version: 66.07.10.p01
glider: 573
mission: 12
dive: 40
start: 8 4 115 14 54 24
data:
$ID,573
$MISSION,12
$DIVE,40
$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,200
$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,-21109.861
$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,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,40
$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,1950
$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,39
$GPS1,040815,144733,-4500.266,632.280,38,1.0,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-70.2
$GPS2,040815,145404,-4500.289,632.311,17,1.1,17,-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,304.4,3074,-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,-32.60,0.000,2,0.000,0.000,66,2057,1720,0,0,0,0,0,0
$GC,60,-1.41,-119.1,3.2,-3.9,5,106,10.90,2.28,-27.85,0.000,4,0.254,0.073,2713,3462,2436,0,0,0,0,0,0
$GC,181,-1.24,-119.1,19.7,-22.5,24,189,0.22,2.22,0.00,0.000,6,0.191,0.040,2775,2053,2438,0,0,0,0,0,0
$GC,240,-1.16,-119.1,32.2,-20.1,33,247,0.12,0.00,0.00,0.000,6,0.220,0.000,2804,2053,2438,0,0,0,0,0,0
$GC,389,-1.11,-119.1,60.3,-19.2,58,394,0.10,0.00,0.00,0.000,6,0.211,0.000,2828,2053,2438,0,0,0,0,0,0
$GC,737,-1.11,-119.1,121.4,-18.5,109,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2053,2439,0,0,0,0,0,0
$GC,1052,-1.11,-119.1,174.9,-15.8,139,1056,0.00,2.28,0.00,0.000,4,0.000,0.061,2818,3466,2440,0,0,0,0,0,0
$GC,1137,-1.11,-119.1,188.2,-15.5,146,1141,0.00,2.17,0.00,0.000,6,0.000,0.040,2818,2055,2440,0,0,0,0,0,0
$GC,1461,-1.11,-119.1,237.1,-15.2,176,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,2441,0,0,0,0,0,0
$GC,1780,-1.11,-119.1,287.3,-16.2,206,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,2441,0,0,0,0,0,0
$GC,2099,-1.11,-119.1,340.1,-16.2,236,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2055,2441,0,0,0,0,0,0
$GC,2418,-1.11,-119.1,391.4,-15.8,266,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2055,2441,0,0,0,0,0,0
$GC,2730,-1.11,-119.1,440.0,-15.3,284,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,2441,0,0,0,0,0,0
$GC,3039,-1.11,-119.1,485.9,-14.7,299,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2055,2441,0,0,0,0,0,0
$GC,3348,-1.11,-119.1,530.8,-14.1,314,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2055,2441,0,0,0,0,0,0
$GC,3658,-1.11,-119.1,573.3,-13.4,329,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,2441,0,0,0,0,0,0
$GC,3967,-1.11,-119.1,615.5,-13.3,344,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,2441,0,0,0,0,0,0
$GC,4276,-1.11,-119.1,656.1,-13.1,359,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,2441,0,0,0,0,0,0
$GC,4586,-1.11,-119.1,699.0,-14.1,374,4590,0.00,2.25,0.00,0.000,4,0.000,0.063,2809,3454,2439,0,0,0,0,0,0
$GC,4650,-1.11,-119.1,709.1,-14.6,377,4656,0.03,2.17,0.00,0.000,6,0.182,0.041,2818,2055,2439,0,0,0,0,0,0
