version: 66.07.10.p01
glider: 573
mission: 12
dive: 84
start: 8 13 115 10 47 49
data:
$ID,573
$MISSION,12
$DIVE,84
$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,390
$T_MISSION,420
$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,120
$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,200
$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,-21276.166
$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,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,30
$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,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,83
$GPS1,130815,103703,-4503.715,624.902,27,1.0,27,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-63.1
$GPS2,130815,104729,-4503.669,625.040,21,0.9,21,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$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,270.1,1492,-27.7,-8.547
$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,23,-1.09,-49.9,0.0,0.0,0,57,0.00,0.00,-31.77,0.000,2,0.000,0.000,73,2054,1779,0,0,0,0,0,0
$GC,59,-1.13,-110.9,3.0,-1.6,5,99,10.93,2.22,-23.10,0.000,4,0.238,0.061,2816,665,2404,0,0,0,0,0,0
$GC,138,-1.01,-110.9,10.0,-14.4,17,145,0.15,2.25,0.00,0.000,6,0.171,0.039,2852,2064,2407,0,0,0,0,0,0
$GC,197,-1.07,-110.9,21.5,-19.2,26,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2064,2407,0,0,0,0,0,0
$GC,346,-1.07,-110.9,46.7,-15.6,51,353,0.00,2.30,0.00,0.000,4,0.000,0.062,2842,3465,2407,0,0,0,0,0,0
$GC,365,-1.07,-110.9,49.6,-15.5,54,372,0.00,2.22,0.00,0.000,6,0.000,0.040,2842,2060,2407,0,0,0,0,0,0
$GC,716,-1.07,-110.9,100.4,-15.0,115,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2060,2407,0,0,0,0,0,0
$GC,1036,-1.07,-110.9,149.0,-14.2,145,1040,0.00,2.28,0.00,0.000,4,0.000,0.059,2833,3463,2408,0,0,0,0,0,0
$GC,1070,-1.07,-110.9,154.5,-14.9,147,1075,0.00,2.17,0.00,0.000,6,0.000,0.039,2833,2052,2408,0,0,0,0,0,0
$GC,1394,-1.07,-110.9,203.0,-14.8,178,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2052,2408,0,0,0,0,0,0
$GC,1713,-1.07,-110.9,251.0,-15.8,208,1717,0.00,2.20,0.00,0.000,4,0.000,0.053,2833,658,2408,0,0,0,0,0,0
$GC,1740,-1.07,-110.9,255.3,-15.4,210,1745,0.05,2.17,0.00,0.000,6,0.249,0.041,2834,2060,2409,0,0,0,0,0,0
$GC,2072,-1.07,-110.9,303.8,-14.3,241,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2060,2409,0,0,0,0,0,0
$GC,2389,-1.07,-110.9,349.9,-14.1,271,2393,0.00,2.22,0.00,0.000,4,0.000,0.061,2823,3465,2409,0,0,0,0,0,0
$GC,2450,-1.07,-110.9,359.0,-14.9,276,2455,0.05,2.17,0.00,0.000,6,0.226,0.040,2834,2052,2409,0,0,0,0,0,0
$GC,2784,-1.07,-110.9,405.7,-13.5,305,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2052,2409,0,0,0,0,0,0
$GC,3093,-1.07,-110.9,445.6,-12.8,320,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2051,2409,0,0,0,0,0,0
$GC,3403,-1.07,-110.9,486.1,-13.1,335,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2051,2409,0,0,0,0,0,0
$GC,3712,-1.07,-110.9,527.0,-13.6,350,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2052,2409,0,0,0,0,0,0
