version: 66.07.10.p01
glider: 573
mission: 12
dive: 607
start: 12 7 115 11 34 12
data:
$ID,573
$MISSION,12
$DIVE,607
$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,-22919.848
$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,45
$R_STBD_OVSHOOT,36
$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,606
$GPS1,071215,112533,-4500.090,633.836,25,0.9,25,-24.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-69.5
$GPS2,071215,113352,-4500.122,633.906,19,1.3,20,-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,302.4,285,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.09,-49.9,0.0,0.0,0,49,0.00,0.00,-19.58,0.000,2,0.000,0.000,63,2059,1515,0,0,0,0,0,0
$GC,52,-1.13,-107.2,3.1,-2.0,3,116,11.32,2.30,-42.12,0.000,4,0.226,0.066,2813,671,2390,0,0,0,0,0,0
$GC,139,-1.13,-116.8,5.4,-7.0,16,148,0.03,2.25,-0.98,0.000,6,0.216,0.041,2811,2060,2425,0,0,0,0,0,0
$GC,200,-1.13,-116.8,14.3,-15.5,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2059,2426,0,0,0,0,0,0
$GC,258,-1.13,-116.8,23.9,-16.5,34,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2059,2426,0,0,0,0,0,0
$GC,410,-1.13,-116.8,48.4,-15.2,59,415,0.00,2.30,0.00,0.000,4,0.000,0.063,2802,3468,2426,0,0,0,0,0,0
$GC,486,-1.13,-116.8,59.3,-14.1,72,494,0.03,2.22,0.00,0.000,6,0.200,0.041,2809,2075,2427,0,0,0,0,0,0
$GC,829,-1.13,-116.8,112.3,-15.7,105,833,0.00,2.28,0.00,0.000,4,0.000,0.059,2801,3469,2427,0,0,0,0,0,0
$GC,872,-1.13,-116.8,118.8,-16.5,107,877,0.08,2.22,0.00,0.000,6,0.203,0.041,2817,2049,2428,0,0,0,0,0,0
$GC,1201,-1.13,-116.8,168.5,-15.2,123,1205,0.00,2.22,0.00,0.000,4,0.000,0.054,2817,652,2428,0,0,0,0,0,0
$GC,1233,-1.13,-116.8,173.7,-13.9,124,1241,0.00,2.25,0.00,0.000,6,0.000,0.041,2808,2064,2428,0,0,0,0,0,0
$GC,1549,-1.13,-116.8,217.5,-14.3,140,1553,0.00,2.28,0.00,0.000,4,0.000,0.063,2797,3463,2428,0,0,0,0,0,0
$GC,1635,-1.13,-116.8,230.3,-14.4,144,1640,0.08,2.20,0.00,0.000,6,0.200,0.039,2813,2051,2428,0,0,0,0,0,0
$GC,1964,-1.17,-116.8,276.9,-14.3,160,1968,0.00,2.22,0.00,0.000,4,0.000,0.054,2814,651,2428,0,0,0,0,0,0
$GC,1996,-1.17,-116.8,282.3,-14.8,161,2000,0.00,2.22,0.00,0.000,6,0.000,0.041,2806,2062,2428,0,0,0,0,0,0
$GC,2318,-1.17,-116.8,329.6,-14.8,177,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2062,2428,0,0,0,0,0,0
$GC,2628,-1.17,-116.8,376.7,-15.1,192,2632,0.00,2.25,0.00,0.000,4,0.000,0.062,2795,3463,2428,0,0,0,0,0,0
$GC,2750,-1.17,-116.8,395.9,-15.7,197,2754,0.00,2.17,0.00,0.000,6,0.000,0.040,2795,2060,2428,0,0,0,0,0,0
$GC,3066,-1.17,-116.8,445.0,-16.0,213,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2060,2428,0,0,0,0,0,0
$GC,3375,-1.17,-116.8,493.2,-15.2,228,3379,0.00,2.25,0.00,0.000,4,0.000,0.055,2795,658,2428,0,0,0,0,0,0
$GC,3441,-1.17,-116.8,503.9,-16.4,231,3446,0.08,2.22,0.00,0.000,6,0.216,0.041,2802,2068,2428,0,0,0,0,0,0
$GC,3769,-1.17,-116.8,553.8,-15.6,247,3773,0.00,2.28,0.00,0.000,4,0.000,0.062,2792,3465,2428,0,0,0,0,0,0
$GC,3831,-1.17,-116.8,563.6,-16.0,250,3836,0.05,2.20,0.00,0.000,6,0.228,0.040,2802,2057,2428,0,0,0,0,0,0
$GC,4160,-1.20,-116.8,612.2,-14.8,266,4164,0.00,2.25,0.00,0.000,4,0.000,0.057,2802,655,2428,0,0,0,0,0,0
