version: 66.07.10.p01
glider: 573
mission: 12
dive: 15
start: 7 31 115 10 57 52
data:
$ID,573
$MISSION,12
$DIVE,15
$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,-21049.229
$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,47
$R_STBD_OVSHOOT,66
$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,14
$GPS1,310715,104956,-4459.966,632.105,82,1.2,85,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-61.6
$GPS2,310715,105732,-4459.952,632.159,24,1.2,24,-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,292.6,2829,-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,-62.6,0.0,0.0,0,64,0.00,0.00,-38.55,0.000,2,0.000,0.000,76,2083,1797,0,0,0,0,0,0
$GC,66,-1.41,-123.1,3.1,-3.5,6,106,10.93,2.20,-18.92,0.000,4,0.254,0.074,2711,3412,2386,0,0,0,0,0,0
$GC,304,-1.27,-123.1,49.9,-22.0,45,311,0.20,2.17,0.00,0.000,6,0.191,0.042,2767,2051,2388,0,0,0,0,0,0
$GC,649,-1.18,-123.1,121.4,-22.2,97,654,0.15,2.22,0.00,0.000,4,0.223,0.061,2792,3414,2388,0,0,0,0,0,0
$GC,783,-1.15,-123.1,149.8,-19.3,108,791,0.05,2.17,0.00,0.000,6,0.202,0.042,2807,2042,2389,0,0,0,0,0,0
$GC,1107,-1.15,-123.1,206.1,-17.1,139,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2042,2389,0,0,0,0,0,0
$GC,1429,-1.15,-123.1,260.9,-17.3,169,1433,0.00,2.22,0.00,0.000,4,0.000,0.054,2808,631,2390,0,0,0,0,0,0
$GC,1449,-1.12,-123.1,265.3,-18.2,170,1456,0.05,2.17,0.00,0.000,6,0.207,0.042,2813,2001,2390,0,0,0,0,0,0
$GC,1778,-1.12,-123.1,318.8,-16.2,201,1782,0.00,2.33,0.00,0.000,4,0.000,0.061,2803,3462,2390,0,0,0,0,0,0
$GC,1805,-1.12,-123.1,324.0,-16.8,203,1810,0.08,2.20,0.00,0.000,6,0.214,0.041,2819,2033,2390,0,0,0,0,0,0
$GC,2134,-1.12,-123.1,376.6,-16.0,234,2138,0.00,2.28,0.00,0.000,4,0.000,0.062,2810,3450,2390,0,0,0,0,0,0
$GC,2175,-1.12,-123.1,382.9,-15.9,237,2179,0.00,2.20,0.00,0.000,6,0.000,0.041,2810,2027,2390,0,0,0,0,0,0
$GC,2493,-1.12,-123.1,434.0,-15.9,257,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2027,2390,0,0,0,0,0,0
$GC,2803,-1.12,-123.1,483.7,-16.1,272,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2027,2390,0,0,0,0,0,0
$GC,3112,-1.12,-123.1,532.8,-15.5,287,3116,0.00,2.30,0.00,0.000,4,0.000,0.062,2801,3460,2390,0,0,0,0,0,0
$GC,3151,-1.12,-123.1,539.1,-15.9,289,3155,0.08,2.20,0.00,0.000,6,0.215,0.041,2817,2030,2390,0,0,0,0,0,0
$GC,3476,-1.12,-123.1,590.6,-16.2,305,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2030,2390,0,0,0,0,0,0
$GC,3786,-1.12,-123.1,640.5,-16.3,320,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2030,2390,0,0,0,0,0,0
$GC,4095,-1.12,-123.1,688.5,-15.2,335,4099,0.00,2.28,0.00,0.000,4,0.000,0.063,2808,3450,2389,0,0,0,0,0,0
$GC,4165,-1.12,-123.1,700.0,-16.1,338,4171,0.00,2.20,0.00,0.000,6,0.000,0.042,2808,2037,2389,0,0,0,0,0,0
$GC,4487,-1.12,-123.1,747.4,-14.3,354,4492,0.05,2.28,0.00,0.000,4,0.244,0.063,2809,3449,2389,0,0,0,0,0,0
$GC,4518,-1.12,-123.1,752.3,-15.0,355,4525,0.00,2.20,0.00,0.000,6,0.000,0.041,2809,2034,2389,0,0,0,0,0,0
