version: 66.07.10.p01
glider: 573
mission: 12
dive: 334
start: 10 6 115 16 49 48
data:
$ID,573
$MISSION,12
$DIVE,334
$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,-22079.508
$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,46
$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,333
$GPS1,061015,164133,-4502.879,624.875,35,0.9,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-69.4
$GPS2,061015,164928,-4502.873,625.002,18,1.0,18,-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,236.5,2465,-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,-49.9,0.0,0.0,0,47,0.00,0.00,-20.10,0.000,2,0.000,0.000,64,2075,1527,0,0,0,0,0,0
$GC,50,-1.13,-108.5,3.0,-1.8,3,114,11.65,2.33,-41.47,0.000,4,0.248,0.080,2804,3441,2394,0,0,0,0,0,0
$GC,287,-1.08,-108.5,34.3,-18.0,41,296,0.08,2.22,0.00,0.000,6,0.177,0.043,2826,2066,2396,0,0,0,0,0,0
$GC,436,-1.08,-108.5,59.8,-17.7,66,443,0.00,2.33,0.00,0.000,4,0.000,0.056,2827,657,2396,0,0,0,0,0,0
$GC,462,-1.08,-108.5,64.1,-16.9,70,469,0.08,2.22,0.00,0.000,6,0.216,0.041,2833,2057,2396,0,0,0,0,0,0
$GC,804,-1.08,-108.5,121.2,-16.4,98,808,0.00,2.30,0.00,0.000,4,0.000,0.060,2823,3465,2396,0,0,0,0,0,0
$GC,1006,-1.08,-108.5,156.2,-17.0,107,1011,0.00,2.25,0.00,0.000,6,0.000,0.041,2823,2054,2396,0,0,0,0,0,0
$GC,1337,-1.08,-108.5,211.8,-16.4,123,1341,0.00,2.33,0.00,0.000,4,0.000,0.060,2814,3466,2397,0,0,0,0,0,0
$GC,1490,-1.08,-108.5,237.2,-15.8,130,1495,0.10,2.22,0.00,0.000,6,0.194,0.042,2837,2053,2397,0,0,0,0,0,0
$GC,1818,-1.12,-108.5,284.8,-14.3,146,1822,0.00,2.33,0.00,0.000,4,0.000,0.061,2828,3469,2397,0,0,0,0,0,0
$GC,1845,-1.15,-108.5,289.0,-14.5,147,1849,0.00,2.22,0.00,0.000,6,0.000,0.044,2828,2061,2397,0,0,0,0,0,0
$GC,2172,-1.15,-108.5,337.7,-14.7,163,2176,0.00,2.30,0.00,0.000,4,0.000,0.059,2819,3469,2397,0,0,0,0,0,0
$GC,2217,-1.15,-108.5,344.4,-14.5,165,2221,0.00,2.20,0.00,0.000,6,0.000,0.044,2819,2059,2397,0,0,0,0,0,0
$GC,2549,-1.15,-108.5,393.3,-14.4,181,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2059,2397,0,0,0,0,0,0
$GC,2857,-1.15,-108.5,438.4,-14.8,196,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2059,2397,0,0,0,0,0,0
$GC,3168,-1.15,-108.5,484.9,-14.6,211,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2059,2397,0,0,0,0,0,0
$GC,3476,-1.15,-108.5,530.2,-14.5,226,3479,0.00,2.30,0.00,0.000,4,0.000,0.062,2810,3465,2397,0,0,0,0,0,0
$GC,3600,-1.15,-108.5,548.5,-15.3,231,3604,0.00,2.22,0.00,0.000,6,0.000,0.043,2810,2056,2397,0,0,0,0,0,0
$GC,3914,-1.15,-108.5,594.1,-14.0,246,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2056,2397,0,0,0,0,0,0
$GC,4224,-1.15,-108.5,638.5,-14.5,261,4228,0.00,2.33,0.00,0.000,4,0.000,0.062,2801,3468,2397,0,0,0,0,0,0
$GC,4318,-1.15,-108.5,652.9,-14.4,265,4323,0.00,2.25,0.00,0.000,6,0.000,0.045,2801,2061,2397,0,0,0,0,0,0
$GC,4640,-1.15,-108.5,701.2,-15.1,281,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2060,2397,0,0,0,0,0,0
$GC,4948,-1.15,-108.5,747.7,-15.3,296,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2060,2397,0,0,0,0,0,0
