version: 66.07.10.p01
glider: 573
mission: 12
dive: 42
start: 8 4 115 23 7 7
data:
$ID,573
$MISSION,12
$DIVE,42
$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,-21114.557
$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,41
$R_STBD_OVSHOOT,38
$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,41
$GPS1,040815,225956,-4459.814,629.481,41,1.1,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-61.9
$GPS2,040815,230647,-4459.851,629.595,17,1.3,17,-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,141.9,598,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.34,-62.6,0.0,0.0,0,64,0.00,0.00,-38.08,0.000,2,0.000,0.000,81,2072,1927,0,0,0,0,0,0
$GC,66,-1.43,-135.9,3.1,-2.2,6,106,10.85,2.30,-20.33,0.000,4,0.256,0.068,2716,665,2505,0,0,0,0,0,0
$GC,372,-1.26,-135.9,66.4,-24.6,57,380,0.22,2.22,0.00,0.000,6,0.198,0.041,2770,2055,2508,0,0,0,0,0,0
$GC,714,-1.17,-135.9,138.0,-20.4,102,718,0.12,2.22,0.00,0.000,4,0.230,0.050,2799,652,2508,0,0,0,0,0,0
$GC,825,-1.12,-135.9,158.7,-17.5,111,831,0.08,2.25,0.00,0.000,6,0.188,0.043,2814,2059,2508,0,0,0,0,0,0
$GC,1150,-1.12,-135.9,212.2,-16.3,142,1154,0.00,2.25,0.00,0.000,4,0.000,0.063,2804,3479,2509,0,0,0,0,0,0
$GC,1215,-1.12,-135.9,223.5,-16.5,147,1222,0.03,2.20,0.00,0.000,6,0.199,0.039,2812,2068,2509,0,0,0,0,0,0
$GC,1541,-1.12,-135.9,276.0,-16.5,178,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2067,2509,0,0,0,0,0,0
$GC,1860,-1.12,-135.9,327.9,-16.9,208,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2067,2510,0,0,0,0,0,0
$GC,2179,-1.12,-135.9,382.9,-17.2,238,2183,0.00,2.22,0.00,0.000,4,0.000,0.050,2812,645,2511,0,0,0,0,0,0
$GC,2211,-1.10,-135.9,389.0,-17.7,240,2219,0.08,2.22,0.00,0.000,6,0.184,0.039,2827,2061,2510,0,0,0,0,0,0
$GC,2529,-1.10,-135.9,443.9,-17.5,259,2533,0.00,2.22,0.00,0.000,4,0.000,0.063,2817,3472,2510,0,0,0,0,0,0
$GC,2594,-1.10,-135.9,456.0,-18.1,262,2599,0.00,2.20,0.00,0.000,6,0.000,0.040,2817,2052,2510,0,0,0,0,0,0
$GC,2921,-1.10,-135.9,512.5,-16.9,278,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2051,2510,0,0,0,0,0,0
$GC,3231,-1.10,-135.9,564.8,-17.2,293,3235,0.00,2.20,0.00,0.000,4,0.000,0.052,2817,647,2510,0,0,0,0,0,0
$GC,3274,-1.10,-135.9,572.7,-17.6,295,3279,0.05,2.22,0.00,0.000,6,0.194,0.043,2823,2057,2510,0,0,0,0,0,0
$GC,3601,-1.10,-135.9,624.3,-15.2,311,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2057,2510,0,0,0,0,0,0
$GC,3910,-1.10,-135.9,670.4,-14.8,326,3914,0.00,2.22,0.00,0.000,4,0.000,0.063,2812,3474,2509,0,0,0,0,0,0
$GC,3949,-1.10,-135.9,676.5,-16.1,328,3954,0.08,2.17,0.00,0.000,6,0.210,0.041,2828,2053,2509,0,0,0,0,0,0
$GC,4276,-1.13,-135.9,724.3,-14.5,344,4280,0.00,2.15,0.00,0.000,4,0.000,0.052,2828,658,2508,0,0,0,0,0,0
