version: 66.07.10.p01
glider: 573
mission: 12
dive: 329
start: 10 5 115 17 39 54
data:
$ID,573
$MISSION,12
$DIVE,329
$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,-22065.615
$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,41
$R_STBD_OVSHOOT,41
$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,328
$GPS1,051015,173203,-4504.076,624.896,58,1.0,58,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-72.6
$GPS2,051015,173934,-4504.071,624.871,20,1.3,20,-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,301.0,1147,-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,-19.12,0.000,2,0.000,0.000,63,2077,1509,0,0,0,0,0,0
$GC,49,-1.13,-114.6,3.1,-1.1,3,112,11.60,2.35,-42.00,0.000,4,0.246,0.081,2800,3455,2420,0,0,0,0,0,0
$GC,226,-1.08,-114.6,23.7,-19.0,31,234,0.10,2.25,0.00,0.000,6,0.174,0.045,2829,2075,2421,0,0,0,0,0,0
$GC,377,-1.08,-114.6,51.8,-18.6,56,382,0.00,2.35,0.00,0.000,4,0.000,0.060,2829,651,2421,0,0,0,0,0,0
$GC,408,-1.08,-114.6,57.5,-18.9,61,413,0.00,2.28,0.00,0.000,6,0.000,0.046,2821,2054,2421,0,0,0,0,0,0
$GC,736,-1.08,-114.6,117.8,-17.6,92,740,0.00,2.30,0.00,0.000,4,0.000,0.060,2809,3474,2421,0,0,0,0,0,0
$GC,871,-1.08,-114.6,142.3,-16.7,98,876,0.05,2.30,0.00,0.000,6,0.177,0.047,2825,2052,2421,0,0,0,0,0,0
$GC,1198,-1.08,-114.6,195.9,-15.9,114,1202,0.00,2.35,0.00,0.000,4,0.000,0.063,2816,3477,2422,0,0,0,0,0,0
$GC,1224,-1.08,-114.6,200.6,-16.6,115,1229,0.03,2.28,0.00,0.000,6,0.196,0.044,2824,2065,2422,0,0,0,0,0,0
$GC,1553,-1.08,-114.6,251.4,-15.5,131,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2065,2422,0,0,0,0,0,0
$GC,1860,-1.08,-114.6,300.6,-16.0,146,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2066,2422,0,0,0,0,0,0
$GC,2170,-1.08,-114.6,350.5,-16.3,161,2174,0.00,2.30,0.00,0.000,4,0.000,0.059,2815,3472,2422,0,0,0,0,0,0
$GC,2209,-1.08,-114.6,356.9,-16.3,163,2214,0.08,2.25,0.00,0.000,6,0.210,0.046,2831,2057,2422,0,0,0,0,0,0
$GC,2536,-1.12,-114.6,406.9,-14.9,179,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2057,2422,0,0,0,0,0,0
$GC,2844,-1.16,-114.6,454.7,-15.7,194,2848,0.05,2.35,0.00,0.000,4,0.167,0.063,2791,3475,2422,0,0,0,0,0,0
$GC,2893,-1.13,-114.6,463.2,-17.5,196,2898,0.10,2.25,0.00,0.000,6,0.197,0.046,2814,2053,2422,0,0,0,0,0,0
$GC,3213,-1.13,-114.6,515.8,-16.7,212,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2054,2422,0,0,0,0,0,0
$GC,3524,-1.13,-114.6,567.4,-16.6,227,3528,0.00,2.33,0.00,0.000,4,0.000,0.063,2805,3468,2422,0,0,0,0,0,0
$GC,3567,-1.13,-114.6,575.0,-16.4,229,3572,0.00,2.25,0.00,0.000,6,0.000,0.046,2806,2067,2422,0,0,0,0,0,0
$GC,3895,-1.13,-114.6,632.1,-17.4,245,3899,0.00,2.28,0.00,0.000,4,0.000,0.057,2797,3469,2422,0,0,0,0,0,0
$GC,3927,-1.13,-114.6,638.2,-17.7,246,3934,0.05,2.25,0.00,0.000,6,0.177,0.045,2812,2068,2422,0,0,0,0,0,0
$GC,4242,-1.13,-114.6,688.6,-15.9,262,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2068,2422,0,0,0,0,0,0
$GC,4553,-1.13,-114.6,738.2,-16.0,277,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2068,2422,0,0,0,0,0,0
