version: 66.07.10.p01
glider: 573
mission: 12
dive: 41
start: 8 4 115 18 58 54
data:
$ID,573
$MISSION,12
$DIVE,41
$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,200
$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,-21112.191
$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,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,36
$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,1950
$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,40
$GPS1,040815,185134,-4500.188,630.753,26,1.0,27,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-64.2
$GPS2,040815,185834,-4500.251,630.840,16,1.0,16,-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,317.4,1194,-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,-32.60,0.000,2,0.000,0.000,81,2069,1802,0,0,0,0,0,0
$GC,60,-1.40,-115.2,3.1,-4.4,5,99,10.88,0.00,-24.52,0.000,6,0.255,0.000,2724,2068,2421,0,0,0,0,0,0
$GC,150,-1.25,-115.2,10.9,-17.1,19,158,0.20,2.30,0.00,0.000,4,0.205,0.063,2764,3454,2424,0,0,0,0,0,0
$GC,203,-1.15,-115.2,21.8,-20.9,27,211,0.15,2.22,0.00,0.000,6,0.195,0.041,2806,2055,2424,0,0,0,0,0,0
$GC,356,-1.10,-115.2,51.3,-18.9,52,362,0.10,0.00,0.00,0.000,6,0.205,0.000,2829,2055,2425,0,0,0,0,0,0
$GC,704,-1.10,-115.2,111.7,-17.9,108,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2055,2425,0,0,0,0,0,0
$GC,1023,-1.10,-115.2,166.0,-15.7,138,1028,0.00,2.28,0.00,0.000,4,0.000,0.063,2820,3471,2425,0,0,0,0,0,0
$GC,1065,-1.10,-115.2,171.9,-14.4,141,1069,0.00,2.17,0.00,0.000,6,0.000,0.041,2820,2050,2426,0,0,0,0,0,0
$GC,1394,-1.10,-115.2,220.9,-14.4,172,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2050,2426,0,0,0,0,0,0
$GC,1713,-1.10,-115.2,266.3,-14.7,202,1717,0.00,2.28,0.00,0.000,4,0.000,0.060,2811,3467,2426,0,0,0,0,0,0
$GC,1740,-1.10,-115.2,270.5,-15.0,204,1745,0.08,2.17,0.00,0.000,6,0.213,0.041,2826,2051,2426,0,0,0,0,0,0
$GC,2065,-1.10,-115.2,317.3,-14.6,234,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2051,2426,0,0,0,0,0,0
$GC,2383,-1.10,-115.2,363.1,-14.1,264,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2050,2427,0,0,0,0,0,0
$GC,2711,-1.10,-115.2,409.9,-14.1,292,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2051,2427,0,0,0,0,0,0
$GC,3020,-1.10,-115.2,455.8,-14.9,307,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2051,2427,0,0,0,0,0,0
$GC,3329,-1.10,-115.2,502.3,-15.0,322,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2051,2427,0,0,0,0,0,0
$GC,3638,-1.10,-115.2,548.3,-14.5,337,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2051,2427,0,0,0,0,0,0
$GC,3948,-1.10,-115.2,593.0,-14.1,352,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2051,2426,0,0,0,0,0,0
$GC,4257,-1.10,-115.2,636.1,-13.9,367,4261,0.00,2.25,0.00,0.000,4,0.000,0.060,2817,3460,2427,0,0,0,0,0,0
$GC,4296,-1.10,-115.2,641.7,-14.2,369,4300,0.00,2.15,0.00,0.000,6,0.000,0.041,2818,2053,2427,0,0,0,0,0,0
