version: 66.07.10.p01
glider: 573
mission: 12
dive: 225
start: 9 12 115 23 43 56
data:
$ID,573
$MISSION,12
$DIVE,225
$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,-21712.824
$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,46
$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,224
$GPS1,120915,233528,-4458.661,637.131,45,1.0,45,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-70.0
$GPS2,120915,234335,-4458.716,637.138,17,1.1,18,-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,7.9,5247,-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,-20.40,0.000,2,0.000,0.000,63,2083,1537,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.3,3,106,11.98,2.30,-39.35,0.000,4,0.246,0.063,2935,652,2426,0,0,0,0,0,0
$GC,195,-0.62,-116.8,12.4,-11.8,26,202,0.15,2.25,0.00,0.000,6,0.146,0.043,2973,2041,2428,0,0,0,0,0,0
$GC,253,-0.62,-116.8,18.8,-10.6,35,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2041,2428,0,0,0,0,0,0
$GC,311,-0.62,-116.8,24.3,-9.3,44,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2041,2428,0,0,0,0,0,0
$GC,465,-0.62,-116.8,40.6,-10.1,69,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2041,2428,0,0,0,0,0,0
$GC,817,-0.62,-116.8,76.4,-10.1,130,822,0.00,2.33,0.00,0.000,4,0.000,0.066,2963,3469,2429,0,0,0,0,0,0
$GC,846,-0.62,-116.8,79.4,-10.1,135,854,0.03,2.22,0.00,0.000,6,0.183,0.041,2972,2063,2428,0,0,0,0,0,0
$GC,1169,-0.62,-116.8,110.9,-9.6,152,1173,0.00,2.25,0.00,0.000,4,0.000,0.054,2972,644,2429,0,0,0,0,0,0
$GC,1195,-0.62,-116.8,113.2,-10.2,153,1200,0.08,2.25,0.00,0.000,6,0.196,0.040,2980,2078,2429,0,0,0,0,0,0
$GC,1523,-0.62,-116.8,144.4,-9.6,169,1527,0.00,2.22,0.00,0.000,4,0.000,0.060,2970,3465,2429,0,0,0,0,0,0
$GC,1555,-0.62,-116.8,147.9,-10.0,170,1564,0.00,2.20,0.00,0.000,6,0.000,0.038,2970,2057,2429,0,0,0,0,0,0
$GC,1872,-0.62,-116.8,177.0,-9.0,186,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2057,2430,0,0,0,0,0,0
$GC,2183,-0.62,-116.8,203.5,-8.0,201,2187,0.00,2.20,0.00,0.000,4,0.000,0.054,2969,656,2429,0,0,0,0,0,0
$GC,2215,-0.62,-116.8,206.7,-9.0,202,2224,0.05,2.22,0.00,0.000,6,0.164,0.042,2978,2054,2429,0,0,0,0,0,0
$GC,2532,-0.62,-116.8,231.0,-7.8,218,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2055,2430,0,0,0,0,0,0
$GC,2843,-0.62,-116.8,258.7,-9.8,233,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2054,2430,0,0,0,0,0,0
$GC,3150,-0.62,-116.8,291.8,-10.9,248,3154,0.00,2.25,0.00,0.000,4,0.000,0.060,2967,3480,2430,0,0,0,0,0,0
$GC,3183,-0.65,-116.8,295.8,-11.7,249,3189,0.00,2.20,0.00,0.000,6,0.000,0.038,2967,2066,2430,0,0,0,0,0,0
$GC,3499,-0.65,-116.8,331.3,-10.8,265,3503,0.00,2.22,0.00,0.000,4,0.000,0.053,2967,659,2430,0,0,0,0,0,0
$GC,3553,-0.65,-116.8,337.8,-11.5,267,3558,0.00,2.22,0.00,0.000,6,0.000,0.041,2958,2066,2430,0,0,0,0,0,0
$GC,3869,-0.65,-116.8,370.6,-10.3,283,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2066,2430,0,0,0,0,0,0
$GC,4177,-0.65,-116.8,400.6,-9.4,298,4181,0.00,2.28,0.00,0.000,4,0.000,0.064,2948,3466,2430,0,0,0,0,0,0
$GC,4232,-0.65,-116.8,405.8,-9.7,300,4237,0.05,2.20,0.00,0.000,6,0.150,0.040,2965,2055,2430,0,0,0,0,0,0
$GC,4555,-0.65,-116.8,432.8,-8.2,316,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2055,2430,0,0,0,0,0,0