$GC,4861,-1.16,-114.6,788.4,-15.5,292,4865,0.00,2.28,0.00,0.000,4,0.000,0.059,2804,3468,2421,0,0,0,0,0,0
$GC,4915,-1.16,-114.6,797.2,-15.8,294,4921,0.00,2.28,0.00,0.000,6,0.000,0.046,2804,2052,2421,0,0,0,0,0,0
$GC,5230,-1.16,-114.6,846.7,-15.6,310,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2421,0,0,0,0,0,0
$GC,5541,-1.16,-114.6,893.4,-14.8,325,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2052,2421,0,0,0,0,0,0
$GC,5849,-1.16,-114.6,938.2,-14.0,340,5853,0.00,2.35,0.00,0.000,4,0.000,0.062,2795,3479,2421,0,0,0,0,0,0
$GC,5911,-1.16,-114.6,947.0,-14.4,343,5915,0.00,2.25,0.00,0.000,6,0.000,0.046,2795,2060,2421,0,0,0,0,0,0
$GC,6237,-1.16,-114.6,994.3,-15.0,359,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2060,2421,0,0,0,0,0,0
$STATE,6278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6278,begin apogee
$GC,6284,-0.19,0.0,1000.4,14.9,361,6398,1.12,0.00,107.03,1.280,6,0.169,0.000,3115,1596,1950,0,0,0,0,0,0
$STATE,6399,end apogee,CONTROL_FINISHED_OK
$STATE,6399,begin climb
$GC,6401,1.13,114.6,1005.8,0.0,367,6524,1.27,2.58,112.05,1.238,4,0.086,0.055,3550,202,1482,0,0,0,0,0,0
$GC,6601,1.13,114.6,988.7,13.8,376,6606,0.00,2.40,0.00,0.000,6,0.000,0.035,3550,1605,1478,0,0,0,0,0,0
$GC,6922,1.13,114.6,948.9,12.1,392,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1605,1475,0,0,0,0,0,0
$GC,7233,1.13,114.6,909.1,13.2,407,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1605,1474,0,0,0,0,0,0
$GC,7541,1.13,114.6,868.1,13.4,422,7545,0.00,2.35,0.00,0.000,4,0.000,0.055,3560,195,1473,0,0,0,0,0,0
$GC,7589,1.13,114.6,861.2,14.7,424,7594,0.00,2.25,0.00,0.000,6,0.000,0.035,3559,1603,1473,0,0,0,0,0,0
$GC,7910,1.13,114.6,818.0,13.7,440,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1604,1473,0,0,0,0,0,0
$GC,8221,1.13,114.6,777.2,12.8,455,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1603,1472,0,0,0,0,0,0
$GC,8529,1.13,114.6,739.7,12.0,470,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1603,1472,0,0,0,0,0,0
$GC,8840,1.13,114.6,704.9,11.2,485,8844,0.00,2.33,0.00,0.000,4,0.000,0.055,3569,195,1472,0,0,0,0,0,0
$GC,8895,1.10,114.6,698.2,12.7,487,8900,0.08,2.22,0.00,0.000,6,0.161,0.036,3544,1600,1472,0,0,0,0,0,0
$GC,9211,1.13,114.6,663.9,11.0,503,9215,0.00,2.30,0.00,0.000,4,0.000,0.054,3554,193,1472,0,0,0,0,0,0
$GC,9299,1.13,114.6,653.5,11.4,507,9303,0.00,2.22,0.00,0.000,6,0.000,0.037,3554,1597,1471,0,0,0,0,0,0
$GC,9626,1.13,114.6,617.5,11.0,523,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1597,1471,0,0,0,0,0,0
$GC,9935,1.17,114.6,582.4,11.7,538,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1597,1471,0,0,0,0,0,0
$GC,10246,1.20,114.6,547.7,10.9,553,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1597,1471,0,0,0,0,0,0
$GC,10553,1.23,114.6,515.5,10.3,568,10555,0.08,0.00,0.00,0.000,6,0.123,0.000,3597,1597,1471,0,0,0,0,0,0
$GC,10864,1.18,114.6,477.8,12.4,583,10869,0.12,2.30,0.00,0.000,4,0.181,0.054,3575,193,1471,0,0,0,0,0,0
