version: 66.07.10.p01
glider: 573
mission: 12
dive: 24
start: 8 1 115 22 20 37
data:
$ID,573
$MISSION,12
$DIVE,24
$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,-21071.219
$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,37
$R_STBD_OVSHOOT,44
$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,23
$GPS1,010815,221333,-4500.452,631.985,35,0.9,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-69.9
$GPS2,010815,222017,-4500.429,631.986,18,0.9,18,-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,311.4,2720,-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,-38.35,0.000,2,0.000,0.000,81,2025,1876,0,0,0,0,0,0
$GC,66,-1.41,-124.6,3.2,-3.4,6,106,11.02,2.28,-19.05,0.000,4,0.261,0.070,2723,636,2410,0,0,0,0,0,0
$GC,346,-1.27,-124.6,59.3,-24.0,52,352,0.22,2.20,0.00,0.000,6,0.207,0.044,2769,2028,2413,0,0,0,0,0,0
$GC,690,-1.18,-124.6,131.0,-20.9,100,691,0.12,0.00,0.00,0.000,6,0.233,0.000,2797,2028,2412,0,0,0,0,0,0
$GC,1009,-1.15,-124.6,189.7,-17.5,130,1013,0.05,2.28,0.00,0.000,4,0.269,0.063,2797,3451,2413,0,0,0,0,0,0
$GC,1128,-1.12,-124.6,210.0,-16.3,140,1132,0.10,2.17,0.00,0.000,6,0.190,0.043,2821,2042,2413,0,0,0,0,0,0
$GC,1457,-1.12,-124.6,263.1,-15.6,171,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2042,2414,0,0,0,0,0,0
$GC,1778,-1.12,-124.6,314.2,-16.2,201,1782,0.00,2.25,0.00,0.000,4,0.000,0.060,2812,3445,2415,0,0,0,0,0,0
$GC,1809,-1.12,-124.6,320.2,-16.4,203,1816,0.00,2.20,0.00,0.000,6,0.000,0.041,2812,2036,2415,0,0,0,0,0,0
$GC,2135,-1.12,-124.6,373.1,-15.5,234,2139,0.00,2.20,0.00,0.000,4,0.000,0.054,2812,636,2415,0,0,0,0,0,0
$GC,2166,-1.10,-124.6,378.5,-16.7,236,2175,0.05,2.22,0.00,0.000,6,0.197,0.043,2818,2041,2414,0,0,0,0,0,0
$GC,2497,-1.10,-124.6,430.4,-16.0,259,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2041,2414,0,0,0,0,0,0
$GC,2806,-1.10,-124.6,478.2,-15.4,274,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2041,2414,0,0,0,0,0,0
$GC,3115,-1.10,-124.6,524.2,-14.6,289,3119,0.00,2.25,0.00,0.000,4,0.000,0.065,2808,3452,2414,0,0,0,0,0,0
$GC,3163,-1.10,-124.6,531.8,-15.1,291,3169,0.05,2.20,0.00,0.000,6,0.181,0.043,2824,2045,2414,0,0,0,0,0,0
$GC,3484,-1.10,-124.6,576.8,-14.0,307,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2045,2414,0,0,0,0,0,0
$GC,3794,-1.12,-124.6,618.7,-13.5,322,3798,0.00,2.25,0.00,0.000,4,0.000,0.063,2814,3454,2414,0,0,0,0,0,0
$GC,3826,-1.12,-124.6,623.6,-14.4,323,3832,0.00,2.20,0.00,0.000,6,0.000,0.041,2814,2037,2414,0,0,0,0,0,0
$GC,4142,-1.12,-124.6,669.6,-14.7,339,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,2414,0,0,0,0,0,0
$GC,4452,-1.12,-124.6,713.8,-14.4,354,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,2414,0,0,0,0,0,0
