version: 66.07.10.p01
glider: 573
mission: 12
dive: 30
start: 8 2 115 22 21 55
data:
$ID,573
$MISSION,12
$DIVE,30
$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,-21085.416
$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,44
$R_STBD_OVSHOOT,47
$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,29
$GPS1,020815,221426,-4500.726,632.730,37,1.2,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-70.0
$GPS2,020815,222135,-4500.723,632.772,18,1.2,18,-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,314.6,3869,-25.0,-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,-1.23,-77.6,0.0,0.0,0,52,0.00,0.00,-26.48,0.000,2,0.000,0.000,61,2060,1609,0,0,0,0,0,0
$GC,54,-1.30,-138.4,3.1,-4.7,4,111,10.93,2.22,-37.70,0.000,4,0.249,0.069,2746,3420,2464,0,0,0,0,0,0
$GC,380,-1.14,-138.4,64.6,-22.6,58,386,0.25,2.15,0.00,0.000,6,0.200,0.042,2810,2042,2467,0,0,0,0,0,0
$GC,717,-1.05,-138.4,129.7,-17.5,104,722,0.12,2.22,0.00,0.000,4,0.197,0.058,2833,3431,2467,0,0,0,0,0,0
$GC,794,-1.01,-138.4,143.5,-17.5,110,801,0.05,2.17,0.00,0.000,6,0.190,0.041,2849,2046,2467,0,0,0,0,0,0
$GC,1121,-1.01,-138.4,191.8,-15.6,141,1125,0.00,2.22,0.00,0.000,4,0.000,0.054,2849,626,2467,0,0,0,0,0,0
$GC,1177,-0.98,-138.4,201.6,-16.9,145,1183,0.10,2.20,0.00,0.000,6,0.212,0.042,2863,2032,2468,0,0,0,0,0,0
$GC,1501,-0.98,-138.4,248.2,-14.1,176,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2032,2468,0,0,0,0,0,0
$GC,1820,-0.98,-138.4,293.1,-13.9,206,1824,0.00,2.22,0.00,0.000,4,0.000,0.062,2853,3444,2468,0,0,0,0,0,0
$GC,1893,-0.98,-138.4,303.6,-14.3,212,1897,0.00,2.17,0.00,0.000,6,0.000,0.041,2853,2031,2469,0,0,0,0,0,0
$GC,2217,-0.98,-138.4,350.3,-14.6,242,2219,0.05,0.00,0.00,0.000,6,0.249,0.000,2862,2031,2469,0,0,0,0,0,0
$GC,2536,-0.98,-138.4,395.3,-13.5,272,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2031,2469,0,0,0,0,0,0
$GC,2847,-0.98,-138.4,438.0,-13.8,289,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2031,2469,0,0,0,0,0,0
$GC,3156,-0.98,-138.4,480.9,-14.0,304,3160,0.00,2.28,0.00,0.000,4,0.000,0.063,2853,3441,2469,0,0,0,0,0,0
$GC,3205,-0.98,-138.4,488.2,-14.7,306,3210,0.00,2.17,0.00,0.000,6,0.000,0.042,2853,2046,2469,0,0,0,0,0,0
$GC,3527,-0.98,-138.4,534.6,-14.9,322,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2046,2469,0,0,0,0,0,0
$GC,3836,-0.98,-138.4,579.5,-14.2,337,3838,0.03,0.00,0.00,0.000,6,0.283,0.000,2861,2046,2469,0,0,0,0,0,0
$GC,4145,-0.98,-138.4,622.8,-13.8,352,4149,0.00,2.25,0.00,0.000,4,0.000,0.061,2852,3449,2469,0,0,0,0,0,0
$GC,4194,-0.98,-138.4,629.9,-13.8,354,4199,0.00,2.20,0.00,0.000,6,0.000,0.042,2851,2037,2469,0,0,0,0,0,0
$GC,4516,-0.98,-138.4,675.1,-13.9,370,4518,0.05,0.00,0.00,0.000,6,0.247,0.000,2861,2037,2469,0,0,0,0,0,0
$GC,4825,-0.98,-138.4,716.2,-13.0,385,4829,0.00,2.25,0.00,0.000,4,0.000,0.062,2851,3443,2468,0,0,0,0,0,0
