version: 66.07.10.p01
glider: 573
mission: 12
dive: 37
start: 8 4 115 3 0 54
data:
$ID,573
$MISSION,12
$DIVE,37
$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,-21102.717
$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,46
$R_STBD_OVSHOOT,59
$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,36
$GPS1,040815,025333,-4500.356,632.373,35,1.7,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-63.1
$GPS2,040815,030034,-4500.374,632.478,19,1.1,19,-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,306.4,3318,-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,-32.47,0.000,2,0.000,0.000,64,2071,1711,0,0,0,0,0,0
$GC,60,-1.40,-116.0,3.0,-4.3,5,99,10.90,0.00,-23.98,0.000,6,0.252,0.000,2725,2068,2375,0,0,0,0,0,0
$GC,150,-1.28,-116.0,15.0,-22.3,19,158,0.17,2.30,0.00,0.000,4,0.211,0.050,2768,651,2377,0,0,0,0,0,0
$GC,245,-1.17,-116.0,34.4,-19.6,34,253,0.15,2.20,0.00,0.000,6,0.197,0.043,2802,2014,2378,0,0,0,0,0,0
$GC,392,-1.11,-116.0,60.7,-17.1,59,397,0.10,0.00,0.00,0.000,6,0.217,0.000,2825,2014,2379,0,0,0,0,0,0
$GC,737,-1.08,-116.0,117.3,-15.8,111,741,0.00,2.28,0.00,0.000,4,0.000,0.063,2815,3447,2379,0,0,0,0,0,0
$GC,881,-1.08,-116.0,141.2,-16.2,123,888,0.03,2.17,0.00,0.000,6,0.213,0.039,2823,2051,2379,0,0,0,0,0,0
$GC,1207,-1.08,-116.0,189.8,-15.0,154,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2051,2379,0,0,0,0,0,0
$GC,1526,-1.08,-116.0,239.5,-15.7,184,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2051,2380,0,0,0,0,0,0
$GC,1844,-1.08,-116.0,290.0,-16.0,214,1849,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,3451,2380,0,0,0,0,0,0
$GC,1895,-1.08,-116.0,298.2,-16.0,218,1900,0.08,2.17,0.00,0.000,6,0.213,0.040,2830,2031,2380,0,0,0,0,0,0
$GC,2219,-1.08,-116.0,348.4,-14.9,248,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2030,2381,0,0,0,0,0,0
$GC,2538,-1.08,-116.0,394.6,-13.8,278,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2031,2381,0,0,0,0,0,0
$GC,2848,-1.08,-116.0,437.4,-13.4,295,2852,0.00,2.28,0.00,0.000,4,0.000,0.060,2821,3451,2380,0,0,0,0,0,0
$GC,2891,-1.08,-116.0,443.8,-14.8,297,2896,0.00,2.17,0.00,0.000,6,0.000,0.040,2821,2046,2380,0,0,0,0,0,0
$GC,3219,-1.08,-116.0,486.8,-13.0,313,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2046,2380,0,0,0,0,0,0
$GC,3529,-1.08,-116.0,529.1,-13.8,328,3533,0.00,2.25,0.00,0.000,4,0.000,0.058,2811,3458,2380,0,0,0,0,0,0
$GC,3590,-1.08,-116.0,537.9,-14.1,331,3595,0.08,2.17,0.00,0.000,6,0.210,0.038,2827,2030,2380,0,0,0,0,0,0
$GC,3917,-1.08,-116.0,582.1,-13.5,347,3921,0.00,2.28,0.00,0.000,4,0.000,0.060,2818,3454,2380,0,0,0,0,0,0
$GC,3971,-1.08,-116.0,590.2,-14.4,349,3978,0.00,2.17,0.00,0.000,6,0.000,0.039,2817,2045,2380,0,0,0,0,0,0
$GC,4288,-1.08,-116.0,634.0,-14.1,365,4293,0.05,2.25,0.00,0.000,4,0.244,0.060,2819,3446,2380,0,0,0,0,0,0
$GC,4349,-1.08,-116.0,642.7,-14.7,368,4353,0.00,2.15,0.00,0.000,6,0.000,0.041,2818,2037,2380,0,0,0,0,0,0