$GC,4835,-1.12,-123.1,795.8,-14.0,371,4839,0.00,2.28,0.00,0.000,4,0.000,0.063,2800,3450,2389,0,0,0,0,0,0
$GC,4888,-1.12,-123.1,804.0,-14.9,373,4896,0.05,2.20,0.00,0.000,6,0.186,0.042,2815,2040,2389,0,0,0,0,0,0
$GC,5205,-1.14,-123.1,847.9,-13.7,389,5209,0.00,2.25,0.00,0.000,4,0.000,0.060,2807,3449,2389,0,0,0,0,0,0
$GC,5293,-1.14,-123.1,860.7,-14.3,393,5298,0.00,2.20,0.00,0.000,6,0.000,0.043,2807,2036,2388,0,0,0,0,0,0
$GC,5621,-1.14,-123.1,906.6,-14.1,409,5625,0.00,2.28,0.00,0.000,4,0.000,0.064,2798,3454,2388,0,0,0,0,0,0
$GC,5714,-1.14,-123.1,920.3,-14.4,413,5720,0.03,2.20,0.00,0.000,6,0.198,0.043,2806,2045,2388,0,0,0,0,0,0
$GC,6036,-1.14,-123.1,963.6,-13.5,429,6040,0.00,2.25,0.00,0.000,4,0.000,0.062,2797,3457,2388,0,0,0,0,0,0
$GC,6082,-1.14,-123.1,969.9,-14.0,431,6087,0.08,2.17,0.00,0.000,6,0.208,0.042,2813,2025,2387,0,0,0,0,0,0
$STATE,6303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6303,begin apogee
$GC,6307,-0.23,0.0,1000.3,13.6,442,6425,0.98,0.00,111.90,1.304,6,0.174,0.000,3104,1779,1882,0,0,0,0,0,0
$STATE,6425,end apogee,CONTROL_FINISHED_OK
$STATE,6426,begin climb
$GC,6427,1.41,123.1,1004.4,0.0,448,6550,1.67,2.38,116.12,1.258,4,0.099,0.047,3647,394,1379,0,0,0,0,0,0
$GC,6617,1.30,123.1,978.8,18.7,457,6623,0.12,2.35,0.00,0.000,6,0.179,0.034,3611,1805,1374,0,0,0,0,0,0
$GC,6939,1.25,123.1,921.9,17.5,473,6944,0.10,2.33,0.00,0.000,4,0.216,0.047,3599,387,1372,0,0,0,0,0,0
$GC,7024,1.20,123.1,907.2,18.5,477,7029,0.10,2.25,0.00,0.000,6,0.204,0.034,3574,1799,1371,0,0,0,0,0,0
$GC,7351,1.20,123.1,855.8,15.8,493,7355,0.00,2.30,0.00,0.000,4,0.000,0.047,3582,383,1371,0,0,0,0,0,0
$GC,7416,1.17,123.1,844.5,16.6,496,7421,0.05,2.25,0.00,0.000,6,0.194,0.036,3566,1789,1370,0,0,0,0,0,0
$GC,7743,1.17,123.1,795.9,14.5,512,7747,0.00,2.25,0.00,0.000,4,0.000,0.047,3575,390,1370,0,0,0,0,0,0
$GC,7786,1.15,123.1,789.5,14.6,514,7792,0.05,2.22,0.00,0.000,6,0.189,0.034,3560,1796,1369,0,0,0,0,0,0
$GC,8113,1.15,123.1,746.8,12.6,530,8117,0.00,2.25,0.00,0.000,4,0.000,0.047,3568,390,1370,0,0,0,0,0,0
$GC,8197,1.15,123.1,735.1,13.5,534,8202,0.05,2.20,0.00,0.000,6,0.241,0.035,3559,1800,1369,0,0,0,0,0,0
$GC,8524,1.15,123.1,691.0,13.8,550,8528,0.00,2.25,0.00,0.000,4,0.000,0.046,3567,388,1369,0,0,0,0,0,0
$GC,8577,1.15,123.1,682.6,15.1,552,8584,0.03,2.20,0.00,0.000,6,0.213,0.034,3560,1789,1369,0,0,0,0,0,0
$GC,8894,1.15,123.1,636.7,15.1,568,8898,0.00,2.22,0.00,0.000,4,0.000,0.047,3568,390,1369,0,0,0,0,0,0
$GC,8958,1.15,123.1,626.3,15.3,571,8964,0.03,2.20,0.00,0.000,6,0.215,0.034,3560,1796,1369,0,0,0,0,0,0
$GC,9286,1.15,123.1,577.5,14.9,587,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1796,1369,0,0,0,0,0,0
$GC,9595,1.15,123.1,531.2,14.8,602,9599,0.00,2.22,0.00,0.000,4,0.000,0.047,3568,389,1369,0,0,0,0,0,0
$GC,9660,1.15,123.1,521.0,15.8,605,9665,0.03,2.20,0.00,0.000,6,0.213,0.035,3560,1798,1368,0,0,0,0,0,0
