version: 66.07.10.p01
glider: 573
mission: 12
dive: 12
start: 7 30 115 23 5 18
data:
$ID,573
$MISSION,12
$DIVE,12
$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,-21042.24
$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,46
$R_STBD_OVSHOOT,39
$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,11
$GPS1,300715,225757,-4500.917,631.357,70,0.9,71,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-67.6
$GPS2,300715,230458,-4500.933,631.433,16,1.1,16,-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,337.0,2551,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.34,-62.6,0.0,0.0,0,77,0.00,0.00,-50.12,0.000,2,0.000,0.000,80,2057,2105,0,0,0,0,0,0
$GC,78,-1.43,-134.6,3.3,-2.3,8,105,10.93,2.28,-8.35,0.000,4,0.256,0.060,2719,645,2431,0,0,0,0,0,0
$GC,223,-1.28,-134.6,34.0,-23.6,31,231,0.20,2.22,0.00,0.000,6,0.196,0.043,2766,2027,2432,0,0,0,0,0,0
$GC,370,-1.20,-134.6,64.0,-19.4,56,376,0.12,0.00,0.00,0.000,6,0.235,0.000,2792,2028,2433,0,0,0,0,0,0
$GC,712,-1.16,-134.6,132.9,-20.7,103,716,0.05,2.30,0.00,0.000,4,0.268,0.067,2794,3448,2433,0,0,0,0,0,0
$GC,796,-1.13,-134.6,148.8,-17.8,110,801,0.10,2.17,0.00,0.000,6,0.197,0.039,2818,2039,2433,0,0,0,0,0,0
$GC,1120,-1.13,-134.6,206.4,-17.7,140,1124,0.00,2.25,0.00,0.000,4,0.000,0.061,2809,3447,2433,0,0,0,0,0,0
$GC,1160,-1.13,-134.6,213.9,-18.7,143,1164,0.00,2.17,0.00,0.000,6,0.000,0.038,2809,2031,2433,0,0,0,0,0,0
$GC,1487,-1.13,-134.6,271.7,-17.9,173,1491,0.00,2.28,0.00,0.000,4,0.000,0.062,2800,3445,2434,0,0,0,0,0,0
$GC,1520,-1.13,-134.6,278.5,-18.7,175,1526,0.08,2.15,0.00,0.000,6,0.203,0.037,2815,2034,2434,0,0,0,0,0,0
$GC,1845,-1.13,-134.6,335.3,-17.8,206,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2034,2434,0,0,0,0,0,0
$GC,2164,-1.13,-134.6,391.6,-17.8,236,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2034,2434,0,0,0,0,0,0
$GC,2485,-1.13,-134.6,445.6,-16.5,254,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2034,2434,0,0,0,0,0,0
$GC,2794,-1.13,-134.6,497.8,-16.9,269,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2034,2434,0,0,0,0,0,0
$GC,3103,-1.13,-134.6,548.8,-16.1,284,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2034,2434,0,0,0,0,0,0
$GC,3413,-1.13,-134.6,597.2,-15.2,299,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2034,2433,0,0,0,0,0,0
$GC,3722,-1.13,-134.6,644.2,-15.3,314,3726,0.00,2.28,0.00,0.000,4,0.000,0.063,2807,3449,2433,0,0,0,0,0,0
$GC,3787,-1.13,-134.6,654.7,-15.6,317,3792,0.00,2.17,0.00,0.000,6,0.000,0.038,2807,2042,2432,0,0,0,0,0,0
$GC,4114,-1.13,-134.6,705.3,-15.4,333,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2042,2433,0,0,0,0,0,0
