version: 66.07.10.p01
glider: 573
mission: 12
dive: 39
start: 8 4 115 10 55 30
data:
$ID,573
$MISSION,12
$DIVE,39
$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,335
$T_MISSION,350
$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,150
$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,205
$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,-21107.477
$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,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,48
$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,1900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,38
$GPS1,040815,104827,-4500.720,629.211,45,1.0,46,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-69.0
$GPS2,040815,105510,-4500.704,629.230,20,1.0,20,-24.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,SAF_1
$TGT_LATLONG,-4500.000,630.000
$TGT_RADIUS,800.000
$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,62.1,1649,-27.8,-9.950
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.34,-62.6,0.0,0.0,0,58,0.00,0.00,-32.78,0.000,2,0.000,0.000,80,2071,1729,0,0,0,0,0,0
$GC,60,-1.41,-122.8,3.1,-3.5,5,106,10.80,2.35,-23.55,0.000,4,0.252,0.067,2726,631,2405,0,0,0,0,0,0
$GC,374,-1.24,-122.8,63.9,-24.7,57,382,0.20,2.25,0.00,0.000,6,0.196,0.045,2773,2024,2406,0,0,0,0,0,0
$GC,713,-1.15,-122.8,130.9,-18.2,103,715,0.15,0.00,0.00,0.000,6,0.215,0.000,2809,2024,2406,0,0,0,0,0,0
$GC,1034,-1.12,-122.8,179.3,-15.7,133,1038,0.00,2.28,0.00,0.000,4,0.000,0.061,2799,3447,2407,0,0,0,0,0,0
$GC,1163,-1.09,-122.8,200.0,-15.3,144,1168,0.12,2.17,0.00,0.000,6,0.186,0.042,2831,2031,2407,0,0,0,0,0,0
$GC,1493,-1.09,-122.8,249.1,-15.2,175,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2031,2407,0,0,0,0,0,0
$GC,1814,-1.09,-122.8,296.9,-15.0,205,1818,0.00,2.20,0.00,0.000,4,0.000,0.054,2832,635,2408,0,0,0,0,0,0
$GC,1834,-1.09,-122.8,300.6,-14.9,206,1841,0.00,2.22,0.00,0.000,6,0.000,0.042,2822,2039,2408,0,0,0,0,0,0
$GC,2163,-1.09,-122.8,348.2,-14.9,237,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2408,0,0,0,0,0,0
$GC,2479,-1.09,-122.8,394.5,-14.6,267,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2408,0,0,0,0,0,0
$GC,2789,-1.09,-122.8,441.0,-15.2,284,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2408,0,0,0,0,0,0
$GC,3098,-1.09,-122.8,486.5,-14.5,299,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2408,0,0,0,0,0,0
$GC,3408,-1.09,-122.8,530.7,-14.2,314,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2408,0,0,0,0,0,0
$GC,3717,-1.09,-122.8,575.4,-14.5,329,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2408,0,0,0,0,0,0
$GC,4026,-1.09,-122.8,618.4,-13.4,344,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2039,2408,0,0,0,0,0,0
$GC,4336,-1.09,-122.8,658.8,-13.2,359,4340,0.00,2.25,0.00,0.000,4,0.000,0.067,2811,3449,2408,0,0,0,0,0,0
