version: 66.07.10.p01
glider: 573
mission: 12
dive: 108
start: 8 18 115 3 27 14
data:
$ID,573
$MISSION,12
$DIVE,108
$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,-21347.096
$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,41
$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,107
$GPS1,180815,031633,-4504.075,624.742,28,1.7,28,-24.4
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-67.3
$GPS2,180815,032654,-4504.165,624.802,17,0.9,17,-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,310.6,1092,-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,-49.9,0.0,0.0,0,46,0.00,0.00,-20.48,0.000,2,0.000,0.000,74,2062,1551,0,0,0,0,0,0
$GC,48,-1.12,-91.1,3.0,-3.8,3,100,11.52,2.25,-34.30,0.000,4,0.256,0.064,2819,658,2322,0,0,0,0,0,0
$GC,309,-1.03,-91.1,35.5,-17.2,45,317,0.12,2.25,0.00,0.000,6,0.177,0.043,2848,2052,2325,0,0,0,0,0,0
$GC,458,-1.03,-91.1,57.9,-16.1,70,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2053,2325,0,0,0,0,0,0
$GC,800,-1.03,-91.1,112.3,-15.8,124,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2052,2325,0,0,0,0,0,0
$GC,1119,-1.03,-91.1,158.5,-12.5,154,1123,0.00,2.28,0.00,0.000,4,0.000,0.058,2837,3481,2325,0,0,0,0,0,0
$GC,1297,-1.03,-91.1,181.3,-13.1,169,1304,0.03,2.22,0.00,0.000,6,0.192,0.040,2846,2059,2325,0,0,0,0,0,0
$GC,1623,-1.03,-91.1,222.4,-12.6,200,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2059,2325,0,0,0,0,0,0
$GC,1943,-1.06,-91.1,265.8,-13.6,230,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2059,2326,0,0,0,0,0,0
$GC,2261,-1.09,-91.1,309.1,-13.7,260,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2059,2326,0,0,0,0,0,0
$GC,2580,-1.13,-91.1,351.3,-12.8,290,2582,0.08,0.00,0.00,0.000,6,0.123,0.000,2805,2059,2326,0,0,0,0,0,0
$GC,2898,-1.08,-91.1,398.1,-15.1,320,2900,0.10,0.00,0.00,0.000,6,0.197,0.000,2829,2059,2326,0,0,0,0,0,0
$GC,3208,-1.08,-91.1,441.1,-13.4,336,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2326,0,0,0,0,0,0
$GC,3517,-1.08,-91.1,483.2,-13.4,351,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2059,2326,0,0,0,0,0,0
$GC,3827,-1.08,-91.1,525.6,-13.6,366,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2326,0,0,0,0,0,0
$GC,4136,-1.08,-91.1,567.7,-13.0,381,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2059,2326,0,0,0,0,0,0
$GC,4445,-1.08,-91.1,608.9,-13.5,396,4449,0.00,2.28,0.00,0.000,4,0.000,0.063,2819,3471,2326,0,0,0,0,0,0
$GC,4488,-1.08,-91.1,615.0,-13.5,398,4493,0.00,2.20,0.00,0.000,6,0.000,0.042,2819,2054,2326,0,0,0,0,0,0
$GC,4816,-1.08,-91.1,656.7,-12.3,414,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,2326,0,0,0,0,0,0
$GC,5125,-1.08,-91.1,695.3,-12.6,429,5130,0.03,2.22,0.00,0.000,4,0.280,0.056,2827,649,2325,0,0,0,0,0,0
$GC,5156,-1.08,-91.1,699.5,-12.8,430,5163,0.00,2.22,0.00,0.000,6,0.000,0.044,2818,2057,2325,0,0,0,0,0,0
$GC,5473,-1.08,-91.1,739.4,-12.7,446,5474,0.05,0.00,0.00,0.000,6,0.251,0.000,2828,2057,2325,0,0,0,0,0,0
