version: 66.07.10.p01
glider: 573
mission: 12
dive: 66
start: 8 9 115 13 56 6
data:
$ID,573
$MISSION,12
$DIVE,66
$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,-21224.08
$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,31
$R_STBD_OVSHOOT,59
$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,65
$GPS1,090815,134903,-4457.204,636.423,38,0.8,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-67.8
$GPS2,090815,135546,-4457.204,636.424,15,1.0,15,-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,10.4,2298,-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,-62.6,0.0,0.0,0,46,0.00,0.00,-19.92,0.000,2,0.000,0.000,71,2079,1539,0,0,0,0,0,0
$GC,48,-1.15,-126.5,3.1,-2.9,3,112,11.30,2.33,-42.20,0.000,4,0.256,0.064,2808,652,2467,0,0,0,0,0,0
$GC,382,-1.09,-126.5,55.3,-18.6,58,388,0.12,2.17,0.00,0.000,6,0.212,0.042,2829,2030,2470,0,0,0,0,0,0
$GC,724,-1.09,-126.5,117.7,-17.8,110,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2030,2470,0,0,0,0,0,0
$GC,1043,-1.09,-126.5,173.9,-16.4,140,1047,0.00,2.28,0.00,0.000,4,0.000,0.059,2819,3472,2470,0,0,0,0,0,0
$GC,1152,-1.09,-126.5,191.7,-16.5,149,1156,0.00,2.17,0.00,0.000,6,0.000,0.041,2819,2051,2470,0,0,0,0,0,0
$GC,1476,-1.09,-126.5,244.3,-16.4,179,1480,0.00,2.28,0.00,0.000,4,0.000,0.059,2809,3469,2470,0,0,0,0,0,0
$GC,1505,-1.09,-126.5,248.7,-16.4,181,1510,0.08,2.17,0.00,0.000,6,0.197,0.039,2827,2052,2470,0,0,0,0,0,0
$GC,1829,-1.09,-126.5,299.5,-15.5,211,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2051,2471,0,0,0,0,0,0
$GC,2151,-1.09,-126.5,350.5,-15.7,241,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2052,2472,0,0,0,0,0,0
$GC,2467,-1.09,-126.5,401.0,-15.3,271,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2052,2471,0,0,0,0,0,0
$GC,2776,-1.09,-126.5,449.0,-15.5,286,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2052,2471,0,0,0,0,0,0
$GC,3085,-1.09,-126.5,496.1,-15.1,301,3089,0.00,2.28,0.00,0.000,4,0.000,0.060,2818,3473,2471,0,0,0,0,0,0
$GC,3125,-1.09,-126.5,502.1,-15.3,303,3129,0.05,2.15,0.00,0.000,6,0.228,0.041,2828,2055,2471,0,0,0,0,0,0
$GC,3450,-1.09,-126.5,549.7,-14.7,319,3454,0.00,2.28,0.00,0.000,4,0.000,0.060,2818,3478,2471,0,0,0,0,0,0
$GC,3504,-1.09,-126.5,558.3,-15.4,321,3510,0.00,2.20,0.00,0.000,6,0.000,0.040,2818,2059,2471,0,0,0,0,0,0
$GC,3820,-1.09,-126.5,605.1,-14.8,337,3824,0.00,2.25,0.00,0.000,4,0.000,0.060,2809,3467,2471,0,0,0,0,0,0
$GC,3859,-1.09,-126.5,610.8,-14.8,339,3864,0.10,2.15,0.00,0.000,6,0.194,0.041,2833,2057,2471,0,0,0,0,0,0
$GC,4186,-1.12,-126.5,654.3,-12.9,355,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2057,2471,0,0,0,0,0,0
$GC,4495,-1.15,-126.5,694.8,-13.1,370,4499,0.05,2.28,0.00,0.000,4,0.169,0.060,2792,3470,2471,0,0,0,0,0,0