$GC,10936,1.14,114.6,468.7,12.7,586,10941,0.10,2.22,0.00,0.000,6,0.187,0.037,3551,1611,1471,0,0,0,0,0,0
$GC,11256,1.19,114.6,432.5,11.4,602,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1612,1471,0,0,0,0,0,0
$GC,11567,1.23,114.6,400.1,9.8,617,11572,0.08,2.33,0.00,0.000,4,0.122,0.054,3606,194,1471,0,0,0,0,0,0
$GC,11685,1.14,114.6,385.4,12.7,622,11690,0.20,2.20,0.00,0.000,6,0.174,0.037,3553,1604,1471,0,0,0,0,0,0
$GC,12002,1.18,114.6,351.3,11.3,637,12006,0.00,2.33,0.00,0.000,4,0.000,0.054,3562,186,1471,0,0,0,0,0,0
$GC,12168,1.18,114.6,329.0,13.8,644,12174,0.00,2.22,0.00,0.000,6,0.000,0.036,3562,1598,1471,0,0,0,0,0,0
$GC,12485,1.18,114.6,291.6,11.4,660,12489,0.00,2.30,0.00,0.000,4,0.000,0.053,3571,193,1471,0,0,0,0,0,0
$GC,12585,1.18,114.6,279.9,10.7,664,12593,0.00,2.22,0.00,0.000,6,0.000,0.037,3568,1599,1471,0,0,0,0,0,0
$GC,12901,1.18,114.6,246.2,11.2,680,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1599,1471,0,0,0,0,0,0
$GC,13213,1.18,114.6,209.7,11.4,695,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1599,1471,0,0,0,0,0,0
$GC,13520,1.18,114.6,179.5,9.7,710,13524,0.00,2.25,0.00,0.000,4,0.000,0.054,3568,3002,1471,0,0,0,0,0,0
$GC,13677,1.18,114.6,163.6,11.0,717,13682,0.00,2.20,0.00,0.000,6,0.000,0.037,3575,1599,1471,0,0,0,0,0,0
$GC,14007,1.18,114.6,131.8,8.8,733,14011,0.00,2.30,0.00,0.000,4,0.000,0.055,3587,185,1470,0,0,0,0,0,0
$GC,14096,1.15,114.6,122.6,10.3,737,14100,0.12,2.22,0.00,0.000,6,0.184,0.034,3556,1600,1471,0,0,0,0,0,0
$GC,14426,1.21,114.6,91.7,9.5,753,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1600,1471,0,0,0,0,0,0
$GC,14752,1.27,114.6,60.7,9.5,795,14759,0.10,2.33,0.00,0.000,4,0.101,0.054,3613,195,1471,0,0,0,0,0,0
$GC,14796,1.20,114.6,56.2,11.0,802,14802,0.15,2.20,0.00,0.000,6,0.188,0.036,3574,1610,1471,0,0,0,0,0,0
$GC,15158,1.20,114.6,19.1,11.4,863,15166,0.00,2.22,0.00,0.000,4,0.000,0.052,3574,2990,1471,0,0,0,0,0,0
$STATE,15314,end climb,SURFACE_DEPTH_REACHED
$STATE,15314,begin surface coast
$FINISH,1.5,1.012001
$STATE,15339,end surface coast,CONTROL_FINISHED_OK
$STATE,15340,begin surface
$SM_CCo,15358,42.03,0.054,0,0,1133,200.16
$SM_GC,2.66,0.00,0.00,42.03,0.000,0.000,0.054,65,2038,1133,-9.75,-0.62,200.16
$IRIDIUM_FIX,-4444.39,455.94,010808,020217
$TT8_MAMPS,0.026964
$HUMID,64.25
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.4,40.335
$10V_AH,9.7,42.333
$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,24.625,100.575,219.075,42.025,0.000,27.915,27.298,260.295,0.000,0.000,22.627,1938.777,10878.738,352.092,2501.732,178.985,0.000,1259.232,0.000,2085.155,0.000,0.539,0.000
$DEVICE_MAMPS,246.330,81.090,1279.845,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.321,1313.512,746.096,442.116,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353224
$DATA_FILE_SIZE,64051,892
$CAP_FILE_SIZE,127885,0
$CFSIZE,2097086464,2049015808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051015,215827,-4503.524,622.840,76,1.0,76,-24.3