version: 66.07.10.p01
glider: 573
mission: 12
dive: 50
start: 8 6 115 11 31 13
data:
$ID,573
$MISSION,12
$DIVE,50
$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,130
$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,-21135.637
$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,26
$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,37
$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,0.00060000003
$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,49
$GPS1,060815,112403,-4504.290,624.900,37,0.8,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-67.4
$GPS2,060815,113053,-4504.285,625.019,17,0.9,17,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$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,316.0,1433,-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,-1.11,-62.6,0.0,0.0,0,58,0.00,0.00,-32.38,0.000,2,0.000,0.000,74,2061,1778,0,0,0,0,0,0
$GC,60,-1.14,-117.8,3.2,-4.1,5,106,11.05,2.28,-23.98,0.000,4,0.248,0.071,2800,3447,2433,0,0,0,0,0,0
$GC,260,-1.09,-117.8,32.4,-18.4,37,268,0.08,2.20,0.00,0.000,6,0.175,0.041,2822,2057,2436,0,0,0,0,0,0
$GC,408,-1.09,-117.8,59.1,-18.9,62,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2057,2437,0,0,0,0,0,0
$GC,750,-1.07,-117.8,120.2,-19.1,113,754,0.05,2.22,0.00,0.000,4,0.246,0.052,2832,655,2437,0,0,0,0,0,0
$GC,823,-1.04,-117.8,135.4,-18.9,119,828,0.10,2.20,0.00,0.000,6,0.212,0.042,2846,2052,2437,0,0,0,0,0,0
$GC,1149,-1.07,-117.8,186.0,-15.4,149,1153,0.00,2.22,0.00,0.000,4,0.000,0.049,2847,651,2437,0,0,0,0,0,0
$GC,1202,-1.07,-117.8,194.4,-15.8,153,1206,0.00,2.20,0.00,0.000,6,0.000,0.040,2838,2061,2437,0,0,0,0,0,0
$GC,1532,-1.07,-117.8,246.0,-15.6,184,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2061,2437,0,0,0,0,0,0
$GC,1851,-1.07,-117.8,293.8,-15.1,214,1855,0.00,2.22,0.00,0.000,4,0.000,0.061,2827,3463,2438,0,0,0,0,0,0
$GC,1916,-1.07,-117.8,304.1,-14.9,219,1923,0.00,2.17,0.00,0.000,6,0.000,0.039,2827,2058,2438,0,0,0,0,0,0
$GC,2242,-1.07,-117.8,354.0,-15.2,250,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2438,0,0,0,0,0,0
$GC,2571,-1.07,-117.8,404.2,-15.5,280,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2438,0,0,0,0,0,0
$GC,2880,-1.07,-117.8,451.0,-15.1,295,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2438,0,0,0,0,0,0
$GC,3189,-1.07,-117.8,497.3,-15.0,310,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2438,0,0,0,0,0,0
$GC,3498,-1.07,-117.8,542.9,-15.0,325,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2438,0,0,0,0,0,0
$GC,3808,-1.07,-117.8,589.8,-15.0,340,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2438,0,0,0,0,0,0
$GC,4118,-1.09,-117.8,635.8,-14.6,355,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2437,0,0,0,0,0,0
$GC,4427,-1.11,-117.8,678.9,-14.0,370,4431,0.00,2.17,0.00,0.000,4,0.000,0.051,2827,654,2437,0,0,0,0,0,0
$GC,4447,-1.11,-117.8,682.1,-14.1,371,4452,0.00,2.20,0.00,0.000,6,0.000,0.040,2818,2063,2437,0,0,0,0,0,0
