version: 66.07.10.p01
glider: 573
mission: 12
dive: 9
start: 7 30 115 11 17 34
data:
$ID,573
$MISSION,12
$DIVE,9
$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,-21035.207
$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,40
$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,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,8
$GPS1,300715,111027,-4458.639,630.256,38,1.0,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.0
$GPS2,300715,111714,-4458.632,630.336,24,1.0,24,-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,214.3,2571,-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,24,-1.34,-62.6,0.0,0.0,0,70,0.00,0.00,-44.62,0.000,2,0.000,0.000,78,2096,1837,0,0,0,0,0,0
$GC,72,-1.42,-130.1,3.1,-2.8,7,112,11.00,2.30,-18.85,0.000,4,0.259,0.087,2713,3456,2415,0,0,0,0,0,0
$GC,379,-1.29,-130.1,67.8,-22.8,58,385,0.20,2.17,0.00,0.000,6,0.197,0.042,2763,2062,2417,0,0,0,0,0,0
$GC,719,-1.22,-130.1,139.9,-20.9,102,723,0.10,2.30,0.00,0.000,4,0.228,0.066,2776,3461,2418,0,0,0,0,0,0
$GC,818,-1.17,-130.1,160.7,-19.7,110,825,0.08,2.20,0.00,0.000,6,0.199,0.041,2798,2061,2418,0,0,0,0,0,0
$GC,1147,-1.17,-130.1,219.5,-17.6,141,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2061,2419,0,0,0,0,0,0
$GC,1462,-1.17,-130.1,276.3,-18.4,171,1466,0.00,2.20,0.00,0.000,4,0.000,0.054,2798,650,2419,0,0,0,0,0,0
$GC,1501,-1.14,-130.1,283.6,-18.8,174,1506,0.10,2.22,0.00,0.000,6,0.222,0.047,2812,2057,2419,0,0,0,0,0,0
$GC,1825,-1.14,-130.1,339.5,-17.7,204,1829,0.00,2.28,0.00,0.000,4,0.000,0.067,2802,3473,2419,0,0,0,0,0,0
$GC,1921,-1.14,-130.1,356.8,-17.8,212,1925,0.00,2.17,0.00,0.000,6,0.000,0.044,2802,2064,2419,0,0,0,0,0,0
$GC,2243,-1.14,-130.1,415.7,-18.6,238,2245,0.05,0.00,0.00,0.000,6,0.244,0.000,2810,2064,2420,0,0,0,0,0,0
$GC,2552,-1.14,-130.1,469.9,-17.4,253,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2064,2420,0,0,0,0,0,0
$GC,2861,-1.14,-130.1,523.5,-17.3,268,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2064,2419,0,0,0,0,0,0
$GC,3170,-1.14,-130.1,575.1,-16.2,283,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2064,2419,0,0,0,0,0,0
$GC,3480,-1.14,-130.1,625.6,-16.6,298,3484,0.00,2.28,0.00,0.000,4,0.000,0.065,2802,3476,2419,0,0,0,0,0,0
$GC,3563,-1.14,-130.1,639.9,-16.8,302,3568,0.00,2.17,0.00,0.000,6,0.000,0.042,2802,2059,2419,0,0,0,0,0,0
$GC,3891,-1.14,-130.1,695.8,-17.2,318,3895,0.00,2.20,0.00,0.000,4,0.000,0.053,2802,654,2419,0,0,0,0,0,0
$GC,3939,-1.14,-130.1,705.0,-18.0,320,3945,0.03,2.22,0.00,0.000,6,0.239,0.046,2800,2057,2419,0,0,0,0,0,0
$GC,4261,-1.14,-130.1,759.8,-16.6,336,4266,0.05,2.30,0.00,0.000,4,0.254,0.068,2799,3486,2418,0,0,0,0,0,0
$GC,4371,-1.14,-130.1,778.4,-16.4,341,4376,0.03,2.20,0.00,0.000,6,0.197,0.041,2808,2069,2418,0,0,0,0,0,0