$GC,4873,-0.98,-138.4,722.9,-13.5,387,4878,0.00,2.17,0.00,0.000,6,0.000,0.041,2852,2042,2468,0,0,0,0,0,0
$GC,5195,-0.98,-138.4,766.4,-13.6,403,5197,0.05,0.00,0.00,0.000,6,0.249,0.000,2861,2042,2468,0,0,0,0,0,0
$GC,5505,-1.00,-138.4,807.1,-13.3,418,5509,0.00,2.22,0.00,0.000,4,0.000,0.061,2852,3454,2467,0,0,0,0,0,0
$GC,5566,-1.00,-138.4,815.5,-13.6,421,5570,0.00,2.17,0.00,0.000,6,0.000,0.041,2852,2037,2467,0,0,0,0,0,0
$GC,5892,-1.00,-138.4,858.7,-13.4,437,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2037,2467,0,0,0,0,0,0
$GC,6202,-1.00,-138.4,897.8,-12.6,452,6206,0.00,2.25,0.00,0.000,4,0.000,0.063,2843,3443,2467,0,0,0,0,0,0
$GC,6228,-1.00,-138.4,901.4,-14.0,453,6233,0.03,2.17,0.00,0.000,6,0.207,0.041,2852,2044,2466,0,0,0,0,0,0
$GC,6550,-1.00,-138.4,941.7,-12.7,469,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2044,2466,0,0,0,0,0,0
$GC,6859,-1.00,-138.4,980.2,-12.1,484,6863,0.00,2.25,0.00,0.000,4,0.000,0.061,2842,3449,2466,0,0,0,0,0,0
$GC,6912,-1.00,-138.4,987.1,-13.1,486,6919,0.00,2.20,0.00,0.000,6,0.000,0.042,2842,2031,2465,0,0,0,0,0,0
$STATE,7021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7022,begin apogee
$GC,7025,-0.23,0.0,1000.5,12.5,492,7155,0.88,0.00,125.93,1.300,6,0.167,0.000,3106,1741,1900,0,0,0,0,0,0
$STATE,7155,end apogee,CONTROL_FINISHED_OK
$STATE,7156,begin climb
$GC,7157,1.30,138.4,1004.2,0.0,498,7299,1.50,2.47,130.35,1.252,4,0.095,0.048,3603,345,1333,0,0,0,0,0,0
$GC,7359,1.21,138.4,975.5,19.5,507,7366,0.08,2.35,0.00,0.000,6,0.174,0.034,3581,1749,1327,0,0,0,0,0,0
$GC,7676,1.15,138.4,919.5,17.8,523,7681,0.10,2.30,0.00,0.000,4,0.194,0.047,3566,346,1324,0,0,0,0,0,0
$GC,7760,1.09,138.4,904.8,18.1,527,7765,0.12,2.25,0.00,0.000,6,0.190,0.034,3537,1756,1323,0,0,0,0,0,0
$GC,8086,1.09,138.4,852.0,16.3,543,8090,0.00,2.28,0.00,0.000,4,0.000,0.047,3546,341,1323,0,0,0,0,0,0
$GC,8219,1.07,138.4,828.8,18.2,549,8224,0.05,2.25,0.00,0.000,6,0.187,0.033,3531,1755,1323,0,0,0,0,0,0
$GC,8546,1.07,138.4,774.5,16.8,565,8550,0.00,2.25,0.00,0.000,4,0.000,0.047,3540,342,1323,0,0,0,0,0,0
$GC,8661,1.07,138.4,754.4,17.1,570,8667,0.00,2.22,0.00,0.000,6,0.000,0.033,3540,1749,1322,0,0,0,0,0,0
$GC,8989,1.07,138.4,701.1,16.0,586,8993,0.00,2.22,0.00,0.000,4,0.000,0.046,3549,345,1322,0,0,0,0,0,0
$GC,9089,1.04,138.4,684.6,16.5,590,9096,0.08,2.22,0.00,0.000,6,0.184,0.032,3526,1762,1321,0,0,0,0,0,0
$GC,9405,1.04,138.4,638.1,14.7,606,9409,0.00,2.28,0.00,0.000,4,0.000,0.047,3535,336,1321,0,0,0,0,0,0
$GC,9458,1.04,138.4,629.5,16.0,608,9466,0.03,2.20,0.00,0.000,6,0.199,0.031,3526,1747,1321,0,0,0,0,0,0
$GC,9775,1.04,138.4,584.2,14.5,624,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1747,1321,0,0,0,0,0,0
$GC,10084,1.04,138.4,541.3,13.6,639,10088,0.00,2.20,0.00,0.000,4,0.000,0.046,3535,345,1321,0,0,0,0,0,0
