version: 66.07.10.p01
glider: 573
mission: 12
dive: 590
start: 12 3 115 9 19 32
data:
$ID,573
$MISSION,12
$DIVE,590
$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,-22858.143
$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,37
$R_STBD_OVSHOOT,32
$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,589
$GPS1,031215,091056,-4455.583,625.123,40,1.6,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-69.7
$GPS2,031215,091911,-4455.598,625.176,14,1.6,15,-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,268.6,1712,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,47,0.00,0.00,-19.02,0.000,2,0.000,0.000,67,2051,1502,0,0,0,0,0,0
$GC,50,-1.13,-107.3,3.1,-2.0,3,114,11.52,2.40,-44.30,0.000,4,0.232,0.076,2803,3463,2386,0,0,0,0,0,0
$GC,271,-1.09,-107.3,27.0,-17.5,38,279,0.08,2.22,0.00,0.000,6,0.158,0.041,2827,2070,2389,0,0,0,0,0,0
$GC,423,-1.09,-107.3,50.5,-14.0,63,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2070,2389,0,0,0,0,0,0
$GC,764,-1.09,-107.3,102.4,-15.6,104,768,0.00,2.25,0.00,0.000,4,0.000,0.054,2818,3465,2390,0,0,0,0,0,0
$GC,808,-1.09,-107.3,109.9,-16.7,106,812,0.00,2.22,0.00,0.000,6,0.000,0.040,2818,2042,2391,0,0,0,0,0,0
$GC,1136,-1.09,-107.3,162.8,-15.6,122,1140,0.00,2.30,0.00,0.000,4,0.000,0.057,2809,3474,2390,0,0,0,0,0,0
$GC,1276,-1.09,-107.3,183.8,-15.7,128,1281,0.08,2.22,0.00,0.000,6,0.197,0.044,2826,2062,2391,0,0,0,0,0,0
$GC,1605,-1.14,-107.3,230.5,-14.4,144,1609,0.00,2.25,0.00,0.000,4,0.000,0.055,2826,654,2391,0,0,0,0,0,0
$GC,1644,-1.14,-107.3,236.9,-15.4,145,1649,0.00,2.25,0.00,0.000,6,0.000,0.042,2817,2063,2391,0,0,0,0,0,0
$GC,1963,-1.18,-107.3,285.1,-15.2,161,1967,0.00,2.28,0.00,0.000,4,0.000,0.062,2806,3465,2391,0,0,0,0,0,0
$GC,2018,-1.18,-107.3,294.7,-16.5,163,2024,0.00,2.22,0.00,0.000,6,0.000,0.041,2806,2057,2391,0,0,0,0,0,0
$GC,2334,-1.18,-107.3,343.7,-15.6,179,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2057,2391,0,0,0,0,0,0
$GC,2643,-1.18,-107.3,391.3,-15.3,194,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2057,2391,0,0,0,0,0,0
$GC,2953,-1.18,-107.3,436.6,-14.3,209,2957,0.00,2.25,0.00,0.000,4,0.000,0.057,2806,659,2391,0,0,0,0,0,0
$GC,2993,-1.18,-107.3,442.6,-14.7,211,2997,0.00,2.22,0.00,0.000,6,0.000,0.041,2797,2071,2391,0,0,0,0,0,0
$GC,3320,-1.18,-107.3,491.6,-15.2,227,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2070,2391,0,0,0,0,0,0
$GC,3628,-1.18,-107.3,538.6,-14.9,242,3632,0.00,2.25,0.00,0.000,4,0.000,0.060,2786,3462,2391,0,0,0,0,0,0
$GC,3735,-1.18,-107.3,554.9,-14.9,247,3740,0.08,2.20,0.00,0.000,6,0.194,0.041,2802,2058,2391,0,0,0,0,0,0
$GC,4064,-1.21,-107.3,601.2,-13.5,263,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2058,2391,0,0,0,0,0,0
$GC,4370,-1.24,-107.3,642.1,-13.2,278,4372,0.05,0.00,0.00,0.000,6,0.164,0.000,2765,2059,2391,0,0,0,0,0,0
$GC,4681,-1.21,-107.3,686.1,-14.3,293,4686,0.10,2.33,0.00,0.000,4,0.198,0.063,2779,3459,2390,0,0,0,0,0,0
$GC,4769,-1.21,-107.3,698.8,-13.5,297,4773,0.00,2.20,0.00,0.000,6,0.000,0.043,2779,2060,2390,0,0,0,0,0,0
