version: 66.07.10.p01
glider: 573
mission: 12
dive: 63
start: 8 9 115 1 45 14
data:
$ID,573
$MISSION,12
$DIVE,63
$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,-21215.756
$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,35
$R_STBD_OVSHOOT,32
$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,62
$GPS1,090815,013803,-4455.438,637.431,28,1.0,28,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-70.6
$GPS2,090815,014454,-4455.418,637.603,14,0.9,15,-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,267.3,2362,-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,-62.6,0.0,0.0,0,46,0.00,0.00,-20.40,0.000,2,0.000,0.000,62,2064,1552,0,0,0,0,0,0
$GC,48,-1.14,-123.5,3.1,-3.5,3,105,11.27,0.00,-41.38,0.000,6,0.252,0.000,2808,2057,2455,0,0,0,0,0,0
$GC,156,-1.10,-123.5,10.5,-17.8,20,164,0.08,2.33,0.00,0.000,4,0.224,0.060,2813,3464,2457,0,0,0,0,0,0
$GC,185,-1.08,-123.5,16.7,-21.0,24,192,0.05,2.22,0.00,0.000,6,0.196,0.039,2828,2057,2458,0,0,0,0,0,0
$GC,243,-1.08,-123.5,27.2,-16.0,33,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2057,2458,0,0,0,0,0,0
$GC,394,-1.08,-123.5,51.7,-15.9,58,399,0.00,2.28,0.00,0.000,4,0.000,0.062,2819,3463,2458,0,0,0,0,0,0
$GC,447,-1.08,-123.5,60.2,-15.3,67,453,0.05,2.20,0.00,0.000,6,0.236,0.038,2829,2046,2458,0,0,0,0,0,0
$GC,788,-1.08,-123.5,116.8,-16.5,119,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2046,2459,0,0,0,0,0,0
$GC,1109,-1.08,-123.5,168.4,-15.6,149,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2046,2459,0,0,0,0,0,0
$GC,1426,-1.08,-123.5,215.6,-14.3,179,1430,0.00,2.28,0.00,0.000,4,0.000,0.057,2820,3467,2459,0,0,0,0,0,0
$GC,1513,-1.08,-123.5,228.6,-14.2,186,1520,0.00,2.17,0.00,0.000,6,0.000,0.039,2820,2068,2459,0,0,0,0,0,0
$GC,1841,-1.08,-123.5,277.7,-15.0,217,1843,0.05,0.00,0.00,0.000,6,0.245,0.000,2829,2068,2460,0,0,0,0,0,0
$GC,2157,-1.08,-123.5,326.0,-15.0,247,2161,0.00,2.22,0.00,0.000,4,0.000,0.057,2821,3465,2459,0,0,0,0,0,0
$GC,2187,-1.08,-123.5,330.3,-15.5,249,2192,0.05,2.17,0.00,0.000,6,0.236,0.039,2830,2045,2460,0,0,0,0,0,0
$GC,2511,-1.08,-123.5,380.9,-15.1,279,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2045,2460,0,0,0,0,0,0
$GC,2824,-1.08,-123.5,428.2,-14.8,300,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2045,2460,0,0,0,0,0,0
$GC,3134,-1.08,-123.5,472.8,-14.4,315,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2045,2460,0,0,0,0,0,0
$GC,3443,-1.08,-123.5,518.3,-14.7,330,3447,0.00,2.28,0.00,0.000,4,0.000,0.058,2821,3475,2460,0,0,0,0,0,0
$GC,3514,-1.08,-123.5,529.3,-15.2,333,3519,0.00,2.20,0.00,0.000,6,0.000,0.040,2821,2054,2460,0,0,0,0,0,0
$GC,3835,-1.08,-123.5,576.1,-14.1,349,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2054,2461,0,0,0,0,0,0
$GC,4144,-1.08,-123.5,619.3,-13.9,364,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2054,2460,0,0,0,0,0,0
$GC,4454,-1.08,-123.5,663.6,-14.3,379,4458,0.00,2.25,0.00,0.000,4,0.000,0.061,2812,3468,2460,0,0,0,0,0,0
