version: 66.07.10.p01
glider: 573
mission: 12
dive: 43
start: 8 5 115 2 55 19
data:
$ID,573
$MISSION,12
$DIVE,43
$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,-21117.262
$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,42
$R_STBD_OVSHOOT,41
$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,42
$GPS1,050815,024233,-4500.861,632.496,30,1.0,31,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-69.9
$GPS2,050815,025458,-4500.843,632.677,16,1.5,16,-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,318.4,3837,-25.2,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-1.24,-76.3,0.0,0.0,0,63,0.00,0.00,-37.92,0.000,2,0.000,0.000,64,2076,1923,0,0,0,0,0,0
$GC,65,-1.32,-145.9,3.1,-3.0,6,105,11.15,2.28,-20.85,0.000,4,0.255,0.071,2744,3454,2546,0,0,0,0,0,0
$GC,199,-1.14,-145.9,27.0,-24.1,27,207,0.25,2.20,0.00,0.000,6,0.190,0.040,2814,2071,2549,0,0,0,0,0,0
$GC,349,-1.05,-145.9,58.2,-20.8,52,355,0.10,0.00,0.00,0.000,6,0.207,0.000,2837,2070,2550,0,0,0,0,0,0
$GC,688,-1.00,-145.9,121.5,-18.9,102,690,0.10,0.00,0.00,0.000,6,0.208,0.000,2861,2071,2550,0,0,0,0,0,0
$GC,1007,-1.00,-145.9,173.2,-15.5,132,1011,0.00,2.25,0.00,0.000,4,0.000,0.050,2863,643,2550,0,0,0,0,0,0
$GC,1061,-1.00,-145.9,182.0,-15.8,136,1070,0.00,2.22,0.00,0.000,6,0.000,0.037,2854,2054,2550,0,0,0,0,0,0
$GC,1386,-1.00,-145.9,232.2,-15.1,167,1390,0.00,2.25,0.00,0.000,4,0.000,0.057,2843,3477,2550,0,0,0,0,0,0
$GC,1416,-1.00,-145.9,236.5,-15.3,169,1421,0.08,2.20,0.00,0.000,6,0.217,0.039,2858,2045,2550,0,0,0,0,0,0
$GC,1740,-1.00,-145.9,284.9,-14.3,199,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2044,2551,0,0,0,0,0,0
$GC,2062,-1.00,-145.9,333.3,-15.3,229,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2045,2551,0,0,0,0,0,0
$GC,2378,-1.00,-145.9,381.3,-15.4,259,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2045,2551,0,0,0,0,0,0
$GC,2691,-1.00,-145.9,429.6,-15.7,280,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2045,2551,0,0,0,0,0,0
$GC,3000,-1.00,-145.9,479.1,-16.1,295,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2045,2550,0,0,0,0,0,0
$GC,3309,-1.00,-145.9,526.7,-15.4,310,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2045,2550,0,0,0,0,0,0
$GC,3619,-1.00,-145.9,573.2,-14.9,325,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2045,2550,0,0,0,0,0,0
$GC,3928,-1.00,-145.9,618.1,-14.8,340,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2045,2549,0,0,0,0,0,0
$GC,4237,-1.00,-145.9,661.6,-13.5,355,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2045,2549,0,0,0,0,0,0
$GC,4547,-1.00,-145.9,701.1,-13.0,370,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2045,2549,0,0,0,0,0,0
$GC,4857,-1.02,-145.9,744.3,-14.5,385,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2045,2548,0,0,0,0,0,0
