version: 66.07.10.p01
glider: 573
mission: 12
dive: 91
start: 8 14 115 19 11 6
data:
$ID,573
$MISSION,12
$DIVE,91
$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,-21296.156
$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,36
$R_STBD_OVSHOOT,21
$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,90
$GPS1,140815,190321,-4504.894,624.935,61,0.9,61,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-70.0
$GPS2,140815,191046,-4504.866,624.994,19,1.2,19,-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,345.4,2064,-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,24,-1.09,-49.9,0.0,0.0,0,58,0.00,0.00,-32.45,0.000,2,0.000,0.000,62,2042,1781,0,0,0,0,0,0
$GC,60,-1.12,-94.5,3.2,-3.4,5,99,11.43,2.25,-19.40,0.000,4,0.255,0.065,2815,662,2337,0,0,0,0,0,0
$GC,371,-1.03,-94.5,51.5,-20.7,56,377,0.17,2.22,0.00,0.000,6,0.195,0.040,2851,2083,2340,0,0,0,0,0,0
$GC,720,-1.03,-94.5,106.7,-14.0,114,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2083,2340,0,0,0,0,0,0
$GC,1039,-1.03,-94.5,151.4,-13.5,144,1043,0.00,2.22,0.00,0.000,4,0.000,0.062,2841,3472,2340,0,0,0,0,0,0
$GC,1057,-1.03,-94.5,153.7,-13.4,145,1061,0.00,2.17,0.00,0.000,6,0.000,0.041,2841,2053,2341,0,0,0,0,0,0
$GC,1382,-1.03,-94.5,201.5,-14.3,175,1386,0.00,2.20,0.00,0.000,4,0.000,0.054,2841,659,2340,0,0,0,0,0,0
$GC,1412,-1.03,-94.5,205.7,-15.0,177,1416,0.08,2.20,0.00,0.000,6,0.223,0.041,2846,2069,2340,0,0,0,0,0,0
$GC,1736,-1.06,-94.5,252.3,-14.1,207,1740,0.00,2.25,0.00,0.000,4,0.000,0.051,2847,650,2341,0,0,0,0,0,0
$GC,1777,-1.06,-94.5,258.0,-15.3,210,1781,0.00,2.20,0.00,0.000,6,0.000,0.041,2838,2060,2341,0,0,0,0,0,0
$GC,2101,-1.06,-94.5,304.2,-13.7,240,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2060,2342,0,0,0,0,0,0
$GC,2420,-1.06,-94.5,349.8,-14.2,270,2424,0.00,2.22,0.00,0.000,4,0.000,0.061,2828,3463,2341,0,0,0,0,0,0
$GC,2507,-1.06,-94.5,362.1,-15.0,277,2511,0.00,2.15,0.00,0.000,6,0.000,0.040,2827,2047,2341,0,0,0,0,0,0
$GC,2840,-1.06,-94.5,410.0,-14.4,305,2842,0.03,0.00,0.00,0.000,6,0.271,0.000,2836,2047,2342,0,0,0,0,0,0
$GC,3149,-1.06,-94.5,452.6,-13.6,320,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2047,2341,0,0,0,0,0,0
$GC,3459,-1.06,-94.5,494.4,-13.5,335,3463,0.00,2.25,0.00,0.000,4,0.000,0.057,2827,3463,2341,0,0,0,0,0,0
$GC,3501,-1.06,-94.5,500.5,-13.6,337,3506,0.00,2.17,0.00,0.000,6,0.000,0.041,2827,2059,2341,0,0,0,0,0,0
$GC,3829,-1.06,-94.5,544.3,-13.0,353,3831,0.05,0.00,0.00,0.000,6,0.228,0.000,2837,2059,2341,0,0,0,0,0,0
$GC,4138,-1.06,-94.5,584.1,-13.1,368,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2058,2341,0,0,0,0,0,0
$GC,4448,-1.09,-94.5,624.7,-13.1,383,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2059,2341,0,0,0,0,0,0
$GC,4758,-1.12,-94.5,664.7,-13.0,398,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2059,2341,0,0,0,0,0,0
$GC,5067,-1.16,-94.5,703.2,-12.0,413,5069,0.08,0.00,0.00,0.000,6,0.125,0.000,2801,2059,2340,0,0,0,0,0,0
