version: 66.07.10.p01
glider: 573
mission: 12
dive: 310
start: 10 1 115 17 57 8
data:
$ID,573
$MISSION,12
$DIVE,310
$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,-22002.809
$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,37
$R_STBD_OVSHOOT,48
$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,309
$GPS1,011015,174633,-4456.165,636.788,33,1.0,33,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-71.1
$GPS2,011015,175647,-4456.261,636.749,17,1.8,18,-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,320.6,1094,-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,-25.85,0.000,2,0.000,0.000,66,2085,1637,0,0,0,0,0,0
$GC,55,-1.12,-94.6,3.2,-3.4,4,106,11.48,2.35,-30.00,0.000,4,0.243,0.067,2818,665,2338,0,0,0,0,0,0
$GC,177,-1.01,-94.6,15.6,-17.5,23,185,0.12,2.22,0.00,0.000,6,0.182,0.038,2846,2042,2340,0,0,0,0,0,0
$GC,236,-1.01,-94.6,25.1,-14.7,32,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2042,2340,0,0,0,0,0,0
$GC,385,-1.01,-94.6,50.6,-16.2,57,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2042,2340,0,0,0,0,0,0
$GC,721,-1.01,-94.6,102.7,-15.7,97,725,0.00,2.33,0.00,0.000,4,0.000,0.061,2835,3466,2340,0,0,0,0,0,0
$GC,808,-1.01,-94.6,115.9,-14.9,101,812,0.05,2.20,0.00,0.000,6,0.233,0.041,2850,2067,2341,0,0,0,0,0,0
$GC,1137,-1.05,-94.6,160.9,-13.6,117,1141,0.00,2.25,0.00,0.000,4,0.000,0.056,2841,3475,2341,0,0,0,0,0,0
$GC,1344,-1.05,-94.6,190.3,-14.1,126,1348,0.00,2.25,0.00,0.000,6,0.000,0.044,2845,2065,2341,0,0,0,0,0,0
$GC,1666,-1.09,-94.6,233.4,-13.1,142,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2064,2341,0,0,0,0,0,0
$GC,1978,-1.14,-94.6,275.7,-14.2,157,1979,0.08,0.00,0.00,0.000,6,0.126,0.000,2806,2065,2341,0,0,0,0,0,0
$GC,2283,-1.14,-94.6,325.2,-16.0,172,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2065,2342,0,0,0,0,0,0
$GC,2594,-1.14,-94.6,373.4,-15.3,187,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2064,2341,0,0,0,0,0,0
$GC,2902,-1.14,-94.6,419.2,-14.6,202,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2065,2341,0,0,0,0,0,0
$GC,3213,-1.14,-94.6,464.0,-14.1,217,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2065,2342,0,0,0,0,0,0
$GC,3520,-1.14,-94.6,508.1,-14.1,232,3524,0.00,2.25,0.00,0.000,4,0.000,0.057,2797,3468,2341,0,0,0,0,0,0
$GC,3565,-1.11,-94.6,514.6,-14.4,234,3570,0.10,2.20,0.00,0.000,6,0.187,0.041,2821,2052,2341,0,0,0,0,0,0
$GC,3890,-1.11,-94.6,558.2,-13.1,250,3894,0.00,2.30,0.00,0.000,4,0.000,0.062,2812,3471,2341,0,0,0,0,0,0
$GC,3952,-1.11,-94.6,566.3,-13.7,252,3957,0.00,2.22,0.00,0.000,6,0.000,0.045,2812,2053,2341,0,0,0,0,0,0
$GC,4266,-1.11,-94.6,607.6,-13.1,268,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2053,2341,0,0,0,0,0,0
$GC,4577,-1.11,-94.6,645.9,-12.5,283,4581,0.00,2.33,0.00,0.000,4,0.000,0.063,2803,3469,2341,0,0,0,0,0,0
$GC,4608,-1.11,-94.6,650.0,-12.6,284,4615,0.05,2.22,0.00,0.000,6,0.171,0.044,2819,2067,2340,0,0,0,0,0,0
