version: 66.07.10.p01
glider: 573
mission: 12
dive: 112
start: 8 18 115 23 31 18
data:
$ID,573
$MISSION,12
$DIVE,112
$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,-21358.785
$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,45
$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,111
$GPS1,180815,232033,-4504.656,624.920,34,0.9,34,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-66.2
$GPS2,180815,233058,-4504.712,625.058,14,1.9,14,-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,338.0,1912,-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,-26.75,0.000,2,0.000,0.000,64,2081,1682,0,0,0,0,0,0
$GC,54,-1.12,-89.6,3.3,-4.0,4,100,11.52,2.30,-23.05,0.000,4,0.254,0.064,2820,671,2319,0,0,0,0,0,0
$GC,188,-1.02,-89.6,19.6,-16.6,25,196,0.12,2.22,0.00,0.000,6,0.181,0.042,2848,2048,2320,0,0,0,0,0,0
$GC,246,-1.02,-89.6,29.0,-16.2,34,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2048,2320,0,0,0,0,0,0
$GC,394,-1.02,-89.6,50.8,-14.1,59,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2048,2321,0,0,0,0,0,0
$GC,742,-1.02,-89.6,99.5,-14.0,120,749,0.00,2.28,0.00,0.000,4,0.000,0.058,2837,3461,2321,0,0,0,0,0,0
$GC,826,-1.02,-89.6,112.0,-14.7,128,835,0.00,2.20,0.00,0.000,6,0.000,0.041,2838,2064,2321,0,0,0,0,0,0
$GC,1152,-1.02,-89.6,156.4,-13.1,159,1154,0.08,0.00,0.00,0.000,6,0.217,0.000,2853,2065,2322,0,0,0,0,0,0
$GC,1473,-1.06,-89.6,198.5,-13.2,189,1477,0.00,2.25,0.00,0.000,4,0.000,0.057,2844,3470,2322,0,0,0,0,0,0
$GC,1530,-1.10,-89.6,206.3,-12.8,193,1535,0.00,2.17,0.00,0.000,6,0.000,0.042,2844,2058,2322,0,0,0,0,0,0
$GC,1854,-1.10,-89.6,248.2,-12.6,224,1858,0.00,2.22,0.00,0.000,4,0.000,0.055,2844,649,2322,0,0,0,0,0,0
$GC,1887,-1.10,-89.6,252.7,-13.5,226,1892,0.00,2.22,0.00,0.000,6,0.000,0.044,2835,2074,2322,0,0,0,0,0,0
$GC,2214,-1.10,-89.6,297.4,-14.1,257,2217,0.00,2.17,0.00,0.000,4,0.000,0.058,2824,3464,2322,0,0,0,0,0,0
$GC,2279,-1.10,-89.6,307.5,-14.3,262,2286,0.00,2.17,0.00,0.000,6,0.000,0.040,2824,2068,2323,0,0,0,0,0,0
$GC,2607,-1.10,-89.6,353.6,-14.4,293,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2068,2323,0,0,0,0,0,0
$GC,2934,-1.10,-89.6,403.9,-15.4,323,2938,0.00,2.22,0.00,0.000,4,0.000,0.054,2824,651,2322,0,0,0,0,0,0
$GC,2966,-1.06,-89.6,409.4,-16.0,324,2972,0.08,2.22,0.00,0.000,6,0.184,0.042,2838,2066,2322,0,0,0,0,0,0
$GC,3282,-1.06,-89.6,456.5,-14.9,340,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2066,2322,0,0,0,0,0,0
$GC,3591,-1.09,-89.6,501.2,-14.3,355,3595,0.00,2.20,0.00,0.000,4,0.000,0.061,2827,3475,2323,0,0,0,0,0,0
$GC,3645,-1.09,-89.6,509.4,-13.8,357,3652,0.00,2.20,0.00,0.000,6,0.000,0.042,2828,2059,2322,0,0,0,0,0,0
$GC,3962,-1.09,-89.6,553.1,-13.6,373,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2059,2323,0,0,0,0,0,0
$GC,4271,-1.09,-89.6,593.7,-13.0,388,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2322,0,0,0,0,0,0
$GC,4581,-1.09,-89.6,634.0,-12.6,403,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2321,0,0,0,0,0,0
$GC,4890,-1.09,-89.6,674.1,-13.0,418,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2321,0,0,0,0,0,0
