version: 66.07.10.p01
glider: 573
mission: 12
dive: 603
start: 12 6 115 14 5 18
data:
$ID,573
$MISSION,12
$DIVE,603
$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,-22906.633
$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,43
$R_STBD_OVSHOOT,44
$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,602
$GPS1,061215,135628,-4503.944,623.993,41,1.0,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-69.5
$GPS2,061215,140458,-4503.950,624.033,18,0.9,19,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,RECOVER
$TGT_LATLONG,-4500.100,633.690
$TGT_RADIUS,500.000
$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,85.0,14517,-17.9,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.76,-116.8,0.0,0.0,0,48,0.00,0.00,-18.85,0.000,2,0.000,0.000,82,2046,1499,0,0,0,0,0,0
$GC,51,-0.76,-116.8,3.0,-1.7,3,115,11.80,2.30,-44.00,0.000,4,0.229,0.067,2935,672,2427,0,0,0,0,0,0
$GC,247,-0.68,-116.8,18.2,-12.1,34,255,0.10,2.22,0.00,0.000,6,0.138,0.044,2960,2040,2429,0,0,0,0,0,0
$GC,307,-0.68,-116.8,24.1,-9.4,43,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2040,2430,0,0,0,0,0,0
$GC,462,-0.68,-116.8,37.8,-8.9,68,469,0.00,2.28,0.00,0.000,4,0.000,0.054,2960,662,2430,0,0,0,0,0,0
$GC,530,-0.68,-116.8,44.5,-9.8,79,536,0.00,2.25,0.00,0.000,6,0.000,0.042,2951,2076,2430,0,0,0,0,0,0
$GC,879,-0.68,-116.8,78.6,-10.0,140,884,0.00,2.22,0.00,0.000,4,0.000,0.060,2940,3468,2430,0,0,0,0,0,0
$GC,1017,-0.68,-116.8,92.8,-10.4,149,1022,0.10,2.20,0.00,0.000,6,0.162,0.040,2967,2059,2430,0,0,0,0,0,0
$GC,1348,-0.71,-116.8,123.1,-9.1,165,1352,0.00,2.25,0.00,0.000,4,0.000,0.054,2967,648,2431,0,0,0,0,0,0
$GC,1435,-0.71,-116.8,131.5,-9.4,169,1439,0.00,2.22,0.00,0.000,6,0.000,0.042,2958,2069,2431,0,0,0,0,0,0
$GC,1764,-0.71,-116.8,162.6,-9.5,185,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2069,2431,0,0,0,0,0,0
$GC,2072,-0.71,-116.8,187.9,-8.0,200,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2069,2431,0,0,0,0,0,0
$GC,2384,-0.75,-116.8,213.8,-8.0,215,2388,0.00,2.25,0.00,0.000,4,0.000,0.063,2948,3468,2431,0,0,0,0,0,0
$GC,2427,-0.78,-116.8,217.4,-8.5,217,2431,0.00,2.20,0.00,0.000,6,0.000,0.038,2948,2050,2431,0,0,0,0,0,0
$GC,2758,-0.78,-116.8,244.8,-7.9,233,2762,0.00,2.20,0.00,0.000,4,0.000,0.052,2948,659,2431,0,0,0,0,0,0
$GC,2845,-0.78,-116.8,252.6,-8.8,237,2849,0.00,2.20,0.00,0.000,6,0.000,0.040,2939,2066,2431,0,0,0,0,0,0
$GC,3179,-0.78,-116.8,281.7,-9.0,253,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2066,2431,0,0,0,0,0,0