$GC,4508,-1.08,-123.5,672.2,-15.7,381,4515,0.05,2.17,0.00,0.000,6,0.184,0.041,2828,2066,2459,0,0,0,0,0,0
$GC,4825,-1.10,-123.5,716.8,-14.3,397,4829,0.00,2.22,0.00,0.000,4,0.000,0.054,2828,642,2460,0,0,0,0,0,0
$GC,4851,-1.10,-123.5,721.1,-14.9,398,4856,0.00,2.22,0.00,0.000,6,0.000,0.039,2819,2067,2459,0,0,0,0,0,0
$GC,5173,-1.10,-123.5,769.0,-15.0,414,5177,0.00,2.20,0.00,0.000,4,0.000,0.061,2809,3463,2459,0,0,0,0,0,0
$GC,5281,-1.10,-123.5,785.2,-15.2,419,5286,0.08,2.15,0.00,0.000,6,0.209,0.041,2825,2056,2458,0,0,0,0,0,0
$GC,5607,-1.13,-123.5,832.5,-14.1,435,5611,0.00,2.25,0.00,0.000,4,0.000,0.062,2816,3466,2457,0,0,0,0,0,0
$GC,5714,-1.13,-123.5,848.1,-14.4,440,5718,0.00,2.17,0.00,0.000,6,0.000,0.042,2816,2049,2458,0,0,0,0,0,0
$GC,6041,-1.13,-123.5,893.4,-13.9,456,6045,0.00,2.28,0.00,0.000,4,0.000,0.060,2807,3471,2457,0,0,0,0,0,0
$GC,6095,-1.13,-123.5,901.3,-14.0,458,6101,0.00,2.17,0.00,0.000,6,0.000,0.041,2806,2067,2457,0,0,0,0,0,0
$GC,6411,-1.13,-123.5,945.3,-13.7,474,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2067,2457,0,0,0,0,0,0
$GC,6721,-1.13,-123.5,988.7,-14.2,489,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2067,2457,0,0,0,0,0,0
$STATE,6802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6802,begin apogee
$GC,6806,-0.19,0.0,1000.0,13.6,493,6923,1.02,0.00,112.62,1.289,6,0.171,0.000,3113,1723,1950,0,0,0,0,0,0
$STATE,6924,end apogee,CONTROL_FINISHED_OK
$STATE,6924,begin climb
$GC,6925,1.14,123.5,1004.3,0.0,499,7052,1.33,2.45,116.55,1.248,4,0.092,0.048,3558,327,1445,0,0,0,0,0,0
$GC,7123,1.14,123.5,982.6,14.8,508,7128,0.00,2.35,0.00,0.000,6,0.000,0.034,3558,1731,1439,0,0,0,0,0,0
$GC,7445,1.14,123.5,934.3,15.3,524,7449,0.00,2.33,0.00,0.000,4,0.000,0.046,3568,317,1435,0,0,0,0,0,0
$GC,7507,1.14,123.5,924.1,16.6,527,7512,0.05,2.28,0.00,0.000,6,0.227,0.034,3559,1742,1435,0,0,0,0,0,0
$GC,7833,1.14,123.5,871.2,16.4,543,7837,0.00,2.30,0.00,0.000,4,0.000,0.046,3567,321,1435,0,0,0,0,0,0
$GC,7943,1.14,123.5,852.0,17.6,548,7949,0.03,2.25,0.00,0.000,6,0.201,0.032,3559,1737,1434,0,0,0,0,0,0
$GC,8270,1.16,123.5,803.3,14.5,564,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1737,1434,0,0,0,0,0,0
$GC,8579,1.19,123.5,760.1,13.7,579,8583,0.00,2.25,0.00,0.000,4,0.000,0.047,3568,326,1432,0,0,0,0,0,0
$GC,8619,1.19,123.5,754.3,14.8,581,8623,0.00,2.17,0.00,0.000,6,0.000,0.031,3568,1728,1433,0,0,0,0,0,0
$GC,8945,1.19,123.5,707.7,14.4,597,8949,0.00,2.25,0.00,0.000,4,0.000,0.046,3577,318,1433,0,0,0,0,0,0
$GC,9021,1.19,123.5,695.8,15.0,600,9028,0.00,2.22,0.00,0.000,6,0.000,0.033,3577,1730,1432,0,0,0,0,0,0
$GC,9338,1.19,123.5,649.6,14.8,616,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1730,1432,0,0,0,0,0,0
$GC,9647,1.19,123.5,603.7,15.0,631,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1730,1432,0,0,0,0,0,0
$GC,9956,1.19,123.5,558.9,14.3,646,9960,0.00,2.22,0.00,0.000,4,0.000,0.046,3586,324,1431,0,0,0,0,0,0
