version: 66.07.10.p01
glider: 573
mission: 12
dive: 126
start: 8 22 115 7 24 13
data:
$ID,573
$MISSION,12
$DIVE,126
$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,-21399.59
$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,39
$R_STBD_OVSHOOT,39
$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,125
$GPS1,220815,071233,-4458.304,633.571,25,1.2,25,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-73.7
$GPS2,220815,072353,-4458.433,633.570,23,1.4,23,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$TGT_RADIUS,1000.000
$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,59.7,5518,-17.9,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-20.17,0.000,2,0.000,0.000,80,2073,1539,0,0,0,0,0,0
$GC,48,-0.76,-116.8,3.0,-3.5,3,111,12.07,0.00,-42.90,0.000,6,0.256,0.000,2931,2070,2423,0,0,0,0,0,0
$GC,163,-0.64,-116.8,7.0,-9.1,21,170,0.15,0.00,0.00,0.000,6,0.183,0.000,2970,2071,2425,0,0,0,0,0,0
$GC,221,-0.61,-116.8,13.1,-10.3,30,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2071,2425,0,0,0,0,0,0
$GC,279,-0.61,-116.8,18.6,-9.9,39,286,0.00,2.28,0.00,0.000,4,0.000,0.053,2970,667,2425,0,0,0,0,0,0
$GC,312,-0.56,-116.8,22.2,-10.2,44,321,0.10,2.22,0.00,0.000,6,0.153,0.041,2993,2049,2425,0,0,0,0,0,0
$GC,470,-0.60,-116.8,36.1,-8.6,69,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2049,2425,0,0,0,0,0,0
$GC,618,-0.64,-116.8,49.2,-8.5,94,623,0.00,2.22,0.00,0.000,4,0.000,0.050,2994,655,2426,0,0,0,0,0,0
$GC,641,-0.64,-116.8,51.5,-8.8,98,646,0.00,2.22,0.00,0.000,6,0.000,0.039,2984,2076,2425,0,0,0,0,0,0
$GC,987,-0.64,-116.8,82.4,-8.8,159,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2076,2426,0,0,0,0,0,0
$GC,1326,-0.64,-116.8,112.3,-8.7,207,1330,0.00,2.25,0.00,0.000,4,0.000,0.050,2985,661,2426,0,0,0,0,0,0
$GC,1355,-0.64,-116.8,114.8,-9.3,209,1359,0.00,2.20,0.00,0.000,6,0.000,0.039,2976,2072,2426,0,0,0,0,0,0
$GC,1680,-0.64,-116.8,144.7,-8.4,239,1684,0.00,2.25,0.00,0.000,4,0.000,0.049,2976,654,2426,0,0,0,0,0,0
$GC,1719,-0.64,-116.8,148.5,-9.7,242,1723,0.00,2.20,0.00,0.000,6,0.000,0.039,2967,2067,2426,0,0,0,0,0,0
$GC,2043,-0.64,-116.8,178.3,-9.2,272,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2066,2426,0,0,0,0,0,0
$GC,2362,-0.64,-116.8,206.3,-8.6,302,2366,0.00,2.22,0.00,0.000,4,0.000,0.060,2956,3465,2426,0,0,0,0,0,0
$GC,2394,-0.64,-116.8,209.4,-8.9,304,2403,0.05,2.17,0.00,0.000,6,0.159,0.038,2973,2061,2426,0,0,0,0,0,0
$GC,2720,-0.64,-116.8,237.2,-8.6,335,2724,0.00,2.17,0.00,0.000,4,0.000,0.051,2973,657,2426,0,0,0,0,0,0
$GC,2740,-0.64,-116.8,239.2,-9.4,336,2749,0.00,2.20,0.00,0.000,6,0.000,0.040,2964,2060,2426,0,0,0,0,0,0
$GC,3066,-0.64,-116.8,267.2,-8.6,367,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2060,2427,0,0,0,0,0,0
$GC,3388,-0.64,-116.8,293.5,-8.1,397,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2060,2427,0,0,0,0,0,0
$GC,3704,-0.64,-116.8,320.5,-8.5,427,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2060,2427,0,0,0,0,0,0
$GC,4024,-0.64,-116.8,349.8,-9.6,457,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2060,2427,0,0,0,0,0,0
$GC,4340,-0.64,-116.8,380.2,-9.8,487,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2060,2427,0,0,0,0,0,0
$GC,4665,-0.64,-116.8,412.2,-9.6,512,4669,0.00,2.17,0.00,0.000,4,0.000,0.051,2964,662,2427,0,0,0,0,0,0
