version: 66.07.10.p01
glider: 573
mission: 12
dive: 612
start: 12 8 115 9 43 44
data:
$ID,573
$MISSION,12
$DIVE,612
$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,-22936.629
$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,34
$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,611
$GPS1,081215,093534,-4459.760,633.875,33,0.9,33,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-70.1
$GPS2,081215,094324,-4459.661,633.937,19,1.7,20,-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,226.0,876,-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,-19.58,0.000,2,0.000,0.000,60,2057,1513,0,0,0,0,0,0
$GC,52,-1.13,-103.0,3.0,-2.5,3,116,11.27,2.38,-43.28,0.000,4,0.225,0.074,2803,3465,2372,0,0,0,0,0,0
$GC,327,-1.13,-103.0,35.6,-16.0,47,335,0.05,2.22,0.00,0.000,6,0.164,0.040,2819,2067,2375,0,0,0,0,0,0
$GC,476,-1.13,-103.0,56.1,-12.4,72,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2067,2375,0,0,0,0,0,0
$GC,825,-1.13,-103.0,108.0,-15.1,109,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2067,2376,0,0,0,0,0,0
$GC,1133,-1.13,-103.0,154.4,-14.5,124,1137,0.00,2.25,0.00,0.000,4,0.000,0.053,2820,649,2376,0,0,0,0,0,0
$GC,1171,-1.13,-103.0,160.5,-14.6,125,1176,0.00,2.20,0.00,0.000,6,0.000,0.040,2811,2059,2376,0,0,0,0,0,0
$GC,1489,-1.13,-103.0,205.8,-13.9,141,1493,0.00,2.28,0.00,0.000,4,0.000,0.062,2800,3462,2376,0,0,0,0,0,0
$GC,1579,-1.13,-103.0,219.5,-14.0,145,1583,0.08,2.20,0.00,0.000,6,0.194,0.039,2817,2048,2376,0,0,0,0,0,0
$GC,1909,-1.16,-103.0,263.8,-13.5,161,1913,0.00,2.22,0.00,0.000,4,0.000,0.052,2817,656,2376,0,0,0,0,0,0
$GC,1971,-1.16,-103.0,273.3,-15.0,164,1976,0.00,2.20,0.00,0.000,6,0.000,0.039,2809,2064,2377,0,0,0,0,0,0
$GC,2297,-1.16,-103.0,321.1,-14.6,180,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2064,2376,0,0,0,0,0,0
$GC,2608,-1.16,-103.0,364.5,-13.7,195,2612,0.00,2.25,0.00,0.000,4,0.000,0.062,2798,3459,2377,0,0,0,0,0,0
$GC,2685,-1.16,-103.0,375.7,-13.8,198,2689,0.00,2.20,0.00,0.000,6,0.000,0.041,2798,2050,2377,0,0,0,0,0,0
$GC,3006,-1.16,-103.0,421.4,-14.0,214,3010,0.00,2.25,0.00,0.000,4,0.000,0.054,2798,651,2377,0,0,0,0,0,0
$GC,3044,-1.16,-103.0,426.8,-14.6,216,3049,0.08,2.22,0.00,0.000,6,0.222,0.041,2804,2067,2377,0,0,0,0,0,0
$GC,3370,-1.16,-103.0,470.9,-13.4,232,3374,0.00,2.28,0.00,0.000,4,0.000,0.062,2794,3468,2377,0,0,0,0,0,0
$GC,3432,-1.16,-103.0,479.5,-13.9,235,3437,0.05,2.20,0.00,0.000,6,0.219,0.041,2804,2058,2376,0,0,0,0,0,0
$GC,3759,-1.16,-103.0,521.8,-12.6,251,3763,0.00,2.28,0.00,0.000,4,0.000,0.056,2805,649,2377,0,0,0,0,0,0
$GC,3809,-1.16,-103.0,528.7,-13.3,253,3813,0.00,2.22,0.00,0.000,6,0.000,0.043,2797,2060,2376,0,0,0,0,0,0
$GC,4131,-1.16,-103.0,568.3,-12.2,269,4135,0.00,2.28,0.00,0.000,4,0.000,0.063,2786,3462,2376,0,0,0,0,0,0
$GC,4216,-1.16,-103.0,578.8,-12.5,273,4220,0.10,2.20,0.00,0.000,6,0.184,0.040,2809,2053,2376,0,0,0,0,0,0
$GC,4544,-1.21,-103.0,617.1,-12.0,289,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2053,2375,0,0,0,0,0,0
$GC,4851,-1.26,-103.0,652.6,-11.1,304,4853,0.10,0.00,0.00,0.000,6,0.099,0.000,2752,2053,2375,0,0,0,0,0,0