$GC,4650,-1.13,-126.5,719.3,-16.0,377,4656,0.05,2.17,0.00,0.000,6,0.182,0.041,2808,2069,2470,0,0,0,0,0,0
$GC,4977,-1.13,-126.5,769.3,-15.2,393,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2069,2470,0,0,0,0,0,0
$GC,5286,-1.13,-126.5,816.1,-14.9,408,5290,0.00,2.22,0.00,0.000,4,0.000,0.058,2800,3468,2469,0,0,0,0,0,0
$GC,5385,-1.13,-126.5,831.7,-15.5,412,5392,0.03,2.17,0.00,0.000,6,0.191,0.040,2809,2065,2469,0,0,0,0,0,0
$GC,5701,-1.13,-126.5,877.1,-14.1,428,5705,0.00,2.22,0.00,0.000,4,0.000,0.057,2800,3467,2469,0,0,0,0,0,0
$GC,5799,-1.13,-126.5,892.0,-15.2,432,5807,0.03,2.17,0.00,0.000,6,0.193,0.041,2809,2062,2468,0,0,0,0,0,0
$GC,6116,-1.13,-126.5,936.2,-14.2,448,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2062,2469,0,0,0,0,0,0
$GC,6425,-1.13,-126.5,979.1,-13.6,463,6429,0.00,2.20,0.00,0.000,4,0.000,0.058,2800,3468,2468,0,0,0,0,0,0
$GC,6465,-1.13,-126.5,984.5,-14.3,465,6469,0.08,2.15,0.00,0.000,6,0.207,0.040,2816,2046,2468,0,0,0,0,0,0
$STATE,6603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6604,begin apogee
$GC,6607,-0.19,0.0,1002.6,12.9,472,6726,1.00,0.00,115.05,1.294,6,0.169,0.000,3117,1720,1950,0,0,0,0,0,0
$STATE,6727,end apogee,CONTROL_FINISHED_OK
$STATE,6727,begin climb
$GC,6728,1.15,126.5,1006.4,0.0,478,6856,1.30,2.40,119.50,1.252,4,0.091,0.046,3557,321,1434,0,0,0,0,0,0
$GC,6945,1.15,126.5,980.6,16.8,488,6950,0.00,2.35,0.00,0.000,6,0.000,0.033,3556,1734,1427,0,0,0,0,0,0
$GC,7268,1.15,126.5,932.7,15.0,504,7272,0.00,2.33,0.00,0.000,4,0.000,0.045,3565,319,1425,0,0,0,0,0,0
$GC,7424,1.15,126.5,907.5,16.7,511,7429,0.03,2.28,0.00,0.000,6,0.195,0.032,3558,1742,1423,0,0,0,0,0,0
$GC,7751,1.15,126.5,857.2,15.3,527,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1742,1423,0,0,0,0,0,0
$GC,8060,1.17,126.5,811.8,14.7,542,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1742,1422,0,0,0,0,0,0
$GC,8370,1.19,126.5,765.7,15.0,557,8374,0.00,2.25,0.00,0.000,4,0.000,0.046,3567,321,1422,0,0,0,0,0,0
$GC,8498,1.19,126.5,745.3,15.6,563,8502,0.00,2.20,0.00,0.000,6,0.000,0.032,3567,1734,1421,0,0,0,0,0,0
$GC,8824,1.19,126.5,696.0,14.8,579,8828,0.00,2.22,0.00,0.000,4,0.000,0.045,3575,325,1421,0,0,0,0,0,0
$GC,8867,1.19,126.5,689.1,15.3,581,8872,0.00,2.20,0.00,0.000,6,0.000,0.031,3575,1727,1421,0,0,0,0,0,0
$GC,9195,1.19,126.5,640.4,15.0,597,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1727,1421,0,0,0,0,0,0
$GC,9504,1.19,126.5,594.8,14.5,612,9508,0.00,2.22,0.00,0.000,4,0.000,0.046,3585,325,1420,0,0,0,0,0,0
$GC,9723,1.17,126.5,561.9,15.1,622,9728,0.10,2.15,0.00,0.000,6,0.189,0.032,3561,1737,1420,0,0,0,0,0,0
$GC,10050,1.19,126.5,518.2,13.2,638,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1737,1420,0,0,0,0,0,0
