version: 66.07.10.p01
glider: 573
mission: 12
dive: 588
start: 12 2 115 23 46 42
data:
$ID,573
$MISSION,12
$DIVE,588
$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,-22851.531
$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,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,587
$GPS1,021215,233821,-4456.258,624.894,39,0.8,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-68.5
$GPS2,021215,234622,-4456.317,624.958,19,1.1,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,319.4,1386,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.09,-49.9,0.0,0.0,0,48,0.00,0.00,-19.08,0.000,2,0.000,0.000,82,2070,1512,0,0,0,0,0,0
$GC,51,-1.13,-116.8,3.0,-0.6,3,115,11.65,2.30,-45.33,0.000,4,0.237,0.070,2800,3460,2422,0,0,0,0,0,0
$GC,373,-1.10,-116.8,47.1,-17.0,55,378,0.12,2.20,0.00,0.000,6,0.170,0.041,2832,2064,2424,0,0,0,0,0,0
$GC,711,-1.13,-116.8,99.4,-15.6,98,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2063,2424,0,0,0,0,0,0
$GC,1022,-1.17,-116.8,147.9,-15.4,113,1024,0.08,0.00,0.00,0.000,6,0.123,0.000,2788,2064,2425,0,0,0,0,0,0
$GC,1329,-1.17,-116.8,198.5,-16.0,128,1334,0.08,2.28,0.00,0.000,4,0.205,0.055,2804,649,2426,0,0,0,0,0,0
$GC,1356,-1.17,-116.8,203.1,-15.5,129,1360,0.00,2.20,0.00,0.000,6,0.000,0.039,2795,2053,2425,0,0,0,0,0,0
$GC,1685,-1.17,-116.8,252.8,-15.3,145,1689,0.00,2.25,0.00,0.000,4,0.000,0.055,2785,3468,2425,0,0,0,0,0,0
$GC,1780,-1.17,-116.8,268.3,-15.5,149,1785,0.08,2.20,0.00,0.000,6,0.193,0.041,2801,2057,2426,0,0,0,0,0,0
$GC,2102,-1.17,-116.8,317.3,-15.6,165,2106,0.00,2.25,0.00,0.000,4,0.000,0.057,2801,660,2426,0,0,0,0,0,0
$GC,2134,-1.17,-116.8,322.7,-16.2,166,2140,0.00,2.22,0.00,0.000,6,0.000,0.042,2793,2055,2426,0,0,0,0,0,0
$GC,2449,-1.17,-116.8,373.4,-16.1,182,2453,0.00,2.25,0.00,0.000,4,0.000,0.056,2782,3476,2426,0,0,0,0,0,0
$GC,2511,-1.17,-116.8,383.3,-16.5,185,2516,0.10,2.22,0.00,0.000,6,0.181,0.044,2806,2059,2425,0,0,0,0,0,0
$GC,2838,-1.17,-116.8,432.5,-14.7,201,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2060,2425,0,0,0,0,0,0
$GC,3146,-1.17,-116.8,476.7,-14.2,216,3150,0.00,2.33,0.00,0.000,4,0.000,0.063,2798,3467,2425,0,0,0,0,0,0
$GC,3185,-1.17,-116.8,482.2,-14.6,218,3189,0.00,2.22,0.00,0.000,6,0.000,0.043,2797,2049,2425,0,0,0,0,0,0
$GC,3511,-1.17,-116.8,527.6,-14.0,234,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2048,2426,0,0,0,0,0,0
$GC,3821,-1.17,-116.8,569.8,-13.6,249,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2048,2426,0,0,0,0,0,0
$GC,4129,-1.17,-116.8,609.8,-13.1,264,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2048,2425,0,0,0,0,0,0
$GC,4440,-1.17,-116.8,650.3,-13.0,279,4444,0.00,2.25,0.00,0.000,4,0.000,0.055,2797,652,2425,0,0,0,0,0,0
$GC,4502,-1.17,-116.8,659.4,-14.4,282,4507,0.08,2.25,0.00,0.000,6,0.217,0.044,2804,2073,2425,0,0,0,0,0,0
$GC,4830,-1.21,-116.8,703.6,-13.4,298,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2073,2425,0,0,0,0,0,0
