version: 66.07.10.p01
glider: 573
mission: 12
dive: 33
start: 8 3 115 10 29 23
data:
$ID,573
$MISSION,12
$DIVE,33
$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,-21093.375
$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,39
$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,32
$GPS1,030815,102155,-4500.796,632.724,26,2.3,45,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-69.8
$GPS2,030815,102903,-4500.849,632.704,39,0.9,39,-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,318.3,3874,-25.0,-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,-1.23,-77.8,0.0,0.0,0,64,0.00,0.00,-38.08,0.000,2,0.000,0.000,65,2060,1855,0,0,0,0,0,0
$GC,66,-1.31,-145.9,3.3,-3.7,6,106,11.15,2.22,-23.02,0.000,4,0.259,0.070,2744,3442,2496,0,0,0,0,0,0
$GC,373,-1.14,-145.9,66.9,-25.2,57,381,0.22,2.20,0.00,0.000,6,0.191,0.042,2808,2052,2500,0,0,0,0,0,0
$GC,717,-1.04,-145.9,131.3,-17.7,103,721,0.12,2.22,0.00,0.000,4,0.197,0.061,2830,3436,2500,0,0,0,0,0,0
$GC,794,-1.00,-145.9,144.1,-15.9,109,800,0.08,2.20,0.00,0.000,6,0.183,0.041,2854,2040,2501,0,0,0,0,0,0
$GC,1119,-1.00,-145.9,193.9,-15.7,140,1123,0.00,2.22,0.00,0.000,4,0.000,0.054,2854,632,2501,0,0,0,0,0,0
$GC,1150,-0.96,-145.9,199.3,-16.2,142,1157,0.08,2.22,0.00,0.000,6,0.190,0.041,2868,2034,2501,0,0,0,0,0,0
$GC,1479,-0.96,-145.9,246.9,-14.7,173,1483,0.00,2.28,0.00,0.000,4,0.000,0.063,2857,3454,2502,0,0,0,0,0,0
$GC,1531,-0.96,-145.9,255.0,-15.0,177,1536,0.05,2.20,0.00,0.000,6,0.237,0.041,2868,2028,2501,0,0,0,0,0,0
$GC,1855,-0.96,-145.9,304.4,-15.2,207,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2028,2502,0,0,0,0,0,0
$GC,2176,-0.96,-145.9,353.9,-15.6,237,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2028,2502,0,0,0,0,0,0
$GC,2492,-0.96,-145.9,401.1,-14.9,267,2496,0.00,2.28,0.00,0.000,4,0.000,0.061,2857,3445,2502,0,0,0,0,0,0
$GC,2513,-0.96,-145.9,404.6,-15.0,268,2518,0.00,2.17,0.00,0.000,6,0.000,0.041,2858,2046,2502,0,0,0,0,0,0
$GC,2840,-0.96,-145.9,452.6,-14.3,284,2842,0.05,0.00,0.00,0.000,6,0.243,0.000,2867,2046,2502,0,0,0,0,0,0
$GC,3150,-0.96,-145.9,493.7,-12.7,299,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2046,2502,0,0,0,0,0,0
$GC,3459,-0.96,-145.9,534.5,-13.1,314,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2046,2502,0,0,0,0,0,0
$GC,3768,-0.96,-145.9,575.4,-13.2,329,3772,0.00,2.22,0.00,0.000,4,0.000,0.061,2858,3446,2502,0,0,0,0,0,0
$GC,3839,-0.96,-145.9,585.2,-13.1,332,3845,0.03,2.17,0.00,0.000,6,0.207,0.041,2866,2046,2501,0,0,0,0,0,0
$GC,4161,-0.96,-145.9,628.1,-13.1,348,4165,0.00,2.25,0.00,0.000,4,0.000,0.060,2857,3453,2501,0,0,0,0,0,0
$GC,4209,-0.96,-145.9,635.0,-13.3,350,4215,0.03,2.20,0.00,0.000,6,0.204,0.041,2866,2036,2500,0,0,0,0,0,0
$GC,4530,-0.96,-145.9,677.0,-13.4,366,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2036,2500,0,0,0,0,0,0
