version: 66.07.10.p01
glider: 573
mission: 12
dive: 20
start: 8 1 115 6 42 48
data:
$ID,573
$MISSION,12
$DIVE,20
$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,-21060.896
$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,42
$R_STBD_OVSHOOT,53
$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,19
$GPS1,010815,063533,-4501.622,630.504,41,1.0,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.3
$GPS2,010815,064228,-4501.687,630.608,19,1.2,19,-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,10.1,3224,-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,-32.45,0.000,2,0.000,0.000,80,2059,1747,0,0,0,0,0,0
$GC,60,-1.42,-126.9,3.1,-3.1,5,105,11.00,2.28,-24.45,0.000,4,0.259,0.066,2721,651,2420,0,0,0,0,0,0
$GC,199,-1.26,-126.9,26.2,-23.7,27,207,0.20,2.20,0.00,0.000,6,0.195,0.043,2767,2016,2422,0,0,0,0,0,0
$GC,349,-1.17,-126.9,57.4,-22.1,52,355,0.15,0.00,0.00,0.000,6,0.218,0.000,2803,2016,2423,0,0,0,0,0,0
$GC,691,-1.14,-126.9,126.8,-18.9,101,695,0.00,2.30,0.00,0.000,4,0.000,0.064,2793,3456,2423,0,0,0,0,0,0
$GC,734,-1.08,-126.9,135.2,-18.9,104,743,0.12,2.22,0.00,0.000,6,0.176,0.041,2832,2043,2423,0,0,0,0,0,0
$GC,1059,-1.08,-126.9,190.1,-16.3,135,1063,0.00,2.20,0.00,0.000,4,0.000,0.051,2833,632,2423,0,0,0,0,0,0
$GC,1101,-1.08,-126.9,197.9,-18.1,138,1108,0.00,2.25,0.00,0.000,6,0.000,0.042,2824,2042,2423,0,0,0,0,0,0
$GC,1431,-1.08,-126.9,252.0,-16.4,169,1435,0.00,2.25,0.00,0.000,4,0.000,0.063,2813,3448,2424,0,0,0,0,0,0
$GC,1473,-1.08,-126.9,260.0,-16.5,172,1482,0.05,2.20,0.00,0.000,6,0.178,0.041,2829,2040,2424,0,0,0,0,0,0
$GC,1799,-1.08,-126.9,312.0,-16.4,203,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2040,2425,0,0,0,0,0,0
$GC,2120,-1.08,-126.9,364.1,-16.5,233,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2040,2425,0,0,0,0,0,0
$GC,2444,-1.08,-126.9,417.6,-16.5,259,2448,0.00,2.22,0.00,0.000,4,0.000,0.060,2820,3447,2425,0,0,0,0,0,0
$GC,2470,-1.08,-126.9,422.1,-16.0,260,2475,0.03,2.17,0.00,0.000,6,0.205,0.041,2828,2047,2425,0,0,0,0,0,0
$GC,2791,-1.10,-126.9,472.2,-15.3,276,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2047,2425,0,0,0,0,0,0
$GC,3100,-1.12,-126.9,518.7,-14.7,291,3104,0.00,2.25,0.00,0.000,4,0.000,0.061,2819,3449,2425,0,0,0,0,0,0
$GC,3171,-1.12,-126.9,529.5,-14.7,294,3177,0.00,2.20,0.00,0.000,6,0.000,0.041,2819,2034,2425,0,0,0,0,0,0
$GC,3493,-1.12,-126.9,577.9,-15.4,310,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2034,2424,0,0,0,0,0,0
$GC,3803,-1.14,-126.9,624.4,-14.5,325,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2034,2424,0,0,0,0,0,0
$GC,4112,-1.17,-126.9,669.9,-14.6,340,4117,0.00,2.25,0.00,0.000,4,0.000,0.063,2810,3451,2424,0,0,0,0,0,0
