version: 66.07.10.p01
glider: 573
mission: 12
dive: 609
start: 12 7 115 20 0 31
data:
$ID,573
$MISSION,12
$DIVE,609
$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,-22926.525
$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,40
$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,608
$GPS1,071215,195159,-4500.107,634.744,39,0.9,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-66.9
$GPS2,071215,200011,-4500.076,634.768,14,1.2,15,-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,292.6,1413,-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,-19.00,0.000,2,0.000,0.000,62,2066,1498,0,0,0,0,0,0
$GC,51,-1.13,-116.8,3.0,-0.7,3,121,11.48,2.33,-49.88,0.000,4,0.232,0.068,2799,3459,2425,0,0,0,0,0,0
$GC,223,-1.09,-116.8,13.1,-16.6,30,231,0.08,2.22,0.00,0.000,6,0.161,0.041,2823,2068,2426,0,0,0,0,0,0
$GC,283,-1.09,-116.8,22.3,-15.4,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2068,2427,0,0,0,0,0,0
$GC,437,-1.09,-116.8,46.9,-15.3,64,442,0.00,2.28,0.00,0.000,4,0.000,0.053,2822,655,2427,0,0,0,0,0,0
$GC,511,-1.09,-116.8,58.8,-16.4,77,517,0.08,2.22,0.00,0.000,6,0.215,0.041,2829,2065,2427,0,0,0,0,0,0
$GC,843,-1.12,-116.8,110.1,-15.9,111,847,0.00,2.28,0.00,0.000,4,0.000,0.064,2819,3463,2428,0,0,0,0,0,0
$GC,887,-1.12,-116.8,118.1,-16.9,113,891,0.00,2.20,0.00,0.000,6,0.000,0.038,2819,2047,2428,0,0,0,0,0,0
$GC,1210,-1.16,-116.8,169.5,-15.0,129,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2047,2428,0,0,0,0,0,0
$GC,1518,-1.19,-116.8,215.4,-15.9,144,1522,0.00,2.22,0.00,0.000,4,0.000,0.050,2819,652,2428,0,0,0,0,0,0
$GC,1567,-1.19,-116.8,224.3,-18.0,146,1571,0.00,2.22,0.00,0.000,6,0.000,0.041,2810,2065,2428,0,0,0,0,0,0
$GC,1889,-1.19,-116.8,274.2,-15.2,162,1893,0.00,2.25,0.00,0.000,4,0.000,0.062,2799,3460,2428,0,0,0,0,0,0
$GC,1960,-1.19,-116.8,284.5,-14.9,165,1964,0.00,2.17,0.00,0.000,6,0.000,0.040,2799,2061,2429,0,0,0,0,0,0
$GC,2287,-1.19,-116.8,334.3,-14.9,181,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2060,2428,0,0,0,0,0,0
$GC,2595,-1.19,-116.8,380.3,-14.4,196,2599,0.00,2.25,0.00,0.000,4,0.000,0.054,2800,660,2428,0,0,0,0,0,0
$GC,2650,-1.19,-116.8,388.8,-15.1,198,2655,0.00,2.20,0.00,0.000,6,0.000,0.041,2791,2066,2428,0,0,0,0,0,0
$GC,2965,-1.19,-116.8,432.8,-13.5,214,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2066,2428,0,0,0,0,0,0
$GC,3275,-1.19,-116.8,475.4,-14.3,229,3279,0.00,2.25,0.00,0.000,4,0.000,0.062,2781,3465,2429,0,0,0,0,0,0
$GC,3321,-1.19,-116.8,482.2,-15.1,231,3326,0.08,2.17,0.00,0.000,6,0.201,0.039,2796,2056,2428,0,0,0,0,0,0
$GC,3654,-1.19,-116.8,530.3,-14.3,247,3658,0.00,2.25,0.00,0.000,4,0.000,0.055,2796,656,2428,0,0,0,0,0,0
$GC,3681,-1.19,-116.8,534.6,-14.9,248,3685,0.00,2.22,0.00,0.000,6,0.000,0.042,2788,2064,2428,0,0,0,0,0,0
$GC,4007,-1.19,-116.8,582.2,-14.4,264,4011,0.00,2.28,0.00,0.000,4,0.000,0.063,2777,3462,2428,0,0,0,0,0,0
$GC,4050,-1.19,-116.8,588.9,-15.6,266,4055,0.10,2.20,0.00,0.000,6,0.189,0.040,2801,2052,2429,0,0,0,0,0,0
$GC,4376,-1.22,-116.8,635.4,-13.8,282,4381,0.00,2.33,0.00,0.000,4,0.000,0.060,2792,3469,2428,0,0,0,0,0,0