$GC,4978,-1.11,-119.1,753.8,-13.6,393,4982,0.00,2.25,0.00,0.000,4,0.000,0.063,2809,3460,2439,0,0,0,0,0,0
$GC,5031,-1.11,-119.1,761.7,-14.3,395,5039,0.03,2.17,0.00,0.000,6,0.183,0.041,2817,2060,2439,0,0,0,0,0,0
$GC,5348,-1.11,-119.1,804.1,-13.3,411,5352,0.00,2.20,0.00,0.000,4,0.000,0.053,2818,648,2439,0,0,0,0,0,0
$GC,5374,-1.11,-119.1,808.1,-15.2,412,5379,0.03,2.20,0.00,0.000,6,0.219,0.042,2817,2049,2438,0,0,0,0,0,0
$GC,5696,-1.11,-119.1,850.9,-13.6,428,5700,0.00,2.25,0.00,0.000,4,0.000,0.062,2807,3474,2439,0,0,0,0,0,0
$GC,5750,-1.11,-119.1,858.7,-14.1,430,5757,0.05,2.20,0.00,0.000,6,0.172,0.041,2823,2054,2438,0,0,0,0,0,0
$GC,6067,-1.13,-119.1,899.7,-12.9,446,6071,0.00,2.25,0.00,0.000,4,0.000,0.063,2814,3465,2438,0,0,0,0,0,0
$GC,6143,-1.13,-119.1,910.5,-14.6,449,6150,0.00,2.17,0.00,0.000,6,0.000,0.041,2814,2056,2438,0,0,0,0,0,0
$GC,6460,-1.13,-119.1,953.0,-13.4,465,6464,0.00,2.28,0.00,0.000,4,0.000,0.063,2805,3475,2437,0,0,0,0,0,0
$GC,6521,-1.13,-119.1,961.4,-13.9,468,6525,0.00,2.17,0.00,0.000,6,0.000,0.042,2805,2057,2438,0,0,0,0,0,0
$STATE,6804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6805,begin apogee
$GC,6808,-0.23,0.0,1001.2,14.3,482,6921,1.00,0.00,108.72,1.300,6,0.171,0.000,3104,1728,1950,0,0,0,0,0,0
$STATE,6921,end apogee,CONTROL_FINISHED_OK
$STATE,6921,begin climb
$GC,6923,1.41,119.1,1005.5,0.0,487,7045,1.62,2.42,112.85,1.252,4,0.096,0.045,3642,322,1463,0,0,0,0,0,0
$GC,7094,1.30,119.1,983.9,18.5,495,7100,0.12,2.35,0.00,0.000,6,0.172,0.031,3607,1737,1457,0,0,0,0,0,0
$GC,7422,1.25,119.1,926.5,17.4,511,7427,0.08,2.30,0.00,0.000,4,0.237,0.044,3602,325,1453,0,0,0,0,0,0
$GC,7555,1.19,119.1,902.8,17.9,517,7560,0.10,2.28,0.00,0.000,6,0.177,0.032,3569,1741,1452,0,0,0,0,0,0
$GC,7881,1.19,119.1,851.8,15.7,533,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1741,1452,0,0,0,0,0,0
$GC,8191,1.19,119.1,804.2,15.2,548,8195,0.00,2.25,0.00,0.000,4,0.000,0.045,3577,325,1451,0,0,0,0,0,0
$GC,8320,1.16,119.1,783.9,16.4,554,8325,0.08,2.20,0.00,0.000,6,0.211,0.031,3562,1739,1451,0,0,0,0,0,0
$GC,8646,1.16,119.1,735.7,15.3,570,8650,0.00,2.25,0.00,0.000,4,0.000,0.045,3570,324,1450,0,0,0,0,0,0
$GC,8730,1.16,119.1,722.9,15.3,574,8734,0.00,2.17,0.00,0.000,6,0.000,0.031,3571,1727,1450,0,0,0,0,0,0
$GC,9057,1.16,119.1,674.7,14.6,590,9061,0.00,2.22,0.00,0.000,4,0.000,0.044,3580,323,1450,0,0,0,0,0,0
$GC,9218,1.13,119.1,649.6,15.3,597,9223,0.08,2.20,0.00,0.000,6,0.180,0.032,3557,1731,1450,0,0,0,0,0,0
$GC,9539,1.13,119.1,607.0,13.0,613,9543,0.00,2.22,0.00,0.000,4,0.000,0.044,3566,323,1449,0,0,0,0,0,0
$GC,9626,1.13,119.1,594.6,14.2,617,9632,0.03,2.20,0.00,0.000,6,0.207,0.032,3557,1735,1448,0,0,0,0,0,0
$GC,9953,1.13,119.1,551.5,13.2,633,9957,0.00,2.22,0.00,0.000,4,0.000,0.044,3566,323,1449,0,0,0,0,0,0
