version: 66.07.10.p01
glider: 573
mission: 12
dive: 35
start: 8 3 115 18 26 48
data:
$ID,573
$MISSION,12
$DIVE,35
$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,-21098.043
$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,38
$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,34
$GPS1,030815,181926,-4459.851,629.757,24,2.4,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.3
$GPS2,030815,182628,-4459.837,629.791,20,0.9,20,-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,162.2,408,-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,23,begin dive
$GC,24,-1.34,-62.6,0.0,0.0,0,64,0.00,0.00,-38.12,0.000,2,0.000,0.000,81,2065,1841,0,0,0,0,0,0
$GC,66,-1.41,-121.6,3.1,-3.7,6,105,11.07,2.28,-21.23,0.000,4,0.262,0.064,2723,636,2395,0,0,0,0,0,0
$GC,217,-1.25,-121.6,26.3,-21.5,30,225,0.22,2.22,0.00,0.000,6,0.196,0.043,2776,2019,2396,0,0,0,0,0,0
$GC,368,-1.17,-121.6,56.0,-19.9,55,374,0.12,2.30,0.00,0.000,4,0.224,0.063,2795,3447,2397,0,0,0,0,0,0
$GC,426,-1.11,-121.6,67.4,-18.4,65,432,0.12,2.17,0.00,0.000,6,0.195,0.042,2826,2045,2397,0,0,0,0,0,0
$GC,771,-1.11,-121.6,124.7,-16.8,113,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2045,2398,0,0,0,0,0,0
$GC,1086,-1.11,-121.6,175.6,-14.9,143,1090,0.00,2.25,0.00,0.000,4,0.000,0.060,2816,3442,2398,0,0,0,0,0,0
$GC,1186,-1.11,-121.6,191.4,-14.6,151,1193,0.00,2.20,0.00,0.000,6,0.000,0.039,2816,2034,2398,0,0,0,0,0,0
$GC,1512,-1.11,-121.6,240.3,-14.9,182,1516,0.00,2.20,0.00,0.000,4,0.000,0.053,2816,637,2399,0,0,0,0,0,0
$GC,1563,-1.07,-121.6,248.3,-15.7,186,1567,0.12,2.17,0.00,0.000,6,0.200,0.042,2838,2040,2399,0,0,0,0,0,0
$GC,1894,-1.07,-121.6,294.2,-13.6,217,1898,0.00,2.25,0.00,0.000,4,0.000,0.063,2828,3454,2399,0,0,0,0,0,0
$GC,1956,-1.07,-121.6,303.0,-13.3,222,1960,0.00,2.17,0.00,0.000,6,0.000,0.040,2828,2041,2400,0,0,0,0,0,0
$GC,2280,-1.07,-121.6,350.0,-14.6,252,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2040,2400,0,0,0,0,0,0
$GC,2599,-1.07,-121.6,397.7,-14.9,282,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2041,2400,0,0,0,0,0,0
$GC,2909,-1.07,-121.6,445.0,-15.9,298,2913,0.00,2.17,0.00,0.000,4,0.000,0.051,2828,634,2400,0,0,0,0,0,0
$GC,2963,-1.07,-121.6,454.3,-16.9,300,2970,0.03,2.22,0.00,0.000,6,0.218,0.042,2827,2045,2400,0,0,0,0,0,0
$GC,3279,-1.07,-121.6,503.1,-15.6,316,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2045,2400,0,0,0,0,0,0
$GC,3588,-1.07,-121.6,549.7,-14.7,331,3592,0.00,2.22,0.00,0.000,4,0.000,0.061,2817,3447,2400,0,0,0,0,0,0
$GC,3631,-1.07,-121.6,556.2,-14.2,333,3637,0.05,2.20,0.00,0.000,6,0.179,0.041,2832,2037,2399,0,0,0,0,0,0
$GC,3959,-1.10,-121.6,600.6,-13.3,349,3963,0.00,2.28,0.00,0.000,4,0.000,0.063,2823,3457,2399,0,0,0,0,0,0
$GC,4002,-1.10,-121.6,606.9,-13.7,351,4007,0.00,2.20,0.00,0.000,6,0.000,0.041,2823,2039,2399,0,0,0,0,0,0
$GC,4330,-1.10,-121.6,650.6,-13.0,367,4334,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,3447,2399,0,0,0,0,0,0
$GC,4391,-1.10,-121.6,658.7,-13.7,370,4395,0.05,2.17,0.00,0.000,6,0.232,0.043,2824,2034,2399,0,0,0,0,0,0
