version: 66.07.10.p01
glider: 573
mission: 12
dive: 23
start: 8 1 115 18 31 46
data:
$ID,573
$MISSION,12
$DIVE,23
$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,-21068.865
$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,38
$R_STBD_OVSHOOT,41
$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,22
$GPS1,010815,182050,-4500.739,629.162,19,2.5,38,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-71.9
$GPS2,010815,183126,-4500.700,629.143,27,1.4,42,-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,65.3,1714,-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,-32.53,0.000,2,0.000,0.000,67,2044,1733,0,0,0,0,0,0
$GC,60,-1.42,-127.3,3.0,-3.1,5,106,11.25,2.35,-25.08,0.000,4,0.263,0.082,2710,3437,2420,0,0,0,0,0,0
$GC,374,-1.25,-127.3,64.8,-22.0,57,382,0.22,2.22,0.00,0.000,6,0.194,0.043,2772,2040,2423,0,0,0,0,0,0
$GC,717,-1.18,-127.3,134.7,-19.5,103,722,0.12,2.25,0.00,0.000,4,0.223,0.061,2792,3435,2423,0,0,0,0,0,0
$GC,847,-1.14,-127.3,159.3,-17.4,114,852,0.10,2.17,0.00,0.000,6,0.203,0.042,2816,2028,2423,0,0,0,0,0,0
$GC,1179,-1.14,-127.3,213.8,-17.2,145,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,2423,0,0,0,0,0,0
$GC,1496,-1.14,-127.3,265.4,-15.8,175,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2028,2424,0,0,0,0,0,0
$GC,1816,-1.14,-127.3,315.7,-15.9,205,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2029,2424,0,0,0,0,0,0
$GC,2133,-1.14,-127.3,367.2,-16.6,235,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2028,2424,0,0,0,0,0,0
$GC,2458,-1.14,-127.3,421.1,-16.4,260,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,2424,0,0,0,0,0,0
$GC,2767,-1.14,-127.3,470.4,-16.3,275,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,2424,0,0,0,0,0,0
$GC,3077,-1.14,-127.3,521.1,-16.5,290,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,2424,0,0,0,0,0,0
$GC,3386,-1.14,-127.3,572.6,-16.8,305,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2029,2424,0,0,0,0,0,0
$GC,3695,-1.14,-127.3,620.9,-15.0,320,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,2424,0,0,0,0,0,0
$GC,4005,-1.14,-127.3,668.6,-15.8,335,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2028,2424,0,0,0,0,0,0
$GC,4314,-1.14,-127.3,718.3,-15.8,350,4318,0.00,2.25,0.00,0.000,4,0.000,0.064,2806,3444,2423,0,0,0,0,0,0
$GC,4368,-1.14,-127.3,727.3,-15.9,352,4374,0.00,2.20,0.00,0.000,6,0.000,0.044,2806,2035,2423,0,0,0,0,0,0
$GC,4684,-1.14,-127.3,776.4,-15.8,368,4688,0.00,2.25,0.00,0.000,4,0.000,0.064,2797,3434,2423,0,0,0,0,0,0
$GC,4715,-1.14,-127.3,781.7,-15.9,369,4722,0.03,2.17,0.00,0.000,6,0.191,0.041,2805,2033,2423,0,0,0,0,0,0
$GC,5031,-1.14,-127.3,829.1,-14.8,385,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2033,2423,0,0,0,0,0,0
$GC,5341,-1.14,-127.3,874.6,-14.7,400,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2033,2423,0,0,0,0,0,0
$GC,5650,-1.14,-127.3,919.2,-14.4,415,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2033,2422,0,0,0,0,0,0
$GC,5959,-1.14,-127.3,965.1,-14.7,430,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2033,2422,0,0,0,0,0,0
$STATE,6206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6206,begin apogee
$GC,6210,-0.23,0.0,1000.9,14.4,442,6329,1.00,0.00,116.22,1.307,6,0.174,0.000,3104,1739,1900,0,0,0,0,0,0
$STATE,6330,end apogee,CONTROL_FINISHED_OK
$STATE,6330,begin climb
$GC,6332,1.42,127.3,1005.5,0.0,448,6461,1.67,2.45,119.40,1.261,4,0.097,0.047,3648,346,1381,0,0,0,0,0,0
$GC,6528,1.31,127.3,978.9,19.4,457,6535,0.12,2.33,0.00,0.000,6,0.176,0.034,3613,1741,1375,0,0,0,0,0,0
$GC,6844,1.27,127.3,926.2,16.5,473,6849,0.08,2.28,0.00,0.000,4,0.231,0.047,3608,338,1372,0,0,0,0,0,0
$GC,6966,1.21,127.3,905.7,16.7,478,6972,0.08,2.28,0.00,0.000,6,0.183,0.034,3575,1750,1372,0,0,0,0,0,0
$GC,7282,1.21,127.3,859.1,15.0,494,7286,0.00,2.28,0.00,0.000,4,0.000,0.047,3584,345,1372,0,0,0,0,0,0
$GC,7353,1.18,127.3,847.7,15.7,497,7358,0.05,2.25,0.00,0.000,6,0.190,0.034,3569,1758,1370,0,0,0,0,0,0
