version: 66.07.10.p01
glider: 573
mission: 12
dive: 182
start: 9 3 115 11 4 4
data:
$ID,573
$MISSION,12
$DIVE,182
$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,-21572.105
$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,34
$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,181
$GPS1,030915,105528,-4505.884,624.959,54,0.9,54,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-67.9
$GPS2,030915,110343,-4505.929,625.063,19,1.0,19,-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,3.1,3834,-25.1,-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,-1.00,-60.7,0.0,0.0,0,45,0.00,0.00,-19.67,0.000,2,0.000,0.000,76,2068,1525,0,0,0,0,0,0
$GC,47,-1.03,-116.0,3.2,-3.3,3,105,11.38,2.33,-37.55,0.000,4,0.243,0.069,2842,662,2423,0,0,0,0,0,0
$GC,260,-0.92,-116.0,27.3,-14.8,37,268,0.15,2.22,0.00,0.000,6,0.163,0.042,2878,2037,2426,0,0,0,0,0,0
$GC,409,-0.92,-116.0,52.0,-15.6,62,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2037,2426,0,0,0,0,0,0
$GC,761,-0.92,-116.0,105.1,-14.8,121,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2037,2426,0,0,0,0,0,0
$GC,1077,-0.92,-116.0,151.7,-14.2,151,1081,0.00,2.33,0.00,0.000,4,0.000,0.063,2869,3478,2425,0,0,0,0,0,0
$GC,1231,-0.92,-116.0,172.2,-13.9,164,1236,0.08,2.17,0.00,0.000,6,0.199,0.041,2884,2059,2426,0,0,0,0,0,0
$GC,1556,-0.96,-116.0,212.9,-11.7,194,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2060,2426,0,0,0,0,0,0
$GC,1875,-1.00,-116.0,251.4,-12.7,224,1877,0.08,0.00,0.00,0.000,6,0.124,0.000,2840,2060,2427,0,0,0,0,0,0
$GC,2193,-0.96,-116.0,298.3,-14.0,254,2198,0.12,2.20,0.00,0.000,4,0.185,0.055,2872,658,2426,0,0,0,0,0,0
$GC,2211,-0.96,-116.0,300.8,-14.6,255,2215,0.00,2.22,0.00,0.000,6,0.000,0.044,2863,2072,2426,0,0,0,0,0,0
$GC,2538,-0.96,-116.0,344.2,-13.1,285,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2072,2427,0,0,0,0,0,0
$GC,2855,-0.96,-116.0,386.2,-13.2,315,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2072,2427,0,0,0,0,0,0
$GC,3167,-0.96,-116.0,426.8,-12.9,335,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2072,2427,0,0,0,0,0,0
$GC,3476,-0.96,-116.0,467.0,-12.9,350,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2072,2427,0,0,0,0,0,0
$GC,3786,-0.96,-116.0,506.3,-13.0,365,3790,0.00,2.20,0.00,0.000,4,0.000,0.060,2852,3475,2427,0,0,0,0,0,0
$GC,3829,-0.96,-116.0,512.3,-12.7,367,3834,0.05,2.20,0.00,0.000,6,0.174,0.042,2869,2064,2426,0,0,0,0,0,0
$GC,4156,-0.99,-116.0,550.4,-11.0,383,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2064,2427,0,0,0,0,0,0
$GC,4466,-1.04,-116.0,583.5,-10.3,398,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2064,2426,0,0,0,0,0,0
$GC,4775,-1.08,-116.0,617.2,-11.3,413,4777,0.10,0.00,0.00,0.000,6,0.103,0.000,2820,2063,2426,0,0,0,0,0,0
$GC,5084,-1.02,-116.0,657.6,-12.9,428,5086,0.12,0.00,0.00,0.000,6,0.187,0.000,2852,2063,2426,0,0,0,0,0,0
$GC,5393,-1.02,-116.0,694.8,-12.0,443,5397,0.00,2.20,0.00,0.000,4,0.000,0.054,2852,653,2426,0,0,0,0,0,0
$GC,5413,-1.02,-116.0,697.8,-13.4,444,5418,0.00,2.22,0.00,0.000,6,0.000,0.042,2843,2066,2426,0,0,0,0,0,0
