version: 66.07.10.p01
glider: 573
mission: 12
dive: 103
start: 8 17 115 4 13 48
data:
$ID,573
$MISSION,12
$DIVE,103
$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,-21332.377
$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,36
$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,102
$GPS1,170815,040027,-4504.444,624.117,37,1.0,37,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-63.3
$GPS2,170815,041328,-4504.508,624.305,16,2.0,16,-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,1.4,1023,-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,-49.9,0.0,0.0,0,51,0.00,0.00,-25.98,0.000,2,0.000,0.000,60,2063,1658,0,0,0,0,0,0
$GC,53,-1.12,-101.2,3.2,-2.7,4,104,11.40,0.00,-31.42,0.000,6,0.251,0.000,2816,2060,2360,0,0,0,0,0,0
$GC,155,-1.05,-101.2,9.7,-15.4,20,163,0.12,2.33,0.00,0.000,4,0.197,0.054,2847,649,2362,0,0,0,0,0,0
$GC,280,-1.01,-101.2,30.3,-16.9,40,289,0.03,2.28,0.00,0.000,6,0.222,0.041,2844,2063,2363,0,0,0,0,0,0
$GC,432,-1.01,-101.2,52.5,-15.1,65,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2063,2363,0,0,0,0,0,0
$GC,782,-1.01,-101.2,110.6,-16.4,121,786,0.00,2.25,0.00,0.000,4,0.000,0.063,2834,3462,2363,0,0,0,0,0,0
$GC,843,-1.01,-101.2,121.9,-17.9,126,848,0.10,2.17,0.00,0.000,6,0.209,0.041,2856,2050,2363,0,0,0,0,0,0
$GC,1168,-1.05,-101.2,171.8,-14.3,156,1172,0.00,2.25,0.00,0.000,4,0.000,0.058,2847,3463,2363,0,0,0,0,0,0
$GC,1207,-1.05,-101.2,177.2,-13.3,159,1211,0.00,2.17,0.00,0.000,6,0.000,0.040,2847,2057,2363,0,0,0,0,0,0
$GC,1534,-1.08,-101.2,219.3,-12.9,189,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2057,2363,0,0,0,0,0,0
$GC,1850,-1.12,-101.2,258.9,-12.3,219,1855,0.08,2.22,0.00,0.000,4,0.126,0.054,2806,651,2364,0,0,0,0,0,0
$GC,1927,-1.05,-101.2,270.2,-14.6,225,1934,0.12,2.22,0.00,0.000,6,0.181,0.043,2835,2054,2363,0,0,0,0,0,0
$GC,2253,-1.05,-101.2,311.9,-12.9,256,2257,0.00,2.22,0.00,0.000,4,0.000,0.059,2825,3469,2364,0,0,0,0,0,0
$GC,2326,-1.05,-101.2,321.6,-13.6,262,2330,0.08,2.17,0.00,0.000,6,0.212,0.041,2840,2059,2364,0,0,0,0,0,0
$GC,2650,-1.05,-101.2,362.1,-12.6,292,2654,0.00,2.25,0.00,0.000,4,0.000,0.060,2831,3476,2364,0,0,0,0,0,0
$GC,2726,-1.05,-101.2,372.3,-13.2,298,2733,0.00,2.20,0.00,0.000,6,0.000,0.041,2831,2063,2364,0,0,0,0,0,0
$GC,3050,-1.05,-101.2,414.4,-13.3,324,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2063,2364,0,0,0,0,0,0
$GC,3358,-1.05,-101.2,455.7,-13.3,339,3362,0.00,2.25,0.00,0.000,4,0.000,0.058,2822,3473,2365,0,0,0,0,0,0
$GC,3446,-1.05,-101.2,468.0,-13.4,343,3452,0.05,2.20,0.00,0.000,6,0.182,0.042,2837,2066,2364,0,0,0,0,0,0
$GC,3776,-1.08,-101.2,509.0,-12.5,359,3780,0.00,2.20,0.00,0.000,4,0.000,0.054,2838,646,2364,0,0,0,0,0,0
$GC,3802,-1.08,-101.2,512.8,-13.1,360,3807,0.00,2.22,0.00,0.000,6,0.000,0.039,2829,2066,2365,0,0,0,0,0,0
$GC,4125,-1.08,-101.2,553.6,-12.7,376,4129,0.00,2.22,0.00,0.000,4,0.000,0.062,2819,3469,2364,0,0,0,0,0,0
$GC,4224,-1.08,-101.2,567.7,-13.4,380,4232,0.03,2.20,0.00,0.000,6,0.191,0.042,2827,2056,2364,0,0,0,0,0,0
$GC,4541,-1.08,-101.2,608.9,-13.0,396,4545,0.00,2.25,0.00,0.000,4,0.000,0.061,2818,3462,2364,0,0,0,0,0,0
$GC,4572,-1.08,-101.2,613.6,-14.6,397,4579,0.03,2.17,0.00,0.000,6,0.194,0.041,2826,2066,2364,0,0,0,0,0,0