$GC,5376,-1.13,-94.5,745.4,-13.8,428,5378,0.08,0.00,0.00,0.000,6,0.207,0.000,2817,2059,2340,0,0,0,0,0,0
$GC,5685,-1.13,-94.5,784.8,-12.3,443,5689,0.00,2.20,0.00,0.000,4,0.000,0.056,2817,658,2339,0,0,0,0,0,0
$GC,5724,-1.09,-94.5,789.8,-13.5,445,5729,0.10,2.17,0.00,0.000,6,0.212,0.044,2832,2066,2340,0,0,0,0,0,0
$GC,6051,-1.12,-94.5,829.5,-11.9,461,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2065,2339,0,0,0,0,0,0
$GC,6360,-1.15,-94.5,865.5,-11.6,476,6362,0.05,0.00,0.00,0.000,6,0.167,0.000,2802,2066,2338,0,0,0,0,0,0
$GC,6669,-1.15,-94.5,903.0,-12.4,491,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2066,2338,0,0,0,0,0,0
$GC,6978,-1.15,-94.5,939.7,-11.5,506,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2066,2338,0,0,0,0,0,0
$GC,7287,-1.15,-94.5,974.1,-11.1,521,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2065,2338,0,0,0,0,0,0
$STATE,7534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7534,begin apogee
$GC,7538,-0.19,0.0,1001.9,11.3,533,7629,1.08,0.00,86.55,1.294,6,0.180,0.000,3117,1599,1950,0,0,0,0,0,0
$STATE,7629,end apogee,CONTROL_FINISHED_OK
$STATE,7629,begin climb
$GC,7631,1.12,94.5,1004.2,0.0,537,7726,1.27,0.00,91.10,1.254,6,0.092,0.000,3539,1599,1564,0,0,0,0,0,0
$GC,8027,1.12,94.5,958.7,12.9,557,8031,0.00,2.30,0.00,0.000,4,0.000,0.051,3550,192,1555,0,0,0,0,0,0
$GC,8156,1.12,94.5,940.8,14.0,563,8160,0.00,2.25,0.00,0.000,6,0.000,0.034,3550,1618,1554,0,0,0,0,0,0
$GC,8481,1.12,94.5,899.7,12.4,579,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1619,1553,0,0,0,0,0,0
$GC,8791,1.12,94.5,860.3,13.0,594,8795,0.00,2.30,0.00,0.000,4,0.000,0.050,3560,189,1553,0,0,0,0,0,0
$GC,8901,1.12,94.5,844.9,14.0,599,8906,0.03,2.25,0.00,0.000,6,0.197,0.034,3551,1610,1552,0,0,0,0,0,0
$GC,9228,1.12,94.5,802.0,13.5,615,9232,0.00,2.20,0.00,0.000,4,0.000,0.053,3551,2993,1551,0,0,0,0,0,0
$GC,9276,1.12,94.5,795.1,13.9,617,9281,0.03,2.17,0.00,0.000,6,0.210,0.034,3551,1593,1551,0,0,0,0,0,0
$GC,9598,1.12,94.5,751.8,13.3,633,9602,0.00,2.20,0.00,0.000,4,0.000,0.051,3561,201,1551,0,0,0,0,0,0
$GC,9733,1.12,94.5,732.6,14.5,639,9737,0.05,2.15,0.00,0.000,6,0.238,0.035,3550,1602,1550,0,0,0,0,0,0
$GC,10059,1.12,94.5,687.3,13.8,655,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1602,1550,0,0,0,0,0,0
$GC,10368,1.12,94.5,644.0,13.7,670,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1602,1550,0,0,0,0,0,0
$GC,10677,1.12,94.5,603.3,12.6,685,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1602,1549,0,0,0,0,0,0
$GC,10987,1.12,94.5,564.5,12.7,700,10991,0.00,2.22,0.00,0.000,4,0.000,0.050,3559,194,1549,0,0,0,0,0,0
$GC,11041,1.12,94.5,557.1,13.3,702,11048,0.03,2.20,0.00,0.000,6,0.208,0.034,3551,1600,1549,0,0,0,0,0,0
$GC,11358,1.12,94.5,519.0,11.9,718,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1600,1549,0,0,0,0,0,0
$GC,11667,1.12,94.5,482.9,11.6,733,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1601,1549,0,0,0,0,0,0
$GC,11976,1.15,94.5,448.9,11.1,748,11980,0.00,2.20,0.00,0.000,4,0.000,0.054,3551,3000,1549,0,0,0,0,0,0
