version: 66.07.10.p01
glider: 573
mission: 12
dive: 5
start: 7 29 115 19 48 12
data:
$ID,573
$MISSION,12
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,600
$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,133
$T_MISSION,150
$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,250
$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,-20967.459
$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,2166
$C_ROLL_CLIMB,1824
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,47
$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,1882
$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,4
$GPS1,290715,194323,-4459.167,635.654,14,1.4,14,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.8
$GPS2,290715,194752,-4459.130,635.707,20,1.1,20,-24.4
$SPEED_LIMITS,0.174,0.260
$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,282.2,7645,-18.3,-10.025
$D_GRID,400
$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,-1.01,-145.9,0.0,0.0,0,89,0.00,0.00,-62.88,0.000,2,0.000,0.000,86,2168,2339,0,0,0,0,0,0
$GC,91,-1.01,-145.9,3.6,-4.5,10,111,11.62,0.00,-3.00,0.000,6,0.259,0.000,2851,2166,2479,0,0,0,0,0,0
$GC,163,-0.84,-145.9,18.3,-16.1,21,170,0.22,0.00,0.00,0.000,6,0.188,0.000,2911,2166,2481,0,0,0,0,0,0
$GC,221,-0.76,-145.9,25.8,-12.5,30,228,0.10,0.00,0.00,0.000,6,0.197,0.000,2936,2166,2482,0,0,0,0,0,0
$GC,375,-0.72,-145.9,41.6,-10.2,55,380,0.05,0.00,0.00,0.000,6,0.236,0.000,2947,2166,2482,0,0,0,0,0,0
$GC,723,-0.69,-145.9,83.5,-11.4,116,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2166,2482,0,0,0,0,0,0
$GC,1056,-0.69,-145.9,122.2,-12.6,160,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2166,2482,0,0,0,0,0,0
$GC,1375,-0.69,-145.9,161.4,-12.0,190,1379,0.00,2.28,0.00,0.000,4,0.000,0.062,2947,750,2482,0,0,0,0,0,0
$GC,1462,-0.69,-145.9,171.9,-12.5,197,1466,0.08,2.22,0.00,0.000,6,0.207,0.050,2955,2145,2482,0,0,0,0,0,0
$GC,1786,-0.69,-145.9,209.7,-11.7,227,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2145,2482,0,0,0,0,0,0
$GC,2107,-0.69,-145.9,245.3,-10.9,257,2111,0.00,2.33,0.00,0.000,4,0.000,0.073,2945,3582,2482,0,0,0,0,0,0
$GC,2134,-0.69,-145.9,248.6,-11.6,259,2139,0.05,2.20,0.00,0.000,6,0.213,0.045,2956,2160,2483,0,0,0,0,0,0
$GC,2461,-0.69,-145.9,284.0,-10.8,289,2465,0.00,2.20,0.00,0.000,4,0.000,0.057,2957,761,2482,0,0,0,0,0,0
$GC,2512,-0.69,-145.9,289.7,-11.2,293,2517,0.00,2.20,0.00,0.000,6,0.000,0.047,2948,2172,2482,0,0,0,0,0,0
$GC,2842,-0.69,-145.9,326.3,-11.4,324,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2171,2482,0,0,0,0,0,0
$GC,3161,-0.69,-145.9,361.5,-11.0,354,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2171,2482,0,0,0,0,0,0
$GC,3480,-0.69,-145.9,398.8,-12.4,384,3484,0.00,2.25,0.00,0.000,4,0.000,0.057,2948,759,2482,0,0,0,0,0,0
$STATE,3497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3497,begin apogee
$GC,3502,-0.23,0.0,400.7,11.9,385,3629,0.55,0.00,124.18,0.923,6,0.148,0.000,3110,1837,1881,0,0,0,0,0,0
$STATE,3630,end apogee,CONTROL_FINISHED_OK
$STATE,3630,begin climb
