version: 66.07.10.p01
glider: 573
mission: 12
dive: 71
start: 8 10 115 14 55 25
data:
$ID,573
$MISSION,12
$DIVE,71
$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,-21238.953
$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,39
$R_STBD_OVSHOOT,46
$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,70
$GPS1,100815,144728,-4503.856,638.441,38,0.8,38,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-73.1
$GPS2,100815,145504,-4503.812,638.541,16,1.0,16,-24.5
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,288.5,3342,-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,-62.6,0.0,0.0,0,45,0.00,0.00,-19.83,0.000,2,0.000,0.000,64,2062,1537,0,0,0,0,0,0
$GC,47,-1.15,-126.5,3.0,-1.1,3,110,11.23,0.00,-43.30,0.000,6,0.251,0.000,2809,2062,2469,0,0,0,0,0,0
$GC,162,-1.12,-126.5,10.5,-16.2,21,168,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2062,2470,0,0,0,0,0,0
$GC,219,-1.08,-126.5,20.8,-18.4,30,226,0.10,0.00,0.00,0.000,6,0.216,0.000,2832,2062,2470,0,0,0,0,0,0
$GC,372,-1.08,-126.5,47.0,-17.0,55,377,0.00,2.25,0.00,0.000,4,0.000,0.062,2822,3451,2471,0,0,0,0,0,0
$GC,401,-1.08,-126.5,52.3,-18.0,60,409,0.03,2.20,0.00,0.000,6,0.209,0.041,2830,2067,2471,0,0,0,0,0,0
$GC,745,-1.08,-126.5,112.2,-17.7,115,749,0.00,2.22,0.00,0.000,4,0.000,0.057,2821,3460,2470,0,0,0,0,0,0
$GC,785,-1.06,-126.5,119.0,-17.4,118,790,0.08,2.17,0.00,0.000,6,0.206,0.039,2836,2054,2471,0,0,0,0,0,0
$GC,1109,-1.06,-126.5,173.0,-14.1,148,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2054,2471,0,0,0,0,0,0
$GC,1428,-1.06,-126.5,222.1,-15.1,178,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2054,2471,0,0,0,0,0,0
$GC,1747,-1.06,-126.5,269.9,-14.8,208,1751,0.00,2.25,0.00,0.000,4,0.000,0.059,2827,3457,2471,0,0,0,0,0,0
$GC,1797,-1.06,-126.5,277.7,-15.8,212,1801,0.00,2.15,0.00,0.000,6,0.000,0.038,2827,2057,2471,0,0,0,0,0,0
$GC,2121,-1.06,-126.5,328.5,-15.8,242,2125,0.00,2.22,0.00,0.000,4,0.000,0.057,2818,3451,2472,0,0,0,0,0,0
$GC,2198,-1.06,-126.5,341.3,-16.7,248,2208,0.05,2.17,0.00,0.000,6,0.177,0.041,2834,2056,2472,0,0,0,0,0,0
$GC,2524,-1.06,-126.5,390.5,-14.5,279,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2056,2472,0,0,0,0,0,0
$GC,2846,-1.08,-126.5,438.2,-14.9,298,2850,0.00,2.25,0.00,0.000,4,0.000,0.060,2825,3461,2472,0,0,0,0,0,0
$GC,2916,-1.08,-126.5,449.2,-14.8,301,2922,0.00,2.17,0.00,0.000,6,0.000,0.039,2825,2057,2472,0,0,0,0,0,0
$GC,3238,-1.08,-126.5,495.7,-14.3,317,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2056,2472,0,0,0,0,0,0
$GC,3548,-1.08,-126.5,539.7,-14.2,332,3552,0.00,2.22,0.00,0.000,4,0.000,0.057,2816,3450,2472,0,0,0,0,0,0
$GC,3635,-1.08,-126.5,552.7,-14.6,336,3641,0.03,2.17,0.00,0.000,6,0.190,0.041,2824,2056,2472,0,0,0,0,0,0
$GC,3963,-1.08,-126.5,598.6,-14.0,352,3967,0.00,2.22,0.00,0.000,4,0.000,0.059,2815,3449,2472,0,0,0,0,0,0
$GC,4056,-1.08,-126.5,612.5,-15.1,356,4061,0.03,2.17,0.00,0.000,6,0.194,0.041,2825,2055,2471,0,0,0,0,0,0
