version: 66.07.10.p01
glider: 573
mission: 12
dive: 17
start: 7 31 115 18 55 1
data:
$ID,573
$MISSION,12
$DIVE,17
$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,-21053.891
$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,36
$R_STBD_OVSHOOT,50
$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,16
$GPS1,310715,184804,-4458.940,629.710,30,1.6,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-67.0
$GPS2,310715,185441,-4458.924,629.787,17,1.2,17,-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,196.4,2012,-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,-32.75,0.000,2,0.000,0.000,69,2070,1758,0,0,0,0,0,0
$GC,60,-1.42,-130.8,3.1,-2.7,5,99,10.95,2.22,-22.10,0.000,4,0.256,0.077,2712,3433,2435,0,0,0,0,0,0
$GC,366,-1.28,-130.8,71.5,-24.5,56,372,0.22,2.17,0.00,0.000,6,0.202,0.041,2769,2031,2437,0,0,0,0,0,0
$GC,699,-1.20,-130.8,145.4,-21.8,98,704,0.10,2.30,0.00,0.000,4,0.235,0.064,2781,3436,2439,0,0,0,0,0,0
$GC,799,-1.15,-130.8,165.5,-18.8,106,806,0.08,2.20,0.00,0.000,6,0.185,0.041,2806,2043,2439,0,0,0,0,0,0
$GC,1127,-1.15,-130.8,222.2,-17.3,137,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2043,2439,0,0,0,0,0,0
$GC,1443,-1.15,-130.8,275.6,-16.9,167,1447,0.00,2.22,0.00,0.000,4,0.000,0.060,2797,3427,2440,0,0,0,0,0,0
$GC,1508,-1.15,-130.8,287.2,-16.5,172,1518,0.03,2.17,0.00,0.000,6,0.200,0.042,2805,2037,2440,0,0,0,0,0,0
$GC,1834,-1.15,-130.8,341.8,-16.8,203,1838,0.00,2.20,0.00,0.000,4,0.000,0.053,2805,625,2439,0,0,0,0,0,0
$GC,1885,-1.12,-130.8,350.6,-17.1,207,1889,0.10,2.17,0.00,0.000,6,0.219,0.044,2820,2028,2440,0,0,0,0,0,0
$GC,2219,-1.12,-130.8,404.1,-15.8,237,2223,0.00,2.25,0.00,0.000,4,0.000,0.063,2809,3451,2440,0,0,0,0,0,0
$GC,2289,-1.12,-130.8,416.2,-17.0,240,2295,0.00,2.20,0.00,0.000,6,0.000,0.042,2809,2043,2440,0,0,0,0,0,0
$GC,2617,-1.12,-130.8,470.8,-17.1,256,2621,0.00,2.20,0.00,0.000,4,0.000,0.053,2809,627,2440,0,0,0,0,0,0
$GC,2663,-1.12,-130.8,478.8,-17.8,258,2668,0.10,2.22,0.00,0.000,6,0.220,0.044,2823,2048,2440,0,0,0,0,0,0
$GC,2989,-1.12,-130.8,532.9,-16.7,274,2993,0.00,2.22,0.00,0.000,4,0.000,0.063,2812,3454,2440,0,0,0,0,0,0
$GC,3077,-1.12,-130.8,548.2,-17.2,278,3082,0.00,2.20,0.00,0.000,6,0.000,0.041,2812,2041,2439,0,0,0,0,0,0
$GC,3405,-1.12,-130.8,602.0,-16.3,294,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,2439,0,0,0,0,0,0
$GC,3714,-1.12,-130.8,652.2,-16.2,309,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,2440,0,0,0,0,0,0
$GC,4023,-1.12,-130.8,701.1,-15.7,324,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,2439,0,0,0,0,0,0
$GC,4333,-1.12,-130.8,748.6,-14.8,339,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,2439,0,0,0,0,0,0
$GC,4642,-1.12,-130.8,794.3,-14.9,354,4646,0.00,2.25,0.00,0.000,4,0.000,0.061,2804,3446,2438,0,0,0,0,0,0