$GC,4774,-1.11,-117.8,728.7,-14.5,387,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2063,2436,0,0,0,0,0,0
$GC,5084,-1.11,-117.8,772.7,-14.1,402,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2063,2436,0,0,0,0,0,0
$GC,5393,-1.11,-117.8,814.5,-13.2,417,5397,0.00,2.20,0.00,0.000,4,0.000,0.060,2807,3471,2436,0,0,0,0,0,0
$GC,5463,-1.11,-117.8,824.3,-13.6,420,5469,0.05,2.17,0.00,0.000,6,0.170,0.040,2823,2058,2436,0,0,0,0,0,0
$GC,5785,-1.13,-117.8,863.7,-12.2,436,5789,0.00,2.17,0.00,0.000,4,0.000,0.050,2824,652,2435,0,0,0,0,0,0
$GC,5811,-1.13,-117.8,867.4,-13.0,437,5816,0.00,2.20,0.00,0.000,6,0.000,0.041,2814,2052,2435,0,0,0,0,0,0
$GC,6133,-1.13,-117.8,906.6,-12.3,453,6137,0.00,2.20,0.00,0.000,4,0.000,0.058,2804,3466,2435,0,0,0,0,0,0
$GC,6199,-1.13,-117.8,915.0,-12.8,456,6204,0.00,2.17,0.00,0.000,6,0.000,0.039,2804,2055,2434,0,0,0,0,0,0
$GC,6526,-1.13,-117.8,957.9,-13.8,472,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2055,2435,0,0,0,0,0,0
$GC,6836,-1.13,-117.8,999.6,-13.5,487,6840,0.00,2.08,0.00,0.000,3,0.000,0.059,2795,3380,2435,0,0,0,0,0,0
$STATE,6840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6840,begin apogee
$GC,6846,-0.19,0.0,1000.3,13.4,487,6962,1.05,0.00,108.07,1.297,6,0.177,0.000,3111,1727,1949,0,0,0,0,0,0
$STATE,6962,end apogee,CONTROL_FINISHED_OK
$STATE,6962,begin climb
$GC,6964,1.14,117.8,1005.1,0.0,493,7086,1.30,2.45,111.25,1.255,4,0.090,0.045,3551,317,1467,0,0,0,0,0,0
$GC,7158,1.14,117.8,984.7,15.6,502,7163,0.00,2.35,0.00,0.000,6,0.000,0.030,3551,1734,1462,0,0,0,0,0,0
$GC,7486,1.16,117.8,936.5,15.1,518,7490,0.00,2.30,0.00,0.000,4,0.000,0.042,3561,319,1459,0,0,0,0,0,0
$GC,7579,1.16,117.8,921.6,15.4,522,7584,0.00,2.25,0.00,0.000,6,0.000,0.030,3561,1730,1458,0,0,0,0,0,0
$GC,7903,1.16,117.8,873.6,15.0,538,7907,0.00,2.28,0.00,0.000,4,0.000,0.043,3569,316,1458,0,0,0,0,0,0
$GC,7996,1.16,117.8,858.4,15.8,542,8001,0.00,2.25,0.00,0.000,6,0.000,0.031,3570,1733,1456,0,0,0,0,0,0
$GC,8318,1.16,117.8,810.0,15.3,558,8322,0.00,2.28,0.00,0.000,4,0.000,0.043,3579,310,1456,0,0,0,0,0,0
$GC,8462,1.14,117.8,787.1,15.7,564,8469,0.08,2.25,0.00,0.000,6,0.165,0.031,3556,1736,1456,0,0,0,0,0,0
$GC,8778,1.14,117.8,742.4,13.8,580,8782,0.00,2.25,0.00,0.000,4,0.000,0.043,3565,316,1456,0,0,0,0,0,0
$GC,8839,1.14,117.8,733.3,14.8,583,8844,0.03,2.20,0.00,0.000,6,0.275,0.031,3556,1740,1455,0,0,0,0,0,0
$GC,9165,1.16,117.8,685.9,14.8,599,9169,0.00,2.25,0.00,0.000,4,0.000,0.044,3565,310,1455,0,0,0,0,0,0
$GC,9281,1.16,117.8,667.5,16.0,604,9286,0.00,2.22,0.00,0.000,6,0.000,0.031,3565,1729,1454,0,0,0,0,0,0
$GC,9603,1.16,117.8,620.2,15.1,620,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1729,1455,0,0,0,0,0,0
$GC,9912,1.16,117.8,575.1,14.5,635,9916,0.00,2.22,0.00,0.000,4,0.000,0.044,3574,318,1455,0,0,0,0,0,0
$GC,10051,1.16,117.8,554.6,14.9,641,10057,0.05,2.20,0.00,0.000,6,0.183,0.031,3559,1739,1454,0,0,0,0,0,0
$GC,10374,1.18,117.8,510.8,13.4,657,10378,0.00,2.25,0.00,0.000,4,0.000,0.044,3568,310,1454,0,0,0,0,0,0