$GC,4864,-0.65,-116.8,457.4,-8.0,331,4868,0.00,2.20,0.00,0.000,4,0.000,0.056,2965,658,2430,0,0,0,0,0,0
$GC,4924,-0.65,-116.8,462.8,-9.1,334,4929,0.00,2.22,0.00,0.000,6,0.000,0.042,2957,2064,2430,0,0,0,0,0,0
$GC,5256,-0.65,-116.8,489.8,-7.9,350,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2064,2429,0,0,0,0,0,0
$GC,5566,-0.65,-116.8,514.8,-7.9,365,5570,0.00,2.25,0.00,0.000,4,0.000,0.055,2957,649,2429,0,0,0,0,0,0
$GC,5584,-0.65,-116.8,516.4,-8.3,366,5589,0.10,2.20,0.00,0.000,6,0.178,0.044,2973,2066,2429,0,0,0,0,0,0
$GC,5910,-0.69,-116.8,542.7,-7.9,382,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2066,2429,0,0,0,0,0,0
$GC,6220,-0.74,-116.8,566.8,-7.8,397,6225,0.08,2.22,0.00,0.000,4,0.121,0.066,2918,3462,2429,0,0,0,0,0,0
$GC,6252,-0.67,-116.8,570.0,-9.9,398,6258,0.12,2.17,0.00,0.000,6,0.138,0.040,2959,2067,2428,0,0,0,0,0,0
$GC,6567,-0.67,-116.8,595.6,-7.6,414,6571,0.00,2.22,0.00,0.000,4,0.000,0.054,2960,650,2428,0,0,0,0,0,0
$GC,6615,-0.67,-116.8,599.9,-9.3,416,6620,0.00,2.22,0.00,0.000,6,0.000,0.041,2951,2060,2428,0,0,0,0,0,0
$GC,6936,-0.67,-116.8,626.0,-8.4,432,6938,0.05,0.00,0.00,0.000,6,0.226,0.000,2962,2060,2428,0,0,0,0,0,0
$GC,7247,-0.67,-116.8,650.3,-7.8,447,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2060,2428,0,0,0,0,0,0
$GC,7555,-0.67,-116.8,674.9,-8.1,462,7559,0.00,2.22,0.00,0.000,4,0.000,0.054,2962,655,2427,0,0,0,0,0,0
$GC,7603,-0.67,-116.8,679.2,-8.9,464,7608,0.00,2.22,0.00,0.000,6,0.000,0.044,2953,2053,2427,0,0,0,0,0,0
$GC,7924,-0.67,-116.8,705.6,-8.3,480,7928,0.00,2.25,0.00,0.000,4,0.000,0.062,2943,3465,2427,0,0,0,0,0,0
$GC,8032,-0.67,-116.8,715.2,-9.1,485,8036,0.10,2.15,0.00,0.000,6,0.168,0.041,2969,2054,2426,0,0,0,0,0,0
$GC,8359,-0.72,-116.8,740.7,-7.6,501,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2054,2427,0,0,0,0,0,0
$GC,8667,-0.77,-116.8,764.0,-7.5,516,8671,0.10,2.22,0.00,0.000,4,0.099,0.056,2913,661,2426,0,0,0,0,0,0
$GC,8710,-0.67,-116.8,768.4,-10.6,518,8715,0.17,2.22,0.00,0.000,6,0.142,0.043,2974,2066,2426,0,0,0,0,0,0
$GC,9037,-0.73,-116.8,793.1,-7.5,534,9039,0.08,0.00,0.00,0.000,6,0.122,0.000,2931,2066,2426,0,0,0,0,0,0
$GC,9347,-0.70,-116.8,821.0,-9.2,549,9349,0.10,0.00,0.00,0.000,6,0.171,0.000,2956,2066,2426,0,0,0,0,0,0
$GC,9655,-0.70,-116.8,845.4,-7.6,564,9659,0.00,2.25,0.00,0.000,4,0.000,0.055,2957,652,2426,0,0,0,0,0,0
$GC,9682,-0.70,-116.8,847.5,-8.0,565,9686,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,2097,2426,0,0,0,0,0,0
$GC,10004,-0.70,-116.8,872.1,-7.5,581,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2097,2425,0,0,0,0,0,0
$GC,10311,-0.70,-116.8,895.0,-7.5,596,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2097,2425,0,0,0,0,0,0
$GC,10622,-0.70,-116.8,917.3,-7.1,611,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2097,2425,0,0,0,0,0,0
$GC,10930,-0.70,-116.8,938.8,-7.0,626,10934,0.00,2.17,0.00,0.000,4,0.000,0.062,2937,3475,2425,0,0,0,0,0,0
$GC,10963,-0.70,-116.8,941.2,-7.9,627,10968,0.03,2.20,0.00,0.000,6,0.171,0.043,2947,2068,2424,0,0,0,0,0,0
$GC,11279,-0.70,-116.8,962.4,-6.8,643,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2068,2425,0,0,0,0,0,0
$GC,11587,-0.70,-116.8,984.0,-7.0,658,11591,0.00,2.22,0.00,0.000,4,0.000,0.055,2948,654,2425,0,0,0,0,0,0