$GC,4923,-1.11,-94.6,687.9,-12.0,300,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2067,2340,0,0,0,0,0,0
$GC,5234,-1.11,-94.6,725.4,-12.3,315,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2067,2340,0,0,0,0,0,0
$GC,5542,-1.11,-94.6,766.8,-13.5,330,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2067,2340,0,0,0,0,0,0
$GC,5853,-1.14,-94.6,807.1,-13.3,345,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2067,2339,0,0,0,0,0,0
$GC,6161,-1.17,-94.6,845.9,-12.3,360,6165,0.00,2.28,0.00,0.000,4,0.000,0.060,2810,3466,2339,0,0,0,0,0,0
$GC,6193,-1.17,-94.6,849.9,-12.9,361,6198,0.00,2.25,0.00,0.000,6,0.000,0.044,2810,2050,2339,0,0,0,0,0,0
$GC,6509,-1.17,-94.6,889.2,-12.3,377,6513,0.00,2.30,0.00,0.000,4,0.000,0.063,2801,3466,2339,0,0,0,0,0,0
$GC,6569,-1.17,-94.6,897.4,-13.1,379,6574,0.00,2.25,0.00,0.000,6,0.000,0.044,2802,2054,2338,0,0,0,0,0,0
$GC,6885,-1.17,-94.6,935.3,-11.7,395,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2054,2338,0,0,0,0,0,0
$GC,7193,-1.17,-94.6,970.7,-11.3,410,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2054,2338,0,0,0,0,0,0
$STATE,7461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7461,begin apogee
$GC,7466,-0.19,0.0,1000.2,10.9,423,7561,1.10,0.00,88.30,1.278,6,0.166,0.000,3118,1591,1950,0,0,0,0,0,0
$STATE,7562,end apogee,CONTROL_FINISHED_OK
$STATE,7562,begin climb
$GC,7564,1.12,94.6,1002.2,0.0,428,7666,1.27,2.53,92.00,1.244,4,0.089,0.056,3553,202,1562,0,0,0,0,0,0
$GC,7723,1.12,94.6,986.0,14.7,435,7727,0.00,2.38,0.00,0.000,6,0.000,0.037,3553,1610,1558,0,0,0,0,0,0
$GC,8037,1.12,94.6,940.9,13.8,450,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1609,1555,0,0,0,0,0,0
$GC,8348,1.12,94.6,898.2,13.6,465,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1610,1554,0,0,0,0,0,0
$GC,8655,1.12,94.6,856.6,13.3,480,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1610,1552,0,0,0,0,0,0
$GC,8966,1.12,94.6,815.9,13.2,495,8970,0.00,2.25,0.00,0.000,4,0.000,0.054,3553,3003,1552,0,0,0,0,0,0
$GC,9027,1.12,94.6,807.3,12.7,498,9032,0.08,2.20,0.00,0.000,6,0.213,0.037,3546,1594,1552,0,0,0,0,0,0
$GC,9359,1.16,94.6,766.1,12.2,514,9363,0.00,2.28,0.00,0.000,4,0.000,0.057,3556,199,1551,0,0,0,0,0,0
$GC,9511,1.16,94.6,745.9,12.8,521,9516,0.00,2.22,0.00,0.000,6,0.000,0.038,3556,1614,1551,0,0,0,0,0,0
$GC,9838,1.16,94.6,705.5,12.0,537,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1614,1551,0,0,0,0,0,0
$GC,10146,1.16,94.6,669.6,11.5,552,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1614,1551,0,0,0,0,0,0
$GC,10457,1.16,94.6,635.6,10.9,567,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1614,1550,0,0,0,0,0,0
$GC,10765,1.16,94.6,602.4,11.2,582,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1614,1550,0,0,0,0,0,0
$GC,11076,1.19,94.6,566.8,12.1,597,11080,0.00,2.30,0.00,0.000,4,0.000,0.054,3566,192,1550,0,0,0,0,0,0