$GC,4840,-0.98,-145.9,717.6,-13.2,381,4844,0.00,2.28,0.00,0.000,4,0.000,0.063,2856,3454,2500,0,0,0,0,0,0
$GC,4894,-0.98,-145.9,725.3,-13.8,383,4901,0.00,2.20,0.00,0.000,6,0.000,0.041,2856,2038,2499,0,0,0,0,0,0
$GC,5211,-0.98,-145.9,769.0,-14.1,399,5215,0.00,2.25,0.00,0.000,4,0.000,0.061,2847,3445,2499,0,0,0,0,0,0
$GC,5276,-0.98,-145.9,778.5,-14.0,402,5282,0.05,2.17,0.00,0.000,6,0.184,0.041,2863,2047,2499,0,0,0,0,0,0
$GC,5604,-1.00,-145.9,822.1,-13.4,418,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2047,2499,0,0,0,0,0,0
$GC,5913,-1.03,-145.9,862.4,-13.0,433,5918,0.00,2.25,0.00,0.000,4,0.000,0.061,2853,3453,2499,0,0,0,0,0,0
$GC,5990,-1.03,-145.9,872.9,-13.0,436,5997,0.00,2.20,0.00,0.000,6,0.000,0.041,2853,2036,2499,0,0,0,0,0,0
$GC,6307,-1.03,-145.9,913.2,-12.7,452,6311,0.00,2.25,0.00,0.000,4,0.000,0.062,2844,3447,2499,0,0,0,0,0,0
$GC,6368,-1.03,-145.9,921.4,-13.3,455,6372,0.00,2.17,0.00,0.000,6,0.000,0.041,2844,2027,2498,0,0,0,0,0,0
$GC,6694,-1.03,-145.9,962.3,-12.3,471,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2027,2498,0,0,0,0,0,0
$STATE,7003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7003,begin apogee
$GC,7006,-0.23,0.0,1000.1,12.2,486,7144,0.88,0.00,133.25,1.295,6,0.164,0.000,3109,1747,1900,0,0,0,0,0,0
$STATE,7145,end apogee,CONTROL_FINISHED_OK
$STATE,7145,begin climb
$GC,7146,1.31,145.9,1003.9,0.0,493,7292,1.50,2.42,137.07,1.251,4,0.095,0.047,3605,343,1305,0,0,0,0,0,0
$GC,7394,1.21,145.9,967.3,19.9,504,7400,0.12,2.33,0.00,0.000,6,0.187,0.033,3576,1758,1297,0,0,0,0,0,0
$GC,7709,1.16,145.9,911.4,17.6,520,7714,0.08,2.30,0.00,0.000,4,0.207,0.045,3570,351,1295,0,0,0,0,0,0
$GC,7848,1.11,145.9,886.5,17.3,526,7853,0.08,2.25,0.00,0.000,6,0.173,0.033,3547,1747,1295,0,0,0,0,0,0
$GC,8169,1.11,145.9,833.8,16.1,542,8173,0.00,2.25,0.00,0.000,4,0.000,0.045,3556,351,1293,0,0,0,0,0,0
$GC,8217,1.07,145.9,825.1,18.3,544,8222,0.08,2.22,0.00,0.000,6,0.177,0.034,3533,1750,1293,0,0,0,0,0,0
$GC,8540,1.07,145.9,776.0,15.2,560,8544,0.00,2.22,0.00,0.000,4,0.000,0.046,3541,351,1293,0,0,0,0,0,0
$GC,8611,1.07,145.9,764.3,17.0,563,8616,0.00,2.20,0.00,0.000,6,0.000,0.033,3541,1738,1292,0,0,0,0,0,0
$GC,8933,1.07,145.9,714.2,15.8,579,8937,0.00,2.22,0.00,0.000,4,0.000,0.046,3550,350,1292,0,0,0,0,0,0
$GC,8987,1.05,145.9,705.2,16.0,581,8994,0.08,2.20,0.00,0.000,6,0.174,0.032,3527,1754,1292,0,0,0,0,0,0
$GC,9303,1.05,145.9,660.0,14.1,597,9307,0.00,2.25,0.00,0.000,4,0.000,0.046,3536,342,1292,0,0,0,0,0,0
$GC,9373,1.05,145.9,649.5,14.7,600,9378,0.00,2.20,0.00,0.000,6,0.000,0.032,3536,1742,1291,0,0,0,0,0,0
$GC,9695,1.05,145.9,604.3,13.9,616,9699,0.00,2.20,0.00,0.000,4,0.000,0.045,3545,345,1291,0,0,0,0,0,0
$GC,9772,1.05,145.9,592.9,15.0,619,9779,0.05,2.20,0.00,0.000,6,0.182,0.032,3528,1757,1291,0,0,0,0,0,0
$GC,10088,1.05,145.9,549.9,13.7,635,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1757,1291,0,0,0,0,0,0
