version: 66.07.10.p01
glider: 573
mission: 12
dive: 613
start: 12 8 115 14 18 52
data:
$ID,573
$MISSION,12
$DIVE,613
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,720
$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,233
$T_MISSION,238
$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,-22939.979
$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,43
$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,612
$GPS1,081215,141003,-4501.079,633.432,35,1.1,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.6
$GPS2,081215,141832,-4501.061,633.325,24,1.8,24,-24.4
$SPEED_LIMITS,0.173,0.235
$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,39.4,1843,-27.8,-10.014
$D_GRID,700
$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,27,-1.11,-63.2,0.0,0.0,0,54,0.00,0.00,-25.00,0.000,2,0.000,0.000,74,2060,1622,0,0,0,0,0,0
$GC,58,-1.14,-116.8,3.3,-2.2,4,115,11.35,2.33,-36.85,0.000,4,0.230,0.066,2812,665,2428,0,0,0,0,0,0
$GC,241,-1.14,-116.8,24.1,-17.8,33,248,0.00,2.22,0.00,0.000,6,0.000,0.037,2803,2060,2430,0,0,0,0,0,0
$GC,393,-1.14,-116.8,49.1,-15.2,58,398,0.00,2.30,0.00,0.000,4,0.000,0.062,2793,3468,2430,0,0,0,0,0,0
$GC,508,-1.11,-116.8,67.7,-15.8,78,516,0.08,2.22,0.00,0.000,6,0.158,0.041,2817,2071,2430,0,0,0,0,0,0
$GC,848,-1.11,-116.8,119.8,-16.4,105,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2071,2431,0,0,0,0,0,0
$GC,1154,-1.11,-116.8,171.5,-16.1,120,1158,0.00,2.25,0.00,0.000,4,0.000,0.050,2817,651,2431,0,0,0,0,0,0
$GC,1209,-1.11,-116.8,180.9,-16.3,122,1217,0.05,2.25,0.00,0.000,6,0.175,0.041,2824,2067,2431,0,0,0,0,0,0
$GC,1526,-1.16,-116.8,230.1,-15.5,138,1530,0.00,2.28,0.00,0.000,4,0.000,0.063,2814,3468,2431,0,0,0,0,0,0
$GC,1591,-1.20,-116.8,239.7,-15.3,141,1595,0.00,2.20,0.00,0.000,6,0.000,0.039,2814,2050,2431,0,0,0,0,0,0
$GC,1920,-1.24,-116.8,289.6,-15.2,157,1922,0.10,0.00,0.00,0.000,6,0.100,0.000,2756,2050,2431,0,0,0,0,0,0
$GC,2226,-1.17,-116.8,343.0,-17.3,172,2228,0.17,0.00,0.00,0.000,6,0.183,0.000,2801,2050,2431,0,0,0,0,0,0
$GC,2536,-1.17,-116.8,390.8,-15.8,187,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2050,2431,0,0,0,0,0,0
$GC,2844,-1.17,-116.8,440.2,-16.1,202,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2050,2432,0,0,0,0,0,0
$GC,3155,-1.17,-116.8,488.9,-15.7,217,3159,0.00,2.33,0.00,0.000,4,0.000,0.063,2792,3463,2432,0,0,0,0,0,0
$GC,3271,-1.17,-116.8,508.3,-16.4,222,3276,0.05,2.20,0.00,0.000,6,0.227,0.041,2801,2055,2432,0,0,0,0,0,0
$GC,3592,-1.20,-116.8,555.5,-14.2,238,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2055,2432,0,0,0,0,0,0
$GC,3903,-1.24,-116.8,600.2,-15.0,253,3907,0.00,2.25,0.00,0.000,4,0.000,0.057,2802,660,2431,0,0,0,0,0,0
$GC,3930,-1.24,-116.8,604.7,-15.7,254,3934,0.00,2.20,0.00,0.000,6,0.000,0.041,2793,2060,2431,0,0,0,0,0,0
$GC,4256,-1.24,-116.8,653.1,-15.2,270,4260,0.00,2.28,0.00,0.000,4,0.000,0.063,2783,3469,2431,0,0,0,0,0,0
$GC,4327,-1.24,-116.8,664.2,-15.6,273,4332,0.00,2.22,0.00,0.000,6,0.000,0.044,2783,2060,2431,0,0,0,0,0,0
$STATE,4584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4584,begin apogee
$GC,4591,-0.19,0.0,701.5,14.2,286,4706,1.15,0.00,109.07,1.064,6,0.153,0.000,3119,1591,1950,0,0,0,0,0,0
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4707,begin climb
$GC,4709,1.14,116.8,705.5,0.0,292,4831,1.30,2.53,114.35,1.027,4,0.084,0.053,3560,202,1473,0,0,0,0,0,0