$GC,5166,-1.04,-145.9,789.1,-14.3,400,5170,0.00,2.17,0.00,0.000,4,0.000,0.052,2859,650,2548,0,0,0,0,0,0
$GC,5186,-1.04,-145.9,792.3,-14.9,401,5191,0.00,2.20,0.00,0.000,6,0.000,0.040,2850,2057,2548,0,0,0,0,0,0
$GC,5513,-1.04,-145.9,839.2,-14.1,417,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2059,2547,0,0,0,0,0,0
$GC,5823,-1.04,-145.9,882.4,-13.8,432,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2059,2547,0,0,0,0,0,0
$GC,6132,-1.04,-145.9,922.2,-12.1,447,6136,0.00,2.22,0.00,0.000,4,0.000,0.061,2838,3471,2547,0,0,0,0,0,0
$GC,6174,-1.04,-145.9,927.8,-12.8,449,6179,0.00,2.17,0.00,0.000,6,0.000,0.038,2839,2060,2547,0,0,0,0,0,0
$GC,6502,-1.04,-145.9,967.0,-11.7,465,6506,0.00,2.22,0.00,0.000,4,0.000,0.061,2830,3463,2547,0,0,0,0,0,0
$GC,6540,-1.04,-145.9,971.8,-12.1,467,6545,0.05,2.15,0.00,0.000,6,0.233,0.038,2840,2049,2547,0,0,0,0,0,0
$STATE,6782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6782,begin apogee
$GC,6786,-0.23,0.0,1000.0,11.3,479,6919,0.88,0.00,129.23,1.284,6,0.168,0.000,3104,1720,1950,0,0,0,0,0,0
$STATE,6920,end apogee,CONTROL_FINISHED_OK
$STATE,6920,begin climb
$GC,6921,1.32,145.9,1002.0,0.0,485,7067,1.52,2.42,136.77,1.243,4,0.095,0.045,3606,336,1355,0,0,0,0,0,0
$GC,7130,1.22,145.9,971.6,19.9,495,7135,0.12,2.33,0.00,0.000,6,0.188,0.033,3578,1739,1351,0,0,0,0,0,0
$GC,7456,1.17,145.9,913.5,17.1,511,7458,0.08,0.00,0.00,0.000,6,0.205,0.000,3562,1740,1347,0,0,0,0,0,0
$GC,7765,1.13,145.9,864.4,15.9,526,7769,0.00,2.28,0.00,0.000,4,0.000,0.046,3572,325,1346,0,0,0,0,0,0
$GC,7874,1.07,145.9,846.4,17.1,531,7879,0.15,2.22,0.00,0.000,6,0.178,0.031,3533,1742,1345,0,0,0,0,0,0
$GC,8200,1.07,145.9,799.1,14.5,547,8204,0.00,2.28,0.00,0.000,4,0.000,0.045,3543,326,1345,0,0,0,0,0,0
$GC,8352,1.05,145.9,776.7,14.8,554,8356,0.08,2.20,0.00,0.000,6,0.210,0.031,3527,1741,1344,0,0,0,0,0,0
$GC,8677,1.05,145.9,731.0,14.0,570,8681,0.00,2.25,0.00,0.000,4,0.000,0.045,3536,328,1344,0,0,0,0,0,0
$GC,8754,1.05,145.9,719.7,14.5,573,8761,0.00,2.20,0.00,0.000,6,0.000,0.031,3536,1727,1344,0,0,0,0,0,0
$GC,9071,1.05,145.9,674.0,14.6,589,9075,0.00,2.22,0.00,0.000,4,0.000,0.044,3545,326,1344,0,0,0,0,0,0
$GC,9119,1.05,145.9,666.3,15.8,591,9125,0.05,2.20,0.00,0.000,6,0.177,0.031,3529,1735,1343,0,0,0,0,0,0
$GC,9441,1.05,145.9,621.8,13.7,607,9445,0.00,2.22,0.00,0.000,4,0.000,0.044,3537,326,1343,0,0,0,0,0,0
$GC,9534,1.05,145.9,608.0,14.7,611,9540,0.03,2.17,0.00,0.000,6,0.200,0.031,3529,1728,1343,0,0,0,0,0,0
$GC,9858,1.05,145.9,563.8,13.6,627,9862,0.00,2.20,0.00,0.000,4,0.000,0.044,3538,321,1343,0,0,0,0,0,0
$GC,9942,1.05,145.9,551.5,14.8,631,9946,0.05,2.15,0.00,0.000,6,0.233,0.031,3528,1733,1343,0,0,0,0,0,0
$GC,10273,1.05,145.9,507.2,13.1,647,10277,0.00,2.22,0.00,0.000,4,0.000,0.044,3537,319,1343,0,0,0,0,0,0
