version: 66.07.10.p01
glider: 573
mission: 12
dive: 7
start: 7 30 115 3 37 48
data:
$ID,573
$MISSION,12
$DIVE,7
$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,335
$T_MISSION,350
$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,150
$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,250
$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,-21030.549
$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,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2063
$C_ROLL_CLIMB,1824
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,35
$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,1882
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,6
$GPS1,300715,032904,-4500.143,632.039,47,0.8,47,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.4
$GPS2,300715,033728,-4500.114,632.021,16,1.4,16,-24.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,SAF_1
$TGT_LATLONG,-4500.000,630.000
$TGT_RADIUS,800.000
$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,299.0,2655,-27.8,-9.950
$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,23,-1.34,-62.6,0.0,0.0,0,76,0.00,0.00,-50.75,0.000,2,0.000,0.000,80,2085,2013,0,0,0,0,0,0
$GC,78,-1.43,-133.2,3.1,-2.4,8,112,10.95,2.33,-11.93,0.000,4,0.256,0.067,2717,666,2427,0,0,0,0,0,0
$GC,229,-1.26,-133.2,39.5,-29.4,32,238,0.22,2.28,0.00,0.000,6,0.194,0.048,2771,2054,2428,0,0,0,0,0,0
$GC,376,-1.19,-133.2,73.3,-22.4,57,383,0.12,0.00,0.00,0.000,6,0.232,0.000,2798,2055,2429,0,0,0,0,0,0
$GC,715,-1.16,-133.2,141.6,-18.6,99,719,0.00,2.33,0.00,0.000,4,0.000,0.072,2788,3478,2429,0,0,0,0,0,0
$GC,894,-1.14,-133.2,176.1,-18.7,114,900,0.08,2.22,0.00,0.000,6,0.187,0.044,2811,2071,2430,0,0,0,0,0,0
$GC,1221,-1.14,-133.2,235.9,-18.7,145,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2070,2429,0,0,0,0,0,0
$GC,1538,-1.14,-133.2,296.0,-19.3,175,1542,0.00,2.30,0.00,0.000,4,0.000,0.067,2802,3484,2430,0,0,0,0,0,0
$GC,1569,-1.14,-133.2,302.6,-19.5,177,1576,0.00,2.22,0.00,0.000,6,0.000,0.041,2802,2061,2430,0,0,0,0,0,0
$GC,1895,-1.14,-133.2,361.3,-17.7,208,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2061,2430,0,0,0,0,0,0
$GC,2221,-1.14,-133.2,419.2,-17.4,234,2225,0.00,2.22,0.00,0.000,4,0.000,0.054,2802,649,2430,0,0,0,0,0,0
$GC,2254,-1.12,-133.2,425.4,-18.4,235,2260,0.12,2.25,0.00,0.000,6,0.212,0.047,2823,2077,2430,0,0,0,0,0,0
$GC,2569,-1.14,-133.2,477.5,-16.7,251,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2077,2430,0,0,0,0,0,0
$GC,2879,-1.17,-133.2,530.0,-17.0,266,2883,0.00,2.25,0.00,0.000,4,0.000,0.069,2813,3477,2430,0,0,0,0,0,0
$GC,2910,-1.17,-133.2,535.9,-17.3,267,2917,0.00,2.20,0.00,0.000,6,0.000,0.042,2813,2065,2430,0,0,0,0,0,0
$GC,3227,-1.17,-133.2,589.5,-17.0,283,3231,0.00,2.28,0.00,0.000,4,0.000,0.065,2804,3481,2430,0,0,0,0,0,0