$GC,4021,-1.07,-110.9,569.8,-14.0,365,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2052,2408,0,0,0,0,0,0
$GC,4331,-1.07,-110.9,611.8,-13.6,380,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2052,2408,0,0,0,0,0,0
$GC,4640,-1.10,-110.9,654.2,-13.9,395,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2052,2408,0,0,0,0,0,0
$GC,4950,-1.13,-110.9,697.3,-14.0,410,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2052,2408,0,0,0,0,0,0
$GC,5259,-1.17,-110.9,739.8,-13.7,425,5261,0.08,0.00,0.00,0.000,6,0.125,0.000,2797,2051,2407,0,0,0,0,0,0
$GC,5568,-1.14,-110.9,787.0,-15.3,440,5570,0.08,0.00,0.00,0.000,6,0.205,0.000,2812,2052,2407,0,0,0,0,0,0
$GC,5877,-1.14,-110.9,831.2,-14.0,455,5881,0.00,2.28,0.00,0.000,4,0.000,0.062,2803,3473,2406,0,0,0,0,0,0
$GC,5920,-1.14,-110.9,837.4,-14.9,457,5925,0.00,2.20,0.00,0.000,6,0.000,0.043,2803,2066,2406,0,0,0,0,0,0
$GC,6248,-1.14,-110.9,882.4,-13.6,473,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2066,2406,0,0,0,0,0,0
$GC,6557,-1.14,-110.9,923.1,-12.9,488,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2065,2406,0,0,0,0,0,0
$GC,6867,-1.14,-110.9,962.4,-12.5,503,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2066,2405,0,0,0,0,0,0
$STATE,7175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7175,begin apogee
$GC,7180,-0.19,0.0,1000.4,12.1,518,7284,1.05,0.00,100.53,1.292,6,0.173,0.000,3116,1584,1950,0,0,0,0,0,0
$STATE,7285,end apogee,CONTROL_FINISHED_OK
$STATE,7285,begin climb
$GC,7286,1.13,110.9,1003.0,0.0,523,7402,1.27,2.47,105.68,1.254,4,0.093,0.050,3547,192,1496,0,0,0,0,0,0
$GC,7462,1.13,110.9,982.7,16.3,531,7467,0.00,2.35,0.00,0.000,6,0.000,0.034,3547,1599,1490,0,0,0,0,0,0
$GC,7785,1.16,110.9,934.5,15.2,547,7789,0.00,2.30,0.00,0.000,4,0.000,0.054,3547,3005,1487,0,0,0,0,0,0
$GC,7868,1.16,110.9,921.4,15.2,551,7872,0.00,2.22,0.00,0.000,6,0.000,0.033,3556,1591,1487,0,0,0,0,0,0
$GC,8194,1.16,110.9,872.0,14.6,567,8198,0.00,2.25,0.00,0.000,4,0.000,0.050,3567,195,1485,0,0,0,0,0,0
$GC,8265,1.16,110.9,860.7,15.7,570,8271,0.00,2.25,0.00,0.000,6,0.000,0.034,3567,1608,1484,0,0,0,0,0,0
$GC,8587,1.16,110.9,814.2,14.2,586,8591,0.00,2.22,0.00,0.000,4,0.000,0.052,3567,3003,1484,0,0,0,0,0,0
$GC,8642,1.16,110.9,806.0,15.2,588,8649,0.05,2.20,0.00,0.000,6,0.183,0.032,3561,1589,1484,0,0,0,0,0,0
$GC,8958,1.16,110.9,761.7,14.2,604,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1589,1483,0,0,0,0,0,0
$GC,9268,1.16,110.9,717.9,14.0,619,9272,0.00,2.22,0.00,0.000,4,0.000,0.050,3571,189,1483,0,0,0,0,0,0
$GC,9356,1.13,110.9,704.1,15.3,623,9361,0.05,2.22,0.00,0.000,6,0.184,0.034,3555,1608,1482,0,0,0,0,0,0
$GC,9683,1.13,110.9,658.7,14.1,639,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1608,1483,0,0,0,0,0,0
$GC,9992,1.13,110.9,615.4,13.7,654,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1608,1482,0,0,0,0,0,0
$GC,10302,1.17,110.9,573.7,13.5,669,10306,0.00,2.25,0.00,0.000,4,0.000,0.048,3564,193,1483,0,0,0,0,0,0
$GC,10367,1.17,110.9,564.1,14.6,672,10372,0.00,2.20,0.00,0.000,6,0.000,0.033,3564,1605,1482,0,0,0,0,0,0
