version: 66.07.10.p01
glider: 573
mission: 12
dive: 178
start: 9 2 115 14 15 30
data:
$ID,573
$MISSION,12
$DIVE,178
$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,-21559.41
$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,37
$R_STBD_OVSHOOT,56
$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,177
$GPS1,020915,140303,-4506.000,625.465,48,0.9,48,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-64.8
$GPS2,020915,141510,-4506.153,625.572,35,1.3,35,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,357.1,4486,-21.3,-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,-0.87,-83.8,0.0,0.0,0,40,0.00,0.00,-14.40,0.000,2,0.000,0.000,60,2086,1424,0,0,0,0,0,0
$GC,42,-0.89,-116.8,3.0,-4.2,2,100,11.23,2.25,-37.58,0.000,4,0.228,0.073,2885,3436,2427,0,0,0,0,0,0
$GC,176,-0.80,-116.8,18.2,-15.1,23,184,0.12,2.17,0.00,0.000,6,0.155,0.041,2922,2068,2429,0,0,0,0,0,0
$GC,235,-0.77,-116.8,26.9,-14.3,32,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2068,2428,0,0,0,0,0,0
$GC,387,-0.73,-116.8,44.0,-12.1,57,394,0.10,0.00,0.00,0.000,6,0.184,0.000,2948,2068,2429,0,0,0,0,0,0
$GC,737,-0.73,-116.8,83.0,-11.7,118,742,0.00,2.22,0.00,0.000,4,0.000,0.059,2938,3451,2429,0,0,0,0,0,0
$GC,773,-0.73,-116.8,87.1,-11.5,124,779,0.00,2.15,0.00,0.000,6,0.000,0.040,2938,2056,2429,0,0,0,0,0,0
$GC,1104,-0.73,-116.8,126.2,-11.4,164,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2056,2429,0,0,0,0,0,0
$GC,1424,-0.73,-116.8,159.2,-10.0,194,1428,0.00,2.20,0.00,0.000,4,0.000,0.054,2938,655,2429,0,0,0,0,0,0
$GC,1468,-0.73,-116.8,164.2,-11.1,197,1474,0.08,2.17,0.00,0.000,6,0.199,0.042,2946,2045,2430,0,0,0,0,0,0
$GC,1793,-0.78,-116.8,196.1,-9.9,228,1797,0.00,2.25,0.00,0.000,4,0.000,0.060,2936,3471,2429,0,0,0,0,0,0
$GC,1826,-0.83,-116.8,199.6,-10.1,230,1832,0.03,2.20,0.00,0.000,6,0.106,0.040,2912,2060,2430,0,0,0,0,0,0
$GC,2153,-0.83,-116.8,235.2,-11.7,261,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2060,2430,0,0,0,0,0,0
$GC,2470,-0.83,-116.8,271.4,-11.2,291,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2060,2430,0,0,0,0,0,0
$GC,2791,-0.83,-116.8,307.5,-11.3,321,2795,0.00,2.25,0.00,0.000,4,0.000,0.061,2902,3475,2430,0,0,0,0,0,0
$GC,2834,-0.83,-116.8,313.0,-11.5,324,2843,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,2058,2430,0,0,0,0,0,0
$GC,3160,-0.79,-116.8,350.3,-11.8,355,3165,0.10,2.22,0.00,0.000,4,0.190,0.055,2926,652,2430,0,0,0,0,0,0
$GC,3200,-0.79,-116.8,354.9,-11.6,358,3204,0.00,2.20,0.00,0.000,6,0.000,0.043,2918,2064,2430,0,0,0,0,0,0
