version: 66.07.10.p01
glider: 573
mission: 12
dive: 11
start: 7 30 115 19 11 57
data:
$ID,573
$MISSION,12
$DIVE,11
$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,220
$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,-21039.92
$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,2040
$C_ROLL_CLIMB,1790
$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,10
$GPS1,300715,190057,-4459.300,628.714,41,0.9,42,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-59.0
$GPS2,300715,191136,-4459.330,628.768,28,1.0,28,-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,152.0,2035,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.34,-62.6,0.0,0.0,0,63,0.00,0.00,-38.40,0.000,2,0.000,0.000,80,2057,1800,0,0,0,0,0,0
$GC,65,-1.41,-121.4,3.1,-3.7,6,105,10.95,2.28,-23.23,0.000,4,0.255,0.066,2724,642,2378,0,0,0,0,0,0
$GC,370,-1.24,-121.4,73.0,-29.5,57,378,0.20,2.25,0.00,0.000,6,0.194,0.048,2771,2023,2380,0,0,0,0,0,0
$GC,710,-1.19,-121.4,148.4,-19.0,98,715,0.12,2.22,0.00,0.000,4,0.225,0.054,2801,633,2380,0,0,0,0,0,0
$GC,783,-1.15,-121.4,162.2,-18.9,104,788,0.08,2.28,0.00,0.000,6,0.241,0.049,2807,2050,2381,0,0,0,0,0,0
$GC,1107,-1.15,-121.4,218.3,-17.3,134,1111,0.00,2.28,0.00,0.000,4,0.000,0.071,2797,3448,2381,0,0,0,0,0,0
$GC,1213,-1.15,-121.4,236.8,-17.8,143,1218,0.05,2.20,0.00,0.000,6,0.223,0.045,2807,2043,2382,0,0,0,0,0,0
$GC,1541,-1.15,-121.4,292.2,-17.6,173,1545,0.00,2.30,0.00,0.000,4,0.000,0.067,2798,3454,2382,0,0,0,0,0,0
$GC,1579,-1.15,-121.4,299.6,-18.1,176,1584,0.00,2.20,0.00,0.000,6,0.000,0.043,2798,2036,2382,0,0,0,0,0,0
$GC,1904,-1.15,-121.4,355.4,-17.2,206,1908,0.00,2.22,0.00,0.000,4,0.000,0.054,2798,628,2381,0,0,0,0,0,0
$GC,1936,-1.11,-121.4,361.3,-17.7,208,1944,0.12,2.28,0.00,0.000,6,0.192,0.047,2826,2048,2382,0,0,0,0,0,0
$GC,2269,-1.11,-121.4,413.3,-15.8,236,2273,0.00,2.25,0.00,0.000,4,0.000,0.066,2815,3452,2382,0,0,0,0,0,0
$GC,2339,-1.11,-121.4,424.6,-14.9,239,2345,0.00,2.22,0.00,0.000,6,0.000,0.043,2816,2031,2382,0,0,0,0,0,0
$GC,2661,-1.11,-121.4,475.1,-15.7,255,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2030,2382,0,0,0,0,0,0
$GC,2971,-1.11,-121.4,523.0,-15.5,270,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2031,2382,0,0,0,0,0,0
$GC,3280,-1.11,-121.4,570.4,-15.4,285,3284,0.00,2.28,0.00,0.000,4,0.000,0.067,2806,3449,2381,0,0,0,0,0,0
$GC,3322,-1.11,-121.4,577.5,-15.8,287,3328,0.05,2.20,0.00,0.000,6,0.176,0.044,2822,2042,2382,0,0,0,0,0,0
$GC,3650,-1.13,-121.4,626.8,-15.3,303,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2042,2382,0,0,0,0,0,0
$GC,3959,-1.16,-121.4,672.9,-15.2,318,3963,0.00,2.28,0.00,0.000,4,0.000,0.065,2813,3451,2381,0,0,0,0,0,0
$GC,4042,-1.16,-121.4,686.2,-16.0,322,4047,0.00,2.20,0.00,0.000,6,0.000,0.044,2813,2027,2382,0,0,0,0,0,0
$GC,4370,-1.16,-121.4,737.3,-16.1,338,4374,0.00,2.17,0.00,0.000,4,0.000,0.054,2813,633,2381,0,0,0,0,0,0
