version: 66.07.10.p01
glider: 573
mission: 12
dive: 605
start: 12 7 115 3 3 44
data:
$ID,573
$MISSION,12
$DIVE,605
$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,-22913.262
$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,46
$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,604
$GPS1,071215,025321,-4500.958,632.939,68,1.0,68,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-70.0
$GPS2,071215,030324,-4500.916,632.954,25,1.2,25,-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,56.9,1793,-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,23,begin dive
$GC,26,-1.09,-49.9,0.0,0.0,0,53,0.00,0.00,-25.40,0.000,2,0.000,0.000,67,2058,1631,0,0,0,0,0,0
$GC,56,-1.13,-102.9,3.4,-2.5,4,108,11.38,2.30,-34.08,0.000,4,0.230,0.073,2807,3461,2367,0,0,0,0,0,0
$GC,124,-1.13,-116.8,3.5,-1.3,14,132,0.00,2.25,-2.28,0.000,6,0.000,0.042,2808,2058,2426,0,0,0,0,0,0
$GC,183,-1.13,-116.8,11.0,-15.3,23,191,0.00,2.35,0.00,0.000,4,0.000,0.064,2799,3452,2428,0,0,0,0,0,0
$GC,200,-1.13,-116.8,12.8,-12.9,25,208,0.05,2.25,0.00,0.000,6,0.183,0.042,2813,2051,2428,0,0,0,0,0,0
$GC,260,-1.13,-116.8,21.7,-15.5,34,267,0.00,2.33,0.00,0.000,4,0.000,0.062,2805,3445,2428,0,0,0,0,0,0
$GC,532,-1.13,-116.8,67.0,-17.4,80,537,0.00,2.20,0.00,0.000,6,0.000,0.042,2805,2053,2429,0,0,0,0,0,0
$GC,859,-1.13,-116.8,123.7,-17.8,106,863,0.00,2.25,0.00,0.000,4,0.000,0.060,2797,3449,2429,0,0,0,0,0,0
$GC,892,-1.13,-116.8,130.2,-18.3,107,898,0.10,2.20,0.00,0.000,6,0.190,0.042,2820,2060,2430,0,0,0,0,0,0
$GC,1211,-1.17,-116.8,180.0,-15.5,123,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2060,2430,0,0,0,0,0,0
$GC,1518,-1.21,-116.8,227.2,-15.0,138,1520,0.08,0.00,0.00,0.000,6,0.129,0.000,2785,2059,2430,0,0,0,0,0,0
$GC,1829,-1.21,-116.8,275.0,-15.2,153,1833,0.00,2.22,0.00,0.000,4,0.000,0.054,2785,652,2430,0,0,0,0,0,0
$GC,1857,-1.16,-116.8,279.8,-15.2,154,1862,0.12,2.20,0.00,0.000,6,0.198,0.043,2805,2043,2430,0,0,0,0,0,0
$GC,2173,-1.16,-116.8,325.8,-15.0,169,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2043,2430,0,0,0,0,0,0
$GC,2481,-1.16,-116.8,372.3,-14.8,184,2485,0.00,2.33,0.00,0.000,4,0.000,0.063,2794,3475,2430,0,0,0,0,0,0
$GC,2558,-1.16,-116.8,383.9,-15.1,187,2562,0.00,2.22,0.00,0.000,6,0.000,0.044,2795,2056,2430,0,0,0,0,0,0
$GC,2874,-1.16,-116.8,429.4,-14.3,203,2878,0.00,2.25,0.00,0.000,4,0.000,0.056,2795,648,2430,0,0,0,0,0,0
$GC,2913,-1.16,-116.8,435.3,-14.4,204,2919,0.05,2.25,0.00,0.000,6,0.184,0.043,2802,2055,2430,0,0,0,0,0,0
$GC,3228,-1.16,-116.8,480.8,-14.5,220,3232,0.00,2.28,0.00,0.000,4,0.000,0.060,2792,3475,2430,0,0,0,0,0,0
$GC,3266,-1.16,-116.8,486.5,-15.3,222,3271,0.08,2.22,0.00,0.000,6,0.206,0.043,2807,2057,2430,0,0,0,0,0,0
$GC,3593,-1.20,-116.8,531.4,-13.7,238,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2057,2430,0,0,0,0,0,0
$GC,3903,-1.25,-116.8,574.2,-14.0,253,3907,0.08,2.25,0.00,0.000,4,0.129,0.056,2771,655,2429,0,0,0,0,0,0
$GC,3947,-1.20,-116.8,581.4,-15.5,255,3951,0.12,2.25,0.00,0.000,6,0.195,0.044,2790,2074,2430,0,0,0,0,0,0
$GC,4268,-1.20,-116.8,626.0,-13.9,271,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2075,2429,0,0,0,0,0,0