$GC,4378,-1.08,-126.5,658.7,-14.6,372,4382,0.00,2.22,0.00,0.000,4,0.000,0.059,2816,3455,2471,0,0,0,0,0,0
$GC,4420,-1.08,-126.5,665.3,-14.8,374,4426,0.03,2.17,0.00,0.000,6,0.195,0.039,2825,2054,2471,0,0,0,0,0,0
$GC,4747,-1.08,-126.5,712.9,-14.7,390,4751,0.00,2.22,0.00,0.000,4,0.000,0.058,2815,3451,2471,0,0,0,0,0,0
$GC,4847,-1.08,-126.5,727.6,-14.2,394,4852,0.05,2.15,0.00,0.000,6,0.181,0.041,2832,2069,2471,0,0,0,0,0,0
$GC,5168,-1.11,-126.5,770.9,-13.7,410,5172,0.00,2.17,0.00,0.000,4,0.000,0.056,2823,3451,2470,0,0,0,0,0,0
$GC,5262,-1.13,-126.5,784.1,-12.9,414,5267,0.00,2.17,0.00,0.000,6,0.000,0.041,2823,2050,2469,0,0,0,0,0,0
$GC,5584,-1.16,-126.5,828.1,-13.2,430,5588,0.00,2.22,0.00,0.000,4,0.000,0.057,2814,3451,2469,0,0,0,0,0,0
$GC,5660,-1.16,-126.5,839.1,-14.1,433,5667,0.00,2.17,0.00,0.000,6,0.000,0.041,2814,2053,2468,0,0,0,0,0,0
$GC,5977,-1.16,-126.5,881.5,-13.6,449,5981,0.00,2.22,0.00,0.000,4,0.000,0.058,2805,3457,2468,0,0,0,0,0,0
$GC,6019,-1.16,-126.5,887.8,-14.2,451,6024,0.00,2.17,0.00,0.000,6,0.000,0.040,2805,2056,2468,0,0,0,0,0,0
$GC,6347,-1.16,-126.5,931.7,-13.4,467,6351,0.00,2.22,0.00,0.000,4,0.000,0.059,2796,3450,2468,0,0,0,0,0,0
$GC,6433,-1.16,-126.5,943.6,-14.3,471,6437,0.00,2.15,0.00,0.000,6,0.000,0.041,2797,2052,2468,0,0,0,0,0,0
$GC,6759,-1.16,-126.5,988.7,-13.6,487,6764,0.03,2.25,0.00,0.000,4,0.274,0.059,2797,3457,2468,0,0,0,0,0,0
$GC,6843,-1.16,-126.5,999.7,-13.4,491,6847,0.00,2.10,0.00,0.000,3,0.000,0.041,2797,2077,2467,0,0,0,0,0,0
$STATE,6847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6847,begin apogee
$GC,6851,-0.19,0.0,1000.3,12.9,491,6971,1.05,0.00,115.45,1.294,6,0.174,0.000,3115,1734,1950,0,0,0,0,0,0
$STATE,6971,end apogee,CONTROL_FINISHED_OK
$STATE,6972,begin climb
$GC,6973,1.15,126.5,1003.7,0.0,497,7100,1.30,2.42,119.72,1.253,4,0.091,0.046,3555,326,1435,0,0,0,0,0,0
$GC,7143,1.15,126.5,984.4,16.1,505,7149,0.00,2.35,0.00,0.000,6,0.000,0.032,3554,1724,1430,0,0,0,0,0,0
$GC,7466,1.17,126.5,933.3,16.4,521,7470,0.00,2.30,0.00,0.000,4,0.000,0.045,3564,327,1425,0,0,0,0,0,0
$GC,7572,1.17,126.5,915.7,16.8,526,7577,0.00,2.25,0.00,0.000,6,0.000,0.034,3564,1734,1425,0,0,0,0,0,0
$GC,7898,1.17,126.5,862.2,16.1,542,7903,0.00,2.28,0.00,0.000,4,0.000,0.045,3573,327,1424,0,0,0,0,0,0
$GC,8144,1.17,126.5,820.2,16.8,553,8149,0.03,2.22,0.00,0.000,6,0.192,0.033,3565,1732,1423,0,0,0,0,0,0
$GC,8472,1.17,126.5,769.5,15.2,569,8476,0.00,2.25,0.00,0.000,4,0.000,0.045,3574,326,1423,0,0,0,0,0,0
$GC,8588,1.17,126.5,750.9,16.0,574,8593,0.03,2.20,0.00,0.000,6,0.197,0.033,3566,1730,1423,0,0,0,0,0,0
$GC,8909,1.17,126.5,704.4,14.5,590,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1730,1423,0,0,0,0,0,0
$GC,9218,1.17,126.5,659.9,14.4,605,9222,0.00,2.25,0.00,0.000,4,0.000,0.045,3575,317,1422,0,0,0,0,0,0
$GC,9340,1.17,126.5,641.5,14.8,610,9347,0.03,2.20,0.00,0.000,6,0.198,0.033,3566,1726,1422,0,0,0,0,0,0
