version: 66.07.10.p01
glider: 573
mission: 12
dive: 16
start: 7 31 115 14 54 39
data:
$ID,573
$MISSION,12
$DIVE,16
$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,205
$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,-21051.557
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,27
$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,1900
$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,15
$GPS1,310715,144733,-4500.310,630.503,40,0.8,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-64.7
$GPS2,310715,145419,-4500.323,630.560,19,0.8,20,-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,333.6,947,-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,-62.6,0.0,0.0,0,58,0.00,0.00,-32.75,0.000,2,0.000,0.000,81,2039,1664,0,0,0,0,0,0
$GC,60,-1.41,-122.1,3.0,-3.6,5,112,11.00,2.30,-30.17,0.000,4,0.259,0.072,2722,647,2399,0,0,0,0,0,0
$GC,157,-1.27,-122.1,15.0,-26.5,20,165,0.20,2.25,0.00,0.000,6,0.206,0.044,2768,2036,2402,0,0,0,0,0,0
$GC,216,-1.20,-122.1,28.7,-22.1,29,224,0.12,0.00,0.00,0.000,6,0.243,0.000,2794,2037,2402,0,0,0,0,0,0
$GC,364,-1.14,-122.1,58.7,-19.1,54,371,0.08,0.00,0.00,0.000,6,0.246,0.000,2809,2037,2402,0,0,0,0,0,0
$GC,708,-1.12,-122.1,126.7,-19.7,103,712,0.00,2.25,0.00,0.000,4,0.000,0.065,2799,3447,2403,0,0,0,0,0,0
$GC,752,-1.09,-122.1,135.4,-18.4,106,759,0.08,2.20,0.00,0.000,6,0.180,0.044,2823,2058,2403,0,0,0,0,0,0
$GC,1081,-1.09,-122.1,188.5,-15.6,137,1085,0.00,2.28,0.00,0.000,4,0.000,0.065,2813,3453,2403,0,0,0,0,0,0
$GC,1210,-1.09,-122.1,209.7,-16.4,148,1215,0.05,2.20,0.00,0.000,6,0.235,0.044,2824,2030,2403,0,0,0,0,0,0
$GC,1539,-1.09,-122.1,261.9,-16.1,179,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2030,2404,0,0,0,0,0,0
$GC,1861,-1.09,-122.1,312.4,-15.7,209,1865,0.00,2.28,0.00,0.000,4,0.000,0.063,2814,3449,2404,0,0,0,0,0,0
$GC,1958,-1.09,-122.1,327.9,-16.3,217,1963,0.05,2.20,0.00,0.000,6,0.234,0.044,2825,2030,2404,0,0,0,0,0,0
$GC,2282,-1.09,-122.1,378.5,-15.4,247,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2029,2404,0,0,0,0,0,0
$GC,2596,-1.09,-122.1,425.6,-15.3,269,2600,0.00,2.20,0.00,0.000,4,0.000,0.056,2825,639,2404,0,0,0,0,0,0
$GC,2616,-1.09,-122.1,429.0,-15.4,270,2621,0.00,2.22,0.00,0.000,6,0.000,0.043,2816,2045,2404,0,0,0,0,0,0
$GC,2944,-1.09,-122.1,481.7,-16.5,286,2948,0.00,2.25,0.00,0.000,4,0.000,0.064,2805,3456,2404,0,0,0,0,0,0
$GC,2997,-1.09,-122.1,491.2,-17.2,288,3005,0.05,2.20,0.00,0.000,6,0.187,0.043,2821,2045,2404,0,0,0,0,0,0
$GC,3314,-1.09,-122.1,542.6,-16.5,304,3318,0.00,2.22,0.00,0.000,4,0.000,0.063,2811,3447,2404,0,0,0,0,0,0
$GC,3356,-1.09,-122.1,550.2,-17.5,306,3362,0.05,2.20,0.00,0.000,6,0.187,0.043,2827,2040,2404,0,0,0,0,0,0
$GC,3684,-1.12,-122.1,601.4,-15.4,322,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2040,2403,0,0,0,0,0,0
$GC,3994,-1.16,-122.1,649.7,-15.7,337,3998,0.00,2.28,0.00,0.000,4,0.000,0.062,2818,3461,2403,0,0,0,0,0,0