$GC,10086,1.13,119.1,532.2,14.9,639,10092,0.05,2.20,0.00,0.000,6,0.193,0.031,3551,1734,1449,0,0,0,0,0,0
$GC,10414,1.16,119.1,488.3,13.7,655,10418,0.00,2.22,0.00,0.000,4,0.000,0.045,3560,323,1448,0,0,0,0,0,0
$GC,10498,1.16,119.1,476.2,14.4,659,10502,0.00,2.17,0.00,0.000,6,0.000,0.032,3560,1736,1449,0,0,0,0,0,0
$GC,10823,1.16,119.1,432.8,13.1,675,10827,0.00,2.22,0.00,0.000,4,0.000,0.044,3568,323,1449,0,0,0,0,0,0
$GC,10917,1.16,119.1,419.9,12.7,679,10922,0.00,2.17,0.00,0.000,6,0.000,0.031,3568,1728,1448,0,0,0,0,0,0
$GC,11244,1.16,119.1,378.3,12.2,703,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1727,1448,0,0,0,0,0,0
$GC,11565,1.16,119.1,338.3,13.1,733,11569,0.00,2.22,0.00,0.000,4,0.000,0.044,3577,314,1449,0,0,0,0,0,0
$GC,11709,1.16,119.1,318.4,13.2,745,11716,0.00,2.20,0.00,0.000,6,0.000,0.032,3577,1725,1449,0,0,0,0,0,0
$GC,12035,1.16,119.1,274.7,13.4,776,12039,0.08,2.17,0.00,0.000,4,0.209,0.044,3570,323,1448,0,0,0,0,0,0
$GC,12221,1.16,119.1,249.3,13.3,792,12225,0.00,2.15,0.00,0.000,6,0.000,0.032,3570,1741,1448,0,0,0,0,0,0
$GC,12550,1.16,119.1,205.8,13.5,823,12554,0.00,2.22,0.00,0.000,4,0.000,0.044,3579,322,1448,0,0,0,0,0,0
$GC,12616,1.16,119.1,196.4,13.8,828,12625,0.05,2.17,0.00,0.000,6,0.181,0.031,3564,1737,1449,0,0,0,0,0,0
$GC,12942,1.18,119.1,154.3,13.8,859,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1737,1448,0,0,0,0,0,0
$GC,13263,1.21,119.1,114.1,12.0,889,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1737,1448,0,0,0,0,0,0
$GC,13593,1.23,119.1,72.7,12.2,938,13598,0.00,2.20,0.00,0.000,4,0.000,0.044,3573,322,1448,0,0,0,0,0,0
$GC,13675,1.23,119.1,62.4,13.5,952,13680,0.00,2.12,0.00,0.000,6,0.000,0.030,3573,1734,1448,0,0,0,0,0,0
$GC,14037,1.23,119.1,12.4,11.6,1013,14044,0.00,2.22,0.00,0.000,4,0.000,0.041,3581,322,1448,0,0,0,0,0,0
$STATE,14106,end climb,SURFACE_DEPTH_REACHED
$STATE,14106,begin surface coast
$FINISH,1.6,1.023371
$STATE,14114,end surface coast,CONTROL_FINISHED_OK
$STATE,14114,begin surface
$SM_CCo,14132,36.72,0.058,0,0,1133,200.16
$SM_GC,1.97,0.00,0.00,36.72,0.000,0.000,0.058,83,2069,1133,-9.68,0.25,200.16
$IRIDIUM_FIX,-4444.39,627.81,310508,000011
$TT8_MAMPS,0.026964
$HUMID,62.12
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,10.229
$10V_AH,10.2,7.295
$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,23.875,98.725,221.575,36.725,0.000,27.139,21.106,237.996,0.000,0.000,19.661,2565.644,8773.841,359.863,2762.250,100.298,0.000,1348.172,0.000,2317.040,0.000,0.540,0.000
$DEVICE_MAMPS,253.980,72.675,1299.735,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.369,1880.358,748.210,403.910,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,70565,1025
$CAP_FILE_SIZE,131371,0
$CFSIZE,2097086464,2086895616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040815,185134,-4500.188,630.753,26,1.0,27,-24.4