version: 66.07.10.p01
glider: 573
mission: 12
dive: 113
start: 8 19 115 4 19 0
data:
$ID,573
$MISSION,12
$DIVE,113
$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,-21361.615
$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,44
$R_STBD_OVSHOOT,45
$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,112
$GPS1,190815,041122,-4504.274,625.140,41,1.2,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-66.6
$GPS2,190815,041840,-4504.323,625.242,17,1.2,17,-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,314.6,1732,-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,-26.42,0.000,2,0.000,0.000,60,2076,1676,0,0,0,0,0,0
$GC,54,-1.12,-93.3,3.2,-3.6,4,99,11.45,0.00,-25.52,0.000,6,0.253,0.000,2819,2071,2329,0,0,0,0,0,0
$GC,150,-1.06,-93.3,9.2,-11.0,19,158,0.10,2.30,0.00,0.000,4,0.204,0.063,2832,3453,2332,0,0,0,0,0,0
$GC,282,-1.02,-93.3,25.8,-12.9,40,290,0.05,2.20,0.00,0.000,6,0.200,0.042,2847,2073,2331,0,0,0,0,0,0
$GC,433,-1.02,-93.3,47.1,-13.4,65,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2073,2331,0,0,0,0,0,0
$GC,780,-1.02,-93.3,100.4,-15.3,126,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2073,2332,0,0,0,0,0,0
$GC,1099,-1.02,-93.3,148.4,-15.8,156,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2073,2332,0,0,0,0,0,0
$GC,1418,-1.05,-93.3,192.6,-14.0,186,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2073,2332,0,0,0,0,0,0
$GC,1737,-1.09,-93.3,235.9,-13.5,216,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2073,2332,0,0,0,0,0,0
$GC,2056,-1.13,-93.3,277.8,-13.0,246,2060,0.08,2.22,0.00,0.000,4,0.128,0.058,2802,3459,2333,0,0,0,0,0,0
$GC,2100,-1.07,-93.3,284.6,-14.9,249,2106,0.12,2.15,0.00,0.000,6,0.183,0.040,2834,2057,2333,0,0,0,0,0,0
$GC,2425,-1.07,-93.3,330.6,-14.1,280,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2333,0,0,0,0,0,0
$GC,2744,-1.07,-93.3,374.4,-13.6,310,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2333,0,0,0,0,0,0
$GC,3058,-1.07,-93.3,417.3,-13.5,334,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2334,0,0,0,0,0,0
$GC,3368,-1.07,-93.3,459.2,-13.4,349,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2333,0,0,0,0,0,0
$GC,3677,-1.07,-93.3,499.9,-13.2,364,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2333,0,0,0,0,0,0
$GC,3986,-1.07,-93.3,541.4,-13.7,379,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2057,2333,0,0,0,0,0,0
$GC,4296,-1.07,-93.3,583.3,-13.4,394,4300,0.00,2.22,0.00,0.000,4,0.000,0.060,2825,3451,2334,0,0,0,0,0,0
$GC,4316,-1.07,-93.3,586.2,-12.6,395,4321,0.00,2.17,0.00,0.000,6,0.000,0.042,2825,2061,2333,0,0,0,0,0,0
$GC,4644,-1.07,-93.3,630.0,-13.1,411,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2061,2333,0,0,0,0,0,0
$GC,4953,-1.07,-93.3,670.4,-12.6,426,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2061,2332,0,0,0,0,0,0
$GC,5262,-1.07,-93.3,710.2,-12.8,441,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2061,2333,0,0,0,0,0,0
$GC,5572,-1.07,-93.3,749.0,-12.4,456,5576,0.00,2.22,0.00,0.000,4,0.000,0.056,2825,649,2332,0,0,0,0,0,0