$GC,5199,-1.09,-89.6,713.0,-12.8,433,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2321,0,0,0,0,0,0
$GC,5509,-1.12,-89.6,752.7,-12.8,448,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2320,0,0,0,0,0,0
$GC,5819,-1.15,-89.6,792.7,-12.9,463,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2059,2320,0,0,0,0,0,0
$GC,6128,-1.15,-89.6,831.9,-12.3,478,6132,0.00,2.28,0.00,0.000,4,0.000,0.063,2818,3472,2320,0,0,0,0,0,0
$GC,6170,-1.15,-89.6,837.6,-12.1,480,6175,0.00,2.20,0.00,0.000,6,0.000,0.043,2818,2062,2320,0,0,0,0,0,0
$GC,6498,-1.15,-89.6,876.3,-11.9,496,6502,0.00,2.20,0.00,0.000,4,0.000,0.055,2818,654,2319,0,0,0,0,0,0
$GC,6524,-1.15,-89.6,879.9,-13.0,497,6529,0.00,2.20,0.00,0.000,6,0.000,0.044,2810,2053,2319,0,0,0,0,0,0
$GC,6846,-1.15,-89.6,919.3,-12.7,513,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2054,2319,0,0,0,0,0,0
$GC,7156,-1.15,-89.6,957.2,-12.0,528,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2054,2319,0,0,0,0,0,0
$GC,7465,-1.15,-89.6,993.8,-11.8,543,7469,0.00,2.22,0.00,0.000,4,0.000,0.060,2799,3465,2318,0,0,0,0,0,0
$GC,7513,-1.15,-89.6,999.9,-12.6,545,7518,0.00,2.17,0.00,0.000,6,0.000,0.043,2799,2066,2318,0,0,0,0,0,0
$STATE,7524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7524,begin apogee
$GC,7529,-0.19,0.0,1001.0,11.8,546,7615,1.08,0.00,82.53,1.288,6,0.170,0.000,3120,1588,1950,0,0,0,0,0,0
$STATE,7616,end apogee,CONTROL_FINISHED_OK
$STATE,7616,begin climb
$GC,7618,1.12,89.6,1003.5,0.0,550,7708,1.25,0.00,86.03,1.255,6,0.092,0.000,3535,1588,1583,0,0,0,0,0,0
$GC,8008,1.15,89.6,960.5,12.3,569,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1588,1575,0,0,0,0,0,0
$GC,8318,1.19,89.6,922.4,12.2,584,8319,0.10,0.00,0.00,0.000,6,0.098,0.000,3586,1588,1574,0,0,0,0,0,0
$GC,8627,1.13,89.6,879.8,14.0,599,8632,0.15,2.25,0.00,0.000,4,0.181,0.052,3560,189,1573,0,0,0,0,0,0
$GC,8827,1.09,89.6,852.6,13.5,608,8833,0.05,2.25,0.00,0.000,6,0.178,0.036,3542,1607,1572,0,0,0,0,0,0
$GC,9155,1.09,89.6,813.3,12.2,624,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1607,1572,0,0,0,0,0,0
$GC,9464,1.09,89.6,774.6,13.1,639,9468,0.00,2.20,0.00,0.000,4,0.000,0.053,3542,2999,1572,0,0,0,0,0,0
$GC,9551,1.09,89.6,763.0,13.0,643,9557,0.03,2.17,0.00,0.000,6,0.218,0.034,3543,1593,1571,0,0,0,0,0,0
$GC,9879,1.09,89.6,723.4,12.0,659,9882,0.00,2.20,0.00,0.000,4,0.000,0.051,3553,197,1571,0,0,0,0,0,0
$GC,9987,1.09,89.6,710.0,12.9,664,9991,0.08,2.17,0.00,0.000,6,0.220,0.037,3537,1601,1571,0,0,0,0,0,0
$GC,10313,1.13,89.6,672.8,11.3,680,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1601,1571,0,0,0,0,0,0
$GC,10622,1.17,89.6,640.5,10.3,695,10624,0.05,0.00,0.00,0.000,6,0.173,0.000,3567,1601,1571,0,0,0,0,0,0
$GC,10931,1.17,89.6,606.2,11.0,710,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,1601,1571,0,0,0,0,0,0
$GC,11240,1.17,89.6,571.8,11.3,725,11245,0.00,2.25,0.00,0.000,4,0.000,0.050,3577,190,1570,0,0,0,0,0,0
$GC,11340,1.11,89.6,559.6,12.0,729,11347,0.10,2.20,0.00,0.000,6,0.168,0.036,3547,1603,1570,0,0,0,0,0,0
