version: 66.07.10.p01
glider: 573
mission: 12
dive: 611
start: 12 8 115 5 14 6
data:
$ID,573
$MISSION,12
$DIVE,611
$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,-22933.271
$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,32
$R_STBD_OVSHOOT,22
$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,610
$GPS1,081215,050103,-4500.490,635.383,25,1.0,25,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-68.1
$GPS2,081215,051346,-4500.556,635.605,18,1.0,19,-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,313.0,2646,-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,-49.9,0.0,0.0,0,54,0.00,0.00,-25.23,0.000,2,0.000,0.000,64,2056,1625,0,0,0,0,0,0
$GC,57,-1.13,-104.9,3.2,-2.2,4,109,11.45,2.33,-29.30,0.000,4,0.230,0.067,2817,661,2380,0,0,0,0,0,0
$GC,137,-1.04,-104.9,9.6,-13.4,16,145,0.10,2.28,0.00,0.000,6,0.160,0.042,2839,2066,2382,0,0,0,0,0,0
$GC,197,-1.09,-104.9,18.7,-15.1,25,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2066,2382,0,0,0,0,0,0
$GC,255,-1.14,-104.9,26.5,-12.3,34,264,0.08,2.33,0.00,0.000,4,0.125,0.062,2787,3465,2382,0,0,0,0,0,0
$GC,285,-1.14,-104.9,31.0,-14.5,38,293,0.08,2.22,0.00,0.000,6,0.160,0.039,2811,2061,2382,0,0,0,0,0,0
$GC,436,-1.14,-104.9,54.1,-14.2,63,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2382,0,0,0,0,0,0
$GC,780,-1.14,-104.9,104.9,-15.1,102,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2383,0,0,0,0,0,0
$GC,1092,-1.14,-104.9,151.1,-14.8,117,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2384,0,0,0,0,0,0
$GC,1399,-1.14,-104.9,196.6,-15.1,132,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2061,2384,0,0,0,0,0,0
$GC,1710,-1.14,-104.9,239.8,-14.2,147,1714,0.00,2.25,0.00,0.000,4,0.000,0.054,2811,658,2384,0,0,0,0,0,0
$GC,1737,-1.14,-104.9,244.4,-14.4,148,1741,0.00,2.22,0.00,0.000,6,0.000,0.041,2802,2070,2384,0,0,0,0,0,0
$GC,2059,-1.14,-104.9,289.1,-13.3,164,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2070,2384,0,0,0,0,0,0
$GC,2369,-1.14,-104.9,330.7,-13.8,179,2373,0.00,2.25,0.00,0.000,4,0.000,0.060,2792,3463,2384,0,0,0,0,0,0
$GC,2409,-1.14,-104.9,336.3,-14.1,181,2414,0.10,2.17,0.00,0.000,6,0.182,0.040,2816,2059,2384,0,0,0,0,0,0
$GC,2738,-1.18,-104.9,379.3,-13.4,197,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2059,2384,0,0,0,0,0,0
$GC,3044,-1.22,-104.9,421.7,-13.3,212,3049,0.08,2.25,0.00,0.000,4,0.122,0.055,2769,656,2385,0,0,0,0,0,0
$GC,3099,-1.14,-104.9,430.4,-15.8,214,3105,0.20,2.22,0.00,0.000,6,0.180,0.044,2813,2064,2384,0,0,0,0,0,0
$GC,3415,-1.18,-104.9,472.5,-13.8,230,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2064,2384,0,0,0,0,0,0
$GC,3725,-1.22,-104.9,514.9,-13.8,245,3730,0.08,2.28,0.00,0.000,4,0.122,0.062,2760,3462,2384,0,0,0,0,0,0
$GC,3786,-1.16,-104.9,524.3,-15.1,247,3791,0.17,2.20,0.00,0.000,6,0.174,0.040,2805,2053,2384,0,0,0,0,0,0
$GC,4103,-1.19,-104.9,565.7,-12.8,263,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2053,2384,0,0,0,0,0,0
$GC,4410,-1.23,-104.9,604.9,-12.8,278,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2053,2383,0,0,0,0,0,0
$GC,4721,-1.27,-104.9,644.2,-12.4,293,4726,0.10,2.28,0.00,0.000,4,0.100,0.057,2750,654,2382,0,0,0,0,0,0