$GC,4704,-0.64,-116.8,416.0,-9.8,514,4709,0.08,2.17,0.00,0.000,6,0.194,0.040,2972,2067,2427,0,0,0,0,0,0
$GC,5032,-0.67,-116.8,444.7,-8.2,530,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2067,2426,0,0,0,0,0,0
$GC,5340,-0.70,-116.8,470.1,-7.7,545,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2067,2427,0,0,0,0,0,0
$GC,5649,-0.74,-116.8,494.5,-7.8,560,5651,0.08,0.00,0.00,0.000,6,0.122,0.000,2925,2067,2426,0,0,0,0,0,0
$GC,5958,-0.67,-116.8,524.0,-9.7,575,5963,0.15,2.22,0.00,0.000,4,0.174,0.053,2965,654,2426,0,0,0,0,0,0
$GC,6012,-0.67,-116.8,529.2,-9.6,577,6019,0.00,2.20,0.00,0.000,6,0.000,0.042,2956,2057,2426,0,0,0,0,0,0
$GC,6328,-0.67,-116.8,555.9,-8.7,593,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2057,2426,0,0,0,0,0,0
$GC,6638,-0.67,-116.8,584.2,-9.4,608,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2057,2425,0,0,0,0,0,0
$GC,6947,-0.67,-116.8,614.5,-9.9,623,6951,0.00,2.20,0.00,0.000,4,0.000,0.052,2956,652,2425,0,0,0,0,0,0
$GC,7046,-0.67,-116.8,625.1,-10.6,627,7053,0.05,2.20,0.00,0.000,6,0.164,0.042,2964,2053,2425,0,0,0,0,0,0
$GC,7363,-0.71,-116.8,648.9,-9.2,643,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2065,2425,0,0,0,0,0,0
$GC,7672,-0.74,-116.8,676.5,-9.0,658,7676,0.00,2.22,0.00,0.000,4,0.000,0.052,2962,651,2425,0,0,0,0,0,0
$GC,7733,-0.74,-116.8,682.3,-10.3,661,7737,0.00,2.20,0.00,0.000,6,0.000,0.042,2953,2066,2425,0,0,0,0,0,0
$GC,8061,-0.74,-116.8,709.5,-8.8,677,8065,0.00,2.25,0.00,0.000,4,0.000,0.053,2953,649,2424,0,0,0,0,0,0
$GC,8149,-0.74,-116.8,718.1,-9.3,681,8153,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2062,2424,0,0,0,0,0,0
$GC,8476,-0.74,-116.8,746.8,-9.0,697,8480,0.00,2.22,0.00,0.000,4,0.000,0.053,2945,654,2424,0,0,0,0,0,0
$GC,8538,-0.71,-116.8,752.4,-9.4,700,8542,0.08,2.20,0.00,0.000,6,0.194,0.044,2952,2063,2424,0,0,0,0,0,0
$GC,8864,-0.71,-116.8,778.8,-7.9,716,8868,0.00,2.22,0.00,0.000,4,0.000,0.054,2953,662,2424,0,0,0,0,0,0
$GC,8926,-0.71,-116.8,783.9,-8.4,719,8930,0.00,2.17,0.00,0.000,6,0.000,0.041,2944,2064,2424,0,0,0,0,0,0
$GC,9252,-0.71,-116.8,809.4,-7.8,735,9256,0.00,2.22,0.00,0.000,4,0.000,0.053,2944,651,2423,0,0,0,0,0,0
$GC,9307,-0.68,-116.8,814.1,-8.8,737,9314,0.08,2.22,0.00,0.000,6,0.155,0.042,2960,2061,2423,0,0,0,0,0,0
$GC,9624,-0.72,-116.8,836.0,-7.0,753,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2061,2423,0,0,0,0,0,0
$GC,9933,-0.76,-116.8,857.5,-7.2,768,9938,0.05,2.25,0.00,0.000,4,0.166,0.052,2920,651,2422,0,0,0,0,0,0
$GC,9987,-0.68,-116.8,862.5,-9.4,770,9994,0.15,2.22,0.00,0.000,6,0.148,0.043,2959,2060,2422,0,0,0,0,0,0
$GC,10304,-0.72,-116.8,886.2,-7.3,786,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2060,2422,0,0,0,0,0,0
$GC,10613,-0.90,-116.8,907.7,-5.5,801,10615,0.17,0.00,0.00,0.000,6,0.070,0.000,2877,2067,2422,0,0,0,0,0,0
$GC,10922,-0.77,-116.8,937.6,-9.8,816,10927,0.20,2.25,0.00,0.000,4,0.168,0.056,2933,655,2422,0,0,0,0,0,0
$GC,10988,-0.73,-116.8,943.6,-8.1,819,10993,0.10,2.22,0.00,0.000,6,0.187,0.044,2949,2066,2422,0,0,0,0,0,0
$GC,11315,-0.73,-116.8,968.5,-7.9,835,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2066,2422,0,0,0,0,0,0
$GC,11625,-0.73,-116.8,993.3,-8.2,850,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2065,2421,0,0,0,0,0,0
$STATE,11705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11705,begin apogee
