version: 66.07.10.p01
glider: 573
mission: 12
dive: 123
start: 8 21 115 14 11 18
data:
$ID,573
$MISSION,12
$DIVE,123
$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,390
$T_MISSION,420
$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,120
$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,-21390.902
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,44
$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,122
$GPS1,210815,140333,-4456.476,624.329,40,1.0,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-73.2
$GPS2,210815,141058,-4456.517,624.315,16,1.1,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,1.1,1042,-27.7,-8.547
$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,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-26.38,0.000,2,0.000,0.000,79,2060,1665,0,0,0,0,0,0
$GC,54,-1.13,-107.2,3.1,-2.0,4,106,11.38,2.33,-28.88,0.000,4,0.253,0.074,2804,3451,2390,0,0,0,0,0,0
$GC,187,-1.05,-107.2,16.1,-16.5,25,196,0.12,2.20,0.00,0.000,6,0.177,0.041,2841,2066,2391,0,0,0,0,0,0
$GC,246,-1.05,-107.2,25.6,-15.5,34,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2066,2392,0,0,0,0,0,0
$GC,395,-1.05,-107.2,49.4,-15.7,59,400,0.00,2.25,0.00,0.000,4,0.000,0.052,2842,655,2392,0,0,0,0,0,0
$GC,426,-1.05,-107.2,54.1,-16.6,64,431,0.00,2.20,0.00,0.000,6,0.000,0.041,2833,2058,2392,0,0,0,0,0,0
$GC,774,-1.05,-107.2,111.1,-16.1,120,778,0.00,2.28,0.00,0.000,4,0.000,0.053,2833,645,2392,0,0,0,0,0,0
$GC,825,-1.01,-107.2,119.4,-16.4,124,829,0.12,2.22,0.00,0.000,6,0.197,0.042,2854,2058,2392,0,0,0,0,0,0
$GC,1149,-1.05,-107.2,169.4,-14.6,154,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2058,2392,0,0,0,0,0,0
$GC,1469,-1.10,-107.2,216.8,-15.3,184,1470,0.08,0.00,0.00,0.000,6,0.124,0.000,2812,2058,2392,0,0,0,0,0,0
$GC,1787,-1.10,-107.2,269.7,-16.4,214,1789,0.05,0.00,0.00,0.000,6,0.236,0.000,2821,2058,2393,0,0,0,0,0,0
$GC,2105,-1.10,-107.2,321.6,-16.5,244,2109,0.00,2.25,0.00,0.000,4,0.000,0.054,2821,645,2393,0,0,0,0,0,0
$GC,2189,-1.06,-107.2,335.5,-16.1,251,2194,0.10,2.22,0.00,0.000,6,0.207,0.042,2836,2070,2393,0,0,0,0,0,0
$GC,2516,-1.06,-107.2,384.2,-14.3,281,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2070,2393,0,0,0,0,0,0
$GC,2837,-1.06,-107.2,430.0,-13.9,302,2841,0.00,2.22,0.00,0.000,4,0.000,0.052,2836,654,2393,0,0,0,0,0,0
$GC,2868,-1.06,-107.2,435.0,-14.6,303,2875,0.00,2.22,0.00,0.000,6,0.000,0.041,2827,2062,2393,0,0,0,0,0,0
$GC,3185,-1.06,-107.2,481.9,-14.7,319,3189,0.00,2.22,0.00,0.000,4,0.000,0.054,2827,649,2393,0,0,0,0,0,0
$GC,3211,-1.06,-107.2,486.3,-15.2,320,3216,0.05,2.22,0.00,0.000,6,0.191,0.044,2834,2058,2393,0,0,0,0,0,0
$GC,3533,-1.10,-107.2,533.1,-14.5,336,3537,0.00,2.20,0.00,0.000,4,0.000,0.054,2834,653,2393,0,0,0,0,0,0
$GC,3587,-1.10,-107.2,541.6,-15.5,338,3593,0.00,2.22,0.00,0.000,6,0.000,0.044,2825,2058,2393,0,0,0,0,0,0
$GC,3903,-1.10,-107.2,586.9,-14.5,354,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2058,2393,0,0,0,0,0,0
$GC,4213,-1.10,-107.2,630.1,-13.8,369,4217,0.00,2.25,0.00,0.000,4,0.000,0.054,2825,647,2393,0,0,0,0,0,0
