version: 66.07.10.p01
glider: 573
mission: 12
dive: 36
start: 8 3 115 22 26 24
data:
$ID,573
$MISSION,12
$DIVE,36
$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,-21100.391
$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,49
$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,35
$GPS1,030815,221927,-4501.911,631.677,41,1.2,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.3
$GPS2,030815,222604,-4501.935,631.684,18,1.1,18,-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,352.8,4207,-23.0,-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,-1.15,-92.0,0.0,0.0,0,76,0.00,0.00,-50.62,0.000,2,0.000,0.000,82,2058,2129,0,0,0,0,0,0
$GC,78,-1.22,-145.9,3.2,-2.3,8,112,11.32,2.30,-10.95,0.000,4,0.262,0.079,2775,3426,2499,0,0,0,0,0,0
$GC,230,-1.04,-145.9,29.1,-19.7,32,238,0.22,2.20,0.00,0.000,6,0.181,0.043,2841,2045,2501,0,0,0,0,0,0
$GC,380,-0.95,-145.9,56.7,-18.3,57,387,0.12,0.00,0.00,0.000,6,0.201,0.000,2872,2045,2501,0,0,0,0,0,0
$GC,729,-0.90,-145.9,113.4,-15.6,111,731,0.08,0.00,0.00,0.000,6,0.233,0.000,2888,2045,2502,0,0,0,0,0,0
$GC,1050,-0.90,-145.9,158.1,-13.8,141,1054,0.00,2.25,0.00,0.000,4,0.000,0.061,2878,3436,2502,0,0,0,0,0,0
$GC,1171,-0.90,-145.9,175.1,-13.3,151,1178,0.03,2.17,0.00,0.000,6,0.204,0.039,2886,2037,2503,0,0,0,0,0,0
$GC,1497,-0.90,-145.9,219.1,-13.7,182,1501,0.00,2.20,0.00,0.000,4,0.000,0.051,2887,633,2503,0,0,0,0,0,0
$GC,1529,-0.87,-145.9,224.2,-15.3,184,1538,0.05,2.20,0.00,0.000,6,0.200,0.042,2894,2026,2502,0,0,0,0,0,0
$GC,1854,-0.87,-145.9,268.2,-13.6,215,1858,0.00,2.22,0.00,0.000,4,0.000,0.059,2883,3444,2503,0,0,0,0,0,0
$GC,1904,-0.87,-145.9,275.1,-13.7,219,1909,0.08,2.15,0.00,0.000,6,0.207,0.039,2899,2027,2503,0,0,0,0,0,0
$GC,2230,-0.87,-145.9,317.3,-12.8,249,2234,0.00,2.25,0.00,0.000,4,0.000,0.059,2890,3445,2504,0,0,0,0,0,0
$GC,2262,-0.87,-145.9,322.0,-13.6,251,2268,0.00,2.17,0.00,0.000,6,0.000,0.039,2892,2042,2504,0,0,0,0,0,0
$GC,2587,-0.87,-145.9,364.3,-13.1,282,2591,0.00,2.17,0.00,0.000,4,0.000,0.051,2891,635,2504,0,0,0,0,0,0
$GC,2608,-0.87,-145.9,367.5,-13.6,283,2615,0.05,2.20,0.00,0.000,6,0.193,0.040,2898,2036,2504,0,0,0,0,0,0
$GC,2932,-0.87,-145.9,408.7,-12.8,311,2936,0.00,2.25,0.00,0.000,4,0.000,0.063,2887,3450,2504,0,0,0,0,0,0
$GC,2957,-0.87,-145.9,412.3,-13.1,312,2963,0.03,2.17,0.00,0.000,6,0.193,0.040,2896,2046,2504,0,0,0,0,0,0
$GC,3279,-0.87,-145.9,452.0,-12.8,328,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2045,2504,0,0,0,0,0,0
$GC,3588,-0.87,-145.9,489.2,-11.6,343,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2045,2504,0,0,0,0,0,0
$GC,3897,-0.87,-145.9,525.3,-11.8,358,3901,0.00,2.22,0.00,0.000,4,0.000,0.060,2887,3451,2503,0,0,0,0,0,0
$GC,3946,-0.87,-145.9,531.3,-11.8,360,3952,0.03,2.20,0.00,0.000,6,0.194,0.040,2896,2031,2503,0,0,0,0,0,0
$GC,4268,-0.87,-145.9,569.0,-11.8,376,4272,0.00,2.28,0.00,0.000,4,0.000,0.062,2887,3449,2503,0,0,0,0,0,0
$GC,4310,-0.87,-145.9,574.3,-12.2,378,4316,0.03,2.17,0.00,0.000,6,0.194,0.041,2895,2046,2503,0,0,0,0,0,0
$GC,4637,-0.87,-145.9,612.7,-11.7,394,4641,0.00,2.22,0.00,0.000,4,0.000,0.060,2886,3452,2502,0,0,0,0,0,0
$GC,4676,-0.87,-145.9,617.4,-12.4,396,4681,0.08,2.17,0.00,0.000,6,0.204,0.041,2902,2029,2502,0,0,0,0,0,0
