version: 66.07.10.p01
glider: 573
mission: 12
dive: 67
start: 8 9 115 17 53 7
data:
$ID,573
$MISSION,12
$DIVE,67
$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,-21226.783
$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,41
$R_STBD_OVSHOOT,20
$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,66
$GPS1,090815,174603,-4455.877,637.532,24,1.1,24,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.2
$GPS2,090815,175247,-4455.929,637.590,19,1.0,19,-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,290.8,2089,-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,-62.6,0.0,0.0,0,52,0.00,0.00,-26.40,0.000,2,0.000,0.000,64,2048,1684,0,0,0,0,0,0
$GC,54,-1.15,-126.5,3.2,-2.3,4,106,11.27,2.25,-31.58,0.000,4,0.254,0.065,2808,665,2463,0,0,0,0,0,0
$GC,163,-1.08,-126.5,12.5,-17.1,21,171,0.10,2.25,0.00,0.000,6,0.192,0.039,2829,2070,2465,0,0,0,0,0,0
$GC,222,-1.06,-126.5,23.2,-17.9,30,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2070,2465,0,0,0,0,0,0
$GC,373,-1.04,-126.5,51.0,-18.8,55,378,0.08,2.28,0.00,0.000,4,0.242,0.060,2833,3480,2466,0,0,0,0,0,0
$GC,432,-1.04,-126.5,61.5,-17.1,65,437,0.05,2.20,0.00,0.000,6,0.236,0.039,2843,2062,2465,0,0,0,0,0,0
$GC,771,-1.04,-126.5,119.1,-16.8,116,775,0.00,2.28,0.00,0.000,4,0.000,0.058,2834,3481,2466,0,0,0,0,0,0
$GC,799,-1.04,-126.5,123.8,-16.0,118,804,0.05,2.20,0.00,0.000,6,0.237,0.039,2844,2058,2466,0,0,0,0,0,0
$GC,1123,-1.04,-126.5,173.4,-14.9,148,1127,0.00,2.28,0.00,0.000,4,0.000,0.060,2834,3469,2466,0,0,0,0,0,0
$GC,1360,-1.04,-126.5,209.5,-15.6,168,1367,0.00,2.20,0.00,0.000,6,0.000,0.041,2834,2060,2467,0,0,0,0,0,0
$GC,1684,-1.04,-126.5,259.4,-14.8,199,1686,0.05,0.00,0.00,0.000,6,0.244,0.000,2844,2060,2467,0,0,0,0,0,0
$GC,2005,-1.07,-126.5,305.8,-14.4,229,2009,0.00,2.22,0.00,0.000,4,0.000,0.054,2849,652,2467,0,0,0,0,0,0
$GC,2035,-1.07,-126.5,310.3,-14.7,231,2039,0.00,2.20,0.00,0.000,6,0.000,0.042,2840,2067,2468,0,0,0,0,0,0
$GC,2362,-1.09,-126.5,359.7,-14.7,261,2366,0.00,2.22,0.00,0.000,4,0.000,0.060,2829,3472,2468,0,0,0,0,0,0
$GC,2427,-1.09,-126.5,370.7,-15.7,266,2434,0.00,2.20,0.00,0.000,6,0.000,0.041,2829,2058,2468,0,0,0,0,0,0
$GC,2749,-1.09,-126.5,420.6,-15.5,291,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2057,2468,0,0,0,0,0,0
$GC,3058,-1.09,-126.5,467.1,-14.7,306,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2057,2468,0,0,0,0,0,0
$GC,3368,-1.09,-126.5,512.6,-15.1,321,3372,0.00,2.25,0.00,0.000,4,0.000,0.060,2820,3463,2468,0,0,0,0,0,0
$GC,3429,-1.09,-126.5,522.1,-15.0,324,3433,0.00,2.15,0.00,0.000,6,0.000,0.040,2821,2057,2468,0,0,0,0,0,0
$GC,3755,-1.09,-126.5,572.6,-15.5,340,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2057,2468,0,0,0,0,0,0
$GC,4064,-1.09,-126.5,619.6,-15.1,355,4068,0.00,2.25,0.00,0.000,4,0.000,0.060,2811,3465,2467,0,0,0,0,0,0
$GC,4113,-1.09,-126.5,627.4,-15.3,357,4118,0.05,2.17,0.00,0.000,6,0.173,0.040,2827,2063,2467,0,0,0,0,0,0
$GC,4435,-1.11,-126.5,674.6,-15.1,373,4439,0.00,2.22,0.00,0.000,4,0.000,0.058,2818,3467,2467,0,0,0,0,0,0