$GC,4761,-1.12,-124.6,758.0,-14.1,369,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,2413,0,0,0,0,0,0
$GC,5070,-1.12,-124.6,800.4,-13.4,384,5074,0.00,2.20,0.00,0.000,4,0.000,0.054,2814,630,2413,0,0,0,0,0,0
$GC,5113,-1.12,-124.6,806.4,-13.3,386,5119,0.03,2.22,0.00,0.000,6,0.230,0.041,2813,2045,2413,0,0,0,0,0,0
$GC,5441,-1.12,-124.6,847.7,-12.7,402,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2045,2412,0,0,0,0,0,0
$GC,5750,-1.12,-124.6,887.2,-12.9,417,5754,0.00,2.20,0.00,0.000,4,0.000,0.062,2804,3450,2412,0,0,0,0,0,0
$GC,5834,-1.12,-124.6,898.0,-13.4,421,5838,0.08,2.17,0.00,0.000,6,0.202,0.043,2820,2031,2412,0,0,0,0,0,0
$GC,6162,-1.14,-124.6,939.0,-13.0,437,6166,0.00,2.25,0.00,0.000,4,0.000,0.062,2810,3445,2411,0,0,0,0,0,0
$GC,6193,-1.14,-124.6,943.9,-13.6,438,6199,0.00,2.17,0.00,0.000,6,0.000,0.041,2810,2037,2412,0,0,0,0,0,0
$GC,6510,-1.17,-124.6,983.6,-12.3,454,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2037,2412,0,0,0,0,0,0
$STATE,6652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6652,begin apogee
$GC,6656,-0.23,0.0,1001.6,12.7,461,6774,0.98,0.00,113.62,1.307,6,0.172,0.000,3102,1739,1900,0,0,0,0,0,0
$STATE,6775,end apogee,CONTROL_FINISHED_OK
$STATE,6775,begin climb
$GC,6776,1.41,124.6,1004.9,0.0,467,6899,1.67,0.00,117.53,1.259,6,0.097,0.000,3636,1739,1391,0,0,0,0,0,0
$GC,7204,1.34,124.6,931.6,19.5,488,7209,0.10,2.25,0.00,0.000,4,0.205,0.045,3624,354,1382,0,0,0,0,0,0
$GC,7365,1.26,124.6,901.0,18.8,495,7370,0.10,2.28,0.00,0.000,6,0.181,0.034,3595,1764,1381,0,0,0,0,0,0
$GC,7686,1.23,124.6,847.5,16.2,511,7688,0.05,0.00,0.00,0.000,6,0.248,0.000,3585,1765,1380,0,0,0,0,0,0
$GC,7995,1.23,124.6,798.4,16.0,526,7999,0.00,2.25,0.00,0.000,4,0.000,0.047,3594,352,1379,0,0,0,0,0,0
$GC,8129,1.19,124.6,775.7,17.7,532,8134,0.08,2.22,0.00,0.000,6,0.187,0.034,3572,1753,1379,0,0,0,0,0,0
$GC,8455,1.19,124.6,725.5,15.7,548,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1753,1379,0,0,0,0,0,0
$GC,8765,1.19,124.6,678.4,14.8,563,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1753,1379,0,0,0,0,0,0
$GC,9074,1.19,124.6,634.1,14.2,578,9078,0.00,2.22,0.00,0.000,4,0.000,0.047,3580,343,1379,0,0,0,0,0,0
$GC,9172,1.19,124.6,618.9,14.2,582,9179,0.00,2.22,0.00,0.000,6,0.000,0.034,3580,1756,1378,0,0,0,0,0,0
$GC,9489,1.19,124.6,572.6,14.6,598,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1756,1378,0,0,0,0,0,0
$GC,9798,1.19,124.6,525.6,15.3,613,9802,0.00,2.22,0.00,0.000,4,0.000,0.045,3589,351,1378,0,0,0,0,0,0
$GC,9884,1.16,124.6,512.4,16.0,617,9889,0.12,2.17,0.00,0.000,6,0.194,0.034,3559,1760,1378,0,0,0,0,0,0