$GC,4576,-1.20,-116.8,667.7,-13.2,286,4580,0.00,2.22,0.00,0.000,4,0.000,0.059,2780,3465,2429,0,0,0,0,0,0
$GC,4625,-1.20,-116.8,674.7,-14.8,288,4630,0.05,2.20,0.00,0.000,6,0.233,0.041,2792,2058,2429,0,0,0,0,0,0
$GC,4945,-1.20,-116.8,717.3,-13.6,304,4949,0.00,2.25,0.00,0.000,4,0.000,0.057,2795,656,2429,0,0,0,0,0,0
$GC,4984,-1.20,-116.8,722.9,-14.7,306,4988,0.00,2.22,0.00,0.000,6,0.000,0.044,2786,2057,2429,0,0,0,0,0,0
$GC,5310,-1.20,-116.8,766.7,-12.6,322,5314,0.00,2.28,0.00,0.000,4,0.000,0.062,2776,3465,2428,0,0,0,0,0,0
$GC,5359,-1.20,-116.8,773.0,-12.6,324,5364,0.08,2.20,0.00,0.000,6,0.208,0.041,2791,2061,2429,0,0,0,0,0,0
$GC,5680,-1.20,-116.8,812.8,-12.4,340,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2062,2429,0,0,0,0,0,0
$GC,5991,-1.23,-116.8,851.6,-12.3,355,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2062,2429,0,0,0,0,0,0
$GC,6299,-1.27,-116.8,889.1,-12.2,370,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2062,2428,0,0,0,0,0,0
$GC,6609,-1.31,-116.8,927.6,-12.6,385,6611,0.10,0.00,0.00,0.000,6,0.106,0.000,2745,2062,2427,0,0,0,0,0,0
$GC,6917,-1.27,-116.8,973.5,-15.6,400,6922,0.12,2.33,0.00,0.000,4,0.193,0.063,2765,3465,2427,0,0,0,0,0,0
$GC,6972,-1.27,-116.8,981.9,-15.2,402,6978,0.00,2.22,0.00,0.000,6,0.000,0.041,2769,2061,2427,0,0,0,0,0,0
$STATE,7120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7120,begin apogee
$GC,7127,-0.19,0.0,1002.3,13.5,410,7243,1.20,0.00,112.90,1.243,6,0.158,0.000,3114,1591,1950,0,0,0,0,0,0
$STATE,7244,end apogee,CONTROL_FINISHED_OK
$STATE,7244,begin climb
$GC,7247,1.13,116.8,1006.0,0.0,416,7374,1.33,2.53,119.75,1.205,4,0.082,0.053,3559,199,1475,0,0,0,0,0,0
$GC,7413,1.17,116.8,990.0,14.7,424,7417,0.00,2.42,0.00,0.000,6,0.000,0.037,3559,1614,1471,0,0,0,0,0,0
$GC,7729,1.23,116.8,945.4,14.0,439,7731,0.05,0.00,0.00,0.000,6,0.162,0.000,3593,1614,1466,0,0,0,0,0,0
$GC,8037,1.23,116.8,900.0,14.5,454,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1614,1466,0,0,0,0,0,0
$GC,8348,1.23,116.8,853.1,15.3,469,8352,0.00,2.33,0.00,0.000,4,0.000,0.052,3603,190,1465,0,0,0,0,0,0
$GC,8409,1.20,116.8,843.2,16.0,472,8414,0.12,2.22,0.00,0.000,6,0.169,0.037,3571,1610,1464,0,0,0,0,0,0
$GC,8742,1.24,116.8,795.3,14.6,488,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1610,1464,0,0,0,0,0,0
$GC,9051,1.29,116.8,751.9,13.8,503,9056,0.08,2.30,0.00,0.000,4,0.125,0.052,3624,196,1464,0,0,0,0,0,0
$GC,9106,1.22,116.8,742.9,16.4,505,9111,0.17,2.20,0.00,0.000,6,0.164,0.037,3576,1602,1464,0,0,0,0,0,0
$GC,9423,1.26,116.8,699.7,13.4,521,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1602,1463,0,0,0,0,0,0
$GC,9731,1.30,116.8,658.9,13.2,536,9735,0.08,2.28,0.00,0.000,4,0.122,0.053,3626,192,1463,0,0,0,0,0,0
$GC,9808,1.23,116.8,646.9,16.3,539,9813,0.17,2.20,0.00,0.000,6,0.166,0.037,3579,1600,1463,0,0,0,0,0,0
$GC,10123,1.27,116.8,603.9,13.7,554,10127,0.00,2.30,0.00,0.000,4,0.000,0.052,3588,188,1462,0,0,0,0,0,0
$GC,10212,1.27,116.8,590.7,14.8,558,10216,0.00,2.22,0.00,0.000,6,0.000,0.037,3588,1613,1462,0,0,0,0,0,0
$GC,10538,1.27,116.8,544.8,13.7,574,10542,0.00,2.28,0.00,0.000,4,0.000,0.052,3597,198,1462,0,0,0,0,0,0
