version: 66.07.10.p01
glider: 573
mission: 12
dive: 32
start: 8 3 115 6 26 32
data:
$ID,573
$MISSION,12
$DIVE,32
$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,-21090.992
$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,37
$R_STBD_OVSHOOT,50
$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,31
$GPS1,030815,061626,-4500.249,629.370,37,1.2,37,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-65.3
$GPS2,030815,062611,-4500.314,629.346,20,1.3,20,-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,80.2,1036,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.34,-62.6,0.0,0.0,0,57,0.00,0.00,-32.47,0.000,2,0.000,0.000,82,2061,1740,0,0,0,0,0,0
$GC,59,-1.41,-117.1,3.2,-4.2,5,104,10.98,2.30,-26.33,0.000,4,0.256,0.061,2727,638,2378,0,0,0,0,0,0
$GC,192,-1.22,-117.1,21.6,-25.1,26,200,0.22,2.22,0.00,0.000,6,0.201,0.040,2780,2025,2380,0,0,0,0,0,0
$GC,342,-1.14,-117.1,51.2,-18.2,51,349,0.12,0.00,0.00,0.000,6,0.225,0.000,2810,2026,2381,0,0,0,0,0,0
$GC,691,-1.10,-117.1,114.7,-19.6,106,696,0.08,2.28,0.00,0.000,4,0.229,0.060,2815,3452,2381,0,0,0,0,0,0
$GC,764,-1.08,-117.1,128.7,-19.2,112,769,0.08,2.20,0.00,0.000,6,0.214,0.038,2830,2032,2381,0,0,0,0,0,0
$GC,1088,-1.08,-117.1,184.6,-16.1,142,1092,0.00,2.20,0.00,0.000,4,0.000,0.052,2830,639,2381,0,0,0,0,0,0
$GC,1175,-1.08,-117.1,198.1,-15.7,149,1179,0.00,2.20,0.00,0.000,6,0.000,0.041,2821,2041,2381,0,0,0,0,0,0
$GC,1499,-1.08,-117.1,250.9,-15.5,179,1504,0.05,2.28,0.00,0.000,4,0.260,0.063,2820,3452,2382,0,0,0,0,0,0
$GC,1595,-1.08,-117.1,265.7,-14.6,187,1600,0.05,2.15,0.00,0.000,6,0.223,0.040,2830,2042,2382,0,0,0,0,0,0
$GC,1923,-1.08,-117.1,313.6,-14.4,217,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2042,2382,0,0,0,0,0,0
$GC,2238,-1.08,-117.1,359.3,-14.1,247,2242,0.00,2.25,0.00,0.000,4,0.000,0.059,2821,3445,2382,0,0,0,0,0,0
$GC,2267,-1.08,-117.1,363.3,-13.9,249,2272,0.05,2.15,0.00,0.000,6,0.224,0.040,2831,2032,2382,0,0,0,0,0,0
$GC,2599,-1.08,-117.1,412.0,-14.1,276,2603,0.00,2.17,0.00,0.000,4,0.000,0.053,2831,632,2382,0,0,0,0,0,0
$GC,2620,-1.08,-117.1,415.4,-15.1,277,2625,0.00,2.22,0.00,0.000,6,0.000,0.043,2822,2036,2382,0,0,0,0,0,0
$GC,2947,-1.08,-117.1,461.3,-13.7,293,2951,0.00,2.25,0.00,0.000,4,0.000,0.063,2811,3447,2382,0,0,0,0,0,0
$GC,2996,-1.08,-117.1,468.7,-15.2,295,3001,0.05,2.20,0.00,0.000,6,0.179,0.041,2827,2037,2382,0,0,0,0,0,0
$GC,3318,-1.08,-117.1,513.2,-14.1,311,3322,0.00,2.28,0.00,0.000,4,0.000,0.063,2818,3452,2382,0,0,0,0,0,0
$GC,3366,-1.08,-117.1,520.1,-14.2,313,3372,0.03,2.20,0.00,0.000,6,0.194,0.041,2827,2034,2382,0,0,0,0,0,0
$GC,3688,-1.08,-117.1,563.9,-13.9,329,3692,0.00,2.28,0.00,0.000,4,0.000,0.063,2818,3447,2382,0,0,0,0,0,0
$GC,3794,-1.08,-117.1,578.6,-13.6,334,3798,0.08,2.17,0.00,0.000,6,0.211,0.042,2834,2032,2382,0,0,0,0,0,0
$GC,4120,-1.10,-117.1,622.1,-13.6,350,4124,0.00,2.28,0.00,0.000,4,0.000,0.063,2824,3454,2382,0,0,0,0,0,0
$GC,4236,-1.10,-117.1,639.0,-13.7,355,4241,0.00,2.20,0.00,0.000,6,0.000,0.042,2824,2037,2382,0,0,0,0,0,0