$GC,5097,-1.21,-107.3,742.7,-13.4,313,5099,0.03,0.00,0.00,0.000,6,0.281,0.000,2786,2060,2390,0,0,0,0,0,0
$GC,5405,-1.21,-107.3,783.8,-13.1,328,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2060,2390,0,0,0,0,0,0
$GC,5716,-1.21,-107.3,822.9,-12.4,343,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2060,2390,0,0,0,0,0,0
$GC,6025,-1.21,-107.3,861.7,-12.5,358,6029,0.00,2.30,0.00,0.000,4,0.000,0.062,2778,3461,2389,0,0,0,0,0,0
$GC,6120,-1.21,-107.3,873.8,-12.6,362,6125,0.05,2.20,0.00,0.000,6,0.222,0.044,2788,2061,2389,0,0,0,0,0,0
$GC,6436,-1.21,-107.3,910.0,-11.5,377,6440,0.00,2.28,0.00,0.000,4,0.000,0.057,2789,655,2389,0,0,0,0,0,0
$GC,6513,-1.21,-107.3,919.4,-12.3,380,6517,0.00,2.22,0.00,0.000,6,0.000,0.043,2780,2057,2389,0,0,0,0,0,0
$GC,6834,-1.21,-107.3,956.9,-11.7,396,6838,0.00,2.28,0.00,0.000,4,0.000,0.061,2770,3469,2388,0,0,0,0,0,0
$GC,6907,-1.21,-107.3,965.6,-12.4,399,6912,0.10,2.22,0.00,0.000,6,0.189,0.044,2793,2060,2388,0,0,0,0,0,0
$GC,7222,-1.25,-107.3,999.1,-10.3,414,7226,0.00,2.28,0.00,0.000,4,0.000,0.056,2793,653,2388,0,0,0,0,0,0
$STATE,7230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7230,begin apogee
$GC,7237,-0.19,0.0,1000.2,10.3,414,7346,1.10,0.00,103.12,1.247,6,0.154,0.000,3111,1616,1950,0,0,0,0,0,0
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7350,1.13,107.3,1002.3,0.0,420,7471,1.30,2.55,109.93,1.209,4,0.084,0.054,3542,2999,1512,0,0,0,0,0,0
$GC,7482,1.17,107.3,990.1,13.3,426,7487,0.00,2.40,0.00,0.000,6,0.000,0.034,3551,1601,1510,0,0,0,0,0,0
$GC,7799,1.24,107.3,944.3,14.5,441,7804,0.10,2.35,0.00,0.000,4,0.100,0.055,3611,186,1504,0,0,0,0,0,0
$GC,7907,1.17,107.3,926.3,16.6,446,7912,0.17,2.28,0.00,0.000,6,0.166,0.036,3566,1615,1503,0,0,0,0,0,0
$GC,8234,1.22,107.3,878.1,14.7,462,8239,0.00,2.35,0.00,0.000,4,0.000,0.053,3575,183,1503,0,0,0,0,0,0
$GC,8329,1.22,107.3,863.1,15.4,466,8333,0.00,2.25,0.00,0.000,6,0.000,0.037,3568,1613,1502,0,0,0,0,0,0
$GC,8652,1.26,107.3,815.8,15.0,482,8653,0.05,0.00,0.00,0.000,6,0.171,0.000,3605,1613,1501,0,0,0,0,0,0
$GC,8960,1.26,107.3,766.8,15.7,497,8962,0.05,0.00,0.00,0.000,6,0.222,0.000,3593,1613,1501,0,0,0,0,0,0
$GC,9268,1.26,107.3,721.7,14.4,512,9272,0.00,2.33,0.00,0.000,4,0.000,0.053,3603,184,1501,0,0,0,0,0,0
$GC,9318,1.21,107.3,714.2,14.7,514,9323,0.10,2.22,0.00,0.000,6,0.189,0.037,3579,1604,1500,0,0,0,0,0,0
$GC,9638,1.21,107.3,670.1,13.6,530,9642,0.00,2.30,0.00,0.000,4,0.000,0.053,3588,188,1500,0,0,0,0,0,0
$GC,9664,1.21,107.3,666.3,14.3,531,9669,0.00,2.20,0.00,0.000,6,0.000,0.035,3587,1603,1499,0,0,0,0,0,0
$GC,9992,1.21,107.3,622.6,13.0,547,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1603,1500,0,0,0,0,0,0
$GC,10300,1.21,107.3,582.0,13.4,562,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1603,1500,0,0,0,0,0,0
$GC,10611,1.21,107.3,541.2,12.9,577,10615,0.00,2.30,0.00,0.000,4,0.000,0.052,3596,188,1500,0,0,0,0,0,0
$GC,10673,1.21,107.3,532.7,14.1,580,10678,0.10,2.20,0.00,0.000,6,0.190,0.035,3572,1602,1499,0,0,0,0,0,0
$GC,11001,1.26,107.3,491.9,12.3,596,11005,0.00,2.30,0.00,0.000,4,0.000,0.052,3582,188,1499,0,0,0,0,0,0
