version: 66.07.10.p01
glider: 573
mission: 12
dive: 130
start: 8 23 115 6 34 13
data:
$ID,573
$MISSION,12
$DIVE,130
$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,-21411.664
$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,44
$R_STBD_OVSHOOT,61
$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,129
$GPS1,230815,062503,-4500.327,637.799,28,0.9,28,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-72.0
$GPS2,230815,063353,-4500.417,637.853,17,1.1,17,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,224.6,7065,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-26.75,0.000,2,0.000,0.000,81,2091,1681,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-3.0,4,106,11.88,2.20,-31.00,0.000,4,0.252,0.069,2921,3426,2426,0,0,0,0,0,0
$GC,382,-0.65,-116.8,35.8,-11.5,57,390,0.15,2.15,0.00,0.000,6,0.155,0.040,2968,2068,2428,0,0,0,0,0,0
$GC,531,-0.65,-116.8,52.0,-10.7,82,536,0.00,2.20,0.00,0.000,4,0.000,0.055,2959,3436,2429,0,0,0,0,0,0
$GC,706,-0.65,-116.8,69.9,-10.9,112,711,0.00,2.12,0.00,0.000,6,0.000,0.037,2959,2053,2429,0,0,0,0,0,0
$GC,1054,-0.61,-116.8,108.0,-10.5,167,1059,0.10,2.22,0.00,0.000,4,0.190,0.053,2987,650,2428,0,0,0,0,0,0
$GC,1084,-0.61,-116.8,110.9,-9.5,169,1088,0.00,2.17,0.00,0.000,6,0.000,0.040,2978,2040,2428,0,0,0,0,0,0
$GC,1408,-0.61,-116.8,143.0,-9.5,199,1412,0.00,2.28,0.00,0.000,4,0.000,0.061,2967,3463,2429,0,0,0,0,0,0
$GC,1462,-0.61,-116.8,148.4,-9.6,203,1469,0.03,2.17,0.00,0.000,6,0.190,0.037,2976,2063,2429,0,0,0,0,0,0
$GC,1787,-0.61,-116.8,178.1,-9.2,234,1791,0.00,2.22,0.00,0.000,4,0.000,0.051,2977,649,2429,0,0,0,0,0,0
$GC,1838,-0.61,-116.8,183.0,-10.0,238,1843,0.08,2.20,0.00,0.000,6,0.202,0.038,2985,2067,2429,0,0,0,0,0,0
$GC,2163,-0.65,-116.8,213.5,-9.3,268,2167,0.00,2.22,0.00,0.000,4,0.000,0.060,2974,3469,2429,0,0,0,0,0,0
$GC,2206,-0.69,-116.8,217.9,-9.8,271,2212,0.00,2.17,0.00,0.000,6,0.000,0.037,2974,2061,2429,0,0,0,0,0,0
$GC,2531,-0.69,-116.8,247.5,-8.7,302,2535,0.00,2.20,0.00,0.000,4,0.000,0.051,2974,660,2429,0,0,0,0,0,0
$GC,2581,-0.69,-116.8,252.2,-9.4,306,2585,0.00,2.17,0.00,0.000,6,0.000,0.039,2965,2061,2429,0,0,0,0,0,0
$GC,2905,-0.69,-116.8,280.2,-9.0,336,2909,0.00,2.22,0.00,0.000,4,0.000,0.060,2955,3469,2429,0,0,0,0,0,0
$GC,2982,-0.69,-116.8,287.5,-9.5,342,2989,0.00,2.17,0.00,0.000,6,0.000,0.038,2955,2067,2429,0,0,0,0,0,0
$GC,3310,-0.69,-116.8,317.3,-9.3,373,3314,0.00,2.22,0.00,0.000,4,0.000,0.051,2955,647,2430,0,0,0,0,0,0
