version: 66.07.10.p01
glider: 573
mission: 12
dive: 190
start: 9 4 115 23 15 12
data:
$ID,573
$MISSION,12
$DIVE,190
$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,-21598.02
$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,34
$R_STBD_OVSHOOT,38
$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,189
$GPS1,040915,230733,-4505.176,624.580,40,1.0,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-69.7
$GPS2,040915,231452,-4505.199,624.630,19,0.8,19,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,4.1,2369,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-19.73,0.000,2,0.000,0.000,70,2074,1523,0,0,0,0,0,0
$GC,48,-1.13,-114.0,3.1,-1.2,3,105,11.30,0.00,-42.30,0.000,6,0.244,0.000,2811,2064,2415,0,0,0,0,0,0
$GC,157,-1.07,-114.0,10.0,-15.3,20,165,0.10,0.00,0.00,0.000,6,0.211,0.000,2834,2064,2419,0,0,0,0,0,0
$GC,215,-1.07,-114.0,19.6,-16.0,29,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2064,2419,0,0,0,0,0,0
$GC,273,-1.07,-114.0,28.7,-16.0,38,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2065,2418,0,0,0,0,0,0
$GC,420,-1.07,-114.0,53.3,-17.1,63,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2064,2419,0,0,0,0,0,0
$GC,764,-1.07,-114.0,111.2,-16.7,118,768,0.00,2.28,0.00,0.000,4,0.000,0.064,2824,3462,2419,0,0,0,0,0,0
$GC,819,-1.07,-114.0,120.6,-16.4,122,825,0.00,2.20,0.00,0.000,6,0.000,0.042,2824,2072,2419,0,0,0,0,0,0
$GC,1147,-1.07,-114.0,176.1,-16.7,153,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2072,2420,0,0,0,0,0,0
$GC,1464,-1.07,-114.0,228.1,-15.6,183,1468,0.00,2.22,0.00,0.000,4,0.000,0.057,2815,3458,2420,0,0,0,0,0,0
$GC,1539,-1.07,-114.0,239.9,-16.0,189,1544,0.08,2.17,0.00,0.000,6,0.200,0.042,2832,2051,2420,0,0,0,0,0,0
$GC,1864,-1.07,-114.0,289.7,-14.8,219,1868,0.00,2.28,0.00,0.000,4,0.000,0.059,2823,3461,2420,0,0,0,0,0,0
$GC,1926,-1.07,-114.0,299.1,-14.8,224,1930,0.00,2.17,0.00,0.000,6,0.000,0.042,2822,2048,2420,0,0,0,0,0,0
$GC,2250,-1.07,-114.0,348.2,-14.8,254,2252,0.05,0.00,0.00,0.000,6,0.231,0.000,2833,2048,2420,0,0,0,0,0,0
$GC,2570,-1.10,-114.0,392.7,-14.1,284,2574,0.00,2.25,0.00,0.000,4,0.000,0.059,2824,3469,2420,0,0,0,0,0,0
$GC,2609,-1.10,-114.0,398.4,-14.1,287,2613,0.00,2.20,0.00,0.000,6,0.000,0.044,2824,2058,2420,0,0,0,0,0,0
$GC,2935,-1.10,-114.0,443.9,-13.7,303,2939,0.00,2.25,0.00,0.000,4,0.000,0.061,2815,3463,2420,0,0,0,0,0,0
$GC,2955,-1.10,-114.0,447.0,-14.2,304,2960,0.00,2.20,0.00,0.000,6,0.000,0.043,2815,2062,2420,0,0,0,0,0,0
$GC,3283,-1.10,-114.0,492.6,-13.9,320,3287,0.00,2.25,0.00,0.000,4,0.000,0.060,2806,3463,2420,0,0,0,0,0,0
$GC,3322,-1.10,-114.0,498.5,-14.8,322,3326,0.08,2.20,0.00,0.000,6,0.200,0.043,2822,2050,2420,0,0,0,0,0,0
$GC,3648,-1.10,-114.0,542.8,-13.8,338,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2050,2420,0,0,0,0,0,0
$GC,3957,-1.10,-114.0,586.5,-14.9,353,3961,0.00,2.28,0.00,0.000,4,0.000,0.060,2813,3468,2420,0,0,0,0,0,0
