version: 66.07.10.p01
glider: 573
mission: 12
dive: 31
start: 8 3 115 2 27 25
data:
$ID,573
$MISSION,12
$DIVE,31
$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,-21087.748
$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,35
$R_STBD_OVSHOOT,55
$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,30
$GPS1,030815,022033,-4459.983,631.244,36,1.0,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-67.3
$GPS2,030815,022705,-4459.970,631.219,17,0.9,18,-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,292.4,1597,-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,-32.50,0.000,2,0.000,0.000,81,2065,1743,0,0,0,0,0,0
$GC,60,-1.41,-120.6,3.2,-3.8,5,105,10.85,2.25,-25.62,0.000,4,0.255,0.076,2716,3422,2393,0,0,0,0,0,0
$GC,374,-1.26,-120.6,63.9,-23.8,57,381,0.17,2.17,0.00,0.000,6,0.193,0.041,2766,2045,2395,0,0,0,0,0,0
$GC,717,-1.18,-120.6,134.0,-18.0,103,722,0.15,2.22,0.00,0.000,4,0.216,0.060,2793,3427,2396,0,0,0,0,0,0
$GC,975,-1.14,-120.6,177.4,-17.5,125,982,0.05,2.17,0.00,0.000,6,0.188,0.041,2808,2038,2396,0,0,0,0,0,0
$GC,1300,-1.14,-120.6,230.3,-16.5,156,1304,0.00,2.20,0.00,0.000,4,0.000,0.061,2799,3422,2396,0,0,0,0,0,0
$GC,1478,-1.11,-120.6,260.4,-16.5,171,1485,0.05,2.17,0.00,0.000,6,0.184,0.041,2815,2030,2397,0,0,0,0,0,0
$GC,1804,-1.11,-120.6,312.6,-16.2,202,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2030,2398,0,0,0,0,0,0
$GC,2123,-1.11,-120.6,364.0,-15.9,232,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2030,2398,0,0,0,0,0,0
$GC,2449,-1.11,-120.6,413.1,-14.7,259,2453,0.00,2.22,0.00,0.000,4,0.000,0.061,2806,3421,2397,0,0,0,0,0,0
$GC,2492,-1.11,-120.6,419.9,-14.5,261,2498,0.03,2.15,0.00,0.000,6,0.198,0.041,2815,2037,2397,0,0,0,0,0,0
$GC,2819,-1.11,-120.6,466.7,-14.2,277,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2037,2398,0,0,0,0,0,0
$GC,3128,-1.11,-120.6,512.0,-15.0,292,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2037,2397,0,0,0,0,0,0
$GC,3438,-1.11,-120.6,558.3,-14.9,307,3442,0.00,2.22,0.00,0.000,4,0.000,0.062,2806,3425,2398,0,0,0,0,0,0
$GC,3469,-1.11,-120.6,563.6,-16.5,308,3477,0.03,2.15,0.00,0.000,6,0.198,0.041,2815,2045,2397,0,0,0,0,0,0
$GC,3786,-1.11,-120.6,610.6,-14.9,324,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2045,2397,0,0,0,0,0,0
$GC,4095,-1.11,-120.6,658.0,-15.0,339,4099,0.00,2.20,0.00,0.000,4,0.000,0.060,2806,3422,2397,0,0,0,0,0,0
$GC,4205,-1.11,-120.6,675.0,-15.5,344,4211,0.03,2.15,0.00,0.000,6,0.201,0.041,2815,2037,2397,0,0,0,0,0,0
$GC,4532,-1.11,-120.6,721.3,-13.5,360,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2037,2396,0,0,0,0,0,0
$GC,4842,-1.11,-120.6,761.6,-12.6,375,4846,0.00,2.22,0.00,0.000,4,0.000,0.061,2806,3425,2396,0,0,0,0,0,0