$GC,11649,-0.70,-116.8,988.5,-7.0,661,11654,0.08,2.20,0.00,0.000,6,0.197,0.044,2956,2069,2424,0,0,0,0,0,0
$STATE,11828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11828,begin apogee
$GC,11833,-0.19,0.0,1001.0,6.9,670,11943,0.52,0.00,106.78,1.290,6,0.135,0.000,3120,1591,1950,0,0,0,0,0,0
$STATE,11944,end apogee,CONTROL_FINISHED_OK
$STATE,11944,begin climb
$GC,11945,0.76,116.8,1003.1,0.0,675,12068,0.90,2.53,112.07,1.252,4,0.090,0.055,3430,206,1473,0,0,0,0,0,0
$GC,12114,0.73,116.8,991.7,9.5,683,12118,0.00,2.35,0.00,0.000,6,0.000,0.036,3431,1608,1469,0,0,0,0,0,0
$GC,12440,0.73,116.8,960.4,9.3,699,12441,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1608,1466,0,0,0,0,0,0
$GC,12748,0.73,116.8,931.5,9.2,714,12752,0.00,2.30,0.00,0.000,4,0.000,0.056,3430,2999,1463,0,0,0,0,0,0
$GC,12803,0.68,116.8,926.2,9.7,716,12808,0.10,2.22,0.00,0.000,6,0.138,0.036,3406,1602,1463,0,0,0,0,0,0
$GC,13123,0.69,133.2,901.2,7.7,732,13144,0.00,2.33,15.15,1.131,4,0.000,0.057,3417,195,1407,0,0,0,0,0,0
$GC,13201,0.69,138.7,895.2,8.3,735,13215,0.00,2.22,6.80,0.942,6,0.000,0.037,3417,1608,1383,0,0,0,0,0,0
$GC,13542,0.70,150.6,868.3,8.0,752,13563,0.00,2.30,12.55,1.089,4,0.000,0.054,3417,2989,1336,0,0,0,0,0,0
$GC,13601,0.70,150.6,863.3,8.6,754,13608,0.03,2.22,0.00,0.000,6,0.180,0.036,3416,1595,1335,0,0,0,0,0,0
$GC,13917,0.74,160.2,838.0,8.1,770,13933,0.00,2.30,11.05,1.051,4,0.000,0.055,3427,199,1295,0,0,0,0,0,0
$GC,14046,0.74,160.2,826.7,8.9,775,14050,0.00,2.20,0.00,0.000,6,0.000,0.037,3427,1605,1293,0,0,0,0,0,0
$GC,14373,0.74,160.2,797.3,9.1,791,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1605,1293,0,0,0,0,0,0
$GC,14681,0.74,160.2,768.2,9.8,806,14685,0.00,2.28,0.00,0.000,4,0.000,0.053,3437,192,1293,0,0,0,0,0,0
$GC,14725,0.74,160.2,763.6,10.6,808,14729,0.00,2.22,0.00,0.000,6,0.000,0.036,3436,1598,1292,0,0,0,0,0,0
$GC,15056,0.74,160.2,728.1,11.1,824,15060,0.00,2.20,0.00,0.000,4,0.000,0.056,3436,2991,1292,0,0,0,0,0,0
$GC,15094,0.74,160.2,723.6,11.0,825,15100,0.05,2.17,0.00,0.000,6,0.151,0.036,3427,1602,1292,0,0,0,0,0,0
$GC,15411,0.74,160.2,688.7,11.2,841,15415,0.00,2.28,0.00,0.000,4,0.000,0.057,3437,193,1292,0,0,0,0,0,0
$GC,15465,0.74,160.2,682.1,12.2,843,15470,0.00,2.22,0.00,0.000,6,0.000,0.036,3437,1608,1292,0,0,0,0,0,0
$GC,15781,0.74,160.2,646.7,10.9,859,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1608,1292,0,0,0,0,0,0
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$STATE,22612,end climb,SURFACE_DEPTH_REACHED
$STATE,22612,begin surface coast
$FINISH,1.9,1.023413
$STATE,22638,end surface coast,CONTROL_FINISHED_OK
$STATE,22638,begin surface
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$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,22.8,29.315
$10V_AH,10.0,30.980
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.975,171.100,301.075,3.275,0.000,24.724,44.687,286.724,0.000,0.000,20.479,2756.597,16352.840,435.746,3391.460,203.397,0.000,1748.346,0.000,2890.315,0.000,0.539,0.000
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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,353304
$DATA_FILE_SIZE,93815,1279
$CAP_FILE_SIZE,192858,0
$CFSIZE,2097086464,2062548992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,130915,060300,-4458.627,636.844,51,1.0,51,-24.4