version: 66.07.10.p01
glider: 573
mission: 12
dive: 34
start: 8 3 115 14 33 13
data:
$ID,573
$MISSION,12
$DIVE,34
$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,-21095.715
$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,39
$R_STBD_OVSHOOT,32
$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,33
$GPS1,030815,142603,-4459.956,631.801,47,0.9,48,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-68.7
$GPS2,030815,143253,-4459.987,631.848,16,0.8,16,-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,293.8,2420,-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,-32.58,0.000,2,0.000,0.000,67,2034,1724,0,0,0,0,0,0
$GC,60,-1.42,-128.4,3.0,-3.0,5,112,11.30,2.30,-29.23,0.000,4,0.267,0.072,2711,3440,2427,0,0,0,0,0,0
$GC,380,-1.26,-128.4,64.5,-22.1,58,386,0.25,2.17,0.00,0.000,6,0.204,0.041,2776,2036,2429,0,0,0,0,0,0
$GC,717,-1.19,-128.4,130.1,-16.7,104,722,0.10,2.30,0.00,0.000,4,0.225,0.063,2789,3444,2429,0,0,0,0,0,0
$GC,813,-1.14,-128.4,147.2,-18.3,112,818,0.10,2.15,0.00,0.000,6,0.207,0.041,2812,2039,2429,0,0,0,0,0,0
$GC,1137,-1.14,-128.4,201.6,-16.8,142,1141,0.00,2.28,0.00,0.000,4,0.000,0.060,2803,3452,2429,0,0,0,0,0,0
$GC,1187,-1.12,-128.4,210.2,-17.1,146,1192,0.08,2.17,0.00,0.000,6,0.214,0.039,2818,2038,2429,0,0,0,0,0,0
$GC,1511,-1.12,-128.4,261.2,-15.6,176,1515,0.00,2.28,0.00,0.000,4,0.000,0.060,2809,3452,2429,0,0,0,0,0,0
$GC,1544,-1.12,-128.4,266.6,-16.2,178,1550,0.00,2.17,0.00,0.000,6,0.000,0.040,2809,2029,2430,0,0,0,0,0,0
$GC,1871,-1.12,-128.4,317.3,-15.3,209,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2029,2430,0,0,0,0,0,0
$GC,2188,-1.12,-128.4,367.3,-16.0,239,2192,0.00,2.28,0.00,0.000,4,0.000,0.062,2800,3444,2430,0,0,0,0,0,0
$GC,2218,-1.09,-128.4,371.9,-16.6,241,2222,0.12,2.17,0.00,0.000,6,0.194,0.041,2831,2028,2430,0,0,0,0,0,0
$GC,2538,-1.09,-128.4,418.7,-14.4,265,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2027,2430,0,0,0,0,0,0
$GC,2847,-1.09,-128.4,463.3,-14.9,280,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2028,2430,0,0,0,0,0,0
$GC,3157,-1.12,-128.4,508.3,-14.4,295,3161,0.00,2.28,0.00,0.000,4,0.000,0.063,2822,3443,2430,0,0,0,0,0,0
$GC,3205,-1.12,-128.4,515.7,-14.3,297,3210,0.00,2.17,0.00,0.000,6,0.000,0.041,2822,2041,2430,0,0,0,0,0,0
$GC,3528,-1.12,-128.4,562.8,-14.3,313,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2041,2430,0,0,0,0,0,0
$GC,3838,-1.12,-128.4,606.7,-13.9,328,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2041,2430,0,0,0,0,0,0
$GC,4147,-1.12,-128.4,649.8,-13.7,343,4151,0.00,2.25,0.00,0.000,4,0.000,0.060,2813,3451,2429,0,0,0,0,0,0
$GC,4232,-1.12,-128.4,661.6,-14.1,347,4236,0.00,2.17,0.00,0.000,6,0.000,0.042,2813,2032,2429,0,0,0,0,0,0
$GC,4558,-1.12,-128.4,709.1,-14.6,363,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2032,2429,0,0,0,0,0,0
$GC,4867,-1.12,-128.4,754.5,-14.6,378,4871,0.00,2.28,0.00,0.000,4,0.000,0.063,2804,3447,2429,0,0,0,0,0,0