$GC,10398,1.05,145.9,508.4,13.2,650,10402,0.00,2.22,0.00,0.000,4,0.000,0.046,3537,349,1291,0,0,0,0,0,0
$GC,10469,1.05,145.9,498.4,14.5,653,10474,0.03,2.17,0.00,0.000,6,0.201,0.033,3529,1747,1291,0,0,0,0,0,0
$GC,10791,1.07,145.9,457.3,12.7,669,10795,0.00,2.22,0.00,0.000,4,0.000,0.044,3537,339,1291,0,0,0,0,0,0
$GC,10852,1.07,145.9,448.9,13.3,672,10856,0.00,2.17,0.00,0.000,6,0.000,0.033,3538,1751,1291,0,0,0,0,0,0
$GC,11177,1.07,145.9,404.6,13.8,688,11181,0.00,2.22,0.00,0.000,4,0.000,0.045,3546,341,1291,0,0,0,0,0,0
$GC,11231,1.07,145.9,396.6,14.4,691,11239,0.05,2.20,0.00,0.000,6,0.183,0.032,3531,1759,1291,0,0,0,0,0,0
$GC,11558,1.09,145.9,352.8,13.6,722,11562,0.00,2.20,0.00,0.000,4,0.000,0.046,3539,349,1291,0,0,0,0,0,0
$GC,11653,1.09,145.9,338.9,13.8,730,11658,0.00,2.15,0.00,0.000,6,0.000,0.032,3540,1752,1291,0,0,0,0,0,0
$GC,11977,1.09,145.9,293.8,14.2,760,11981,0.00,2.20,0.00,0.000,4,0.000,0.045,3548,344,1290,0,0,0,0,0,0
$GC,12056,1.09,145.9,282.3,15.0,766,12061,0.00,2.15,0.00,0.000,6,0.000,0.032,3548,1749,1291,0,0,0,0,0,0
$GC,12382,1.09,145.9,234.9,14.8,797,12386,0.00,2.20,0.00,0.000,4,0.000,0.045,3557,339,1291,0,0,0,0,0,0
$GC,12460,1.07,145.9,222.4,15.5,803,12467,0.08,2.20,0.00,0.000,6,0.174,0.032,3534,1760,1291,0,0,0,0,0,0
$GC,12786,1.09,145.9,175.5,14.1,834,12787,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1760,1291,0,0,0,0,0,0
$GC,13104,1.09,145.9,131.1,13.1,864,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1760,1291,0,0,0,0,0,0
$GC,13430,1.12,145.9,88.0,13.3,901,13435,0.00,2.22,0.00,0.000,4,0.000,0.046,3543,344,1291,0,0,0,0,0,0
$GC,13657,1.12,145.9,57.0,13.7,941,13663,0.00,2.12,0.00,0.000,6,0.000,0.031,3543,1749,1291,0,0,0,0,0,0
$GC,14021,1.12,145.9,6.4,13.9,1002,14028,0.00,2.22,0.00,0.000,4,0.000,0.044,3552,348,1291,0,0,0,0,0,0
$STATE,14047,end climb,SURFACE_DEPTH_REACHED
$STATE,14048,begin surface coast
$FINISH,1.5,1.023190
$STATE,14074,end surface coast,CONTROL_FINISHED_OK
$STATE,14074,begin surface
$SM_CCo,14092,26.75,0.058,0,0,1062,205.07
$SM_GC,1.96,0.00,0.00,26.75,0.000,0.000,0.058,67,2033,1062,-9.74,-0.20,205.07
$IRIDIUM_FIX,-4441.36,630.84,290508,191955
$TT8_MAMPS,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.3,9.501
$10V_AH,10.2,6.566
$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,23.950,116.275,270.325,26.750,0.000,27.277,41.987,231.555,0.000,0.000,41.783,2514.446,8809.762,390.777,2728.678,102.912,0.000,1376.170,0.000,2249.611,0.000,0.540,0.000
$DEVICE_MAMPS,258.570,70.380,1295.145,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.289,1846.979,721.791,387.111,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353752
$DATA_FILE_SIZE,70359,1010
$CAP_FILE_SIZE,134192,0
$CFSIZE,2097086464,2087813120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030815,142603,-4459.956,631.801,47,0.9,48,-24.4