$GC,4020,-1.18,-122.1,654.3,-16.4,338,4025,0.00,2.22,0.00,0.000,6,0.000,0.041,2818,2028,2403,0,0,0,0,0,0
$GC,4342,-1.20,-122.1,704.6,-15.8,354,4347,0.05,2.30,0.00,0.000,4,0.174,0.064,2782,3455,2403,0,0,0,0,0,0
$GC,4390,-1.18,-122.1,713.0,-16.7,356,4396,0.05,2.20,0.00,0.000,6,0.202,0.043,2796,2043,2403,0,0,0,0,0,0
$GC,4714,-1.18,-122.1,765.1,-16.2,372,4718,0.00,2.22,0.00,0.000,4,0.000,0.062,2788,3447,2402,0,0,0,0,0,0
$GC,4762,-1.18,-122.1,773.7,-16.5,374,4767,0.00,2.20,0.00,0.000,6,0.000,0.043,2789,2039,2402,0,0,0,0,0,0
$GC,5084,-1.18,-122.1,824.9,-15.3,390,5086,0.05,0.00,0.00,0.000,6,0.249,0.000,2798,2039,2402,0,0,0,0,0,0
$GC,5393,-1.18,-122.1,871.0,-14.9,405,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2039,2402,0,0,0,0,0,0
$GC,5703,-1.18,-122.1,916.1,-14.7,420,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2039,2401,0,0,0,0,0,0
$GC,6012,-1.18,-122.1,961.0,-14.4,435,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2039,2401,0,0,0,0,0,0
$STATE,6279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6279,begin apogee
$GC,6283,-0.23,0.0,1000.1,14.8,448,6400,1.02,0.00,111.62,1.304,6,0.177,0.000,3104,1746,1900,0,0,0,0,0,0
$STATE,6401,end apogee,CONTROL_FINISHED_OK
$STATE,6401,begin climb
$GC,6402,1.41,122.1,1004.5,0.0,454,6527,1.62,2.40,114.28,1.259,4,0.099,0.046,3638,349,1401,0,0,0,0,0,0
$GC,6605,1.31,122.1,978.1,18.4,463,6612,0.10,2.35,0.00,0.000,6,0.177,0.035,3610,1760,1396,0,0,0,0,0,0
$GC,6921,1.26,122.1,924.0,17.1,479,6926,0.08,2.30,0.00,0.000,4,0.226,0.047,3605,343,1393,0,0,0,0,0,0
$GC,7105,1.20,122.1,892.5,17.5,487,7110,0.10,2.28,0.00,0.000,6,0.181,0.034,3574,1754,1392,0,0,0,0,0,0
$GC,7426,1.20,122.1,844.5,14.9,503,7430,0.00,2.25,0.00,0.000,4,0.000,0.047,3582,346,1392,0,0,0,0,0,0
$GC,7534,1.17,122.1,828.0,15.1,508,7539,0.10,2.22,0.00,0.000,6,0.202,0.035,3560,1756,1391,0,0,0,0,0,0
$GC,7859,1.17,122.1,783.2,13.6,524,7864,0.00,2.25,0.00,0.000,4,0.000,0.047,3569,343,1391,0,0,0,0,0,0
$GC,7975,1.17,122.1,766.9,13.9,529,7981,0.00,2.22,0.00,0.000,6,0.000,0.034,3569,1750,1391,0,0,0,0,0,0
$GC,8297,1.17,122.1,724.6,12.7,545,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1750,1391,0,0,0,0,0,0
$GC,8607,1.17,122.1,686.4,12.1,560,8611,0.00,2.25,0.00,0.000,4,0.000,0.047,3577,341,1391,0,0,0,0,0,0
$GC,8661,1.15,122.1,679.3,12.7,562,8668,0.05,2.22,0.00,0.000,6,0.186,0.034,3561,1758,1390,0,0,0,0,0,0
$GC,8977,1.15,122.1,642.9,11.6,578,8981,0.00,2.22,0.00,0.000,4,0.000,0.047,3570,345,1390,0,0,0,0,0,0
$GC,9105,1.15,122.1,626.8,13.0,584,9110,0.08,2.17,0.00,0.000,6,0.214,0.034,3555,1754,1390,0,0,0,0,0,0
$GC,9432,1.17,122.1,586.4,12.9,600,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1754,1390,0,0,0,0,0,0
$GC,9741,1.19,122.1,544.8,13.9,615,9745,0.00,2.22,0.00,0.000,4,0.000,0.047,3564,338,1390,0,0,0,0,0,0
$GC,9856,1.19,122.1,527.6,14.7,620,9861,0.00,2.20,0.00,0.000,6,0.000,0.034,3564,1747,1390,0,0,0,0,0,0