$GC,5782,-1.08,-91.1,776.7,-11.9,461,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2057,2325,0,0,0,0,0,0
$GC,6092,-1.08,-91.1,815.2,-12.6,476,6096,0.00,2.22,0.00,0.000,4,0.000,0.054,2828,648,2324,0,0,0,0,0,0
$GC,6118,-1.08,-91.1,818.8,-13.3,477,6123,0.00,2.22,0.00,0.000,6,0.000,0.044,2819,2055,2324,0,0,0,0,0,0
$GC,6440,-1.08,-91.1,858.5,-12.0,493,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2054,2324,0,0,0,0,0,0
$GC,6749,-1.08,-91.1,895.4,-11.8,508,6753,0.00,2.25,0.00,0.000,4,0.000,0.062,2809,3475,2323,0,0,0,0,0,0
$GC,6842,-1.08,-91.1,907.1,-12.5,512,6848,0.05,2.20,0.00,0.000,6,0.178,0.043,2824,2068,2323,0,0,0,0,0,0
$GC,7166,-1.08,-91.1,941.6,-10.9,528,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2068,2323,0,0,0,0,0,0
$GC,7475,-1.08,-91.1,975.6,-11.1,543,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2068,2323,0,0,0,0,0,0
$STATE,7699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7699,begin apogee
$GC,7704,-0.19,0.0,1001.4,11.7,554,7789,0.98,0.00,82.25,1.291,6,0.167,0.000,3118,1589,1950,0,0,0,0,0,0
$STATE,7790,end apogee,CONTROL_FINISHED_OK
$STATE,7790,begin climb
$GC,7792,1.12,91.1,1004.5,0.0,558,7886,1.27,2.45,87.50,1.258,4,0.089,0.050,3538,3003,1577,0,0,0,0,0,0
$GC,7943,1.12,91.1,992.2,11.8,566,7947,0.00,2.28,0.00,0.000,6,0.000,0.033,3547,1599,1573,0,0,0,0,0,0
$GC,8269,1.12,91.1,952.4,12.3,582,8273,0.00,2.30,0.00,0.000,4,0.000,0.051,3558,193,1569,0,0,0,0,0,0
$GC,8340,1.08,91.1,943.0,13.4,585,8345,0.08,2.28,0.00,0.000,6,0.177,0.034,3536,1613,1568,0,0,0,0,0,0
$GC,8662,1.12,91.1,904.2,12.2,601,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1613,1568,0,0,0,0,0,0
$GC,8971,1.15,91.1,866.8,12.3,616,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,1613,1567,0,0,0,0,0,0
$GC,9280,1.18,91.1,829.4,11.7,631,9282,0.08,0.00,0.00,0.000,6,0.127,0.000,3576,1613,1566,0,0,0,0,0,0
$GC,9590,1.14,91.1,789.8,12.6,646,9594,0.10,2.28,0.00,0.000,4,0.191,0.049,3563,189,1565,0,0,0,0,0,0
$GC,9697,1.11,91.1,776.1,13.1,651,9702,0.08,2.20,0.00,0.000,6,0.212,0.035,3546,1605,1565,0,0,0,0,0,0
$GC,10023,1.11,91.1,739.1,11.4,667,10027,0.00,2.28,0.00,0.000,4,0.000,0.050,3556,186,1565,0,0,0,0,0,0
$GC,10093,1.11,91.1,730.2,12.4,670,10099,0.03,2.20,0.00,0.000,6,0.204,0.034,3547,1596,1565,0,0,0,0,0,0
$GC,10415,1.11,91.1,694.1,11.2,686,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1596,1565,0,0,0,0,0,0
$GC,10724,1.11,91.1,659.4,11.5,701,10728,0.00,2.22,0.00,0.000,4,0.000,0.050,3556,197,1564,0,0,0,0,0,0
$GC,10800,1.11,91.1,649.9,12.6,704,10808,0.03,2.20,0.00,0.000,6,0.206,0.035,3548,1604,1564,0,0,0,0,0,0
$GC,11117,1.11,91.1,613.5,11.3,720,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1604,1564,0,0,0,0,0,0
$GC,11427,1.11,91.1,579.3,10.7,735,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1604,1564,0,0,0,0,0,0
$GC,11736,1.14,91.1,546.0,11.2,750,11740,0.00,2.25,0.00,0.000,4,0.000,0.049,3557,189,1564,0,0,0,0,0,0