$GC,4278,-1.10,-107.2,639.6,-14.6,372,4283,0.00,2.25,0.00,0.000,6,0.000,0.043,2816,2068,2393,0,0,0,0,0,0
$GC,4606,-1.10,-107.2,686.1,-14.2,388,4610,0.00,2.22,0.00,0.000,4,0.000,0.052,2816,654,2392,0,0,0,0,0,0
$GC,4668,-1.10,-107.2,695.6,-15.8,391,4672,0.10,2.17,0.00,0.000,6,0.207,0.044,2831,2063,2392,0,0,0,0,0,0
$GC,4996,-1.13,-107.2,740.4,-13.5,407,5000,0.00,2.22,0.00,0.000,4,0.000,0.054,2831,652,2392,0,0,0,0,0,0
$GC,5066,-1.13,-107.2,751.2,-14.7,410,5071,0.00,2.22,0.00,0.000,6,0.000,0.045,2822,2053,2392,0,0,0,0,0,0
$GC,5390,-1.13,-107.2,795.6,-13.7,426,5394,0.00,2.22,0.00,0.000,4,0.000,0.053,2822,647,2392,0,0,0,0,0,0
$GC,5574,-1.13,-107.2,822.0,-14.0,434,5578,0.00,2.20,0.00,0.000,6,0.000,0.042,2813,2071,2391,0,0,0,0,0,0
$GC,5889,-1.13,-107.2,861.9,-12.2,449,5893,0.00,2.22,0.00,0.000,4,0.000,0.053,2813,656,2391,0,0,0,0,0,0
$GC,5954,-1.13,-107.2,870.5,-12.9,452,5959,0.00,2.22,0.00,0.000,6,0.000,0.042,2804,2066,2391,0,0,0,0,0,0
$GC,6281,-1.13,-107.2,910.2,-12.4,468,6285,0.00,2.22,0.00,0.000,4,0.000,0.054,2804,653,2390,0,0,0,0,0,0
$GC,6381,-1.10,-107.2,923.0,-13.4,472,6388,0.10,2.22,0.00,0.000,6,0.178,0.044,2826,2055,2390,0,0,0,0,0,0
$GC,6698,-1.14,-107.2,959.5,-11.7,488,6702,0.00,2.22,0.00,0.000,4,0.000,0.054,2826,645,2390,0,0,0,0,0,0
$GC,6737,-1.14,-107.2,964.4,-12.7,490,6741,0.00,2.20,0.00,0.000,6,0.000,0.044,2817,2068,2390,0,0,0,0,0,0
$STATE,7020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7020,begin apogee
$GC,7025,-0.19,0.0,1000.4,12.9,504,7127,1.00,0.00,98.38,1.293,6,0.169,0.000,3114,1589,1950,0,0,0,0,0,0
$STATE,7128,end apogee,CONTROL_FINISHED_OK
$STATE,7128,begin climb
$GC,7129,1.13,107.2,1004.4,0.0,509,7236,1.30,0.00,102.70,1.254,6,0.089,0.000,3541,1589,1511,0,0,0,0,0,0
$GC,7532,1.16,107.2,955.6,13.7,529,7536,0.00,2.33,0.00,0.000,4,0.000,0.054,3541,3002,1503,0,0,0,0,0,0
$GC,7608,1.16,107.2,944.4,14.2,532,7615,0.00,2.25,0.00,0.000,6,0.000,0.034,3550,1600,1502,0,0,0,0,0,0
$GC,7925,1.16,107.2,899.7,14.3,548,7929,0.00,2.28,0.00,0.000,4,0.000,0.052,3560,196,1501,0,0,0,0,0,0
$GC,7968,1.13,107.2,893.1,15.3,550,7972,0.00,2.28,0.00,0.000,6,0.000,0.035,3560,1615,1500,0,0,0,0,0,0
$GC,8295,1.13,107.2,845.9,14.5,566,8299,0.00,2.20,0.00,0.000,4,0.000,0.056,3560,2997,1499,0,0,0,0,0,0
$GC,8349,1.13,107.2,837.4,14.9,568,8356,0.05,2.20,0.00,0.000,6,0.188,0.034,3554,1591,1499,0,0,0,0,0,0
$GC,8665,1.13,107.2,793.7,13.5,584,8669,0.00,2.20,0.00,0.000,4,0.000,0.051,3565,202,1498,0,0,0,0,0,0
$GC,8730,1.10,107.2,784.3,14.0,587,8736,0.08,2.20,0.00,0.000,6,0.176,0.037,3541,1598,1498,0,0,0,0,0,0
$GC,9058,1.14,107.2,740.7,13.3,603,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1598,1498,0,0,0,0,0,0
$GC,9367,1.18,107.2,699.0,13.6,618,9369,0.08,0.00,0.00,0.000,6,0.125,0.000,3585,1599,1498,0,0,0,0,0,0
$GC,9677,1.14,107.2,653.0,14.8,633,9679,0.12,0.00,0.00,0.000,6,0.185,0.000,3554,1604,1497,0,0,0,0,0,0
$GC,9986,1.14,107.2,610.3,13.6,648,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1497,0,0,0,0,0,0
