version: 66.07.10.p01
glider: 573
mission: 12
dive: 60
start: 8 8 115 13 50 24
data:
$ID,573
$MISSION,12
$DIVE,60
$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,-21207.602
$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,45
$R_STBD_OVSHOOT,49
$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,59
$GPS1,080815,134303,-4456.875,636.720,33,0.8,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-67.0
$GPS2,080815,135004,-4456.799,636.789,16,1.0,16,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,349.5,1806,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.11,-62.6,0.0,0.0,0,53,0.00,0.00,-27.00,0.000,2,0.000,0.000,81,2076,1680,0,0,0,0,0,0
$GC,55,-1.15,-126.5,3.0,-2.3,4,107,11.15,2.30,-30.50,0.000,4,0.252,0.079,2798,3446,2469,0,0,0,0,0,0
$GC,116,-1.10,-126.5,5.1,-4.5,13,124,0.10,2.17,0.00,0.000,6,0.182,0.041,2828,2076,2470,0,0,0,0,0,0
$GC,174,-1.10,-126.5,14.8,-17.5,22,182,0.00,2.30,0.00,0.000,4,0.000,0.053,2827,651,2470,0,0,0,0,0,0
$GC,445,-1.07,-126.5,66.7,-17.8,68,451,0.08,2.20,0.00,0.000,6,0.231,0.046,2834,2036,2471,0,0,0,0,0,0
$GC,788,-1.07,-126.5,126.0,-17.6,116,792,0.00,2.20,0.00,0.000,4,0.000,0.054,2834,651,2472,0,0,0,0,0,0
$GC,852,-1.04,-126.5,136.7,-17.4,121,857,0.08,2.22,0.00,0.000,6,0.227,0.044,2841,2071,2472,0,0,0,0,0,0
$GC,1176,-1.04,-126.5,187.8,-15.8,151,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2071,2471,0,0,0,0,0,0
$GC,1497,-1.04,-126.5,235.8,-15.3,181,1501,0.00,2.25,0.00,0.000,4,0.000,0.051,2841,655,2471,0,0,0,0,0,0
$GC,1526,-1.04,-126.5,240.2,-15.4,183,1530,0.00,2.20,0.00,0.000,6,0.000,0.042,2832,2075,2472,0,0,0,0,0,0
$GC,1852,-1.04,-126.5,289.6,-15.3,213,1854,0.05,0.00,0.00,0.000,6,0.253,0.000,2842,2075,2472,0,0,0,0,0,0
$GC,2169,-1.07,-126.5,336.0,-14.4,243,2173,0.00,2.17,0.00,0.000,4,0.000,0.060,2831,3469,2472,0,0,0,0,0,0
$GC,2208,-1.09,-126.5,341.7,-14.6,246,2213,0.00,2.15,0.00,0.000,6,0.000,0.041,2832,2055,2472,0,0,0,0,0,0
$GC,2533,-1.09,-126.5,389.2,-14.9,276,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2056,2473,0,0,0,0,0,0
$GC,2854,-1.09,-126.5,435.9,-14.7,295,2858,0.00,2.25,0.00,0.000,4,0.000,0.063,2822,3463,2473,0,0,0,0,0,0
$GC,2908,-1.09,-126.5,444.4,-15.9,297,2915,0.00,2.17,0.00,0.000,6,0.000,0.041,2822,2067,2473,0,0,0,0,0,0
$GC,3225,-1.09,-126.5,493.3,-15.7,313,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2067,2473,0,0,0,0,0,0
$GC,3535,-1.09,-126.5,540.3,-14.8,328,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2066,2473,0,0,0,0,0,0
$GC,3844,-1.09,-126.5,584.3,-13.7,343,3848,0.00,2.22,0.00,0.000,4,0.000,0.059,2813,3465,2473,0,0,0,0,0,0
$GC,4088,-1.09,-126.5,620.0,-15.1,354,4094,0.03,2.20,0.00,0.000,6,0.197,0.041,2822,2049,2472,0,0,0,0,0,0
$GC,4416,-1.09,-126.5,665.4,-14.0,370,4420,0.00,2.25,0.00,0.000,4,0.000,0.058,2813,3465,2472,0,0,0,0,0,0
