version: 66.07.10.p01
glider: 573
mission: 12
dive: 223
start: 9 12 115 11 22 25
data:
$ID,573
$MISSION,12
$DIVE,223
$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,-21706.367
$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,40
$R_STBD_OVSHOOT,38
$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,222
$GPS1,120915,111403,-4459.216,637.028,25,1.0,25,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-74.2
$GPS2,120915,112205,-4459.281,637.026,19,1.1,19,-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,11.9,6224,-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,-116.8,0.0,0.0,0,40,0.00,0.00,-14.07,0.000,2,0.000,0.000,61,2066,1420,0,0,0,0,0,0
$GC,42,-0.76,-116.8,3.1,-0.9,2,112,11.88,2.33,-48.47,0.000,4,0.243,0.069,2934,660,2427,0,0,0,0,0,0
$GC,249,-0.63,-116.8,19.1,-12.7,35,257,0.15,2.25,0.00,0.000,6,0.145,0.042,2973,2054,2428,0,0,0,0,0,0
$GC,308,-0.63,-116.8,25.5,-10.5,44,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2053,2429,0,0,0,0,0,0
$GC,459,-0.63,-116.8,41.3,-10.3,69,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2054,2429,0,0,0,0,0,0
$GC,811,-0.63,-116.8,78.0,-10.6,130,817,0.00,2.25,0.00,0.000,4,0.000,0.057,2962,3477,2429,0,0,0,0,0,0
$GC,860,-0.63,-116.8,83.1,-10.7,135,865,0.08,2.17,0.00,0.000,6,0.194,0.039,2980,2062,2429,0,0,0,0,0,0
$GC,1188,-0.63,-116.8,118.3,-10.8,151,1192,0.00,2.20,0.00,0.000,4,0.000,0.054,2980,658,2429,0,0,0,0,0,0
$GC,1215,-0.63,-116.8,121.7,-11.6,152,1219,0.00,2.22,0.00,0.000,6,0.000,0.041,2971,2060,2430,0,0,0,0,0,0
$GC,1537,-0.63,-116.8,157.9,-11.1,168,1541,0.00,2.25,0.00,0.000,4,0.000,0.063,2960,3465,2430,0,0,0,0,0,0
$GC,1569,-0.63,-116.8,161.6,-11.1,169,1575,0.03,2.20,0.00,0.000,6,0.188,0.038,2969,2057,2429,0,0,0,0,0,0
$GC,1887,-0.63,-116.8,194.0,-10.3,185,1891,0.00,2.20,0.00,0.000,4,0.000,0.054,2969,658,2430,0,0,0,0,0,0
$GC,1936,-0.63,-116.8,199.7,-10.4,187,1942,0.05,2.22,0.00,0.000,6,0.164,0.041,2977,2061,2430,0,0,0,0,0,0
$GC,2261,-0.63,-116.8,228.1,-8.0,203,2265,0.00,2.25,0.00,0.000,4,0.000,0.061,2966,3465,2430,0,0,0,0,0,0
$GC,2309,-0.63,-116.8,232.5,-8.4,205,2314,0.00,2.20,0.00,0.000,6,0.000,0.038,2967,2053,2429,0,0,0,0,0,0
$GC,2634,-0.63,-116.8,258.1,-8.0,221,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2053,2430,0,0,0,0,0,0
$GC,2941,-0.63,-116.8,283.9,-8.5,236,2945,0.00,2.20,0.00,0.000,4,0.000,0.054,2966,651,2430,0,0,0,0,0,0
$GC,2990,-0.63,-116.8,288.7,-9.1,238,2995,0.05,2.22,0.00,0.000,6,0.156,0.041,2974,2058,2430,0,0,0,0,0,0
$GC,3311,-0.63,-116.8,317.1,-9.0,254,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2058,2430,0,0,0,0,0,0
$GC,3620,-0.63,-116.8,345.8,-9.6,269,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2059,2430,0,0,0,0,0,0
$GC,3930,-0.63,-116.8,376.4,-10.2,284,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2059,2430,0,0,0,0,0,0
$GC,4239,-0.63,-116.8,407.5,-9.6,299,4243,0.00,2.25,0.00,0.000,4,0.000,0.062,2964,3466,2430,0,0,0,0,0,0
$GC,4294,-0.66,-116.8,413.1,-10.0,301,4299,0.00,2.17,0.00,0.000,6,0.000,0.039,2964,2065,2430,0,0,0,0,0,0
$GC,4610,-0.66,-116.8,442.7,-9.2,317,4614,0.00,2.20,0.00,0.000,4,0.000,0.053,2964,658,2430,0,0,0,0,0,0
$GC,4636,-0.66,-116.8,445.4,-9.5,318,4641,0.00,2.20,0.00,0.000,6,0.000,0.040,2955,2060,2431,0,0,0,0,0,0
