version: 66.07.10.p01
glider: 573
mission: 12
dive: 27
start: 8 2 115 10 15 24
data:
$ID,573
$MISSION,12
$DIVE,27
$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,-21078.254
$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,42
$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,26
$GPS1,020815,100851,-4500.986,631.788,36,0.9,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-72.7
$GPS2,020815,101504,-4500.957,631.798,17,2.0,17,-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,331.4,2947,-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,-32.85,0.000,2,0.000,0.000,79,2072,1742,0,0,0,0,0,0
$GC,60,-1.41,-117.9,3.2,-4.1,5,106,10.93,2.33,-23.60,0.000,4,0.257,0.067,2727,648,2383,0,0,0,0,0,0
$GC,374,-1.25,-117.9,62.6,-22.3,57,382,0.20,2.22,0.00,0.000,6,0.199,0.046,2773,2026,2385,0,0,0,0,0,0
$GC,714,-1.16,-117.9,130.5,-20.0,104,716,0.15,0.00,0.00,0.000,6,0.218,0.000,2809,2025,2385,0,0,0,0,0,0
$GC,1033,-1.13,-117.9,187.5,-16.8,134,1037,0.00,2.30,0.00,0.000,4,0.000,0.063,2799,3459,2386,0,0,0,0,0,0
$GC,1129,-1.10,-117.9,203.9,-16.6,142,1134,0.10,2.20,0.00,0.000,6,0.195,0.043,2823,2041,2386,0,0,0,0,0,0
$GC,1453,-1.10,-117.9,253.4,-14.8,172,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2041,2386,0,0,0,0,0,0
$GC,1772,-1.10,-117.9,300.5,-14.7,202,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2041,2386,0,0,0,0,0,0
$GC,2091,-1.10,-117.9,346.9,-15.1,232,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2041,2387,0,0,0,0,0,0
$GC,2409,-1.10,-117.9,393.0,-14.7,262,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2041,2387,0,0,0,0,0,0
$GC,2731,-1.10,-117.9,439.7,-14.4,280,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2041,2387,0,0,0,0,0,0
$GC,3040,-1.10,-117.9,484.5,-14.6,295,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2041,2387,0,0,0,0,0,0
$GC,3349,-1.10,-117.9,528.2,-14.3,310,3354,0.00,2.25,0.00,0.000,4,0.000,0.061,2813,3459,2387,0,0,0,0,0,0
$GC,3437,-1.10,-117.9,541.6,-15.3,314,3442,0.00,2.20,0.00,0.000,6,0.000,0.041,2813,2040,2387,0,0,0,0,0,0
$GC,3765,-1.10,-117.9,589.4,-14.5,330,3769,0.00,2.22,0.00,0.000,4,0.000,0.061,2804,3454,2387,0,0,0,0,0,0
$GC,3803,-1.10,-117.9,595.0,-14.7,332,3808,0.10,2.17,0.00,0.000,6,0.199,0.042,2828,2037,2386,0,0,0,0,0,0
$GC,4131,-1.10,-117.9,639.7,-13.7,348,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2037,2386,0,0,0,0,0,0
$GC,4440,-1.12,-117.9,681.4,-13.7,363,4444,0.00,2.25,0.00,0.000,4,0.000,0.063,2819,3454,2386,0,0,0,0,0,0
$GC,4528,-1.12,-117.9,694.2,-14.3,367,4533,0.00,2.20,0.00,0.000,6,0.000,0.042,2819,2037,2386,0,0,0,0,0,0
$GC,4856,-1.12,-117.9,741.0,-14.5,383,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2037,2386,0,0,0,0,0,0
$GC,5165,-1.12,-117.9,784.8,-13.8,398,5169,0.00,2.25,0.00,0.000,4,0.000,0.062,2809,3457,2386,0,0,0,0,0,0