$GC,4000,-1.10,-114.0,593.4,-15.0,355,4005,0.03,2.22,0.00,0.000,6,0.190,0.044,2821,2053,2421,0,0,0,0,0,0
$GC,4327,-1.10,-114.0,642.7,-14.9,371,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2053,2420,0,0,0,0,0,0
$GC,4636,-1.14,-114.0,688.5,-14.6,386,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2053,2420,0,0,0,0,0,0
$GC,4945,-1.14,-114.0,732.7,-14.6,401,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2053,2420,0,0,0,0,0,0
$GC,5255,-1.17,-114.0,777.0,-14.4,416,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2053,2420,0,0,0,0,0,0
$GC,5564,-1.21,-114.0,820.1,-13.6,431,5566,0.08,0.00,0.00,0.000,6,0.132,0.000,2788,2053,2419,0,0,0,0,0,0
$GC,5873,-1.21,-114.0,865.3,-14.7,446,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2053,2418,0,0,0,0,0,0
$GC,6183,-1.21,-114.0,908.1,-13.4,461,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2053,2419,0,0,0,0,0,0
$GC,6492,-1.21,-114.0,948.6,-12.8,476,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2053,2419,0,0,0,0,0,0
$GC,6801,-1.21,-114.0,987.4,-12.3,491,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2053,2418,0,0,0,0,0,0
$STATE,6924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6924,begin apogee
$GC,6929,-0.19,0.0,1002.3,12.0,497,7037,1.12,0.00,104.78,1.294,6,0.173,0.000,3115,1592,1949,0,0,0,0,0,0
$STATE,7038,end apogee,CONTROL_FINISHED_OK
$STATE,7038,begin climb
$GC,7040,1.13,114.0,1004.8,0.0,502,7158,1.30,2.47,109.30,1.254,4,0.090,0.053,3556,193,1484,0,0,0,0,0,0
$GC,7235,1.13,114.0,980.1,17.1,510,7240,0.00,2.38,0.00,0.000,6,0.000,0.034,3556,1605,1479,0,0,0,0,0,0
$GC,7557,1.13,114.0,929.2,15.7,526,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1605,1475,0,0,0,0,0,0
$GC,7866,1.13,114.0,882.4,15.0,541,7871,0.00,2.30,0.00,0.000,4,0.000,0.053,3564,198,1474,0,0,0,0,0,0
$GC,7916,1.10,114.0,874.7,16.2,543,7921,0.08,2.25,0.00,0.000,6,0.164,0.036,3542,1604,1473,0,0,0,0,0,0
$GC,8237,1.14,114.0,830.1,13.9,559,8241,0.00,2.28,0.00,0.000,4,0.000,0.052,3551,197,1473,0,0,0,0,0,0
$GC,8298,1.14,114.0,821.1,15.3,562,8303,0.00,2.17,0.00,0.000,6,0.000,0.037,3551,1601,1472,0,0,0,0,0,0
$GC,8625,1.14,114.0,774.9,14.0,578,8629,0.00,2.28,0.00,0.000,4,0.000,0.051,3561,189,1472,0,0,0,0,0,0
$GC,8686,1.14,114.0,765.9,15.0,581,8690,0.00,2.20,0.00,0.000,6,0.000,0.035,3561,1601,1472,0,0,0,0,0,0
$GC,9014,1.14,114.0,719.9,13.6,597,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1601,1471,0,0,0,0,0,0
$GC,9323,1.14,114.0,677.1,13.7,612,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1601,1471,0,0,0,0,0,0
$GC,9632,1.14,114.0,635.8,13.3,627,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1601,1471,0,0,0,0,0,0
$GC,9941,1.14,114.0,595.6,12.7,642,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1601,1471,0,0,0,0,0,0
$GC,10250,1.14,114.0,555.2,13.2,657,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1601,1471,0,0,0,0,0,0