$GC,10344,1.05,145.9,497.5,13.3,650,10349,0.03,2.17,0.00,0.000,6,0.193,0.030,3528,1731,1343,0,0,0,0,0,0
$GC,10665,1.05,145.9,456.8,12.8,666,10669,0.00,2.20,0.00,0.000,4,0.000,0.044,3537,317,1343,0,0,0,0,0,0
$GC,10749,1.05,145.9,445.5,13.9,670,10754,0.05,2.15,0.00,0.000,6,0.227,0.031,3527,1731,1343,0,0,0,0,0,0
$GC,11074,1.05,145.9,404.6,12.5,686,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1731,1343,0,0,0,0,0,0
$GC,11393,1.07,145.9,365.0,12.4,714,11397,0.00,2.20,0.00,0.000,4,0.000,0.044,3536,325,1343,0,0,0,0,0,0
$GC,11466,1.07,145.9,355.2,13.0,720,11470,0.00,2.15,0.00,0.000,6,0.000,0.031,3535,1733,1343,0,0,0,0,0,0
$GC,11790,1.07,145.9,313.3,13.4,750,11791,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1734,1343,0,0,0,0,0,0
$GC,12109,1.07,145.9,271.4,12.9,780,12113,0.00,2.17,0.00,0.000,4,0.000,0.044,3544,326,1342,0,0,0,0,0,0
$GC,12185,1.07,145.9,260.7,13.6,786,12192,0.03,2.15,0.00,0.000,6,0.187,0.030,3536,1733,1343,0,0,0,0,0,0
$GC,12513,1.07,145.9,218.4,13.0,817,12517,0.00,2.20,0.00,0.000,4,0.000,0.044,3544,325,1343,0,0,0,0,0,0
$GC,12565,1.07,145.9,211.6,13.0,821,12570,0.03,2.12,0.00,0.000,6,0.275,0.031,3534,1735,1343,0,0,0,0,0,0
$GC,12894,1.07,145.9,169.7,12.5,852,12898,0.00,2.20,0.00,0.000,4,0.000,0.044,3543,325,1343,0,0,0,0,0,0
$GC,12990,1.07,145.9,157.4,13.3,860,12994,0.00,2.12,0.00,0.000,6,0.000,0.030,3543,1728,1342,0,0,0,0,0,0
$GC,13314,1.07,145.9,116.4,13.6,890,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1727,1343,0,0,0,0,0,0
$GC,13648,1.07,145.9,74.8,12.2,937,13653,0.00,2.17,0.00,0.000,4,0.000,0.043,3552,319,1343,0,0,0,0,0,0
$GC,13770,1.07,145.9,58.7,13.6,958,13775,0.10,2.12,0.00,0.000,6,0.194,0.028,3528,1738,1343,0,0,0,0,0,0
$GC,14135,1.12,145.9,12.6,14.8,1019,14142,0.00,2.22,0.00,0.000,4,0.000,0.044,3537,326,1342,0,0,0,0,0,0
$STATE,14210,end climb,SURFACE_DEPTH_REACHED
$STATE,14210,begin surface coast
$FINISH,1.4,1.023376
$STATE,14236,end surface coast,CONTROL_FINISHED_OK
$STATE,14236,begin surface
$SM_CCo,14253,24.70,0.058,0,0,1133,200.16
$SM_GC,2.26,0.00,0.00,24.70,0.000,0.000,0.058,79,2056,1133,-9.71,-0.11,200.16
$IRIDIUM_FIX,-4441.36,627.47,310508,121242
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.3,10.556
$10V_AH,10.1,7.604
$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,23.825,93.650,266.000,24.700,0.000,85.192,197.158,240.847,0.000,0.000,18.643,2556.275,9057.318,367.318,2941.616,103.792,0.000,1330.110,0.000,2261.349,0.000,0.540,0.000
$DEVICE_MAMPS,274.635,71.145,1284.435,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.486,1909.562,767.949,411.285,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353832
$DATA_FILE_SIZE,70495,1035
$CAP_FILE_SIZE,130546,0
$CFSIZE,2097086464,2086535168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050815,065433,-4500.153,630.794,41,0.9,42,-24.4