$GC,4144,-1.17,-126.9,674.8,-14.7,341,4151,0.00,2.17,0.00,0.000,6,0.000,0.041,2810,2048,2423,0,0,0,0,0,0
$GC,4460,-1.17,-126.9,721.1,-14.5,357,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2048,2423,0,0,0,0,0,0
$GC,4770,-1.17,-126.9,766.8,-14.5,372,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2048,2423,0,0,0,0,0,0
$GC,5079,-1.17,-126.9,812.1,-14.6,387,5083,0.00,2.22,0.00,0.000,4,0.000,0.061,2801,3446,2423,0,0,0,0,0,0
$GC,5121,-1.17,-126.9,818.7,-15.3,389,5126,0.00,2.17,0.00,0.000,6,0.000,0.041,2801,2045,2423,0,0,0,0,0,0
$GC,5449,-1.17,-126.9,866.8,-14.8,405,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2045,2422,0,0,0,0,0,0
$GC,5759,-1.17,-126.9,912.1,-14.8,420,5763,0.00,2.25,0.00,0.000,4,0.000,0.060,2793,3452,2422,0,0,0,0,0,0
$GC,5784,-1.17,-126.9,916.3,-15.8,421,5790,0.00,2.20,0.00,0.000,6,0.000,0.041,2793,2032,2422,0,0,0,0,0,0
$GC,6106,-1.17,-126.9,964.2,-15.2,437,6108,0.05,0.00,0.00,0.000,6,0.247,0.000,2802,2033,2421,0,0,0,0,0,0
$STATE,6352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6352,begin apogee
$GC,6356,-0.23,0.0,1000.5,15.0,449,6476,1.00,0.00,116.12,1.303,6,0.176,0.000,3102,1741,1900,0,0,0,0,0,0
$STATE,6477,end apogee,CONTROL_FINISHED_OK
$STATE,6477,begin climb
$GC,6478,1.42,126.9,1006.2,0.0,455,6606,1.65,2.38,119.25,1.258,4,0.099,0.044,3642,349,1381,0,0,0,0,0,0
$GC,6731,1.32,126.9,971.9,18.2,467,6736,0.12,2.30,0.00,0.000,6,0.192,0.034,3613,1770,1375,0,0,0,0,0,0
$GC,7057,1.27,126.9,916.8,17.0,483,7062,0.08,2.30,0.00,0.000,4,0.223,0.045,3608,342,1372,0,0,0,0,0,0
$GC,7209,1.21,126.9,890.0,18.2,490,7214,0.12,2.22,0.00,0.000,6,0.205,0.034,3578,1751,1372,0,0,0,0,0,0
$GC,7535,1.21,126.9,837.6,16.3,506,7539,0.00,2.28,0.00,0.000,4,0.000,0.046,3587,342,1371,0,0,0,0,0,0
$GC,7665,1.18,126.9,815.6,17.2,512,7669,0.10,2.20,0.00,0.000,6,0.202,0.034,3564,1759,1371,0,0,0,0,0,0
$GC,7990,1.18,126.9,765.6,15.4,528,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1759,1370,0,0,0,0,0,0
$GC,8300,1.18,126.9,718.3,15.3,543,8304,0.00,2.28,0.00,0.000,4,0.000,0.047,3573,336,1370,0,0,0,0,0,0
$GC,8387,1.18,126.9,704.2,15.6,547,8392,0.00,2.22,0.00,0.000,6,0.000,0.033,3573,1752,1370,0,0,0,0,0,0
$GC,8715,1.18,126.9,655.1,14.9,563,8719,0.00,2.25,0.00,0.000,4,0.000,0.045,3582,339,1370,0,0,0,0,0,0
$GC,8803,1.16,126.9,641.5,15.1,567,8808,0.08,2.22,0.00,0.000,6,0.180,0.034,3559,1757,1369,0,0,0,0,0,0
$GC,9130,1.18,126.9,597.8,13.2,583,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1757,1369,0,0,0,0,0,0
$GC,9439,1.20,126.9,558.0,12.8,598,9443,0.00,2.22,0.00,0.000,4,0.000,0.046,3568,338,1369,0,0,0,0,0,0