$GC,4401,-1.16,-121.4,742.9,-16.8,339,4408,0.00,2.25,0.00,0.000,6,0.000,0.047,2804,2046,2381,0,0,0,0,0,0
$GC,4718,-1.16,-121.4,793.2,-15.6,355,4722,0.00,2.22,0.00,0.000,4,0.000,0.067,2793,3450,2381,0,0,0,0,0,0
$GC,4760,-1.16,-121.4,800.3,-15.2,357,4766,0.03,2.20,0.00,0.000,6,0.197,0.043,2801,2040,2381,0,0,0,0,0,0
$GC,5088,-1.16,-121.4,850.4,-15.5,373,5092,0.00,2.28,0.00,0.000,4,0.000,0.065,2793,3456,2381,0,0,0,0,0,0
$GC,5113,-1.16,-121.4,854.7,-16.0,374,5119,0.03,2.20,0.00,0.000,6,0.203,0.042,2801,2040,2381,0,0,0,0,0,0
$GC,5435,-1.16,-121.4,902.8,-15.2,390,5439,0.00,2.28,0.00,0.000,4,0.000,0.065,2792,3460,2381,0,0,0,0,0,0
$GC,5488,-1.16,-121.4,911.2,-15.1,392,5496,0.03,2.20,0.00,0.000,6,0.201,0.041,2799,2046,2380,0,0,0,0,0,0
$GC,5805,-1.16,-121.4,958.4,-15.0,408,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2045,2381,0,0,0,0,0,0
$STATE,6113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6114,begin apogee
$GC,6117,-0.23,0.0,1002.1,13.5,423,6234,1.02,0.00,111.53,1.308,6,0.178,0.000,3103,1780,1883,0,0,0,0,0,0
$STATE,6235,end apogee,CONTROL_FINISHED_OK
$STATE,6235,begin climb
$GC,6237,1.41,121.4,1006.3,0.0,429,6359,1.62,2.40,114.00,1.261,4,0.097,0.047,3637,390,1386,0,0,0,0,0,0
$GC,6527,1.31,121.4,961.2,18.5,442,6532,0.10,2.33,0.00,0.000,6,0.181,0.036,3609,1799,1379,0,0,0,0,0,0
$GC,6848,1.26,121.4,906.0,17.6,458,6853,0.08,2.30,0.00,0.000,4,0.226,0.047,3604,388,1377,0,0,0,0,0,0
$GC,6970,1.20,121.4,884.0,17.6,463,6976,0.10,2.28,0.00,0.000,6,0.181,0.038,3573,1789,1376,0,0,0,0,0,0
$GC,7285,1.20,121.4,834.0,15.8,479,7290,0.00,2.25,0.00,0.000,4,0.000,0.047,3582,385,1376,0,0,0,0,0,0
$GC,7374,1.17,121.4,819.1,16.9,483,7379,0.05,2.25,0.00,0.000,6,0.191,0.036,3567,1790,1376,0,0,0,0,0,0
$GC,7700,1.17,121.4,768.0,15.8,499,7704,0.00,2.22,0.00,0.000,4,0.000,0.047,3576,390,1376,0,0,0,0,0,0
$GC,7889,1.17,121.4,736.9,16.0,507,7897,0.03,2.25,0.00,0.000,6,0.206,0.037,3568,1804,1375,0,0,0,0,0,0
$GC,8206,1.17,121.4,690.3,14.4,523,8210,0.00,2.25,0.00,0.000,4,0.000,0.047,3577,392,1375,0,0,0,0,0,0
$GC,8358,1.15,121.4,667.8,14.9,530,8362,0.10,2.20,0.00,0.000,6,0.198,0.037,3555,1796,1375,0,0,0,0,0,0
$GC,8684,1.17,121.4,623.8,13.4,546,8688,0.00,2.25,0.00,0.000,4,0.000,0.047,3563,385,1375,0,0,0,0,0,0
$GC,8750,1.17,121.4,614.4,14.3,549,8755,0.00,2.22,0.00,0.000,6,0.000,0.036,3562,1794,1375,0,0,0,0,0,0
$GC,9078,1.17,121.4,571.2,13.3,565,9082,0.00,2.25,0.00,0.000,4,0.000,0.047,3571,381,1375,0,0,0,0,0,0
$GC,9207,1.17,121.4,553.4,14.1,571,9211,0.00,2.20,0.00,0.000,6,0.000,0.037,3570,1793,1375,0,0,0,0,0,0
$GC,9533,1.17,121.4,509.6,13.5,587,9537,0.00,2.20,0.00,0.000,4,0.000,0.046,3580,392,1375,0,0,0,0,0,0
$GC,9654,1.17,121.4,492.6,13.9,592,9661,0.05,2.20,0.00,0.000,6,0.185,0.037,3565,1786,1375,0,0,0,0,0,0