$GC,5162,-1.20,-103.0,697.2,-15.0,319,5163,0.17,0.00,0.00,0.000,6,0.182,0.000,2797,2053,2375,0,0,0,0,0,0
$GC,5469,-1.20,-103.0,738.6,-13.5,334,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2052,2374,0,0,0,0,0,0
$GC,5780,-1.20,-103.0,779.9,-13.2,349,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2052,2374,0,0,0,0,0,0
$GC,6088,-1.23,-103.0,820.4,-13.1,364,6092,0.00,2.35,0.00,0.000,4,0.000,0.064,2787,3469,2374,0,0,0,0,0,0
$GC,6195,-1.23,-103.0,834.6,-13.1,369,6199,0.00,2.22,0.00,0.000,6,0.000,0.045,2789,2065,2374,0,0,0,0,0,0
$GC,6523,-1.23,-103.0,874.7,-11.6,385,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,2374,0,0,0,0,0,0
$GC,6831,-1.23,-103.0,911.4,-11.5,400,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,2373,0,0,0,0,0,0
$GC,7141,-1.23,-103.0,947.3,-11.2,415,7145,0.00,2.28,0.00,0.000,4,0.000,0.060,2780,3463,2373,0,0,0,0,0,0
$GC,7253,-1.23,-103.0,960.7,-12.2,420,7257,0.00,2.22,0.00,0.000,6,0.000,0.042,2782,2064,2373,0,0,0,0,0,0
$GC,7578,-1.23,-103.0,997.0,-10.9,436,7582,0.00,2.28,0.00,0.000,4,0.000,0.056,2782,648,2373,0,0,0,0,0,0
$STATE,7603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7603,begin apogee
$GC,7611,-0.19,0.0,1000.2,12.0,437,7716,1.15,0.00,101.00,1.248,6,0.155,0.000,3114,1608,1950,0,0,0,0,0,0
$STATE,7716,end apogee,CONTROL_FINISHED_OK
$STATE,7716,begin climb
$GC,7719,1.13,103.0,1001.9,0.0,442,7834,1.30,2.50,105.55,1.206,4,0.083,0.053,3543,3000,1529,0,0,0,0,0,0
$GC,7847,1.17,103.0,990.2,12.0,449,7851,0.00,2.40,0.00,0.000,6,0.000,0.034,3551,1600,1527,0,0,0,0,0,0
$GC,8174,1.23,103.0,946.3,13.1,465,8179,0.08,2.33,0.00,0.000,4,0.123,0.054,3602,195,1522,0,0,0,0,0,0
$GC,8268,1.18,103.0,931.2,16.7,469,8273,0.15,2.25,0.00,0.000,6,0.165,0.035,3563,1612,1520,0,0,0,0,0,0
$GC,8584,1.23,103.0,888.9,13.1,484,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1613,1520,0,0,0,0,0,0
$GC,8894,1.28,103.0,850.0,12.6,499,8899,0.10,2.33,0.00,0.000,4,0.101,0.052,3623,185,1519,0,0,0,0,0,0
$GC,8972,1.18,103.0,838.1,15.3,502,8978,0.20,2.20,0.00,0.000,6,0.168,0.036,3568,1603,1518,0,0,0,0,0,0
$GC,9287,1.22,103.0,799.3,12.3,518,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1603,1518,0,0,0,0,0,0
$GC,9598,1.27,103.0,761.1,12.5,533,9602,0.05,2.30,0.00,0.000,4,0.169,0.053,3614,184,1518,0,0,0,0,0,0
$GC,9664,1.19,103.0,751.1,15.5,536,9669,0.15,2.22,0.00,0.000,6,0.173,0.036,3574,1611,1517,0,0,0,0,0,0
$GC,9985,1.19,103.0,708.1,13.4,552,9989,0.00,2.33,0.00,0.000,4,0.000,0.053,3583,183,1517,0,0,0,0,0,0
$GC,10040,1.19,103.0,700.0,13.7,554,10046,0.05,2.22,0.00,0.000,6,0.231,0.036,3573,1619,1517,0,0,0,0,0,0
$GC,10355,1.23,103.0,659.5,13.1,570,10359,0.00,2.33,0.00,0.000,4,0.000,0.052,3582,187,1516,0,0,0,0,0,0
$GC,10394,1.23,103.0,654.0,14.1,572,10398,0.00,2.20,0.00,0.000,6,0.000,0.036,3582,1603,1516,0,0,0,0,0,0
$GC,10719,1.23,103.0,611.8,13.1,588,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1603,1516,0,0,0,0,0,0
$GC,11030,1.23,103.0,572.6,12.3,603,11034,0.00,2.30,0.00,0.000,4,0.000,0.052,3591,182,1516,0,0,0,0,0,0
$GC,11076,1.23,103.0,566.4,14.1,605,11080,0.00,2.20,0.00,0.000,6,0.000,0.036,3591,1610,1516,0,0,0,0,0,0