$GC,7676,1.18,127.3,800.4,15.1,513,7680,0.00,2.28,0.00,0.000,4,0.000,0.047,3577,344,1370,0,0,0,0,0,0
$GC,7746,1.18,127.3,788.4,17.0,516,7752,0.03,2.22,0.00,0.000,6,0.207,0.033,3571,1755,1369,0,0,0,0,0,0
$GC,8069,1.18,127.3,737.9,16.2,532,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1756,1369,0,0,0,0,0,0
$GC,8379,1.18,127.3,689.8,15.5,547,8383,0.00,2.22,0.00,0.000,4,0.000,0.046,3579,345,1369,0,0,0,0,0,0
$GC,8433,1.18,127.3,680.4,16.6,549,8440,0.03,2.20,0.00,0.000,6,0.208,0.033,3571,1751,1369,0,0,0,0,0,0
$GC,8749,1.18,127.3,631.5,15.5,565,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1751,1369,0,0,0,0,0,0
$GC,9058,1.18,127.3,583.4,15.6,580,9062,0.00,2.22,0.00,0.000,4,0.000,0.047,3579,338,1369,0,0,0,0,0,0
$GC,9146,1.18,127.3,568.8,15.7,584,9152,0.03,2.20,0.00,0.000,6,0.212,0.034,3571,1746,1369,0,0,0,0,0,0
$GC,9474,1.18,127.3,519.4,15.0,600,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1746,1369,0,0,0,0,0,0
$GC,9783,1.18,127.3,474.6,14.3,615,9787,0.00,2.22,0.00,0.000,4,0.000,0.047,3579,340,1369,0,0,0,0,0,0
$GC,9881,1.18,127.3,459.8,14.8,619,9888,0.03,2.20,0.00,0.000,6,0.210,0.034,3572,1754,1369,0,0,0,0,0,0
$GC,10197,1.18,127.3,416.2,13.6,635,10201,0.00,2.22,0.00,0.000,4,0.000,0.046,3580,343,1369,0,0,0,0,0,0
$GC,10284,1.18,127.3,403.3,14.8,639,10290,0.03,2.17,0.00,0.000,6,0.210,0.032,3572,1752,1368,0,0,0,0,0,0
$GC,10609,1.18,127.3,359.2,13.4,668,10613,0.00,2.22,0.00,0.000,4,0.000,0.046,3580,342,1368,0,0,0,0,0,0
$GC,10683,1.18,127.3,349.1,13.6,674,10687,0.08,2.15,0.00,0.000,6,0.216,0.032,3565,1749,1368,0,0,0,0,0,0
$GC,11007,1.21,127.3,306.4,13.5,704,11011,0.00,2.22,0.00,0.000,4,0.000,0.047,3574,338,1368,0,0,0,0,0,0
$GC,11061,1.21,127.3,298.7,14.3,708,11070,0.00,2.17,0.00,0.000,6,0.000,0.033,3574,1742,1368,0,0,0,0,0,0
$GC,11386,1.21,127.3,253.6,13.6,739,11390,0.00,2.20,0.00,0.000,4,0.000,0.047,3582,344,1368,0,0,0,0,0,0
$GC,11448,1.21,127.3,244.6,14.6,744,11452,0.00,2.17,0.00,0.000,6,0.000,0.033,3582,1760,1368,0,0,0,0,0,0
$GC,11772,1.21,127.3,196.4,15.1,774,11776,0.00,2.22,0.00,0.000,4,0.000,0.047,3592,338,1368,0,0,0,0,0,0
$GC,11834,1.19,127.3,186.7,15.7,779,11839,0.10,2.17,0.00,0.000,6,0.201,0.033,3568,1759,1368,0,0,0,0,0,0
$GC,12161,1.22,127.3,137.9,14.8,809,12165,0.00,2.22,0.00,0.000,4,0.000,0.047,3576,344,1368,0,0,0,0,0,0
$GC,12328,1.22,127.3,113.3,14.0,823,12334,0.00,2.17,0.00,0.000,6,0.000,0.031,3576,1754,1368,0,0,0,0,0,0
$GC,12670,1.22,127.3,66.8,15.4,875,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1754,1368,0,0,0,0,0,0
$GC,13028,1.24,127.3,19.1,13.0,936,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1754,1368,0,0,0,0,0,0
$GC,13085,1.24,127.3,11.5,13.3,945,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1755,1368,0,0,0,0,0,0
$GC,13142,1.24,127.3,4.1,12.9,954,13150,0.00,2.20,0.00,0.000,4,0.000,0.057,3576,3138,1368,0,0,0,0,0,0
$STATE,13158,end climb,SURFACE_DEPTH_REACHED
$STATE,13158,begin surface coast
$FINISH,1.1,1.007893
$STATE,13184,end surface coast,CONTROL_FINISHED_OK
$STATE,13184,begin surface
$SM_CCo,13201,36.15,0.058,0,0,1062,205.07
$SM_GC,2.68,0.00,0.00,36.15,0.000,0.000,0.058,82,2027,1062,-9.70,-0.37,205.07
$IRIDIUM_FIX,-4444.39,627.81,280508,070733
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,8.481
$10V_AH,10.2,5.532
$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,24.250,80.175,235.625,36.150,0.000,53.081,63.246,309.995,0.000,0.000,45.054,2361.146,8327.055,361.269,2728.015,97.151,0.000,1258.342,0.000,2110.865,0.000,0.540,0.000
$DEVICE_MAMPS,263.160,81.855,1306.620,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.475,1784.438,725.087,403.499,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,67129,960
$CAP_FILE_SIZE,121496,0
$CFSIZE,2097086464,2089156608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010815,221333,-4500.452,631.985,35,0.9,36,-24.4