$GC,4573,-1.09,-126.5,687.8,-14.6,377,4578,0.08,2.15,0.00,0.000,6,0.207,0.041,2829,2050,2472,0,0,0,0,0,0
$GC,4894,-1.11,-126.5,733.3,-14.4,393,4898,0.00,2.25,0.00,0.000,4,0.000,0.059,2820,3471,2472,0,0,0,0,0,0
$GC,5038,-1.11,-126.5,755.7,-15.5,399,5044,0.00,2.20,0.00,0.000,6,0.000,0.043,2820,2060,2471,0,0,0,0,0,0
$GC,5354,-1.11,-126.5,802.0,-14.6,415,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2060,2471,0,0,0,0,0,0
$GC,5664,-1.13,-126.5,845.1,-13.9,430,5668,0.00,2.22,0.00,0.000,4,0.000,0.054,2820,648,2470,0,0,0,0,0,0
$GC,5712,-1.13,-126.5,852.6,-15.8,432,5717,0.00,2.22,0.00,0.000,6,0.000,0.043,2811,2064,2471,0,0,0,0,0,0
$GC,6034,-1.13,-126.5,897.9,-13.9,448,6038,0.00,2.20,0.00,0.000,4,0.000,0.065,2800,3463,2470,0,0,0,0,0,0
$GC,6144,-1.13,-126.5,914.0,-14.0,453,6149,0.03,2.17,0.00,0.000,6,0.192,0.041,2809,2062,2470,0,0,0,0,0,0
$GC,6471,-1.13,-126.5,958.2,-13.6,469,6475,0.00,2.22,0.00,0.000,4,0.000,0.061,2800,3469,2469,0,0,0,0,0,0
$GC,6502,-1.13,-126.5,963.1,-14.5,470,6510,0.03,2.20,0.00,0.000,6,0.194,0.041,2809,2052,2469,0,0,0,0,0,0
$STATE,6798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6798,begin apogee
$GC,6802,-0.19,0.0,1002.2,13.2,485,6921,1.02,0.00,115.60,1.290,6,0.170,0.000,3117,1729,1950,0,0,0,0,0,0
$STATE,6922,end apogee,CONTROL_FINISHED_OK
$STATE,6922,begin climb
$GC,6924,1.15,126.5,1005.9,0.0,491,7052,1.30,2.40,119.57,1.251,4,0.090,0.045,3556,326,1433,0,0,0,0,0,0
$GC,7221,1.15,126.5,967.3,16.0,505,7225,0.00,2.28,0.00,0.000,6,0.000,0.033,3556,1736,1425,0,0,0,0,0,0
$GC,7547,1.17,126.5,916.9,15.7,521,7551,0.00,2.28,0.00,0.000,4,0.000,0.044,3565,325,1424,0,0,0,0,0,0
$GC,7617,1.17,126.5,905.4,15.7,524,7623,0.00,2.25,0.00,0.000,6,0.000,0.032,3565,1729,1423,0,0,0,0,0,0
$GC,7939,1.17,126.5,854.7,15.8,540,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1728,1422,0,0,0,0,0,0
$GC,8249,1.17,126.5,804.5,16.3,555,8253,0.00,2.25,0.00,0.000,4,0.000,0.045,3574,325,1421,0,0,0,0,0,0
$GC,8332,1.17,126.5,790.3,16.6,559,8337,0.05,2.20,0.00,0.000,6,0.226,0.034,3564,1747,1421,0,0,0,0,0,0
$GC,8659,1.17,126.5,737.8,15.9,575,8664,0.00,2.28,0.00,0.000,4,0.000,0.044,3573,321,1421,0,0,0,0,0,0
$GC,8731,1.17,126.5,725.5,17.1,578,8736,0.00,2.22,0.00,0.000,6,0.000,0.033,3573,1730,1420,0,0,0,0,0,0
$GC,9054,1.17,126.5,674.7,16.1,594,9058,0.00,2.25,0.00,0.000,4,0.000,0.044,3582,318,1420,0,0,0,0,0,0
$GC,9183,1.17,126.5,652.6,17.5,600,9187,0.10,2.20,0.00,0.000,6,0.191,0.034,3559,1737,1420,0,0,0,0,0,0
$GC,9509,1.19,126.5,601.6,15.0,616,9513,0.00,2.22,0.00,0.000,4,0.000,0.046,3568,318,1420,0,0,0,0,0,0
$GC,9603,1.19,126.5,586.6,15.9,620,9608,0.00,2.20,0.00,0.000,6,0.000,0.033,3568,1724,1419,0,0,0,0,0,0
$GC,9925,1.19,126.5,540.6,14.2,636,9929,0.00,2.20,0.00,0.000,4,0.000,0.044,3577,316,1419,0,0,0,0,0,0
