version: 66.07.10.p01
glider: 573
mission: 12
dive: 13
start: 7 31 115 2 58 24
data:
$ID,573
$MISSION,12
$DIVE,13
$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,-21044.572
$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,37
$R_STBD_OVSHOOT,40
$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,12
$GPS1,310715,024557,-4459.438,630.915,50,1.0,50,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-68.1
$GPS2,310715,025804,-4459.438,631.125,19,0.9,19,-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,259.1,1805,-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,-62.6,0.0,0.0,0,58,0.00,0.00,-32.85,0.000,2,0.000,0.000,80,2053,1672,0,0,0,0,0,0
$GC,60,-1.40,-114.4,3.3,-4.4,5,106,11.05,2.30,-23.92,0.000,4,0.256,0.077,2714,3427,2351,0,0,0,0,0,0
$GC,321,-1.25,-114.4,53.9,-22.7,48,328,0.20,2.22,0.00,0.000,6,0.200,0.045,2769,2042,2353,0,0,0,0,0,0
$GC,661,-1.18,-114.4,122.1,-19.3,98,663,0.12,0.00,0.00,0.000,6,0.226,0.000,2797,2041,2353,0,0,0,0,0,0
$GC,980,-1.15,-114.4,180.4,-17.8,128,985,0.05,2.30,0.00,0.000,4,0.261,0.063,2798,3445,2354,0,0,0,0,0,0
$GC,1123,-1.12,-114.4,205.6,-17.6,140,1128,0.10,2.20,0.00,0.000,6,0.204,0.043,2821,2030,2354,0,0,0,0,0,0
$GC,1447,-1.12,-114.4,260.7,-16.4,170,1451,0.00,2.30,0.00,0.000,4,0.000,0.064,2812,3443,2354,0,0,0,0,0,0
$GC,1488,-1.12,-114.4,267.1,-16.4,173,1492,0.00,2.17,0.00,0.000,6,0.000,0.042,2812,2041,2354,0,0,0,0,0,0
$GC,1812,-1.12,-114.4,320.8,-16.1,203,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,2354,0,0,0,0,0,0
$GC,2133,-1.12,-114.4,372.2,-16.8,233,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,2354,0,0,0,0,0,0
$GC,2444,-1.12,-114.4,424.2,-16.7,256,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,2355,0,0,0,0,0,0
$GC,2753,-1.12,-114.4,476.0,-16.1,271,2757,0.00,2.25,0.00,0.000,4,0.000,0.062,2803,3441,2354,0,0,0,0,0,0
$GC,2785,-1.12,-114.4,481.5,-16.5,272,2792,0.05,2.20,0.00,0.000,6,0.194,0.041,2818,2033,2354,0,0,0,0,0,0
$GC,3101,-1.12,-114.4,534.0,-16.8,288,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2033,2354,0,0,0,0,0,0
$GC,3411,-1.12,-114.4,582.9,-15.5,303,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2033,2354,0,0,0,0,0,0
$GC,3721,-1.14,-114.4,628.9,-14.6,318,3725,0.00,2.25,0.00,0.000,4,0.000,0.065,2809,3436,2353,0,0,0,0,0,0
$GC,3782,-1.14,-114.4,638.3,-15.3,321,3786,0.00,2.15,0.00,0.000,6,0.000,0.042,2809,2037,2353,0,0,0,0,0,0
$GC,4108,-1.14,-114.4,688.2,-15.1,337,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2037,2353,0,0,0,0,0,0
$GC,4418,-1.14,-114.4,735.8,-15.4,352,4422,0.00,2.25,0.00,0.000,4,0.000,0.063,2800,3436,2353,0,0,0,0,0,0
$GC,4444,-1.14,-114.4,740.3,-16.5,353,4449,0.03,2.17,0.00,0.000,6,0.202,0.041,2807,2036,2353,0,0,0,0,0,0