$GC,4675,-1.08,-116.0,688.0,-13.8,384,4679,0.05,2.28,0.00,0.000,4,0.244,0.061,2819,3453,2380,0,0,0,0,0,0
$GC,4717,-1.08,-116.0,694.0,-13.5,386,4722,0.00,2.20,0.00,0.000,6,0.000,0.039,2819,2033,2380,0,0,0,0,0,0
$GC,5045,-1.08,-116.0,737.9,-13.2,402,5049,0.00,2.28,0.00,0.000,4,0.000,0.061,2810,3457,2379,0,0,0,0,0,0
$GC,5087,-1.08,-116.0,744.0,-14.2,404,5093,0.05,2.20,0.00,0.000,6,0.178,0.039,2826,2034,2379,0,0,0,0,0,0
$GC,5414,-1.08,-116.0,784.9,-12.5,420,5419,0.00,2.28,0.00,0.000,4,0.000,0.061,2817,3456,2379,0,0,0,0,0,0
$GC,5480,-1.08,-116.0,793.4,-12.1,423,5486,0.03,2.20,0.00,0.000,6,0.205,0.040,2826,2036,2378,0,0,0,0,0,0
$GC,5808,-1.11,-116.0,832.0,-11.7,439,5812,0.00,2.25,0.00,0.000,4,0.000,0.061,2817,3446,2378,0,0,0,0,0,0
$GC,5874,-1.11,-116.0,839.9,-11.0,442,5879,0.00,2.17,0.00,0.000,6,0.000,0.041,2817,2043,2378,0,0,0,0,0,0
$GC,6201,-1.11,-116.0,877.2,-11.4,458,6205,0.00,2.25,0.00,0.000,4,0.000,0.059,2807,3456,2378,0,0,0,0,0,0
$GC,6267,-1.11,-116.0,884.9,-11.4,461,6272,0.03,2.20,0.00,0.000,6,0.188,0.039,2816,2032,2378,0,0,0,0,0,0
$GC,6594,-1.11,-116.0,920.0,-11.0,477,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2032,2378,0,0,0,0,0,0
$GC,6904,-1.11,-116.0,953.6,-11.0,492,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2032,2377,0,0,0,0,0,0
$GC,7213,-1.11,-116.0,989.6,-11.6,507,7217,0.00,2.28,0.00,0.000,4,0.000,0.061,2807,3457,2377,0,0,0,0,0,0
$GC,7252,-1.11,-116.0,994.3,-12.9,509,7256,0.08,2.17,0.00,0.000,6,0.206,0.039,2823,2030,2377,0,0,0,0,0,0
$STATE,7308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7308,begin apogee
$GC,7312,-0.23,0.0,1001.0,11.7,512,7423,0.95,0.00,107.45,1.301,6,0.170,0.000,3110,1749,1900,0,0,0,0,0,0
$STATE,7423,end apogee,CONTROL_FINISHED_OK
$STATE,7424,begin climb
$GC,7425,1.40,116.0,1004.2,0.0,517,7540,1.60,0.00,110.90,1.255,6,0.094,0.000,3630,1749,1425,0,0,0,0,0,0
$GC,7841,1.33,116.0,939.1,17.1,538,7845,0.08,2.25,0.00,0.000,4,0.220,0.046,3626,348,1416,0,0,0,0,0,0
$GC,8052,1.25,116.0,901.0,18.9,547,8059,0.12,2.28,0.00,0.000,6,0.177,0.033,3589,1764,1414,0,0,0,0,0,0
$GC,8368,1.23,116.0,850.4,16.3,563,8372,0.00,2.30,0.00,0.000,4,0.000,0.045,3598,339,1413,0,0,0,0,0,0
$GC,8456,1.18,116.0,834.8,17.6,567,8462,0.08,2.25,0.00,0.000,6,0.181,0.033,3571,1756,1413,0,0,0,0,0,0
$GC,8783,1.18,116.0,784.6,15.7,583,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1756,1412,0,0,0,0,0,0
$GC,9093,1.18,116.0,735.7,15.9,598,9097,0.00,2.25,0.00,0.000,4,0.000,0.045,3580,346,1412,0,0,0,0,0,0
$GC,9222,1.15,116.0,714.5,16.9,604,9227,0.10,2.20,0.00,0.000,6,0.198,0.032,3557,1762,1411,0,0,0,0,0,0
$GC,9548,1.15,116.0,665.4,14.7,620,9552,0.00,2.25,0.00,0.000,4,0.000,0.046,3565,348,1411,0,0,0,0,0,0
$GC,9641,1.15,116.0,650.6,15.4,624,9646,0.00,2.20,0.00,0.000,6,0.000,0.031,3565,1753,1411,0,0,0,0,0,0
$GC,9964,1.15,116.0,601.7,15.3,640,9968,0.00,2.22,0.00,0.000,4,0.000,0.045,3574,348,1411,0,0,0,0,0,0
$GC,10057,1.15,116.0,586.3,16.5,644,10063,0.05,2.20,0.00,0.000,6,0.186,0.033,3559,1757,1411,0,0,0,0,0,0