$GC,4558,-1.10,-117.1,683.1,-13.9,371,4562,0.00,2.28,0.00,0.000,4,0.000,0.063,2815,3454,2382,0,0,0,0,0,0
$GC,4635,-1.10,-117.1,694.5,-14.5,374,4640,0.00,2.20,0.00,0.000,6,0.000,0.042,2815,2041,2381,0,0,0,0,0,0
$GC,4957,-1.10,-117.1,739.7,-14.3,390,4961,0.00,2.22,0.00,0.000,4,0.000,0.060,2806,3447,2381,0,0,0,0,0,0
$GC,4988,-1.10,-117.1,744.5,-14.4,391,4994,0.05,2.20,0.00,0.000,6,0.181,0.041,2822,2033,2381,0,0,0,0,0,0
$GC,5311,-1.10,-117.1,788.9,-13.9,407,5315,0.00,2.28,0.00,0.000,4,0.000,0.063,2813,3446,2381,0,0,0,0,0,0
$GC,5360,-1.10,-117.1,796.0,-14.1,409,5365,0.03,2.17,0.00,0.000,6,0.193,0.042,2821,2045,2381,0,0,0,0,0,0
$GC,5682,-1.12,-117.1,838.8,-13.1,425,5686,0.00,2.25,0.00,0.000,4,0.000,0.061,2812,3447,2381,0,0,0,0,0,0
$GC,5713,-1.12,-117.1,843.3,-13.9,426,5720,0.00,2.20,0.00,0.000,6,0.000,0.041,2812,2031,2381,0,0,0,0,0,0
$GC,6029,-1.12,-117.1,883.7,-12.9,442,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2030,2381,0,0,0,0,0,0
$GC,6339,-1.12,-117.1,924.8,-13.5,457,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2030,2380,0,0,0,0,0,0
$GC,6648,-1.12,-117.1,964.4,-12.7,472,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2031,2380,0,0,0,0,0,0
$STATE,6936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6936,begin apogee
$GC,6939,-0.23,0.0,1000.9,12.4,486,7051,0.98,0.00,107.72,1.300,6,0.174,0.000,3103,1749,1899,0,0,0,0,0,0
$STATE,7051,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7053,1.41,117.1,1004.1,0.0,491,7175,1.62,2.45,111.22,1.253,4,0.098,0.047,3636,345,1421,0,0,0,0,0,0
$GC,7303,1.31,117.1,965.3,19.4,502,7310,0.10,2.33,0.00,0.000,6,0.176,0.033,3608,1758,1414,0,0,0,0,0,0
$GC,7620,1.26,117.1,909.8,17.3,518,7624,0.08,2.30,0.00,0.000,4,0.224,0.044,3603,344,1411,0,0,0,0,0,0
$GC,7797,1.21,117.1,877.9,18.3,526,7803,0.08,2.25,0.00,0.000,6,0.187,0.032,3580,1752,1410,0,0,0,0,0,0
$GC,8125,1.21,117.1,826.2,15.8,542,8129,0.00,2.28,0.00,0.000,4,0.000,0.046,3589,339,1409,0,0,0,0,0,0
$GC,8269,1.17,117.1,803.2,15.8,548,8276,0.08,2.25,0.00,0.000,6,0.178,0.034,3566,1753,1409,0,0,0,0,0,0
$GC,8585,1.17,117.1,758.9,13.7,564,8589,0.00,2.25,0.00,0.000,4,0.000,0.045,3574,345,1408,0,0,0,0,0,0
$GC,8718,1.15,117.1,739.3,14.3,570,8723,0.05,2.20,0.00,0.000,6,0.181,0.033,3559,1747,1409,0,0,0,0,0,0
$GC,9044,1.15,117.1,696.1,13.4,586,9048,0.00,2.22,0.00,0.000,4,0.000,0.045,3568,342,1409,0,0,0,0,0,0
$GC,9171,1.15,117.1,677.5,14.2,591,9179,0.03,2.20,0.00,0.000,6,0.213,0.032,3560,1748,1408,0,0,0,0,0,0
$GC,9488,1.15,117.1,635.1,13.5,607,9492,0.00,2.22,0.00,0.000,4,0.000,0.044,3569,345,1408,0,0,0,0,0,0
$GC,9530,1.15,117.1,628.9,13.7,609,9536,0.03,2.20,0.00,0.000,6,0.214,0.032,3560,1753,1408,0,0,0,0,0,0
$GC,9858,1.17,117.1,585.0,13.2,625,9862,0.00,2.22,0.00,0.000,4,0.000,0.044,3568,346,1408,0,0,0,0,0,0
$GC,9946,1.17,117.1,572.3,14.6,629,9951,0.00,2.20,0.00,0.000,6,0.000,0.033,3568,1750,1408,0,0,0,0,0,0
$GC,10274,1.17,117.1,527.9,13.8,645,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1750,1408,0,0,0,0,0,0
