version: 66.07.10.p01
glider: 573
mission: 12
dive: 241
start: 9 16 115 18 45 18
data:
$ID,573
$MISSION,12
$DIVE,241
$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,-21766.908
$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,240
$GPS1,160915,183724,-4456.744,636.117,41,1.4,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-72.6
$GPS2,160915,184458,-4456.792,636.132,18,1.5,19,-24.4
$SPEED_LIMITS,0.148,0.223
$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,17.7,1477,-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,25,-1.09,-49.9,0.0,0.0,0,46,0.00,0.00,-19.10,0.000,2,0.000,0.000,63,2068,1518,0,0,0,0,0,0
$GC,48,-1.13,-106.5,3.2,-2.1,3,106,11.35,2.30,-40.78,0.000,4,0.242,0.070,2817,659,2385,0,0,0,0,0,0
$GC,379,-1.05,-106.5,47.7,-18.2,57,386,0.10,2.25,0.00,0.000,6,0.176,0.044,2838,2043,2388,0,0,0,0,0,0
$GC,728,-1.05,-106.5,102.6,-15.4,99,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2043,2388,0,0,0,0,0,0
$GC,1035,-1.05,-106.5,152.2,-16.0,114,1039,0.00,2.33,0.00,0.000,4,0.000,0.063,2828,3480,2388,0,0,0,0,0,0
$GC,1090,-1.05,-106.5,161.5,-16.3,116,1095,0.03,2.25,0.00,0.000,6,0.205,0.042,2836,2064,2388,0,0,0,0,0,0
$GC,1411,-1.05,-106.5,210.2,-14.4,132,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2064,2389,0,0,0,0,0,0
$GC,1723,-1.05,-106.5,256.8,-15.4,147,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2064,2389,0,0,0,0,0,0
$GC,2029,-1.05,-106.5,303.3,-14.6,162,2033,0.00,2.28,0.00,0.000,4,0.000,0.062,2827,3471,2390,0,0,0,0,0,0
$GC,2061,-1.05,-106.5,308.3,-14.5,163,2066,0.05,2.22,0.00,0.000,6,0.180,0.043,2842,2061,2390,0,0,0,0,0,0
$GC,2384,-1.08,-106.5,354.1,-13.9,179,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2061,2390,0,0,0,0,0,0
$GC,2691,-1.11,-106.5,397.3,-13.7,194,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2061,2390,0,0,0,0,0,0
$GC,3002,-1.16,-106.5,439.4,-13.3,209,3004,0.10,0.00,0.00,0.000,6,0.103,0.000,2797,2061,2390,0,0,0,0,0,0
$GC,3310,-1.11,-106.5,485.4,-14.5,224,3312,0.10,0.00,0.00,0.000,6,0.194,0.000,2821,2061,2389,0,0,0,0,0,0
$GC,3621,-1.11,-106.5,527.5,-14.0,239,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2061,2390,0,0,0,0,0,0
$GC,3928,-1.11,-106.5,569.2,-13.2,254,3932,0.00,2.30,0.00,0.000,4,0.000,0.063,2811,3470,2389,0,0,0,0,0,0
$GC,3967,-1.11,-106.5,574.4,-13.4,255,3972,0.00,2.25,0.00,0.000,6,0.000,0.044,2811,2052,2389,0,0,0,0,0,0
$GC,4283,-1.11,-106.5,617.0,-13.6,271,4287,0.00,2.33,0.00,0.000,4,0.000,0.064,2802,3477,2389,0,0,0,0,0,0
$GC,4326,-1.11,-106.5,623.3,-14.2,273,4331,0.05,2.22,0.00,0.000,6,0.180,0.044,2817,2066,2389,0,0,0,0,0,0
$GC,4653,-1.11,-106.5,665.9,-12.9,289,4657,0.00,2.28,0.00,0.000,4,0.000,0.060,2808,3472,2388,0,0,0,0,0,0
$GC,4741,-1.11,-106.5,678.3,-13.3,293,4746,0.03,2.25,0.00,0.000,6,0.189,0.045,2817,2052,2388,0,0,0,0,0,0
$GC,5068,-1.11,-106.5,721.0,-13.1,309,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2052,2388,0,0,0,0,0,0