$GC,4765,-1.17,-104.9,651.2,-14.7,295,4770,0.22,2.22,0.00,0.000,6,0.180,0.044,2799,2059,2382,0,0,0,0,0,0
$GC,5086,-1.17,-104.9,692.0,-12.8,311,5090,0.00,2.30,0.00,0.000,4,0.000,0.063,2790,3468,2382,0,0,0,0,0,0
$GC,5130,-1.17,-104.9,698.2,-13.7,313,5135,0.08,2.22,0.00,0.000,6,0.201,0.043,2805,2054,2382,0,0,0,0,0,0
$GC,5459,-1.22,-104.9,737.9,-11.6,329,5463,0.00,2.28,0.00,0.000,4,0.000,0.057,2806,649,2382,0,0,0,0,0,0
$GC,5503,-1.22,-104.9,743.7,-12.1,331,5507,0.00,2.25,0.00,0.000,6,0.000,0.044,2798,2068,2381,0,0,0,0,0,0
$GC,5831,-1.25,-104.9,783.4,-12.3,347,5835,0.00,2.25,0.00,0.000,4,0.000,0.063,2787,3462,2381,0,0,0,0,0,0
$GC,5920,-1.25,-104.9,794.9,-12.9,351,5924,0.00,2.20,0.00,0.000,6,0.000,0.042,2787,2059,2381,0,0,0,0,0,0
$GC,6248,-1.25,-104.9,833.9,-11.9,367,6252,0.00,2.25,0.00,0.000,4,0.000,0.057,2787,661,2381,0,0,0,0,0,0
$GC,6291,-1.25,-104.9,839.6,-12.4,369,6295,0.00,2.22,0.00,0.000,6,0.000,0.044,2778,2067,2381,0,0,0,0,0,0
$GC,6619,-1.25,-104.9,880.1,-12.5,385,6623,0.00,2.30,0.00,0.000,4,0.000,0.065,2768,3468,2381,0,0,0,0,0,0
$GC,6659,-1.25,-104.9,885.2,-12.4,387,6663,0.00,2.22,0.00,0.000,6,0.000,0.042,2767,2051,2381,0,0,0,0,0,0
$GC,6986,-1.25,-104.9,926.9,-12.5,403,6990,0.00,2.28,0.00,0.000,4,0.000,0.057,2767,653,2381,0,0,0,0,0,0
$GC,7019,-1.20,-104.9,931.3,-13.9,404,7025,0.15,2.22,0.00,0.000,6,0.190,0.044,2795,2058,2381,0,0,0,0,0,0
$GC,7334,-1.24,-104.9,967.8,-11.7,420,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2058,2380,0,0,0,0,0,0
$STATE,7620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7620,begin apogee
$GC,7626,-0.19,0.0,1001.1,11.5,434,7732,1.10,0.00,102.10,1.249,6,0.151,0.000,3118,1602,1950,0,0,0,0,0,0
$STATE,7733,end apogee,CONTROL_FINISHED_OK
$STATE,7733,begin climb
$GC,7735,1.13,104.9,1004.2,0.0,439,7853,1.27,2.60,107.15,1.210,4,0.081,0.054,3555,196,1522,0,0,0,0,0,0
$GC,7931,1.17,104.9,984.7,13.2,448,7936,0.00,2.40,0.00,0.000,6,0.000,0.036,3556,1619,1517,0,0,0,0,0,0
$GC,8252,1.23,104.9,943.4,12.9,464,8257,0.08,2.33,0.00,0.000,4,0.122,0.050,3605,195,1514,0,0,0,0,0,0
$GC,8347,1.18,104.9,928.3,16.8,468,8352,0.15,2.25,0.00,0.000,6,0.165,0.037,3566,1610,1513,0,0,0,0,0,0
$GC,8663,1.22,104.9,883.0,14.8,483,8667,0.00,2.33,0.00,0.000,4,0.000,0.052,3575,190,1513,0,0,0,0,0,0
$GC,8712,1.22,104.9,875.0,15.8,485,8716,0.00,2.22,0.00,0.000,6,0.000,0.037,3574,1610,1512,0,0,0,0,0,0
$GC,9034,1.22,104.9,829.3,13.5,501,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1611,1512,0,0,0,0,0,0
$GC,9342,1.25,104.9,789.0,13.0,516,9346,0.00,2.33,0.00,0.000,4,0.000,0.052,3583,185,1511,0,0,0,0,0,0
$GC,9392,1.25,104.9,782.2,13.9,518,9396,0.00,2.20,0.00,0.000,6,0.000,0.035,3583,1602,1511,0,0,0,0,0,0
$GC,9713,1.25,104.9,740.4,13.7,534,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1602,1511,0,0,0,0,0,0
$GC,10023,1.25,104.9,698.4,13.4,549,10027,0.00,2.30,0.00,0.000,4,0.000,0.052,3592,189,1510,0,0,0,0,0,0
$GC,10085,1.25,104.9,689.5,14.1,552,10089,0.00,2.20,0.00,0.000,6,0.000,0.035,3592,1607,1510,0,0,0,0,0,0
$GC,10410,1.25,104.9,644.1,13.7,568,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1607,1509,0,0,0,0,0,0
