version: 66.07.10.p01
glider: 573
mission: 12
dive: 608
start: 12 7 115 15 46 8
data:
$ID,573
$MISSION,12
$DIVE,608
$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,-22923.201
$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,41
$R_STBD_OVSHOOT,50
$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,607
$GPS1,071215,153755,-4459.721,631.845,43,1.3,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-70.1
$GPS2,071215,154548,-4459.686,631.956,15,0.9,17,-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,133.1,2397,-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,25,begin dive
$GC,27,-1.09,-49.9,0.0,0.0,0,48,0.00,0.00,-19.02,0.000,2,0.000,0.000,80,2070,1500,0,0,0,0,0,0
$GC,51,-1.13,-112.7,3.0,-1.3,3,115,11.30,2.33,-45.35,0.000,4,0.228,0.069,2813,658,2412,0,0,0,0,0,0
$GC,390,-1.13,-112.7,47.4,-18.3,58,396,0.00,2.20,0.00,0.000,6,0.000,0.043,2805,2049,2414,0,0,0,0,0,0
$GC,724,-1.13,-112.7,103.5,-15.8,98,728,0.00,2.25,0.00,0.000,4,0.000,0.051,2805,664,2415,0,0,0,0,0,0
$GC,764,-1.10,-112.7,110.1,-16.0,100,769,0.12,2.20,0.00,0.000,6,0.190,0.039,2827,2067,2415,0,0,0,0,0,0
$GC,1093,-1.13,-112.7,159.0,-14.7,116,1097,0.00,2.25,0.00,0.000,4,0.000,0.063,2817,3463,2416,0,0,0,0,0,0
$GC,1149,-1.13,-112.7,167.9,-16.4,118,1153,0.00,2.17,0.00,0.000,6,0.000,0.039,2817,2061,2416,0,0,0,0,0,0
$GC,1471,-1.13,-112.7,215.4,-14.3,134,1475,0.00,2.25,0.00,0.000,4,0.000,0.054,2817,652,2417,0,0,0,0,0,0
$GC,1542,-1.13,-112.7,226.0,-15.9,137,1546,0.00,2.22,0.00,0.000,6,0.000,0.042,2808,2064,2416,0,0,0,0,0,0
$GC,1871,-1.13,-112.7,276.3,-15.4,153,1875,0.00,2.28,0.00,0.000,4,0.000,0.063,2797,3461,2417,0,0,0,0,0,0
$GC,1982,-1.13,-112.7,294.5,-15.7,158,1987,0.10,2.20,0.00,0.000,6,0.180,0.040,2822,2051,2417,0,0,0,0,0,0
$GC,2310,-1.18,-112.7,342.7,-14.5,174,2314,0.00,2.22,0.00,0.000,4,0.000,0.055,2822,658,2417,0,0,0,0,0,0
$GC,2405,-1.18,-112.7,357.2,-14.4,178,2409,0.00,2.20,0.00,0.000,6,0.000,0.041,2814,2059,2417,0,0,0,0,0,0
$GC,2726,-1.22,-112.7,402.8,-14.2,194,2731,0.05,2.30,0.00,0.000,4,0.164,0.063,2767,3468,2417,0,0,0,0,0,0
$GC,2839,-1.17,-112.7,420.4,-16.4,199,2844,0.12,2.22,0.00,0.000,6,0.180,0.042,2801,2051,2417,0,0,0,0,0,0
$GC,3160,-1.17,-112.7,468.3,-14.8,215,3164,0.00,2.25,0.00,0.000,4,0.000,0.056,2801,658,2417,0,0,0,0,0,0
$GC,3204,-1.17,-112.7,475.1,-15.8,217,3208,0.00,2.22,0.00,0.000,6,0.000,0.041,2793,2068,2417,0,0,0,0,0,0
$GC,3532,-1.17,-112.7,522.3,-14.0,233,3536,0.00,2.25,0.00,0.000,4,0.000,0.063,2782,3466,2416,0,0,0,0,0,0
$GC,3603,-1.17,-112.7,533.0,-14.1,236,3608,0.10,2.20,0.00,0.000,6,0.188,0.041,2806,2054,2416,0,0,0,0,0,0
$GC,3924,-1.21,-112.7,577.3,-13.9,252,3928,0.00,2.25,0.00,0.000,4,0.000,0.057,2806,651,2417,0,0,0,0,0,0
$GC,4002,-1.21,-112.7,589.1,-15.1,255,4006,0.00,2.25,0.00,0.000,6,0.000,0.044,2797,2073,2416,0,0,0,0,0,0
$GC,4318,-1.21,-112.7,632.8,-13.8,271,4322,0.00,2.22,0.00,0.000,4,0.000,0.059,2787,3472,2416,0,0,0,0,0,0
$GC,4368,-1.21,-112.7,640.0,-14.0,273,4372,0.00,2.22,0.00,0.000,6,0.000,0.044,2787,2060,2416,0,0,0,0,0,0
$GC,4690,-1.21,-112.7,683.0,-13.0,289,4694,0.00,2.28,0.00,0.000,4,0.000,0.057,2787,646,2416,0,0,0,0,0,0
$GC,4745,-1.21,-112.7,691.2,-13.9,291,4750,0.00,2.25,0.00,0.000,6,0.000,0.042,2779,2052,2415,0,0,0,0,0,0