$GC,4888,-1.08,-101.2,655.3,-13.1,413,4892,0.00,2.20,0.00,0.000,4,0.000,0.057,2817,3463,2363,0,0,0,0,0,0
$GC,4937,-1.08,-101.2,662.0,-13.2,415,4943,0.03,2.20,0.00,0.000,6,0.196,0.041,2826,2053,2363,0,0,0,0,0,0
$GC,5258,-1.08,-101.2,704.6,-13.4,431,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2053,2363,0,0,0,0,0,0
$GC,5568,-1.08,-101.2,743.3,-12.0,446,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2052,2363,0,0,0,0,0,0
$GC,5877,-1.08,-101.2,781.9,-12.7,461,5881,0.00,2.25,0.00,0.000,4,0.000,0.060,2817,3469,2362,0,0,0,0,0,0
$GC,5908,-1.08,-101.2,786.1,-13.6,462,5915,0.03,2.20,0.00,0.000,6,0.189,0.042,2826,2065,2362,0,0,0,0,0,0
$GC,6225,-1.11,-101.2,825.2,-12.3,478,6229,0.00,2.20,0.00,0.000,4,0.000,0.058,2817,3465,2362,0,0,0,0,0,0
$GC,6279,-1.11,-101.2,832.0,-12.3,480,6285,0.00,2.20,0.00,0.000,6,0.000,0.041,2817,2053,2362,0,0,0,0,0,0
$GC,6595,-1.11,-101.2,868.0,-11.1,496,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2053,2361,0,0,0,0,0,0
$GC,6905,-1.11,-101.2,902.3,-11.1,511,6909,0.00,2.25,0.00,0.000,4,0.000,0.061,2807,3472,2361,0,0,0,0,0,0
$GC,6944,-1.11,-101.2,906.9,-12.1,513,6949,0.08,2.15,0.00,0.000,6,0.206,0.044,2823,2062,2361,0,0,0,0,0,0
$GC,7270,-1.14,-101.2,941.6,-10.7,529,7275,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,3473,2361,0,0,0,0,0,0
$GC,7302,-1.14,-101.2,945.6,-11.6,530,7309,0.00,2.20,0.00,0.000,6,0.000,0.042,2814,2064,2361,0,0,0,0,0,0
$GC,7619,-1.14,-101.2,981.1,-11.2,546,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2064,2361,0,0,0,0,0,0
$STATE,7803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7803,begin apogee
$GC,7808,-0.19,0.0,1002.2,11.5,555,7904,1.02,0.00,92.38,1.294,6,0.172,0.000,3120,1585,1949,0,0,0,0,0,0
$STATE,7905,end apogee,CONTROL_FINISHED_OK
$STATE,7905,begin climb
$GC,7907,1.12,101.2,1004.7,0.0,560,8013,1.27,2.45,96.05,1.257,4,0.092,0.050,3550,197,1535,0,0,0,0,0,0
$GC,8107,1.12,101.2,982.4,15.0,569,8112,0.00,2.35,0.00,0.000,6,0.000,0.035,3550,1611,1530,0,0,0,0,0,0
$GC,8429,1.12,101.2,938.4,13.7,585,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1611,1527,0,0,0,0,0,0
$GC,8738,1.12,101.2,896.6,13.4,600,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1611,1526,0,0,0,0,0,0
$GC,9048,1.12,101.2,856.2,13.4,615,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1611,1525,0,0,0,0,0,0
$GC,9357,1.12,101.2,817.7,12.3,630,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1611,1525,0,0,0,0,0,0
$GC,9666,1.12,101.2,778.8,12.8,645,9670,0.00,2.25,0.00,0.000,4,0.000,0.050,3559,196,1524,0,0,0,0,0,0
$GC,9765,1.12,101.2,765.4,13.5,649,9773,0.03,2.22,0.00,0.000,6,0.200,0.035,3551,1611,1524,0,0,0,0,0,0
$GC,10082,1.12,101.2,724.3,13.1,665,10086,0.00,2.28,0.00,0.000,4,0.000,0.049,3560,190,1524,0,0,0,0,0,0
$GC,10175,1.12,101.2,711.3,13.9,669,10180,0.03,2.20,0.00,0.000,6,0.203,0.034,3552,1599,1523,0,0,0,0,0,0
$GC,10498,1.12,101.2,669.9,12.8,685,10502,0.00,2.20,0.00,0.000,4,0.000,0.053,3552,2993,1523,0,0,0,0,0,0
$GC,10564,1.12,101.2,660.6,13.4,688,10569,0.03,2.17,0.00,0.000,6,0.215,0.034,3553,1588,1523,0,0,0,0,0,0
$GC,10891,1.12,101.2,618.0,12.9,704,10895,0.00,2.17,0.00,0.000,4,0.000,0.051,3563,201,1523,0,0,0,0,0,0