$GC,10457,1.18,117.8,498.9,13.9,661,10462,0.00,2.17,0.00,0.000,6,0.000,0.031,3568,1727,1454,0,0,0,0,0,0
$GC,10784,1.18,117.8,455.1,13.5,677,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1727,1454,0,0,0,0,0,0
$GC,11093,1.18,117.8,414.5,12.8,692,11097,0.00,2.22,0.00,0.000,4,0.000,0.043,3576,311,1454,0,0,0,0,0,0
$GC,11141,1.18,117.8,407.9,13.5,694,11146,0.00,2.20,0.00,0.000,6,0.000,0.031,3577,1730,1454,0,0,0,0,0,0
$GC,11470,1.18,117.8,365.1,13.3,722,11474,0.00,2.22,0.00,0.000,4,0.000,0.043,3585,313,1454,0,0,0,0,0,0
$GC,11536,1.16,117.8,355.6,14.8,727,11543,0.08,2.20,0.00,0.000,6,0.171,0.031,3562,1738,1454,0,0,0,0,0,0
$GC,11862,1.18,117.8,313.8,13.0,758,11866,0.00,2.22,0.00,0.000,4,0.000,0.044,3571,317,1454,0,0,0,0,0,0
$GC,11948,1.18,117.8,302.1,14.1,765,11952,0.00,2.15,0.00,0.000,6,0.000,0.030,3571,1730,1454,0,0,0,0,0,0
$GC,12272,1.18,117.8,258.9,12.4,795,12276,0.00,2.22,0.00,0.000,4,0.000,0.043,3580,311,1454,0,0,0,0,0,0
$GC,12356,1.18,117.8,247.7,13.6,802,12361,0.05,2.17,0.00,0.000,6,0.236,0.031,3570,1738,1454,0,0,0,0,0,0
$GC,12680,1.18,117.8,205.3,12.7,832,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1738,1454,0,0,0,0,0,0
$GC,12999,1.18,117.8,163.7,13.1,862,13003,0.00,2.15,0.00,0.000,4,0.000,0.050,3570,3125,1454,0,0,0,0,0,0
$GC,13031,1.18,117.8,159.3,12.5,864,13039,0.00,2.12,0.00,0.000,6,0.000,0.029,3578,1721,1454,0,0,0,0,0,0
$GC,13357,1.18,117.8,114.3,13.6,895,13360,0.00,2.15,0.00,0.000,4,0.000,0.045,3589,318,1454,0,0,0,0,0,0
$GC,13585,1.16,117.8,82.8,12.7,925,13590,0.12,2.15,0.00,0.000,6,0.188,0.031,3557,1737,1454,0,0,0,0,0,0
$GC,13933,1.20,117.8,41.8,10.5,986,13938,0.00,2.20,0.00,0.000,4,0.000,0.044,3566,322,1454,0,0,0,0,0,0
$GC,14024,1.20,117.8,30.2,14.0,1001,14031,0.00,2.15,0.00,0.000,6,0.000,0.029,3566,1726,1454,0,0,0,0,0,0
$GC,14181,1.20,117.8,12.7,11.5,1026,14188,0.00,2.20,0.00,0.000,4,0.000,0.042,3575,330,1454,0,0,0,0,0,0
$STATE,14250,end climb,SURFACE_DEPTH_REACHED
$STATE,14250,begin surface coast
$FINISH,1.4,1.023385
$STATE,14258,end surface coast,CONTROL_FINISHED_OK
$STATE,14258,begin surface
$SM_CCo,14275,37.33,0.057,0,0,1133,200.16
$SM_GC,2.07,0.00,0.00,37.33,0.000,0.000,0.057,71,2070,1133,-9.73,0.28,200.16
$IRIDIUM_FIX,-4447.43,628.16,010608,202013
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.4,11.301
$10V_AH,10.2,8.425
$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,22.950,111.525,219.325,37.325,0.000,27.855,20.838,254.496,0.000,0.000,19.233,2582.945,8878.493,353.832,2793.809,113.874,0.000,1355.420,0.000,2333.675,0.000,0.540,0.000
$DEVICE_MAMPS,274.635,71.145,1297.440,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.419,1912.806,778.126,437.899,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353236
$DATA_FILE_SIZE,73726,1038
$CAP_FILE_SIZE,134029,0
$CFSIZE,2097086464,2085584896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060815,153057,-4504.048,624.094,37,0.9,38,-24.4