$GC,3485,-0.78,-116.8,309.8,-9.2,268,3489,0.00,2.28,0.00,0.000,4,0.000,0.052,2939,651,2432,0,0,0,0,0,0
$GC,3506,-0.78,-116.8,311.8,-9.2,269,3510,0.00,2.22,0.00,0.000,6,0.000,0.043,2930,2062,2432,0,0,0,0,0,0
$GC,3828,-0.78,-116.8,342.6,-9.4,285,3832,0.00,2.30,0.00,0.000,4,0.000,0.065,2919,3470,2430,0,0,0,0,0,0
$GC,3899,-0.78,-116.8,349.7,-9.4,288,3903,0.00,2.20,0.00,0.000,6,0.000,0.041,2919,2059,2431,0,0,0,0,0,0
$GC,4221,-0.75,-116.8,381.2,-10.0,304,4226,0.08,2.28,0.00,0.000,4,0.190,0.055,2938,653,2431,0,0,0,0,0,0
$GC,4298,-0.75,-116.8,389.1,-9.9,307,4303,0.00,2.25,0.00,0.000,6,0.000,0.044,2929,2074,2431,0,0,0,0,0,0
$GC,4614,-0.75,-116.8,419.1,-9.6,323,4618,0.00,2.25,0.00,0.000,4,0.000,0.060,2918,3469,2431,0,0,0,0,0,0
$GC,4641,-0.75,-116.8,422.1,-10.3,324,4646,0.08,2.20,0.00,0.000,6,0.181,0.039,2936,2053,2431,0,0,0,0,0,0
$GC,4962,-0.75,-116.8,451.1,-8.7,340,4966,0.00,2.22,0.00,0.000,4,0.000,0.055,2937,661,2431,0,0,0,0,0,0
$GC,5034,-0.75,-116.8,458.0,-9.3,343,5038,0.00,2.22,0.00,0.000,6,0.000,0.041,2928,2062,2431,0,0,0,0,0,0
$GC,5355,-0.75,-116.8,488.0,-9.7,359,5359,0.00,2.30,0.00,0.000,4,0.000,0.066,2917,3465,2430,0,0,0,0,0,0
$GC,5381,-0.75,-116.8,490.9,-10.0,360,5386,0.10,2.17,0.00,0.000,6,0.161,0.041,2943,2060,2430,0,0,0,0,0,0
$GC,5702,-0.75,-116.8,519.2,-8.9,376,5706,0.00,2.28,0.00,0.000,4,0.000,0.055,2944,658,2430,0,0,0,0,0,0
$GC,5757,-0.75,-116.8,524.5,-10.0,378,5762,0.00,2.22,0.00,0.000,6,0.000,0.044,2935,2069,2430,0,0,0,0,0,0
$GC,6072,-0.75,-116.8,553.6,-8.6,394,6076,0.00,2.28,0.00,0.000,4,0.000,0.052,2935,654,2430,0,0,0,0,0,0
$GC,6104,-0.75,-116.8,556.4,-9.4,395,6108,0.00,2.22,0.00,0.000,6,0.000,0.041,2926,2070,2430,0,0,0,0,0,0
$GC,6420,-0.75,-116.8,582.8,-8.7,411,6424,0.00,2.28,0.00,0.000,4,0.000,0.063,2916,3465,2429,0,0,0,0,0,0
$GC,6492,-0.75,-116.8,589.4,-9.4,414,6497,0.10,2.17,0.00,0.000,6,0.161,0.039,2942,2059,2429,0,0,0,0,0,0
$GC,6813,-0.79,-116.8,613.6,-7.7,430,6817,0.00,2.22,0.00,0.000,4,0.000,0.054,2943,664,2430,0,0,0,0,0,0
$GC,6897,-0.79,-116.8,621.0,-9.7,434,6901,0.00,2.20,0.00,0.000,6,0.000,0.037,2934,2074,2429,0,0,0,0,0,0
$GC,7222,-0.79,-116.8,651.6,-9.8,450,7226,0.00,2.22,0.00,0.000,4,0.000,0.060,2923,3459,2429,0,0,0,0,0,0
$GC,7277,-0.79,-116.8,657.1,-10.3,452,7283,0.00,2.20,0.00,0.000,6,0.000,0.039,2923,2062,2429,0,0,0,0,0,0
$GC,7592,-0.79,-116.8,687.6,-9.4,468,7596,0.00,2.25,0.00,0.000,4,0.000,0.054,2923,659,2429,0,0,0,0,0,0