$GC,4506,-1.11,-126.5,685.9,-14.8,376,4511,0.00,2.17,0.00,0.000,6,0.000,0.041,2818,2065,2467,0,0,0,0,0,0
$GC,4828,-1.11,-126.5,734.1,-15.0,392,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2065,2467,0,0,0,0,0,0
$GC,5138,-1.11,-126.5,780.8,-14.9,407,5142,0.00,2.22,0.00,0.000,4,0.000,0.057,2809,3467,2467,0,0,0,0,0,0
$GC,5222,-1.11,-126.5,793.1,-15.6,411,5227,0.05,2.17,0.00,0.000,6,0.223,0.041,2820,2048,2467,0,0,0,0,0,0
$GC,5549,-1.11,-126.5,837.4,-13.4,427,5553,0.00,2.25,0.00,0.000,4,0.000,0.058,2811,3468,2467,0,0,0,0,0,0
$GC,5610,-1.11,-126.5,846.0,-14.2,430,5615,0.05,2.15,0.00,0.000,6,0.226,0.041,2821,2058,2466,0,0,0,0,0,0
$GC,5938,-1.13,-126.5,889.1,-13.5,446,5942,0.00,2.22,0.00,0.000,4,0.000,0.060,2812,3462,2465,0,0,0,0,0,0
$GC,6037,-1.13,-126.5,903.1,-13.9,450,6043,0.00,2.15,0.00,0.000,6,0.000,0.041,2812,2071,2465,0,0,0,0,0,0
$GC,6353,-1.13,-126.5,944.7,-12.9,466,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2070,2465,0,0,0,0,0,0
$GC,6662,-1.13,-126.5,984.6,-12.8,481,6666,0.00,2.20,0.00,0.000,4,0.000,0.056,2803,3463,2465,0,0,0,0,0,0
$GC,6688,-1.13,-126.5,988.5,-13.7,482,6694,0.00,2.17,0.00,0.000,6,0.000,0.039,2804,2056,2465,0,0,0,0,0,0
$STATE,6782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6783,begin apogee
$GC,6786,-0.19,0.0,1000.7,13.1,487,6904,1.05,0.00,114.32,1.294,6,0.174,0.000,3116,1729,1950,0,0,0,0,0,0
$STATE,6905,end apogee,CONTROL_FINISHED_OK
$STATE,6905,begin climb
$GC,6906,1.15,126.5,1003.9,0.0,493,7034,1.33,2.42,120.20,1.248,4,0.090,0.048,3557,327,1434,0,0,0,0,0,0
$GC,7085,1.15,126.5,983.7,16.9,501,7090,0.00,2.33,0.00,0.000,6,0.000,0.031,3557,1735,1428,0,0,0,0,0,0
$GC,7399,1.15,126.5,934.0,15.4,517,7404,0.00,2.33,0.00,0.000,4,0.000,0.047,3566,325,1426,0,0,0,0,0,0
$GC,7544,1.15,126.5,910.3,16.5,523,7551,0.03,2.25,0.00,0.000,6,0.197,0.032,3558,1735,1424,0,0,0,0,0,0
$GC,7860,1.15,126.5,862.0,15.6,539,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1736,1423,0,0,0,0,0,0
$GC,8170,1.17,126.5,815.4,14.9,554,8174,0.00,2.28,0.00,0.000,4,0.000,0.046,3568,320,1423,0,0,0,0,0,0
$GC,8218,1.17,126.5,807.4,15.8,556,8224,0.00,2.22,0.00,0.000,6,0.000,0.031,3567,1732,1422,0,0,0,0,0,0
$GC,8540,1.17,126.5,759.0,15.1,572,8544,0.00,2.28,0.00,0.000,4,0.000,0.047,3576,316,1422,0,0,0,0,0,0
$GC,8594,1.17,126.5,750.2,16.7,574,8602,0.03,2.22,0.00,0.000,6,0.191,0.031,3568,1738,1422,0,0,0,0,0,0
$GC,8911,1.17,126.5,703.9,15.0,590,8915,0.00,2.25,0.00,0.000,4,0.000,0.047,3576,325,1422,0,0,0,0,0,0
$GC,8953,1.17,126.5,697.1,15.2,592,8959,0.03,2.20,0.00,0.000,6,0.196,0.031,3568,1736,1420,0,0,0,0,0,0
$GC,9281,1.17,126.5,650.0,14.7,608,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1736,1421,0,0,0,0,0,0
$GC,9590,1.17,126.5,604.2,14.8,623,9594,0.00,2.25,0.00,0.000,4,0.000,0.047,3576,320,1421,0,0,0,0,0,0
$GC,9752,1.17,126.5,579.2,15.5,630,9757,0.03,2.20,0.00,0.000,6,0.198,0.031,3567,1738,1420,0,0,0,0,0,0
$GC,10073,1.17,126.5,532.1,14.6,646,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1738,1420,0,0,0,0,0,0