$GC,11822,1.14,91.1,536.3,11.7,754,11826,0.00,2.17,0.00,0.000,6,0.000,0.034,3555,1606,1564,0,0,0,0,0,0
$GC,12148,1.14,91.1,503.1,9.8,770,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1606,1564,0,0,0,0,0,0
$GC,12457,1.14,91.1,471.9,10.1,785,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1564,0,0,0,0,0,0
$GC,12766,1.14,91.1,439.3,10.6,800,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1564,0,0,0,0,0,0
$GC,13076,1.14,91.1,406.3,10.5,815,13077,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1564,0,0,0,0,0,0
$GC,13392,1.14,91.1,372.3,10.5,842,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1564,0,0,0,0,0,0
$GC,13712,1.14,91.1,339.7,10.3,872,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1564,0,0,0,0,0,0
$GC,14030,1.14,91.1,306.0,11.0,902,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1607,1564,0,0,0,0,0,0
$GC,14349,1.14,91.1,269.9,11.2,932,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1606,1564,0,0,0,0,0,0
$GC,14668,1.17,91.1,232.9,11.2,962,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1607,1564,0,0,0,0,0,0
$GC,14986,1.17,91.1,198.0,11.3,992,14990,0.00,2.22,0.00,0.000,4,0.000,0.050,3563,195,1564,0,0,0,0,0,0
$GC,15120,1.17,91.1,181.9,12.3,1003,15127,0.00,2.17,0.00,0.000,6,0.000,0.034,3561,1605,1563,0,0,0,0,0,0
$GC,15446,1.17,91.1,146.2,9.9,1034,15450,0.00,2.20,0.00,0.000,4,0.000,0.049,3569,195,1563,0,0,0,0,0,0
$GC,15704,1.14,91.1,116.4,10.6,1056,15713,0.03,2.17,0.00,0.000,6,0.202,0.033,3560,1608,1563,0,0,0,0,0,0
$GC,16040,1.14,91.1,83.1,11.1,1101,16047,0.00,2.25,0.00,0.000,4,0.000,0.049,3570,199,1563,0,0,0,0,0,0
$GC,16289,1.14,91.1,51.1,11.9,1144,16295,0.08,2.12,0.00,0.000,6,0.210,0.034,3554,1605,1563,0,0,0,0,0,0
$GC,16657,1.17,91.1,11.2,11.1,1205,16664,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1605,1563,0,0,0,0,0,0
$GC,16715,1.17,91.1,4.3,11.2,1214,16722,0.00,2.25,0.00,0.000,4,0.000,0.050,3563,199,1564,0,0,0,0,0,0
$STATE,16729,end climb,SURFACE_DEPTH_REACHED
$STATE,16729,begin surface coast
$FINISH,1.8,1.023386
$STATE,16761,end surface coast,CONTROL_FINISHED_OK
$STATE,16761,begin surface
$SM_CCo,16780,50.35,0.056,0,0,1132,200.16
$SM_GC,3.25,0.00,0.00,50.35,0.000,0.000,0.056,61,2066,1132,-9.76,0.14,200.16
$IRIDIUM_FIX,-4444.39,624.79,130608,161625
$TT8_MAMPS,0.026964
$HUMID,62.08
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.5,17.165
$10V_AH,10.1,15.464
$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,23.525,72.975,169.750,50.350,0.000,50.163,108.947,283.354,0.000,0.000,20.288,2977.849,10832.311,319.627,3189.087,130.025,0.000,1353.345,0.000,2567.848,0.000,0.539,0.000
$DEVICE_MAMPS,279.990,64.260,1290.555,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.971,2261.855,906.800,495.882,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,83726,1221
$CAP_FILE_SIZE,138563,0
$CFSIZE,2097086464,2077982720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180815,080857,-4504.556,623.248,39,0.8,39,-24.3