$GC,5259,-1.15,-108.5,796.2,-16.0,311,5263,0.00,2.30,0.00,0.000,4,0.000,0.059,2801,651,2396,0,0,0,0,0,0
$GC,5313,-1.15,-108.5,805.4,-16.5,313,5319,0.05,2.28,0.00,0.000,6,0.196,0.045,2806,2059,2396,0,0,0,0,0,0
$GC,5629,-1.15,-108.5,852.1,-14.4,329,5634,0.00,2.30,0.00,0.000,4,0.000,0.064,2796,3469,2396,0,0,0,0,0,0
$GC,5673,-1.15,-108.5,858.9,-14.5,331,5678,0.03,2.28,0.00,0.000,6,0.201,0.046,2805,2055,2396,0,0,0,0,0,0
$GC,6000,-1.15,-108.5,905.7,-14.5,347,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2055,2396,0,0,0,0,0,0
$GC,6308,-1.15,-108.5,949.3,-14.0,362,6312,0.00,2.35,0.00,0.000,4,0.000,0.063,2796,3477,2395,0,0,0,0,0,0
$GC,6357,-1.15,-108.5,956.9,-15.6,364,6362,0.03,2.28,0.00,0.000,6,0.203,0.046,2805,2062,2395,0,0,0,0,0,0
$STATE,6676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6676,begin apogee
$GC,6682,-0.19,0.0,1002.9,14.6,380,6788,1.08,0.00,101.93,1.284,6,0.165,0.000,3114,1594,1949,0,0,0,0,0,0
$STATE,6788,end apogee,CONTROL_FINISHED_OK
$STATE,6789,begin climb
$GC,6790,1.13,108.5,1007.5,0.0,385,6907,1.30,2.58,106.72,1.241,4,0.088,0.054,3554,201,1507,0,0,0,0,0,0
$GC,6951,1.13,108.5,995.6,12.2,392,6957,0.00,2.42,0.00,0.000,6,0.000,0.035,3554,1608,1503,0,0,0,0,0,0
$GC,7266,1.13,108.5,954.1,13.6,408,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1608,1499,0,0,0,0,0,0
$GC,7577,1.13,108.5,909.9,14.5,423,7581,0.00,2.38,0.00,0.000,4,0.000,0.054,3563,191,1498,0,0,0,0,0,0
$GC,7616,1.10,108.5,904.1,15.3,425,7621,0.10,2.28,0.00,0.000,6,0.183,0.035,3540,1620,1497,0,0,0,0,0,0
$GC,7944,1.15,108.5,857.5,14.1,441,7948,0.00,2.38,0.00,0.000,4,0.000,0.054,3550,187,1496,0,0,0,0,0,0
$GC,7992,1.15,108.5,849.8,15.2,443,7997,0.00,2.25,0.00,0.000,6,0.000,0.036,3550,1595,1496,0,0,0,0,0,0
$GC,8315,1.18,108.5,803.7,14.4,459,8319,0.00,2.33,0.00,0.000,4,0.000,0.053,3559,190,1496,0,0,0,0,0,0
$GC,8386,1.18,108.5,793.1,14.0,462,8390,0.00,2.25,0.00,0.000,6,0.000,0.036,3559,1601,1495,0,0,0,0,0,0
$GC,8707,1.18,108.5,749.7,13.1,478,8711,0.00,2.33,0.00,0.000,4,0.000,0.053,3568,189,1495,0,0,0,0,0,0
$GC,8739,1.14,108.5,745.2,13.7,479,8745,0.08,2.22,0.00,0.000,6,0.200,0.037,3552,1607,1495,0,0,0,0,0,0
$GC,9055,1.14,108.5,705.8,12.2,495,9060,0.00,2.33,0.00,0.000,4,0.000,0.052,3560,192,1495,0,0,0,0,0,0
$GC,9222,1.14,108.5,683.9,13.2,502,9228,0.00,2.22,0.00,0.000,6,0.000,0.034,3561,1597,1495,0,0,0,0,0,0
$GC,9538,1.14,108.5,643.7,12.9,518,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1597,1495,0,0,0,0,0,0
$GC,9848,1.14,108.5,603.8,12.9,533,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1597,1495,0,0,0,0,0,0
$GC,10156,1.14,108.5,567.1,11.8,548,10160,0.00,2.30,0.00,0.000,4,0.000,0.053,3569,196,1495,0,0,0,0,0,0
$GC,10315,1.14,108.5,546.3,13.2,555,10320,0.08,2.20,0.00,0.000,6,0.197,0.037,3553,1598,1495,0,0,0,0,0,0
$GC,10643,1.18,108.5,506.9,11.4,571,10647,0.00,2.30,0.00,0.000,4,0.000,0.053,3562,192,1494,0,0,0,0,0,0
$GC,10692,1.18,108.5,500.7,12.4,573,10697,0.00,2.22,0.00,0.000,6,0.000,0.037,3561,1600,1494,0,0,0,0,0,0
