,0.00,0.000,6,0.198,0.041,2818,2033,2381,0,0,0,0,0,0
$GC,1527,-1.11,-117.9,254.5,-15.1,179,1531,0.00,2.20,0.00,0.000,4,0.000,0.053,2818,629,2382,0,0,0,0,0,0
$GC,1577,-1.08,-117.9,262.5,-16.3,183,1582,0.10,2.22,0.00,0.000,6,0.213,0.042,2832,2053,2382,0,0,0,0,0,0
$GC,1903,-1.08,-117.9,310.7,-15.0,213,1907,0.00,2.20,0.00,0.000,4,0.000,0.060,2822,3444,2383,0,0,0,0,0,0
$GC,1943,-1.08,-117.9,316.9,-15.0,216,1947,0.00,2.15,0.00,0.000,6,0.000,0.040,2822,2038,2382,0,0,0,0,0,0
$GC,2267,-1.08,-117.9,365.2,-15.2,246,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2037,2383,0,0,0,0,0,0
$GC,2593,-1.08,-117.9,412.3,-13.9,273,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2037,2383,0,0,0,0,0,0
$GC,2903,-1.08,-117.9,456.0,-13.9,288,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2037,2382,0,0,0,0,0,0
$GC,3212,-1.08,-117.9,498.2,-13.2,303,3216,0.00,2.17,0.00,0.000,4,0.000,0.051,2822,641,2383,0,0,0,0,0,0
$GC,3243,-1.08,-117.9,502.6,-13.9,304,3250,0.05,2.20,0.00,0.000,6,0.197,0.041,2828,2040,2383,0,0,0,0,0,0
$GC,3560,-1.08,-117.9,542.4,-12.5,320,3564,0.00,2.25,0.00,0.000,4,0.000,0.065,2818,3452,2382,0,0,0,0,0,0
$GC,3621,-1.08,-117.9,550.6,-13.2,323,3626,0.08,2.17,0.00,0.000,6,0.214,0.041,2833,2032,2383,0,0,0,0,0,0
$GC,3948,-1.10,-117.9,594.0,-13.5,339,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2032,2383,0,0,0,0,0,0
$GC,4257,-1.13,-117.9,637.1,-13.9,354,4261,0.00,2.28,0.00,0.000,4,0.000,0.063,2825,3446,2382,0,0,0,0,0,0
$GC,4288,-1.13,-117.9,641.9,-14.9,355,4295,0.00,2.17,0.00,0.000,6,0.000,0.042,2824,2045,2382,0,0,0,0,0,0
$GC,4605,-1.13,-117.9,686.5,-14.1,371,4609,0.00,2.25,0.00,0.000,4,0.000,0.062,2815,3456,2382,0,0,0,0,0,0
$GC,4644,-1.13,-117.9,692.1,-14.3,373,4648,0.00,2.17,0.00,0.000,6,0.000,0.041,2815,2033,2382,0,0,0,0,0,0
$GC,4970,-1.13,-117.9,739.7,-14.5,389,4974,0.00,2.28,0.00,0.000,4,0.000,0.063,2806,3450,2382,0,0,0,0,0,0
$GC,4996,-1.13,-117.9,743.9,-15.0,390,5001,0.00,2.17,0.00,0.000,6,0.000,0.041,2806,2043,2381,0,0,0,0,0,0
$GC,5317,-1.13,-117.9,791.6,-15.0,406,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2043,2381,0,0,0,0,0,0
$GC,5626,-1.13,-117.9,836.6,-14.5,421,5631,0.03,2.28,0.00,0.000,4,0.277,0.062,2806,3457,2381,0,0,0,0,0,0
$GC,5680,-1.13,-117.9,844.6,-14.2,423,5687,0.00,2.20,0.00,0.000,6,0.000,0.041,2805,2032,2381,0,0,0,0,0,0
$GC,5996,-1.13,-117.9,889.7,-14.4,439,5998,0.05,0.00,0.00,0.000,6,0.243,0.000,2815,2032,2381,0,0,0,0,0,0
$GC,6306,-1.15,-117.9,930.9,-13.2,454,6310,0.00,2.28,0.00,0.000,4,0.000,0.063,2806,3460,2381,0,0,0,0,0,0
$GC,6382,-1.15,-117.9,941.5,-13.0,457,6389,0.00,2.20,0.00,0.000,6,0.000,0.041,2806,2039,2380,0,0,0,0,0,0