$GC,5003,-0.90,-145.9,655.6,-11.8,412,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2029,2502,0,0,0,0,0,0
$GC,5312,-0.93,-145.9,691.4,-11.5,427,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2029,2502,0,0,0,0,0,0
$GC,5621,-0.97,-145.9,726.0,-11.2,442,5623,0.10,0.00,0.00,0.000,6,0.107,0.000,2853,2029,2501,0,0,0,0,0,0
$GC,5930,-0.93,-145.9,767.3,-13.3,457,5932,0.10,0.00,0.00,0.000,6,0.210,0.000,2876,2029,2501,0,0,0,0,0,0
$GC,6239,-0.93,-145.9,804.3,-11.8,472,6243,0.00,2.25,0.00,0.000,4,0.000,0.063,2866,3447,2500,0,0,0,0,0,0
$GC,6288,-0.93,-145.9,810.2,-11.3,474,6294,0.03,2.17,0.00,0.000,6,0.205,0.041,2875,2045,2500,0,0,0,0,0,0
$GC,6610,-0.93,-145.9,846.7,-11.2,490,6614,0.00,2.22,0.00,0.000,4,0.000,0.060,2866,3452,2500,0,0,0,0,0,0
$GC,6686,-0.93,-145.9,855.9,-11.2,493,6693,0.03,2.20,0.00,0.000,6,0.205,0.041,2874,2032,2500,0,0,0,0,0,0
$GC,7003,-0.93,-145.9,890.8,-10.8,509,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2032,2500,0,0,0,0,0,0
$GC,7312,-0.93,-145.9,924.0,-10.6,524,7316,0.00,2.25,0.00,0.000,4,0.000,0.063,2865,3454,2500,0,0,0,0,0,0
$GC,7361,-0.93,-145.9,929.6,-11.3,526,7366,0.03,2.17,0.00,0.000,6,0.215,0.041,2873,2046,2500,0,0,0,0,0,0
$GC,7683,-0.93,-145.9,964.0,-10.7,542,7687,0.00,2.17,0.00,0.000,4,0.000,0.052,2873,634,2500,0,0,0,0,0,0
$GC,7703,-0.93,-145.9,966.5,-11.2,543,7709,0.03,2.20,0.00,0.000,6,0.214,0.040,2872,2043,2499,0,0,0,0,0,0
$STATE,8008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8008,begin apogee
$GC,8012,-0.23,0.0,1000.2,11.3,558,8150,0.77,0.00,133.55,1.297,6,0.161,0.000,3109,1745,1900,0,0,0,0,0,0
$STATE,8151,end apogee,CONTROL_FINISHED_OK
$STATE,8151,begin climb
$GC,8152,1.22,145.9,1004.2,0.0,565,8298,1.42,2.40,137.10,1.252,4,0.094,0.047,3582,352,1304,0,0,0,0,0,0
$GC,8392,1.11,145.9,971.5,17.7,576,8398,0.12,2.33,0.00,0.000,6,0.158,0.033,3546,1753,1297,0,0,0,0,0,0
$GC,8714,1.05,145.9,921.3,15.5,592,8719,0.10,2.28,0.00,0.000,4,0.194,0.045,3532,349,1294,0,0,0,0,0,0
$GC,8830,1.00,145.9,903.4,15.0,597,8836,0.05,2.25,0.00,0.000,6,0.178,0.032,3515,1750,1294,0,0,0,0,0,0
$GC,9151,1.00,145.9,858.6,13.6,613,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1750,1293,0,0,0,0,0,0
$GC,9461,1.00,145.9,816.3,13.6,628,9465,0.00,2.22,0.00,0.000,4,0.000,0.045,3525,348,1293,0,0,0,0,0,0
$GC,9526,0.97,145.9,806.7,14.7,631,9532,0.08,2.22,0.00,0.000,6,0.174,0.032,3501,1758,1292,0,0,0,0,0,0
$GC,9854,0.97,145.9,765.5,12.3,647,9858,0.00,2.25,0.00,0.000,4,0.000,0.045,3511,348,1292,0,0,0,0,0,0
$GC,9919,0.97,145.9,756.5,13.5,650,9925,0.03,2.20,0.00,0.000,6,0.202,0.031,3502,1751,1291,0,0,0,0,0,0
$GC,10247,0.97,145.9,715.9,12.6,666,10251,0.00,2.22,0.00,0.000,4,0.000,0.045,3512,340,1291,0,0,0,0,0,0
$GC,10311,0.97,145.9,707.0,14.1,669,10317,0.03,2.20,0.00,0.000,6,0.208,0.031,3503,1750,1291,0,0,0,0,0,0
$GC,10639,0.97,145.9,664.0,13.5,685,10643,0.00,2.20,0.00,0.000,4,0.000,0.045,3513,348,1291,0,0,0,0,0,0
$GC,10716,0.97,145.9,652.5,14.5,688,10724,0.03,2.17,0.00,0.000,6,0.208,0.031,3504,1749,1291,0,0,0,0,0,0
$GC,11033,0.97,145.9,607.7,14.1,704,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1749,1291,0,0,0,0,0,0
$GC,11342,0.97,145.9,564.8,13.7,719,11346,0.00,2.22,0.00,0.000,4,0.000,0.045,3513,343,1291,0,0,0,0,0,0