$GC,11015,1.18,108.5,463.1,11.9,589,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1600,1494,0,0,0,0,0,0
$GC,11322,1.18,108.5,427.0,11.8,604,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1600,1494,0,0,0,0,0,0
$GC,11633,1.18,108.5,392.7,10.7,619,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1600,1494,0,0,0,0,0,0
$GC,11942,1.18,108.5,358.2,11.4,634,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1600,1494,0,0,0,0,0,0
$GC,12252,1.21,108.5,322.8,11.7,649,12256,0.00,2.30,0.00,0.000,4,0.000,0.053,3569,195,1494,0,0,0,0,0,0
$GC,12284,1.21,108.5,318.8,12.2,650,12290,0.00,2.22,0.00,0.000,6,0.000,0.036,3570,1601,1494,0,0,0,0,0,0
$GC,12600,1.21,108.5,282.0,11.3,666,12604,0.00,2.30,0.00,0.000,4,0.000,0.053,3579,196,1494,0,0,0,0,0,0
$GC,12665,1.21,108.5,274.6,12.0,669,12669,0.00,2.20,0.00,0.000,6,0.000,0.036,3579,1605,1494,0,0,0,0,0,0
$GC,12994,1.21,108.5,235.8,11.7,685,12998,0.00,2.33,0.00,0.000,4,0.000,0.053,3589,186,1494,0,0,0,0,0,0
$GC,13148,1.17,108.5,216.4,12.7,692,13153,0.10,2.20,0.00,0.000,6,0.186,0.034,3564,1600,1494,0,0,0,0,0,0
$GC,13474,1.17,108.5,179.5,11.0,708,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1600,1494,0,0,0,0,0,0
$GC,13786,1.20,108.5,145.0,10.6,723,13790,0.00,2.22,0.00,0.000,4,0.000,0.054,3564,2990,1494,0,0,0,0,0,0
$GC,13830,1.20,108.5,139.6,12.0,725,13834,0.00,2.17,0.00,0.000,6,0.000,0.036,3572,1602,1494,0,0,0,0,0,0
$GC,14159,1.20,108.5,106.3,10.2,741,14163,0.00,2.30,0.00,0.000,4,0.000,0.055,3583,190,1494,0,0,0,0,0,0
$GC,14312,1.20,108.5,88.8,11.7,748,14316,0.00,2.20,0.00,0.000,6,0.000,0.034,3583,1607,1494,0,0,0,0,0,0
$GC,14654,1.20,108.5,49.8,11.9,798,14661,0.00,2.33,0.00,0.000,4,0.000,0.054,3593,202,1494,0,0,0,0,0,0
$GC,14848,1.16,108.5,27.1,12.3,830,14856,0.10,2.20,0.00,0.000,6,0.158,0.037,3561,1593,1494,0,0,0,0,0,0
$GC,15006,1.22,108.5,10.6,10.9,855,15013,0.00,2.30,0.00,0.000,4,0.000,0.052,3570,201,1494,0,0,0,0,0,0
$GC,15035,1.28,108.5,7.4,10.9,859,15043,0.03,2.22,0.00,0.000,6,0.100,0.037,3593,1598,1494,0,0,0,0,0,0
$STATE,15074,end climb,SURFACE_DEPTH_REACHED
$STATE,15074,begin surface coast
$FINISH,1.8,1.012642
$STATE,15106,end surface coast,CONTROL_FINISHED_OK
$STATE,15106,begin surface
$SM_CCo,15124,44.65,0.055,0,0,1132,200.16
$SM_GC,2.68,0.00,0.00,44.65,0.000,0.000,0.055,64,2090,1132,-9.75,0.85,200.16
$IRIDIUM_FIX,-4447.43,622.10,020808,010117
$TT8_MAMPS,0.026964
$HUMID,63.11
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.4,40.796
$10V_AH,9.8,42.839
$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,24.125,120.050,208.650,44.650,0.000,25.028,42.231,276.179,0.000,0.000,20.934,1920.751,10609.896,350.581,2575.368,188.142,0.000,1296.604,0.000,2121.825,0.000,0.539,0.000
$DEVICE_MAMPS,247.860,79.560,1283.670,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.951,1266.104,709.867,430.859,0.000,0.000,0.000,0.000,0.000,0.000
$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,64000,870
$CAP_FILE_SIZE,131504,0
$CFSIZE,2097086464,2048327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061015,210351,-4504.102,624.539,37,0.9,37,-24.4