$GC,9561,1.20,126.9,541.0,14.4,603,9567,0.00,2.20,0.00,0.000,6,0.000,0.033,3568,1746,1369,0,0,0,0,0,0
$GC,9877,1.20,126.9,499.6,13.1,619,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1746,1369,0,0,0,0,0,0
$GC,10186,1.20,126.9,457.8,13.2,634,10190,0.00,2.20,0.00,0.000,4,0.000,0.044,3577,340,1369,0,0,0,0,0,0
$GC,10240,1.20,126.9,450.1,14.1,636,10247,0.00,2.20,0.00,0.000,6,0.000,0.033,3577,1751,1368,0,0,0,0,0,0
$GC,10557,1.20,126.9,407.3,13.6,652,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1752,1369,0,0,0,0,0,0
$GC,10874,1.20,126.9,364.9,13.7,679,10878,0.00,2.22,0.00,0.000,4,0.000,0.045,3586,341,1369,0,0,0,0,0,0
$GC,10973,1.20,126.9,350.3,15.4,687,10980,0.03,2.17,0.00,0.000,6,0.207,0.032,3578,1749,1368,0,0,0,0,0,0
$GC,11299,1.20,126.9,305.7,14.3,718,11303,0.00,2.20,0.00,0.000,4,0.000,0.045,3587,337,1368,0,0,0,0,0,0
$GC,11385,1.20,126.9,293.5,15.5,725,11390,0.05,2.17,0.00,0.000,6,0.241,0.034,3577,1756,1368,0,0,0,0,0,0
$GC,11709,1.20,126.9,248.9,13.1,755,11713,0.00,2.22,0.00,0.000,4,0.000,0.045,3586,338,1368,0,0,0,0,0,0
$GC,11816,1.20,126.9,234.1,13.9,764,11820,0.00,2.15,0.00,0.000,6,0.000,0.033,3583,1749,1368,0,0,0,0,0,0
$GC,12145,1.20,126.9,190.3,13.0,795,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1749,1369,0,0,0,0,0,0
$GC,12466,1.20,126.9,144.0,15.0,825,12470,0.00,2.20,0.00,0.000,4,0.000,0.044,3592,345,1368,0,0,0,0,0,0
$GC,12656,1.20,126.9,116.1,15.6,841,12660,0.08,2.12,0.00,0.000,6,0.216,0.032,3575,1757,1368,0,0,0,0,0,0
$GC,12994,1.23,126.9,67.2,14.1,890,13000,0.00,2.20,0.00,0.000,4,0.000,0.044,3585,345,1368,0,0,0,0,0,0
$GC,13084,1.23,126.9,54.3,14.3,906,13091,0.00,2.15,0.00,0.000,6,0.000,0.032,3584,1737,1368,0,0,0,0,0,0
$STATE,13432,end climb,SURFACE_DEPTH_REACHED
$STATE,13433,begin surface coast
$FINISH,1.2,1.010541
$STATE,13459,end surface coast,CONTROL_FINISHED_OK
$STATE,13459,begin surface
$SM_CCo,13475,36.12,0.059,0,0,1063,205.07
$SM_GC,1.87,0.00,0.00,36.12,0.000,0.000,0.059,78,2062,1063,-9.71,0.62,205.07
$IRIDIUM_FIX,-4441.36,627.47,270508,161617
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.3,8.167
$10V_AH,10.2,5.227
$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,24.050,94.200,235.375,36.125,0.000,24.252,46.552,237.113,0.000,0.000,21.737,2402.156,8450.483,356.757,2623.650,93.954,0.000,1294.443,0.000,2161.402,0.000,0.539,0.000
$DEVICE_MAMPS,259.335,65.790,1302.795,58.905,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.370,1777.940,708.590,388.705,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353744
$DATA_FILE_SIZE,67059,968
$CAP_FILE_SIZE,123924,0
$CFSIZE,2097086464,2089549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010815,102902,-4500.277,632.088,29,1.1,29,-24.4