$GC,5139,-1.26,-116.8,745.9,-13.7,313,5143,0.08,2.25,0.00,0.000,4,0.119,0.057,2749,3468,2425,0,0,0,0,0,0
$GC,5179,-1.20,-116.8,751.9,-15.9,315,5184,0.17,2.22,0.00,0.000,6,0.175,0.044,2793,2054,2425,0,0,0,0,0,0
$GC,5508,-1.23,-116.8,796.4,-13.3,331,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2054,2424,0,0,0,0,0,0
$GC,5814,-1.27,-116.8,837.0,-12.8,346,5818,0.00,2.33,0.00,0.000,4,0.000,0.063,2784,3466,2424,0,0,0,0,0,0
$GC,5852,-1.27,-116.8,842.1,-13.3,348,5857,0.00,2.22,0.00,0.000,6,0.000,0.044,2785,2056,2424,0,0,0,0,0,0
$GC,6178,-1.27,-116.8,884.6,-12.9,364,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2056,2424,0,0,0,0,0,0
$GC,6489,-1.27,-116.8,923.1,-12.3,379,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2056,2423,0,0,0,0,0,0
$GC,6797,-1.27,-116.8,960.1,-12.1,394,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2056,2423,0,0,0,0,0,0
$GC,7108,-1.30,-116.8,997.2,-12.2,409,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2056,2422,0,0,0,0,0,0
$STATE,7146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7147,begin apogee
$GC,7153,-0.19,0.0,1002.3,12.2,411,7267,1.15,0.00,106.88,1.252,6,0.153,0.000,3117,1589,1950,0,0,0,0,0,0
$STATE,7268,end apogee,CONTROL_FINISHED_OK
$STATE,7268,begin climb
$GC,7270,1.13,116.8,1005.5,0.0,417,7402,1.27,2.60,120.38,1.211,4,0.081,0.054,3552,193,1473,0,0,0,0,0,0
$GC,7482,1.19,116.8,983.4,15.6,427,7487,0.00,2.38,0.00,0.000,6,0.000,0.036,3552,1604,1470,0,0,0,0,0,0
$GC,7810,1.26,116.8,936.0,14.5,443,7812,0.10,0.00,0.00,0.000,6,0.100,0.000,3601,1606,1467,0,0,0,0,0,0
$GC,8118,1.26,116.8,886.3,15.9,458,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1605,1466,0,0,0,0,0,0
$GC,8428,1.26,116.8,838.5,15.3,473,8432,0.00,2.30,0.00,0.000,4,0.000,0.053,3611,195,1466,0,0,0,0,0,0
$GC,8478,1.20,116.8,830.1,16.0,475,8483,0.15,2.20,0.00,0.000,6,0.171,0.035,3573,1605,1465,0,0,0,0,0,0
$GC,8793,1.24,116.8,787.4,13.4,490,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1606,1465,0,0,0,0,0,0
$GC,9104,1.29,116.8,745.1,13.8,505,9108,0.08,2.30,0.00,0.000,4,0.124,0.053,3622,189,1464,0,0,0,0,0,0
$GC,9187,1.21,116.8,731.6,16.5,508,9193,0.17,2.20,0.00,0.000,6,0.170,0.035,3575,1607,1464,0,0,0,0,0,0
$GC,9502,1.26,116.8,688.0,13.4,524,9506,0.00,2.30,0.00,0.000,4,0.000,0.054,3585,195,1464,0,0,0,0,0,0
$GC,9596,1.26,116.8,674.3,14.0,528,9600,0.00,2.20,0.00,0.000,6,0.000,0.035,3585,1612,1464,0,0,0,0,0,0
$GC,9917,1.26,116.8,630.3,13.9,544,9921,0.00,2.30,0.00,0.000,4,0.000,0.052,3594,186,1464,0,0,0,0,0,0
$GC,10000,1.26,116.8,617.5,14.9,548,10004,0.00,2.17,0.00,0.000,6,0.000,0.035,3594,1600,1464,0,0,0,0,0,0
$GC,10332,1.26,116.8,569.9,14.5,564,10336,0.00,2.28,0.00,0.000,4,0.000,0.053,3603,194,1463,0,0,0,0,0,0
$GC,10387,1.23,116.8,561.5,15.2,566,10392,0.10,2.20,0.00,0.000,6,0.187,0.036,3579,1605,1464,0,0,0,0,0,0