$GC,4667,-1.12,-130.8,798.4,-14.7,355,4673,0.03,2.20,0.00,0.000,6,0.189,0.042,2812,2033,2438,0,0,0,0,0,0
$GC,4989,-1.15,-130.8,843.8,-13.7,371,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2034,2439,0,0,0,0,0,0
$GC,5298,-1.17,-130.8,887.4,-14.2,386,5303,0.00,2.28,0.00,0.000,4,0.000,0.064,2804,3456,2438,0,0,0,0,0,0
$GC,5386,-1.17,-130.8,900.9,-15.1,390,5391,0.00,2.20,0.00,0.000,6,0.000,0.042,2804,2039,2438,0,0,0,0,0,0
$GC,5714,-1.17,-130.8,950.3,-15.3,406,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2039,2438,0,0,0,0,0,0
$GC,6024,-1.17,-130.8,997.8,-15.6,421,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2039,2437,0,0,0,0,0,0
$STATE,6043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6043,begin apogee
$GC,6046,-0.23,0.0,1001.0,15.4,422,6170,1.02,0.00,119.55,1.304,6,0.175,0.000,3108,1745,1900,0,0,0,0,0,0
$STATE,6171,end apogee,CONTROL_FINISHED_OK
$STATE,6171,begin climb
$GC,6172,1.42,130.8,1006.5,0.0,428,6303,1.62,2.40,123.00,1.258,4,0.095,0.047,3644,348,1366,0,0,0,0,0,0
$GC,6369,1.32,130.8,980.9,19.2,437,6375,0.10,2.35,0.00,0.000,6,0.176,0.034,3616,1755,1360,0,0,0,0,0,0
$GC,6691,1.26,130.8,923.2,17.9,453,6696,0.10,2.30,0.00,0.000,4,0.212,0.046,3603,345,1357,0,0,0,0,0,0
$GC,6830,1.21,130.8,898.5,17.4,459,6835,0.08,2.28,0.00,0.000,6,0.185,0.034,3566,1755,1356,0,0,0,0,0,0
$GC,7151,1.21,130.8,850.2,15.3,475,7155,0.00,2.25,0.00,0.000,4,0.000,0.047,3575,346,1356,0,0,0,0,0,0
$GC,7165,1.21,130.8,847.7,14.7,475,7172,0.00,2.25,0.00,0.000,6,0.000,0.034,3575,1751,1355,0,0,0,0,0,0
$GC,7482,1.21,130.8,799.4,15.2,491,7486,0.00,2.28,0.00,0.000,4,0.000,0.045,3584,335,1355,0,0,0,0,0,0
$GC,7553,1.18,130.8,787.7,16.4,494,7558,0.05,2.25,0.00,0.000,6,0.194,0.034,3569,1758,1355,0,0,0,0,0,0
$GC,7874,1.18,130.8,740.1,14.9,510,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1758,1355,0,0,0,0,0,0
$GC,8183,1.18,130.8,694.5,15.1,525,8187,0.00,2.25,0.00,0.000,4,0.000,0.046,3578,345,1354,0,0,0,0,0,0
$GC,8208,1.18,130.8,690.2,15.9,526,8214,0.03,2.20,0.00,0.000,6,0.209,0.034,3570,1741,1354,0,0,0,0,0,0
$GC,8530,1.18,130.8,641.1,15.2,542,8534,0.00,2.22,0.00,0.000,4,0.000,0.047,3579,345,1354,0,0,0,0,0,0
$GC,8614,1.16,130.8,627.9,15.7,546,8619,0.08,2.17,0.00,0.000,6,0.213,0.034,3563,1752,1354,0,0,0,0,0,0
$GC,8941,1.16,130.8,580.6,14.2,562,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1752,1354,0,0,0,0,0,0
$GC,9250,1.16,130.8,536.9,13.9,577,9254,0.00,2.22,0.00,0.000,4,0.000,0.047,3572,345,1354,0,0,0,0,0,0
$GC,9326,1.16,130.8,525.1,14.2,580,9333,0.03,2.20,0.00,0.000,6,0.207,0.034,3564,1752,1354,0,0,0,0,0,0
$GC,9642,1.16,130.8,482.5,13.1,596,9646,0.00,2.22,0.00,0.000,4,0.000,0.046,3573,345,1354,0,0,0,0,0,0
$GC,9659,1.16,130.8,480.3,13.3,597,9664,0.05,2.17,0.00,0.000,6,0.239,0.034,3564,1755,1354,0,0,0,0,0,0