$GC,5615,-1.07,-93.3,754.8,-12.9,458,5620,0.05,2.20,0.00,0.000,6,0.187,0.043,2832,2045,2332,0,0,0,0,0,0
$GC,5943,-1.11,-93.3,792.3,-11.4,474,5947,0.00,2.25,0.00,0.000,4,0.000,0.060,2821,3476,2332,0,0,0,0,0,0
$GC,5985,-1.11,-93.3,797.6,-11.5,476,5990,0.00,2.20,0.00,0.000,6,0.000,0.041,2821,2056,2331,0,0,0,0,0,0
$GC,6313,-1.11,-93.3,834.6,-11.7,492,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2055,2331,0,0,0,0,0,0
$GC,6622,-1.11,-93.3,870.7,-11.7,507,6626,0.00,2.22,0.00,0.000,4,0.000,0.057,2822,646,2331,0,0,0,0,0,0
$GC,6654,-1.11,-93.3,875.0,-13.0,508,6660,0.00,2.22,0.00,0.000,6,0.000,0.043,2812,2057,2331,0,0,0,0,0,0
$GC,6970,-1.11,-93.3,913.7,-12.6,524,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2057,2330,0,0,0,0,0,0
$GC,7280,-1.11,-93.3,952.8,-12.5,539,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2056,2330,0,0,0,0,0,0
$GC,7589,-1.11,-93.3,990.9,-12.5,554,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2057,2330,0,0,0,0,0,0
$STATE,7670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7670,begin apogee
$GC,7675,-0.19,0.0,1001.1,12.5,558,7763,1.02,0.00,84.93,1.290,6,0.171,0.000,3118,1591,1950,0,0,0,0,0,0
$STATE,7764,end apogee,CONTROL_FINISHED_OK
$STATE,7764,begin climb
$GC,7766,1.12,93.3,1004.4,0.0,562,7863,1.25,2.42,88.97,1.258,4,0.090,0.050,3545,193,1568,0,0,0,0,0,0
$GC,7912,1.12,93.3,992.3,13.3,568,7917,0.00,2.35,0.00,0.000,6,0.000,0.034,3544,1605,1564,0,0,0,0,0,0
$GC,8239,1.12,93.3,951.3,12.5,584,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1605,1560,0,0,0,0,0,0
$GC,8549,1.12,93.3,909.7,13.7,599,8553,0.00,2.30,0.00,0.000,4,0.000,0.050,3554,199,1558,0,0,0,0,0,0
$GC,8597,1.12,93.3,902.4,15.6,601,8602,0.00,2.25,0.00,0.000,6,0.000,0.036,3554,1605,1558,0,0,0,0,0,0
$GC,8919,1.12,93.3,857.4,13.8,617,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1605,1557,0,0,0,0,0,0
$GC,9228,1.12,93.3,815.0,13.9,632,9232,0.00,2.28,0.00,0.000,4,0.000,0.050,3563,198,1557,0,0,0,0,0,0
$GC,9283,1.09,93.3,806.7,15.0,634,9289,0.08,2.20,0.00,0.000,6,0.169,0.036,3540,1601,1556,0,0,0,0,0,0
$GC,9599,1.12,93.3,765.3,13.2,650,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1601,1556,0,0,0,0,0,0
$GC,9909,1.15,93.3,725.9,12.3,665,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1601,1556,0,0,0,0,0,0
$GC,10218,1.19,93.3,689.1,11.6,680,10220,0.08,0.00,0.00,0.000,6,0.127,0.000,3582,1601,1555,0,0,0,0,0,0
$GC,10527,1.15,93.3,649.6,12.8,695,10529,0.10,0.00,0.00,0.000,6,0.194,0.000,3559,1606,1555,0,0,0,0,0,0
$GC,10836,1.15,93.3,613.4,11.5,710,10840,0.00,2.25,0.00,0.000,4,0.000,0.052,3569,192,1555,0,0,0,0,0,0
$GC,10902,1.11,93.3,605.2,13.2,713,10907,0.08,2.20,0.00,0.000,6,0.174,0.036,3545,1596,1555,0,0,0,0,0,0
$GC,11231,1.14,93.3,570.3,11.1,729,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1596,1555,0,0,0,0,0,0
$GC,11539,1.17,93.3,536.5,10.9,744,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1597,1555,0,0,0,0,0,0
$GC,11848,1.17,93.3,502.2,11.1,759,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1597,1555,0,0,0,0,0,0