$GC,4766,-1.14,-114.4,788.1,-15.1,369,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2036,2352,0,0,0,0,0,0
$GC,5075,-1.14,-114.4,832.5,-13.8,384,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2036,2352,0,0,0,0,0,0
$GC,5384,-1.14,-114.4,877.2,-14.3,399,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2036,2352,0,0,0,0,0,0
$GC,5694,-1.14,-114.4,921.4,-14.1,414,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2036,2352,0,0,0,0,0,0
$GC,6003,-1.14,-114.4,964.0,-13.8,429,6007,0.00,2.20,0.00,0.000,4,0.000,0.054,2808,631,2351,0,0,0,0,0,0
$GC,6096,-1.14,-114.4,978.1,-15.2,433,6101,0.00,2.20,0.00,0.000,6,0.000,0.043,2800,2030,2351,0,0,0,0,0,0
$STATE,6252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6252,begin apogee
$GC,6256,-0.23,0.0,1000.2,14.3,441,6364,1.02,0.00,104.28,1.306,6,0.177,0.000,3103,1786,1881,0,0,0,0,0,0
$STATE,6364,end apogee,CONTROL_FINISHED_OK
$STATE,6364,begin climb
$GC,6366,1.40,114.4,1004.2,0.0,446,6482,1.62,2.42,107.75,1.261,4,0.099,0.047,3635,386,1415,0,0,0,0,0,0
$GC,6520,1.29,114.4,986.7,18.2,452,6527,0.10,2.38,0.00,0.000,6,0.184,0.037,3608,1789,1412,0,0,0,0,0,0
$GC,6836,1.23,114.4,935.1,16.1,468,6841,0.12,2.33,0.00,0.000,4,0.207,0.047,3588,378,1408,0,0,0,0,0,0
$GC,7003,1.17,114.4,908.1,16.1,475,7010,0.05,2.30,0.00,0.000,6,0.188,0.038,3570,1796,1406,0,0,0,0,0,0
$GC,7319,1.17,114.4,862.6,14.2,491,7323,0.00,2.30,0.00,0.000,4,0.000,0.047,3579,377,1406,0,0,0,0,0,0
$GC,7418,1.14,114.4,847.5,14.9,495,7425,0.08,2.28,0.00,0.000,6,0.179,0.037,3556,1794,1405,0,0,0,0,0,0
$GC,7734,1.14,114.4,803.3,14.0,511,7738,0.00,2.28,0.00,0.000,4,0.000,0.047,3564,380,1405,0,0,0,0,0,0
$GC,7832,1.14,114.4,788.8,14.7,515,7839,0.00,2.25,0.00,0.000,6,0.000,0.037,3565,1787,1405,0,0,0,0,0,0
$GC,8149,1.14,114.4,743.5,14.3,531,8154,0.05,2.22,0.00,0.000,4,0.246,0.047,3564,377,1405,0,0,0,0,0,0
$GC,8202,1.14,114.4,735.4,15.0,533,8210,0.03,2.25,0.00,0.000,6,0.215,0.036,3557,1796,1405,0,0,0,0,0,0
$GC,8519,1.14,114.4,691.7,13.7,549,8523,0.00,2.25,0.00,0.000,4,0.000,0.047,3565,385,1404,0,0,0,0,0,0
$GC,8617,1.14,114.4,677.3,14.7,553,8625,0.03,2.22,0.00,0.000,6,0.216,0.035,3557,1793,1404,0,0,0,0,0,0
$GC,8934,1.14,114.4,635.1,13.4,569,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1793,1404,0,0,0,0,0,0
$GC,9244,1.14,114.4,594.2,13.3,584,9248,0.00,2.25,0.00,0.000,4,0.000,0.047,3566,375,1404,0,0,0,0,0,0
$GC,9410,1.14,114.4,570.6,13.4,591,9417,0.03,2.22,0.00,0.000,6,0.216,0.036,3558,1789,1404,0,0,0,0,0,0
$GC,9726,1.14,114.4,528.8,13.6,607,9730,0.00,2.22,0.00,0.000,4,0.000,0.047,3566,383,1404,0,0,0,0,0,0
$GC,9856,1.14,114.4,510.7,15.0,613,9860,0.05,2.20,0.00,0.000,6,0.244,0.035,3555,1804,1404,0,0,0,0,0,0