$GC,10028,1.16,123.5,548.0,14.9,649,10033,0.08,2.20,0.00,0.000,6,0.168,0.034,3563,1741,1431,0,0,0,0,0,0
$GC,10349,1.18,123.5,505.7,13.0,665,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1741,1431,0,0,0,0,0,0
$GC,10658,1.21,123.5,464.4,13.1,680,10662,0.00,2.25,0.00,0.000,4,0.000,0.047,3572,318,1432,0,0,0,0,0,0
$GC,10735,1.21,123.5,453.6,13.0,683,10742,0.00,2.17,0.00,0.000,6,0.000,0.031,3572,1722,1431,0,0,0,0,0,0
$GC,11051,1.21,123.5,411.1,13.4,699,11055,0.00,2.20,0.00,0.000,4,0.000,0.045,3580,324,1431,0,0,0,0,0,0
$GC,11136,1.21,123.5,399.0,14.7,703,11140,0.00,2.17,0.00,0.000,6,0.000,0.033,3581,1735,1430,0,0,0,0,0,0
$GC,11462,1.21,123.5,352.2,14.8,733,11466,0.00,2.22,0.00,0.000,4,0.000,0.046,3590,323,1431,0,0,0,0,0,0
$GC,11501,1.18,123.5,345.9,16.1,736,11506,0.10,2.17,0.00,0.000,6,0.193,0.032,3566,1745,1431,0,0,0,0,0,0
$GC,11826,1.21,123.5,298.3,14.8,766,11830,0.00,2.25,0.00,0.000,4,0.000,0.046,3575,315,1431,0,0,0,0,0,0
$GC,12012,1.21,123.5,270.4,13.9,782,12016,0.00,2.17,0.00,0.000,6,0.000,0.032,3575,1733,1431,0,0,0,0,0,0
$GC,12336,1.21,123.5,223.6,14.1,812,12340,0.00,2.22,0.00,0.000,4,0.000,0.045,3584,319,1431,0,0,0,0,0,0
$GC,12445,1.21,123.5,207.5,15.0,821,12449,0.00,2.17,0.00,0.000,6,0.000,0.032,3584,1740,1431,0,0,0,0,0,0
$GC,12769,1.21,123.5,161.5,13.6,851,12773,0.00,2.22,0.00,0.000,4,0.000,0.045,3593,324,1431,0,0,0,0,0,0
$GC,12934,1.21,123.5,137.9,13.9,865,12939,0.08,2.15,0.00,0.000,6,0.213,0.032,3578,1736,1431,0,0,0,0,0,0
$GC,13264,1.21,123.5,94.7,13.7,898,13269,0.00,2.20,0.00,0.000,4,0.000,0.045,3586,323,1430,0,0,0,0,0,0
$GC,13488,1.21,123.5,61.9,15.5,937,13493,0.00,2.15,0.00,0.000,6,0.000,0.031,3587,1735,1431,0,0,0,0,0,0
$GC,13850,1.21,123.5,10.6,14.3,998,13857,0.00,2.17,0.00,0.000,4,0.000,0.054,3586,3114,1430,0,0,0,0,0,0
$GC,13872,1.21,123.5,7.3,15.0,1001,13879,0.05,2.10,0.00,0.000,6,0.195,0.029,3580,1718,1431,0,0,0,0,0,0
$STATE,13899,end climb,SURFACE_DEPTH_REACHED
$STATE,13899,begin surface coast
$FINISH,1.8,1.023442
$STATE,13919,end surface coast,CONTROL_FINISHED_OK
$STATE,13919,begin surface
$SM_CCo,13934,34.75,0.057,0,0,1132,200.16
$SM_GC,2.66,0.00,0.00,34.75,0.000,0.000,0.057,69,2081,1132,-9.74,0.62,200.16
$IRIDIUM_FIX,-4438.33,633.17,040608,111118
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,12.760
$10V_AH,10.2,9.984
$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,23.375,107.775,229.175,34.750,0.000,24.277,44.957,237.232,0.000,0.000,18.335,2509.314,8692.828,358.807,2712.560,108.609,0.000,1343.196,0.000,2253.297,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,61.965,1289.025,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.924,1847.297,744.859,417.867,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353264
$DATA_FILE_SIZE,70371,1008
$CAP_FILE_SIZE,132814,0
$CFSIZE,2097086464,2083880960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090815,053903,-4456.595,636.432,26,0.9,26,-24.4