$GC,5213,-1.12,-117.9,791.9,-13.7,400,5218,0.00,2.20,0.00,0.000,6,0.000,0.041,2809,2037,2386,0,0,0,0,0,0
$GC,5536,-1.12,-117.9,835.6,-13.4,416,5540,0.00,2.22,0.00,0.000,4,0.000,0.061,2800,3446,2385,0,0,0,0,0,0
$GC,5568,-1.12,-117.9,840.5,-14.0,417,5575,0.05,2.17,0.00,0.000,6,0.184,0.042,2816,2049,2385,0,0,0,0,0,0
$GC,5884,-1.12,-117.9,881.6,-13.0,433,5888,0.00,2.22,0.00,0.000,4,0.000,0.062,2807,3457,2385,0,0,0,0,0,0
$GC,5938,-1.12,-117.9,889.2,-13.4,435,5945,0.00,2.20,0.00,0.000,6,0.000,0.041,2807,2034,2384,0,0,0,0,0,0
$GC,6255,-1.12,-117.9,929.4,-12.3,451,6259,0.00,2.25,0.00,0.000,4,0.000,0.063,2798,3454,2384,0,0,0,0,0,0
$GC,6362,-1.12,-117.9,943.4,-13.3,456,6367,0.10,2.17,0.00,0.000,6,0.199,0.043,2821,2036,2384,0,0,0,0,0,0
$GC,6689,-1.15,-117.9,982.3,-11.7,472,6693,0.00,2.25,0.00,0.000,4,0.000,0.063,2812,3455,2384,0,0,0,0,0,0
$GC,6751,-1.15,-117.9,990.0,-12.4,475,6756,0.00,2.17,0.00,0.000,6,0.000,0.041,2812,2033,2384,0,0,0,0,0,0
$STATE,6850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6850,begin apogee
$GC,6854,-0.23,0.0,1002.3,12.2,480,6966,0.98,0.00,108.68,1.304,6,0.174,0.000,3103,1742,1899,0,0,0,0,0,0
$STATE,6967,end apogee,CONTROL_FINISHED_OK
$STATE,6967,begin climb
$GC,6968,1.41,117.9,1005.4,0.0,485,7088,1.62,2.42,111.45,1.259,4,0.098,0.047,3638,352,1419,0,0,0,0,0,0
$GC,7185,1.31,117.9,973.5,21.1,496,7190,0.12,2.33,0.00,0.000,6,0.192,0.035,3609,1767,1413,0,0,0,0,0,0
$GC,7512,1.26,117.9,916.6,17.0,512,7517,0.08,2.33,0.00,0.000,4,0.226,0.045,3604,339,1410,0,0,0,0,0,0
$GC,7554,1.20,117.9,908.6,18.3,514,7560,0.10,2.28,0.00,0.000,6,0.183,0.034,3574,1750,1409,0,0,0,0,0,0
$GC,7881,1.20,117.9,856.0,16.2,530,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1750,1408,0,0,0,0,0,0
$GC,8191,1.20,117.9,804.8,16.9,545,8195,0.00,2.28,0.00,0.000,4,0.000,0.046,3583,335,1407,0,0,0,0,0,0
$GC,8324,1.17,117.9,781.4,18.0,551,8329,0.05,2.25,0.00,0.000,6,0.195,0.034,3567,1755,1407,0,0,0,0,0,0
$GC,8650,1.17,117.9,730.5,15.5,567,8654,0.00,2.25,0.00,0.000,4,0.000,0.045,3576,338,1407,0,0,0,0,0,0
$GC,8744,1.17,117.9,715.2,16.5,571,8750,0.03,2.22,0.00,0.000,6,0.205,0.033,3568,1756,1407,0,0,0,0,0,0
$GC,9071,1.17,117.9,667.2,14.5,587,9075,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,342,1407,0,0,0,0,0,0
$GC,9216,1.17,117.9,645.0,15.9,593,9223,0.03,2.20,0.00,0.000,6,0.208,0.033,3568,1751,1406,0,0,0,0,0,0
$GC,9532,1.17,117.9,598.4,14.9,609,9536,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,335,1406,0,0,0,0,0,0
$GC,9593,1.17,117.9,589.0,16.2,612,9598,0.05,2.20,0.00,0.000,6,0.239,0.034,3567,1758,1406,0,0,0,0,0,0
$GC,9919,1.17,117.9,540.6,14.8,628,9923,0.00,2.25,0.00,0.000,4,0.000,0.046,3575,338,1406,0,0,0,0,0,0
$GC,10040,1.17,117.9,521.3,15.4,633,10047,0.03,2.20,0.00,0.000,6,0.210,0.033,3568,1753,1406,0,0,0,0,0,0