$GC,11043,1.12,101.2,597.1,14.6,711,11047,0.08,2.17,0.00,0.000,6,0.210,0.036,3547,1611,1522,0,0,0,0,0,0
$GC,11369,1.16,101.2,557.1,11.9,727,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1611,1522,0,0,0,0,0,0
$GC,11678,1.20,101.2,521.1,11.3,742,11683,0.08,2.22,0.00,0.000,4,0.126,0.050,3599,195,1522,0,0,0,0,0,0
$GC,11766,1.12,101.2,509.1,12.9,746,11771,0.15,2.20,0.00,0.000,6,0.166,0.034,3552,1608,1521,0,0,0,0,0,0
$GC,12094,1.15,101.2,473.2,10.8,762,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1609,1522,0,0,0,0,0,0
$GC,12402,1.15,101.2,439.5,10.8,777,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1609,1521,0,0,0,0,0,0
$GC,12712,1.19,101.2,405.3,11.2,792,12716,0.00,2.20,0.00,0.000,4,0.000,0.050,3562,201,1521,0,0,0,0,0,0
$GC,12844,1.19,101.2,390.1,12.4,801,12848,0.00,2.15,0.00,0.000,6,0.000,0.034,3561,1603,1522,0,0,0,0,0,0
$GC,13168,1.19,101.2,352.6,11.7,831,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1522,0,0,0,0,0,0
$GC,13490,1.19,101.2,315.0,11.8,861,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1521,0,0,0,0,0,0
$GC,13806,1.19,101.2,276.4,12.1,891,13807,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1521,0,0,0,0,0,0
$GC,14127,1.19,101.2,238.5,11.2,921,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1522,0,0,0,0,0,0
$GC,14443,1.19,101.2,201.9,11.2,951,14447,0.00,2.22,0.00,0.000,4,0.000,0.049,3570,198,1521,0,0,0,0,0,0
$GC,14629,1.19,101.2,178.6,12.2,967,14633,0.00,2.12,0.00,0.000,6,0.000,0.034,3568,1601,1521,0,0,0,0,0,0
$GC,14955,1.19,101.2,138.1,12.6,997,14959,0.00,2.17,0.00,0.000,4,0.000,0.051,3570,2998,1521,0,0,0,0,0,0
$GC,15043,1.19,101.2,127.1,10.3,1004,15052,0.00,2.15,0.00,0.000,6,0.000,0.033,3578,1594,1521,0,0,0,0,0,0
$GC,15381,1.19,101.2,84.9,13.3,1045,15386,0.00,2.20,0.00,0.000,4,0.000,0.050,3590,190,1521,0,0,0,0,0,0
$GC,15530,1.12,101.2,62.4,15.5,1071,15537,0.12,2.17,0.00,0.000,6,0.165,0.034,3550,1604,1521,0,0,0,0,0,0
$GC,15891,1.17,101.2,24.4,9.7,1132,15898,0.00,2.22,0.00,0.000,4,0.000,0.048,3560,205,1521,0,0,0,0,0,0
$GC,15979,1.17,101.2,13.4,15.6,1146,15987,0.00,2.15,0.00,0.000,6,0.000,0.034,3560,1602,1521,0,0,0,0,0,0
$GC,16038,1.22,101.2,6.6,11.2,1155,16045,0.00,2.25,0.00,0.000,4,0.000,0.050,3569,199,1521,0,0,0,0,0,0
$STATE,16076,end climb,SURFACE_DEPTH_REACHED
$STATE,16076,begin surface coast
$FINISH,1.4,1.017670
$STATE,16108,end surface coast,CONTROL_FINISHED_OK
$STATE,16108,begin surface
$SM_CCo,16127,45.30,0.057,0,0,1132,200.16
$SM_GC,2.13,0.00,0.00,45.30,0.000,0.000,0.057,69,2065,1132,-9.74,0.14,200.16
$IRIDIUM_FIX,-4444.39,627.81,120608,171701
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.5,16.713
$10V_AH,10.1,14.869
$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,24.075,121.150,188.425,45.300,0.000,74.957,196.056,274.802,0.000,0.000,18.804,2891.591,10243.943,355.133,3322.003,140.922,0.000,1461.136,0.000,2603.696,0.000,0.539,0.000
$DEVICE_MAMPS,250.920,62.730,1294.380,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.542,2178.608,886.735,505.070,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353144
$DATA_FILE_SIZE,80365,1166
$CAP_FILE_SIZE,150536,0
$CFSIZE,2097086464,2078638080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170815,084457,-4503.193,625.018,62,0.8,62,-24.4