$GC,9656,1.17,126.5,597.4,14.1,626,9660,0.00,2.22,0.00,0.000,4,0.000,0.046,3575,323,1422,0,0,0,0,0,0
$GC,9812,1.17,126.5,574.3,14.4,633,9817,0.03,2.20,0.00,0.000,6,0.199,0.034,3567,1733,1421,0,0,0,0,0,0
$GC,10140,1.17,126.5,528.4,14.3,649,10144,0.00,2.22,0.00,0.000,4,0.000,0.045,3575,325,1421,0,0,0,0,0,0
$GC,10249,1.17,126.5,511.7,15.1,654,10255,0.03,2.20,0.00,0.000,6,0.200,0.033,3566,1735,1421,0,0,0,0,0,0
$GC,10577,1.17,126.5,464.8,14.5,670,10581,0.00,2.22,0.00,0.000,4,0.000,0.045,3575,319,1421,0,0,0,0,0,0
$GC,10648,1.17,126.5,453.9,15.3,673,10653,0.03,2.17,0.00,0.000,6,0.203,0.032,3566,1728,1421,0,0,0,0,0,0
$GC,10975,1.17,126.5,407.2,14.3,689,10979,0.00,2.22,0.00,0.000,4,0.000,0.045,3575,317,1421,0,0,0,0,0,0
$GC,11050,1.17,126.5,396.3,14.6,693,11055,0.05,2.15,0.00,0.000,6,0.233,0.033,3565,1730,1421,0,0,0,0,0,0
$GC,11380,1.19,126.5,348.4,14.6,724,11384,0.00,2.22,0.00,0.000,4,0.000,0.046,3574,319,1421,0,0,0,0,0,0
$GC,11479,1.19,126.5,333.5,14.7,732,11488,0.00,2.17,0.00,0.000,6,0.000,0.031,3574,1722,1420,0,0,0,0,0,0
$GC,11804,1.19,126.5,287.6,13.8,763,11806,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1722,1420,0,0,0,0,0,0
$GC,12126,1.19,126.5,243.6,14.0,793,12130,0.00,2.20,0.00,0.000,4,0.000,0.044,3583,325,1420,0,0,0,0,0,0
$GC,12351,1.19,126.5,210.5,14.1,812,12358,0.00,2.17,0.00,0.000,6,0.000,0.033,3583,1728,1420,0,0,0,0,0,0
$GC,12675,1.19,126.5,165.4,13.9,843,12680,0.05,2.20,0.00,0.000,4,0.238,0.045,3580,322,1420,0,0,0,0,0,0
$GC,12920,1.19,126.5,130.7,13.7,864,12929,0.00,2.17,0.00,0.000,6,0.000,0.031,3580,1730,1420,0,0,0,0,0,0
$GC,13253,1.19,126.5,86.0,14.3,903,13260,0.00,2.22,0.00,0.000,4,0.000,0.044,3589,331,1420,0,0,0,0,0,0
$GC,13356,1.19,126.5,71.0,14.5,921,13364,0.05,2.17,0.00,0.000,6,0.183,0.033,3573,1740,1420,0,0,0,0,0,0
$GC,13715,1.21,126.5,21.9,12.4,982,13723,0.00,2.25,0.00,0.000,4,0.000,0.046,3582,326,1420,0,0,0,0,0,0
$STATE,13851,end climb,SURFACE_DEPTH_REACHED
$STATE,13851,begin surface coast
$FINISH,1.8,1.023377
$STATE,13859,end surface coast,CONTROL_FINISHED_OK
$STATE,13860,begin surface
$SM_CCo,13877,33.47,0.057,0,0,1133,200.16
$SM_GC,2.92,0.00,0.00,33.47,0.000,0.000,0.057,75,2071,1133,-9.72,0.31,200.16
$IRIDIUM_FIX,-4444.39,639.92,050608,222233
$TT8_MAMPS,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.3,13.623
$10V_AH,10.2,10.934
$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,23.175,124.875,235.175,33.475,0.000,24.578,19.914,291.243,0.000,0.000,18.938,2550.729,8377.916,394.537,2914.229,119.429,0.000,1456.335,0.000,2419.273,0.000,0.539,0.000
$DEVICE_MAMPS,273.870,61.965,1293.615,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.891,1849.675,748.245,431.782,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353308
$DATA_FILE_SIZE,70531,1005
$CAP_FILE_SIZE,141529,0
$CFSIZE,2097086464,2082832384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100815,184827,-4504.410,637.178,37,0.9,37,-24.4