$GC,3524,-0.79,-116.8,390.0,-10.8,388,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2064,2429,0,0,0,0,0,0
$GC,3846,-0.79,-116.8,425.2,-11.1,408,3850,0.00,2.22,0.00,0.000,4,0.000,0.063,2907,3463,2430,0,0,0,0,0,0
$GC,3912,-0.79,-116.8,433.3,-11.4,411,3918,0.05,2.17,0.00,0.000,6,0.154,0.040,2924,2057,2430,0,0,0,0,0,0
$GC,4240,-0.79,-116.8,469.1,-10.8,427,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2057,2429,0,0,0,0,0,0
$GC,4549,-0.79,-116.8,501.2,-10.1,442,4553,0.00,2.25,0.00,0.000,4,0.000,0.062,2916,3470,2429,0,0,0,0,0,0
$GC,4588,-0.79,-116.8,505.4,-10.7,444,4592,0.00,2.17,0.00,0.000,6,0.000,0.041,2915,2054,2429,0,0,0,0,0,0
$GC,4914,-0.79,-116.8,539.9,-10.5,460,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2054,2430,0,0,0,0,0,0
$GC,5223,-0.79,-116.8,572.1,-10.2,475,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2053,2429,0,0,0,0,0,0
$GC,5533,-0.79,-116.8,604.3,-10.4,490,5537,0.00,2.28,0.00,0.000,4,0.000,0.062,2906,3469,2429,0,0,0,0,0,0
$GC,5553,-0.79,-116.8,606.7,-10.9,491,5558,0.05,2.17,0.00,0.000,6,0.161,0.041,2923,2066,2429,0,0,0,0,0,0
$GC,5881,-0.83,-116.8,639.8,-10.1,507,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2066,2429,0,0,0,0,0,0
$GC,6190,-0.86,-116.8,671.3,-10.1,522,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2066,2429,0,0,0,0,0,0
$GC,6499,-0.90,-116.8,702.4,-10.0,537,6504,0.10,2.22,0.00,0.000,4,0.113,0.055,2872,644,2429,0,0,0,0,0,0
$GC,6531,-0.80,-116.8,706.4,-12.5,538,6537,0.17,2.22,0.00,0.000,6,0.164,0.040,2916,2068,2429,0,0,0,0,0,0
$GC,6847,-0.80,-116.8,739.4,-10.5,554,6851,0.00,2.22,0.00,0.000,4,0.000,0.062,2906,3468,2429,0,0,0,0,0,0
$GC,6931,-0.80,-116.8,748.5,-10.1,558,6935,0.08,2.15,0.00,0.000,6,0.185,0.042,2924,2053,2429,0,0,0,0,0,0
$GC,7259,-0.85,-116.8,781.2,-10.2,574,7263,0.00,2.20,0.00,0.000,4,0.000,0.057,2924,661,2429,0,0,0,0,0,0
$GC,7314,-0.85,-116.8,787.3,-10.3,576,7320,0.00,2.20,0.00,0.000,6,0.000,0.042,2916,2058,2428,0,0,0,0,0,0
$GC,7630,-0.88,-116.8,818.1,-9.7,592,7635,0.00,2.25,0.00,0.000,4,0.000,0.064,2905,3469,2428,0,0,0,0,0,0
$GC,7657,-0.88,-116.8,821.2,-10.8,593,7661,0.00,2.20,0.00,0.000,6,0.000,0.042,2905,2054,2428,0,0,0,0,0,0
$GC,7979,-0.88,-116.8,852.4,-9.4,609,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2055,2428,0,0,0,0,0,0
$GC,8288,-0.88,-116.8,881.8,-9.6,624,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2055,2428,0,0,0,0,0,0
$GC,8597,-0.88,-116.8,910.4,-9.0,639,8602,0.00,2.28,0.00,0.000,4,0.000,0.063,2895,3472,2427,0,0,0,0,0,0
$GC,8652,-0.88,-116.8,915.5,-9.2,641,8658,0.00,2.20,0.00,0.000,6,0.000,0.044,2896,2058,2427,0,0,0,0,0,0