$GC,4209,-1.20,-116.8,620.3,-15.7,268,4213,0.00,2.22,0.00,0.000,6,0.000,0.044,2794,2060,2428,0,0,0,0,0,0
$GC,4529,-1.20,-116.8,667.3,-14.6,284,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2062,2428,0,0,0,0,0,0
$GC,4840,-1.20,-116.8,712.7,-14.4,299,4844,0.00,2.30,0.00,0.000,4,0.000,0.063,2783,3471,2428,0,0,0,0,0,0
$GC,4885,-1.20,-116.8,719.5,-14.8,301,4890,0.00,2.22,0.00,0.000,6,0.000,0.044,2783,2055,2428,0,0,0,0,0,0
$GC,5218,-1.20,-116.8,766.5,-14.0,317,5222,0.00,2.33,0.00,0.000,4,0.000,0.063,2774,3468,2427,0,0,0,0,0,0
$GC,5251,-1.20,-116.8,771.7,-14.5,318,5256,0.08,2.22,0.00,0.000,6,0.205,0.044,2790,2052,2427,0,0,0,0,0,0
$GC,5572,-1.20,-116.8,816.0,-13.5,334,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2052,2427,0,0,0,0,0,0
$GC,5883,-1.24,-116.8,857.6,-13.6,349,5887,0.00,2.25,0.00,0.000,4,0.000,0.057,2790,648,2426,0,0,0,0,0,0
$GC,5904,-1.24,-116.8,860.8,-13.7,350,5908,0.00,2.28,0.00,0.000,6,0.000,0.044,2782,2064,2426,0,0,0,0,0,0
$GC,6229,-1.24,-116.8,904.3,-12.9,366,6233,0.00,2.30,0.00,0.000,4,0.000,0.066,2771,3471,2426,0,0,0,0,0,0
$GC,6298,-1.24,-116.8,913.4,-13.8,369,6302,0.00,2.25,0.00,0.000,6,0.000,0.045,2771,2051,2426,0,0,0,0,0,0
$GC,6624,-1.24,-116.8,957.1,-12.8,385,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2051,2426,0,0,0,0,0,0
$GC,6933,-1.24,-116.8,998.3,-13.7,400,6937,0.00,2.28,0.00,0.000,4,0.000,0.057,2772,653,2425,0,0,0,0,0,0
$STATE,6948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6948,begin apogee
$GC,6956,-0.19,0.0,1000.5,13.7,401,7072,1.23,0.00,112.60,1.245,6,0.157,0.000,3120,1617,1950,0,0,0,0,0,0
$STATE,7073,end apogee,CONTROL_FINISHED_OK
$STATE,7073,begin climb
$GC,7076,1.13,116.8,1004.8,0.0,407,7200,1.30,0.00,120.62,1.209,6,0.083,0.000,3545,1617,1474,0,0,0,0,0,0
$GC,7501,1.23,116.8,957.7,12.6,428,7506,0.10,2.38,0.00,0.000,4,0.094,0.053,3609,193,1466,0,0,0,0,0,0
$GC,7625,1.18,116.8,938.2,15.3,433,7630,0.17,2.25,0.00,0.000,6,0.161,0.037,3563,1601,1465,0,0,0,0,0,0
$GC,7942,1.23,116.8,896.0,13.6,449,7946,0.00,2.30,0.00,0.000,4,0.000,0.053,3572,193,1464,0,0,0,0,0,0
$GC,7987,1.23,116.8,889.5,14.8,451,7991,0.00,2.22,0.00,0.000,6,0.000,0.037,3572,1616,1463,0,0,0,0,0,0
$GC,8321,1.28,116.8,842.7,14.3,467,8322,0.08,0.00,0.00,0.000,6,0.124,0.000,3613,1616,1463,0,0,0,0,0,0
$GC,8628,1.25,116.8,793.7,15.8,482,8633,0.10,2.33,0.00,0.000,4,0.184,0.051,3599,186,1463,0,0,0,0,0,0
$GC,8691,1.25,116.8,784.3,15.5,485,8695,0.00,2.22,0.00,0.000,6,0.000,0.037,3598,1608,1462,0,0,0,0,0,0
$GC,9018,1.25,116.8,735.8,14.8,501,9022,0.00,2.20,0.00,0.000,4,0.000,0.055,3598,2993,1462,0,0,0,0,0,0
$GC,9084,1.25,116.8,725.3,15.5,504,9089,0.10,2.17,0.00,0.000,6,0.196,0.037,3584,1584,1462,0,0,0,0,0,0
$GC,9405,1.25,116.8,677.5,15.3,520,9409,0.00,2.22,0.00,0.000,4,0.000,0.054,3594,202,1462,0,0,0,0,0,0
$GC,9512,1.25,116.8,660.8,16.2,525,9516,0.00,2.20,0.00,0.000,6,0.000,0.038,3594,1609,1461,0,0,0,0,0,0
$GC,9840,1.25,116.8,614.4,13.8,541,9844,0.00,2.30,0.00,0.000,4,0.000,0.052,3603,195,1461,0,0,0,0,0,0
$GC,9880,1.25,116.8,608.7,14.8,543,9885,0.08,2.20,0.00,0.000,6,0.203,0.037,3586,1604,1461,0,0,0,0,0,0