$GC,10181,1.14,114.4,468.6,12.7,629,10185,0.00,2.22,0.00,0.000,4,0.000,0.047,3564,383,1404,0,0,0,0,0,0
$GC,10269,1.14,114.4,456.6,13.5,633,10274,0.00,2.20,0.00,0.000,6,0.000,0.034,3564,1789,1404,0,0,0,0,0,0
$GC,10597,1.14,114.4,414.0,13.0,649,10602,0.03,2.20,0.00,0.000,4,0.288,0.046,3564,384,1404,0,0,0,0,0,0
$GC,10718,1.14,114.4,397.4,13.7,655,10725,0.05,2.20,0.00,0.000,6,0.197,0.034,3549,1796,1404,0,0,0,0,0,0
$GC,11044,1.17,114.4,357.6,12.1,686,11048,0.00,2.22,0.00,0.000,4,0.000,0.047,3558,384,1404,0,0,0,0,0,0
$GC,11197,1.17,114.4,338.3,12.1,699,11201,0.00,2.17,0.00,0.000,6,0.000,0.034,3558,1796,1404,0,0,0,0,0,0
$GC,11525,1.19,114.4,299.0,12.1,729,11529,0.00,2.22,0.00,0.000,4,0.000,0.046,3567,384,1404,0,0,0,0,0,0
$GC,11556,1.19,114.4,294.5,12.9,731,11563,0.00,2.20,0.00,0.000,6,0.000,0.034,3566,1789,1403,0,0,0,0,0,0
$GC,11882,1.19,114.4,254.3,12.6,762,11886,0.00,2.22,0.00,0.000,4,0.000,0.045,3575,376,1403,0,0,0,0,0,0
$GC,12026,1.19,114.4,234.9,13.2,774,12033,0.00,2.20,0.00,0.000,6,0.000,0.035,3574,1783,1404,0,0,0,0,0,0
$GC,12354,1.19,114.4,194.4,11.4,805,12358,0.00,2.20,0.00,0.000,4,0.000,0.046,3583,384,1404,0,0,0,0,0,0
$GC,12393,1.17,114.4,189.4,12.3,808,12398,0.10,2.17,0.00,0.000,6,0.200,0.035,3560,1800,1404,0,0,0,0,0,0
$GC,12717,1.19,114.4,149.8,12.3,838,12721,0.00,2.22,0.00,0.000,4,0.000,0.046,3569,382,1404,0,0,0,0,0,0
$GC,12974,1.19,114.4,118.0,11.2,860,12983,0.00,2.20,0.00,0.000,6,0.000,0.035,3568,1793,1404,0,0,0,0,0,0
$GC,13315,1.21,114.4,76.9,12.8,907,13320,0.00,2.22,0.00,0.000,4,0.000,0.047,3577,379,1404,0,0,0,0,0,0
$GC,13577,1.18,114.4,41.4,10.6,953,13583,0.05,2.17,0.00,0.000,6,0.236,0.035,3567,1799,1403,0,0,0,0,0,0
$STATE,13899,end climb,SURFACE_DEPTH_REACHED
$STATE,13899,begin surface coast
$FINISH,1.1,1.005099
$STATE,13931,end surface coast,CONTROL_FINISHED_OK
$STATE,13932,begin surface
$SM_CCo,13947,49.53,0.057,0,0,984,220.03
$SM_GC,2.39,0.00,0.00,49.53,0.000,0.000,0.057,71,2039,984,-9.73,-0.03,220.03
$IRIDIUM_FIX,-4438.33,630.50,260508,161639
$TT8_MAMPS,0.026964
$HUMID,61.53
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.4,7.454
$10V_AH,10.2,4.514
$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,24.050,103.550,212.025,49.525,0.000,53.929,60.458,416.833,0.000,0.000,21.816,2526.463,8677.570,370.987,3044.121,106.436,0.000,1356.078,0.000,2328.364,0.000,0.540,0.000
$DEVICE_MAMPS,287.640,77.265,1305.855,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.299,1871.199,767.943,429.536,0.000,0.000,0.000,0.000,0.000,0.000
$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,70464,1011
$CAP_FILE_SIZE,136549,0
$CFSIZE,2097086464,2090434560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310715,065327,-4500.446,629.432,72,1.0,73,-24.4