$GC,10001,1.19,126.5,529.2,14.7,639,10008,0.00,2.22,0.00,0.000,6,0.000,0.034,3577,1737,1419,0,0,0,0,0,0
$GC,10317,1.19,126.5,485.7,13.9,655,10321,0.00,2.25,0.00,0.000,4,0.000,0.045,3586,316,1419,0,0,0,0,0,0
$GC,10486,1.17,126.5,461.0,14.9,662,10492,0.10,2.17,0.00,0.000,6,0.193,0.032,3562,1735,1419,0,0,0,0,0,0
$GC,10801,1.20,126.5,417.5,13.7,678,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1735,1418,0,0,0,0,0,0
$GC,11116,1.23,126.5,372.2,14.1,702,11120,0.00,2.20,0.00,0.000,4,0.000,0.045,3571,323,1418,0,0,0,0,0,0
$GC,11204,1.23,126.5,358.2,16.0,709,11210,0.00,2.17,0.00,0.000,6,0.000,0.032,3571,1724,1418,0,0,0,0,0,0
$GC,11529,1.23,126.5,309.7,14.6,740,11533,0.00,2.20,0.00,0.000,4,0.000,0.044,3580,312,1418,0,0,0,0,0,0
$GC,11618,1.23,126.5,296.1,15.0,747,11624,0.00,2.22,0.00,0.000,6,0.000,0.034,3580,1739,1418,0,0,0,0,0,0
$GC,11943,1.23,126.5,248.9,14.1,778,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1739,1418,0,0,0,0,0,0
$GC,12262,1.23,126.5,202.3,14.8,808,12267,0.00,2.20,0.00,0.000,4,0.000,0.045,3589,323,1418,0,0,0,0,0,0
$GC,12313,1.20,126.5,194.7,14.5,812,12318,0.08,2.17,0.00,0.000,6,0.209,0.032,3573,1747,1418,0,0,0,0,0,0
$GC,12638,1.20,126.5,149.6,13.7,842,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1747,1418,0,0,0,0,0,0
$GC,12957,1.23,126.5,108.7,14.1,872,12961,0.00,2.22,0.00,0.000,4,0.000,0.044,3582,322,1418,0,0,0,0,0,0
$GC,13047,1.23,126.5,96.1,13.8,882,13054,0.00,2.17,0.00,0.000,6,0.000,0.033,3582,1727,1418,0,0,0,0,0,0
$GC,13397,1.23,126.5,46.1,14.9,943,13402,0.00,2.17,0.00,0.000,4,0.000,0.044,3591,321,1418,0,0,0,0,0,0
$GC,13541,1.23,126.5,23.9,16.8,967,13548,0.00,2.17,0.00,0.000,6,0.000,0.033,3591,1727,1418,0,0,0,0,0,0
$STATE,13689,end climb,SURFACE_DEPTH_REACHED
$STATE,13689,begin surface coast
$FINISH,1.6,1.012001
$STATE,13721,end surface coast,CONTROL_FINISHED_OK
$STATE,13722,begin surface
$SM_CCo,13737,33.97,0.057,0,0,1133,200.16
$SM_GC,2.77,0.00,0.00,33.97,0.000,0.000,0.057,66,2084,1133,-9.75,0.68,200.16
$IRIDIUM_FIX,-4438.33,633.17,030608,232331
$TT8_MAMPS,0.026964
$HUMID,62.36
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.4,12.455
$10V_AH,10.2,9.677
$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,23.400,111.875,235.175,33.975,0.000,26.798,20.111,263.569,0.000,0.000,19.017,2502.597,8406.966,362.473,2811.287,109.913,0.000,1376.670,0.000,2343.736,0.000,0.539,0.000
$DEVICE_MAMPS,253.215,78.795,1289.790,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.589,1838.363,744.925,412.530,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353300
$DATA_FILE_SIZE,70373,996
$CAP_FILE_SIZE,133524,0
$CFSIZE,2097086464,2084274176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080815,174103,-4455.533,636.743,34,0.9,34,-24.4