$GC,11085,1.26,107.3,480.8,12.9,600,11089,0.00,2.20,0.00,0.000,6,0.000,0.035,3581,1602,1498,0,0,0,0,0,0
$GC,11413,1.29,107.3,441.3,11.8,616,11417,0.00,2.30,0.00,0.000,4,0.000,0.052,3590,188,1499,0,0,0,0,0,0
$GC,11457,1.29,107.3,435.3,12.9,618,11461,0.00,2.20,0.00,0.000,6,0.000,0.035,3590,1603,1499,0,0,0,0,0,0
$GC,11784,1.29,107.3,396.9,11.5,634,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1604,1499,0,0,0,0,0,0
$GC,12094,1.29,107.3,362.1,11.0,649,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1603,1499,0,0,0,0,0,0
$GC,12402,1.29,107.3,328.3,10.6,664,12406,0.00,2.30,0.00,0.000,4,0.000,0.051,3599,187,1499,0,0,0,0,0,0
$GC,12457,1.29,107.3,321.8,12.0,666,12463,0.00,2.20,0.00,0.000,6,0.000,0.034,3599,1612,1498,0,0,0,0,0,0
$GC,12774,1.29,107.3,285.7,11.7,682,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1614,1498,0,0,0,0,0,0
$GC,13085,1.29,107.3,247.4,12.4,697,13089,0.00,2.33,0.00,0.000,4,0.000,0.052,3608,186,1499,0,0,0,0,0,0
$GC,13152,1.25,107.3,237.9,13.4,700,13157,0.08,2.20,0.00,0.000,6,0.204,0.034,3592,1601,1498,0,0,0,0,0,0
$GC,13473,1.25,107.3,197.6,12.3,716,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1602,1498,0,0,0,0,0,0
$GC,13785,1.25,107.3,159.1,12.8,731,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1602,1498,0,0,0,0,0,0
$GC,14093,1.29,107.3,121.7,11.5,746,14097,0.00,2.30,0.00,0.000,4,0.000,0.052,3600,187,1498,0,0,0,0,0,0
$GC,14211,1.29,107.3,107.1,11.9,751,14215,0.00,2.20,0.00,0.000,6,0.000,0.034,3600,1605,1498,0,0,0,0,0,0
$GC,14539,1.29,107.3,69.6,11.0,778,14544,0.00,2.30,0.00,0.000,4,0.000,0.050,3609,188,1498,0,0,0,0,0,0
$GC,14616,1.29,107.3,60.3,11.9,791,14621,0.00,2.20,0.00,0.000,6,0.000,0.034,3607,1613,1498,0,0,0,0,0,0
$GC,14977,1.29,107.3,20.5,11.7,852,14985,0.00,2.33,0.00,0.000,4,0.000,0.049,3616,192,1498,0,0,0,0,0,0
$GC,15043,1.29,107.3,12.0,13.0,862,15051,0.05,2.20,0.00,0.000,6,0.166,0.035,3599,1596,1498,0,0,0,0,0,0
$GC,15103,1.29,107.3,5.0,11.2,871,15110,0.00,2.22,0.00,0.000,4,0.000,0.053,3600,2977,1498,0,0,0,0,0,0
$STATE,15123,end climb,SURFACE_DEPTH_REACHED
$STATE,15123,begin surface coast
$FINISH,1.9,1.023304
$STATE,15131,end surface coast,CONTROL_FINISHED_OK
$STATE,15131,begin surface
$SM_CCo,15151,44.40,0.055,0,0,1132,200.16
$SM_GC,3.57,0.00,0.00,44.40,0.000,0.000,0.055,66,2030,1132,-9.75,-0.85,200.16
$IRIDIUM_FIX,-4435.30,620.75,280908,171733
$TT8_MAMPS,0.026964
$HUMID,65.16
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.8,68.292
$10V_AH,9.7,71.687
$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,24.525,116.375,213.050,44.400,0.000,26.040,17.782,287.090,0.000,0.000,17.515,1922.318,10656.910,346.721,2491.563,267.165,0.000,1271.080,0.000,2066.349,0.000,0.540,0.000
$DEVICE_MAMPS,280.755,75.735,1246.950,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.464,1273.849,713.319,432.444,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,63910,875
$CAP_FILE_SIZE,131568,0
$CFSIZE,2097086464,2014773248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031215,133403,-4456.039,623.217,37,1.0,37,-24.4