$GC,5741,-1.02,-116.0,739.8,-12.9,460,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2066,2426,0,0,0,0,0,0
$GC,6050,-1.02,-116.0,779.6,-12.9,475,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2066,2426,0,0,0,0,0,0
$GC,6360,-1.02,-116.0,820.5,-13.5,490,6364,0.00,2.22,0.00,0.000,4,0.000,0.063,2832,3475,2425,0,0,0,0,0,0
$GC,6414,-1.02,-116.0,828.3,-14.1,492,6421,0.05,2.20,0.00,0.000,6,0.170,0.043,2849,2062,2425,0,0,0,0,0,0
$GC,6730,-1.02,-116.0,868.3,-12.4,508,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2062,2424,0,0,0,0,0,0
$GC,7040,-1.02,-116.0,905.1,-11.5,523,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2062,2425,0,0,0,0,0,0
$GC,7349,-1.02,-116.0,940.5,-11.3,538,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2062,2424,0,0,0,0,0,0
$GC,7659,-1.02,-116.0,973.1,-10.3,553,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2062,2424,0,0,0,0,0,0
$STATE,7925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7925,begin apogee
$GC,7930,-0.19,0.0,1001.4,11.0,566,8039,0.90,0.00,105.78,1.291,6,0.156,0.000,3121,1584,1950,0,0,0,0,0,0
$STATE,8040,end apogee,CONTROL_FINISHED_OK
$STATE,8040,begin climb
$GC,8042,1.03,116.0,1004.2,0.0,571,8164,1.17,2.50,110.32,1.255,4,0.087,0.053,3522,202,1475,0,0,0,0,0,0
$GC,8232,1.03,116.0,984.7,14.7,580,8236,0.00,2.35,0.00,0.000,6,0.000,0.037,3522,1617,1471,0,0,0,0,0,0
$GC,8558,1.03,116.0,938.7,14.0,596,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,1617,1468,0,0,0,0,0,0
$GC,8867,1.03,116.0,896.7,13.5,611,8871,0.00,2.33,0.00,0.000,4,0.000,0.052,3531,191,1467,0,0,0,0,0,0
$GC,8922,1.00,116.0,888.9,13.6,613,8929,0.08,2.28,0.00,0.000,6,0.164,0.037,3508,1611,1467,0,0,0,0,0,0
$GC,9239,1.03,116.0,848.2,13.0,629,9243,0.00,2.20,0.00,0.000,4,0.000,0.054,3508,2995,1466,0,0,0,0,0,0
$GC,9282,1.03,116.0,842.1,14.1,631,9287,0.00,2.20,0.00,0.000,6,0.000,0.035,3516,1597,1466,0,0,0,0,0,0
$GC,9609,1.03,116.0,800.5,12.5,647,9613,0.00,2.25,0.00,0.000,4,0.000,0.054,3527,195,1465,0,0,0,0,0,0
$GC,9720,1.03,116.0,785.9,14.0,652,9725,0.00,2.22,0.00,0.000,6,0.000,0.036,3527,1607,1465,0,0,0,0,0,0
$GC,10048,1.03,116.0,743.1,13.3,668,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1607,1464,0,0,0,0,0,0
$GC,10357,1.03,116.0,703.3,12.9,683,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1607,1464,0,0,0,0,0,0
$GC,10666,1.03,116.0,664.2,12.7,698,10670,0.00,2.25,0.00,0.000,4,0.000,0.052,3537,195,1464,0,0,0,0,0,0
$GC,10738,0.99,116.0,654.6,13.0,701,10743,0.08,2.20,0.00,0.000,6,0.164,0.035,3503,1607,1463,0,0,0,0,0,0
$GC,11059,1.03,116.0,618.0,11.3,717,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1606,1463,0,0,0,0,0,0
$GC,11369,1.08,116.0,583.1,11.4,732,11370,0.08,0.00,0.00,0.000,6,0.125,0.000,3542,1607,1463,0,0,0,0,0,0
$GC,11678,1.08,116.0,541.7,13.8,747,11682,0.00,2.28,0.00,0.000,4,0.000,0.052,3553,189,1464,0,0,0,0,0,0
$GC,11772,1.01,116.0,527.5,14.7,751,11777,0.12,2.20,0.00,0.000,6,0.160,0.035,3513,1605,1463,0,0,0,0,0,0