$GC,10705,1.27,116.8,518.0,13.9,581,10709,0.00,2.28,0.00,0.000,4,0.000,0.054,3588,194,1464,0,0,0,0,0,0
$GC,10760,1.27,116.8,509.3,15.6,583,10764,0.00,2.20,0.00,0.000,6,0.000,0.035,3588,1606,1463,0,0,0,0,0,0
$GC,11083,1.27,116.8,463.7,14.4,599,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1606,1464,0,0,0,0,0,0
$GC,11391,1.30,116.8,420.7,13.5,614,11395,0.00,2.28,0.00,0.000,4,0.000,0.053,3597,195,1463,0,0,0,0,0,0
$GC,11445,1.30,116.8,412.9,14.4,616,11451,0.00,2.20,0.00,0.000,6,0.000,0.035,3597,1599,1463,0,0,0,0,0,0
$GC,11760,1.30,116.8,371.4,12.9,632,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1598,1463,0,0,0,0,0,0
$GC,12071,1.30,116.8,330.3,13.4,647,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1599,1463,0,0,0,0,0,0
$GC,12381,1.30,116.8,287.3,14.3,662,12385,0.00,2.28,0.00,0.000,4,0.000,0.052,3606,188,1464,0,0,0,0,0,0
$GC,12491,1.30,116.8,271.4,14.5,667,12495,0.00,2.20,0.00,0.000,6,0.000,0.036,3606,1600,1463,0,0,0,0,0,0
$GC,12821,1.30,116.8,224.4,14.1,683,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1600,1463,0,0,0,0,0,0
$GC,13128,1.30,116.8,180.3,14.1,698,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1600,1463,0,0,0,0,0,0
$GC,13439,1.30,116.8,140.7,11.9,713,13444,0.00,2.28,0.00,0.000,4,0.000,0.052,3615,190,1463,0,0,0,0,0,0
$GC,13598,1.30,116.8,119.7,12.8,720,13602,0.00,2.20,0.00,0.000,6,0.000,0.035,3615,1604,1463,0,0,0,0,0,0
$GC,13919,1.30,116.8,79.1,12.9,736,13923,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,1605,1463,0,0,0,0,0,0
$GC,14274,1.30,116.8,33.5,13.8,797,14282,0.00,2.33,0.00,0.000,4,0.000,0.052,3624,192,1463,0,0,0,0,0,0
$GC,14407,1.26,116.8,14.0,14.7,818,14415,0.10,2.20,0.00,0.000,6,0.148,0.034,3592,1597,1463,0,0,0,0,0,0
$GC,14467,1.33,116.8,5.8,13.0,827,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1597,1463,0,0,0,0,0,0
$STATE,14493,end climb,SURFACE_DEPTH_REACHED
$STATE,14493,begin surface coast
$FINISH,2.0,1.022842
$STATE,14525,end surface coast,CONTROL_FINISHED_OK
$STATE,14525,begin surface
$SM_CCo,14545,40.12,0.054,0,0,1133,200.16
$SM_GC,3.40,0.00,0.00,40.12,0.000,0.000,0.054,66,2076,1133,-9.75,0.48,200.16
$IRIDIUM_FIX,-4435.30,623.77,280908,080859
$TT8_MAMPS,0.026964
$HUMID,65.47
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.8,68.118
$10V_AH,9.7,71.479
$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,24.725,91.725,227.250,40.125,0.000,25.342,20.401,276.015,0.000,0.000,21.894,1805.875,10337.064,347.456,2325.585,244.960,0.000,1195.887,0.000,1913.892,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,69.615,1252.305,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.522,1198.147,660.829,393.555,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353180
$DATA_FILE_SIZE,60569,836
$CAP_FILE_SIZE,121301,0
$CFSIZE,2097086464,2015068160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031215,035103,-4455.005,623.190,38,0.8,38,-24.4