version: 66.07.10.p01
glider: 573
mission: 12
dive: 56
start: 8 7 115 18 20 14
data:
$ID,573
$MISSION,12
$DIVE,56
$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,-21196.475
$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,38
$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,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,55
$GPS1,070815,181003,-4455.768,625.992,29,0.8,29,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-68.8
$GPS2,070815,181953,-4455.760,626.250,15,1.4,15,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,285.8,2983,-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,23,-1.11,-62.6,0.0,0.0,0,57,0.00,0.00,-32.00,0.000,2,0.000,0.000,81,2074,1792,0,0,0,0,0,0
$GC,59,-1.14,-120.1,3.2,-3.8,5,104,11.15,2.33,-26.48,0.000,4,0.250,0.083,2797,3451,2439,0,0,0,0,0,0
$GC,216,-1.07,-120.1,20.7,-18.3,30,224,0.10,2.20,0.00,0.000,6,0.181,0.043,2827,2070,2441,0,0,0,0,0,0
$GC,369,-1.07,-120.1,48.0,-16.6,55,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2070,2441,0,0,0,0,0,0
$GC,720,-1.07,-120.1,106.4,-17.3,114,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2070,2442,0,0,0,0,0,0
$GC,1039,-1.07,-120.1,159.6,-15.7,144,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2070,2442,0,0,0,0,0,0
$GC,1358,-1.07,-120.1,205.2,-12.9,174,1362,0.00,2.25,0.00,0.000,4,0.000,0.064,2818,3457,2442,0,0,0,0,0,0
$GC,1378,-1.07,-120.1,208.3,-13.7,175,1385,0.05,2.20,0.00,0.000,6,0.188,0.039,2834,2051,2442,0,0,0,0,0,0
$GC,1703,-1.07,-120.1,250.6,-14.1,206,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2051,2442,0,0,0,0,0,0
$GC,2022,-1.07,-120.1,296.1,-14.3,236,2026,0.00,2.17,0.00,0.000,4,0.000,0.050,2834,647,2443,0,0,0,0,0,0
$GC,2056,-1.07,-120.1,301.3,-15.5,238,2061,0.00,2.20,0.00,0.000,6,0.000,0.042,2825,2061,2443,0,0,0,0,0,0
$GC,2382,-1.07,-120.1,349.9,-15.5,269,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2061,2444,0,0,0,0,0,0
$GC,2699,-1.07,-120.1,399.6,-15.5,299,2703,0.00,2.25,0.00,0.000,4,0.000,0.067,2814,3465,2443,0,0,0,0,0,0
$GC,2764,-1.07,-120.1,410.2,-16.0,302,2769,0.05,2.17,0.00,0.000,6,0.179,0.039,2830,2058,2443,0,0,0,0,0,0
$GC,3091,-1.07,-120.1,463.2,-15.3,318,3095,0.00,2.28,0.00,0.000,4,0.000,0.065,2821,3471,2443,0,0,0,0,0,0
$GC,3153,-1.07,-120.1,472.6,-15.3,321,3158,0.08,2.15,0.00,0.000,6,0.211,0.041,2837,2053,2443,0,0,0,0,0,0
$GC,3485,-1.10,-120.1,519.5,-14.2,337,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2053,2443,0,0,0,0,0,0
$GC,3794,-1.13,-120.1,562.0,-13.7,352,3798,0.00,2.28,0.00,0.000,4,0.000,0.064,2828,3468,2443,0,0,0,0,0,0
$GC,3870,-1.16,-120.1,573.3,-13.8,355,3876,0.00,2.17,0.00,0.000,6,0.000,0.040,2828,2059,2443,0,0,0,0,0,0
$GC,4187,-1.18,-120.1,618.4,-14.5,371,4189,0.08,0.00,0.00,0.000,6,0.125,0.000,2787,2059,2443,0,0,0,0,0,0
$GC,4496,-1.15,-120.1,666.2,-15.5,386,4501,0.10,2.20,0.00,0.000,4,0.213,0.054,2810,655,2443,0,0,0,0,0,0