$GC,5061,-1.21,-112.7,735.3,-14.0,307,5066,0.08,2.30,0.00,0.000,4,0.225,0.060,2783,3468,2415,0,0,0,0,0,0
$GC,5161,-1.21,-112.7,750.0,-14.3,311,5165,0.00,2.22,0.00,0.000,6,0.000,0.042,2784,2052,2415,0,0,0,0,0,0
$GC,5477,-1.21,-112.7,792.4,-13.3,327,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2052,2414,0,0,0,0,0,0
$GC,5786,-1.21,-112.7,831.5,-12.6,342,5790,0.00,2.25,0.00,0.000,4,0.000,0.056,2783,648,2414,0,0,0,0,0,0
$GC,5829,-1.21,-112.7,837.3,-13.3,344,5834,0.08,2.25,0.00,0.000,6,0.220,0.042,2790,2069,2414,0,0,0,0,0,0
$GC,6155,-1.21,-112.7,878.0,-12.6,360,6159,0.00,2.25,0.00,0.000,4,0.000,0.063,2780,3462,2414,0,0,0,0,0,0
$GC,6210,-1.21,-112.7,885.1,-13.4,362,6216,0.00,2.20,0.00,0.000,6,0.000,0.042,2781,2054,2414,0,0,0,0,0,0
$GC,6525,-1.21,-112.7,925.7,-12.8,378,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2054,2413,0,0,0,0,0,0
$GC,6836,-1.21,-112.7,965.2,-12.7,393,6840,0.00,2.30,0.00,0.000,4,0.000,0.064,2772,3460,2413,0,0,0,0,0,0
$GC,6886,-1.21,-112.7,972.1,-12.9,395,6891,0.10,2.20,0.00,0.000,6,0.184,0.042,2795,2059,2413,0,0,0,0,0,0
$STATE,7122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7123,begin apogee
$GC,7129,-0.19,0.0,1001.6,12.2,407,7244,1.10,0.00,109.95,1.248,6,0.149,0.000,3120,1591,1950,0,0,0,0,0,0
$STATE,7245,end apogee,CONTROL_FINISHED_OK
$STATE,7245,begin climb
$GC,7247,1.13,112.7,1005.0,0.0,413,7372,1.30,2.55,116.22,1.209,4,0.081,0.052,3558,196,1489,0,0,0,0,0,0
$GC,7396,1.17,112.7,991.8,13.2,420,7401,0.00,2.42,0.00,0.000,6,0.000,0.036,3558,1605,1486,0,0,0,0,0,0
$GC,7713,1.23,112.7,947.5,13.8,435,7718,0.05,2.33,0.00,0.000,4,0.164,0.051,3600,198,1482,0,0,0,0,0,0
$GC,7729,1.23,112.7,945.0,14.2,436,7734,0.08,2.25,0.00,0.000,6,0.189,0.037,3584,1616,1481,0,0,0,0,0,0
$GC,8060,1.23,112.7,895.2,15.0,452,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1616,1480,0,0,0,0,0,0
$GC,8370,1.23,112.7,849.6,14.7,467,8375,0.00,2.30,0.00,0.000,4,0.000,0.051,3593,190,1479,0,0,0,0,0,0
$GC,8420,1.23,112.7,841.2,17.0,469,8424,0.00,2.22,0.00,0.000,6,0.000,0.037,3593,1610,1479,0,0,0,0,0,0
$GC,8742,1.23,112.7,790.3,15.7,485,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1610,1478,0,0,0,0,0,0
$GC,9050,1.23,112.7,743.8,14.7,500,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1610,1478,0,0,0,0,0,0
$GC,9361,1.23,112.7,700.1,14.1,515,9365,0.00,2.20,0.00,0.000,4,0.000,0.056,3591,2995,1478,0,0,0,0,0,0
$GC,9427,1.23,112.7,690.1,14.5,518,9432,0.10,2.15,0.00,0.000,6,0.190,0.036,3578,1592,1478,0,0,0,0,0,0
$GC,9749,1.26,112.7,644.2,15.1,534,9753,0.00,2.25,0.00,0.000,4,0.000,0.054,3588,195,1478,0,0,0,0,0,0
$GC,9832,1.26,112.7,630.4,16.6,537,9836,0.00,2.20,0.00,0.000,6,0.000,0.037,3588,1600,1477,0,0,0,0,0,0
$GC,10148,1.26,112.7,581.6,15.0,553,10152,0.00,2.25,0.00,0.000,4,0.000,0.050,3596,195,1477,0,0,0,0,0,0
$GC,10198,1.26,112.7,573.7,15.2,555,10202,0.00,2.20,0.00,0.000,6,0.000,0.037,3597,1606,1477,0,0,0,0,0,0
$GC,10520,1.26,112.7,526.9,14.1,571,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1606,1476,0,0,0,0,0,0
$GC,10828,1.26,112.7,485.5,12.8,586,10832,0.00,2.22,0.00,0.000,4,0.000,0.054,3596,2998,1477,0,0,0,0,0,0
$GC,10845,1.26,112.7,483.2,13.2,587,10850,0.08,2.15,0.00,0.000,6,0.212,0.035,3589,1604,1477,0,0,0,0,0,0