$GC,4449,-1.22,-116.8,645.9,-14.6,285,4453,0.00,2.22,0.00,0.000,6,0.000,0.042,2792,2050,2428,0,0,0,0,0,0
$GC,4771,-1.22,-116.8,690.2,-13.5,301,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2050,2428,0,0,0,0,0,0
$GC,5079,-1.22,-116.8,731.7,-13.2,316,5083,0.00,2.25,0.00,0.000,4,0.000,0.056,2791,652,2427,0,0,0,0,0,0
$GC,5117,-1.22,-116.8,736.9,-13.5,318,5122,0.00,2.22,0.00,0.000,6,0.000,0.043,2784,2058,2427,0,0,0,0,0,0
$GC,5443,-1.22,-116.8,782.5,-14.1,334,5447,0.00,2.30,0.00,0.000,4,0.000,0.063,2773,3469,2426,0,0,0,0,0,0
$GC,5476,-1.22,-116.8,787.2,-14.2,335,5481,0.08,2.22,0.00,0.000,6,0.204,0.043,2789,2056,2426,0,0,0,0,0,0
$GC,5792,-1.22,-116.8,828.7,-12.8,351,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2056,2426,0,0,0,0,0,0
$GC,6100,-1.22,-116.8,868.6,-13.1,366,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2056,2426,0,0,0,0,0,0
$GC,6411,-1.22,-116.8,910.5,-13.9,381,6415,0.00,2.33,0.00,0.000,4,0.000,0.063,2780,3466,2425,0,0,0,0,0,0
$GC,6454,-1.22,-116.8,916.9,-14.6,383,6458,0.00,2.22,0.00,0.000,6,0.000,0.043,2780,2049,2425,0,0,0,0,0,0
$GC,6782,-1.22,-116.8,964.9,-14.5,399,6786,0.00,2.30,0.00,0.000,4,0.000,0.059,2771,3465,2425,0,0,0,0,0,0
$GC,6814,-1.22,-116.8,970.1,-16.1,400,6820,0.08,2.20,0.00,0.000,6,0.199,0.043,2786,2057,2425,0,0,0,0,0,0
$STATE,7025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7025,begin apogee
$GC,7032,-0.19,0.0,1000.8,14.1,411,7148,1.12,0.00,112.32,1.248,6,0.150,0.000,3118,1590,1949,0,0,0,0,0,0
$STATE,7149,end apogee,CONTROL_FINISHED_OK
$STATE,7149,begin climb
$GC,7151,1.13,116.8,1006.1,0.0,417,7283,1.27,2.53,119.65,1.209,4,0.080,0.051,3555,199,1472,0,0,0,0,0,0
$GC,7322,1.19,116.8,992.4,13.4,425,7326,0.00,2.40,0.00,0.000,6,0.000,0.036,3555,1609,1469,0,0,0,0,0,0
$GC,7643,1.26,116.8,951.9,12.8,441,7645,0.10,0.00,0.00,0.000,6,0.100,0.000,3603,1609,1465,0,0,0,0,0,0
$GC,7951,1.26,116.8,905.8,15.3,456,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1609,1465,0,0,0,0,0,0
$GC,8262,1.26,116.8,857.3,15.7,471,8266,0.03,2.30,0.00,0.000,4,0.266,0.051,3603,192,1464,0,0,0,0,0,0
$GC,8324,1.22,116.8,847.2,15.6,474,8329,0.10,2.22,0.00,0.000,6,0.184,0.036,3579,1616,1463,0,0,0,0,0,0
$GC,8651,1.22,116.8,801.2,13.4,490,8656,0.00,2.30,0.00,0.000,4,0.000,0.051,3588,195,1463,0,0,0,0,0,0
$GC,8714,1.22,116.8,792.1,15.0,493,8718,0.00,2.20,0.00,0.000,6,0.000,0.037,3588,1604,1462,0,0,0,0,0,0
$GC,9041,1.22,116.8,745.5,14.3,509,9046,0.00,2.30,0.00,0.000,4,0.000,0.052,3597,191,1462,0,0,0,0,0,0
$GC,9091,1.22,116.8,738.0,15.1,511,9096,0.08,2.20,0.00,0.000,6,0.196,0.035,3580,1606,1462,0,0,0,0,0,0
$GC,9413,1.26,116.8,694.9,13.2,527,9418,0.00,2.30,0.00,0.000,4,0.000,0.052,3589,192,1461,0,0,0,0,0,0
$GC,9457,1.26,116.8,688.5,13.9,529,9461,0.00,2.20,0.00,0.000,6,0.000,0.034,3589,1611,1461,0,0,0,0,0,0
$GC,9785,1.26,116.8,646.4,12.6,545,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1611,1461,0,0,0,0,0,0
$GC,10094,1.26,116.8,606.6,13.4,560,10099,0.00,2.30,0.00,0.000,4,0.000,0.052,3598,198,1461,0,0,0,0,0,0