$GC,7659,-0.79,-116.8,694.0,-9.5,471,7663,0.00,2.20,0.00,0.000,6,0.000,0.041,2915,2054,2429,0,0,0,0,0,0
$GC,7987,-0.79,-116.8,721.5,-8.0,487,7991,0.00,2.25,0.00,0.000,4,0.000,0.051,2915,649,2429,0,0,0,0,0,0
$GC,8019,-0.74,-116.8,724.4,-8.7,488,8025,0.15,2.22,0.00,0.000,6,0.155,0.037,2947,2078,2428,0,0,0,0,0,0
$GC,8336,-0.79,-116.8,745.7,-6.7,504,8341,0.05,2.25,0.00,0.000,4,0.167,0.060,2895,3462,2429,0,0,0,0,0,0
$GC,8386,-0.74,-116.8,749.9,-8.6,506,8390,0.17,2.17,0.00,0.000,6,0.143,0.039,2945,2050,2429,0,0,0,0,0,0
$GC,8704,-0.79,-116.8,771.7,-7.0,521,8708,0.00,2.25,0.00,0.000,4,0.000,0.053,2946,650,2429,0,0,0,0,0,0
$GC,8798,-0.79,-116.8,779.7,-8.2,525,8803,0.00,2.22,0.00,0.000,6,0.000,0.040,2937,2068,2429,0,0,0,0,0,0
$GC,9114,-0.82,-116.8,804.1,-7.6,540,9116,0.03,0.00,0.00,0.000,6,0.243,0.000,2900,2068,2428,0,0,0,0,0,0
$GC,9425,-0.78,-116.8,830.2,-8.0,555,9426,0.10,0.00,0.00,0.000,6,0.171,0.000,2926,2069,2428,0,0,0,0,0,0
$GC,9732,-0.78,-116.8,851.0,-6.4,570,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2069,2427,0,0,0,0,0,0
$GC,10043,-0.78,-116.8,871.1,-6.5,585,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2069,2427,0,0,0,0,0,0
$GC,10351,-0.78,-116.8,893.2,-7.3,600,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2069,2427,0,0,0,0,0,0
$GC,10661,-0.78,-116.8,918.1,-8.3,615,10666,0.00,2.28,0.00,0.000,4,0.000,0.063,2915,3460,2426,0,0,0,0,0,0
$GC,10711,-0.78,-116.8,922.5,-8.8,617,10715,0.00,2.17,0.00,0.000,6,0.000,0.039,2916,2051,2426,0,0,0,0,0,0
$GC,11033,-0.78,-116.8,950.8,-8.7,633,11037,0.00,2.22,0.00,0.000,4,0.000,0.054,2916,653,2427,0,0,0,0,0,0
$GC,11128,-0.78,-116.8,959.4,-8.5,637,11132,0.10,2.22,0.00,0.000,6,0.164,0.042,2933,2062,2426,0,0,0,0,0,0
$GC,11445,-0.82,-116.8,983.6,-7.7,652,11449,0.00,2.30,0.00,0.000,4,0.000,0.065,2923,3464,2426,0,0,0,0,0,0
$GC,11545,-0.82,-116.8,991.8,-7.7,656,11550,0.00,2.17,0.00,0.000,6,0.000,0.039,2923,2058,2426,0,0,0,0,0,0
$STATE,11651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11651,begin apogee
$GC,11658,-0.19,0.0,1000.7,8.2,662,11775,0.62,0.00,113.80,1.242,6,0.129,0.000,3116,1600,1950,0,0,0,0,0,0
$STATE,11776,end apogee,CONTROL_FINISHED_OK
$STATE,11776,begin climb
$GC,11778,0.76,116.8,1003.9,0.0,668,11903,0.95,0.00,120.80,1.206,6,0.084,0.000,3426,1600,1474,0,0,0,0,0,0
$GC,12206,0.80,129.8,974.2,7.9,689,12225,0.00,2.40,13.48,1.096,4,0.000,0.058,3436,205,1419,0,0,0,0,0,0
$GC,12282,0.80,129.8,967.2,9.2,692,12287,0.00,2.28,0.00,0.000,6,0.000,0.037,3436,1619,1418,0,0,0,0,0,0