$GC,4424,-1.13,-134.6,753.1,-15.3,348,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2042,2433,0,0,0,0,0,0
$GC,4733,-1.13,-134.6,801.3,-15.8,363,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2041,2433,0,0,0,0,0,0
$GC,5042,-1.13,-134.6,847.9,-15.1,378,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2042,2433,0,0,0,0,0,0
$GC,5352,-1.13,-134.6,894.1,-14.8,393,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2042,2432,0,0,0,0,0,0
$GC,5661,-1.13,-134.6,940.6,-14.8,408,5665,0.00,2.17,0.00,0.000,4,0.000,0.050,2808,639,2432,0,0,0,0,0,0
$GC,5692,-1.13,-134.6,945.8,-16.1,409,5699,0.05,2.20,0.00,0.000,6,0.204,0.041,2813,2039,2433,0,0,0,0,0,0
$GC,6009,-1.15,-134.6,991.9,-14.9,425,6013,0.00,2.22,0.00,0.000,4,0.000,0.067,2804,3455,2432,0,0,0,0,0,0
$STATE,6062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6062,begin apogee
$GC,6068,-0.23,0.0,1000.2,14.8,427,6193,1.00,0.00,118.75,1.308,6,0.177,0.000,3104,1793,1882,0,0,0,0,0,0
$STATE,6194,end apogee,CONTROL_FINISHED_OK
$STATE,6194,begin climb
$GC,6196,1.43,134.6,1004.8,0.0,434,6331,1.65,2.38,124.93,1.258,4,0.097,0.047,3646,391,1333,0,0,0,0,0,0
$GC,6397,1.32,134.6,977.9,18.8,443,6404,0.10,2.35,0.00,0.000,6,0.180,0.037,3617,1789,1330,0,0,0,0,0,0
$GC,6713,1.27,134.6,922.6,17.3,459,6718,0.10,2.30,0.00,0.000,4,0.216,0.047,3605,386,1327,0,0,0,0,0,0
$GC,6864,1.21,134.6,896.1,18.3,466,6869,0.10,2.25,0.00,0.000,6,0.203,0.036,3578,1792,1326,0,0,0,0,0,0
$GC,7190,1.21,134.6,841.7,16.6,482,7194,0.00,2.28,0.00,0.000,4,0.000,0.046,3586,387,1326,0,0,0,0,0,0
$GC,7352,1.18,134.6,813.0,17.5,489,7357,0.05,2.25,0.00,0.000,6,0.198,0.036,3571,1793,1325,0,0,0,0,0,0
$GC,7673,1.18,134.6,759.1,16.7,505,7677,0.00,2.25,0.00,0.000,4,0.000,0.047,3581,379,1325,0,0,0,0,0,0
$GC,7824,1.18,134.6,733.4,16.4,512,7829,0.05,2.22,0.00,0.000,6,0.240,0.037,3571,1792,1325,0,0,0,0,0,0
$GC,8150,1.18,134.6,681.7,15.3,528,8154,0.00,2.22,0.00,0.000,4,0.000,0.047,3580,386,1324,0,0,0,0,0,0
$GC,8204,1.18,134.6,672.8,15.8,530,8211,0.03,2.22,0.00,0.000,6,0.211,0.036,3572,1794,1324,0,0,0,0,0,0
$GC,8521,1.18,134.6,627.3,14.1,546,8525,0.00,2.22,0.00,0.000,4,0.000,0.047,3581,385,1324,0,0,0,0,0,0
$GC,8597,1.18,134.6,616.0,14.1,549,8604,0.03,2.22,0.00,0.000,6,0.210,0.036,3573,1798,1324,0,0,0,0,0,0
$GC,8913,1.18,134.6,573.5,13.4,565,8917,0.00,2.22,0.00,0.000,4,0.000,0.047,3581,382,1324,0,0,0,0,0,0
$GC,8990,1.18,134.6,562.4,14.1,568,8997,0.05,2.22,0.00,0.000,6,0.191,0.035,3566,1792,1324,0,0,0,0,0,0
$GC,9306,1.18,134.6,520.6,13.4,584,9310,0.00,2.22,0.00,0.000,4,0.000,0.047,3575,386,1323,0,0,0,0,0,0
$GC,9435,1.18,134.6,502.5,14.7,590,9439,0.00,2.17,0.00,0.000,6,0.000,0.035,3575,1787,1324,0,0,0,0,0,0