$GC,9970,1.17,121.4,451.1,13.3,608,9974,0.00,2.20,0.00,0.000,4,0.000,0.048,3573,384,1374,0,0,0,0,0,0
$GC,10041,1.17,121.4,441.0,14.1,611,10047,0.03,2.20,0.00,0.000,6,0.205,0.036,3565,1785,1374,0,0,0,0,0,0
$GC,10363,1.17,121.4,398.9,13.2,627,10367,0.00,2.22,0.00,0.000,4,0.000,0.048,3574,385,1374,0,0,0,0,0,0
$GC,10498,1.17,121.4,380.2,13.7,638,10503,0.00,2.17,0.00,0.000,6,0.000,0.037,3574,1792,1374,0,0,0,0,0,0
$GC,10824,1.17,121.4,337.5,12.7,669,10828,0.00,2.22,0.00,0.000,4,0.000,0.047,3583,383,1374,0,0,0,0,0,0
$GC,10945,1.17,121.4,320.3,14.2,679,10953,0.05,2.20,0.00,0.000,6,0.186,0.037,3567,1790,1374,0,0,0,0,0,0
$GC,11271,1.17,121.4,278.7,12.8,710,11275,0.00,2.20,0.00,0.000,4,0.000,0.047,3576,381,1374,0,0,0,0,0,0
$GC,11392,1.17,121.4,261.9,14.1,720,11402,0.03,2.20,0.00,0.000,6,0.202,0.037,3568,1784,1374,0,0,0,0,0,0
$GC,11718,1.17,121.4,219.2,13.3,751,11722,0.00,2.20,0.00,0.000,4,0.000,0.047,3577,388,1374,0,0,0,0,0,0
$GC,11952,1.17,121.4,184.5,14.6,771,11960,0.03,2.20,0.00,0.000,6,0.202,0.036,3568,1800,1374,0,0,0,0,0,0
$GC,12278,1.17,121.4,142.7,11.4,802,12282,0.00,2.22,0.00,0.000,4,0.000,0.047,3577,387,1374,0,0,0,0,0,0
$GC,12464,1.17,121.4,118.7,13.3,818,12469,0.05,2.17,0.00,0.000,6,0.235,0.037,3566,1798,1374,0,0,0,0,0,0
$GC,12800,1.19,121.4,76.2,13.8,864,12807,0.00,2.22,0.00,0.000,4,0.000,0.046,3575,396,1374,0,0,0,0,0,0
$GC,12847,1.19,121.4,69.9,13.0,872,12852,0.00,2.17,0.00,0.000,6,0.000,0.037,3575,1787,1374,0,0,0,0,0,0
$GC,13205,1.21,135.2,23.1,8.5,933,13219,0.00,2.20,8.40,0.598,4,0.000,0.060,3575,3188,1330,0,0,0,0,0,0
$GC,13252,1.21,135.4,18.5,9.9,940,13259,0.00,2.12,0.00,0.000,6,0.000,0.034,3584,1795,1331,0,0,0,0,0,0
$GC,13310,1.21,135.4,10.4,16.6,949,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1795,1330,0,0,0,0,0,0
$STATE,13366,end climb,SURFACE_DEPTH_REACHED
$STATE,13366,begin surface coast
$FINISH,1.2,1.012651
$STATE,13398,end surface coast,CONTROL_FINISHED_OK
$STATE,13398,begin surface
$SM_CCo,13413,42.17,0.057,0,0,983,220.03
$SM_GC,2.32,0.00,0.00,42.17,0.000,0.000,0.057,82,2059,983,-9.69,0.51,220.03
$IRIDIUM_FIX,-4444.39,624.45,260508,080850
$TT8_MAMPS,0.026964
$HUMID,61.57
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.4,7.237
$10V_AH,10.2,4.307
$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,24.400,125.675,233.925,42.175,0.000,52.077,129.994,279.550,0.000,0.000,30.500,2444.402,8220.747,381.054,2952.429,97.599,0.000,1414.260,0.000,2323.888,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,71.145,1308.150,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.283,1782.221,721.798,410.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353788
$DATA_FILE_SIZE,67067,963
$CAP_FILE_SIZE,138284,0
$CFSIZE,2097086464,2090696704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300715,225757,-4500.917,631.357,70,0.9,71,-24.4