$GC,3266,-1.17,-133.2,596.2,-17.0,285,3270,0.00,2.20,0.00,0.000,6,0.000,0.042,2804,2052,2430,0,0,0,0,0,0
$GC,3591,-1.17,-133.2,650.2,-16.3,301,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2431,0,0,0,0,0,0
$GC,3901,-1.17,-133.2,699.7,-15.7,316,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2430,0,0,0,0,0,0
$GC,4210,-1.17,-133.2,749.6,-16.3,331,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2430,0,0,0,0,0,0
$GC,4519,-1.17,-133.2,799.9,-16.6,346,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2429,0,0,0,0,0,0
$GC,4828,-1.17,-133.2,849.7,-15.4,361,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2429,0,0,0,0,0,0
$GC,5138,-1.19,-133.2,899.0,-16.2,376,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2429,0,0,0,0,0,0
$GC,5448,-1.21,-133.2,948.9,-15.8,391,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2052,2429,0,0,0,0,0,0
$GC,5757,-1.23,-133.2,997.5,-15.6,406,5761,0.00,2.30,0.00,0.000,4,0.000,0.068,2794,3474,2429,0,0,0,0,0,0
$STATE,5772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5772,begin apogee
$GC,5778,-0.23,0.0,1000.1,15.7,407,5904,1.05,0.00,122.35,1.303,6,0.179,0.000,3104,1823,1882,0,0,0,0,0,0
$STATE,5905,end apogee,CONTROL_FINISHED_OK
$STATE,5905,begin climb
$GC,5906,1.43,133.2,1005.1,0.0,413,6038,1.65,2.40,122.97,1.259,4,0.099,0.050,3642,430,1338,0,0,0,0,0,0
$GC,6121,1.33,133.2,975.0,21.1,423,6126,0.08,2.35,0.00,0.000,6,0.188,0.040,3620,1825,1333,0,0,0,0,0,0
$GC,6448,1.27,133.2,914.3,18.2,439,6453,0.10,2.33,0.00,0.000,4,0.223,0.050,3607,413,1331,0,0,0,0,0,0
$GC,6609,1.21,133.2,885.1,18.2,446,6614,0.08,2.30,0.00,0.000,6,0.178,0.042,3577,1819,1329,0,0,0,0,0,0
$GC,6931,1.21,133.2,835.9,15.3,462,6935,0.00,2.28,0.00,0.000,4,0.000,0.050,3585,420,1329,0,0,0,0,0,0
$GC,7092,1.18,133.2,810.5,15.9,469,7097,0.08,2.28,0.00,0.000,6,0.218,0.044,3569,1834,1329,0,0,0,0,0,0
$GC,7413,1.18,133.2,764.5,14.2,485,7417,0.00,2.28,0.00,0.000,4,0.000,0.050,3578,421,1329,0,0,0,0,0,0
$GC,7519,1.18,133.2,748.7,15.3,490,7524,0.05,2.25,0.00,0.000,6,0.236,0.044,3569,1833,1328,0,0,0,0,0,0
$GC,7845,1.18,133.2,702.6,14.0,506,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1833,1328,0,0,0,0,0,0
$GC,8155,1.18,133.2,658.9,14.3,521,8159,0.00,2.28,0.00,0.000,4,0.000,0.050,3577,413,1328,0,0,0,0,0,0
$GC,8338,1.18,133.2,631.5,14.3,529,8344,0.03,2.25,0.00,0.000,6,0.206,0.041,3569,1821,1328,0,0,0,0,0,0
$GC,8659,1.18,133.2,588.0,13.9,545,8663,0.00,2.25,0.00,0.000,4,0.000,0.050,3578,413,1328,0,0,0,0,0,0
$GC,8744,1.18,133.2,575.8,14.1,549,8748,0.05,2.25,0.00,0.000,6,0.236,0.044,3569,1832,1328,0,0,0,0,0,0
$GC,9069,1.18,133.2,531.8,13.5,565,9073,0.00,2.25,0.00,0.000,4,0.000,0.050,3577,420,1328,0,0,0,0,0,0
$GC,9190,1.18,133.2,514.2,14.6,570,9197,0.03,2.25,0.00,0.000,6,0.205,0.043,3570,1826,1327,0,0,0,0,0,0