$GC,6699,-1.15,-117.9,983.7,-13.1,473,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2039,2381,0,0,0,0,0,0
$STATE,6842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6842,begin apogee
$GC,6846,-0.23,0.0,1002.7,13.0,480,6957,1.00,0.00,107.90,1.304,6,0.174,0.000,3103,1745,1899,0,0,0,0,0,0
$STATE,6958,end apogee,CONTROL_FINISHED_OK
$STATE,6958,begin climb
$GC,6959,1.41,117.9,1006.2,0.0,485,7080,1.62,2.45,111.65,1.255,4,0.098,0.047,3638,345,1419,0,0,0,0,0,0
$GC,7113,1.30,117.9,987.3,19.5,493,7118,0.10,2.38,0.00,0.000,6,0.179,0.034,3610,1759,1414,0,0,0,0,0,0
$GC,7440,1.26,117.9,931.0,17.1,509,7445,0.10,2.30,0.00,0.000,4,0.212,0.045,3597,339,1409,0,0,0,0,0,0
$GC,7534,1.20,117.9,914.6,17.9,513,7539,0.08,2.28,0.00,0.000,6,0.185,0.034,3574,1753,1409,0,0,0,0,0,0
$GC,7855,1.20,117.9,865.9,14.8,529,7859,0.00,2.28,0.00,0.000,4,0.000,0.046,3583,346,1408,0,0,0,0,0,0
$GC,7920,1.16,117.9,855.4,16.0,532,7926,0.08,2.25,0.00,0.000,6,0.178,0.034,3560,1759,1407,0,0,0,0,0,0
$GC,8247,1.16,117.9,808.3,14.6,548,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1759,1407,0,0,0,0,0,0
$GC,8557,1.16,117.9,762.1,15.2,563,8561,0.00,2.28,0.00,0.000,4,0.000,0.046,3571,335,1407,0,0,0,0,0,0
$GC,8599,1.16,117.9,755.2,15.8,565,8604,0.00,2.22,0.00,0.000,6,0.000,0.034,3570,1743,1406,0,0,0,0,0,0
$GC,8927,1.16,117.9,705.4,15.2,581,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1744,1406,0,0,0,0,0,0
$GC,9236,1.16,117.9,658.2,15.3,596,9240,0.00,2.20,0.00,0.000,4,0.000,0.046,3579,345,1406,0,0,0,0,0,0
$GC,9357,1.13,117.9,638.6,16.5,601,9364,0.08,2.20,0.00,0.000,6,0.176,0.034,3556,1752,1406,0,0,0,0,0,0
$GC,9674,1.13,117.9,593.9,13.9,617,9678,0.00,2.22,0.00,0.000,4,0.000,0.046,3564,346,1406,0,0,0,0,0,0
$GC,9722,1.13,117.9,586.7,15.3,619,9727,0.03,2.20,0.00,0.000,6,0.209,0.034,3556,1754,1406,0,0,0,0,0,0
$GC,10044,1.13,117.9,544.2,13.2,635,10048,0.00,2.22,0.00,0.000,4,0.000,0.046,3565,341,1405,0,0,0,0,0,0
$GC,10090,1.13,117.9,538.2,13.3,637,10095,0.05,2.17,0.00,0.000,6,0.243,0.034,3554,1752,1405,0,0,0,0,0,0
$GC,10416,1.16,117.9,496.0,12.7,653,10420,0.00,2.22,0.00,0.000,4,0.000,0.045,3563,343,1405,0,0,0,0,0,0
$GC,10501,1.16,117.9,484.4,14.1,657,10505,0.00,2.17,0.00,0.000,6,0.000,0.033,3561,1753,1405,0,0,0,0,0,0
$GC,10827,1.16,117.9,440.7,13.8,673,10831,0.00,2.20,0.00,0.000,4,0.000,0.045,3570,345,1405,0,0,0,0,0,0
$GC,10934,1.16,117.9,425.3,14.6,678,10938,0.00,2.17,0.00,0.000,6,0.000,0.034,3569,1755,1405,0,0,0,0,0,0
$GC,11255,1.16,117.9,379.4,14.7,700,11259,0.00,2.22,0.00,0.000,4,0.000,0.045,3578,344,1405,0,0,0,0,0,0
