version: 66.07.10.p01
glider: 573
mission: 12
dive: 191
start: 9 5 115 3 27 12
data:
$ID,573
$MISSION,12
$DIVE,191
$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,-21601.125
$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,39
$R_STBD_OVSHOOT,42
$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,190
$GPS1,050915,031909,-4504.793,624.750,49,0.9,49,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-72.2
$GPS2,050915,032651,-4504.816,624.734,22,0.9,22,-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,352.0,1791,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-20.58,0.000,2,0.000,0.000,64,2076,1536,0,0,0,0,0,0
$GC,48,-1.13,-107.1,3.1,-2.0,3,106,11.25,2.30,-40.67,0.000,4,0.242,0.069,2814,659,2387,0,0,0,0,0,0
$GC,379,-1.04,-107.1,50.7,-18.5,57,386,0.12,2.25,0.00,0.000,6,0.184,0.044,2842,2046,2390,0,0,0,0,0,0
$GC,730,-1.04,-107.1,109.5,-16.5,114,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2046,2391,0,0,0,0,0,0
$GC,1049,-1.04,-107.1,159.0,-15.0,144,1053,0.00,2.30,0.00,0.000,4,0.000,0.060,2832,3478,2391,0,0,0,0,0,0
$GC,1137,-1.04,-107.1,172.3,-14.1,151,1144,0.03,2.22,0.00,0.000,6,0.202,0.042,2840,2069,2391,0,0,0,0,0,0
$GC,1462,-1.04,-107.1,218.1,-14.1,182,1466,0.00,2.25,0.00,0.000,4,0.000,0.057,2831,3474,2392,0,0,0,0,0,0
$GC,1504,-1.04,-107.1,223.6,-13.9,185,1509,0.08,2.20,0.00,0.000,6,0.209,0.043,2846,2050,2392,0,0,0,0,0,0
$GC,1829,-1.07,-107.1,268.9,-14.2,215,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2050,2392,0,0,0,0,0,0
$GC,2150,-1.12,-107.1,314.4,-14.4,245,2155,0.08,0.00,0.00,0.000,6,0.126,0.000,2811,2050,2392,0,0,0,0,0,0
$GC,2475,-1.12,-107.1,366.2,-15.6,276,2479,0.00,2.28,0.00,0.000,4,0.000,0.061,2801,3471,2392,0,0,0,0,0,0
$GC,2563,-1.08,-107.1,380.7,-16.5,283,2570,0.08,2.22,0.00,0.000,6,0.164,0.044,2825,2060,2392,0,0,0,0,0,0
$GC,2883,-1.08,-107.1,429.5,-14.9,305,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2060,2392,0,0,0,0,0,0
$GC,3192,-1.08,-107.1,475.9,-14.6,320,3197,0.00,2.28,0.00,0.000,4,0.000,0.062,2816,3479,2392,0,0,0,0,0,0
$GC,3278,-1.08,-107.1,488.4,-14.2,324,3283,0.08,2.22,0.00,0.000,6,0.198,0.043,2833,2048,2392,0,0,0,0,0,0
$GC,3605,-1.11,-107.1,534.9,-13.9,340,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2049,2392,0,0,0,0,0,0
$GC,3914,-1.14,-107.1,577.4,-13.5,355,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2049,2392,0,0,0,0,0,0
$GC,4223,-1.18,-107.1,619.7,-13.8,370,4228,0.08,2.28,0.00,0.000,4,0.126,0.060,2788,3474,2391,0,0,0,0,0,0
$GC,4311,-1.12,-107.1,633.6,-15.8,374,4316,0.08,2.22,0.00,0.000,6,0.171,0.044,2815,2060,2391,0,0,0,0,0,0
$GC,4639,-1.12,-107.1,681.1,-14.3,390,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2060,2391,0,0,0,0,0,0
$GC,4948,-1.12,-107.1,724.0,-13.6,405,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2060,2391,0,0,0,0,0,0