$GC,11656,1.11,89.6,523.5,11.7,745,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1603,1570,0,0,0,0,0,0
$GC,11965,1.11,89.6,485.3,12.7,760,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1603,1570,0,0,0,0,0,0
$GC,12275,1.15,89.6,447.3,12.1,775,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1603,1570,0,0,0,0,0,0
$GC,12584,1.15,89.6,412.2,10.7,790,12588,0.00,2.20,0.00,0.000,4,0.000,0.050,3556,199,1570,0,0,0,0,0,0
$GC,12668,1.15,89.6,402.4,11.7,794,12672,0.00,2.17,0.00,0.000,6,0.000,0.037,3556,1609,1570,0,0,0,0,0,0
$GC,12992,1.15,89.6,367.2,10.5,823,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1609,1569,0,0,0,0,0,0
$GC,13313,1.15,89.6,333.5,10.8,853,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1609,1570,0,0,0,0,0,0
$GC,13629,1.15,89.6,300.3,9.9,883,13633,0.00,2.25,0.00,0.000,4,0.000,0.049,3565,192,1570,0,0,0,0,0,0
$GC,13764,1.12,89.6,285.7,10.1,894,13770,0.08,2.15,0.00,0.000,6,0.215,0.035,3548,1604,1570,0,0,0,0,0,0
$GC,14091,1.15,89.6,253.9,10.2,925,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1604,1570,0,0,0,0,0,0
$GC,14407,1.18,89.6,224.2,9.0,955,14411,0.00,2.17,0.00,0.000,4,0.000,0.052,3547,2996,1569,0,0,0,0,0,0
$GC,14503,1.18,89.6,215.1,8.9,963,14507,0.00,2.10,0.00,0.000,6,0.000,0.034,3556,1593,1569,0,0,0,0,0,0
$GC,14831,1.18,89.6,184.5,10.1,993,14835,0.00,2.17,0.00,0.000,4,0.000,0.050,3566,193,1569,0,0,0,0,0,0
$GC,15006,1.15,89.6,165.4,10.5,1008,15010,0.00,2.15,0.00,0.000,6,0.000,0.036,3566,1598,1569,0,0,0,0,0,0
$GC,15330,1.15,89.6,129.9,11.5,1038,15334,0.00,2.17,0.00,0.000,4,0.000,0.053,3566,2993,1569,0,0,0,0,0,0
$GC,15587,1.15,89.6,103.2,10.4,1060,15596,0.08,2.12,0.00,0.000,6,0.179,0.033,3552,1597,1569,0,0,0,0,0,0
$GC,15933,1.18,89.6,67.6,11.3,1118,15939,0.00,2.17,0.00,0.000,4,0.000,0.050,3563,202,1569,0,0,0,0,0,0
$GC,16041,1.18,89.6,55.3,10.7,1137,16049,0.00,2.15,0.00,0.000,6,0.000,0.035,3561,1595,1569,0,0,0,0,0,0
$GC,16406,1.18,89.6,25.4,9.4,1198,16413,0.00,2.22,0.00,0.000,4,0.000,0.047,3570,198,1568,0,0,0,0,0,0
$STATE,16627,end climb,SURFACE_DEPTH_REACHED
$STATE,16627,begin surface coast
$FINISH,1.7,1.013859
$STATE,16659,end surface coast,CONTROL_FINISHED_OK
$STATE,16659,begin surface
$SM_CCo,16678,51.05,0.056,0,0,1133,200.16
$SM_GC,3.29,0.00,0.00,51.05,0.000,0.000,0.056,60,2076,1133,-9.76,0.45,200.16
$IRIDIUM_FIX,-4447.43,628.16,140608,121232
$TT8_MAMPS,0.026964
$HUMID,62.01
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.6,17.519
$10V_AH,10.1,15.976
$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,23.975,93.900,168.550,51.050,0.000,53.181,137.479,259.176,0.000,0.000,17.295,3039.285,10499.838,340.031,3329.183,142.338,0.000,1428.780,0.000,2702.111,0.000,0.539,0.000
$DEVICE_MAMPS,253.980,64.260,1288.260,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.205,2308.950,975.883,559.415,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,86970,1239
$CAP_FILE_SIZE,146208,0
$CFSIZE,2097086464,2077458432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190815,041122,-4504.274,625.140,41,1.2,41,-24.4