$GC,4926,-1.11,-120.6,773.0,-13.4,379,4931,0.08,2.12,0.00,0.000,6,0.212,0.042,2822,2036,2396,0,0,0,0,0,0
$GC,5252,-1.14,-120.6,815.2,-13.2,395,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2036,2395,0,0,0,0,0,0
$GC,5561,-1.16,-120.6,857.1,-13.4,410,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2036,2396,0,0,0,0,0,0
$GC,5871,-1.19,-120.6,899.2,-13.5,425,5875,0.05,2.25,0.00,0.000,4,0.173,0.062,2786,3433,2395,0,0,0,0,0,0
$GC,5955,-1.16,-120.6,911.4,-15.6,429,5959,0.10,2.12,0.00,0.000,6,0.205,0.041,2809,2040,2395,0,0,0,0,0,0
$GC,6281,-1.16,-120.6,954.8,-12.9,445,6285,0.00,2.20,0.00,0.000,4,0.000,0.060,2800,3424,2395,0,0,0,0,0,0
$GC,6380,-1.16,-120.6,968.8,-13.9,449,6387,0.00,2.15,0.00,0.000,6,0.000,0.042,2800,2040,2395,0,0,0,0,0,0
$STATE,6613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6613,begin apogee
$GC,6617,-0.23,0.0,1000.7,13.5,461,6735,1.02,0.00,110.85,1.301,6,0.174,0.000,3106,1748,1899,0,0,0,0,0,0
$STATE,6736,end apogee,CONTROL_FINISHED_OK
$STATE,6736,begin climb
$GC,6737,1.41,120.6,1005.0,0.0,467,6861,1.62,2.45,114.95,1.252,4,0.096,0.045,3643,351,1406,0,0,0,0,0,0
$GC,6905,1.31,120.6,982.9,19.8,475,6911,0.12,2.33,0.00,0.000,6,0.177,0.034,3608,1737,1401,0,0,0,0,0,0
$GC,7232,1.26,120.6,924.2,18.2,491,7234,0.08,0.00,0.00,0.000,6,0.226,0.000,3594,1737,1398,0,0,0,0,0,0
$GC,7541,1.24,120.6,870.2,17.3,506,7545,0.00,2.25,0.00,0.000,4,0.000,0.045,3603,346,1397,0,0,0,0,0,0
$GC,7686,1.18,120.6,843.3,18.2,512,7693,0.10,2.25,0.00,0.000,6,0.183,0.034,3572,1755,1396,0,0,0,0,0,0
$GC,8002,1.18,120.6,791.5,16.1,528,8006,0.00,2.25,0.00,0.000,4,0.000,0.045,3581,346,1395,0,0,0,0,0,0
$GC,8146,1.16,120.6,767.2,17.0,534,8152,0.08,2.22,0.00,0.000,6,0.175,0.034,3558,1752,1395,0,0,0,0,0,0
$GC,8462,1.16,120.6,719.5,14.8,550,8466,0.00,2.25,0.00,0.000,4,0.000,0.045,3567,343,1394,0,0,0,0,0,0
$GC,8570,1.16,120.6,703.3,15.5,555,8574,0.00,2.20,0.00,0.000,6,0.000,0.032,3567,1757,1394,0,0,0,0,0,0
$GC,8896,1.16,120.6,655.2,15.0,571,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1757,1394,0,0,0,0,0,0
$GC,9205,1.16,120.6,609.1,15.0,586,9209,0.00,2.25,0.00,0.000,4,0.000,0.045,3576,341,1394,0,0,0,0,0,0
$GC,9270,1.16,120.6,598.5,16.4,589,9276,0.05,2.20,0.00,0.000,6,0.179,0.032,3561,1754,1393,0,0,0,0,0,0
$GC,9597,1.16,120.6,550.3,14.7,605,9601,0.00,2.22,0.00,0.000,4,0.000,0.045,3570,347,1394,0,0,0,0,0,0
$GC,9735,1.16,120.6,528.7,14.6,611,9741,0.03,2.17,0.00,0.000,6,0.210,0.033,3562,1740,1393,0,0,0,0,0,0
$GC,10057,1.18,120.6,483.3,13.8,627,10061,0.00,2.20,0.00,0.000,4,0.000,0.046,3571,346,1393,0,0,0,0,0,0
$GC,10163,1.18,120.6,468.1,14.4,632,10167,0.00,2.17,0.00,0.000,6,0.000,0.032,3571,1758,1393,0,0,0,0,0,0