$GC,10560,1.14,114.0,514.6,13.1,672,10564,0.00,2.28,0.00,0.000,4,0.000,0.052,3569,188,1471,0,0,0,0,0,0
$GC,10704,1.14,114.0,494.4,14.5,678,10711,0.05,2.20,0.00,0.000,6,0.173,0.035,3543,1601,1471,0,0,0,0,0,0
$GC,11020,1.20,114.0,455.0,12.6,694,11022,0.08,0.00,0.00,0.000,6,0.126,0.000,3586,1601,1471,0,0,0,0,0,0
$GC,11329,1.20,114.0,410.1,14.8,709,11331,0.05,0.00,0.00,0.000,6,0.234,0.000,3576,1602,1471,0,0,0,0,0,0
$GC,11646,1.20,114.0,364.8,13.9,735,11650,0.00,2.25,0.00,0.000,4,0.000,0.051,3585,185,1471,0,0,0,0,0,0
$GC,11689,1.16,114.0,358.1,15.0,738,11696,0.08,2.20,0.00,0.000,6,0.174,0.035,3562,1601,1471,0,0,0,0,0,0
$GC,12017,1.19,114.0,315.8,12.7,769,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1601,1471,0,0,0,0,0,0
$GC,12334,1.23,114.0,274.6,12.8,799,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1601,1471,0,0,0,0,0,0
$GC,12655,1.26,114.0,234.3,12.6,829,12660,0.10,2.25,0.00,0.000,4,0.101,0.052,3616,193,1471,0,0,0,0,0,0
$GC,12822,1.16,114.0,208.7,13.6,843,12829,0.17,2.20,0.00,0.000,6,0.175,0.035,3562,1611,1471,0,0,0,0,0,0
$GC,13148,1.20,114.0,166.9,12.7,874,13152,0.00,2.25,0.00,0.000,4,0.000,0.051,3571,189,1471,0,0,0,0,0,0
$GC,13179,1.20,114.0,162.4,13.3,876,13188,0.00,2.17,0.00,0.000,6,0.000,0.034,3571,1591,1470,0,0,0,0,0,0
$GC,13505,1.24,114.0,122.6,11.8,907,13509,0.00,2.22,0.00,0.000,4,0.000,0.051,3580,185,1471,0,0,0,0,0,0
$GC,13556,1.24,114.0,115.9,14.0,911,13560,0.00,2.17,0.00,0.000,6,0.000,0.035,3579,1602,1470,0,0,0,0,0,0
$GC,13895,1.24,114.0,74.4,12.2,959,13900,0.00,2.17,0.00,0.000,4,0.000,0.053,3580,2990,1470,0,0,0,0,0,0
$GC,14050,1.24,114.0,54.5,13.1,986,14055,0.00,2.12,0.00,0.000,6,0.000,0.036,3589,1593,1470,0,0,0,0,0,0
$GC,14414,1.24,114.0,9.0,13.2,1047,14420,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1593,1470,0,0,0,0,0,0
$STATE,14464,end climb,SURFACE_DEPTH_REACHED
$STATE,14464,begin surface coast
$FINISH,1.8,1.016740
$STATE,14496,end surface coast,CONTROL_FINISHED_OK
$STATE,14496,begin surface
$SM_CCo,14513,40.05,0.057,0,0,1133,200.16
$SM_GC,3.28,0.00,0.00,40.05,0.000,0.000,0.057,64,2076,1133,-9.75,0.45,200.16
$IRIDIUM_FIX,-4450.47,625.47,010708,080811
$TT8_MAMPS,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,23.0,25.411
$10V_AH,10.0,26.272
$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,23.800,77.425,214.075,40.050,0.000,28.884,18.203,267.869,0.000,0.000,21.857,2588.054,9179.718,337.734,2735.248,151.020,0.000,1289.537,0.000,2267.014,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,64.260,1294.380,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.518,1964.142,814.163,468.685,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353364
$DATA_FILE_SIZE,73788,1060
$CAP_FILE_SIZE,126863,0
$CFSIZE,2097086464,2067234816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050915,031909,-4504.793,624.750,49,0.9,49,-24.4