$GC,4928,-1.12,-128.4,763.9,-15.5,381,4932,0.08,2.15,0.00,0.000,6,0.210,0.042,2819,2031,2429,0,0,0,0,0,0
$GC,5259,-1.12,-128.4,809.9,-13.5,397,5263,0.00,2.28,0.00,0.000,4,0.000,0.063,2811,3451,2428,0,0,0,0,0,0
$GC,5290,-1.12,-128.4,814.5,-14.1,398,5297,0.00,2.20,0.00,0.000,6,0.000,0.042,2811,2036,2428,0,0,0,0,0,0
$GC,5606,-1.12,-128.4,856.5,-13.2,414,5611,0.00,2.28,0.00,0.000,4,0.000,0.063,2802,3453,2428,0,0,0,0,0,0
$GC,5646,-1.12,-128.4,862.0,-13.6,416,5650,0.08,2.17,0.00,0.000,6,0.213,0.041,2817,2032,2428,0,0,0,0,0,0
$GC,5972,-1.14,-128.4,903.6,-12.5,432,5976,0.00,2.25,0.00,0.000,4,0.000,0.063,2808,3454,2428,0,0,0,0,0,0
$GC,6003,-1.14,-128.4,908.1,-13.0,433,6008,0.00,2.20,0.00,0.000,6,0.000,0.041,2808,2036,2428,0,0,0,0,0,0
$GC,6326,-1.14,-128.4,949.1,-12.8,449,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2035,2428,0,0,0,0,0,0
$GC,6636,-1.14,-128.4,987.1,-11.9,464,6640,0.00,2.25,0.00,0.000,4,0.000,0.062,2799,3443,2428,0,0,0,0,0,0
$GC,6684,-1.14,-128.4,993.6,-12.7,466,6689,0.03,2.17,0.00,0.000,6,0.202,0.040,2808,2039,2428,0,0,0,0,0,0
$STATE,6757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6757,begin apogee
$GC,6761,-0.23,0.0,1002.2,11.8,470,6883,1.00,0.00,117.85,1.300,6,0.175,0.000,3106,1745,1900,0,0,0,0,0,0
$STATE,6883,end apogee,CONTROL_FINISHED_OK
$STATE,6883,begin climb
$GC,6885,1.42,128.4,1004.1,0.0,476,7014,1.67,2.38,121.72,1.248,4,0.096,0.044,3651,350,1375,0,0,0,0,0,0
$GC,7069,1.32,128.4,974.1,22.7,484,7074,0.12,2.35,0.00,0.000,6,0.171,0.034,3615,1755,1369,0,0,0,0,0,0
$GC,7390,1.27,128.4,911.8,18.9,500,7395,0.10,2.30,0.00,0.000,4,0.214,0.044,3601,347,1365,0,0,0,0,0,0
$GC,7489,1.22,128.4,892.7,18.5,504,7496,0.05,2.25,0.00,0.000,6,0.191,0.034,3583,1739,1365,0,0,0,0,0,0
$GC,7805,1.22,128.4,838.1,17.1,520,7809,0.00,2.25,0.00,0.000,4,0.000,0.046,3592,349,1364,0,0,0,0,0,0
$GC,7950,1.19,128.4,812.4,17.6,526,7957,0.08,2.22,0.00,0.000,6,0.183,0.033,3570,1749,1363,0,0,0,0,0,0
$GC,8266,1.19,128.4,761.9,15.8,542,8270,0.00,2.25,0.00,0.000,4,0.000,0.045,3579,346,1363,0,0,0,0,0,0
$GC,8404,1.19,128.4,739.0,16.2,548,8409,0.00,2.22,0.00,0.000,6,0.000,0.033,3579,1750,1363,0,0,0,0,0,0
$GC,8726,1.19,128.4,688.2,15.9,564,8730,0.00,2.25,0.00,0.000,4,0.000,0.045,3588,340,1362,0,0,0,0,0,0
$GC,8769,1.16,128.4,680.8,17.8,566,8774,0.08,2.22,0.00,0.000,6,0.180,0.034,3565,1753,1362,0,0,0,0,0,0
$GC,9095,1.16,128.4,629.6,15.7,582,9099,0.00,2.25,0.00,0.000,4,0.000,0.045,3574,339,1362,0,0,0,0,0,0
$GC,9138,1.16,128.4,622.3,15.5,584,9144,0.03,2.20,0.00,0.000,6,0.204,0.033,3566,1747,1362,0,0,0,0,0,0
$GC,9465,1.16,128.4,572.3,15.1,600,9469,0.00,2.22,0.00,0.000,4,0.000,0.044,3574,344,1361,0,0,0,0,0,0
$GC,9553,1.16,128.4,557.8,16.4,604,9559,0.03,2.20,0.00,0.000,6,0.205,0.032,3566,1753,1362,0,0,0,0,0,0