$GC,4622,-1.10,-115.2,689.4,-14.9,385,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2053,2426,0,0,0,0,0,0
$GC,4931,-1.10,-115.2,734.9,-14.3,400,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2053,2426,0,0,0,0,0,0
$GC,5241,-1.10,-115.2,779.1,-14.2,415,5245,0.00,2.25,0.00,0.000,4,0.000,0.060,2809,3462,2425,0,0,0,0,0,0
$GC,5302,-1.10,-115.2,788.1,-14.4,418,5307,0.08,2.15,0.00,0.000,6,0.210,0.041,2824,2057,2425,0,0,0,0,0,0
$GC,5630,-1.12,-115.2,832.1,-13.2,434,5634,0.00,2.22,0.00,0.000,4,0.000,0.062,2815,3469,2425,0,0,0,0,0,0
$GC,5717,-1.12,-115.2,844.7,-13.8,438,5722,0.00,2.17,0.00,0.000,6,0.000,0.041,2815,2069,2425,0,0,0,0,0,0
$GC,6045,-1.12,-115.2,887.4,-12.9,454,6049,0.00,2.22,0.00,0.000,4,0.000,0.059,2806,3468,2424,0,0,0,0,0,0
$GC,6138,-1.12,-115.2,899.8,-12.8,458,6143,0.00,2.20,0.00,0.000,6,0.000,0.041,2806,2048,2424,0,0,0,0,0,0
$GC,6460,-1.12,-115.2,939.6,-12.2,474,6461,0.05,0.00,0.00,0.000,6,0.241,0.000,2816,2048,2424,0,0,0,0,0,0
$GC,6769,-1.15,-115.2,976.4,-11.8,489,6773,0.00,2.25,0.00,0.000,4,0.000,0.059,2807,3469,2423,0,0,0,0,0,0
$GC,6786,-1.15,-115.2,978.6,-12.3,490,6790,0.00,2.15,0.00,0.000,6,0.000,0.040,2807,2058,2423,0,0,0,0,0,0
$STATE,6966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6966,begin apogee
$GC,6970,-0.23,0.0,1001.4,12.8,499,7079,1.00,0.00,105.53,1.298,6,0.172,0.000,3106,1729,1950,0,0,0,0,0,0
$STATE,7080,end apogee,CONTROL_FINISHED_OK
$STATE,7080,begin climb
$GC,7081,1.40,115.2,1004.6,0.0,504,7195,1.60,0.00,109.82,1.253,6,0.095,0.000,3626,1729,1479,0,0,0,0,0,0
$GC,7498,1.33,115.2,939.3,18.1,525,7502,0.00,2.28,0.00,0.000,4,0.000,0.045,3636,327,1471,0,0,0,0,0,0
$GC,7748,1.22,115.2,892.6,17.2,536,7754,0.17,2.25,0.00,0.000,6,0.178,0.031,3585,1734,1468,0,0,0,0,0,0
$GC,8071,1.20,115.2,843.8,14.9,552,8076,0.05,2.20,0.00,0.000,4,0.240,0.050,3575,3126,1467,0,0,0,0,0,0
$GC,8114,1.17,115.2,836.9,14.9,554,8119,0.08,2.17,0.00,0.000,6,0.189,0.030,3561,1725,1467,0,0,0,0,0,0
$GC,8441,1.17,115.2,792.0,14.1,570,8445,0.00,2.20,0.00,0.000,4,0.000,0.046,3571,323,1467,0,0,0,0,0,0
$GC,8541,1.15,115.2,777.3,14.9,574,8548,0.05,2.22,0.00,0.000,6,0.184,0.033,3556,1736,1467,0,0,0,0,0,0
$GC,8857,1.15,115.2,734.5,13.4,590,8861,0.00,2.22,0.00,0.000,4,0.000,0.045,3565,324,1467,0,0,0,0,0,0
$GC,8978,1.15,115.2,717.6,12.9,595,8985,0.00,2.20,0.00,0.000,6,0.000,0.031,3565,1727,1466,0,0,0,0,0,0
$GC,9294,1.15,115.2,673.1,14.2,611,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1728,1465,0,0,0,0,0,0
$GC,9604,1.15,115.2,628.4,14.6,626,9608,0.00,2.22,0.00,0.000,4,0.000,0.044,3574,322,1466,0,0,0,0,0,0
$GC,9675,1.13,115.2,617.2,15.6,629,9680,0.08,2.20,0.00,0.000,6,0.177,0.032,3552,1735,1465,0,0,0,0,0,0
$GC,9996,1.15,115.2,573.3,13.4,645,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1735,1465,0,0,0,0,0,0
$GC,10306,1.17,115.2,531.4,13.7,660,10310,0.00,2.22,0.00,0.000,4,0.000,0.044,3561,323,1465,0,0,0,0,0,0