$GC,4716,-1.10,-121.6,699.5,-12.4,386,4720,0.00,2.28,0.00,0.000,4,0.000,0.063,2815,3448,2399,0,0,0,0,0,0
$GC,4765,-1.10,-121.6,706.2,-13.2,388,4770,0.00,2.20,0.00,0.000,6,0.000,0.043,2815,2036,2398,0,0,0,0,0,0
$GC,5088,-1.10,-121.6,747.0,-13.0,404,5092,0.00,2.20,0.00,0.000,4,0.000,0.054,2815,631,2398,0,0,0,0,0,0
$GC,5136,-1.10,-121.6,753.9,-13.2,406,5142,0.05,2.22,0.00,0.000,6,0.200,0.044,2822,2039,2398,0,0,0,0,0,0
$GC,5458,-1.10,-121.6,795.4,-13.4,422,5462,0.00,2.25,0.00,0.000,4,0.000,0.065,2812,3454,2398,0,0,0,0,0,0
$GC,5568,-1.10,-121.6,811.1,-14.0,427,5573,0.03,2.20,0.00,0.000,6,0.204,0.042,2820,2038,2398,0,0,0,0,0,0
$GC,5895,-1.10,-121.6,856.9,-14.3,443,5899,0.00,2.25,0.00,0.000,4,0.000,0.061,2811,3457,2398,0,0,0,0,0,0
$GC,5938,-1.10,-121.6,863.4,-14.5,445,5944,0.05,2.20,0.00,0.000,6,0.184,0.041,2827,2037,2397,0,0,0,0,0,0
$GC,6266,-1.13,-121.6,907.7,-13.5,461,6270,0.00,2.22,0.00,0.000,4,0.000,0.061,2818,3448,2396,0,0,0,0,0,0
$GC,6297,-1.13,-121.6,912.3,-13.8,462,6302,0.00,2.17,0.00,0.000,6,0.000,0.041,2818,2045,2397,0,0,0,0,0,0
$GC,6620,-1.13,-121.6,953.3,-12.3,478,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2045,2397,0,0,0,0,0,0
$GC,6930,-1.15,-121.6,990.7,-11.7,493,6934,0.00,2.20,0.00,0.000,4,0.000,0.052,2817,628,2397,0,0,0,0,0,0
$GC,6973,-1.15,-121.6,996.6,-12.4,495,6978,0.00,2.22,0.00,0.000,6,0.000,0.042,2808,2040,2397,0,0,0,0,0,0
$STATE,7011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7011,begin apogee
$GC,7015,-0.23,0.0,1001.0,12.0,497,7132,1.00,0.00,111.25,1.298,6,0.174,0.000,3107,1746,1899,0,0,0,0,0,0
$STATE,7133,end apogee,CONTROL_FINISHED_OK
$STATE,7133,begin climb
$GC,7134,1.41,121.6,1003.6,0.0,503,7260,1.60,2.45,114.97,1.251,4,0.093,0.045,3639,350,1402,0,0,0,0,0,0
$GC,7383,1.31,121.6,963.3,19.7,514,7389,0.10,2.33,0.00,0.000,6,0.177,0.034,3611,1752,1395,0,0,0,0,0,0
$GC,7699,1.26,121.6,905.7,18.3,530,7704,0.08,2.30,0.00,0.000,4,0.231,0.044,3605,338,1394,0,0,0,0,0,0
$GC,7815,1.20,121.6,884.2,18.2,535,7820,0.10,2.28,0.00,0.000,6,0.185,0.034,3577,1749,1392,0,0,0,0,0,0
$GC,8136,1.20,121.6,832.6,15.9,551,8140,0.00,2.25,0.00,0.000,4,0.000,0.044,3586,338,1392,0,0,0,0,0,0
$GC,8201,1.17,121.6,821.5,16.7,554,8206,0.08,2.25,0.00,0.000,6,0.177,0.034,3563,1751,1391,0,0,0,0,0,0
$GC,8528,1.17,121.6,772.0,15.1,570,8532,0.00,2.22,0.00,0.000,4,0.000,0.044,3572,347,1391,0,0,0,0,0,0
$GC,8593,1.17,121.6,761.5,16.3,573,8598,0.00,2.22,0.00,0.000,6,0.000,0.033,3572,1752,1390,0,0,0,0,0,0
$GC,8921,1.17,121.6,711.7,15.2,589,8925,0.00,2.25,0.00,0.000,4,0.000,0.044,3581,340,1390,0,0,0,0,0,0
$GC,9014,1.14,121.6,696.6,15.9,593,9019,0.08,2.22,0.00,0.000,6,0.178,0.033,3558,1756,1390,0,0,0,0,0,0
$GC,9336,1.14,121.6,650.8,14.1,609,9340,0.00,2.25,0.00,0.000,4,0.000,0.045,3567,338,1390,0,0,0,0,0,0
$GC,9390,1.14,121.6,642.5,15.1,611,9397,0.03,2.20,0.00,0.000,6,0.210,0.033,3559,1748,1390,0,0,0,0,0,0
$GC,9706,1.14,121.6,597.1,14.6,627,9710,0.00,2.20,0.00,0.000,4,0.000,0.044,3568,345,1390,0,0,0,0,0,0
$GC,9726,1.14,121.6,593.8,15.8,628,9732,0.03,2.20,0.00,0.000,6,0.212,0.033,3560,1749,1389,0,0,0,0,0,0