$GC,4341,-1.13,-135.9,734.4,-14.6,347,4346,0.00,2.20,0.00,0.000,6,0.000,0.042,2820,2057,2508,0,0,0,0,0,0
$GC,4669,-1.15,-135.9,782.6,-14.5,363,4673,0.00,2.20,0.00,0.000,4,0.000,0.062,2809,3466,2507,0,0,0,0,0,0
$GC,4730,-1.15,-135.9,791.9,-15.0,366,4734,0.00,2.15,0.00,0.000,6,0.000,0.041,2809,2061,2507,0,0,0,0,0,0
$GC,5056,-1.15,-135.9,839.9,-14.6,382,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2061,2507,0,0,0,0,0,0
$GC,5365,-1.15,-135.9,884.3,-14.3,397,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2060,2507,0,0,0,0,0,0
$GC,5675,-1.15,-135.9,928.7,-14.5,412,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2060,2507,0,0,0,0,0,0
$GC,5984,-1.15,-135.9,972.7,-13.9,427,5988,0.00,2.22,0.00,0.000,4,0.000,0.060,2800,3475,2507,0,0,0,0,0,0
$GC,6037,-1.15,-135.9,980.7,-14.9,429,6044,0.00,2.17,0.00,0.000,6,0.000,0.039,2800,2062,2507,0,0,0,0,0,0
$STATE,6188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6188,begin apogee
$GC,6192,-0.23,0.0,1002.5,14.7,437,6319,1.02,0.00,123.72,1.298,6,0.173,0.000,3106,1716,1949,0,0,0,0,0,0
$STATE,6320,end apogee,CONTROL_FINISHED_OK
$STATE,6320,begin climb
$GC,6321,1.43,135.9,1006.7,0.0,443,6458,1.62,2.38,127.80,1.248,4,0.094,0.043,3644,325,1395,0,0,0,0,0,0
$GC,6490,1.33,135.9,984.1,20.8,450,6495,0.10,2.38,0.00,0.000,6,0.175,0.032,3616,1735,1390,0,0,0,0,0,0
$GC,6812,1.28,135.9,925.3,18.0,466,6817,0.08,2.30,0.00,0.000,4,0.226,0.044,3611,320,1386,0,0,0,0,0,0
$GC,6883,1.23,135.9,912.0,18.3,469,6888,0.10,2.28,0.00,0.000,6,0.187,0.032,3582,1729,1385,0,0,0,0,0,0
$GC,7210,1.23,135.9,860.3,15.7,485,7214,0.00,2.25,0.00,0.000,4,0.000,0.044,3591,324,1383,0,0,0,0,0,0
$GC,7242,1.19,135.9,854.9,16.0,486,7247,0.08,2.22,0.00,0.000,6,0.183,0.032,3569,1726,1383,0,0,0,0,0,0
$GC,7564,1.19,135.9,805.7,15.5,502,7568,0.00,2.25,0.00,0.000,4,0.000,0.044,3578,322,1383,0,0,0,0,0,0
$GC,7580,1.19,135.9,803.1,15.4,503,7584,0.00,2.20,0.00,0.000,6,0.000,0.032,3578,1728,1383,0,0,0,0,0,0
$GC,7908,1.19,135.9,751.3,16.1,519,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1728,1383,0,0,0,0,0,0
$GC,8217,1.19,135.9,701.7,15.9,534,8221,0.00,2.20,0.00,0.000,4,0.000,0.044,3586,326,1383,0,0,0,0,0,0
$GC,8327,1.17,135.9,683.1,16.4,539,8333,0.08,2.20,0.00,0.000,6,0.183,0.031,3564,1736,1382,0,0,0,0,0,0
$GC,8654,1.17,135.9,632.7,15.6,555,8659,0.00,2.22,0.00,0.000,4,0.000,0.044,3573,317,1382,0,0,0,0,0,0
$GC,8753,1.17,135.9,616.1,17.4,559,8761,0.03,2.20,0.00,0.000,6,0.201,0.031,3565,1734,1382,0,0,0,0,0,0
$GC,9070,1.17,135.9,566.1,15.9,575,9074,0.00,2.20,0.00,0.000,4,0.000,0.044,3574,326,1381,0,0,0,0,0,0
$GC,9140,1.17,135.9,553.9,17.0,578,9146,0.03,2.17,0.00,0.000,6,0.212,0.031,3566,1727,1381,0,0,0,0,0,0
$GC,9464,1.19,135.9,501.8,16.4,594,9468,0.00,2.20,0.00,0.000,4,0.000,0.044,3575,317,1381,0,0,0,0,0,0