$GC,9506,1.18,133.2,471.1,13.8,586,9510,0.00,2.25,0.00,0.000,4,0.000,0.050,3578,413,1327,0,0,0,0,0,0
$GC,9560,1.18,133.2,463.2,14.8,588,9568,0.05,2.25,0.00,0.000,6,0.184,0.043,3563,1824,1327,0,0,0,0,0,0
$GC,9877,1.20,133.2,418.9,14.2,604,9881,0.00,2.25,0.00,0.000,4,0.000,0.050,3572,411,1327,0,0,0,0,0,0
$GC,9988,1.20,133.2,402.8,14.4,609,9993,0.00,2.25,0.00,0.000,6,0.000,0.043,3572,1824,1327,0,0,0,0,0,0
$GC,10313,1.20,133.2,356.5,14.6,638,10317,0.00,2.22,0.00,0.000,4,0.000,0.050,3581,419,1327,0,0,0,0,0,0
$GC,10375,1.20,133.2,347.3,14.9,643,10379,0.00,2.22,0.00,0.000,6,0.000,0.043,3581,1832,1327,0,0,0,0,0,0
$GC,10701,1.20,133.2,301.9,13.3,673,10705,0.00,2.25,0.00,0.000,4,0.000,0.049,3590,413,1327,0,0,0,0,0,0
$GC,10845,1.18,133.2,282.2,13.4,685,10850,0.10,2.22,0.00,0.000,6,0.200,0.041,3567,1833,1327,0,0,0,0,0,0
$GC,11169,1.18,133.2,241.0,12.4,715,11173,0.00,2.25,0.00,0.000,4,0.000,0.050,3576,411,1327,0,0,0,0,0,0
$GC,11314,1.18,133.2,220.8,14.3,727,11321,0.00,2.22,0.00,0.000,6,0.000,0.041,3576,1819,1327,0,0,0,0,0,0
$GC,11639,1.18,133.2,175.0,14.3,758,11643,0.00,2.22,0.00,0.000,4,0.000,0.049,3585,413,1327,0,0,0,0,0,0
$GC,11705,1.18,133.2,164.9,14.5,763,11712,0.05,2.25,0.00,0.000,6,0.184,0.044,3569,1829,1327,0,0,0,0,0,0
$GC,12031,1.20,133.2,118.7,15.1,794,12035,0.00,2.25,0.00,0.000,4,0.000,0.070,3569,3225,1327,0,0,0,0,0,0
$GC,12085,1.20,133.2,112.1,11.3,798,12092,0.00,2.15,0.00,0.000,6,0.000,0.035,3578,1822,1327,0,0,0,0,0,0
$GC,12426,1.20,133.2,75.9,12.9,849,12433,0.00,2.22,0.00,0.000,4,0.000,0.051,3588,416,1327,0,0,0,0,0,0
$GC,12511,1.20,133.2,63.8,13.8,864,12520,0.03,2.20,0.00,0.000,6,0.207,0.039,3579,1824,1327,0,0,0,0,0,0
$GC,12875,1.20,133.2,16.8,12.0,925,12882,0.00,2.22,0.00,0.000,4,0.000,0.047,3587,425,1327,0,0,0,0,0,0
$STATE,12968,end climb,SURFACE_DEPTH_REACHED
$STATE,12968,begin surface coast
$FINISH,1.1,1.007441
$STATE,12988,end surface coast,CONTROL_FINISHED_OK
$STATE,12989,begin surface
$SM_CCo,13006,55.75,0.057,0,0,861,250.20
$SM_GC,2.50,0.00,0.00,55.75,0.000,0.000,0.057,78,2084,861,-9.71,0.59,250.20
$IRIDIUM_FIX,-4441.36,630.50,250508,111149
$TT8_MAMPS,0.027713
$HUMID,62.04
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.3,6.811
$10V_AH,10.3,3.894
$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,24.025,104.425,245.325,55.750,0.000,25.221,40.703,323.493,0.000,0.000,18.693,2353.368,7989.278,394.639,2716.831,102.993,0.000,1345.364,0.000,2181.615,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,71.910,1302.795,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.386,1733.587,705.306,384.881,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353852
$DATA_FILE_SIZE,67116,943
$CAP_FILE_SIZE,127477,0
$CFSIZE,2097086464,2091253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300715,071634,-4500.318,630.324,29,0.9,30,-24.4