$GC,4699,-1.16,-130.1,831.5,-16.5,357,4703,0.00,2.28,0.00,0.000,4,0.000,0.065,2799,3481,2417,0,0,0,0,0,0
$GC,4730,-1.16,-130.1,837.0,-16.6,358,4737,0.00,2.20,0.00,0.000,6,0.000,0.041,2799,2062,2418,0,0,0,0,0,0
$GC,5046,-1.16,-130.1,889.7,-17.1,374,5050,0.00,2.28,0.00,0.000,4,0.000,0.063,2790,3479,2417,0,0,0,0,0,0
$GC,5100,-1.16,-130.1,899.0,-16.9,376,5108,0.03,2.20,0.00,0.000,6,0.206,0.041,2798,2065,2417,0,0,0,0,0,0
$GC,5417,-1.16,-130.1,947.0,-14.5,392,5421,0.00,2.17,0.00,0.000,4,0.000,0.051,2798,655,2417,0,0,0,0,0,0
$GC,5470,-1.16,-130.1,955.6,-16.4,394,5478,0.05,2.22,0.00,0.000,6,0.216,0.042,2804,2069,2417,0,0,0,0,0,0
$STATE,5786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5786,begin apogee
$GC,5790,-0.23,0.0,1000.7,14.2,410,5913,1.02,0.00,119.53,1.305,6,0.178,0.000,3107,1822,1881,0,0,0,0,0,0
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5914,begin climb
$GC,5915,1.42,130.1,1004.3,0.0,416,6046,1.62,2.45,121.45,1.257,4,0.096,0.045,3639,419,1349,0,0,0,0,0,0
$GC,6180,1.32,130.1,964.0,19.3,428,6186,0.08,2.35,0.00,0.000,6,0.185,0.037,3618,1829,1344,0,0,0,0,0,0
$GC,6504,1.27,130.1,905.5,18.0,444,6508,0.10,2.30,0.00,0.000,4,0.217,0.045,3606,416,1341,0,0,0,0,0,0
$GC,6715,1.21,130.1,867.0,17.4,453,6722,0.08,2.28,0.00,0.000,6,0.184,0.037,3580,1823,1340,0,0,0,0,0,0
$GC,7031,1.21,130.1,816.9,15.9,469,7035,0.00,2.25,0.00,0.000,4,0.000,0.045,3589,420,1340,0,0,0,0,0,0
$GC,7147,1.18,130.1,798.1,16.4,474,7152,0.08,2.25,0.00,0.000,6,0.179,0.037,3566,1829,1339,0,0,0,0,0,0
$GC,7468,1.18,130.1,752.4,13.9,490,7472,0.00,2.25,0.00,0.000,4,0.000,0.046,3574,420,1339,0,0,0,0,0,0
$GC,7493,1.18,130.1,748.4,14.5,491,7499,0.00,2.22,0.00,0.000,6,0.000,0.036,3575,1819,1340,0,0,0,0,0,0
$GC,7815,1.18,130.1,702.9,14.3,507,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1819,1339,0,0,0,0,0,0
$GC,8125,1.18,130.1,658.7,14.1,522,8129,0.00,2.22,0.00,0.000,4,0.000,0.045,3584,417,1339,0,0,0,0,0,0
$GC,8224,1.15,130.1,643.9,14.6,526,8231,0.08,2.22,0.00,0.000,6,0.177,0.037,3561,1831,1338,0,0,0,0,0,0
$GC,8540,1.15,130.1,601.1,13.5,542,8544,0.00,2.25,0.00,0.000,4,0.000,0.046,3570,410,1338,0,0,0,0,0,0
$GC,8579,1.15,130.1,595.7,14.1,544,8584,0.05,2.20,0.00,0.000,6,0.234,0.035,3560,1830,1338,0,0,0,0,0,0
$GC,8905,1.15,130.1,551.4,13.7,560,8909,0.00,2.25,0.00,0.000,4,0.000,0.046,3569,409,1339,0,0,0,0,0,0
$GC,9015,1.15,130.1,535.3,13.8,565,9021,0.03,2.22,0.00,0.000,6,0.201,0.035,3560,1829,1338,0,0,0,0,0,0
$GC,9345,1.18,130.1,489.8,14.3,581,9349,0.00,2.22,0.00,0.000,4,0.000,0.046,3569,420,1338,0,0,0,0,0,0
$GC,9433,1.18,130.1,476.2,14.4,585,9438,0.00,2.20,0.00,0.000,6,0.000,0.037,3568,1817,1338,0,0,0,0,0,0