$GC,4412,-1.09,-122.8,669.5,-13.7,362,4419,0.05,2.20,0.00,0.000,6,0.173,0.042,2827,2038,2407,0,0,0,0,0,0
$GC,4729,-1.11,-122.8,710.0,-12.7,378,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2038,2407,0,0,0,0,0,0
$GC,5039,-1.13,-122.8,748.4,-12.2,393,5043,0.00,2.28,0.00,0.000,4,0.000,0.062,2818,3460,2406,0,0,0,0,0,0
$GC,5109,-1.13,-122.8,757.6,-12.8,396,5114,0.00,2.20,0.00,0.000,6,0.000,0.041,2818,2037,2406,0,0,0,0,0,0
$GC,5433,-1.13,-122.8,799.2,-13.1,412,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2037,2406,0,0,0,0,0,0
$GC,5742,-1.13,-122.8,837.9,-12.3,427,5746,0.00,2.28,0.00,0.000,4,0.000,0.061,2809,3462,2405,0,0,0,0,0,0
$GC,5807,-1.13,-122.8,846.7,-12.8,430,5812,0.00,2.20,0.00,0.000,6,0.000,0.041,2809,2039,2405,0,0,0,0,0,0
$GC,6135,-1.13,-122.8,887.9,-12.2,446,6139,0.00,2.22,0.00,0.000,4,0.000,0.060,2800,3451,2405,0,0,0,0,0,0
$GC,6206,-1.13,-122.8,897.3,-13.4,449,6211,0.05,2.20,0.00,0.000,6,0.177,0.042,2816,2031,2406,0,0,0,0,0,0
$GC,6529,-1.13,-122.8,934.9,-11.3,465,6533,0.00,2.28,0.00,0.000,4,0.000,0.063,2806,3449,2405,0,0,0,0,0,0
$GC,6560,-1.13,-122.8,938.9,-12.1,466,6567,0.00,2.20,0.00,0.000,6,0.000,0.042,2806,2030,2405,0,0,0,0,0,0
$GC,6877,-1.13,-122.8,976.6,-12.2,482,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2030,2404,0,0,0,0,0,0
$STATE,7082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7082,begin apogee
$GC,7086,-0.23,0.0,1001.5,12.0,492,7203,1.00,0.00,113.18,1.300,6,0.175,0.000,3104,1738,1899,0,0,0,0,0,0
$STATE,7204,end apogee,CONTROL_FINISHED_OK
$STATE,7204,begin climb
$GC,7205,1.41,122.8,1004.2,0.0,498,7331,1.62,2.42,115.82,1.250,4,0.096,0.045,3640,349,1398,0,0,0,0,0,0
$GC,7443,1.32,122.8,966.1,20.4,509,7448,0.08,2.33,0.00,0.000,6,0.178,0.034,3611,1756,1391,0,0,0,0,0,0
$GC,7769,1.27,122.8,907.1,17.7,525,7774,0.08,2.30,0.00,0.000,4,0.228,0.044,3606,343,1389,0,0,0,0,0,0
$GC,7908,1.21,122.8,881.7,18.5,531,7913,0.08,2.28,0.00,0.000,6,0.193,0.033,3583,1755,1388,0,0,0,0,0,0
$GC,8229,1.21,122.8,828.7,16.1,547,8233,0.00,2.25,0.00,0.000,4,0.000,0.045,3592,345,1387,0,0,0,0,0,0
$GC,8288,1.17,122.8,818.4,17.5,549,8295,0.08,2.22,0.00,0.000,6,0.184,0.033,3569,1748,1386,0,0,0,0,0,0
$GC,8604,1.17,122.8,769.1,15.9,565,8608,0.00,2.25,0.00,0.000,4,0.000,0.044,3578,342,1386,0,0,0,0,0,0
$GC,8688,1.17,122.8,754.9,16.8,569,8693,0.05,2.20,0.00,0.000,6,0.236,0.032,3567,1756,1386,0,0,0,0,0,0
$GC,9014,1.17,122.8,703.1,15.8,585,9018,0.00,2.25,0.00,0.000,4,0.000,0.044,3575,344,1386,0,0,0,0,0,0
$GC,9084,1.17,122.8,691.1,17.1,588,9090,0.03,2.20,0.00,0.000,6,0.204,0.031,3568,1746,1385,0,0,0,0,0,0
$GC,9406,1.17,122.8,642.1,15.0,604,9410,0.00,2.22,0.00,0.000,4,0.000,0.044,3577,343,1386,0,0,0,0,0,0
$GC,9538,1.17,122.8,621.1,15.1,610,9544,0.03,2.20,0.00,0.000,6,0.205,0.032,3568,1750,1385,0,0,0,0,0,0