$GC,10357,1.17,117.9,474.2,14.9,649,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1753,1406,0,0,0,0,0,0
$GC,10666,1.17,117.9,428.8,14.4,664,10670,0.00,2.20,0.00,0.000,4,0.000,0.045,3577,343,1406,0,0,0,0,0,0
$GC,10839,1.17,117.9,402.0,14.8,672,10844,0.05,2.17,0.00,0.000,6,0.235,0.032,3567,1762,1406,0,0,0,0,0,0
$GC,11164,1.17,117.9,356.5,14.2,702,11168,0.00,2.25,0.00,0.000,4,0.000,0.047,3575,335,1406,0,0,0,0,0,0
$GC,11320,1.17,117.9,333.0,16.3,715,11327,0.03,2.17,0.00,0.000,6,0.206,0.032,3568,1745,1405,0,0,0,0,0,0
$GC,11645,1.17,117.9,288.6,13.3,746,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1745,1405,0,0,0,0,0,0
$GC,11965,1.17,117.9,246.9,13.1,776,11969,0.00,2.20,0.00,0.000,4,0.000,0.045,3576,344,1406,0,0,0,0,0,0
$GC,12129,1.17,117.9,224.0,13.6,790,12133,0.05,2.15,0.00,0.000,6,0.235,0.034,3566,1761,1405,0,0,0,0,0,0
$GC,12461,1.19,117.9,180.2,12.8,821,12465,0.00,2.22,0.00,0.000,4,0.000,0.046,3575,345,1405,0,0,0,0,0,0
$GC,12548,1.19,117.9,167.3,13.9,828,12557,0.00,2.15,0.00,0.000,6,0.000,0.032,3575,1740,1405,0,0,0,0,0,0
$GC,12874,1.19,117.9,122.0,12.8,859,12878,0.00,2.20,0.00,0.000,4,0.000,0.055,3575,3147,1405,0,0,0,0,0,0
$GC,13016,1.19,117.9,103.6,13.8,871,13020,0.05,2.12,0.00,0.000,6,0.257,0.033,3574,1733,1405,0,0,0,0,0,0
$GC,13362,1.19,117.9,59.6,13.1,928,13367,0.00,2.15,0.00,0.000,4,0.000,0.049,3584,342,1405,0,0,0,0,0,0
$GC,13524,1.19,117.9,37.4,14.1,956,13532,0.03,2.17,0.00,0.000,6,0.200,0.031,3575,1761,1405,0,0,0,0,0,0
$GC,13680,1.19,117.9,17.1,13.3,981,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1761,1405,0,0,0,0,0,0
$GC,13737,1.19,117.9,9.4,12.9,990,13745,0.00,2.22,0.00,0.000,4,0.000,0.046,3584,359,1404,0,0,0,0,0,0
$GC,13783,1.19,117.9,3.0,13.7,997,13790,0.00,2.12,0.00,0.000,6,0.000,0.032,3585,1736,1405,0,0,0,0,0,0
$STATE,13797,end climb,SURFACE_DEPTH_REACHED
$STATE,13797,begin surface coast
$FINISH,1.3,1.015772
$STATE,13823,end surface coast,CONTROL_FINISHED_OK
$STATE,13823,begin surface
$SM_CCo,13839,39.92,0.058,0,0,1062,205.07
$SM_GC,2.70,0.00,0.00,39.92,0.000,0.000,0.058,71,2070,1062,-9.73,0.85,205.07
$IRIDIUM_FIX,-4441.36,624.45,280508,191915
$TT8_MAMPS,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.4,8.880
$10V_AH,10.2,5.937
$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,23.950,107.525,220.125,39.925,0.000,25.865,17.956,225.914,0.000,0.000,19.528,2522.659,8509.627,368.048,2749.260,102.801,0.000,1364.502,0.000,2322.623,0.000,0.539,0.000
$DEVICE_MAMPS,257.040,67.320,1304.325,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.914,1857.797,744.862,416.635,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,70471,1003
$CAP_FILE_SIZE,133528,0
$CFSIZE,2097086464,2088599552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020815,140757,-4500.133,631.036,39,0.9,40,-24.4