$GC,10694,1.17,110.9,520.0,13.6,688,10698,0.00,2.25,0.00,0.000,4,0.000,0.049,3574,193,1482,0,0,0,0,0,0
$GC,10720,1.17,110.9,516.1,13.8,689,10725,0.03,2.20,0.00,0.000,6,0.200,0.032,3565,1616,1481,0,0,0,0,0,0
$GC,11042,1.17,110.9,470.8,14.1,705,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1616,1482,0,0,0,0,0,0
$GC,11351,1.17,110.9,426.7,14.1,720,11355,0.00,2.25,0.00,0.000,4,0.000,0.048,3574,199,1482,0,0,0,0,0,0
$GC,11422,1.17,110.9,416.0,15.7,723,11428,0.03,2.17,0.00,0.000,6,0.200,0.034,3565,1601,1481,0,0,0,0,0,0
$GC,11749,1.17,110.9,370.6,13.4,748,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1601,1481,0,0,0,0,0,0
$GC,12068,1.17,110.9,328.6,12.7,778,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1601,1481,0,0,0,0,0,0
$GC,12386,1.17,110.9,288.7,12.4,808,12390,0.00,2.22,0.00,0.000,4,0.000,0.047,3575,198,1482,0,0,0,0,0,0
$GC,12452,1.17,110.9,280.6,12.5,813,12457,0.05,2.15,0.00,0.000,6,0.232,0.034,3565,1604,1481,0,0,0,0,0,0
$GC,12776,1.17,110.9,241.7,11.6,843,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1604,1481,0,0,0,0,0,0
$GC,13097,1.17,110.9,203.3,12.1,873,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1604,1481,0,0,0,0,0,0
$GC,13413,1.17,110.9,162.3,12.2,903,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1604,1481,0,0,0,0,0,0
$GC,13735,1.20,110.9,123.8,11.3,933,13739,0.00,2.22,0.00,0.000,4,0.000,0.048,3574,196,1480,0,0,0,0,0,0
$GC,13834,1.20,110.9,112.1,11.4,941,13841,0.00,2.15,0.00,0.000,6,0.000,0.032,3574,1594,1481,0,0,0,0,0,0
$GC,14177,1.20,110.9,73.3,10.3,991,14182,0.00,2.20,0.00,0.000,4,0.000,0.047,3583,199,1480,0,0,0,0,0,0
$GC,14246,1.20,111.5,67.4,8.5,1003,14252,0.00,2.15,0.00,0.000,6,0.000,0.034,3583,1605,1481,0,0,0,0,0,0
$GC,14600,1.20,111.5,32.9,12.8,1064,14606,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1605,1481,0,0,0,0,0,0
$GC,14755,1.20,111.5,12.7,14.4,1089,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1605,1481,0,0,0,0,0,0
$GC,14812,1.20,111.5,3.8,16.4,1098,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1605,1481,0,0,0,0,0,0
$STATE,14825,end climb,SURFACE_DEPTH_REACHED
$STATE,14825,begin surface coast
$FINISH,1.6,1.023345
$STATE,14845,end surface coast,CONTROL_FINISHED_OK
$STATE,14845,begin surface
$SM_CCo,14861,40.75,0.055,0,0,1132,200.16
$SM_GC,2.50,0.00,0.00,40.75,0.000,0.000,0.055,81,2066,1132,-9.69,0.17,200.16
$IRIDIUM_FIX,-4444.39,624.79,080608,181844
$TT8_MAMPS,0.026964
$HUMID,61.93
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,15.046
$10V_AH,10.1,12.600
$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,22.800,77.250,206.200,40.750,0.000,49.057,97.954,294.182,0.000,0.000,23.607,2691.380,9457.909,328.201,2923.383,121.759,0.000,1297.445,0.000,2318.811,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,61.965,1292.085,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.018,2014.256,834.557,446.800,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,77019,1103
$CAP_FILE_SIZE,130496,0
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