$GC,4957,-0.66,-116.8,475.5,-9.6,334,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2060,2430,0,0,0,0,0,0
$GC,5267,-0.66,-116.8,505.3,-9.6,349,5271,0.00,2.22,0.00,0.000,4,0.000,0.063,2945,3461,2430,0,0,0,0,0,0
$GC,5287,-0.66,-116.8,507.5,-9.8,350,5292,0.05,2.17,0.00,0.000,6,0.147,0.039,2962,2060,2430,0,0,0,0,0,0
$GC,5614,-0.66,-116.8,536.5,-8.6,366,5618,0.00,2.20,0.00,0.000,4,0.000,0.055,2962,652,2430,0,0,0,0,0,0
$GC,5658,-0.66,-116.8,540.6,-9.0,368,5663,0.03,2.22,0.00,0.000,6,0.173,0.042,2963,2057,2430,0,0,0,0,0,0
$GC,5989,-0.66,-116.8,569.8,-8.9,384,5993,0.00,2.25,0.00,0.000,4,0.000,0.062,2952,3467,2429,0,0,0,0,0,0
$GC,6044,-0.66,-116.8,574.9,-8.9,386,6050,0.03,2.20,0.00,0.000,6,0.173,0.040,2962,2056,2429,0,0,0,0,0,0
$GC,6365,-0.66,-116.8,603.6,-8.9,402,6369,0.00,2.22,0.00,0.000,4,0.000,0.056,2962,651,2429,0,0,0,0,0,0
$GC,6392,-0.66,-116.8,606.3,-9.7,403,6397,0.03,2.22,0.00,0.000,6,0.173,0.043,2963,2061,2429,0,0,0,0,0,0
$GC,6719,-0.66,-116.8,634.5,-8.5,419,6723,0.00,2.25,0.00,0.000,4,0.000,0.063,2953,3465,2429,0,0,0,0,0,0
$GC,6784,-0.66,-116.8,640.6,-9.2,422,6790,0.03,2.17,0.00,0.000,6,0.174,0.041,2962,2066,2428,0,0,0,0,0,0
$GC,7110,-0.66,-116.8,668.3,-8.4,438,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2066,2428,0,0,0,0,0,0
$GC,7420,-0.66,-116.8,694.7,-8.6,453,7425,0.00,2.22,0.00,0.000,4,0.000,0.054,2962,647,2428,0,0,0,0,0,0
$GC,7442,-0.66,-116.8,696.7,-9.1,454,7446,0.00,2.22,0.00,0.000,6,0.000,0.038,2954,2066,2428,0,0,0,0,0,0
$GC,7767,-0.66,-116.8,725.5,-8.9,470,7769,0.05,0.00,0.00,0.000,6,0.225,0.000,2964,2066,2427,0,0,0,0,0,0
$GC,8079,-0.70,-116.8,750.5,-8.1,485,8083,0.00,2.25,0.00,0.000,4,0.000,0.054,2965,648,2427,0,0,0,0,0,0
$GC,8145,-0.70,-116.8,756.0,-7.9,488,8149,0.00,2.22,0.00,0.000,6,0.000,0.041,2956,2059,2427,0,0,0,0,0,0
$GC,8471,-0.70,-116.8,781.5,-7.6,504,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2059,2426,0,0,0,0,0,0
$GC,8782,-0.70,-116.8,804.5,-7.3,519,8786,0.00,2.25,0.00,0.000,4,0.000,0.063,2945,3464,2427,0,0,0,0,0,0
$GC,8814,-0.70,-116.8,807.1,-8.4,520,8820,0.00,2.20,0.00,0.000,6,0.000,0.041,2946,2051,2427,0,0,0,0,0,0
$GC,9129,-0.70,-116.8,831.9,-8.1,536,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2051,2426,0,0,0,0,0,0
$GC,9440,-0.70,-116.8,855.7,-7.6,551,9444,0.00,2.22,0.00,0.000,4,0.000,0.056,2946,651,2426,0,0,0,0,0,0
$GC,9534,-0.70,-116.8,863.3,-8.0,555,9539,0.05,2.22,0.00,0.000,6,0.157,0.043,2954,2057,2426,0,0,0,0,0,0
$GC,9856,-0.70,-116.8,886.9,-7.7,571,9860,0.00,2.22,0.00,0.000,4,0.000,0.054,2954,654,2426,0,0,0,0,0,0
$GC,9882,-0.70,-116.8,889.2,-8.2,572,9886,0.00,2.22,0.00,0.000,6,0.000,0.042,2945,2059,2426,0,0,0,0,0,0
$GC,10203,-0.70,-116.8,915.2,-8.1,588,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2060,2426,0,0,0,0,0,0
$GC,10513,-0.70,-116.8,939.5,-7.8,603,10517,0.00,2.25,0.00,0.000,4,0.000,0.063,2934,3462,2426,0,0,0,0,0,0
$GC,10590,-0.70,-116.8,946.3,-8.9,606,10597,0.05,2.20,0.00,0.000,6,0.161,0.041,2952,2052,2426,0,0,0,0,0,0
$GC,10906,-0.73,-116.8,969.7,-7.4,622,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2053,2426,0,0,0,0,0,0
$GC,11217,-0.73,-116.8,991.6,-7.0,637,11221,0.00,2.20,0.00,0.000,4,0.000,0.056,2952,661,2425,0,0,0,0,0,0