$GC,11710,-0.19,0.0,1000.1,8.2,854,11818,0.55,0.00,105.50,1.295,6,0.141,0.000,3122,1601,1950,0,0,0,0,0,0
$STATE,11819,end apogee,CONTROL_FINISHED_OK
$STATE,11819,begin climb
$GC,11821,0.76,116.8,1003.4,0.0,859,11936,0.90,0.00,111.82,1.253,6,0.091,0.000,3420,1601,1474,0,0,0,0,0,0
$GC,12236,0.76,118.1,972.4,8.5,880,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1601,1465,0,0,0,0,0,0
$GC,12545,0.76,118.1,946.9,8.6,895,12549,0.00,2.28,0.00,0.000,4,0.000,0.051,3420,3005,1464,0,0,0,0,0,0
$GC,12611,0.76,118.1,940.9,9.2,898,12616,0.00,2.22,0.00,0.000,6,0.000,0.034,3430,1606,1464,0,0,0,0,0,0
$GC,12938,0.76,118.1,911.9,8.9,914,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1606,1462,0,0,0,0,0,0
$GC,13248,0.76,118.1,883.8,9.2,929,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1606,1461,0,0,0,0,0,0
$GC,13557,0.76,118.1,854.2,9.8,944,13561,0.00,2.25,0.00,0.000,4,0.000,0.054,3441,196,1461,0,0,0,0,0,0
$GC,13611,0.71,118.1,848.6,10.3,946,13618,0.08,2.22,0.00,0.000,6,0.133,0.037,3414,1608,1461,0,0,0,0,0,0
$GC,13927,0.71,118.1,820.6,8.8,962,13931,0.00,2.20,0.00,0.000,4,0.000,0.054,3414,2994,1461,0,0,0,0,0,0
$GC,14021,0.71,118.1,811.9,8.8,966,14026,0.00,2.17,0.00,0.000,6,0.000,0.035,3422,1599,1460,0,0,0,0,0,0
$GC,14343,0.72,119.4,784.1,8.5,982,14344,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1599,1460,0,0,0,0,0,0
$GC,14653,0.72,122.7,757.9,8.4,997,14659,0.00,0.00,4.55,0.761,6,0.000,0.000,3422,1599,1449,0,0,0,0,0,0
$GC,14962,0.72,128.5,731.5,8.3,1012,14971,0.00,0.00,7.28,0.923,6,0.000,0.000,3422,1599,1426,0,0,0,0,0,0
$GC,15271,0.72,128.5,704.5,8.8,1027,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1599,1425,0,0,0,0,0,0
$GC,15581,0.72,130.5,677.7,8.4,1042,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1599,1425,0,0,0,0,0,0
$GC,15890,0.73,140.5,652.4,8.1,1057,15905,0.00,0.00,12.93,0.998,6,0.000,0.000,3422,1599,1376,0,0,0,0,0,0
$GC,16200,0.73,142.9,626.4,8.4,1072,16204,0.00,2.20,0.00,0.000,4,0.000,0.050,3422,2990,1374,0,0,0,0,0,0
$GC,16231,0.73,142.9,623.3,9.2,1073,16238,0.00,2.17,0.00,0.000,6,0.000,0.034,3431,1599,1374,0,0,0,0,0,0
$GC,16548,0.73,142.9,594.1,9.3,1089,16549,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1599,1374,0,0,0,0,0,0
$GC,16857,0.73,142.9,564.7,9.6,1104,16858,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1599,1373,0,0,0,0,0,0
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$STATE,22623,end climb,SURFACE_DEPTH_REACHED
$STATE,22623,begin surface coast
$FINISH,1.8,1.023345
$STATE,22649,end surface coast,CONTROL_FINISHED_OK
$STATE,22649,begin surface
$SM_CCo,22726,0.00,0.000,0,0,1029,225.67
$SM_GC,2.57,9.15,0.00,0.00,0.045,0.000,0.000,86,2087,1029,-9.59,0.76,225.67
$IRIDIUM_FIX,-4441.36,627.47,170608,141416
$TT8_MAMPS,0.027713
$HUMID,62.08
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.3,19.057
$10V_AH,10.0,17.999
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.625,112.050,322.075,0.000,0.000,72.190,99.555,307.320,0.000,0.000,26.347,3943.348,14755.278,459.176,4052.590,176.923,0.000,1849.940,0.000,3339.352,0.000,0.540,0.000
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$MEM,353324
$DATA_FILE_SIZE,113998,1637
$CAP_FILE_SIZE,192387,0
$CFSIZE,2097086464,2075557888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220815,134404,-4457.979,637.340,33,1.1,33,-24.4