$GC,10382,1.17,126.5,487.7,14.4,661,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1738,1421,0,0,0,0,0,0
$GC,10691,1.17,126.5,444.4,13.6,676,10695,0.00,2.25,0.00,0.000,4,0.000,0.047,3576,316,1420,0,0,0,0,0,0
$GC,10779,1.17,126.5,431.1,14.7,680,10785,0.03,2.17,0.00,0.000,6,0.199,0.031,3567,1728,1419,0,0,0,0,0,0
$GC,11100,1.19,126.5,385.2,14.6,700,11104,0.00,2.22,0.00,0.000,4,0.000,0.047,3576,319,1420,0,0,0,0,0,0
$GC,11164,1.19,126.5,375.7,15.5,705,11168,0.00,2.15,0.00,0.000,6,0.000,0.033,3576,1723,1419,0,0,0,0,0,0
$GC,11488,1.19,126.5,329.1,14.4,735,11492,0.00,2.20,0.00,0.000,4,0.000,0.045,3585,323,1419,0,0,0,0,0,0
$GC,11667,1.19,126.5,302.7,13.6,750,11673,0.08,2.15,0.00,0.000,6,0.205,0.032,3569,1736,1419,0,0,0,0,0,0
$GC,11994,1.21,126.5,260.2,12.9,781,11998,0.00,2.20,0.00,0.000,4,0.000,0.045,3578,323,1419,0,0,0,0,0,0
$GC,12070,1.21,126.5,249.7,12.5,787,12077,0.00,2.17,0.00,0.000,6,0.000,0.032,3578,1730,1419,0,0,0,0,0,0
$GC,12396,1.21,126.5,206.7,13.6,818,12400,0.00,2.22,0.00,0.000,4,0.000,0.045,3587,316,1419,0,0,0,0,0,0
$GC,12472,1.21,126.5,195.5,14.5,824,12481,0.00,2.17,0.00,0.000,6,0.000,0.032,3587,1718,1419,0,0,0,0,0,0
$GC,12798,1.21,126.5,148.7,14.5,855,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1718,1419,0,0,0,0,0,0
$GC,13119,1.21,126.5,103.8,13.6,885,13123,0.00,2.20,0.00,0.000,4,0.000,0.046,3596,320,1419,0,0,0,0,0,0
$GC,13203,1.19,126.5,91.5,14.6,897,13211,0.08,2.17,0.00,0.000,6,0.176,0.031,3573,1737,1419,0,0,0,0,0,0
$GC,13555,1.21,126.5,47.0,12.0,958,13560,0.00,2.22,0.00,0.000,4,0.000,0.045,3581,313,1419,0,0,0,0,0,0
$GC,13625,1.21,126.5,37.6,13.6,970,13633,0.00,2.17,0.00,0.000,6,0.000,0.033,3581,1721,1419,0,0,0,0,0,0
$GC,13781,1.21,126.5,16.3,13.3,995,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1721,1419,0,0,0,0,0,0
$GC,13838,1.21,126.5,9.5,11.5,1004,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1722,1419,0,0,0,0,0,0
$STATE,13888,end climb,SURFACE_DEPTH_REACHED
$STATE,13888,begin surface coast
$FINISH,1.6,1.018186
$STATE,13914,end surface coast,CONTROL_FINISHED_OK
$STATE,13914,begin surface
$SM_CCo,13930,33.45,0.057,0,0,1132,200.16
$SM_GC,2.57,0.00,0.00,33.45,0.000,0.000,0.057,61,2079,1132,-9.76,0.54,200.16
$IRIDIUM_FIX,-4438.33,630.15,050608,030351
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.31366
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.3,13.164
$10V_AH,10.2,10.404
$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,23.500,116.425,234.525,33.450,0.000,27.522,21.847,244.767,0.000,0.000,21.569,2540.971,8571.272,397.388,2746.934,112.670,0.000,1388.502,0.000,2296.784,0.000,0.539,0.000
$DEVICE_MAMPS,253.980,65.025,1293.615,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.051,1873.341,774.907,432.769,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353316
$DATA_FILE_SIZE,70501,1016
$CAP_FILE_SIZE,135434,0
$CFSIZE,2097086464,2083356672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090815,214703,-4455.888,636.048,38,0.9,38,-24.4