$GC,10583,1.17,117.1,482.1,15.2,660,10587,0.00,2.22,0.00,0.000,4,0.000,0.044,3576,341,1408,0,0,0,0,0,0
$GC,10734,1.17,117.1,458.3,16.0,667,10739,0.08,2.17,0.00,0.000,6,0.209,0.032,3561,1757,1407,0,0,0,0,0,0
$GC,11061,1.19,117.1,409.5,14.7,683,11065,0.00,2.22,0.00,0.000,4,0.000,0.045,3570,345,1407,0,0,0,0,0,0
$GC,11148,1.19,117.1,395.6,15.3,688,11157,0.00,2.17,0.00,0.000,6,0.000,0.031,3570,1744,1408,0,0,0,0,0,0
$GC,11474,1.19,117.1,347.8,15.1,719,11478,0.00,2.20,0.00,0.000,4,0.000,0.045,3578,346,1407,0,0,0,0,0,0
$GC,11551,1.17,117.1,335.9,15.0,725,11557,0.05,2.17,0.00,0.000,6,0.181,0.033,3563,1755,1407,0,0,0,0,0,0
$GC,11876,1.19,117.1,290.2,13.9,756,11880,0.00,2.20,0.00,0.000,4,0.000,0.044,3572,341,1407,0,0,0,0,0,0
$GC,11961,1.19,117.1,277.8,14.8,763,11965,0.00,2.15,0.00,0.000,6,0.000,0.032,3572,1744,1407,0,0,0,0,0,0
$GC,12288,1.19,117.1,232.7,13.5,793,12292,0.00,2.20,0.00,0.000,4,0.000,0.045,3580,345,1407,0,0,0,0,0,0
$GC,12406,1.19,117.1,215.0,14.6,803,12410,0.00,2.17,0.00,0.000,6,0.000,0.033,3580,1762,1407,0,0,0,0,0,0
$GC,12734,1.19,117.1,168.1,14.5,833,12738,0.00,2.22,0.00,0.000,4,0.000,0.046,3590,336,1407,0,0,0,0,0,0
$GC,12754,1.19,117.1,164.2,16.2,834,12761,0.05,2.20,0.00,0.000,6,0.184,0.032,3574,1754,1407,0,0,0,0,0,0
$GC,13083,1.19,117.1,118.4,13.6,865,13087,0.00,2.22,0.00,0.000,4,0.000,0.045,3582,335,1407,0,0,0,0,0,0
$GC,13220,1.19,117.1,98.9,13.6,877,13226,0.05,2.17,0.00,0.000,6,0.237,0.033,3573,1758,1407,0,0,0,0,0,0
$GC,13570,1.21,118.2,57.0,9.8,938,13575,0.00,2.20,0.00,0.000,4,0.000,0.044,3581,346,1407,0,0,0,0,0,0
$GC,13720,1.21,118.2,38.8,12.4,964,13727,0.00,2.15,0.00,0.000,6,0.000,0.031,3581,1740,1407,0,0,0,0,0,0
$GC,13875,1.21,118.2,17.4,15.2,989,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1740,1407,0,0,0,0,0,0
$GC,13932,1.21,118.2,8.6,14.7,998,13940,0.00,2.22,0.00,0.000,4,0.000,0.047,3590,342,1407,0,0,0,0,0,0
$STATE,13965,end climb,SURFACE_DEPTH_REACHED
$STATE,13965,begin surface coast
$FINISH,1.3,1.001481
$STATE,13985,end surface coast,CONTROL_FINISHED_OK
$STATE,13985,begin surface
$SM_CCo,14002,39.90,0.057,0,0,1062,205.07
$SM_GC,2.60,0.00,0.00,39.90,0.000,0.000,0.057,66,2061,1062,-9.75,0.59,205.07
$IRIDIUM_FIX,-4441.36,627.47,290508,191908
$TT8_MAMPS,0.026964
$HUMID,62.16
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.4,9.386
$10V_AH,10.1,6.464
$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,24.125,134.200,218.950,39.900,0.000,52.068,120.855,242.147,0.000,0.000,23.038,2556.753,8635.204,373.908,2962.352,100.999,0.000,1430.263,0.000,2378.493,0.000,0.540,0.000
$DEVICE_MAMPS,260.100,63.495,1299.735,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.680,1823.918,731.660,402.772,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353736
$DATA_FILE_SIZE,70478,1006
$CAP_FILE_SIZE,142930,0
$CFSIZE,2097086464,2087944192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030815,102155,-4500.796,632.724,26,2.3,45,-24.4