$GC,10295,1.14,107.2,570.6,12.9,663,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1497,0,0,0,0,0,0
$GC,10604,1.14,107.2,530.8,12.9,678,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1496,0,0,0,0,0,0
$GC,10914,1.14,107.2,491.0,12.7,693,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1496,0,0,0,0,0,0
$GC,11223,1.14,107.2,452.0,12.4,708,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1604,1496,0,0,0,0,0,0
$GC,11533,1.17,107.2,413.9,12.5,723,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1605,1496,0,0,0,0,0,0
$GC,11848,1.20,107.2,373.8,13.0,747,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1605,1496,0,0,0,0,0,0
$GC,12169,1.24,107.2,331.1,13.5,777,12174,0.08,0.00,0.00,0.000,6,0.125,0.000,3595,1605,1496,0,0,0,0,0,0
$GC,12494,1.20,107.2,282.9,14.8,808,12499,0.10,2.20,0.00,0.000,4,0.199,0.050,3582,193,1496,0,0,0,0,0,0
$GC,12545,1.14,107.2,275.5,14.4,812,12550,0.10,2.15,0.00,0.000,6,0.202,0.036,3557,1605,1496,0,0,0,0,0,0
$GC,12869,1.14,107.2,233.1,12.6,842,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1605,1496,0,0,0,0,0,0
$GC,13189,1.17,107.2,192.3,12.7,872,13193,0.00,2.17,0.00,0.000,4,0.000,0.052,3557,2997,1496,0,0,0,0,0,0
$GC,13364,1.17,107.2,168.8,13.4,887,13368,0.00,2.12,0.00,0.000,6,0.000,0.034,3565,1595,1496,0,0,0,0,0,0
$GC,13691,1.17,107.2,126.3,13.1,917,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1595,1496,0,0,0,0,0,0
$GC,14015,1.17,107.2,88.5,11.1,955,14020,0.00,2.20,0.00,0.000,4,0.000,0.050,3565,2994,1495,0,0,0,0,0,0
$GC,14077,1.17,107.2,80.7,12.2,966,14084,0.00,2.12,0.00,0.000,6,0.000,0.034,3574,1604,1495,0,0,0,0,0,0
$GC,14428,1.17,107.2,39.3,12.2,1027,14435,0.00,2.22,0.00,0.000,4,0.000,0.050,3585,202,1496,0,0,0,0,0,0
$GC,14504,1.14,107.2,29.6,13.3,1039,14512,0.10,2.17,0.00,0.000,6,0.173,0.035,3554,1610,1496,0,0,0,0,0,0
$GC,14661,1.18,107.2,11.4,11.4,1064,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1610,1496,0,0,0,0,0,0
$GC,14719,1.22,107.2,4.4,12.2,1073,14727,0.08,0.00,0.00,0.000,6,0.129,0.000,3594,1610,1496,0,0,0,0,0,0
$STATE,14735,end climb,SURFACE_DEPTH_REACHED
$STATE,14735,begin surface coast
$FINISH,1.5,1.005353
$STATE,14761,end surface coast,CONTROL_FINISHED_OK
$STATE,14761,begin surface
$SM_CCo,14778,42.30,0.056,0,0,1133,200.16
$SM_GC,3.20,0.00,0.00,42.30,0.000,0.000,0.056,74,2051,1133,-9.72,-0.25,200.16
$IRIDIUM_FIX,-4438.33,633.17,160608,232300
$TT8_MAMPS,0.027713
$HUMID,62.32
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,18.703
$10V_AH,10.1,17.516
$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,24.325,99.100,201.075,42.300,0.000,24.796,41.805,262.639,0.000,0.000,19.431,2664.450,9275.868,367.267,2821.607,135.025,0.000,1349.543,0.000,2334.624,0.000,0.540,0.000
$DEVICE_MAMPS,253.215,74.205,1292.850,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.773,1987.538,817.850,467.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353304
$DATA_FILE_SIZE,73840,1079
$CAP_FILE_SIZE,135982,0
$CFSIZE,2097086464,2076016640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210815,181932,-4455.741,624.176,36,1.2,39,-24.4