$GC,9985,1.18,130.8,438.6,12.6,613,9989,0.00,2.22,0.00,0.000,4,0.000,0.045,3573,345,1354,0,0,0,0,0,0
$GC,10025,1.18,130.8,433.4,13.0,615,10029,0.00,2.17,0.00,0.000,6,0.000,0.034,3573,1753,1354,0,0,0,0,0,0
$GC,10345,1.18,130.8,393.1,12.6,633,10349,0.00,2.22,0.00,0.000,4,0.000,0.045,3581,342,1353,0,0,0,0,0,0
$GC,10443,1.18,130.8,380.2,12.8,641,10448,0.08,2.17,0.00,0.000,6,0.214,0.034,3566,1757,1354,0,0,0,0,0,0
$GC,10767,1.21,130.8,339.8,12.8,671,10771,0.00,2.22,0.00,0.000,4,0.000,0.047,3575,345,1353,0,0,0,0,0,0
$GC,10844,1.21,130.8,330.0,13.7,677,10848,0.00,2.15,0.00,0.000,6,0.000,0.034,3575,1755,1353,0,0,0,0,0,0
$GC,11168,1.21,130.8,286.9,14.2,707,11172,0.00,2.22,0.00,0.000,4,0.000,0.046,3583,343,1353,0,0,0,0,0,0
$GC,11199,1.21,130.8,281.9,14.8,709,11206,0.00,2.20,0.00,0.000,6,0.000,0.032,3583,1755,1354,0,0,0,0,0,0
$GC,11525,1.21,130.8,234.1,14.8,740,11529,0.00,2.22,0.00,0.000,4,0.000,0.045,3593,339,1354,0,0,0,0,0,0
$GC,11568,1.18,130.8,227.4,15.1,743,11575,0.08,2.17,0.00,0.000,6,0.177,0.033,3570,1749,1354,0,0,0,0,0,0
$GC,11894,1.20,130.8,181.9,13.8,774,11898,0.00,2.20,0.00,0.000,4,0.000,0.045,3578,345,1353,0,0,0,0,0,0
$GC,11955,1.20,130.8,173.1,14.5,779,11960,0.00,2.15,0.00,0.000,6,0.000,0.034,3578,1745,1353,0,0,0,0,0,0
$GC,12282,1.20,130.8,127.3,14.0,809,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1745,1354,0,0,0,0,0,0
$GC,12609,1.20,130.8,81.8,13.9,850,12614,0.00,2.20,0.00,0.000,4,0.000,0.045,3587,339,1354,0,0,0,0,0,0
$GC,12747,1.20,130.8,61.8,14.6,874,12753,0.08,2.15,0.00,0.000,6,0.214,0.034,3571,1755,1354,0,0,0,0,0,0
$GC,13108,1.22,130.8,20.9,11.0,935,13115,0.00,2.22,0.00,0.000,4,0.000,0.045,3580,348,1354,0,0,0,0,0,0
$GC,13226,1.22,130.8,5.7,13.0,954,13234,0.00,2.15,0.00,0.000,6,0.000,0.034,3580,1736,1354,0,0,0,0,0,0
$STATE,13247,end climb,SURFACE_DEPTH_REACHED
$STATE,13247,begin surface coast
$FINISH,1.2,1.023368
$STATE,13273,end surface coast,CONTROL_FINISHED_OK
$STATE,13273,begin surface
$SM_CCo,13288,34.33,0.058,0,0,1063,205.07
$SM_GC,2.11,0.00,0.00,34.33,0.000,0.000,0.058,79,2047,1063,-9.71,0.20,205.07
$IRIDIUM_FIX,-4444.39,624.45,270508,040420
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.3,7.867
$10V_AH,10.2,4.923
$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,24.075,111.875,242.550,34.325,0.000,27.965,21.841,242.652,0.000,0.000,20.112,2405.254,8263.075,363.942,2593.481,94.751,0.000,1296.689,0.000,2148.105,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,77.265,1304.325,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.568,1784.117,721.798,406.482,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,67032,961
$CAP_FILE_SIZE,129175,0
$CFSIZE,2097086464,2089943040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310715,223803,-4500.700,630.820,25,1.2,26,-24.4