$GC,4538,-1.15,-120.1,673.1,-15.2,388,4544,0.00,2.22,0.00,0.000,6,0.000,0.045,2802,2058,2443,0,0,0,0,0,0
$GC,4866,-1.15,-120.1,720.6,-14.8,404,4870,0.00,2.25,0.00,0.000,4,0.000,0.066,2792,3469,2442,0,0,0,0,0,0
$GC,4892,-1.15,-120.1,725.0,-15.7,405,4898,0.05,2.17,0.00,0.000,6,0.189,0.041,2806,2065,2442,0,0,0,0,0,0
$GC,5214,-1.15,-120.1,771.7,-14.6,421,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2065,2442,0,0,0,0,0,0
$GC,5523,-1.15,-120.1,815.2,-13.8,436,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2066,2442,0,0,0,0,0,0
$GC,5832,-1.15,-120.1,856.2,-12.8,451,5836,0.00,2.25,0.00,0.000,4,0.000,0.063,2798,3470,2441,0,0,0,0,0,0
$GC,5909,-1.15,-120.1,866.7,-13.4,454,5916,0.00,2.17,0.00,0.000,6,0.000,0.041,2798,2062,2441,0,0,0,0,0,0
$GC,6225,-1.15,-120.1,910.3,-14.1,470,6230,0.05,2.28,0.00,0.000,4,0.242,0.063,2798,3472,2441,0,0,0,0,0,0
$GC,6264,-1.15,-120.1,915.6,-13.4,472,6268,0.00,2.17,0.00,0.000,6,0.000,0.041,2798,2049,2441,0,0,0,0,0,0
$GC,6590,-1.15,-120.1,959.3,-13.1,488,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2048,2440,0,0,0,0,0,0
$GC,6900,-1.15,-120.1,999.8,-12.8,503,6904,0.00,2.10,0.00,0.000,3,0.000,0.063,2790,3371,2439,0,0,0,0,0,0
$STATE,6904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6904,begin apogee
$GC,6911,-0.19,0.0,1000.4,12.7,503,7026,1.08,0.00,109.05,1.291,6,0.178,0.000,3113,1737,1949,0,0,0,0,0,0
$STATE,7027,end apogee,CONTROL_FINISHED_OK
$STATE,7027,begin climb
$GC,7029,1.14,120.1,1004.1,0.0,509,7151,1.30,2.45,113.70,1.246,4,0.092,0.046,3552,315,1460,0,0,0,0,0,0
$GC,7228,1.14,120.1,980.9,16.3,518,7233,0.00,2.38,0.00,0.000,6,0.000,0.035,3552,1730,1454,0,0,0,0,0,0
$GC,7551,1.16,120.1,930.6,15.8,534,7555,0.00,2.33,0.00,0.000,4,0.000,0.046,3561,313,1450,0,0,0,0,0,0
$GC,7634,1.16,120.1,916.6,16.2,538,7638,0.00,2.30,0.00,0.000,6,0.000,0.036,3561,1738,1449,0,0,0,0,0,0
$GC,7962,1.16,120.1,865.4,15.5,554,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1739,1449,0,0,0,0,0,0
$GC,8271,1.16,120.1,818.1,15.2,569,8275,0.00,2.30,0.00,0.000,4,0.000,0.047,3571,312,1448,0,0,0,0,0,0
$GC,8382,1.16,120.1,800.0,15.7,574,8387,0.00,2.28,0.00,0.000,6,0.000,0.035,3571,1734,1448,0,0,0,0,0,0
$GC,8709,1.16,120.1,750.4,15.1,590,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1733,1447,0,0,0,0,0,0
$GC,9019,1.16,120.1,705.0,14.1,605,9023,0.00,2.25,0.00,0.000,4,0.000,0.045,3580,320,1447,0,0,0,0,0,0
$GC,9112,1.14,120.1,690.5,15.5,609,9118,0.08,2.22,0.00,0.000,6,0.166,0.034,3556,1731,1447,0,0,0,0,0,0
$GC,9436,1.16,120.1,648.8,12.8,625,9440,0.00,2.25,0.00,0.000,4,0.000,0.045,3564,312,1447,0,0,0,0,0,0
$GC,9524,1.16,120.1,636.4,14.1,629,9528,0.00,2.22,0.00,0.000,6,0.000,0.035,3564,1724,1446,0,0,0,0,0,0
$GC,9851,1.16,120.1,591.9,14.1,645,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1725,1446,0,0,0,0,0,0