$GC,10172,1.26,116.8,595.5,14.3,563,10177,0.00,2.17,0.00,0.000,6,0.000,0.036,3598,1599,1460,0,0,0,0,0,0
$GC,10489,1.26,116.8,555.1,12.7,579,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1600,1461,0,0,0,0,0,0
$GC,10797,1.26,116.8,515.2,13.5,594,10801,0.00,2.28,0.00,0.000,4,0.000,0.051,3608,195,1461,0,0,0,0,0,0
$GC,10913,1.26,116.8,498.2,15.0,599,10918,0.08,2.20,0.00,0.000,6,0.197,0.037,3591,1602,1460,0,0,0,0,0,0
$GC,11235,1.26,116.8,457.3,12.5,615,11239,0.00,2.30,0.00,0.000,4,0.000,0.051,3600,186,1460,0,0,0,0,0,0
$GC,11329,1.26,116.8,444.9,12.7,619,11333,0.00,2.20,0.00,0.000,6,0.000,0.035,3599,1602,1460,0,0,0,0,0,0
$GC,11650,1.26,116.8,405.0,12.9,635,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1602,1460,0,0,0,0,0,0
$GC,11958,1.26,116.8,366.3,12.4,650,11962,0.00,2.30,0.00,0.000,4,0.000,0.051,3608,186,1460,0,0,0,0,0,0
$GC,12008,1.26,116.8,359.7,12.4,652,12013,0.08,2.20,0.00,0.000,6,0.196,0.034,3592,1607,1460,0,0,0,0,0,0
$GC,12330,1.29,116.8,320.9,12.1,668,12335,0.00,2.30,0.00,0.000,4,0.000,0.051,3600,191,1460,0,0,0,0,0,0
$GC,12408,1.29,116.8,310.5,13.9,671,12413,0.00,2.17,0.00,0.000,6,0.000,0.034,3601,1600,1460,0,0,0,0,0,0
$GC,12727,1.29,116.8,271.2,12.5,687,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1600,1460,0,0,0,0,0,0
$GC,13034,1.29,116.8,232.0,12.7,702,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1600,1460,0,0,0,0,0,0
$GC,13345,1.29,116.8,191.9,13.0,717,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1601,1460,0,0,0,0,0,0
$GC,13653,1.29,116.8,152.5,12.3,732,13657,0.00,2.30,0.00,0.000,4,0.000,0.051,3610,186,1460,0,0,0,0,0,0
$GC,13763,1.29,116.8,138.2,12.9,737,13767,0.00,2.20,0.00,0.000,6,0.000,0.034,3610,1605,1460,0,0,0,0,0,0
$GC,14092,1.29,116.8,95.2,13.2,753,14094,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,1606,1460,0,0,0,0,0,0
$GC,14420,1.29,116.8,50.9,12.2,795,14427,0.00,2.22,0.00,0.000,4,0.000,0.052,3609,2988,1460,0,0,0,0,0,0
$GC,14468,1.29,116.8,44.7,13.0,803,14474,0.08,2.15,0.00,0.000,6,0.211,0.034,3602,1586,1460,0,0,0,0,0,0
$STATE,14815,end climb,SURFACE_DEPTH_REACHED
$STATE,14815,begin surface coast
$FINISH,1.8,1.011499
$STATE,14844,end surface coast,CONTROL_FINISHED_OK
$STATE,14844,begin surface
$SM_CCo,14864,39.45,0.054,0,0,1132,200.16
$SM_GC,2.99,0.00,0.00,39.45,0.000,0.000,0.054,63,2094,1132,-9.76,0.96,200.16
$IRIDIUM_FIX,-4441.36,630.50,031008,050529
$TT8_MAMPS,0.026964
$HUMID,65.79
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.7,70.418
$10V_AH,9.7,73.927
$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,24.025,118.525,231.975,39.450,0.000,22.462,47.900,269.087,0.000,0.000,16.931,1882.704,10433.858,357.181,2452.009,267.145,0.000,1263.736,0.000,2028.810,0.000,0.539,0.000
$DEVICE_MAMPS,266.220,68.085,1247.715,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.082,1275.248,723.979,456.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353656
$DATA_FILE_SIZE,63721,864
$CAP_FILE_SIZE,128308,0
$CFSIZE,2097086464,2012315648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081215,001003,-4459.995,632.449,30,0.9,30,-24.4