$GC,5376,-1.11,-106.5,762.1,-13.3,324,5380,0.00,2.33,0.00,0.000,4,0.000,0.064,2808,3476,2388,0,0,0,0,0,0
$GC,5465,-1.11,-106.5,774.8,-14.5,328,5470,0.05,2.20,0.00,0.000,6,0.231,0.045,2818,2052,2388,0,0,0,0,0,0
$GC,5796,-1.11,-106.5,819.2,-13.4,344,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2052,2388,0,0,0,0,0,0
$GC,6107,-1.11,-106.5,860.4,-13.3,359,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2052,2387,0,0,0,0,0,0
$GC,6415,-1.11,-106.5,901.9,-13.1,374,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2052,2386,0,0,0,0,0,0
$GC,6725,-1.11,-106.5,942.1,-12.8,389,6729,0.00,2.33,0.00,0.000,4,0.000,0.066,2810,3477,2386,0,0,0,0,0,0
$GC,6791,-1.11,-106.5,951.2,-13.2,392,6796,0.00,2.25,0.00,0.000,6,0.000,0.046,2809,2057,2386,0,0,0,0,0,0
$GC,7117,-1.11,-106.5,992.8,-12.4,408,7122,0.05,2.33,0.00,0.000,4,0.234,0.066,2810,3475,2386,0,0,0,0,0,0
$GC,7172,-1.11,-106.5,999.7,-12.3,410,7177,0.00,2.25,0.00,0.000,6,0.000,0.046,2811,2058,2385,0,0,0,0,0,0
$STATE,7183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7183,begin apogee
$GC,7188,-0.19,0.0,1001.0,12.3,411,7290,1.05,0.00,98.03,1.281,6,0.168,0.000,3116,1591,1950,0,0,0,0,0,0
$STATE,7291,end apogee,CONTROL_FINISHED_OK
$STATE,7291,begin climb
$GC,7293,1.13,106.5,1004.6,0.0,416,7404,1.27,2.47,102.62,1.248,4,0.088,0.056,3550,198,1514,0,0,0,0,0,0
$GC,7498,1.13,106.5,982.6,14.9,425,7504,0.00,2.40,0.00,0.000,6,0.000,0.037,3549,1617,1509,0,0,0,0,0,0
$GC,7815,1.13,106.5,938.5,14.3,441,7819,0.00,2.28,0.00,0.000,4,0.000,0.057,3550,3002,1506,0,0,0,0,0,0
$GC,7892,1.13,106.5,926.5,15.4,444,7898,0.00,2.25,0.00,0.000,6,0.000,0.037,3558,1604,1505,0,0,0,0,0,0
$GC,8206,1.13,106.5,880.1,14.8,460,8211,0.00,2.33,0.00,0.000,4,0.000,0.056,3569,199,1504,0,0,0,0,0,0
$GC,8290,1.09,106.5,866.9,16.3,463,8295,0.10,2.25,0.00,0.000,6,0.163,0.038,3539,1604,1503,0,0,0,0,0,0
$GC,8606,1.14,106.5,823.5,13.6,479,8610,0.00,2.33,0.00,0.000,4,0.000,0.054,3548,186,1503,0,0,0,0,0,0
$GC,8672,1.14,106.5,813.9,14.3,482,8677,0.00,2.25,0.00,0.000,6,0.000,0.036,3548,1602,1503,0,0,0,0,0,0
$GC,8998,1.18,106.5,770.2,13.3,498,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1602,1503,0,0,0,0,0,0
$GC,9309,1.21,106.5,729.3,13.1,513,9313,0.08,2.20,0.00,0.000,4,0.122,0.055,3591,2990,1502,0,0,0,0,0,0
$GC,9386,1.15,106.5,717.6,15.3,516,9392,0.10,2.20,0.00,0.000,6,0.161,0.037,3558,1588,1502,0,0,0,0,0,0
$GC,9700,1.15,106.5,677.5,13.0,532,9705,0.00,2.28,0.00,0.000,4,0.000,0.056,3569,195,1502,0,0,0,0,0,0
$GC,9772,1.15,106.5,667.6,13.6,535,9777,0.03,2.22,0.00,0.000,6,0.200,0.037,3560,1605,1502,0,0,0,0,0,0
$GC,10100,1.15,106.5,627.0,12.0,551,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1501,0,0,0,0,0,0
$GC,10408,1.15,106.5,589.4,12.1,566,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1501,0,0,0,0,0,0
$GC,10718,1.15,106.5,549.6,13.2,581,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1501,0,0,0,0,0,0