$GC,9761,1.18,134.6,457.7,13.6,606,9765,0.00,2.22,0.00,0.000,4,0.000,0.047,3584,384,1323,0,0,0,0,0,0
$GC,9832,1.18,134.6,447.5,14.2,609,9838,0.05,2.20,0.00,0.000,6,0.188,0.035,3569,1789,1323,0,0,0,0,0,0
$GC,10154,1.18,134.6,405.1,13.3,625,10158,0.00,2.20,0.00,0.000,4,0.000,0.048,3577,386,1323,0,0,0,0,0,0
$GC,10241,1.18,134.6,392.6,14.7,631,10248,0.00,2.20,0.00,0.000,6,0.000,0.035,3577,1790,1323,0,0,0,0,0,0
$GC,10567,1.18,134.6,346.4,14.3,662,10571,0.00,2.20,0.00,0.000,4,0.000,0.047,3587,386,1323,0,0,0,0,0,0
$GC,10720,1.18,134.6,323.5,15.2,675,10725,0.08,2.17,0.00,0.000,6,0.216,0.036,3570,1794,1323,0,0,0,0,0,0
$GC,11046,1.18,134.6,279.2,13.6,705,11050,0.00,2.20,0.00,0.000,4,0.000,0.047,3579,384,1323,0,0,0,0,0,0
$GC,11098,1.18,134.6,271.9,14.4,709,11103,0.03,2.17,0.00,0.000,6,0.274,0.037,3570,1796,1323,0,0,0,0,0,0
$GC,11428,1.21,134.6,224.8,14.9,740,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1797,1323,0,0,0,0,0,0
$GC,11746,1.21,134.6,178.1,14.6,770,11750,0.00,2.22,0.00,0.000,4,0.000,0.047,3579,386,1323,0,0,0,0,0,0
$GC,11808,1.21,134.6,168.6,15.0,775,11812,0.00,2.17,0.00,0.000,6,0.000,0.036,3579,1791,1323,0,0,0,0,0,0
$GC,12135,1.21,134.6,123.5,12.2,805,12139,0.00,2.20,0.00,0.000,4,0.000,0.046,3588,380,1324,0,0,0,0,0,0
$GC,12394,1.21,134.6,90.1,10.9,834,12402,0.00,2.20,0.00,0.000,6,0.000,0.038,3588,1781,1323,0,0,0,0,0,0
$GC,12746,1.18,134.6,46.0,12.9,895,12752,0.10,2.17,0.00,0.000,4,0.207,0.047,3573,385,1323,0,0,0,0,0,0
$GC,12982,1.18,134.6,16.2,13.7,934,12989,0.00,2.20,0.00,0.000,6,0.000,0.034,3573,1807,1323,0,0,0,0,0,0
$GC,13040,1.18,134.6,7.9,14.1,943,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1807,1323,0,0,0,0,0,0
$STATE,13078,end climb,SURFACE_DEPTH_REACHED
$STATE,13078,begin surface coast
$FINISH,1.1,1.001975
$STATE,13098,end surface coast,CONTROL_FINISHED_OK
$STATE,13098,begin surface
$SM_CCo,13113,41.00,0.057,0,0,983,220.03
$SM_GC,2.43,0.00,0.00,41.00,0.000,0.000,0.057,85,2054,983,-9.68,0.40,220.03
$IRIDIUM_FIX,-4444.39,636.90,260508,080830
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.3,7.345
$10V_AH,10.2,4.406
$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,23.925,98.550,243.675,41.000,0.000,19.244,27.653,270.059,0.000,0.000,18.797,2372.903,8085.729,370.253,2648.017,99.444,0.000,1319.810,0.000,2186.503,0.000,0.540,0.000
$DEVICE_MAMPS,273.870,67.320,1308.150,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.802,1749.420,715.212,396.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,67001,952
$CAP_FILE_SIZE,126125,0
$CFSIZE,2097086464,2090598400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310715,024557,-4459.438,630.915,50,1.0,50,-24.4