$GC,10178,1.19,122.1,481.2,14.3,636,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1748,1390,0,0,0,0,0,0
$GC,10487,1.19,122.1,438.5,13.6,651,10491,0.00,2.20,0.00,0.000,4,0.000,0.046,3573,342,1390,0,0,0,0,0,0
$GC,10548,1.19,122.1,430.1,13.8,654,10552,0.00,2.17,0.00,0.000,6,0.000,0.034,3572,1753,1390,0,0,0,0,0,0
$GC,10868,1.19,122.1,388.5,12.7,673,10872,0.00,2.20,0.00,0.000,4,0.000,0.046,3582,345,1390,0,0,0,0,0,0
$GC,10986,1.19,122.1,372.3,13.3,683,10990,0.00,2.17,0.00,0.000,6,0.000,0.034,3581,1754,1389,0,0,0,0,0,0
$GC,11313,1.19,122.1,330.6,12.4,713,11317,0.00,2.20,0.00,0.000,4,0.000,0.046,3591,343,1390,0,0,0,0,0,0
$GC,11410,1.16,122.1,317.8,12.9,721,11415,0.12,2.17,0.00,0.000,6,0.192,0.034,3560,1763,1390,0,0,0,0,0,0
$GC,11735,1.19,122.1,279.6,12.0,751,11739,0.00,2.25,0.00,0.000,4,0.000,0.047,3569,337,1390,0,0,0,0,0,0
$GC,11823,1.19,122.1,268.1,13.3,758,11830,0.00,2.17,0.00,0.000,6,0.000,0.032,3569,1743,1390,0,0,0,0,0,0
$GC,12150,1.19,122.1,227.1,13.1,789,12154,0.00,2.20,0.00,0.000,4,0.000,0.047,3577,345,1390,0,0,0,0,0,0
$GC,12238,1.19,122.1,214.5,13.9,796,12247,0.00,2.17,0.00,0.000,6,0.000,0.034,3577,1744,1389,0,0,0,0,0,0
$GC,12564,1.19,122.1,169.3,14.0,827,12568,0.00,2.20,0.00,0.000,4,0.000,0.047,3587,344,1390,0,0,0,0,0,0
$GC,12649,1.17,122.1,156.6,14.7,834,12653,0.10,2.17,0.00,0.000,6,0.198,0.034,3563,1762,1390,0,0,0,0,0,0
$GC,12973,1.19,122.1,116.2,11.5,864,12977,0.00,2.22,0.00,0.000,4,0.000,0.047,3572,346,1390,0,0,0,0,0,0
$GC,13235,1.19,122.1,83.5,11.4,898,13241,0.00,2.15,0.00,0.000,6,0.000,0.033,3572,1755,1390,0,0,0,0,0,0
$GC,13584,1.19,122.1,38.5,12.3,959,13592,0.00,2.25,0.00,0.000,4,0.000,0.046,3581,340,1389,0,0,0,0,0,0
$GC,13764,1.19,122.1,15.2,11.9,988,13772,0.00,2.17,0.00,0.000,6,0.000,0.033,3581,1749,1390,0,0,0,0,0,0
$GC,13822,1.19,122.1,8.2,13.2,997,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1750,1390,0,0,0,0,0,0
$STATE,13860,end climb,SURFACE_DEPTH_REACHED
$STATE,13860,begin surface coast
$FINISH,1.3,1.023368
$STATE,13886,end surface coast,CONTROL_FINISHED_OK
$STATE,13887,begin surface
$SM_CCo,13902,38.62,0.057,0,0,1062,205.07
$SM_GC,2.21,0.00,0.00,38.62,0.000,0.000,0.057,69,2070,1062,-9.74,0.85,205.07
$IRIDIUM_FIX,-4441.36,630.50,270508,000039
$TT8_MAMPS,0.026964
$HUMID,62.52
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,7.761
$10V_AH,10.2,4.824
$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,24.200,112.200,225.900,38.625,0.000,27.549,21.559,247.418,0.000,0.000,22.836,2523.997,8577.771,367.286,2769.086,109.421,0.000,1384.019,0.000,2309.990,0.000,0.539,0.000
$DEVICE_MAMPS,259.335,71.910,1303.560,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.337,1850.618,748.390,407.908,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353712
$DATA_FILE_SIZE,70612,1007
$CAP_FILE_SIZE,136481,0
$CFSIZE,2097086464,2090041344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310715,184804,-4458.940,629.710,30,1.6,30,-24.4