version: 66.07.10.p01
glider: 573
mission: 12
dive: 109
start: 8 18 115 8 16 33
data:
$ID,573
$MISSION,12
$DIVE,109
$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,-21349.947
$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,38
$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,108
$GPS1,180815,080857,-4504.556,623.248,39,0.8,39,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.3
$GPS2,180815,081613,-4504.556,623.370,23,1.2,23,-24.3
$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,63.0,1319,-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,-20.27,0.000,2,0.000,0.000,61,2065,1552,0,0,0,0,0,0
$GC,48,-1.11,-79.0,3.2,-5.2,3,100,11.25,2.30,-31.48,0.000,4,0.247,0.069,2819,665,2275,0,0,0,0,0,0
$GC,370,-1.01,-79.0,48.7,-15.4,56,376,0.17,2.17,0.00,0.000,6,0.190,0.039,2856,2055,2277,0,0,0,0,0,0
$GC,719,-1.01,-79.0,97.7,-13.4,117,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2055,2277,0,0,0,0,0,0
$GC,1047,-1.01,-79.0,141.8,-13.6,149,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2055,2278,0,0,0,0,0,0
$GC,1363,-1.05,-79.0,179.5,-11.7,179,1367,0.00,2.25,0.00,0.000,4,0.000,0.059,2844,3473,2278,0,0,0,0,0,0
$GC,1448,-1.05,-79.0,189.7,-12.0,186,1452,0.00,2.20,0.00,0.000,6,0.000,0.041,2845,2050,2278,0,0,0,0,0,0
$GC,1772,-1.05,-79.0,228.3,-12.3,216,1776,0.00,2.25,0.00,0.000,4,0.000,0.059,2836,3469,2279,0,0,0,0,0,0
$GC,1801,-1.05,-79.0,231.8,-12.2,218,1805,0.00,2.17,0.00,0.000,6,0.000,0.041,2835,2057,2279,0,0,0,0,0,0
$GC,2125,-1.05,-79.0,272.6,-13.0,248,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2057,2279,0,0,0,0,0,0
$GC,2444,-1.05,-79.0,314.7,-13.5,278,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2057,2279,0,0,0,0,0,0
$GC,2763,-1.05,-79.0,359.0,-14.0,308,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2057,2279,0,0,0,0,0,0
$GC,3081,-1.05,-79.0,403.1,-13.3,337,3085,0.00,2.25,0.00,0.000,4,0.000,0.061,2826,3469,2279,0,0,0,0,0,0
$GC,3106,-1.05,-79.0,407.1,-14.3,338,3112,0.05,2.20,0.00,0.000,6,0.181,0.041,2842,2059,2279,0,0,0,0,0,0
$GC,3434,-1.05,-79.0,450.7,-13.2,354,3438,0.00,2.22,0.00,0.000,4,0.000,0.055,2843,647,2279,0,0,0,0,0,0
$GC,3459,-1.05,-79.0,454.5,-13.6,355,3464,0.00,2.22,0.00,0.000,6,0.000,0.042,2834,2058,2279,0,0,0,0,0,0
$GC,3783,-1.05,-79.0,494.8,-12.1,371,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2058,2279,0,0,0,0,0,0
$GC,4092,-1.05,-79.0,531.8,-11.8,386,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2058,2279,0,0,0,0,0,0
$GC,4402,-1.05,-79.0,568.0,-11.9,401,4406,0.00,2.25,0.00,0.000,4,0.000,0.062,2823,3475,2279,0,0,0,0,0,0
$GC,4508,-1.05,-79.0,581.3,-12.6,406,4513,0.10,2.17,0.00,0.000,6,0.194,0.042,2847,2058,2279,0,0,0,0,0,0
$GC,4835,-1.09,-79.0,620.2,-12.0,422,4839,0.00,2.22,0.00,0.000,4,0.000,0.056,2847,646,2278,0,0,0,0,0,0
$GC,4866,-1.09,-79.0,624.5,-12.4,423,4873,0.00,2.22,0.00,0.000,6,0.000,0.043,2838,2060,2278,0,0,0,0,0,0
$GC,5183,-1.09,-79.0,662.0,-11.9,439,5187,0.00,2.25,0.00,0.000,4,0.000,0.063,2827,3469,2277,0,0,0,0,0,0
$GC,5226,-1.09,-79.0,667.7,-13.0,441,5231,0.00,2.20,0.00,0.000,6,0.000,0.041,2827,2053,2277,0,0,0,0,0,0
$GC,5554,-1.09,-79.0,707.1,-11.8,457,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2053,2277,0,0,0,0,0,0
$GC,5863,-1.09,-79.0,745.0,-12.7,472,5867,0.00,2.17,0.00,0.000,4,0.000,0.055,2827,657,2277,0,0,0,0,0,0