$GC,9529,1.19,135.9,490.0,16.9,597,9534,0.00,2.20,0.00,0.000,6,0.000,0.031,3575,1730,1381,0,0,0,0,0,0
$GC,9858,1.19,135.9,437.0,15.8,613,9862,0.00,2.22,0.00,0.000,4,0.000,0.043,3584,319,1381,0,0,0,0,0,0
$GC,9928,1.19,135.9,424.8,16.8,616,9934,0.03,2.20,0.00,0.000,6,0.206,0.031,3575,1740,1381,0,0,0,0,0,0
$GC,10255,1.19,135.9,374.5,15.1,639,10259,0.00,2.20,0.00,0.000,4,0.000,0.044,3584,326,1381,0,0,0,0,0,0
$GC,10305,1.19,135.9,366.2,16.7,643,10310,0.08,2.15,0.00,0.000,6,0.211,0.031,3568,1736,1381,0,0,0,0,0,0
$GC,10632,1.21,135.9,318.3,14.4,673,10636,0.00,2.20,0.00,0.000,4,0.000,0.044,3577,321,1381,0,0,0,0,0,0
$GC,10708,1.21,135.9,306.1,15.1,679,10715,0.00,2.17,0.00,0.000,6,0.000,0.029,3577,1731,1381,0,0,0,0,0,0
$GC,11034,1.21,135.9,258.8,14.7,710,11038,0.00,2.20,0.00,0.000,4,0.000,0.044,3586,326,1381,0,0,0,0,0,0
$GC,11120,1.21,135.9,246.0,14.4,717,11124,0.00,2.15,0.00,0.000,6,0.000,0.031,3586,1733,1381,0,0,0,0,0,0
$GC,11444,1.21,135.9,196.7,15.2,747,11448,0.00,2.20,0.00,0.000,4,0.000,0.043,3595,316,1381,0,0,0,0,0,0
$GC,11565,1.18,135.9,178.1,15.4,757,11570,0.12,2.17,0.00,0.000,6,0.192,0.031,3564,1745,1380,0,0,0,0,0,0
$GC,11890,1.22,135.9,130.8,15.4,787,11894,0.00,2.15,0.00,0.000,4,0.000,0.052,3564,3124,1381,0,0,0,0,0,0
$GC,11955,1.24,135.9,120.9,15.3,792,11964,0.00,2.12,0.00,0.000,6,0.000,0.029,3573,1723,1381,0,0,0,0,0,0
$GC,12292,1.27,135.9,74.6,13.2,839,12298,0.05,2.12,0.00,0.000,4,0.171,0.046,3609,329,1380,0,0,0,0,0,0
$GC,12350,1.23,135.9,65.5,16.3,849,12357,0.08,2.15,0.00,0.000,6,0.191,0.032,3586,1725,1380,0,0,0,0,0,0
$GC,12712,1.23,135.9,14.5,15.9,910,12720,0.00,2.20,0.00,0.000,4,0.000,0.043,3595,332,1380,0,0,0,0,0,0
$STATE,12787,end climb,SURFACE_DEPTH_REACHED
$STATE,12787,begin surface coast
$FINISH,1.3,1.012661
$STATE,12813,end surface coast,CONTROL_FINISHED_OK
$STATE,12814,begin surface
$SM_CCo,12831,30.00,0.057,0,0,1133,200.16
$SM_GC,1.85,0.00,0.00,30.00,0.000,0.000,0.057,65,2077,1133,-9.75,0.45,200.16
$IRIDIUM_FIX,-4444.39,520.50,310508,080842
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.3,10.435
$10V_AH,10.2,7.497
$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,24.125,115.925,251.525,30.000,0.000,27.083,20.096,254.325,0.000,0.000,19.269,2330.535,7921.527,372.593,2548.988,99.291,0.000,1302.048,0.000,2102.995,0.000,0.540,0.000
$DEVICE_MAMPS,255.510,68.085,1298.205,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.931,1711.911,692.137,390.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353788
$DATA_FILE_SIZE,63795,926
$CAP_FILE_SIZE,127983,0
$CFSIZE,2097086464,2086699008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050815,024233,-4500.861,632.496,30,1.0,31,-24.4