$GC,11412,0.97,145.9,554.5,14.0,722,11418,0.03,2.17,0.00,0.000,6,0.202,0.031,3504,1753,1291,0,0,0,0,0,0
$GC,11735,0.97,145.9,513.5,12.5,738,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1753,1291,0,0,0,0,0,0
$GC,12045,0.97,145.9,475.9,12.2,753,12049,0.00,2.20,0.00,0.000,4,0.000,0.044,3513,345,1291,0,0,0,0,0,0
$GC,12155,0.97,145.9,461.0,13.2,758,12161,0.03,2.17,0.00,0.000,6,0.203,0.031,3504,1750,1291,0,0,0,0,0,0
$GC,12483,0.97,145.9,419.6,12.5,774,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1750,1291,0,0,0,0,0,0
$GC,12796,0.97,145.9,382.2,12.0,796,12800,0.00,2.22,0.00,0.000,4,0.000,0.045,3514,338,1291,0,0,0,0,0,0
$GC,12905,0.97,145.9,368.6,13.6,805,12910,0.05,2.15,0.00,0.000,6,0.233,0.031,3502,1760,1290,0,0,0,0,0,0
$GC,13230,0.97,145.9,330.6,11.6,835,13234,0.00,2.20,0.00,0.000,4,0.000,0.045,3512,346,1290,0,0,0,0,0,0
$GC,13280,0.97,145.9,324.3,11.8,839,13285,0.05,2.15,0.00,0.000,6,0.233,0.031,3501,1758,1290,0,0,0,0,0,0
$GC,13607,0.99,145.9,286.1,12.0,869,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,3500,1759,1290,0,0,0,0,0,0
$GC,13923,1.02,145.9,248.5,11.8,899,13927,0.00,2.20,0.00,0.000,4,0.000,0.045,3510,345,1290,0,0,0,0,0,0
$GC,14022,1.02,145.9,235.7,12.3,907,14029,0.00,2.17,0.00,0.000,6,0.000,0.030,3510,1753,1290,0,0,0,0,0,0
$GC,14348,1.02,145.9,195.9,12.5,938,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1754,1290,0,0,0,0,0,0
$GC,14667,1.02,145.9,156.3,12.7,968,14671,0.00,2.20,0.00,0.000,4,0.000,0.044,3519,346,1291,0,0,0,0,0,0
$GC,14800,1.02,145.9,138.1,13.5,979,14807,0.00,2.17,0.00,0.000,6,0.000,0.031,3519,1751,1290,0,0,0,0,0,0
$GC,15127,1.02,145.9,97.7,12.4,1011,15134,0.00,2.17,0.00,0.000,4,0.000,0.053,3519,3134,1290,0,0,0,0,0,0
$GC,15170,1.02,145.9,92.4,13.0,1018,15175,0.05,2.08,0.00,0.000,6,0.239,0.029,3517,1735,1291,0,0,0,0,0,0
$GC,15518,1.02,145.9,48.2,13.5,1079,15523,0.00,2.15,0.00,0.000,4,0.000,0.047,3528,349,1290,0,0,0,0,0,0
$GC,15692,1.00,145.9,25.2,12.4,1108,15700,0.05,2.15,0.00,0.000,6,0.178,0.031,3511,1758,1290,0,0,0,0,0,0
$GC,15848,1.04,159.5,7.2,9.0,1133,15863,0.00,2.22,5.38,0.510,4,0.000,0.044,3521,355,1248,0,0,0,0,0,0
$STATE,15888,end climb,SURFACE_DEPTH_REACHED
$STATE,15888,begin surface coast
$FINISH,1.3,1.014629
$STATE,15920,end surface coast,CONTROL_FINISHED_OK
$STATE,15920,begin surface
$SM_CCo,15937,21.60,0.057,0,0,1062,205.07
$SM_GC,1.68,0.00,0.00,21.60,0.000,0.000,0.057,64,2071,1062,-9.75,0.88,205.07
$IRIDIUM_FIX,-4444.39,627.81,300508,070708
$TT8_MAMPS,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.2,9.824
$10V_AH,10.2,6.885
$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,24.225,128.900,276.025,21.600,0.000,27.212,20.278,241.891,0.000,0.000,20.246,2839.105,10007.275,406.907,2991.882,111.373,0.000,1516.915,0.000,2525.857,0.000,0.539,0.000
$DEVICE_MAMPS,261.630,78.795,1297.440,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.777,2098.774,827.334,438.982,0.000,0.000,0.000,0.000,0.000,0.000
$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,80438,1144
$CAP_FILE_SIZE,151395,0
$CFSIZE,2097086464,2087419904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040815,025333,-4500.356,632.373,35,1.7,35,-24.4