$GC,12095,1.05,116.0,486.9,12.1,767,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,1605,1463,0,0,0,0,0,0
$GC,12403,1.09,116.0,450.2,11.5,782,12405,0.05,0.00,0.00,0.000,6,0.169,0.000,3541,1605,1463,0,0,0,0,0,0
$GC,12712,1.09,116.0,413.0,12.0,797,12716,0.00,2.17,0.00,0.000,4,0.000,0.054,3541,2994,1463,0,0,0,0,0,0
$GC,12777,1.05,116.0,405.2,11.6,800,12782,0.08,2.17,0.00,0.000,6,0.175,0.036,3527,1588,1463,0,0,0,0,0,0
$GC,13102,1.05,116.0,370.7,10.6,828,13106,0.00,2.20,0.00,0.000,4,0.000,0.054,3538,200,1463,0,0,0,0,0,0
$GC,13248,1.02,116.0,354.0,10.5,840,13255,0.05,2.17,0.00,0.000,6,0.174,0.038,3518,1595,1463,0,0,0,0,0,0
$GC,13573,1.05,116.0,319.7,11.0,871,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1596,1463,0,0,0,0,0,0
$GC,13894,1.09,116.0,284.5,11.2,901,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1596,1463,0,0,0,0,0,0
$GC,14220,1.13,116.0,248.1,10.6,932,14225,0.10,2.20,0.00,0.000,4,0.106,0.051,3577,196,1462,0,0,0,0,0,0
$GC,14286,1.02,116.0,239.4,12.7,937,14292,0.17,2.17,0.00,0.000,6,0.161,0.037,3514,1599,1462,0,0,0,0,0,0
$GC,14611,1.07,116.0,207.7,9.9,968,14613,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,1599,1463,0,0,0,0,0,0
$GC,14931,1.12,116.0,174.3,10.6,998,14933,0.10,0.00,0.00,0.000,6,0.106,0.000,3562,1599,1463,0,0,0,0,0,0
$GC,15249,1.08,116.0,135.3,12.3,1028,15251,0.10,0.00,0.00,0.000,6,0.194,0.000,3538,1604,1463,0,0,0,0,0,0
$GC,15567,1.08,116.0,102.3,10.7,1058,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1604,1463,0,0,0,0,0,0
$GC,15907,1.08,116.0,66.0,11.0,1115,15912,0.00,2.20,0.00,0.000,4,0.000,0.051,3549,195,1463,0,0,0,0,0,0
$GC,15982,1.05,116.0,57.1,12.6,1128,15989,0.08,2.17,0.00,0.000,6,0.167,0.036,3524,1601,1463,0,0,0,0,0,0
$GC,16346,1.09,116.0,20.0,11.6,1189,16354,0.00,2.25,0.00,0.000,4,0.000,0.050,3533,200,1463,0,0,0,0,0,0
$GC,16411,1.09,116.0,11.9,13.2,1199,16418,0.00,2.17,0.00,0.000,6,0.000,0.035,3533,1605,1463,0,0,0,0,0,0
$GC,16469,1.09,116.0,4.7,11.5,1208,16475,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1605,1463,0,0,0,0,0,0
$STATE,16482,end climb,SURFACE_DEPTH_REACHED
$STATE,16483,begin surface coast
$FINISH,1.7,1.023416
$STATE,16509,end surface coast,CONTROL_FINISHED_OK
$STATE,16509,begin surface
$SM_CCo,16525,39.33,0.056,0,0,1134,200.16
$SM_GC,2.64,0.00,0.00,39.33,0.000,0.000,0.056,64,2058,1134,-9.75,-0.06,200.16
$IRIDIUM_FIX,-4447.43,622.10,290608,191931
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.1,24.661
$10V_AH,10.0,25.350
$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,24.350,77.275,216.100,39.325,0.000,25.716,40.081,299.894,0.000,0.000,22.346,2950.063,10511.372,338.094,3093.826,162.564,0.000,1388.499,0.000,2552.506,0.000,0.539,0.000
$DEVICE_MAMPS,243.270,68.850,1291.320,55.845,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.702,2242.454,916.597,491.022,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,83733,1214
$CAP_FILE_SIZE,140775,0
$CFSIZE,2097086464,2068250624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030915,154133,-4505.588,625.563,49,0.9,49,-24.4