$GC,11351,1.16,117.9,364.3,16.9,708,11355,0.08,2.17,0.00,0.000,6,0.206,0.034,3562,1759,1405,0,0,0,0,0,0
$GC,11675,1.18,117.9,317.7,13.6,738,11679,0.00,2.22,0.00,0.000,4,0.000,0.046,3571,345,1405,0,0,0,0,0,0
$GC,11736,1.18,117.9,308.7,14.7,743,11740,0.00,2.15,0.00,0.000,6,0.000,0.033,3571,1746,1405,0,0,0,0,0,0
$GC,12063,1.18,117.9,264.0,13.5,773,12067,0.00,2.20,0.00,0.000,4,0.000,0.045,3580,345,1405,0,0,0,0,0,0
$GC,12124,1.18,117.9,255.1,14.5,778,12129,0.08,2.17,0.00,0.000,6,0.210,0.034,3564,1765,1405,0,0,0,0,0,0
$GC,12448,1.18,117.9,212.1,13.1,808,12452,0.00,2.22,0.00,0.000,4,0.000,0.046,3573,336,1405,0,0,0,0,0,0
$GC,12533,1.18,117.9,200.8,13.8,815,12537,0.00,2.17,0.00,0.000,6,0.000,0.034,3573,1753,1405,0,0,0,0,0,0
$GC,12859,1.18,117.9,156.6,13.9,845,12863,0.00,2.22,0.00,0.000,4,0.000,0.045,3582,337,1404,0,0,0,0,0,0
$GC,12912,1.18,117.9,148.7,15.0,849,12916,0.08,2.17,0.00,0.000,6,0.210,0.034,3566,1757,1405,0,0,0,0,0,0
$GC,13241,1.20,117.9,101.2,13.3,880,13245,0.00,2.17,0.00,0.000,4,0.000,0.057,3566,3144,1405,0,0,0,0,0,0
$GC,13323,1.20,117.9,90.3,13.3,892,13329,0.00,2.12,0.00,0.000,6,0.000,0.031,3574,1740,1404,0,0,0,0,0,0
$GC,13672,1.20,117.9,43.1,13.6,953,13677,0.00,2.12,0.00,0.000,4,0.000,0.047,3585,355,1405,0,0,0,0,0,0
$GC,13762,1.20,117.9,30.5,13.7,968,13770,0.03,2.15,0.00,0.000,6,0.208,0.034,3577,1750,1404,0,0,0,0,0,0
$GC,13919,1.22,117.9,8.6,14.0,993,13926,0.00,2.22,0.00,0.000,4,0.000,0.047,3586,348,1404,0,0,0,0,0,0
$GC,13934,1.22,117.9,6.4,13.7,995,13942,0.00,2.17,0.00,0.000,6,0.000,0.034,3585,1745,1404,0,0,0,0,0,0
$STATE,13961,end climb,SURFACE_DEPTH_REACHED
$STATE,13961,begin surface coast
$FINISH,1.4,1.023378
$STATE,13987,end surface coast,CONTROL_FINISHED_OK
$STATE,13987,begin surface
$SM_CCo,14003,39.90,0.057,0,0,1061,205.07
$SM_GC,2.89,0.00,0.00,39.90,0.000,0.000,0.057,79,2072,1061,-9.71,0.90,205.07
$IRIDIUM_FIX,-4441.36,627.47,280508,151543
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,8.783
$10V_AH,10.2,5.833
$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,24.300,129.375,219.550,39.900,0.000,26.373,20.747,249.527,0.000,0.000,22.362,2524.815,8736.343,367.186,2715.917,104.938,0.000,1357.612,0.000,2257.021,0.000,0.539,0.000
$DEVICE_MAMPS,276.930,73.440,1304.325,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.825,1853.180,731.676,401.400,0.000,0.000,0.000,0.000,0.000,0.000
$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,70475,1003
$CAP_FILE_SIZE,139194,0
$CFSIZE,2097086464,2088730624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020815,100851,-4500.986,631.788,36,0.9,37,-24.4