$GC,5258,-1.12,-107.1,764.7,-13.2,420,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2060,2390,0,0,0,0,0,0
$GC,5567,-1.12,-107.1,803.9,-12.4,435,5571,0.00,2.25,0.00,0.000,4,0.000,0.057,2815,644,2389,0,0,0,0,0,0
$GC,5621,-1.12,-107.1,811.5,-13.4,437,5627,0.00,2.25,0.00,0.000,6,0.000,0.042,2806,2066,2390,0,0,0,0,0,0
$GC,5937,-1.12,-107.1,852.8,-12.9,453,5942,0.05,2.25,0.00,0.000,4,0.249,0.063,2806,3465,2390,0,0,0,0,0,0
$GC,6002,-1.12,-107.1,861.9,-14.2,456,6008,0.03,2.20,0.00,0.000,6,0.180,0.044,2815,2063,2390,0,0,0,0,0,0
$GC,6329,-1.12,-107.1,903.4,-12.9,472,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2062,2389,0,0,0,0,0,0
$GC,6639,-1.12,-107.1,942.8,-12.8,487,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2062,2389,0,0,0,0,0,0
$GC,6948,-1.12,-107.1,980.9,-12.3,502,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2062,2389,0,0,0,0,0,0
$STATE,7112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7112,begin apogee
$GC,7117,-0.19,0.0,1000.8,12.0,510,7219,1.02,0.00,98.72,1.294,6,0.168,0.000,3118,1588,1949,0,0,0,0,0,0
$STATE,7220,end apogee,CONTROL_FINISHED_OK
$STATE,7220,begin climb
$GC,7221,1.13,107.1,1003.6,0.0,515,7332,1.30,0.00,103.40,1.256,6,0.090,0.000,3542,1588,1512,0,0,0,0,0,0
$GC,7643,1.17,107.1,948.6,15.2,536,7647,0.00,2.33,0.00,0.000,4,0.000,0.054,3552,196,1505,0,0,0,0,0,0
$GC,7755,1.17,107.1,930.8,16.0,541,7759,0.00,2.28,0.00,0.000,6,0.000,0.037,3552,1621,1502,0,0,0,0,0,0
$GC,8081,1.17,107.1,881.6,14.7,557,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1621,1501,0,0,0,0,0,0
$GC,8390,1.17,107.1,837.1,14.2,572,8394,0.00,2.30,0.00,0.000,4,0.000,0.051,3561,199,1501,0,0,0,0,0,0
$GC,8455,1.17,107.1,827.3,14.5,575,8460,0.00,2.22,0.00,0.000,6,0.000,0.037,3561,1597,1500,0,0,0,0,0,0
$GC,8783,1.17,107.1,782.0,13.7,591,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1598,1500,0,0,0,0,0,0
$GC,9092,1.17,107.1,740.2,13.5,606,9096,0.00,2.25,0.00,0.000,4,0.000,0.051,3570,195,1500,0,0,0,0,0,0
$GC,9176,1.13,107.1,728.2,14.3,610,9181,0.10,2.20,0.00,0.000,6,0.189,0.037,3547,1607,1500,0,0,0,0,0,0
$GC,9505,1.17,107.1,686.3,12.8,626,9509,0.00,2.25,0.00,0.000,4,0.000,0.052,3557,198,1500,0,0,0,0,0,0
$GC,9576,1.17,107.1,676.4,13.2,629,9580,0.00,2.20,0.00,0.000,6,0.000,0.036,3556,1594,1499,0,0,0,0,0,0
$GC,9899,1.17,107.1,635.3,13.0,645,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1593,1499,0,0,0,0,0,0
$GC,10209,1.20,107.1,594.7,13.0,660,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1593,1499,0,0,0,0,0,0
$GC,10517,1.23,107.1,553.3,13.2,675,10522,0.05,2.22,0.00,0.000,4,0.164,0.051,3601,199,1499,0,0,0,0,0,0
$GC,10603,1.14,107.1,540.2,16.1,679,10608,0.17,2.15,0.00,0.000,6,0.182,0.037,3556,1605,1499,0,0,0,0,0,0
$GC,10930,1.17,107.1,495.2,13.6,695,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1605,1499,0,0,0,0,0,0
$GC,11239,1.20,107.1,453.3,13.3,710,11243,0.00,2.20,0.00,0.000,4,0.000,0.054,3556,2997,1498,0,0,0,0,0,0