$GC,9866,1.17,122.8,573.6,14.3,626,9870,0.00,2.22,0.00,0.000,4,0.000,0.044,3577,339,1385,0,0,0,0,0,0
$GC,9993,1.17,122.8,554.1,14.9,631,10000,0.03,2.20,0.00,0.000,6,0.204,0.032,3570,1752,1385,0,0,0,0,0,0
$GC,10309,1.17,122.8,508.0,14.6,647,10313,0.00,2.20,0.00,0.000,4,0.000,0.044,3578,345,1385,0,0,0,0,0,0
$GC,10442,1.17,122.8,487.2,15.6,653,10448,0.03,2.17,0.00,0.000,6,0.205,0.031,3569,1749,1385,0,0,0,0,0,0
$GC,10769,1.17,122.8,439.3,14.8,669,10773,0.00,2.20,0.00,0.000,4,0.000,0.044,3578,339,1385,0,0,0,0,0,0
$GC,10885,1.17,122.8,420.8,15.8,674,10891,0.03,2.20,0.00,0.000,6,0.207,0.032,3570,1756,1385,0,0,0,0,0,0
$GC,11208,1.17,122.8,372.5,15.1,698,11212,0.00,2.22,0.00,0.000,4,0.000,0.044,3578,343,1385,0,0,0,0,0,0
$GC,11319,1.17,122.8,355.0,16.6,707,11326,0.05,2.17,0.00,0.000,6,0.186,0.031,3563,1752,1385,0,0,0,0,0,0
$GC,11645,1.20,122.8,308.7,14.2,738,11649,0.00,2.20,0.00,0.000,4,0.000,0.044,3572,339,1385,0,0,0,0,0,0
$GC,11695,1.20,122.8,301.1,14.2,742,11699,0.00,2.17,0.00,0.000,6,0.000,0.031,3572,1756,1385,0,0,0,0,0,0
$GC,12019,1.20,122.8,253.6,14.9,772,12023,0.00,2.22,0.00,0.000,4,0.000,0.044,3581,340,1385,0,0,0,0,0,0
$GC,12195,1.20,122.8,226.1,16.1,787,12199,0.00,2.17,0.00,0.000,6,0.000,0.031,3581,1759,1385,0,0,0,0,0,0
$GC,12521,1.20,122.8,177.4,15.1,817,12525,0.00,2.20,0.00,0.000,4,0.000,0.044,3590,345,1385,0,0,0,0,0,0
$GC,12650,1.20,122.8,157.2,14.9,828,12655,0.08,2.15,0.00,0.000,6,0.213,0.031,3574,1761,1384,0,0,0,0,0,0
$GC,12980,1.22,122.8,112.5,12.8,859,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1761,1384,0,0,0,0,0,0
$GC,13316,1.25,122.8,67.3,14.2,910,13321,0.00,2.22,0.00,0.000,4,0.000,0.044,3583,336,1385,0,0,0,0,0,0
$GC,13497,1.25,122.8,40.9,15.0,942,13504,0.00,2.17,0.00,0.000,6,0.000,0.031,3582,1744,1384,0,0,0,0,0,0
$STATE,13771,end climb,SURFACE_DEPTH_REACHED
$STATE,13771,begin surface coast
$FINISH,1.5,1.014473
$STATE,13798,end surface coast,CONTROL_FINISHED_OK
$STATE,13798,begin surface
$SM_CCo,13813,37.35,0.058,0,0,1062,205.07
$SM_GC,2.66,0.00,0.00,37.35,0.000,0.000,0.058,66,2057,1062,-9.75,0.48,205.07
$IRIDIUM_FIX,-4441.36,642.59,300508,161617
$TT8_MAMPS,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.4,10.131
$10V_AH,10.2,7.191
$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,23.675,98.875,229.000,37.350,0.000,28.081,19.824,245.878,0.000,0.000,22.982,2478.910,8589.386,351.360,2732.293,103.836,0.000,1329.267,0.000,2279.498,0.000,0.539,0.000
$DEVICE_MAMPS,252.450,67.320,1299.735,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.799,1826.855,725.127,400.105,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,70495,991
$CAP_FILE_SIZE,127696,0
$CFSIZE,2097086464,2087059456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040815,144733,-4500.266,632.280,38,1.0,39,-24.4