$GC,11172,1.26,112.7,440.9,13.1,603,11176,0.00,2.25,0.00,0.000,4,0.000,0.053,3599,196,1477,0,0,0,0,0,0
$GC,11221,1.26,112.7,433.7,14.4,605,11225,0.00,2.20,0.00,0.000,6,0.000,0.037,3599,1607,1476,0,0,0,0,0,0
$GC,11543,1.26,112.7,386.7,14.9,621,11547,0.00,2.30,0.00,0.000,4,0.000,0.052,3608,193,1476,0,0,0,0,0,0
$GC,11583,1.22,112.7,380.5,15.9,623,11588,0.12,2.20,0.00,0.000,6,0.181,0.035,3576,1616,1476,0,0,0,0,0,0
$GC,11912,1.27,112.7,337.4,12.9,639,11916,0.00,2.20,0.00,0.000,4,0.000,0.054,3577,2995,1476,0,0,0,0,0,0
$GC,11956,1.31,112.7,331.4,13.5,641,11960,0.00,2.15,0.00,0.000,6,0.000,0.035,3585,1600,1476,0,0,0,0,0,0
$GC,12281,1.34,112.7,293.7,11.5,657,12286,0.10,2.30,0.00,0.000,4,0.099,0.054,3643,193,1476,0,0,0,0,0,0
$GC,12369,1.25,112.7,280.7,15.0,661,12373,0.20,2.17,0.00,0.000,6,0.170,0.035,3589,1610,1476,0,0,0,0,0,0
$GC,12705,1.28,112.7,238.6,12.5,677,12709,0.00,2.30,0.00,0.000,4,0.000,0.051,3598,191,1476,0,0,0,0,0,0
$GC,12767,1.28,112.7,229.5,14.5,680,12771,0.00,2.17,0.00,0.000,6,0.000,0.034,3597,1603,1476,0,0,0,0,0,0
$GC,13094,1.28,112.7,185.9,13.0,696,13098,0.00,2.17,0.00,0.000,4,0.000,0.052,3597,2986,1476,0,0,0,0,0,0
$GC,13179,1.28,112.7,174.6,13.6,700,13183,0.00,2.15,0.00,0.000,6,0.000,0.034,3605,1589,1476,0,0,0,0,0,0
$GC,13506,1.28,112.7,135.3,12.1,716,13510,0.00,2.22,0.00,0.000,4,0.000,0.054,3616,195,1476,0,0,0,0,0,0
$GC,13585,1.25,112.7,125.0,13.0,719,13591,0.10,2.17,0.00,0.000,6,0.184,0.037,3590,1604,1476,0,0,0,0,0,0
$GC,13903,1.30,112.7,87.7,12.3,735,13907,0.00,2.28,0.00,0.000,4,0.000,0.050,3600,200,1476,0,0,0,0,0,0
$GC,13946,1.30,112.7,82.3,13.4,737,13950,0.00,2.17,0.00,0.000,6,0.000,0.036,3597,1604,1476,0,0,0,0,0,0
$GC,14300,1.33,112.7,38.4,11.8,796,14307,0.00,2.22,0.00,0.000,4,0.000,0.054,3597,2985,1475,0,0,0,0,0,0
$GC,14464,1.33,112.7,18.2,12.7,822,14471,0.00,2.15,0.00,0.000,6,0.000,0.034,3606,1600,1476,0,0,0,0,0,0
$GC,14523,1.33,112.7,10.7,11.7,831,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1599,1476,0,0,0,0,0,0
$GC,14582,1.37,112.7,4.3,10.4,840,14589,0.00,2.28,0.00,0.000,4,0.000,0.051,3617,199,1476,0,0,0,0,0,0
$STATE,14596,end climb,SURFACE_DEPTH_REACHED
$STATE,14596,begin surface coast
$FINISH,1.9,1.014855
$STATE,14610,end surface coast,CONTROL_FINISHED_OK
$STATE,14610,begin surface
$SM_CCo,14632,41.67,0.055,0,0,1132,200.16
$SM_GC,2.92,0.00,0.00,41.67,0.000,0.000,0.055,62,2066,1132,-9.76,0.17,200.16
$IRIDIUM_FIX,-4441.36,630.50,031008,000008
$TT8_MAMPS,0.026964
$HUMID,66.06
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.8,70.317
$10V_AH,9.7,73.833
$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,24.725,149.175,226.175,41.675,0.000,26.192,21.290,270.956,0.000,0.000,19.043,1890.816,10118.698,387.758,2468.403,279.326,0.000,1318.069,0.000,2060.746,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,68.850,1248.480,55.080,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.657,1231.830,690.724,422.638,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353684
$DATA_FILE_SIZE,60480,844
$CAP_FILE_SIZE,136991,0
$CFSIZE,2097086464,2012413952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071215,195159,-4500.107,634.744,39,0.9,39,-24.4