$GC,10379,1.17,116.0,539.2,14.5,660,10383,0.00,2.22,0.00,0.000,4,0.000,0.044,3568,348,1411,0,0,0,0,0,0
$GC,10411,1.17,116.0,534.2,14.7,661,10418,0.00,2.17,0.00,0.000,6,0.000,0.033,3568,1739,1410,0,0,0,0,0,0
$GC,10727,1.17,116.0,485.7,15.4,677,10731,0.00,2.20,0.00,0.000,4,0.000,0.046,3576,348,1411,0,0,0,0,0,0
$GC,10811,1.17,116.0,472.2,16.3,681,10816,0.05,2.17,0.00,0.000,6,0.235,0.031,3567,1767,1410,0,0,0,0,0,0
$GC,11137,1.17,116.0,423.5,14.6,697,11141,0.00,2.25,0.00,0.000,4,0.000,0.045,3575,340,1410,0,0,0,0,0,0
$GC,11245,1.17,116.0,407.2,16.1,702,11249,0.00,2.15,0.00,0.000,6,0.000,0.031,3575,1747,1410,0,0,0,0,0,0
$GC,11568,1.17,116.0,360.0,14.2,730,11572,0.00,2.20,0.00,0.000,4,0.000,0.044,3584,348,1410,0,0,0,0,0,0
$GC,11656,1.15,116.0,347.7,14.6,737,11660,0.10,2.15,0.00,0.000,6,0.199,0.033,3560,1752,1410,0,0,0,0,0,0
$GC,11980,1.18,116.0,305.2,12.4,767,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1752,1410,0,0,0,0,0,0
$GC,12301,1.20,116.0,265.3,12.1,797,12305,0.00,2.22,0.00,0.000,4,0.000,0.044,3568,336,1410,0,0,0,0,0,0
$GC,12424,1.20,116.0,248.6,13.4,807,12430,0.00,2.20,0.00,0.000,6,0.000,0.032,3568,1751,1410,0,0,0,0,0,0
$GC,12749,1.20,116.0,206.3,13.0,838,12753,0.00,2.20,0.00,0.000,4,0.000,0.044,3577,346,1410,0,0,0,0,0,0
$GC,12805,1.20,116.0,198.8,13.3,842,12810,0.00,2.15,0.00,0.000,6,0.000,0.032,3577,1755,1409,0,0,0,0,0,0
$GC,13131,1.20,116.0,156.2,14.0,873,13135,0.00,2.22,0.00,0.000,4,0.000,0.044,3587,336,1410,0,0,0,0,0,0
$GC,13295,1.20,116.0,133.5,13.9,887,13300,0.05,2.17,0.00,0.000,6,0.240,0.033,3576,1759,1410,0,0,0,0,0,0
$GC,13624,1.20,116.0,90.0,13.7,923,13629,0.00,2.22,0.00,0.000,4,0.000,0.044,3585,337,1410,0,0,0,0,0,0
$GC,13843,1.20,116.0,59.2,15.0,961,13849,0.05,2.15,0.00,0.000,6,0.240,0.031,3575,1751,1410,0,0,0,0,0,0
$GC,14206,1.18,116.0,6.1,16.3,1022,14214,0.00,2.22,0.00,0.000,4,0.000,0.044,3584,346,1409,0,0,0,0,0,0
$STATE,14227,end climb,SURFACE_DEPTH_REACHED
$STATE,14227,begin surface coast
$FINISH,1.6,1.023377
$STATE,14247,end surface coast,CONTROL_FINISHED_OK
$STATE,14247,begin surface
$SM_CCo,14264,40.30,0.057,0,0,1062,205.07
$SM_GC,2.52,0.00,0.00,40.30,0.000,0.000,0.057,85,2057,1062,-9.68,0.48,205.07
$IRIDIUM_FIX,-4447.43,631.19,300508,111113
$TT8_MAMPS,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,1
$24V_AH,23.4,9.923
$10V_AH,10.2,6.989
$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,24.000,120.600,218.350,40.300,0.000,22.447,21.832,265.715,0.250,0.000,22.097,2597.720,8820.465,386.137,2817.258,101.968,0.000,1388.053,0.000,2345.186,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,62.730,1301.265,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.423,1877.032,734.972,387.993,0.000,0.000,0.000,0.000,0.000,0.000
$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,70417,1028
$CAP_FILE_SIZE,139859,0
$CFSIZE,2097086464,2087288832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040815,070034,-4459.695,630.886,42,1.0,42,-24.4