$GC,10404,1.17,115.2,517.2,14.4,664,10411,0.00,2.17,0.00,0.000,6,0.000,0.031,3560,1726,1464,0,0,0,0,0,0
$GC,10721,1.17,115.2,473.4,14.0,680,10725,0.00,2.20,0.00,0.000,4,0.000,0.043,3569,325,1464,0,0,0,0,0,0
$GC,10768,1.17,115.2,466.2,15.0,682,10773,0.00,2.17,0.00,0.000,6,0.000,0.032,3569,1725,1464,0,0,0,0,0,0
$GC,11090,1.17,115.2,421.6,14.0,698,11094,0.00,2.20,0.00,0.000,4,0.000,0.043,3578,324,1464,0,0,0,0,0,0
$GC,11167,1.15,115.2,410.2,14.7,701,11174,0.05,2.17,0.00,0.000,6,0.177,0.032,3562,1733,1464,0,0,0,0,0,0
$GC,11490,1.15,115.2,368.1,12.6,728,11494,0.00,2.20,0.00,0.000,4,0.000,0.044,3571,328,1464,0,0,0,0,0,0
$GC,11555,1.15,115.2,359.7,13.6,733,11559,0.05,2.15,0.00,0.000,6,0.238,0.032,3561,1733,1464,0,0,0,0,0,0
$GC,11879,1.15,115.2,318.6,12.4,763,11883,0.00,2.17,0.00,0.000,4,0.000,0.044,3570,328,1464,0,0,0,0,0,0
$GC,11990,1.15,115.2,303.9,12.5,772,11999,0.03,2.17,0.00,0.000,6,0.209,0.032,3561,1736,1464,0,0,0,0,0,0
$GC,12315,1.15,115.2,264.5,12.6,803,12319,0.00,2.17,0.00,0.000,4,0.000,0.044,3569,328,1464,0,0,0,0,0,0
$GC,12425,1.15,115.2,249.5,13.4,812,12435,0.03,2.17,0.00,0.000,6,0.222,0.031,3560,1737,1464,0,0,0,0,0,0
$GC,12751,1.15,115.2,207.5,13.5,843,12755,0.00,2.22,0.00,0.000,4,0.000,0.044,3570,317,1464,0,0,0,0,0,0
$GC,12815,1.15,115.2,198.7,12.6,848,12824,0.03,2.17,0.00,0.000,6,0.216,0.030,3560,1731,1464,0,0,0,0,0,0
$GC,13141,1.17,115.2,158.1,12.1,879,13145,0.00,2.17,0.00,0.000,4,0.000,0.044,3569,327,1463,0,0,0,0,0,0
$GC,13308,1.17,115.2,136.5,12.3,893,13315,0.00,2.17,0.00,0.000,6,0.000,0.031,3568,1730,1464,0,0,0,0,0,0
$GC,13639,1.17,115.2,92.7,14.1,928,13645,0.00,2.22,0.00,0.000,4,0.000,0.044,3577,325,1464,0,0,0,0,0,0
$GC,13747,1.17,115.2,76.8,14.2,947,13753,0.05,2.15,0.00,0.000,6,0.233,0.031,3567,1737,1463,0,0,0,0,0,0
$GC,14102,1.22,115.2,28.9,12.8,1008,14110,0.00,2.22,0.00,0.000,4,0.000,0.044,3575,330,1464,0,0,0,0,0,0
$STATE,14305,end climb,SURFACE_DEPTH_REACHED
$STATE,14305,begin surface coast
$FINISH,1.3,1.023366
$STATE,14331,end surface coast,CONTROL_FINISHED_OK
$STATE,14331,begin surface
$SM_CCo,14349,38.33,0.057,0,0,1133,200.16
$SM_GC,2.09,0.00,0.00,38.33,0.000,0.000,0.057,83,2073,1133,-9.68,0.34,200.16
$IRIDIUM_FIX,-4444.39,633.87,310508,040417
$TT8_MAMPS,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,10.326
$10V_AH,10.2,7.401
$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,23.750,102.350,215.350,38.325,0.000,26.884,46.909,240.816,0.000,0.000,18.737,2599.315,8931.307,374.253,2803.266,99.364,0.000,1353.432,0.000,2328.660,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,62.730,1298.205,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.070,1936.625,781.121,426.014,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353848
$DATA_FILE_SIZE,73657,1045
$CAP_FILE_SIZE,133225,0
$CFSIZE,2097086464,2086764544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040815,225956,-4459.814,629.481,41,1.1,42,-24.4