$GC,12038,1.15,94.5,441.9,11.9,751,12042,0.00,2.12,0.00,0.000,6,0.000,0.033,3559,1602,1549,0,0,0,0,0,0
$GC,12364,1.15,94.5,405.4,11.3,767,12368,0.00,2.20,0.00,0.000,4,0.000,0.051,3570,193,1549,0,0,0,0,0,0
$GC,12461,1.12,94.5,393.9,12.1,773,12466,0.10,2.15,0.00,0.000,6,0.199,0.034,3546,1612,1548,0,0,0,0,0,0
$GC,12786,1.16,94.5,358.0,11.1,803,12787,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1612,1548,0,0,0,0,0,0
$GC,13108,1.20,94.5,322.0,11.1,833,13112,0.08,2.15,0.00,0.000,4,0.128,0.053,3589,2988,1548,0,0,0,0,0,0
$GC,13173,1.13,94.5,312.9,13.6,838,13180,0.15,2.15,0.00,0.000,6,0.173,0.034,3554,1591,1548,0,0,0,0,0,0
$GC,13501,1.13,94.5,276.1,11.3,869,13505,0.00,2.20,0.00,0.000,4,0.000,0.050,3564,192,1549,0,0,0,0,0,0
$GC,13553,1.13,94.5,269.9,11.6,873,13558,0.05,2.15,0.00,0.000,6,0.240,0.035,3553,1605,1548,0,0,0,0,0,0
$GC,13883,1.16,94.5,233.0,11.0,904,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1605,1548,0,0,0,0,0,0
$GC,14202,1.16,94.5,197.1,11.5,934,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1605,1548,0,0,0,0,0,0
$GC,14520,1.16,94.5,159.5,11.6,964,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1605,1548,0,0,0,0,0,0
$GC,14839,1.20,94.5,121.6,12.0,994,14843,0.00,2.15,0.00,0.000,4,0.000,0.050,3553,2992,1548,0,0,0,0,0,0
$GC,15003,1.20,94.5,103.0,12.1,1008,15007,0.00,2.08,0.00,0.000,6,0.000,0.034,3561,1603,1548,0,0,0,0,0,0
$GC,15352,1.20,94.5,60.6,13.1,1066,15357,0.00,2.20,0.00,0.000,4,0.000,0.049,3571,189,1548,0,0,0,0,0,0
$GC,15503,1.20,94.5,38.4,15.3,1092,15510,0.00,2.17,0.00,0.000,6,0.000,0.033,3572,1602,1548,0,0,0,0,0,0
$GC,15658,1.20,94.5,17.1,14.5,1117,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1603,1548,0,0,0,0,0,0
$GC,15716,1.24,94.5,10.2,10.6,1126,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1613,1548,0,0,0,0,0,0
$GC,15774,1.18,94.5,4.9,10.6,1135,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1614,1549,0,0,0,0,0,0
$STATE,15800,end climb,SURFACE_DEPTH_REACHED
$STATE,15800,begin surface coast
$FINISH,1.3,1.017616
$STATE,15845,end surface coast,CONTROL_FINISHED_OK
$STATE,15845,begin surface
$SM_CCo,15861,48.20,0.056,0,0,1132,200.16
$SM_GC,2.76,0.00,0.00,48.20,0.000,0.000,0.056,69,2074,1132,-9.74,0.37,200.16
$IRIDIUM_FIX,-4447.43,621.76,100608,030354
$TT8_MAMPS,0.026964
$HUMID,62.28
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.5,15.654
$10V_AH,10.1,13.424
$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,24.000,80.475,177.650,48.200,0.000,24.659,19.306,279.627,0.000,0.000,21.922,2817.407,10161.883,327.788,2905.153,136.369,0.000,1314.602,0.000,2415.794,0.000,0.539,0.000
$DEVICE_MAMPS,270.810,65.025,1294.380,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.843,2122.579,850.431,469.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,80490,1146
$CAP_FILE_SIZE,136560,0
$CFSIZE,2097086464,2080210944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140815,233733,-4504.045,624.993,43,1.2,43,-24.4