$GC,9988,1.17,123.1,475.6,13.6,621,9992,0.00,2.22,0.00,0.000,4,0.000,0.046,3569,388,1368,0,0,0,0,0,0
$GC,10071,1.17,123.1,463.8,14.1,625,10076,0.00,2.17,0.00,0.000,6,0.000,0.034,3569,1796,1368,0,0,0,0,0,0
$GC,10399,1.17,123.1,419.8,13.6,641,10403,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,387,1368,0,0,0,0,0,0
$GC,10532,1.17,123.1,400.4,14.2,647,10537,0.05,2.20,0.00,0.000,6,0.181,0.034,3562,1805,1368,0,0,0,0,0,0
$GC,10861,1.19,123.1,358.2,12.3,677,10865,0.00,2.22,0.00,0.000,4,0.000,0.046,3571,390,1368,0,0,0,0,0,0
$GC,10982,1.19,123.1,341.8,13.6,687,10989,0.00,2.17,0.00,0.000,6,0.000,0.033,3571,1790,1368,0,0,0,0,0,0
$GC,11308,1.19,123.1,301.2,12.6,718,11312,0.00,2.20,0.00,0.000,4,0.000,0.046,3580,388,1368,0,0,0,0,0,0
$GC,11460,1.19,123.1,281.0,13.0,731,11465,0.03,2.15,0.00,0.000,6,0.282,0.034,3571,1796,1368,0,0,0,0,0,0
$GC,11787,1.19,123.1,239.9,12.7,761,11791,0.00,2.22,0.00,0.000,4,0.000,0.046,3579,382,1368,0,0,0,0,0,0
$GC,11852,1.19,123.1,230.2,14.0,766,11859,0.00,2.20,0.00,0.000,6,0.000,0.034,3579,1792,1368,0,0,0,0,0,0
$GC,12180,1.19,123.1,185.8,13.8,797,12184,0.00,2.20,0.00,0.000,4,0.000,0.045,3589,388,1368,0,0,0,0,0,0
$GC,12287,1.17,123.1,169.8,14.3,806,12292,0.10,2.15,0.00,0.000,6,0.204,0.034,3565,1794,1368,0,0,0,0,0,0
$GC,12611,1.19,123.1,127.2,13.0,836,12615,0.00,2.17,0.00,0.000,4,0.000,0.057,3565,3178,1368,0,0,0,0,0,0
$GC,12741,1.19,123.1,110.4,12.0,847,12745,0.00,2.10,0.00,0.000,6,0.000,0.031,3573,1776,1368,0,0,0,0,0,0
$GC,13084,1.19,123.1,70.9,13.5,899,13089,0.00,2.15,0.00,0.000,4,0.000,0.049,3584,384,1368,0,0,0,0,0,0
$GC,13347,1.19,123.1,39.0,13.3,945,13355,0.03,2.17,0.00,0.000,6,0.213,0.034,3576,1791,1368,0,0,0,0,0,0
$GC,13503,1.19,123.1,18.4,13.0,970,13511,0.00,2.20,0.00,0.000,4,0.000,0.044,3585,398,1368,0,0,0,0,0,0
$GC,13580,1.16,123.1,6.5,15.5,982,13588,0.08,2.15,0.00,0.000,6,0.187,0.036,3559,1782,1367,0,0,0,0,0,0
$STATE,13613,end climb,SURFACE_DEPTH_REACHED
$STATE,13613,begin surface coast
$FINISH,1.2,1.011777
$STATE,13645,end surface coast,CONTROL_FINISHED_OK
$STATE,13645,begin surface
$SM_CCo,13661,45.42,0.056,0,0,984,220.03
$SM_GC,2.29,0.00,0.00,45.42,0.000,0.000,0.056,82,2035,984,-9.70,-0.14,220.03
$IRIDIUM_FIX,-4441.36,627.47,260508,202011
$TT8_MAMPS,0.026964
$HUMID,61.85
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,7.661
$10V_AH,10.2,4.720
$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,24.100,129.550,228.025,45.425,0.000,26.344,42.694,267.030,0.000,0.000,26.818,2512.323,8361.177,393.453,2785.458,111.397,0.000,1388.397,0.000,2283.510,0.000,0.539,0.000
$DEVICE_MAMPS,281.520,74.205,1304.325,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.007,1815.324,741.706,403.816,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353760
$DATA_FILE_SIZE,70344,992
$CAP_FILE_SIZE,138530,0
$CFSIZE,2097086464,2090172416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310715,144733,-4500.310,630.503,40,0.8,41,-24.4