version: 66.07.10.p01
glider: 573
mission: 12
dive: 98
start: 8 16 115 5 24 48
data:
$ID,573
$MISSION,12
$DIVE,98
$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,-21317.391
$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,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,40
$R_STBD_OVSHOOT,39
$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,97
$GPS1,160815,051303,-4503.548,624.409,41,0.8,41,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-65.5
$GPS2,160815,052428,-4503.562,624.589,15,1.1,15,-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,247.9,1118,-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,-49.9,0.0,0.0,0,53,0.00,0.00,-26.73,0.000,2,0.000,0.000,67,2072,1683,0,0,0,0,0,0
$GC,55,-1.13,-103.3,3.1,-2.4,4,106,11.43,2.35,-29.98,0.000,4,0.252,0.080,2806,3461,2374,0,0,0,0,0,0
$GC,139,-1.02,-103.3,6.5,-9.1,17,147,0.15,2.22,0.00,0.000,6,0.174,0.041,2850,2076,2376,0,0,0,0,0,0
$GC,198,-1.02,-103.3,15.8,-15.7,26,205,0.00,2.28,0.00,0.000,4,0.000,0.061,2841,3449,2376,0,0,0,0,0,0
$GC,250,-1.02,-103.3,24.1,-15.8,34,257,0.00,2.25,0.00,0.000,6,0.000,0.042,2841,2044,2376,0,0,0,0,0,0
$GC,399,-1.02,-103.3,47.8,-14.3,59,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2044,2377,0,0,0,0,0,0
$GC,746,-1.02,-103.3,97.7,-16.3,120,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2044,2377,0,0,0,0,0,0
$GC,1073,-1.02,-103.3,149.8,-15.8,152,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2044,2377,0,0,0,0,0,0
$GC,1391,-1.02,-103.3,191.4,-13.2,182,1395,0.00,2.25,0.00,0.000,4,0.000,0.056,2832,3458,2377,0,0,0,0,0,0
$GC,1502,-1.02,-103.3,207.1,-13.3,191,1509,0.05,2.20,0.00,0.000,6,0.186,0.040,2847,2051,2377,0,0,0,0,0,0
$GC,1828,-1.05,-103.3,251.4,-13.6,222,1832,0.00,2.25,0.00,0.000,4,0.000,0.058,2837,3465,2378,0,0,0,0,0,0
$GC,1883,-1.05,-103.3,259.2,-13.8,226,1888,0.00,2.17,0.00,0.000,6,0.000,0.041,2838,2051,2378,0,0,0,0,0,0
$GC,2210,-1.05,-103.3,304.1,-14.1,257,2214,0.00,2.25,0.00,0.000,4,0.000,0.057,2829,3461,2378,0,0,0,0,0,0
$GC,2252,-1.05,-103.3,310.8,-13.9,260,2261,0.03,2.17,0.00,0.000,6,0.201,0.040,2837,2061,2378,0,0,0,0,0,0
$GC,2578,-1.05,-103.3,354.0,-12.7,291,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2061,2378,0,0,0,0,0,0
$GC,2899,-1.05,-103.3,395.8,-13.0,321,2903,0.00,2.22,0.00,0.000,4,0.000,0.057,2828,3457,2378,0,0,0,0,0,0
$GC,2954,-1.05,-103.3,403.9,-13.9,324,2961,0.03,2.17,0.00,0.000,6,0.203,0.040,2836,2055,2378,0,0,0,0,0,0
$GC,3270,-1.05,-103.3,446.1,-13.6,340,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2056,2378,0,0,0,0,0,0
$GC,3579,-1.05,-103.3,488.4,-13.4,355,3583,0.00,2.25,0.00,0.000,4,0.000,0.060,2827,3465,2378,0,0,0,0,0,0
$GC,3611,-1.05,-103.3,493.2,-14.5,356,3618,0.03,2.20,0.00,0.000,6,0.201,0.041,2835,2055,2378,0,0,0,0,0,0
$GC,3928,-1.08,-103.3,536.9,-13.8,372,3932,0.00,2.25,0.00,0.000,4,0.000,0.060,2827,3469,2378,0,0,0,0,0,0
$GC,3982,-1.08,-103.3,544.9,-13.8,374,3988,0.00,2.20,0.00,0.000,6,0.000,0.041,2827,2055,2378,0,0,0,0,0,0
$GC,4298,-1.08,-103.3,589.2,-14.0,390,4302,0.00,2.25,0.00,0.000,4,0.000,0.060,2818,3461,2378,0,0,0,0,0,0
$GC,4341,-1.08,-103.3,595.5,-13.8,392,4347,0.03,2.17,0.00,0.000,6,0.200,0.041,2826,2062,2378,0,0,0,0,0,0