$GC,10721,1.25,104.9,600.1,14.3,583,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1607,1509,0,0,0,0,0,0
$GC,11029,1.25,104.9,555.8,14.2,598,11033,0.00,2.30,0.00,0.000,4,0.000,0.052,3601,193,1509,0,0,0,0,0,0
$GC,11101,1.22,104.9,544.7,15.9,601,11106,0.10,2.17,0.00,0.000,6,0.183,0.034,3577,1597,1509,0,0,0,0,0,0
$GC,11418,1.26,104.9,500.9,13.4,616,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1597,1509,0,0,0,0,0,0
$GC,11727,1.30,104.9,459.5,13.4,631,11732,0.08,2.28,0.00,0.000,4,0.127,0.052,3628,194,1510,0,0,0,0,0,0
$GC,11771,1.22,104.9,452.8,14.7,633,11776,0.17,2.20,0.00,0.000,6,0.170,0.037,3581,1602,1509,0,0,0,0,0,0
$GC,12094,1.26,104.9,410.1,13.2,649,12098,0.00,2.30,0.00,0.000,4,0.000,0.052,3590,189,1509,0,0,0,0,0,0
$GC,12156,1.26,104.9,401.5,13.4,652,12160,0.00,2.20,0.00,0.000,6,0.000,0.037,3590,1601,1509,0,0,0,0,0,0
$GC,12482,1.26,104.9,358.9,13.0,668,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1600,1509,0,0,0,0,0,0
$GC,12793,1.26,104.9,320.0,12.0,683,12797,0.00,2.30,0.00,0.000,4,0.000,0.051,3599,187,1509,0,0,0,0,0,0
$GC,12859,1.26,104.9,311.2,12.7,686,12863,0.00,2.22,0.00,0.000,6,0.000,0.035,3599,1613,1509,0,0,0,0,0,0
$GC,13181,1.26,104.9,272.6,11.7,702,13185,0.00,2.22,0.00,0.000,4,0.000,0.056,3599,2997,1509,0,0,0,0,0,0
$GC,13246,1.26,104.9,265.1,12.3,705,13251,0.08,2.17,0.00,0.000,6,0.216,0.036,3592,1583,1509,0,0,0,0,0,0
$GC,13574,1.26,104.9,227.1,11.5,721,13579,0.00,2.20,0.00,0.000,4,0.000,0.053,3602,203,1509,0,0,0,0,0,0
$GC,13722,1.26,104.9,208.2,13.1,727,13727,0.00,2.17,0.00,0.000,6,0.000,0.037,3599,1609,1508,0,0,0,0,0,0
$GC,14040,1.26,104.9,169.8,11.7,743,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1609,1508,0,0,0,0,0,0
$GC,14347,1.26,104.9,132.8,11.1,758,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1609,1508,0,0,0,0,0,0
$GC,14659,1.26,104.9,98.0,11.3,773,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1609,1508,0,0,0,0,0,0
$GC,14983,1.26,104.9,61.1,11.0,809,14987,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1609,1508,0,0,0,0,0,0
$GC,15343,1.29,104.9,23.9,10.1,870,15350,0.00,2.30,0.00,0.000,4,0.000,0.050,3608,203,1508,0,0,0,0,0,0
$STATE,15522,end climb,SURFACE_DEPTH_REACHED
$STATE,15522,begin surface coast
$FINISH,1.8,1.002041
$STATE,15549,end surface coast,CONTROL_FINISHED_OK
$STATE,15549,begin surface
$SM_CCo,15571,45.62,0.054,0,0,1132,200.16
$SM_GC,2.98,0.00,0.00,45.62,0.000,0.000,0.054,61,2057,1132,-9.76,-0.08,200.16
$IRIDIUM_FIX,-4441.36,636.90,031008,181847
$TT8_MAMPS,0.026964
$HUMID,65.55
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.8,70.607
$10V_AH,9.7,74.132
$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,25.300,114.350,209.250,45.625,0.000,53.842,82.671,379.984,0.000,0.000,21.582,1971.684,11062.941,346.512,2705.861,286.892,0.000,1265.878,0.000,2082.293,0.000,0.540,0.000
$DEVICE_MAMPS,230.265,67.320,1249.245,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.859,1316.705,743.508,439.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353660
$DATA_FILE_SIZE,67427,903
$CAP_FILE_SIZE,136881,0
$CFSIZE,2097086464,2011987968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081215,093534,-4459.760,633.875,33,0.9,33,-24.4