$GC,3631,1.01,145.9,408.0,0.0,391,3763,1.20,2.47,124.05,0.887,4,0.098,0.054,3513,422,1286,0,0,0,0,0,0
$GC,3791,0.90,145.9,400.1,10.1,399,3796,0.15,2.38,0.00,0.000,6,0.155,0.044,3473,1833,1282,0,0,0,0,0,0
$GC,4120,0.86,145.9,367.5,10.3,429,4124,0.00,2.35,0.00,0.000,4,0.000,0.057,3483,419,1279,0,0,0,0,0,0
$GC,4242,0.81,145.9,353.3,11.6,439,4249,0.10,2.30,0.00,0.000,6,0.135,0.045,3448,1827,1278,0,0,0,0,0,0
$GC,4568,0.81,148.1,321.6,9.9,470,4572,0.00,2.30,0.00,0.000,4,0.000,0.057,3458,423,1278,0,0,0,0,0,0
$GC,4641,0.79,148.1,314.1,10.5,476,4646,0.08,2.25,0.00,0.000,6,0.174,0.044,3438,1832,1277,0,0,0,0,0,0
$GC,4965,0.81,167.8,283.9,9.1,506,4989,0.00,2.35,18.38,0.819,4,0.000,0.057,3447,427,1198,0,0,0,0,0,0
$GC,5056,0.81,167.8,274.9,10.3,514,5063,0.00,2.28,0.00,0.000,6,0.000,0.044,3447,1827,1196,0,0,0,0,0,0
$GC,5385,0.82,172.9,243.1,9.8,545,5395,0.00,2.30,5.35,0.598,4,0.000,0.054,3458,414,1177,0,0,0,0,0,0
$GC,5452,0.82,172.9,235.8,10.3,551,5457,0.00,2.25,0.00,0.000,6,0.000,0.043,3457,1827,1177,0,0,0,0,0,0
$GC,5780,0.82,172.9,202.4,10.5,581,5784,0.00,2.28,0.00,0.000,4,0.000,0.055,3467,424,1178,0,0,0,0,0,0
$GC,5877,0.82,172.9,192.0,11.2,589,5882,0.08,2.22,0.00,0.000,6,0.168,0.044,3447,1829,1177,0,0,0,0,0,0
$GC,6201,0.87,214.6,162.7,8.1,619,6243,0.00,2.33,36.53,0.789,4,0.000,0.054,3456,423,1006,0,0,0,0,0,0
$GC,6293,0.89,229.3,154.7,9.3,627,6312,0.00,2.28,13.55,0.731,6,0.000,0.043,3457,1817,946,0,0,0,0,0,0
$GC,6629,1.02,305.4,124.2,6.5,659,6702,0.15,2.40,64.80,0.745,4,0.085,0.056,3535,427,636,0,0,0,0,0,0
$GC,6903,0.98,305.4,88.6,15.7,691,6909,0.12,2.28,0.00,0.000,6,0.155,0.044,3501,1828,633,0,0,0,0,0,0
$GC,7253,0.98,305.4,35.5,18.9,752,7260,0.00,2.30,0.00,0.000,4,0.000,0.054,3511,423,632,0,0,0,0,0,0
$GC,7353,0.98,305.4,18.1,14.9,768,7361,0.00,2.28,0.00,0.000,6,0.000,0.045,3511,1821,631,0,0,0,0,0,0
$GC,7411,0.98,305.4,9.7,13.6,777,7418,0.00,2.33,0.00,0.000,4,0.000,0.071,3511,3224,631,0,0,0,0,0,0
$GC,7426,0.98,305.4,8.0,11.0,779,7434,0.05,2.20,0.00,0.000,6,0.155,0.038,3502,1817,631,0,0,0,0,0,0
$STATE,7472,end climb,SURFACE_DEPTH_REACHED
$STATE,7472,begin surface coast
$FINISH,0.7,1.023375
$STATE,7498,end surface coast,CONTROL_FINISHED_OK
$STATE,7498,begin surface
$SM_CCo,7573,0.00,0.000,0,0,629,307.36
$SM_GC,1.57,8.98,0.00,0.00,0.034,0.000,0.000,82,2193,629,-9.61,0.76,307.36
$IRIDIUM_FIX,-4441.36,633.52,250508,090940
$TT8_MAMPS,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.8,6.538
$10V_AH,10.3,3.656
$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,23.575,64.075,386.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.448,1873.189,3320.826,419.137,1965.370,68.584,0.000,1163.803,0.000,1870.102,0.000,0.540,0.000
$DEVICE_MAMPS,259.335,72.675,922.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.121,1590.732,916.230,449.052,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,57080,790
$CAP_FILE_SIZE,115763,0
$CFSIZE,2097086464,2091548672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290715,215533,-4459.268,635.026,37,1.0,37,-24.4