$GC,12158,1.21,93.3,466.8,11.7,774,12163,0.08,2.22,0.00,0.000,4,0.129,0.050,3596,195,1555,0,0,0,0,0,0
$GC,12220,1.12,93.3,458.5,13.5,777,12225,0.20,2.17,0.00,0.000,6,0.181,0.036,3544,1611,1555,0,0,0,0,0,0
$GC,12548,1.15,93.3,419.6,11.9,793,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1611,1555,0,0,0,0,0,0
$GC,12860,1.19,93.3,383.1,11.1,814,12861,0.08,0.00,0.00,0.000,6,0.130,0.000,3582,1611,1554,0,0,0,0,0,0
$GC,13178,1.16,93.3,344.2,12.0,844,13180,0.10,0.00,0.00,0.000,6,0.198,0.000,3559,1616,1554,0,0,0,0,0,0
$GC,13496,1.16,93.3,308.8,10.7,874,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1616,1554,0,0,0,0,0,0
$GC,13815,1.16,93.3,275.4,10.7,904,13819,0.00,2.22,0.00,0.000,4,0.000,0.052,3569,193,1554,0,0,0,0,0,0
$GC,13935,1.13,93.3,262.4,10.7,914,13940,0.08,2.15,0.00,0.000,6,0.214,0.034,3553,1599,1554,0,0,0,0,0,0
$GC,14259,1.13,93.3,230.1,9.9,944,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1599,1554,0,0,0,0,0,0
$GC,14578,1.13,93.3,198.2,10.1,974,14582,0.00,2.20,0.00,0.000,4,0.000,0.050,3562,197,1554,0,0,0,0,0,0
$GC,14686,1.13,93.3,186.1,11.0,983,14690,0.03,2.15,0.00,0.000,6,0.278,0.035,3553,1602,1554,0,0,0,0,0,0
$GC,15014,1.16,93.3,150.9,11.3,1013,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1602,1555,0,0,0,0,0,0
$GC,15340,1.20,93.3,114.5,10.5,1044,15344,0.00,2.22,0.00,0.000,4,0.000,0.050,3562,196,1554,0,0,0,0,0,0
$GC,15583,1.20,93.3,88.0,11.2,1074,15590,0.00,2.17,0.00,0.000,6,0.000,0.034,3561,1603,1554,0,0,0,0,0,0
$GC,15934,1.20,96.4,56.9,8.2,1135,15939,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1603,1554,0,0,0,0,0,0
$GC,16294,1.20,96.4,20.8,10.3,1196,16302,0.00,2.17,0.00,0.000,4,0.000,0.049,3561,2993,1554,0,0,0,0,0,0
$GC,16334,1.20,96.4,16.5,11.2,1202,16342,0.00,2.12,0.00,0.000,6,0.000,0.035,3570,1602,1554,0,0,0,0,0,0
$GC,16392,1.20,96.4,10.6,10.4,1211,16399,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1602,1554,0,0,0,0,0,0
$GC,16449,1.20,96.4,3.4,13.1,1220,16457,0.00,2.17,0.00,0.000,4,0.000,0.047,3568,2990,1553,0,0,0,0,0,0
$STATE,16465,end climb,SURFACE_DEPTH_REACHED
$STATE,16465,begin surface coast
$FINISH,1.6,1.023388
$STATE,16479,end surface coast,CONTROL_FINISHED_OK
$STATE,16479,begin surface
$SM_CCo,16497,49.42,0.057,0,0,1132,200.16
$SM_GC,3.26,0.00,0.00,49.42,0.000,0.000,0.057,68,2033,1132,-9.74,-0.74,200.16
$IRIDIUM_FIX,-4447.43,619.06,140608,121232
$TT8_MAMPS,0.026964
$HUMID,61.02
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,23.5,17.602
$10V_AH,10.1,16.097
$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,24.150,71.025,173.900,49.425,0.000,24.825,21.559,274.132,0.000,0.000,19.681,2977.303,10515.119,313.107,3036.164,138.544,0.000,1345.551,0.000,2545.495,0.000,0.541,0.000
$DEVICE_MAMPS,278.460,63.495,1289.790,56.610,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.824,2262.265,942.833,534.949,0.000,0.000,0.000,0.000,0.000,0.000
$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,83647,1224
$CAP_FILE_SIZE,139833,0
$CFSIZE,2097086464,2077327360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190815,085603,-4504.498,623.731,42,0.9,42,-24.4