$GC,10054,1.16,121.6,545.9,14.7,644,10058,0.00,2.20,0.00,0.000,4,0.000,0.044,3569,339,1390,0,0,0,0,0,0
$GC,10116,1.16,121.6,536.2,15.9,647,10120,0.00,2.15,0.00,0.000,6,0.000,0.033,3568,1748,1389,0,0,0,0,0,0
$GC,10441,1.16,121.6,485.2,15.9,663,10445,0.00,2.20,0.00,0.000,4,0.000,0.044,3577,341,1389,0,0,0,0,0,0
$GC,10534,1.16,121.6,469.7,16.4,667,10540,0.05,2.20,0.00,0.000,6,0.181,0.032,3562,1756,1389,0,0,0,0,0,0
$GC,10856,1.16,121.6,421.9,14.5,683,10860,0.00,2.22,0.00,0.000,4,0.000,0.045,3570,344,1389,0,0,0,0,0,0
$GC,10917,1.16,121.6,412.5,16.1,686,10922,0.00,2.15,0.00,0.000,6,0.000,0.032,3570,1756,1389,0,0,0,0,0,0
$GC,11240,1.16,121.6,365.2,14.7,712,11244,0.00,2.22,0.00,0.000,4,0.000,0.044,3579,341,1389,0,0,0,0,0,0
$GC,11279,1.16,121.6,359.2,16.2,715,11284,0.08,2.15,0.00,0.000,6,0.207,0.032,3563,1760,1388,0,0,0,0,0,0
$GC,11606,1.19,121.6,312.7,13.6,745,11610,0.00,2.22,0.00,0.000,4,0.000,0.044,3572,345,1389,0,0,0,0,0,0
$GC,11679,1.19,121.6,301.5,15.5,751,11683,0.00,2.15,0.00,0.000,6,0.000,0.031,3572,1746,1388,0,0,0,0,0,0
$GC,12005,1.19,121.6,254.8,14.1,781,12009,0.00,2.20,0.00,0.000,4,0.000,0.044,3581,345,1388,0,0,0,0,0,0
$GC,12160,1.19,121.6,231.4,15.2,794,12167,0.03,2.17,0.00,0.000,6,0.204,0.032,3573,1753,1388,0,0,0,0,0,0
$GC,12488,1.19,121.6,185.9,13.8,825,12492,0.00,2.20,0.00,0.000,4,0.000,0.044,3582,336,1388,0,0,0,0,0,0
$GC,12527,1.19,121.6,179.9,15.0,828,12531,0.05,2.17,0.00,0.000,6,0.238,0.033,3570,1757,1388,0,0,0,0,0,0
$GC,12851,1.21,121.6,132.9,14.0,858,12855,0.00,2.22,0.00,0.000,4,0.000,0.044,3579,336,1388,0,0,0,0,0,0
$GC,12973,1.21,121.6,115.5,13.6,868,12982,0.00,2.20,0.00,0.000,6,0.000,0.032,3579,1752,1388,0,0,0,0,0,0
$GC,13316,1.21,121.6,68.2,13.1,919,13321,0.00,2.20,0.00,0.000,4,0.000,0.044,3589,345,1388,0,0,0,0,0,0
$GC,13369,1.21,121.6,60.9,13.8,928,13375,0.03,2.17,0.00,0.000,6,0.207,0.032,3579,1756,1388,0,0,0,0,0,0
$GC,13731,1.21,121.6,12.8,14.0,989,13738,0.00,2.25,0.00,0.000,4,0.000,0.044,3588,335,1388,0,0,0,0,0,0
$GC,13789,1.21,121.6,4.3,13.9,998,13797,0.03,2.17,0.00,0.000,6,0.210,0.032,3579,1754,1388,0,0,0,0,0,0
$STATE,13804,end climb,SURFACE_DEPTH_REACHED
$STATE,13804,begin surface coast
$FINISH,1.1,1.015819
$STATE,13830,end surface coast,CONTROL_FINISHED_OK
$STATE,13830,begin surface
$SM_CCo,13845,37.70,0.057,0,0,1063,205.07
$SM_GC,2.46,0.00,0.00,37.70,0.000,0.000,0.057,84,2059,1063,-9.68,0.54,205.07
$IRIDIUM_FIX,-4441.36,627.47,300508,030355
$TT8_MAMPS,0.026964
$HUMID,62.28
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.4,9.708
$10V_AH,10.2,6.770
$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,24.250,142.900,226.225,37.700,0.000,26.061,45.950,242.232,0.000,0.000,22.846,2548.916,8458.162,380.732,2813.888,104.917,0.000,1414.997,0.000,2335.606,0.000,0.540,0.000
$DEVICE_MAMPS,261.630,65.025,1298.205,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.239,1849.089,744.872,410.441,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,70557,1004
$CAP_FILE_SIZE,144249,0
$CFSIZE,2097086464,2087550976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030815,221927,-4501.911,631.677,41,1.2,41,-24.4