$GC,10209,1.28,116.8,562.6,14.4,559,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1604,1461,0,0,0,0,0,0
$GC,10515,1.31,116.8,519.8,14.1,574,10520,0.05,2.25,0.00,0.000,4,0.169,0.051,3630,202,1461,0,0,0,0,0,0
$GC,10587,1.24,116.8,508.2,16.9,577,10592,0.17,2.20,0.00,0.000,6,0.171,0.036,3583,1611,1460,0,0,0,0,0,0
$GC,10910,1.28,116.8,464.9,13.4,593,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1611,1460,0,0,0,0,0,0
$GC,11217,1.33,116.8,424.5,12.9,608,11222,0.08,2.30,0.00,0.000,4,0.126,0.052,3630,195,1460,0,0,0,0,0,0
$GC,11312,1.26,116.8,410.5,15.1,612,11317,0.15,2.20,0.00,0.000,6,0.174,0.036,3589,1603,1460,0,0,0,0,0,0
$GC,11628,1.29,116.8,369.3,13.3,627,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1603,1460,0,0,0,0,0,0
$GC,11936,1.33,116.8,329.4,13.1,642,11938,0.08,0.00,0.00,0.000,6,0.131,0.000,3625,1604,1460,0,0,0,0,0,0
$GC,12249,1.30,116.8,286.9,13.8,657,12251,0.10,0.00,0.00,0.000,6,0.189,0.000,3601,1605,1460,0,0,0,0,0,0
$GC,12556,1.30,116.8,247.1,13.0,672,12560,0.00,2.25,0.00,0.000,4,0.000,0.052,3611,202,1460,0,0,0,0,0,0
$GC,12697,1.30,116.8,226.4,14.1,678,12701,0.00,2.17,0.00,0.000,6,0.000,0.036,3611,1607,1460,0,0,0,0,0,0
$GC,13015,1.30,116.8,181.4,14.5,693,13019,0.00,2.28,0.00,0.000,4,0.000,0.050,3620,203,1460,0,0,0,0,0,0
$GC,13058,1.26,116.8,175.1,15.2,695,13063,0.10,2.17,0.00,0.000,6,0.184,0.034,3595,1613,1459,0,0,0,0,0,0
$GC,13389,1.30,116.8,134.3,11.5,711,13390,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1613,1459,0,0,0,0,0,0
$GC,13695,1.35,116.8,98.5,11.7,726,13700,0.05,2.28,0.00,0.000,4,0.170,0.051,3635,203,1459,0,0,0,0,0,0
$GC,13761,1.28,116.8,90.1,14.4,729,13765,0.12,2.17,0.00,0.000,6,0.176,0.036,3602,1602,1460,0,0,0,0,0,0
$GC,14103,1.28,116.8,47.6,11.6,779,14108,0.00,2.28,0.00,0.000,4,0.000,0.050,3612,198,1459,0,0,0,0,0,0
$GC,14345,1.28,116.8,17.4,12.3,819,14353,0.03,2.20,0.00,0.000,6,0.181,0.036,3602,1602,1459,0,0,0,0,0,0
$GC,14405,1.32,116.8,9.8,13.5,828,14412,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1602,1460,0,0,0,0,0,0
$STATE,14455,end climb,SURFACE_DEPTH_REACHED
$STATE,14456,begin surface coast
$FINISH,1.9,1.003567
$STATE,14482,end surface coast,CONTROL_FINISHED_OK
$STATE,14482,begin surface
$SM_CCo,14501,39.50,0.054,0,0,1132,200.16
$SM_GC,3.26,0.00,0.00,39.50,0.000,0.000,0.054,80,2070,1132,-9.70,0.28,200.16
$IRIDIUM_FIX,-4441.36,636.54,021008,202037
$TT8_MAMPS,0.026964
$HUMID,65.71
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.7,70.217
$10V_AH,9.7,73.739
$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,25.050,121.225,233.225,39.500,0.000,26.861,42.683,272.668,0.000,0.000,21.801,1873.087,10086.447,384.651,2414.815,279.886,0.000,1275.648,0.000,1987.653,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,65.790,1244.655,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.013,1228.321,693.840,412.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353732
$DATA_FILE_SIZE,60681,840
$CAP_FILE_SIZE,132137,0
$CFSIZE,2097086464,2012545024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071215,153755,-4459.721,631.845,43,1.3,43,-24.4