$GC,11163,1.19,94.6,555.3,12.5,601,11168,0.00,2.22,0.00,0.000,6,0.000,0.038,3566,1597,1549,0,0,0,0,0,0
$GC,11491,1.19,94.6,513.1,12.7,617,11495,0.00,2.22,0.00,0.000,4,0.000,0.055,3565,2990,1549,0,0,0,0,0,0
$GC,11534,1.19,94.6,507.2,13.2,619,11539,0.00,2.17,0.00,0.000,6,0.000,0.037,3574,1606,1549,0,0,0,0,0,0
$GC,11862,1.19,94.6,466.1,12.3,635,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1606,1549,0,0,0,0,0,0
$GC,12170,1.19,94.6,429.4,11.4,650,12174,0.00,2.33,0.00,0.000,4,0.000,0.057,3585,165,1549,0,0,0,0,0,0
$GC,12248,1.13,94.6,419.8,13.0,653,12253,0.12,2.25,0.00,0.000,6,0.181,0.037,3553,1596,1549,0,0,0,0,0,0
$GC,12570,1.18,94.6,385.8,10.5,669,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1596,1549,0,0,0,0,0,0
$GC,12878,1.22,94.6,354.6,10.0,684,12879,0.08,0.00,0.00,0.000,6,0.123,0.000,3596,1596,1549,0,0,0,0,0,0
$GC,13188,1.18,94.6,317.5,12.5,699,13190,0.12,0.00,0.00,0.000,6,0.181,0.000,3565,1599,1549,0,0,0,0,0,0
$GC,13497,1.18,94.6,280.7,11.7,714,13498,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1599,1549,0,0,0,0,0,0
$GC,13809,1.18,94.6,245.2,11.1,729,13813,0.00,2.28,0.00,0.000,4,0.000,0.054,3575,185,1549,0,0,0,0,0,0
$GC,13955,1.18,94.6,227.6,11.6,735,13960,0.00,2.20,0.00,0.000,6,0.000,0.036,3575,1608,1549,0,0,0,0,0,0
$GC,14272,1.18,94.6,191.3,10.8,751,14276,0.00,2.30,0.00,0.000,4,0.000,0.053,3584,193,1549,0,0,0,0,0,0
$GC,14530,1.15,94.6,161.9,10.3,762,14539,0.08,2.20,0.00,0.000,6,0.161,0.034,3560,1597,1549,0,0,0,0,0,0
$GC,14847,1.20,94.6,130.9,9.8,778,14850,0.00,2.28,0.00,0.000,4,0.000,0.053,3569,193,1549,0,0,0,0,0,0
$GC,15105,1.20,94.6,103.0,10.7,789,15110,0.00,2.22,0.00,0.000,6,0.000,0.037,3569,1605,1549,0,0,0,0,0,0
$GC,15431,1.20,94.6,69.9,10.5,816,15439,0.00,2.33,0.00,0.000,4,0.000,0.052,3578,189,1549,0,0,0,0,0,0
$GC,15697,1.20,94.6,40.9,11.1,862,15703,0.00,2.20,0.00,0.000,6,0.000,0.034,3578,1612,1549,0,0,0,0,0,0
$STATE,16033,end climb,SURFACE_DEPTH_REACHED
$STATE,16033,begin surface coast
$FINISH,2.0,1.023438
$STATE,16066,end surface coast,CONTROL_FINISHED_OK
$STATE,16066,begin surface
$SM_CCo,16084,52.47,0.055,0,0,1132,200.16
$SM_GC,3.15,0.00,0.00,52.47,0.000,0.000,0.055,64,2070,1132,-9.75,0.28,200.16
$IRIDIUM_FIX,-4438.33,636.19,280708,070738
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.8,38.371
$10V_AH,9.7,40.308
$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,24.100,82.950,180.300,52.475,0.000,52.825,120.382,250.177,0.000,0.000,20.070,1987.807,11577.407,319.047,2691.282,176.301,0.000,1247.168,0.000,2159.821,0.000,0.539,0.000
$DEVICE_MAMPS,243.270,67.320,1278.315,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.021,1331.044,739.364,435.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,67232,922
$CAP_FILE_SIZE,126494,0
$CFSIZE,2097086464,2051473408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,011015,222723,-4456.038,634.674,43,1.0,43,-24.4