$GC,10359,1.21,126.5,476.7,13.8,653,10363,0.00,2.20,0.00,0.000,4,0.000,0.045,3570,324,1420,0,0,0,0,0,0
$GC,10424,1.21,126.5,467.1,15.0,656,10429,0.00,2.17,0.00,0.000,6,0.000,0.031,3570,1725,1420,0,0,0,0,0,0
$GC,10752,1.21,126.5,420.9,14.2,672,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1725,1420,0,0,0,0,0,0
$GC,11065,1.21,126.5,376.5,14.2,694,11069,0.00,2.22,0.00,0.000,4,0.000,0.045,3579,313,1420,0,0,0,0,0,0
$GC,11176,1.21,126.5,359.0,15.6,703,11182,0.00,2.20,0.00,0.000,6,0.000,0.033,3579,1730,1419,0,0,0,0,0,0
$GC,11502,1.21,126.5,311.3,15.1,734,11506,0.00,2.22,0.00,0.000,4,0.000,0.045,3588,317,1419,0,0,0,0,0,0
$GC,11609,1.19,126.5,295.0,15.1,743,11614,0.08,2.15,0.00,0.000,6,0.207,0.032,3572,1738,1419,0,0,0,0,0,0
$GC,11937,1.19,126.5,248.8,14.0,773,11941,0.00,2.22,0.00,0.000,4,0.000,0.045,3581,323,1419,0,0,0,0,0,0
$GC,12100,1.19,126.5,224.3,14.3,787,12104,0.03,2.12,0.00,0.000,6,0.276,0.031,3572,1735,1419,0,0,0,0,0,0
$GC,12426,1.19,126.5,176.3,15.0,817,12430,0.00,2.20,0.00,0.000,4,0.000,0.045,3581,319,1419,0,0,0,0,0,0
$GC,12510,1.19,126.5,163.0,15.2,824,12514,0.03,2.12,0.00,0.000,6,0.277,0.031,3571,1730,1419,0,0,0,0,0,0
$GC,12834,1.21,126.5,115.1,13.7,854,12838,0.00,2.17,0.00,0.000,4,0.000,0.053,3572,3122,1419,0,0,0,0,0,0
$GC,12965,1.21,126.5,96.7,14.2,867,12972,0.00,2.12,0.00,0.000,6,0.000,0.030,3580,1723,1419,0,0,0,0,0,0
$GC,13318,1.21,126.5,48.5,13.3,928,13323,0.00,2.15,0.00,0.000,4,0.000,0.047,3590,327,1419,0,0,0,0,0,0
$GC,13589,1.19,126.5,10.9,12.3,973,13597,0.05,2.15,0.00,0.000,6,0.191,0.032,3575,1730,1419,0,0,0,0,0,0
$GC,13647,1.19,126.5,3.3,11.7,982,13655,0.00,2.22,0.00,0.000,4,0.000,0.046,3584,327,1419,0,0,0,0,0,0
$STATE,13662,end climb,SURFACE_DEPTH_REACHED
$STATE,13662,begin surface coast
$FINISH,1.7,1.008133
$STATE,13688,end surface coast,CONTROL_FINISHED_OK
$STATE,13688,begin surface
$SM_CCo,13706,33.45,0.058,0,0,1133,200.16
$SM_GC,2.28,0.00,0.00,33.45,0.000,0.000,0.058,65,2048,1133,-9.75,-0.34,200.16
$IRIDIUM_FIX,-4435.30,635.85,040608,232349
$TT8_MAMPS,0.026964
$HUMID,63.03
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.3,13.061
$10V_AH,10.2,10.299
$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,23.575,102.750,234.550,33.450,0.000,25.015,19.218,249.977,0.000,0.000,17.794,2466.284,8486.005,351.063,2730.972,105.891,0.000,1333.774,0.000,2281.118,0.000,0.539,0.000
$DEVICE_MAMPS,276.930,64.260,1294.380,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.378,1821.460,745.219,435.091,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353280
$DATA_FILE_SIZE,70466,988
$CAP_FILE_SIZE,128963,0
$CFSIZE,2097086464,2083520512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090815,174603,-4455.877,637.532,24,1.1,24,-24.4