$GC,11257,-0.73,-116.8,994.7,-7.9,639,11261,0.00,2.17,0.00,0.000,6,0.000,0.041,2944,2070,2426,0,0,0,0,0,0
$STATE,11334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11334,begin apogee
$GC,11339,-0.19,0.0,1000.6,7.5,643,11449,0.57,0.00,106.55,1.284,6,0.136,0.000,3122,1588,1950,0,0,0,0,0,0
$STATE,11450,end apogee,CONTROL_FINISHED_OK
$STATE,11450,begin climb
$GC,11452,0.76,116.8,1002.9,0.0,648,11573,0.90,2.53,111.62,1.245,4,0.089,0.054,3432,205,1473,0,0,0,0,0,0
$GC,11618,0.72,116.8,991.5,9.6,656,11623,0.05,2.35,0.00,0.000,6,0.194,0.035,3421,1608,1469,0,0,0,0,0,0
$GC,11943,0.72,116.8,962.1,8.6,672,11944,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1608,1466,0,0,0,0,0,0
$GC,12254,0.72,118.1,935.6,8.5,687,12258,0.00,2.25,0.00,0.000,4,0.000,0.054,3421,2994,1464,0,0,0,0,0,0
$GC,12330,0.72,118.1,928.6,9.8,690,12337,0.00,2.22,0.00,0.000,6,0.000,0.036,3429,1600,1463,0,0,0,0,0,0
$GC,12645,0.72,118.1,901.2,8.8,706,12649,0.00,2.28,0.00,0.000,4,0.000,0.054,3440,199,1463,0,0,0,0,0,0
$GC,12763,0.67,118.1,890.0,9.3,711,12768,0.15,2.22,0.00,0.000,6,0.151,0.036,3398,1620,1462,0,0,0,0,0,0
$GC,13091,0.73,137.2,864.6,7.6,727,13113,0.05,0.00,18.83,1.140,6,0.164,0.000,3437,1620,1389,0,0,0,0,0,0
$GC,13419,0.73,137.2,833.6,9.7,743,13421,0.08,0.00,0.00,0.000,6,0.176,0.000,3419,1624,1386,0,0,0,0,0,0
$GC,13727,0.73,137.2,805.7,9.2,758,13731,0.00,2.35,0.00,0.000,4,0.000,0.054,3429,192,1386,0,0,0,0,0,0
$GC,13788,0.73,137.2,799.5,10.1,760,13794,0.00,2.22,0.00,0.000,6,0.000,0.035,3429,1599,1385,0,0,0,0,0,0
$GC,14103,0.73,137.2,768.5,10.0,776,14107,0.00,2.22,0.00,0.000,4,0.000,0.054,3429,2993,1386,0,0,0,0,0,0
$GC,14158,0.73,137.2,762.7,11.2,778,14163,0.05,2.17,0.00,0.000,6,0.147,0.035,3420,1598,1386,0,0,0,0,0,0
$GC,14478,0.73,137.2,732.2,9.3,794,14482,0.00,2.25,0.00,0.000,4,0.000,0.055,3430,195,1385,0,0,0,0,0,0
$GC,14550,0.73,137.2,725.0,9.6,797,14555,0.00,2.20,0.00,0.000,6,0.000,0.035,3430,1598,1385,0,0,0,0,0,0
$GC,14877,0.73,137.2,692.7,9.7,813,14881,0.00,2.25,0.00,0.000,4,0.000,0.053,3439,196,1385,0,0,0,0,0,0
$GC,14920,0.73,137.2,687.9,10.8,815,14926,0.05,2.22,0.00,0.000,6,0.138,0.036,3421,1615,1385,0,0,0,0,0,0
$GC,15248,0.73,137.2,658.7,8.7,831,15252,0.00,2.17,0.00,0.000,4,0.000,0.054,3421,2989,1385,0,0,0,0,0,0
$GC,15302,0.74,148.0,653.7,8.0,833,15318,0.00,2.17,10.88,0.968,6,0.000,0.035,3429,1593,1346,0,0,0,0,0,0
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$STATE,22100,end climb,SURFACE_DEPTH_REACHED
$STATE,22100,begin surface coast
$FINISH,2.0,1.002191
$STATE,22138,end surface coast,CONTROL_FINISHED_OK
$STATE,22138,begin surface
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$TT8_MAMPS,0.026964
$HUMID,63.86
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.9,29.075
$10V_AH,10.0,30.728
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.500,192.750,298.825,0.000,0.000,27.911,19.037,296.141,0.000,0.000,21.901,2746.738,15840.716,437.663,3453.288,207.338,0.000,1778.642,0.000,2957.328,0.000,0.540,0.000
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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,353300
$DATA_FILE_SIZE,90625,1254
$CAP_FILE_SIZE,196578,0
$CFSIZE,2097086464,2062811136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,120915,173351,-4458.760,637.554,38,1.1,38,-24.4