$GC,9880,1.16,128.4,509.8,14.3,620,9884,0.00,2.22,0.00,0.000,4,0.000,0.044,3575,346,1361,0,0,0,0,0,0
$GC,9974,1.16,128.4,495.6,14.2,624,9980,0.05,2.17,0.00,0.000,6,0.187,0.032,3559,1748,1362,0,0,0,0,0,0
$GC,10296,1.19,128.4,452.9,13.1,640,10300,0.00,2.22,0.00,0.000,4,0.000,0.044,3568,338,1362,0,0,0,0,0,0
$GC,10380,1.19,128.4,441.0,13.9,644,10385,0.00,2.17,0.00,0.000,6,0.000,0.033,3568,1748,1362,0,0,0,0,0,0
$GC,10698,1.19,128.4,398.2,13.6,660,10702,0.00,2.22,0.00,0.000,4,0.000,0.044,3577,338,1362,0,0,0,0,0,0
$GC,10761,1.19,128.4,389.2,14.8,665,10765,0.00,2.17,0.00,0.000,6,0.000,0.033,3577,1750,1362,0,0,0,0,0,0
$GC,11086,1.19,128.4,344.7,14.0,695,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1750,1362,0,0,0,0,0,0
$GC,11407,1.19,128.4,299.9,14.7,725,11411,0.00,2.22,0.00,0.000,4,0.000,0.044,3586,336,1362,0,0,0,0,0,0
$GC,11563,1.19,128.4,275.9,15.2,738,11570,0.05,2.20,0.00,0.000,6,0.185,0.033,3570,1755,1361,0,0,0,0,0,0
$GC,11891,1.21,128.4,230.2,13.8,769,11895,0.00,2.22,0.00,0.000,4,0.000,0.044,3579,338,1361,0,0,0,0,0,0
$GC,11979,1.21,128.4,216.5,15.4,776,11988,0.00,2.17,0.00,0.000,6,0.000,0.032,3579,1741,1361,0,0,0,0,0,0
$GC,12304,1.21,128.4,170.3,14.7,807,12308,0.00,2.20,0.00,0.000,4,0.000,0.045,3588,341,1361,0,0,0,0,0,0
$GC,12366,1.21,128.4,160.4,16.0,812,12370,0.00,2.17,0.00,0.000,6,0.000,0.031,3588,1760,1361,0,0,0,0,0,0
$GC,12690,1.21,128.4,111.4,15.0,842,12694,0.00,2.22,0.00,0.000,4,0.000,0.045,3596,348,1361,0,0,0,0,0,0
$GC,12884,1.19,128.4,80.3,16.3,869,12890,0.10,2.15,0.00,0.000,6,0.196,0.031,3573,1758,1361,0,0,0,0,0,0
$GC,13239,1.22,128.4,28.8,14.3,930,13246,0.00,2.22,0.00,0.000,4,0.000,0.045,3582,355,1361,0,0,0,0,0,0
$GC,13346,1.22,128.4,13.2,15.7,947,13353,0.00,2.15,0.00,0.000,6,0.000,0.034,3581,1744,1361,0,0,0,0,0,0
$GC,13404,1.25,128.4,4.7,14.2,956,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1744,1361,0,0,0,0,0,0
$STATE,13417,end climb,SURFACE_DEPTH_REACHED
$STATE,13418,begin surface coast
$FINISH,1.2,1.011898
$STATE,13444,end surface coast,CONTROL_FINISHED_OK
$STATE,13444,begin surface
$SM_CCo,13460,34.83,0.057,0,0,1062,205.07
$SM_GC,2.13,0.00,0.00,34.83,0.000,0.000,0.057,83,2062,1062,-9.69,0.62,205.07
$IRIDIUM_FIX,-4441.36,633.52,290508,232340
$TT8_MAMPS,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.3,9.607
$10V_AH,10.2,6.666
$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,24.650,120.950,239.575,34.825,0.000,25.310,35.481,245.839,0.000,0.000,18.712,2430.260,8335.038,395.747,2643.254,101.377,0.000,1348.909,0.000,2185.415,0.000,0.539,0.000
$DEVICE_MAMPS,266.985,71.910,1299.735,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.052,1774.044,698.715,388.669,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353760
$DATA_FILE_SIZE,67096,962
$CAP_FILE_SIZE,132696,0
$CFSIZE,2097086464,2087682048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030815,181926,-4459.851,629.757,24,2.4,43,-24.4