$GC,4668,-1.08,-103.3,639.0,-13.4,408,4672,0.00,2.22,0.00,0.000,4,0.000,0.058,2817,3460,2377,0,0,0,0,0,0
$GC,4717,-1.08,-103.3,646.0,-13.7,410,4723,0.03,2.17,0.00,0.000,6,0.199,0.041,2826,2058,2377,0,0,0,0,0,0
$GC,5039,-1.08,-103.3,687.8,-13.3,426,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2059,2377,0,0,0,0,0,0
$GC,5348,-1.08,-103.3,729.4,-13.4,441,5352,0.00,2.25,0.00,0.000,4,0.000,0.060,2817,3463,2376,0,0,0,0,0,0
$GC,5436,-1.08,-103.3,742.1,-14.4,445,5442,0.03,2.17,0.00,0.000,6,0.196,0.041,2826,2062,2376,0,0,0,0,0,0
$GC,5763,-1.08,-103.3,786.2,-13.6,461,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2062,2376,0,0,0,0,0,0
$GC,6073,-1.12,-103.3,826.3,-12.6,476,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2062,2375,0,0,0,0,0,0
$GC,6382,-1.15,-103.3,864.1,-12.2,491,6386,0.00,2.22,0.00,0.000,4,0.000,0.059,2817,3459,2375,0,0,0,0,0,0
$GC,6448,-1.15,-103.3,872.4,-12.0,494,6453,0.00,2.17,0.00,0.000,6,0.000,0.041,2817,2060,2375,0,0,0,0,0,0
$GC,6776,-1.15,-103.3,911.9,-11.8,510,6780,0.00,2.25,0.00,0.000,4,0.000,0.060,2808,3464,2375,0,0,0,0,0,0
$GC,6818,-1.15,-103.3,917.4,-12.0,512,6824,0.00,2.17,0.00,0.000,6,0.000,0.041,2808,2064,2374,0,0,0,0,0,0
$GC,7146,-1.15,-103.3,956.4,-12.0,528,7150,0.00,2.22,0.00,0.000,4,0.000,0.058,2799,3462,2374,0,0,0,0,0,0
$GC,7189,-1.15,-103.3,961.9,-11.8,530,7194,0.00,2.17,0.00,0.000,6,0.000,0.042,2799,2063,2374,0,0,0,0,0,0
$STATE,7516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7516,begin apogee
$GC,7520,-0.19,0.0,1002.0,12.6,546,7619,1.08,0.00,94.62,1.294,6,0.171,0.000,3120,1598,1950,0,0,0,0,0,0
$STATE,7620,end apogee,CONTROL_FINISHED_OK
$STATE,7620,begin climb
$GC,7621,1.13,103.3,1004.7,0.0,551,7728,1.27,2.42,98.25,1.252,4,0.091,0.052,3553,199,1527,0,0,0,0,0,0
$GC,7784,1.13,103.3,987.9,13.8,559,7789,0.00,2.33,0.00,0.000,6,0.000,0.034,3553,1610,1523,0,0,0,0,0,0
$GC,8111,1.13,103.3,940.6,14.3,575,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1610,1519,0,0,0,0,0,0
$GC,8420,1.13,103.3,897.5,13.9,590,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1610,1517,0,0,0,0,0,0
$GC,8729,1.13,103.3,855.9,13.6,605,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1610,1516,0,0,0,0,0,0
$GC,9038,1.13,103.3,815.0,12.9,620,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1610,1516,0,0,0,0,0,0
$GC,9348,1.13,103.3,776.8,12.4,635,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1610,1516,0,0,0,0,0,0
$GC,9657,1.13,103.3,739.4,11.9,650,9661,0.00,2.28,0.00,0.000,4,0.000,0.050,3562,195,1516,0,0,0,0,0,0
$GC,9688,1.13,103.3,735.2,13.0,651,9695,0.03,2.22,0.00,0.000,6,0.201,0.034,3554,1611,1514,0,0,0,0,0,0
$GC,10005,1.13,103.3,697.4,11.8,667,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1612,1514,0,0,0,0,0,0
$GC,10314,1.13,103.3,659.5,12.6,682,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1611,1514,0,0,0,0,0,0
$GC,10623,1.13,103.3,620.2,12.7,697,10627,0.00,2.28,0.00,0.000,4,0.000,0.050,3563,186,1514,0,0,0,0,0,0
$GC,10700,1.13,103.3,609.6,13.9,700,10707,0.05,2.20,0.00,0.000,6,0.181,0.033,3548,1600,1513,0,0,0,0,0,0