$GC,11408,1.23,103.0,523.6,12.9,621,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1610,1516,0,0,0,0,0,0
$GC,11716,1.23,103.0,485.3,12.0,636,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1610,1516,0,0,0,0,0,0
$GC,12027,1.23,103.0,447.1,12.6,651,12031,0.00,2.20,0.00,0.000,4,0.000,0.054,3591,2997,1515,0,0,0,0,0,0
$GC,12065,1.23,103.0,442.1,12.6,652,12071,0.08,2.15,0.00,0.000,6,0.211,0.036,3584,1593,1516,0,0,0,0,0,0
$GC,12380,1.27,103.0,404.4,11.9,668,12384,0.00,2.25,0.00,0.000,4,0.000,0.054,3594,199,1516,0,0,0,0,0,0
$GC,12522,1.27,103.0,386.8,11.8,674,12526,0.00,2.20,0.00,0.000,6,0.000,0.037,3594,1611,1515,0,0,0,0,0,0
$GC,12838,1.27,103.0,347.8,12.7,689,12842,0.00,2.28,0.00,0.000,4,0.000,0.051,3603,196,1516,0,0,0,0,0,0
$GC,12888,1.27,103.0,340.7,13.3,691,12892,0.00,2.20,0.00,0.000,6,0.000,0.037,3603,1610,1515,0,0,0,0,0,0
$GC,13209,1.27,103.0,299.6,12.6,707,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1610,1516,0,0,0,0,0,0
$GC,13519,1.27,103.0,260.9,12.4,722,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1609,1515,0,0,0,0,0,0
$GC,13830,1.27,103.0,223.3,12.0,737,13834,0.00,2.30,0.00,0.000,4,0.000,0.051,3612,194,1515,0,0,0,0,0,0
$GC,13972,1.22,103.0,204.4,13.4,743,13977,0.12,2.20,0.00,0.000,6,0.176,0.035,3580,1605,1516,0,0,0,0,0,0
$GC,14290,1.27,103.0,167.6,11.6,758,14294,0.00,2.30,0.00,0.000,4,0.000,0.051,3589,189,1515,0,0,0,0,0,0
$GC,14375,1.27,103.0,156.6,12.6,762,14379,0.00,2.20,0.00,0.000,6,0.000,0.034,3588,1609,1515,0,0,0,0,0,0
$GC,14703,1.32,103.0,120.9,10.4,778,14707,0.05,2.17,0.00,0.000,4,0.170,0.053,3621,2991,1515,0,0,0,0,0,0
$GC,14798,1.28,103.0,109.4,12.2,782,14803,0.12,2.15,0.00,0.000,6,0.185,0.035,3599,1591,1515,0,0,0,0,0,0
$GC,15117,1.28,103.0,76.3,10.2,800,15122,0.00,2.25,0.00,0.000,4,0.000,0.053,3609,198,1515,0,0,0,0,0,0
$GC,15340,1.28,103.0,52.4,11.0,839,15346,0.05,2.17,0.00,0.000,6,0.228,0.035,3598,1603,1515,0,0,0,0,0,0
$GC,15710,1.31,103.0,15.1,10.4,900,15718,0.00,2.30,0.00,0.000,4,0.000,0.050,3607,200,1515,0,0,0,0,0,0
$STATE,15810,end climb,SURFACE_DEPTH_REACHED
$STATE,15810,begin surface coast
$FINISH,1.9,1.023236
$STATE,15838,end surface coast,CONTROL_FINISHED_OK
$STATE,15838,begin surface
$SM_CCo,15860,46.15,0.054,0,0,1132,200.16
$SM_GC,3.54,0.00,0.00,46.15,0.000,0.000,0.054,75,2059,1132,-9.72,-0.03,200.16
$IRIDIUM_FIX,-4444.39,630.84,031008,181831
$TT8_MAMPS,0.026964
$HUMID,65.16
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.70
$XPDR_PINGS,4
$24V_AH,21.8,70.699
$10V_AH,9.7,74.231
$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,24.875,121.600,206.550,46.150,0.000,26.949,20.093,263.309,1.000,0.000,22.322,2019.411,11121.641,347.462,2601.906,282.587,0.000,1307.364,0.000,2193.440,0.000,0.540,0.000
$DEVICE_MAMPS,231.030,74.205,1248.480,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.823,1345.923,760.114,458.544,0.000,0.000,0.000,0.000,0.000,0.000
$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,67151,920
$CAP_FILE_SIZE,137213,0
$CFSIZE,2097086464,2011856896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081215,141003,-4501.079,633.432,35,1.1,35,-24.4