$GC,11310,1.20,107.1,443.5,14.1,713,11314,0.00,2.17,0.00,0.000,6,0.000,0.035,3564,1597,1498,0,0,0,0,0,0
$GC,11632,1.20,107.1,400.5,13.3,729,11636,0.00,2.22,0.00,0.000,4,0.000,0.054,3574,197,1498,0,0,0,0,0,0
$GC,11841,1.20,107.1,372.2,12.3,747,11845,0.00,2.17,0.00,0.000,6,0.000,0.037,3574,1605,1498,0,0,0,0,0,0
$GC,12167,1.20,107.1,331.0,12.7,777,12171,0.00,2.17,0.00,0.000,4,0.000,0.053,3574,2992,1498,0,0,0,0,0,0
$GC,12220,1.20,107.1,323.6,14.3,781,12224,0.00,2.12,0.00,0.000,6,0.000,0.036,3583,1598,1498,0,0,0,0,0,0
$GC,12549,1.20,107.1,278.7,13.9,812,12553,0.00,2.22,0.00,0.000,4,0.000,0.053,3594,196,1498,0,0,0,0,0,0
$GC,12695,1.14,107.1,257.0,14.5,824,12703,0.12,2.17,0.00,0.000,6,0.168,0.036,3556,1596,1497,0,0,0,0,0,0
$GC,13020,1.18,107.1,217.3,11.6,855,13024,0.00,2.20,0.00,0.000,4,0.000,0.051,3565,199,1497,0,0,0,0,0,0
$GC,13071,1.18,107.1,210.6,13.6,859,13075,0.00,2.15,0.00,0.000,6,0.000,0.037,3565,1606,1498,0,0,0,0,0,0
$GC,13398,1.22,107.1,169.9,13.2,889,13402,0.00,2.17,0.00,0.000,4,0.000,0.052,3565,2994,1498,0,0,0,0,0,0
$GC,13577,1.22,107.1,146.4,12.4,904,13586,0.00,2.15,0.00,0.000,6,0.000,0.035,3574,1603,1497,0,0,0,0,0,0
$GC,13903,1.22,107.1,105.5,12.4,935,13907,0.00,2.22,0.00,0.000,4,0.000,0.052,3585,195,1497,0,0,0,0,0,0
$GC,14022,1.19,107.1,90.1,13.0,951,14030,0.05,2.17,0.00,0.000,6,0.177,0.035,3569,1600,1498,0,0,0,0,0,0
$GC,14373,1.19,107.1,49.8,11.1,1012,14379,0.00,2.28,0.00,0.000,4,0.000,0.050,3578,190,1498,0,0,0,0,0,0
$GC,14485,1.19,107.1,36.0,12.5,1031,14492,0.00,2.17,0.00,0.000,6,0.000,0.037,3578,1591,1498,0,0,0,0,0,0
$GC,14642,1.19,107.1,17.5,11.5,1056,14650,0.00,2.22,0.00,0.000,4,0.000,0.054,3578,2990,1497,0,0,0,0,0,0
$GC,14719,1.19,107.1,7.9,12.1,1068,14727,0.05,2.15,0.00,0.000,6,0.198,0.036,3572,1590,1497,0,0,0,0,0,0
$STATE,14758,end climb,SURFACE_DEPTH_REACHED
$STATE,14758,begin surface coast
$FINISH,1.8,1.012414
$STATE,14784,end surface coast,CONTROL_FINISHED_OK
$STATE,14784,begin surface
$SM_CCo,14802,43.20,0.057,0,0,1133,200.16
$SM_GC,3.34,0.00,0.00,43.20,0.000,0.000,0.057,67,2068,1133,-9.74,0.23,200.16
$IRIDIUM_FIX,-4444.39,624.79,010708,121235
$TT8_MAMPS,0.026964
$HUMID,63.11
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,23.1,25.505
$10V_AH,10.0,26.382
$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,23.975,99.200,202.125,43.200,0.000,26.795,41.358,264.357,0.250,0.000,25.521,2672.116,9254.907,360.009,2863.975,156.761,0.000,1350.779,0.000,2365.602,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,68.850,1293.615,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.253,1983.954,814.443,463.173,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353240
$DATA_FILE_SIZE,73705,1078
$CAP_FILE_SIZE,134556,0
$CFSIZE,2097086464,2067070976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050915,073551,-4504.560,623.807,39,0.8,39,-24.4