$GC,10489,1.18,120.6,422.6,13.8,648,10493,0.00,2.22,0.00,0.000,4,0.000,0.045,3579,346,1393,0,0,0,0,0,0
$GC,10609,1.18,120.6,404.8,15.2,653,10616,0.03,2.17,0.00,0.000,6,0.207,0.031,3572,1753,1393,0,0,0,0,0,0
$GC,10934,1.18,120.6,358.6,14.3,682,10938,0.00,2.22,0.00,0.000,4,0.000,0.044,3580,341,1393,0,0,0,0,0,0
$GC,10995,1.18,120.6,349.5,14.8,687,11000,0.08,2.17,0.00,0.000,6,0.213,0.033,3565,1756,1393,0,0,0,0,0,0
$GC,11322,1.21,120.6,306.2,13.3,717,11326,0.00,2.22,0.00,0.000,4,0.000,0.044,3573,342,1393,0,0,0,0,0,0
$GC,11361,1.21,120.6,300.4,13.8,720,11365,0.00,2.15,0.00,0.000,6,0.000,0.032,3573,1747,1393,0,0,0,0,0,0
$GC,11685,1.21,120.6,257.3,12.5,750,11689,0.00,2.20,0.00,0.000,4,0.000,0.044,3582,346,1392,0,0,0,0,0,0
$GC,11795,1.21,120.6,241.9,13.3,759,11801,0.00,2.17,0.00,0.000,6,0.000,0.032,3582,1746,1393,0,0,0,0,0,0
$GC,12120,1.21,120.6,196.7,14.2,790,12124,0.00,2.20,0.00,0.000,4,0.000,0.044,3591,345,1393,0,0,0,0,0,0
$GC,12262,1.18,120.6,175.8,13.3,802,12267,0.10,2.17,0.00,0.000,6,0.202,0.033,3568,1765,1392,0,0,0,0,0,0
$GC,12587,1.21,120.6,135.6,11.2,832,12591,0.00,2.17,0.00,0.000,4,0.000,0.056,3568,3152,1392,0,0,0,0,0,0
$GC,12629,1.21,120.6,129.9,12.5,835,12636,0.00,2.12,0.00,0.000,6,0.000,0.031,3576,1748,1392,0,0,0,0,0,0
$GC,12962,1.21,120.6,86.4,12.7,874,12968,0.00,2.17,0.00,0.000,4,0.000,0.046,3587,340,1392,0,0,0,0,0,0
$GC,13135,1.21,120.6,61.2,14.7,904,13141,0.05,2.15,0.00,0.000,6,0.241,0.033,3577,1758,1392,0,0,0,0,0,0
$GC,13496,1.21,120.6,12.9,14.0,965,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1758,1393,0,0,0,0,0,0
$GC,13553,1.21,120.6,5.3,11.2,974,13560,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1759,1392,0,0,0,0,0,0
$STATE,13579,end climb,SURFACE_DEPTH_REACHED
$STATE,13579,begin surface coast
$FINISH,1.3,1.004158
$STATE,13617,end surface coast,CONTROL_FINISHED_OK
$STATE,13617,begin surface
$SM_CCo,13632,38.30,0.057,0,0,1063,205.07
$SM_GC,2.77,0.00,0.00,38.30,0.000,0.000,0.057,93,2062,1063,-9.66,0.62,205.07
$IRIDIUM_FIX,-4444.39,630.84,290508,111120
$TT8_MAMPS,0.026964
$HUMID,62.32
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,9.283
$10V_AH,10.2,6.358
$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,23.850,102.175,225.800,38.300,0.000,25.626,18.679,240.430,0.000,0.000,20.685,2469.713,8384.964,377.975,2732.877,97.306,0.000,1354.153,0.000,2291.558,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,75.735,1301.265,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.204,1819.979,738.283,407.145,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353780
$DATA_FILE_SIZE,67007,984
$CAP_FILE_SIZE,131510,0
$CFSIZE,2097086464,2088075264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030815,061626,-4500.249,629.370,37,1.2,37,-24.4