version: 66.07.10.p01
glider: 573
mission: 12
dive: 102
start: 8 16 115 23 56 25
data:
$ID,573
$MISSION,12
$DIVE,102
$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,-21329.635
$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,48
$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,101
$GPS1,160815,234751,-4504.029,625.037,38,0.8,38,-24.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-70.2
$GPS2,160815,235605,-4504.070,625.131,36,0.9,36,-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,299.4,1486,-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,-49.9,0.0,0.0,0,52,0.00,0.00,-26.38,0.000,2,0.000,0.000,60,2064,1657,0,0,0,0,0,0
$GC,54,-1.12,-85.7,3.1,-4.4,4,100,11.40,2.22,-28.80,0.000,4,0.252,0.068,2807,3450,2299,0,0,0,0,0,0
$GC,121,-1.02,-116.8,3.7,-1.9,14,136,0.12,2.22,-4.43,0.000,6,0.171,0.043,2844,2060,2424,0,0,0,0,0,0
$GC,187,-1.10,-116.8,10.2,-13.1,24,195,0.00,2.28,0.00,0.000,4,0.000,0.060,2835,3442,2425,0,0,0,0,0,0
$GC,325,-1.05,-116.8,27.9,-13.0,46,333,0.00,2.20,0.00,0.000,6,0.000,0.042,2835,2058,2426,0,0,0,0,0,0
$GC,474,-1.05,-116.8,53.6,-20.1,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2058,2426,0,0,0,0,0,0
$GC,823,-1.05,-116.8,114.3,-16.8,125,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2058,2426,0,0,0,0,0,0
$GC,1140,-1.05,-116.8,164.2,-15.2,155,1144,0.00,2.22,0.00,0.000,4,0.000,0.055,2835,653,2426,0,0,0,0,0,0
$GC,1229,-1.05,-116.8,178.9,-16.4,162,1236,0.05,2.20,0.00,0.000,6,0.190,0.044,2842,2036,2426,0,0,0,0,0,0
$GC,1557,-1.05,-116.8,225.4,-13.7,193,1561,0.00,2.28,0.00,0.000,4,0.000,0.061,2831,3463,2427,0,0,0,0,0,0
$GC,1633,-1.05,-116.8,237.0,-13.7,199,1640,0.00,2.20,0.00,0.000,6,0.000,0.041,2831,2053,2426,0,0,0,0,0,0
$GC,1959,-1.05,-116.8,284.3,-14.8,230,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2053,2427,0,0,0,0,0,0
$GC,2278,-1.05,-116.8,332.4,-15.3,260,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2053,2427,0,0,0,0,0,0
$GC,2597,-1.05,-116.8,380.9,-15.1,290,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2053,2427,0,0,0,0,0,0
$GC,2909,-1.05,-116.8,428.8,-15.0,311,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2053,2427,0,0,0,0,0,0
$GC,3219,-1.05,-116.8,475.2,-14.7,326,3223,0.00,2.28,0.00,0.000,4,0.000,0.060,2822,3473,2427,0,0,0,0,0,0
$GC,3250,-1.05,-116.8,480.4,-14.9,327,3258,0.05,2.20,0.00,0.000,6,0.177,0.042,2838,2064,2426,0,0,0,0,0,0
$GC,3567,-1.09,-116.8,527.4,-14.9,343,3571,0.00,2.22,0.00,0.000,4,0.000,0.059,2829,3465,2427,0,0,0,0,0,0
$GC,3600,-1.09,-116.8,532.6,-16.2,344,3605,0.00,2.17,0.00,0.000,6,0.000,0.041,2829,2049,2427,0,0,0,0,0,0
$GC,3915,-1.09,-116.8,580.7,-14.9,360,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2049,2427,0,0,0,0,0,0
$GC,4225,-1.09,-116.8,623.1,-13.3,375,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2049,2426,0,0,0,0,0,0