$GC,5911,-1.09,-79.0,751.5,-13.6,474,5916,0.00,2.22,0.00,0.000,6,0.000,0.043,2818,2067,2277,0,0,0,0,0,0
$GC,6233,-1.09,-79.0,788.9,-11.5,490,6237,0.00,2.20,0.00,0.000,4,0.000,0.060,2807,3463,2277,0,0,0,0,0,0
$GC,6298,-1.09,-79.0,796.5,-11.6,493,6303,0.05,2.17,0.00,0.000,6,0.171,0.041,2824,2066,2277,0,0,0,0,0,0
$GC,6625,-1.09,-79.0,830.3,-10.4,509,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2066,2277,0,0,0,0,0,0
$GC,6935,-1.09,-79.0,861.4,-10.0,524,6939,0.00,2.20,0.00,0.000,4,0.000,0.055,2825,654,2277,0,0,0,0,0,0
$GC,7006,-1.09,-79.0,869.4,-11.0,527,7011,0.03,2.20,0.00,0.000,6,0.213,0.042,2824,2052,2277,0,0,0,0,0,0
$GC,7328,-1.09,-79.0,903.2,-11.0,543,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2052,2276,0,0,0,0,0,0
$GC,7637,-1.09,-79.0,938.2,-11.7,558,7641,0.00,2.22,0.00,0.000,4,0.000,0.059,2813,3464,2276,0,0,0,0,0,0
$GC,7698,-1.09,-79.0,945.5,-12.4,561,7703,0.08,2.17,0.00,0.000,6,0.203,0.042,2830,2049,2276,0,0,0,0,0,0
$GC,8025,-1.13,-79.0,982.6,-11.3,577,8029,0.00,2.20,0.00,0.000,4,0.000,0.055,2831,651,2276,0,0,0,0,0,0
$GC,8095,-1.13,-79.0,991.4,-11.6,580,8100,0.00,2.22,0.00,0.000,6,0.000,0.043,2822,2066,2276,0,0,0,0,0,0
$STATE,8189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8189,begin apogee
$GC,8194,-0.19,0.0,1002.0,11.4,585,8271,1.00,0.00,73.53,1.293,6,0.172,0.000,3119,1600,1950,0,0,0,0,0,0
$STATE,8272,end apogee,CONTROL_FINISHED_OK
$STATE,8272,begin climb
$GC,8273,1.11,79.0,1005.4,0.0,589,8359,1.25,2.47,75.68,1.259,4,0.090,0.050,3548,193,1626,0,0,0,0,0,0
$GC,8425,1.11,79.0,993.0,12.0,596,8430,0.00,2.33,0.00,0.000,6,0.000,0.034,3548,1602,1622,0,0,0,0,0,0
$GC,8752,1.11,79.0,954.5,12.0,612,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1603,1619,0,0,0,0,0,0
$GC,9062,1.11,79.0,915.7,12.7,627,9066,0.00,2.30,0.00,0.000,4,0.000,0.050,3557,195,1617,0,0,0,0,0,0
$GC,9116,1.07,79.0,908.6,12.5,629,9123,0.08,2.25,0.00,0.000,6,0.175,0.034,3535,1610,1617,0,0,0,0,0,0
$GC,9432,1.07,79.0,871.7,11.5,645,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1610,1616,0,0,0,0,0,0
$GC,9741,1.07,79.0,834.6,12.2,660,9745,0.00,2.28,0.00,0.000,4,0.000,0.050,3544,197,1615,0,0,0,0,0,0
$GC,9818,1.07,79.0,824.5,12.9,663,9824,0.00,2.20,0.00,0.000,6,0.000,0.034,3544,1593,1615,0,0,0,0,0,0
$GC,10135,1.07,79.0,786.9,11.9,679,10139,0.05,2.20,0.00,0.000,4,0.240,0.054,3534,3002,1615,0,0,0,0,0,0
$GC,10251,1.07,79.0,772.6,11.6,684,10255,0.00,2.20,0.00,0.000,6,0.000,0.034,3543,1591,1615,0,0,0,0,0,0
$GC,10572,1.07,79.0,734.7,11.8,700,10576,0.00,2.20,0.00,0.000,4,0.000,0.051,3553,199,1614,0,0,0,0,0,0
$GC,10633,1.04,79.0,727.1,12.2,702,10639,0.10,2.20,0.00,0.000,6,0.176,0.036,3523,1602,1613,0,0,0,0,0,0
$GC,10949,1.10,79.0,691.8,11.3,718,10953,0.00,2.25,0.00,0.000,4,0.000,0.050,3531,192,1613,0,0,0,0,0,0
$GC,11036,1.10,79.0,681.0,12.1,722,11041,0.00,2.20,0.00,0.000,6,0.000,0.035,3532,1595,1613,0,0,0,0,0,0
$GC,11364,1.13,79.0,642.5,11.7,738,11368,0.00,2.17,0.00,0.000,4,0.000,0.054,3532,2993,1613,0,0,0,0,0,0
$GC,11473,1.13,79.0,629.7,11.3,743,11477,0.00,2.12,0.00,0.000,6,0.000,0.034,3541,1599,1613,0,0,0,0,0,0
$GC,11799,1.13,79.0,594.8,10.3,759,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1599,1613,0,0,0,0,0,0
$GC,12108,1.13,79.0,562.3,10.8,774,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1599,1613,0,0,0,0,0,0
$GC,12418,1.13,79.0,529.4,11.0,789,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1599,1613,0,0,0,0,0,0