$GC,8968,-0.88,-116.8,943.5,-8.7,657,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2058,2427,0,0,0,0,0,0
$GC,9278,-0.88,-116.8,970.0,-8.6,672,9282,0.00,2.20,0.00,0.000,4,0.000,0.057,2896,654,2427,0,0,0,0,0,0
$GC,9317,-0.85,-116.8,973.7,-9.9,674,9322,0.10,2.20,0.00,0.000,6,0.198,0.045,2910,2075,2427,0,0,0,0,0,0
$STATE,9642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9642,begin apogee
$GC,9648,-0.19,0.0,1000.5,8.1,690,9758,0.68,0.00,106.55,1.290,6,0.150,0.000,3117,1593,1950,0,0,0,0,0,0
$STATE,9758,end apogee,CONTROL_FINISHED_OK
$STATE,9758,begin climb
$GC,9760,0.89,116.8,1003.0,0.0,695,9883,1.05,2.50,111.25,1.252,4,0.090,0.054,3474,205,1473,0,0,0,0,0,0
$GC,9960,0.85,116.8,985.4,11.6,704,9965,0.03,2.35,0.00,0.000,6,0.166,0.035,3465,1604,1468,0,0,0,0,0,0
$GC,10281,0.85,116.8,949.6,11.2,720,10285,0.00,2.33,0.00,0.000,4,0.000,0.050,3475,195,1465,0,0,0,0,0,0
$GC,10370,0.81,116.8,938.7,12.3,724,10375,0.08,2.28,0.00,0.000,6,0.145,0.036,3434,1603,1464,0,0,0,0,0,0
$GC,10698,0.86,116.8,905.5,10.4,740,10703,0.08,2.30,0.00,0.000,4,0.118,0.053,3485,198,1463,0,0,0,0,0,0
$GC,10747,0.80,116.8,899.3,12.7,742,10752,0.10,2.25,0.00,0.000,6,0.144,0.036,3450,1611,1463,0,0,0,0,0,0
$GC,11068,0.80,116.8,865.4,10.4,758,11072,0.00,2.20,0.00,0.000,4,0.000,0.053,3449,2990,1463,0,0,0,0,0,0
$GC,11111,0.80,116.8,860.7,10.7,760,11116,0.03,2.17,0.00,0.000,6,0.188,0.036,3449,1601,1463,0,0,0,0,0,0
$GC,11438,0.80,116.8,828.8,9.7,776,11442,0.00,2.22,0.00,0.000,4,0.000,0.054,3459,199,1463,0,0,0,0,0,0
$GC,11509,0.80,116.8,821.3,9.7,779,11514,0.03,2.20,0.00,0.000,6,0.172,0.036,3448,1604,1461,0,0,0,0,0,0
$GC,11833,0.84,116.8,790.9,9.4,795,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1604,1462,0,0,0,0,0,0
$GC,12140,0.87,116.8,761.4,9.8,810,12144,0.00,2.25,0.00,0.000,4,0.000,0.052,3458,192,1461,0,0,0,0,0,0
$GC,12206,0.87,116.8,754.3,10.4,813,12211,0.00,2.20,0.00,0.000,6,0.000,0.035,3458,1602,1461,0,0,0,0,0,0
$GC,12534,0.87,116.8,721.3,10.1,829,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1602,1460,0,0,0,0,0,0
$GC,12843,0.87,116.8,690.0,10.0,844,12847,0.00,2.15,0.00,0.000,4,0.000,0.053,3458,2987,1460,0,0,0,0,0,0
$GC,12892,0.87,116.8,684.8,10.1,846,12897,0.00,2.15,0.00,0.000,6,0.000,0.035,3467,1602,1460,0,0,0,0,0,0
$GC,13214,0.87,116.8,653.3,9.9,862,13218,0.00,2.22,0.00,0.000,4,0.000,0.054,3478,188,1461,0,0,0,0,0,0
$GC,13322,0.84,116.8,641.9,10.4,867,13327,0.10,2.15,0.00,0.000,6,0.176,0.035,3452,1605,1460,0,0,0,0,0,0
$GC,13649,0.87,116.8,611.8,9.0,883,13653,0.00,2.22,0.00,0.000,4,0.000,0.052,3462,198,1460,0,0,0,0,0,0