$GC,10160,1.16,120.1,549.2,14.2,660,10164,0.00,2.22,0.00,0.000,4,0.000,0.044,3574,315,1447,0,0,0,0,0,0
$GC,10222,1.16,120.1,540.3,14.6,663,10227,0.08,2.20,0.00,0.000,6,0.206,0.035,3558,1736,1446,0,0,0,0,0,0
$GC,10549,1.18,120.1,497.0,13.0,679,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1736,1446,0,0,0,0,0,0
$GC,10858,1.21,120.1,457.0,13.3,694,10862,0.00,2.25,0.00,0.000,4,0.000,0.045,3567,311,1446,0,0,0,0,0,0
$GC,10945,1.21,120.1,444.6,13.6,698,10950,0.00,2.22,0.00,0.000,6,0.000,0.035,3567,1726,1446,0,0,0,0,0,0
$GC,11273,1.21,120.1,398.7,14.2,714,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1726,1446,0,0,0,0,0,0
$GC,11592,1.21,120.1,353.0,13.8,744,11596,0.00,2.22,0.00,0.000,4,0.000,0.044,3576,313,1446,0,0,0,0,0,0
$GC,11777,1.21,120.1,324.9,14.9,760,11782,0.00,2.20,0.00,0.000,6,0.000,0.035,3576,1733,1445,0,0,0,0,0,0
$GC,12102,1.21,120.1,277.2,14.1,790,12106,0.00,2.22,0.00,0.000,4,0.000,0.044,3585,317,1446,0,0,0,0,0,0
$GC,12202,1.19,120.1,262.1,14.5,798,12208,0.05,2.20,0.00,0.000,6,0.175,0.034,3569,1728,1445,0,0,0,0,0,0
$GC,12530,1.19,120.1,219.2,13.2,829,12534,0.00,2.22,0.00,0.000,4,0.000,0.044,3578,309,1446,0,0,0,0,0,0
$GC,12615,1.19,120.1,207.2,13.6,836,12619,0.00,2.20,0.00,0.000,6,0.000,0.034,3578,1732,1445,0,0,0,0,0,0
$GC,12939,1.19,120.1,162.2,13.1,866,12943,0.00,2.22,0.00,0.000,4,0.000,0.044,3588,314,1445,0,0,0,0,0,0
$GC,13195,1.19,120.1,126.1,13.7,888,13204,0.05,2.20,0.00,0.000,6,0.181,0.034,3572,1722,1445,0,0,0,0,0,0
$GC,13531,1.19,120.1,86.7,11.2,929,13536,0.00,2.17,0.00,0.000,4,0.000,0.044,3580,318,1445,0,0,0,0,0,0
$GC,13783,1.19,120.1,54.0,14.3,973,13789,0.03,2.17,0.00,0.000,6,0.277,0.033,3570,1737,1446,0,0,0,0,0,0
$GC,14150,1.21,120.1,8.1,13.0,1034,14157,0.00,2.25,0.00,0.000,4,0.000,0.046,3579,319,1446,0,0,0,0,0,0
$STATE,14188,end climb,SURFACE_DEPTH_REACHED
$STATE,14188,begin surface coast
$FINISH,1.4,1.023375
$STATE,14208,end surface coast,CONTROL_FINISHED_OK
$STATE,14208,begin surface
$SM_CCo,14226,36.28,0.057,0,0,1133,200.16
$SM_GC,2.74,0.00,0.00,36.28,0.000,0.000,0.057,67,2087,1133,-9.74,0.76,200.16
$IRIDIUM_FIX,-4438.33,624.11,030608,070750
$TT8_MAMPS,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,23.4,12.003
$10V_AH,10.1,9.192
$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,23.350,107.925,222.750,36.275,0.000,53.885,101.181,264.185,0.000,0.000,18.184,2593.537,8853.825,351.199,2941.528,113.132,0.000,1353.196,0.000,2362.396,0.000,0.539,0.000
$DEVICE_MAMPS,276.930,82.620,1290.555,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.695,1932.180,804.556,458.861,0.000,0.000,0.000,0.000,0.000,0.000
$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,73604,1043
$CAP_FILE_SIZE,133822,0
$CFSIZE,2097086464,2084798464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070815,221904,-4455.933,624.295,34,1.4,34,-24.4