$GC,4534,-1.09,-116.8,664.5,-13.4,390,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2048,2426,0,0,0,0,0,0
$GC,4844,-1.12,-116.8,705.1,-13.1,405,4848,0.00,2.25,0.00,0.000,4,0.000,0.057,2820,3465,2426,0,0,0,0,0,0
$GC,4942,-1.12,-116.8,719.2,-14.1,409,4949,0.00,2.20,0.00,0.000,6,0.000,0.041,2820,2051,2426,0,0,0,0,0,0
$GC,5259,-1.12,-116.8,762.2,-13.4,425,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2052,2426,0,0,0,0,0,0
$GC,5568,-1.12,-116.8,802.9,-13.1,440,5572,0.00,2.28,0.00,0.000,4,0.000,0.060,2810,3475,2425,0,0,0,0,0,0
$GC,5622,-1.12,-116.8,810.3,-13.5,442,5628,0.00,2.20,0.00,0.000,6,0.000,0.043,2810,2061,2425,0,0,0,0,0,0
$GC,5938,-1.12,-116.8,850.6,-12.7,458,5942,0.00,2.25,0.00,0.000,4,0.000,0.060,2801,3470,2425,0,0,0,0,0,0
$GC,5992,-1.12,-116.8,858.3,-14.5,460,6000,0.05,2.20,0.00,0.000,6,0.175,0.043,2817,2058,2425,0,0,0,0,0,0
$GC,6309,-1.12,-116.8,899.0,-12.8,476,6313,0.00,2.25,0.00,0.000,4,0.000,0.062,2808,3463,2425,0,0,0,0,0,0
$GC,6362,-1.12,-116.8,906.2,-13.5,478,6369,0.00,2.20,0.00,0.000,6,0.000,0.042,2808,2054,2425,0,0,0,0,0,0
$GC,6679,-1.12,-116.8,946.2,-12.8,494,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2053,2425,0,0,0,0,0,0
$GC,6988,-1.12,-116.8,984.0,-12.0,509,6993,0.03,2.28,0.00,0.000,4,0.282,0.061,2808,3466,2424,0,0,0,0,0,0
$GC,7065,-1.12,-116.8,993.9,-13.4,512,7071,0.00,2.20,0.00,0.000,6,0.000,0.043,2808,2054,2424,0,0,0,0,0,0
$STATE,7132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7132,begin apogee
$GC,7137,-0.19,0.0,1001.9,12.2,516,7246,1.05,0.00,105.53,1.293,6,0.172,0.000,3121,1594,1950,0,0,0,0,0,0
$STATE,7247,end apogee,CONTROL_FINISHED_OK
$STATE,7247,begin climb
$GC,7248,1.13,116.8,1004.6,0.0,521,7371,1.27,2.47,111.07,1.252,4,0.091,0.050,3552,198,1472,0,0,0,0,0,0
$GC,7409,1.13,116.8,987.2,15.4,528,7416,0.00,2.35,0.00,0.000,6,0.000,0.034,3553,1601,1469,0,0,0,0,0,0
$GC,7726,1.13,116.8,938.6,15.6,544,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1601,1464,0,0,0,0,0,0
$GC,8035,1.13,116.8,892.0,14.8,559,8039,0.00,2.30,0.00,0.000,4,0.000,0.049,3562,198,1463,0,0,0,0,0,0
$GC,8111,1.13,116.8,879.6,15.9,562,8118,0.00,2.25,0.00,0.000,6,0.000,0.034,3562,1605,1461,0,0,0,0,0,0
$GC,8428,1.13,116.8,832.7,14.9,578,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1461,0,0,0,0,0,0
$GC,8737,1.13,116.8,787.1,14.4,593,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1461,0,0,0,0,0,0
$GC,9046,1.13,116.8,744.1,13.7,608,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1605,1461,0,0,0,0,0,0
$GC,9356,1.13,116.8,703.1,13.3,623,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1605,1460,0,0,0,0,0,0
$GC,9665,1.13,116.8,661.1,13.8,638,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1605,1460,0,0,0,0,0,0
$GC,9974,1.13,116.8,620.0,13.5,653,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1605,1460,0,0,0,0,0,0
$GC,10284,1.13,116.8,579.4,13.2,668,10288,0.00,2.25,0.00,0.000,4,0.000,0.050,3571,196,1460,0,0,0,0,0,0