$GC,11026,1.15,106.5,508.3,13.2,596,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1501,0,0,0,0,0,0
$GC,11337,1.15,106.5,467.4,12.7,611,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1501,0,0,0,0,0,0
$GC,11645,1.15,106.5,428.0,12.4,626,11649,0.00,2.30,0.00,0.000,4,0.000,0.054,3570,196,1501,0,0,0,0,0,0
$GC,11717,1.15,106.5,418.3,13.4,629,11722,0.03,2.20,0.00,0.000,6,0.196,0.036,3561,1601,1500,0,0,0,0,0,0
$GC,12044,1.15,106.5,378.4,12.4,645,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1601,1500,0,0,0,0,0,0
$GC,12352,1.15,106.5,341.6,11.7,660,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1601,1500,0,0,0,0,0,0
$GC,12663,1.19,106.5,305.8,11.4,675,12667,0.00,2.20,0.00,0.000,4,0.000,0.054,3561,3001,1500,0,0,0,0,0,0
$GC,12706,1.19,106.5,300.4,11.6,677,12710,0.00,2.17,0.00,0.000,6,0.000,0.037,3569,1598,1500,0,0,0,0,0,0
$GC,13035,1.19,106.5,261.3,11.7,693,13039,0.00,2.25,0.00,0.000,4,0.000,0.055,3579,192,1500,0,0,0,0,0,0
$GC,13101,1.19,106.5,252.6,12.6,696,13106,0.03,2.20,0.00,0.000,6,0.205,0.036,3572,1601,1500,0,0,0,0,0,0
$GC,13429,1.19,106.5,215.1,11.3,712,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1601,1500,0,0,0,0,0,0
$GC,13740,1.19,106.5,177.2,12.4,727,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1601,1500,0,0,0,0,0,0
$GC,14047,1.19,106.5,138.7,12.5,742,14048,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1601,1500,0,0,0,0,0,0
$GC,14359,1.19,106.5,100.2,12.5,757,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1601,1500,0,0,0,0,0,0
$GC,14684,1.19,106.5,60.2,12.3,793,14689,0.00,2.25,0.00,0.000,4,0.000,0.051,3581,196,1500,0,0,0,0,0,0
$GC,14792,1.19,106.5,46.4,12.2,812,14798,0.05,2.15,0.00,0.000,6,0.236,0.035,3571,1609,1500,0,0,0,0,0,0
$GC,15162,1.19,106.5,5.4,12.8,873,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1610,1500,0,0,0,0,0,0
$STATE,15182,end climb,SURFACE_DEPTH_REACHED
$STATE,15182,begin surface coast
$FINISH,2.0,1.004241
$STATE,15208,end surface coast,CONTROL_FINISHED_OK
$STATE,15208,begin surface
$SM_CCo,15225,43.60,0.056,0,0,1133,200.16
$SM_GC,3.49,0.00,0.00,43.60,0.000,0.000,0.056,60,2071,1133,-9.76,0.31,200.16
$IRIDIUM_FIX,-4441.36,636.54,130708,030306
$TT8_MAMPS,0.027713
$HUMID,63.19
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.9,31.015
$10V_AH,9.9,32.816
$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,23.800,87.500,200.650,43.600,0.000,25.742,58.432,241.964,0.000,0.000,20.865,1889.363,10932.006,326.674,2429.981,146.521,0.000,1187.262,0.000,2000.662,0.000,0.539,0.000
$DEVICE_MAMPS,241.740,70.380,1281.375,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.950,1285.928,726.250,445.181,0.000,0.000,0.000,0.000,0.000,0.000
$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,63848,880
$CAP_FILE_SIZE,120384,0
$CFSIZE,2097086464,2060550144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,160915,230103,-4456.510,636.728,40,0.9,40,-24.4