$GC,3354,-0.64,-116.8,322.0,-10.0,376,3362,0.08,2.20,0.00,0.000,6,0.158,0.037,2970,2061,2430,0,0,0,0,0,0
$GC,3679,-0.64,-116.8,350.9,-8.7,407,3683,0.00,2.22,0.00,0.000,4,0.000,0.060,2960,3464,2430,0,0,0,0,0,0
$GC,3708,-0.64,-116.8,353.4,-9.0,409,3713,0.00,2.15,0.00,0.000,6,0.000,0.038,2960,2054,2430,0,0,0,0,0,0
$GC,4033,-0.64,-116.8,383.7,-9.1,439,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2054,2430,0,0,0,0,0,0
$GC,4358,-0.64,-116.8,414.4,-9.7,463,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2054,2430,0,0,0,0,0,0
$GC,4667,-0.64,-116.8,443.7,-9.3,478,4671,0.00,2.17,0.00,0.000,4,0.000,0.053,2961,652,2429,0,0,0,0,0,0
$GC,4721,-0.64,-116.8,449.2,-9.6,480,4729,0.05,2.20,0.00,0.000,6,0.170,0.041,2967,2052,2429,0,0,0,0,0,0
$GC,5038,-0.64,-116.8,477.8,-9.2,496,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2052,2430,0,0,0,0,0,0
$GC,5347,-0.64,-116.8,506.1,-9.3,511,5351,0.00,2.22,0.00,0.000,4,0.000,0.057,2957,3464,2429,0,0,0,0,0,0
$GC,5379,-0.64,-116.8,509.3,-9.3,512,5386,0.03,2.17,0.00,0.000,6,0.186,0.038,2967,2056,2429,0,0,0,0,0,0
$GC,5695,-0.64,-116.8,536.6,-8.7,528,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2056,2429,0,0,0,0,0,0
$GC,6005,-0.64,-116.8,562.9,-8.4,543,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2056,2429,0,0,0,0,0,0
$GC,6314,-0.64,-116.8,587.7,-7.6,558,6318,0.00,2.20,0.00,0.000,4,0.000,0.054,2967,655,2428,0,0,0,0,0,0
$GC,6354,-0.64,-116.8,590.8,-7.7,560,6359,0.05,2.20,0.00,0.000,6,0.223,0.041,2970,2071,2428,0,0,0,0,0,0
$GC,6681,-0.64,-116.8,615.3,-7.6,576,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2072,2427,0,0,0,0,0,0
$GC,6990,-0.68,-116.8,640.5,-8.3,591,6994,0.00,2.20,0.00,0.000,4,0.000,0.060,2959,3471,2427,0,0,0,0,0,0
$GC,7057,-0.71,-116.8,646.4,-8.1,594,7061,0.00,2.17,0.00,0.000,6,0.000,0.041,2959,2068,2427,0,0,0,0,0,0
$GC,7384,-0.71,-116.8,674.6,-8.7,610,7388,0.00,2.20,0.00,0.000,4,0.000,0.054,2959,654,2427,0,0,0,0,0,0
$GC,7477,-0.71,-116.8,683.7,-9.9,614,7482,0.00,2.20,0.00,0.000,6,0.000,0.041,2950,2052,2427,0,0,0,0,0,0
$GC,7799,-0.71,-116.8,713.2,-9.4,630,7803,0.00,2.22,0.00,0.000,4,0.000,0.059,2940,3464,2426,0,0,0,0,0,0
$GC,7852,-0.71,-116.8,718.2,-10.3,632,7859,0.00,2.17,0.00,0.000,6,0.000,0.038,2940,2053,2426,0,0,0,0,0,0
$GC,8170,-0.71,-116.8,746.1,-8.4,648,8174,0.00,2.17,0.00,0.000,4,0.000,0.054,2940,657,2426,0,0,0,0,0,0
$GC,8232,-0.66,-116.8,751.4,-8.8,651,8236,0.12,2.17,0.00,0.000,6,0.178,0.041,2963,2060,2426,0,0,0,0,0,0