$GC,10210,1.19,124.6,463.9,15.0,633,10214,0.00,2.22,0.00,0.000,4,0.000,0.047,3567,351,1378,0,0,0,0,0,0
$GC,10317,1.19,124.6,447.1,16.2,638,10321,0.00,2.15,0.00,0.000,6,0.000,0.033,3567,1749,1377,0,0,0,0,0,0
$GC,10643,1.19,124.6,399.4,14.4,654,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1749,1377,0,0,0,0,0,0
$GC,10962,1.19,124.6,355.3,13.6,684,10966,0.00,2.22,0.00,0.000,4,0.000,0.046,3576,340,1377,0,0,0,0,0,0
$GC,11073,1.19,124.6,339.2,13.9,693,11079,0.00,2.20,0.00,0.000,6,0.000,0.032,3576,1752,1378,0,0,0,0,0,0
$GC,11398,1.19,124.6,295.8,13.0,724,11402,0.00,2.22,0.00,0.000,4,0.000,0.046,3585,340,1377,0,0,0,0,0,0
$GC,11487,1.17,124.6,283.4,14.3,731,11494,0.05,2.20,0.00,0.000,6,0.184,0.033,3569,1760,1378,0,0,0,0,0,0
$GC,11812,1.17,124.6,240.9,13.2,762,11816,0.00,2.22,0.00,0.000,4,0.000,0.046,3578,345,1377,0,0,0,0,0,0
$GC,11862,1.17,124.6,233.8,13.8,766,11867,0.08,2.15,0.00,0.000,6,0.209,0.033,3562,1752,1377,0,0,0,0,0,0
$GC,12186,1.20,124.6,189.2,13.4,796,12190,0.00,2.22,0.00,0.000,4,0.000,0.046,3571,340,1377,0,0,0,0,0,0
$GC,12241,1.20,124.6,181.2,14.0,800,12250,0.00,2.17,0.00,0.000,6,0.000,0.032,3571,1745,1377,0,0,0,0,0,0
$GC,12567,1.22,124.6,136.7,12.7,831,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1745,1377,0,0,0,0,0,0
$GC,12888,1.24,124.6,96.7,12.7,863,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1745,1377,0,0,0,0,0,0
$GC,13235,1.27,124.6,51.2,12.4,924,13243,0.05,2.20,0.00,0.000,4,0.177,0.045,3606,353,1378,0,0,0,0,0,0
$GC,13306,1.24,124.6,41.0,14.6,936,13314,0.05,2.17,0.00,0.000,6,0.193,0.034,3590,1760,1377,0,0,0,0,0,0
$STATE,13569,end climb,SURFACE_DEPTH_REACHED
$STATE,13570,begin surface coast
$FINISH,1.4,1.023386
$STATE,13595,end surface coast,CONTROL_FINISHED_OK
$STATE,13596,begin surface
$SM_CCo,13611,36.90,0.058,0,0,1062,205.07
$SM_GC,2.62,0.00,0.00,36.90,0.000,0.000,0.058,91,2069,1062,-9.67,0.82,205.07
$IRIDIUM_FIX,-4444.39,630.84,280508,070729
$TT8_MAMPS,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,8.583
$10V_AH,10.2,5.630
$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,24.225,84.975,231.150,36.900,0.000,25.263,40.431,236.947,0.000,0.000,20.339,2426.912,8583.554,357.225,2589.834,98.174,0.000,1269.171,0.000,2134.868,0.000,0.539,0.000
$DEVICE_MAMPS,268.515,70.380,1306.620,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.682,1803.416,715.197,388.704,0.000,0.000,0.000,0.000,0.000,0.000
$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,66931,983
$CAP_FILE_SIZE,123601,0
$CFSIZE,2097086464,2089025536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020815,020903,-4500.009,630.994,23,1.0,24,-24.4