$GC,12727,1.13,79.0,495.4,11.0,804,12731,0.00,2.22,0.00,0.000,4,0.000,0.052,3552,192,1613,0,0,0,0,0,0
$GC,12871,1.13,79.0,478.2,11.4,810,12877,0.00,2.20,0.00,0.000,6,0.000,0.034,3551,1608,1613,0,0,0,0,0,0
$GC,13187,1.13,79.0,443.0,10.8,826,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1608,1613,0,0,0,0,0,0
$GC,13496,1.13,79.0,411.6,9.6,841,13500,0.00,2.25,0.00,0.000,4,0.000,0.050,3561,195,1613,0,0,0,0,0,0
$GC,13585,1.10,79.0,401.9,10.8,845,13590,0.05,2.20,0.00,0.000,6,0.179,0.034,3544,1613,1613,0,0,0,0,0,0
$GC,13909,1.10,79.0,370.0,10.0,874,13910,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1613,1613,0,0,0,0,0,0
$GC,14229,1.10,79.0,339.5,9.6,904,14232,0.00,2.15,0.00,0.000,4,0.000,0.052,3544,2990,1612,0,0,0,0,0,0
$GC,14339,1.10,79.0,327.7,10.6,913,14346,0.03,2.15,0.00,0.000,6,0.206,0.034,3545,1595,1612,0,0,0,0,0,0
$GC,14665,1.10,79.0,296.0,9.4,944,14669,0.00,2.20,0.00,0.000,4,0.000,0.050,3556,196,1612,0,0,0,0,0,0
$GC,14720,1.10,79.0,290.4,9.7,948,14728,0.03,2.17,0.00,0.000,6,0.204,0.034,3546,1605,1612,0,0,0,0,0,0
$GC,15045,1.10,79.0,260.3,9.0,979,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1605,1612,0,0,0,0,0,0
$GC,15367,1.10,79.0,230.6,9.9,1009,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1606,1612,0,0,0,0,0,0
$GC,15682,1.10,79.0,199.6,9.9,1039,15686,0.00,2.15,0.00,0.000,4,0.000,0.050,3546,2990,1612,0,0,0,0,0,0
$GC,15760,1.10,79.0,191.5,10.2,1045,15767,0.03,2.12,0.00,0.000,6,0.214,0.034,3546,1606,1612,0,0,0,0,0,0
$GC,16086,1.14,79.0,158.2,10.5,1076,16090,0.00,2.22,0.00,0.000,4,0.000,0.050,3557,189,1612,0,0,0,0,0,0
$GC,16276,1.14,79.0,137.0,10.4,1092,16285,0.00,2.17,0.00,0.000,6,0.000,0.034,3554,1597,1612,0,0,0,0,0,0
$GC,16602,1.14,88.3,108.3,7.5,1123,16616,0.00,2.25,6.72,0.617,4,0.000,0.052,3555,3002,1590,0,0,0,0,0,0
$GC,16757,1.14,88.3,93.7,10.0,1142,16763,0.00,2.12,0.00,0.000,6,0.000,0.033,3563,1595,1589,0,0,0,0,0,0
$GC,17104,1.14,88.3,61.9,9.4,1203,17111,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1595,1589,0,0,0,0,0,0
$GC,17459,1.15,97.1,33.2,7.5,1264,17474,0.00,2.17,9.82,0.623,4,0.000,0.047,3573,198,1553,0,0,0,0,0,0
$GC,17720,1.10,97.1,6.9,10.7,1306,17728,0.10,2.17,0.00,0.000,6,0.165,0.034,3542,1598,1551,0,0,0,0,0,0
$STATE,17759,end climb,SURFACE_DEPTH_REACHED
$STATE,17759,begin surface coast
$FINISH,1.6,1.022942
$STATE,17791,end surface coast,CONTROL_FINISHED_OK
$STATE,17791,begin surface
$SM_CCo,17808,50.65,0.057,0,0,1133,200.16
$SM_GC,3.63,0.00,0.00,50.65,0.000,0.000,0.057,80,2085,1133,-9.70,0.71,200.16
$IRIDIUM_FIX,-4447.43,621.76,130608,161619
$TT8_MAMPS,0.026964
$HUMID,61.30
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.6,17.242
$10V_AH,10.1,15.596
$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,23.500,125.325,165.750,50.650,0.000,26.728,25.041,262.258,0.000,0.000,25.773,3249.875,11110.042,335.010,3444.616,151.534,0.000,1554.758,0.000,2931.590,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,68.850,1292.850,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.678,2420.193,992.414,538.642,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353220
$DATA_FILE_SIZE,90456,1317
$CAP_FILE_SIZE,160478,0
$CFSIZE,2097086464,2077851648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180815,131521,-4504.542,627.116,35,1.0,35,-24.4