$GC,9760,1.18,130.1,431.3,13.4,601,9764,0.00,2.20,0.00,0.000,4,0.000,0.045,3576,420,1338,0,0,0,0,0,0
$GC,9836,1.18,130.1,420.0,14.8,604,9843,0.00,2.22,0.00,0.000,6,0.000,0.038,3576,1829,1338,0,0,0,0,0,0
$GC,10157,1.18,130.1,374.8,14.3,628,10161,0.00,2.22,0.00,0.000,4,0.000,0.047,3585,420,1338,0,0,0,0,0,0
$GC,10312,1.18,130.1,351.8,15.2,641,10317,0.08,2.20,0.00,0.000,6,0.212,0.038,3568,1835,1338,0,0,0,0,0,0
$GC,10636,1.18,130.1,305.9,13.8,671,10640,0.00,2.22,0.00,0.000,4,0.000,0.047,3576,420,1338,0,0,0,0,0,0
$GC,10736,1.18,130.1,291.5,14.3,679,10743,0.03,2.20,0.00,0.000,6,0.204,0.038,3569,1822,1338,0,0,0,0,0,0
$GC,11061,1.18,130.1,249.2,12.6,710,11065,0.00,2.22,0.00,0.000,4,0.000,0.047,3578,409,1338,0,0,0,0,0,0
$GC,11134,1.18,130.1,239.7,13.1,716,11139,0.05,2.20,0.00,0.000,6,0.233,0.036,3568,1837,1338,0,0,0,0,0,0
$GC,11459,1.20,130.1,199.2,12.5,746,11463,0.00,2.22,0.00,0.000,4,0.000,0.044,3577,416,1338,0,0,0,0,0,0
$GC,11514,1.20,130.1,191.7,13.1,750,11520,0.00,2.15,0.00,0.000,6,0.000,0.036,3576,1823,1338,0,0,0,0,0,0
$GC,11841,1.20,130.1,149.2,13.6,781,11845,0.00,2.20,0.00,0.000,4,0.000,0.044,3586,419,1338,0,0,0,0,0,0
$GC,12037,1.20,130.1,123.9,12.3,798,12042,0.05,2.17,0.00,0.000,6,0.239,0.039,3574,1822,1338,0,0,0,0,0,0
$GC,12371,1.22,130.1,81.2,13.7,840,12378,0.00,2.22,0.00,0.000,4,0.000,0.046,3583,417,1338,0,0,0,0,0,0
$GC,12509,1.22,130.1,62.2,13.6,864,12516,0.00,2.20,0.00,0.000,6,0.000,0.039,3582,1818,1339,0,0,0,0,0,0
$GC,12872,1.22,130.1,13.3,16.1,925,12879,0.00,2.22,0.00,0.000,4,0.000,0.045,3592,414,1338,0,0,0,0,0,0
$GC,12918,1.22,130.1,6.1,16.2,932,12926,0.03,2.22,0.00,0.000,6,0.215,0.039,3582,1830,1339,0,0,0,0,0,0
$STATE,12945,end climb,SURFACE_DEPTH_REACHED
$STATE,12945,begin surface coast
$FINISH,1.2,1.002886
$STATE,12971,end surface coast,CONTROL_FINISHED_OK
$STATE,12971,begin surface
$SM_CCo,12987,56.58,0.058,0,0,860,250.20
$SM_GC,2.87,0.00,0.00,56.58,0.000,0.000,0.058,82,2096,860,-9.69,0.93,250.20
$IRIDIUM_FIX,-4444.39,627.81,250508,202016
$TT8_MAMPS,0.026964
$HUMID,61.57
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.3,7.016
$10V_AH,10.2,4.095
$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,24.225,116.775,240.975,56.575,0.000,29.561,39.712,227.662,0.000,0.000,26.710,2373.260,7915.703,396.125,2666.163,101.031,0.000,1372.748,0.000,2215.773,0.000,0.539,0.000
$DEVICE_MAMPS,258.570,87.210,1305.090,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.286,1731.129,705.313,388.542,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353808
$DATA_FILE_SIZE,67216,940
$CAP_FILE_SIZE,131488,0
$CFSIZE,2097086464,2090958848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300715,145603,-4500.118,630.138,31,1.1,31,-24.4