$GC,10368,1.13,116.8,567.3,15.5,672,10373,0.10,2.17,0.00,0.000,6,0.189,0.034,3547,1619,1459,0,0,0,0,0,0
$GC,10697,1.18,116.8,525.0,13.4,688,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1618,1459,0,0,0,0,0,0
$GC,11004,1.24,116.8,484.0,13.3,703,11006,0.10,0.00,0.00,0.000,6,0.101,0.000,3596,1619,1458,0,0,0,0,0,0
$GC,11314,1.20,116.8,438.1,15.0,718,11318,0.10,2.25,0.00,0.000,4,0.194,0.049,3582,195,1459,0,0,0,0,0,0
$GC,11421,1.16,116.8,422.1,15.0,723,11426,0.10,2.15,0.00,0.000,6,0.195,0.035,3558,1594,1458,0,0,0,0,0,0
$GC,11741,1.20,116.8,377.1,14.2,746,11742,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1594,1458,0,0,0,0,0,0
$GC,12061,1.24,116.8,333.6,13.2,776,12062,0.08,0.00,0.00,0.000,6,0.123,0.000,3598,1594,1458,0,0,0,0,0,0
$GC,12379,1.20,116.8,287.9,14.3,806,12383,0.10,2.22,0.00,0.000,4,0.198,0.049,3584,189,1458,0,0,0,0,0,0
$GC,12455,1.20,116.8,276.4,14.2,812,12464,0.00,2.17,0.00,0.000,6,0.000,0.034,3585,1591,1458,0,0,0,0,0,0
$GC,12781,1.20,116.8,230.9,13.8,843,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1591,1458,0,0,0,0,0,0
$GC,13102,1.20,116.8,187.4,13.2,873,13106,0.00,2.17,0.00,0.000,4,0.000,0.053,3585,2998,1458,0,0,0,0,0,0
$GC,13176,1.17,116.8,176.8,14.0,879,13181,0.12,2.12,0.00,0.000,6,0.200,0.033,3562,1596,1458,0,0,0,0,0,0
$GC,13503,1.21,116.8,138.1,11.3,909,13507,0.00,2.20,0.00,0.000,4,0.000,0.051,3572,199,1458,0,0,0,0,0,0
$GC,13568,1.21,116.8,129.7,12.3,914,13574,0.00,2.17,0.00,0.000,6,0.000,0.034,3572,1601,1457,0,0,0,0,0,0
$GC,13900,1.21,116.8,85.4,14.4,953,13905,0.00,2.15,0.00,0.000,4,0.000,0.050,3572,3000,1457,0,0,0,0,0,0
$GC,13986,1.21,116.8,73.4,13.6,968,13991,0.00,2.15,0.00,0.000,6,0.000,0.034,3581,1601,1458,0,0,0,0,0,0
$GC,14342,1.21,116.8,28.4,12.3,1029,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1600,1458,0,0,0,0,0,0
$STATE,14496,end climb,SURFACE_DEPTH_REACHED
$STATE,14496,begin surface coast
$FINISH,1.6,1.023386
$STATE,14517,end surface coast,CONTROL_FINISHED_OK
$STATE,14517,begin surface
$SM_CCo,14533,37.80,0.055,0,0,1134,200.16
$SM_GC,2.52,0.00,0.00,37.80,0.000,0.000,0.055,61,2063,1134,-9.76,0.08,200.16
$IRIDIUM_FIX,-4447.43,622.10,120608,080827
$TT8_MAMPS,0.027713
$HUMID,62.56
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.4,16.615
$10V_AH,10.1,14.747
$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,23.775,85.975,216.600,37.800,0.000,27.414,41.689,291.643,0.000,0.000,39.330,2578.947,9191.854,355.590,2809.711,128.113,0.000,1313.873,0.000,2275.222,0.000,0.539,0.000
$DEVICE_MAMPS,282.285,68.085,1292.850,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.785,1981.217,814.226,477.201,0.000,0.000,0.000,0.000,0.000,0.000
$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,73849,1057
$CAP_FILE_SIZE,129658,0
$CFSIZE,2097086464,2078801920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170815,040027,-4504.444,624.117,37,1.0,37,-24.4