$GC,11017,1.16,103.3,571.2,12.2,716,11021,0.00,2.25,0.00,0.000,4,0.000,0.050,3556,188,1513,0,0,0,0,0,0
$GC,11078,1.16,103.3,563.3,13.2,719,11082,0.00,2.17,0.00,0.000,6,0.000,0.034,3556,1599,1513,0,0,0,0,0,0
$GC,11404,1.16,103.3,523.4,12.2,735,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1599,1513,0,0,0,0,0,0
$GC,11713,1.16,103.3,486.9,11.6,750,11714,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1599,1513,0,0,0,0,0,0
$GC,12023,1.16,103.3,452.2,11.0,765,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1599,1513,0,0,0,0,0,0
$GC,12332,1.16,103.3,417.8,11.5,780,12336,0.00,2.25,0.00,0.000,4,0.000,0.049,3565,185,1513,0,0,0,0,0,0
$GC,12371,1.16,103.3,412.9,13.0,782,12375,0.00,2.17,0.00,0.000,6,0.000,0.034,3565,1602,1513,0,0,0,0,0,0
$GC,12693,1.16,103.3,374.4,11.8,807,12697,0.00,2.25,0.00,0.000,4,0.000,0.050,3575,188,1513,0,0,0,0,0,0
$GC,12743,1.13,103.3,368.1,12.8,811,12748,0.10,2.17,0.00,0.000,6,0.194,0.034,3551,1616,1513,0,0,0,0,0,0
$GC,13070,1.16,103.3,329.9,11.6,841,13074,0.00,2.25,0.00,0.000,4,0.000,0.050,3560,193,1513,0,0,0,0,0,0
$GC,13132,1.16,103.3,321.9,13.2,846,13136,0.00,2.15,0.00,0.000,6,0.000,0.034,3560,1598,1512,0,0,0,0,0,0
$GC,13456,1.16,103.3,283.9,11.5,876,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1597,1513,0,0,0,0,0,0
$GC,13776,1.16,103.3,246.2,12.4,906,13779,0.00,2.17,0.00,0.000,4,0.000,0.054,3560,2990,1512,0,0,0,0,0,0
$GC,13804,1.16,103.3,242.6,12.8,908,13808,0.00,2.12,0.00,0.000,6,0.000,0.034,3569,1589,1513,0,0,0,0,0,0
$GC,14128,1.16,103.3,202.2,12.4,938,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1589,1513,0,0,0,0,0,0
$GC,14447,1.16,103.3,160.9,13.3,968,14451,0.00,2.20,0.00,0.000,4,0.000,0.051,3579,191,1513,0,0,0,0,0,0
$GC,14556,1.12,103.3,145.7,14.2,977,14561,0.12,2.15,0.00,0.000,6,0.187,0.034,3548,1604,1512,0,0,0,0,0,0
$GC,14881,1.19,103.3,106.9,11.0,1007,14885,0.00,2.22,0.00,0.000,4,0.000,0.049,3557,195,1512,0,0,0,0,0,0
$GC,15064,1.19,103.3,85.7,12.2,1033,15070,0.00,2.15,0.00,0.000,6,0.000,0.034,3557,1606,1512,0,0,0,0,0,0
$GC,15413,1.23,103.3,45.8,11.0,1094,15418,0.08,0.00,0.00,0.000,6,0.126,0.000,3598,1606,1512,0,0,0,0,0,0
$STATE,15756,end climb,SURFACE_DEPTH_REACHED
$STATE,15756,begin surface coast
$FINISH,1.7,1.022292
$STATE,15778,end surface coast,CONTROL_FINISHED_OK
$STATE,15778,begin surface
$SM_CCo,15795,44.25,0.057,0,0,1132,200.16
$SM_GC,2.52,0.00,0.00,44.25,0.000,0.000,0.057,62,2061,1132,-9.76,0.03,200.16
$IRIDIUM_FIX,-4447.43,625.13,110608,131350
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.5,16.250
$10V_AH,10.1,14.285
$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,23.700,107.975,192.875,44.250,0.000,65.023,71.885,355.563,0.000,0.000,17.701,2834.115,10052.274,345.561,3155.027,134.133,0.000,1392.441,0.000,2477.355,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,79.560,1293.615,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.397,2118.886,860.387,475.700,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353248
$DATA_FILE_SIZE,80629,1154
$CAP_FILE_SIZE,144175,0
$CFSIZE,2097086464,2079293440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160815,095003,-4505.850,624.563,42,0.9,42,-24.4