$GC,8560,-0.70,-116.8,774.0,-6.8,667,8564,0.00,2.22,0.00,0.000,4,0.000,0.062,2953,3466,2425,0,0,0,0,0,0
$GC,8632,-0.70,-116.8,779.4,-7.0,670,8636,0.00,2.17,0.00,0.000,6,0.000,0.040,2953,2059,2425,0,0,0,0,0,0
$GC,8955,-0.70,-116.8,803.2,-7.7,686,8959,0.00,2.20,0.00,0.000,4,0.000,0.054,2953,659,2425,0,0,0,0,0,0
$GC,8988,-0.70,-116.8,806.1,-8.5,687,8994,0.00,2.20,0.00,0.000,6,0.000,0.041,2944,2059,2425,0,0,0,0,0,0
$GC,9304,-0.70,-116.8,832.1,-8.3,703,9308,0.00,2.22,0.00,0.000,4,0.000,0.061,2933,3463,2425,0,0,0,0,0,0
$GC,9390,-0.70,-116.8,839.6,-8.9,707,9395,0.10,2.15,0.00,0.000,6,0.181,0.039,2959,2055,2425,0,0,0,0,0,0
$GC,9717,-0.70,-116.8,866.8,-8.2,723,9721,0.00,2.20,0.00,0.000,4,0.000,0.054,2959,652,2425,0,0,0,0,0,0
$GC,9779,-0.70,-116.8,872.3,-9.5,726,9782,0.00,2.17,0.00,0.000,6,0.000,0.042,2950,2063,2424,0,0,0,0,0,0
$GC,10110,-0.70,-116.8,901.8,-9.0,742,10114,0.00,2.22,0.00,0.000,4,0.000,0.062,2940,3462,2425,0,0,0,0,0,0
$GC,10210,-0.70,-116.8,911.6,-9.9,746,10217,0.03,2.17,0.00,0.000,6,0.181,0.039,2949,2058,2425,0,0,0,0,0,0
$GC,10526,-0.70,-116.8,939.8,-8.8,762,10530,0.00,2.20,0.00,0.000,4,0.000,0.054,2950,659,2425,0,0,0,0,0,0
$GC,10574,-0.70,-116.8,944.5,-10.3,764,10580,0.03,2.20,0.00,0.000,6,0.178,0.041,2950,2058,2425,0,0,0,0,0,0
$GC,10896,-0.70,-116.8,970.2,-7.4,780,10900,0.00,2.22,0.00,0.000,4,0.000,0.060,2940,3464,2424,0,0,0,0,0,0
$GC,10950,-0.70,-116.8,974.5,-8.0,782,10957,0.03,2.17,0.00,0.000,6,0.184,0.039,2950,2054,2424,0,0,0,0,0,0
$GC,11266,-0.70,-116.8,996.3,-6.9,798,11270,0.00,2.17,0.00,0.000,4,0.000,0.054,2950,658,2424,0,0,0,0,0,0
$STATE,11314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11314,begin apogee
$GC,11319,-0.19,0.0,1000.2,7.8,800,11430,0.52,0.00,105.68,1.290,6,0.149,0.000,3110,1613,1951,0,0,0,0,0,0
$STATE,11431,end apogee,CONTROL_FINISHED_OK
$STATE,11431,begin climb
$GC,11432,0.76,116.8,1002.5,0.0,806,11555,0.95,2.45,111.12,1.250,4,0.096,0.053,3422,2993,1473,0,0,0,0,0,0
$GC,11578,0.76,116.8,992.7,9.6,813,11582,0.00,2.30,0.00,0.000,6,0.000,0.034,3431,1605,1470,0,0,0,0,0,0
$GC,11903,0.76,116.8,961.4,9.6,829,11907,0.00,2.35,0.00,0.000,4,0.000,0.054,3442,187,1465,0,0,0,0,0,0
$GC,11921,0.72,116.8,959.9,9.7,830,11926,0.10,2.28,0.00,0.000,6,0.164,0.035,3416,1608,1464,0,0,0,0,0,0
$GC,12247,0.72,117.3,931.5,8.5,846,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1608,1464,0,0,0,0,0,0
$GC,12556,0.72,117.3,904.9,8.7,861,12560,0.00,2.22,0.00,0.000,4,0.000,0.050,3416,3000,1463,0,0,0,0,0,0