$GC,10582,1.27,116.8,538.2,15.2,576,10586,0.00,2.20,0.00,0.000,6,0.000,0.037,3597,1609,1462,0,0,0,0,0,0
$GC,10909,1.27,116.8,493.4,13.7,592,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1609,1463,0,0,0,0,0,0
$GC,11219,1.27,116.8,450.9,13.6,607,11223,0.00,2.28,0.00,0.000,4,0.000,0.052,3606,198,1462,0,0,0,0,0,0
$GC,11275,1.27,116.8,442.6,15.2,609,11279,0.05,2.20,0.00,0.000,6,0.228,0.037,3596,1606,1461,0,0,0,0,0,0
$GC,11596,1.27,116.8,396.3,14.6,625,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1606,1461,0,0,0,0,0,0
$GC,11904,1.27,116.8,349.6,15.0,640,11908,0.00,2.30,0.00,0.000,4,0.000,0.051,3605,190,1462,0,0,0,0,0,0
$GC,11942,1.27,116.8,343.9,14.9,642,11946,0.00,2.20,0.00,0.000,6,0.000,0.035,3605,1610,1462,0,0,0,0,0,0
$GC,12268,1.27,116.8,299.6,13.2,658,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1610,1461,0,0,0,0,0,0
$GC,12581,1.27,116.8,257.9,13.4,673,12585,0.00,2.30,0.00,0.000,4,0.000,0.053,3614,198,1461,0,0,0,0,0,0
$GC,12668,1.23,116.8,245.6,13.6,677,12673,0.12,2.20,0.00,0.000,6,0.174,0.036,3582,1608,1461,0,0,0,0,0,0
$GC,12999,1.29,116.8,203.4,12.7,693,13003,0.00,2.30,0.00,0.000,4,0.000,0.051,3591,192,1461,0,0,0,0,0,0
$GC,13042,1.29,116.8,197.4,13.2,695,13046,0.00,2.17,0.00,0.000,6,0.000,0.035,3591,1610,1461,0,0,0,0,0,0
$GC,13372,1.33,116.8,155.4,12.3,711,13377,0.05,2.17,0.00,0.000,4,0.171,0.054,3621,2993,1461,0,0,0,0,0,0
$GC,13467,1.30,116.8,142.5,13.1,715,13472,0.10,2.17,0.00,0.000,6,0.195,0.036,3607,1586,1461,0,0,0,0,0,0
$GC,13783,1.30,116.8,105.8,11.7,730,13787,0.00,2.25,0.00,0.000,4,0.000,0.053,3618,190,1461,0,0,0,0,0,0
$GC,13942,1.30,116.8,85.3,12.7,737,13947,0.03,2.20,0.00,0.000,6,0.263,0.036,3607,1608,1461,0,0,0,0,0,0
$GC,14288,1.30,116.8,42.2,11.4,791,14293,0.00,2.28,0.00,0.000,4,0.000,0.050,3616,199,1461,0,0,0,0,0,0
$GC,14399,1.30,116.8,28.5,13.1,809,14406,0.00,2.20,0.00,0.000,6,0.000,0.036,3612,1600,1461,0,0,0,0,0,0
$GC,14555,1.30,116.8,10.4,11.9,834,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1600,1461,0,0,0,0,0,0
$STATE,14611,end climb,SURFACE_DEPTH_REACHED
$STATE,14611,begin surface coast
$FINISH,2.0,1.013637
$STATE,14637,end surface coast,CONTROL_FINISHED_OK
$STATE,14637,begin surface
$SM_CCo,14657,40.12,0.054,0,0,1132,200.16
$SM_GC,3.33,0.00,0.00,40.12,0.000,0.000,0.054,61,2079,1132,-9.76,0.54,200.16
$IRIDIUM_FIX,-4444.39,630.84,021008,090919
$TT8_MAMPS,0.026964
$HUMID,65.75
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.7,70.015
$10V_AH,9.7,73.554
$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,25.500,118.625,232.650,40.125,0.000,28.034,50.607,337.999,0.000,0.000,27.512,1853.714,10316.448,380.112,2456.473,281.901,0.000,1247.508,0.000,1956.369,0.000,0.539,0.000
$DEVICE_MAMPS,263.160,73.440,1243.125,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.411,1240.053,700.412,434.311,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353756
$DATA_FILE_SIZE,60500,847
$CAP_FILE_SIZE,131298,0
$CFSIZE,2097086464,2012807168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071215,070957,-4459.701,635.330,37,1.0,37,-24.4