$GC,4872,1.19,116.8,691.6,12.8,300,4877,0.00,2.40,0.00,0.000,6,0.000,0.035,3560,1619,1469,0,0,0,0,0,0
$GC,5199,1.27,116.8,650.1,11.9,316,5200,0.10,0.00,0.00,0.000,6,0.099,0.000,3611,1619,1465,0,0,0,0,0,0
$GC,5509,1.27,116.8,607.1,13.7,331,5514,0.08,2.33,0.00,0.000,4,0.190,0.051,3603,195,1464,0,0,0,0,0,0
$GC,5552,1.27,116.8,600.6,14.1,333,5557,0.00,2.22,0.00,0.000,6,0.000,0.037,3603,1613,1464,0,0,0,0,0,0
$GC,5880,1.27,116.8,554.7,14.5,349,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1614,1463,0,0,0,0,0,0
$GC,6188,1.27,116.8,510.5,14.2,364,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1614,1462,0,0,0,0,0,0
$GC,6499,1.27,116.8,466.0,14.6,379,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1614,1462,0,0,0,0,0,0
$GC,6807,1.27,116.8,422.1,13.9,394,6811,0.00,2.30,0.00,0.000,4,0.000,0.050,3613,195,1461,0,0,0,0,0,0
$GC,6879,1.24,116.8,411.7,14.8,397,6884,0.12,2.20,0.00,0.000,6,0.171,0.037,3580,1602,1461,0,0,0,0,0,0
$GC,7194,1.30,116.8,370.5,13.5,412,7199,0.05,2.20,0.00,0.000,4,0.169,0.056,3618,2992,1461,0,0,0,0,0,0
$GC,7257,1.26,116.8,360.9,16.3,415,7262,0.12,2.12,0.00,0.000,6,0.188,0.036,3595,1593,1461,0,0,0,0,0,0
$GC,7586,1.30,116.8,316.4,13.2,431,7590,0.00,2.22,0.00,0.000,4,0.000,0.053,3606,201,1461,0,0,0,0,0,0
$GC,7685,1.30,116.8,301.6,14.8,435,7690,0.00,2.20,0.00,0.000,6,0.000,0.036,3606,1614,1460,0,0,0,0,0,0
$GC,8004,1.30,116.8,258.1,13.5,451,8008,0.00,2.30,0.00,0.000,4,0.000,0.050,3615,193,1460,0,0,0,0,0,0
$GC,8104,1.30,116.8,243.3,15.1,455,8110,0.05,2.20,0.00,0.000,6,0.221,0.036,3604,1619,1459,0,0,0,0,0,0
$GC,8422,1.30,116.8,198.8,14.0,471,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1619,1460,0,0,0,0,0,0
$GC,8730,1.30,116.8,159.2,11.8,486,8734,0.00,2.20,0.00,0.000,4,0.000,0.054,3603,2994,1460,0,0,0,0,0,0
$GC,8831,1.30,116.8,146.6,12.0,490,8838,0.00,2.17,0.00,0.000,6,0.000,0.034,3612,1597,1459,0,0,0,0,0,0
$GC,9147,1.30,116.8,107.7,12.4,506,9151,0.00,2.25,0.00,0.000,4,0.000,0.053,3623,201,1460,0,0,0,0,0,0
$GC,9243,1.26,116.8,94.7,15.0,510,9248,0.12,2.17,0.00,0.000,6,0.177,0.036,3590,1599,1459,0,0,0,0,0,0
$GC,9579,1.32,116.8,54.5,12.6,552,9587,0.00,2.28,0.00,0.000,4,0.000,0.050,3599,206,1460,0,0,0,0,0,0
$GC,9641,1.32,116.8,46.8,13.3,562,9646,0.00,2.17,0.00,0.000,6,0.000,0.035,3599,1619,1459,0,0,0,0,0,0
$STATE,9996,end climb,SURFACE_DEPTH_REACHED
$STATE,9997,begin surface coast
$FINISH,1.8,1.012137
$STATE,10024,end surface coast,CONTROL_FINISHED_OK
$STATE,10024,begin surface
$SM_CCo,10043,41.83,0.054,0,0,1132,200.16
$SM_GC,2.99,0.00,0.00,41.83,0.000,0.000,0.054,73,2074,1132,-9.72,0.37,200.16
$IRIDIUM_FIX,-4441.36,633.52,031008,232310
$TT8_MAMPS,0.026964
$HUMID,65.94
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.2,70.786
$10V_AH,9.7,74.309
$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,24.175,73.375,223.425,41.825,0.000,26.917,39.800,274.395,0.000,0.000,26.634,1407.701,6665.997,350.829,1948.132,218.034,0.000,989.998,0.000,1544.068,0.000,0.539,0.000
$DEVICE_MAMPS,229.500,65.790,1064.115,54.315,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.842,1059.300,687.110,426.978,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,47117,625
$CAP_FILE_SIZE,90406,0
$CFSIZE,2097086464,2011824128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081215,170821,-4500.018,634.273,45,0.9,45,-24.4