$GC,10228,1.04,138.4,521.1,13.3,645,10235,0.03,2.17,0.00,0.000,6,0.201,0.033,3526,1744,1320,0,0,0,0,0,0
$GC,10544,1.06,138.4,480.7,12.7,661,10548,0.00,2.22,0.00,0.000,4,0.000,0.046,3535,339,1320,0,0,0,0,0,0
$GC,10583,1.06,138.4,475.3,14.2,663,10588,0.00,2.17,0.00,0.000,6,0.000,0.033,3535,1747,1320,0,0,0,0,0,0
$GC,10910,1.06,138.4,430.8,13.8,679,10914,0.00,2.20,0.00,0.000,4,0.000,0.046,3544,343,1320,0,0,0,0,0,0
$GC,11016,1.06,138.4,415.3,14.3,684,11021,0.08,2.17,0.00,0.000,6,0.208,0.032,3528,1761,1320,0,0,0,0,0,0
$GC,11341,1.08,138.4,371.9,13.7,709,11345,0.00,2.22,0.00,0.000,4,0.000,0.046,3537,339,1320,0,0,0,0,0,0
$GC,11439,1.08,138.4,357.8,14.4,717,11443,0.00,2.17,0.00,0.000,6,0.000,0.032,3537,1754,1321,0,0,0,0,0,0
$GC,11763,1.08,138.4,313.9,13.3,747,11767,0.00,2.22,0.00,0.000,4,0.000,0.046,3547,344,1320,0,0,0,0,0,0
$GC,11840,1.08,138.4,302.8,13.7,753,11847,0.00,2.17,0.00,0.000,6,0.000,0.031,3547,1747,1320,0,0,0,0,0,0
$GC,12166,1.08,138.4,258.9,13.6,784,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1747,1320,0,0,0,0,0,0
$GC,12485,1.08,138.4,215.3,14.0,814,12489,0.00,2.20,0.00,0.000,4,0.000,0.045,3555,338,1320,0,0,0,0,0,0
$GC,12651,1.06,138.4,191.5,14.5,828,12660,0.08,2.20,0.00,0.000,6,0.171,0.033,3531,1760,1320,0,0,0,0,0,0
$GC,12977,1.09,138.4,150.2,12.9,859,12978,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1759,1320,0,0,0,0,0,0
$GC,13298,1.11,138.4,112.5,12.2,889,13302,0.00,2.22,0.00,0.000,4,0.000,0.046,3541,343,1320,0,0,0,0,0,0
$GC,13382,1.11,138.4,101.0,13.5,896,13386,0.00,2.15,0.00,0.000,6,0.000,0.031,3541,1755,1320,0,0,0,0,0,0
$GC,13730,1.11,138.4,61.0,10.8,955,13735,0.00,2.22,0.00,0.000,4,0.000,0.045,3550,339,1320,0,0,0,0,0,0
$GC,13821,1.11,138.4,48.0,14.6,971,13826,0.00,2.15,0.00,0.000,6,0.000,0.031,3550,1753,1320,0,0,0,0,0,0
$STATE,14175,end climb,SURFACE_DEPTH_REACHED
$STATE,14175,begin surface coast
$FINISH,1.4,1.002559
$STATE,14202,end surface coast,CONTROL_FINISHED_OK
$STATE,14202,begin surface
$SM_CCo,14217,30.20,0.057,0,0,1063,205.07
$SM_GC,2.19,0.00,0.00,30.20,0.000,0.000,0.057,89,2066,1063,-9.66,0.74,205.07
$IRIDIUM_FIX,-4441.36,630.50,290508,070747
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.3,9.184
$10V_AH,10.2,6.255
$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,23.650,107.425,256.275,30.200,0.000,27.256,49.266,243.419,0.000,0.000,20.396,2570.447,8799.969,378.505,2828.823,97.893,0.000,1383.436,0.000,2345.507,0.000,0.539,0.000
$DEVICE_MAMPS,283.050,68.850,1300.500,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.275,1910.256,774.526,425.170,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,70510,1034
$CAP_FILE_SIZE,135257,0
$CFSIZE,2097086464,2088206336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030815,022033,-4459.983,631.244,36,1.0,36,-24.4