$GC,12599,0.81,136.1,940.1,8.2,707,12612,0.00,2.30,7.07,0.939,4,0.000,0.057,3436,3001,1395,0,0,0,0,0,0
$GC,12658,0.81,136.1,934.7,8.7,709,12663,0.00,2.20,0.00,0.000,6,0.000,0.037,3445,1599,1394,0,0,0,0,0,0
$GC,12974,0.81,136.1,906.2,9.3,725,12978,0.00,2.30,0.00,0.000,4,0.000,0.057,3457,191,1394,0,0,0,0,0,0
$GC,13036,0.81,136.1,899.7,10.5,728,13040,0.00,2.20,0.00,0.000,6,0.000,0.037,3457,1607,1394,0,0,0,0,0,0
$GC,13367,0.81,136.1,865.2,10.1,744,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1607,1394,0,0,0,0,0,0
$GC,13678,0.81,136.1,835.4,9.5,759,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1607,1393,0,0,0,0,0,0
$GC,13986,0.81,136.1,805.8,9.2,774,13990,0.00,2.20,0.00,0.000,4,0.000,0.055,3457,2992,1392,0,0,0,0,0,0
$GC,14012,0.81,136.1,803.1,8.9,775,14017,0.08,2.17,0.00,0.000,6,0.181,0.037,3446,1591,1393,0,0,0,0,0,0
$GC,14339,0.81,136.1,775.6,8.6,791,14343,0.00,2.28,0.00,0.000,4,0.000,0.057,3458,195,1392,0,0,0,0,0,0
$GC,14464,0.81,136.1,764.1,9.4,796,14470,0.03,2.17,0.00,0.000,6,0.258,0.037,3446,1598,1392,0,0,0,0,0,0
$GC,14779,0.81,138.6,737.1,8.4,812,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1599,1392,0,0,0,0,0,0
$GC,15089,0.81,138.6,710.2,8.9,827,15093,0.00,2.28,0.00,0.000,4,0.000,0.054,3456,192,1391,0,0,0,0,0,0
$GC,15132,0.81,138.6,706.1,9.0,829,15137,0.00,2.17,0.00,0.000,6,0.000,0.037,3455,1609,1391,0,0,0,0,0,0
$GC,15460,0.81,138.6,676.6,9.1,845,15461,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1610,1391,0,0,0,0,0,0
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$STATE,22654,end climb,SURFACE_DEPTH_REACHED
$STATE,22654,begin surface coast
$FINISH,1.8,1.023288
$STATE,22704,end surface coast,CONTROL_FINISHED_OK
$STATE,22704,begin surface
$SM_CCo,22723,1.48,0.063,0,0,1133,200.16
$SM_GC,3.61,0.00,0.00,1.48,0.000,0.000,0.063,66,2090,1133,-9.75,0.85,200.16
$IRIDIUM_FIX,-4447.43,631.19,011008,222225
$TT8_MAMPS,0.026964
$HUMID,65.12
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.7,69.791
$10V_AH,9.7,73.330
$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
$DEVICE_SECS,24.125,193.350,297.975,1.475,0.000,28.247,42.166,280.992,0.000,0.000,21.002,2823.876,16110.306,433.935,3500.765,362.219,0.000,1786.539,0.000,3024.196,0.000,0.539,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353804
$DATA_FILE_SIZE,93677,1301
$CAP_FILE_SIZE,197056,0
$CFSIZE,2097086464,2012971008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061215,202528,-4502.617,629.079,47,1.0,47,-24.4