$GC,13725,0.87,116.8,603.8,10.5,886,13732,0.00,2.17,0.00,0.000,6,0.000,0.035,3461,1598,1460,0,0,0,0,0,0
$GC,14042,0.87,116.8,572.9,9.8,902,14046,0.00,2.20,0.00,0.000,4,0.000,0.055,3461,2991,1460,0,0,0,0,0,0
$GC,14090,0.87,116.8,567.6,11.0,904,14095,0.00,2.15,0.00,0.000,6,0.000,0.035,3470,1600,1460,0,0,0,0,0,0
$GC,14412,0.87,116.8,535.3,10.1,920,14416,0.00,2.22,0.00,0.000,4,0.000,0.054,3482,190,1460,0,0,0,0,0,0
$GC,14529,0.83,116.8,523.0,10.5,925,14534,0.08,2.17,0.00,0.000,6,0.149,0.035,3456,1596,1459,0,0,0,0,0,0
$GC,14857,0.87,119.0,494.2,8.4,941,14861,0.00,2.17,0.00,0.000,4,0.000,0.054,3455,2992,1460,0,0,0,0,0,0
$GC,14905,0.87,119.0,489.7,8.7,943,14910,0.00,2.15,0.00,0.000,6,0.000,0.035,3464,1595,1460,0,0,0,0,0,0
$GC,15227,0.87,124.2,462.5,8.2,959,15238,0.00,2.20,5.82,0.747,4,0.000,0.052,3475,197,1443,0,0,0,0,0,0
$GC,15321,0.87,124.2,453.9,9.0,963,15326,0.00,2.17,0.00,0.000,6,0.000,0.036,3475,1596,1443,0,0,0,0,0,0
$GC,15645,0.87,124.3,425.4,8.5,979,15649,0.00,2.22,0.00,0.000,4,0.000,0.051,3485,192,1442,0,0,0,0,0,0
$GC,15739,0.84,124.3,416.6,9.3,983,15744,0.08,2.17,0.00,0.000,6,0.147,0.036,3458,1596,1442,0,0,0,0,0,0
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$GC,19206,0.96,148.8,65.3,10.7,1319,19211,0.00,2.15,0.00,0.000,6,0.000,0.034,3505,1601,1340,0,0,0,0,0,0
$GC,19562,0.96,148.8,28.9,12.1,1380,19569,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1602,1339,0,0,0,0,0,0
$GC,19716,0.96,148.8,10.6,12.6,1405,19724,0.00,2.25,0.00,0.000,4,0.000,0.051,3516,203,1340,0,0,0,0,0,0
$STATE,19773,end climb,SURFACE_DEPTH_REACHED
$STATE,19773,begin surface coast
$FINISH,1.7,1.012528
$STATE,19799,end surface coast,CONTROL_FINISHED_OK
$STATE,19799,begin surface
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$SM_GC,2.67,0.00,0.00,24.77,0.000,0.000,0.055,64,2052,1132,-9.76,-0.23,200.16
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$TT8_MAMPS,0.026964
$HUMID,63.50
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.1,24.250
$10V_AH,10.0,24.844
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.975,152.000,249.375,24.775,0.000,54.353,48.121,387.835,0.000,0.000,38.540,3518.029,12616.285,399.854,3826.992,201.558,0.000,1726.413,0.000,3093.005,0.000,0.540,0.000
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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,353256
$DATA_FILE_SIZE,97101,1418
$CAP_FILE_SIZE,186237,0
$CFSIZE,2097086464,2068742144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020915,194822,-4505.886,625.687,94,0.8,94,-24.4