$GC,12587,0.72,117.3,901.9,9.9,862,12594,0.00,2.20,0.00,0.000,6,0.000,0.034,3425,1599,1462,0,0,0,0,0,0
$GC,12904,0.72,117.3,872.2,9.9,878,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1599,1462,0,0,0,0,0,0
$GC,13213,0.72,117.3,841.1,10.0,893,13217,0.00,2.25,0.00,0.000,4,0.000,0.054,3435,198,1461,0,0,0,0,0,0
$GC,13229,0.72,117.3,839.4,9.8,894,13234,0.08,2.20,0.00,0.000,6,0.179,0.035,3417,1615,1461,0,0,0,0,0,0
$GC,13555,0.72,117.3,807.9,9.4,910,13559,0.00,2.17,0.00,0.000,4,0.000,0.052,3417,2991,1461,0,0,0,0,0,0
$GC,13616,0.72,117.3,801.9,9.9,913,13620,0.00,2.15,0.00,0.000,6,0.000,0.034,3425,1595,1461,0,0,0,0,0,0
$GC,13943,0.73,130.2,773.4,7.9,929,13956,0.00,0.00,11.70,1.047,6,0.000,0.000,3425,1595,1419,0,0,0,0,0,0
$GC,14251,0.74,148.8,749.4,7.6,944,14273,0.00,0.00,19.27,1.086,6,0.000,0.000,3426,1595,1343,0,0,0,0,0,0
$GC,14581,0.75,161.2,724.2,7.9,960,14602,0.00,2.33,12.98,1.022,4,0.000,0.054,3436,198,1291,0,0,0,0,0,0
$GC,14669,0.75,161.2,716.2,9.3,964,14674,0.00,2.22,0.00,0.000,6,0.000,0.035,3436,1604,1290,0,0,0,0,0,0
$GC,14996,0.75,161.2,684.3,10.2,980,15000,0.00,2.20,0.00,0.000,4,0.000,0.051,3436,2999,1289,0,0,0,0,0,0
$GC,15044,0.75,161.2,678.6,11.7,982,15050,0.05,2.20,0.00,0.000,6,0.151,0.034,3427,1592,1289,0,0,0,0,0,0
$GC,15367,0.79,161.2,644.0,11.0,998,15371,0.00,2.25,0.00,0.000,4,0.000,0.054,3437,196,1289,0,0,0,0,0,0
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$STATE,21964,end climb,SURFACE_DEPTH_REACHED
$STATE,21964,begin surface coast
$FINISH,1.6,1.023371
$STATE,21996,end surface coast,CONTROL_FINISHED_OK
$STATE,21997,begin surface
$SM_CCo,22013,10.73,0.057,0,0,1132,200.16
$SM_GC,4.05,0.00,0.00,10.73,0.000,0.000,0.057,60,2091,1132,-9.77,0.88,200.16
$IRIDIUM_FIX,-4438.33,633.17,180608,131317
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$HUMID,62.60
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$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.3,19.486
$10V_AH,10.1,18.575
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.650,184.650,279.450,10.725,0.000,28.114,42.618,323.477,0.000,0.000,20.320,3910.524,13987.204,431.568,4019.084,190.155,0.000,1895.771,0.000,3398.470,0.000,0.540,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353188
$DATA_FILE_SIZE,110521,1580
$CAP_FILE_SIZE,207570,0
$CFSIZE,2097086464,2075000832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230815,124227,-4504.250,638.340,35,0.9,35,-24.5