version: 66.07.10.p01
glider: 573
mission: 12
dive: 259
start: 9 20 115 9 42 24
data:
$ID,573
$MISSION,12
$DIVE,259
$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,-21827.387
$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,34
$R_STBD_OVSHOOT,41
$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,258
$GPS1,200915,093434,-4504.117,636.291,40,0.8,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-73.2
$GPS2,200915,094204,-4504.147,636.380,16,1.8,17,-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,295.4,16196,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.76,-116.8,0.0,0.0,0,47,0.00,0.00,-19.62,0.000,2,0.000,0.000,62,2078,1516,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.1,-4.2,3,114,11.80,2.33,-45.83,0.000,4,0.241,0.068,2932,651,2424,0,0,0,0,0,0
$GC,184,-0.63,-116.8,10.3,-11.9,24,192,0.15,2.28,0.00,0.000,6,0.143,0.044,2971,2042,2426,0,0,0,0,0,0
$GC,243,-0.63,-116.8,16.8,-10.5,33,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2041,2426,0,0,0,0,0,0
$GC,301,-0.63,-116.8,22.9,-10.4,42,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2042,2426,0,0,0,0,0,0
$GC,455,-0.63,-116.8,39.1,-10.5,67,463,0.00,2.38,0.00,0.000,4,0.000,0.064,2960,3476,2427,0,0,0,0,0,0
$GC,494,-0.63,-116.8,43.3,-10.6,73,500,0.08,2.25,0.00,0.000,6,0.194,0.042,2977,2051,2426,0,0,0,0,0,0
$GC,843,-0.63,-116.8,79.6,-10.0,134,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2051,2427,0,0,0,0,0,0
$GC,1159,-0.63,-116.8,112.7,-10.1,150,1163,0.00,2.25,0.00,0.000,4,0.000,0.057,2977,658,2428,0,0,0,0,0,0
$GC,1225,-0.63,-116.8,120.1,-11.2,153,1230,0.00,2.25,0.00,0.000,6,0.000,0.042,2968,2063,2427,0,0,0,0,0,0
$GC,1555,-0.63,-116.8,153.4,-10.0,169,1559,0.00,2.28,0.00,0.000,4,0.000,0.063,2957,3463,2428,0,0,0,0,0,0
$GC,1580,-0.63,-116.8,156.4,-10.5,170,1586,0.05,2.22,0.00,0.000,6,0.158,0.041,2974,2057,2428,0,0,0,0,0,0
$GC,1902,-0.63,-116.8,185.4,-9.1,186,1906,0.00,2.25,0.00,0.000,4,0.000,0.057,2974,656,2428,0,0,0,0,0,0
$GC,2036,-0.63,-116.8,199.1,-9.7,192,2041,0.00,2.25,0.00,0.000,6,0.000,0.043,2965,2061,2428,0,0,0,0,0,0
$GC,2364,-0.63,-116.8,230.4,-9.7,208,2368,0.00,2.28,0.00,0.000,4,0.000,0.063,2955,3466,2428,0,0,0,0,0,0
$GC,2401,-0.63,-116.8,234.5,-10.6,209,2408,0.05,2.22,0.00,0.000,6,0.158,0.041,2972,2053,2428,0,0,0,0,0,0
$GC,2720,-0.63,-116.8,263.0,-9.0,225,2724,0.00,2.22,0.00,0.000,4,0.000,0.057,2972,658,2428,0,0,0,0,0,0
$GC,2746,-0.63,-116.8,265.8,-9.7,226,2751,0.03,2.25,0.00,0.000,6,0.190,0.042,2972,2068,2428,0,0,0,0,0,0
$GC,3067,-0.63,-116.8,293.2,-8.8,242,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2068,2428,0,0,0,0,0,0
$GC,3376,-0.63,-116.8,321.8,-9.2,257,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2068,2428,0,0,0,0,0,0
$GC,3685,-0.63,-116.8,348.2,-8.0,272,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2068,2428,0,0,0,0,0,0
$GC,3995,-0.63,-116.8,373.6,-8.3,287,3999,0.00,2.25,0.00,0.000,4,0.000,0.062,2962,3464,2428,0,0,0,0,0,0
$GC,4067,-0.63,-116.8,380.0,-8.4,290,4072,0.03,2.20,0.00,0.000,6,0.177,0.041,2971,2061,2428,0,0,0,0,0,0
$GC,4392,-0.63,-116.8,408.1,-8.6,306,4396,0.00,2.25,0.00,0.000,4,0.000,0.056,2973,658,2428,0,0,0,0,0,0
$GC,4437,-0.63,-116.8,412.2,-9.6,308,4441,0.05,2.22,0.00,0.000,6,0.224,0.042,2975,2054,2428,0,0,0,0,0,0
$GC,4770,-0.67,-116.8,439.1,-7.6,324,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2054,2428,0,0,0,0,0,0
$GC,5080,-0.71,-116.8,462.8,-7.7,339,5084,0.05,2.28,0.00,0.000,4,0.168,0.058,2926,3468,2428,0,0,0,0,0,0
$GC,5111,-0.66,-116.8,466.0,-9.9,340,5116,0.10,2.22,0.00,0.000,6,0.142,0.041,2967,2056,2428,0,0,0,0,0,0
$GC,5432,-0.66,-116.8,492.6,-8.3,356,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2056,2428,0,0,0,0,0,0
$GC,5743,-0.66,-116.8,519.1,-8.5,371,5747,0.00,2.25,0.00,0.000,4,0.000,0.058,2967,648,2428,0,0,0,0,0,0
$GC,5803,-0.66,-116.8,524.9,-8.6,374,5807,0.00,2.22,0.00,0.000,6,0.000,0.044,2958,2061,2428,0,0,0,0,0,0
$GC,6134,-0.66,-116.8,555.6,-9.2,390,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2061,2428,0,0,0,0,0,0
$GC,6445,-0.66,-116.8,583.4,-9.0,405,6449,0.00,2.28,0.00,0.000,4,0.000,0.063,2948,3465,2427,0,0,0,0,0,0
$GC,6478,-0.66,-116.8,586.4,-9.1,406,6484,0.08,2.20,0.00,0.000,6,0.187,0.042,2965,2048,2427,0,0,0,0,0,0
$GC,6793,-0.69,-116.8,613.5,-8.4,422,6797,0.00,2.25,0.00,0.000,4,0.000,0.057,2965,645,2427,0,0,0,0,0,0
$GC,6825,-0.69,-116.8,616.4,-8.6,423,6829,0.00,2.25,0.00,0.000,6,0.000,0.042,2956,2060,2427,0,0,0,0,0,0
$GC,7147,-0.69,-116.8,644.4,-8.9,439,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2060,2426,0,0,0,0,0,0
$GC,7455,-0.69,-116.8,670.7,-8.2,454,7459,0.00,2.28,0.00,0.000,4,0.000,0.064,2946,3465,2427,0,0,0,0,0,0
$GC,7509,-0.69,-116.8,675.4,-8.4,456,7514,0.00,2.22,0.00,0.000,6,0.000,0.043,2945,2057,2426,0,0,0,0,0,0
$GC,7831,-0.69,-116.8,702.8,-8.2,472,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2057,2426,0,0,0,0,0,0
$GC,8141,-0.69,-116.8,728.3,-8.3,487,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2056,2426,0,0,0,0,0,0
$GC,8449,-0.69,-116.8,754.8,-8.9,502,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2056,2425,0,0,0,0,0,0
$GC,8759,-0.69,-116.8,781.3,-8.3,517,8763,0.00,2.25,0.00,0.000,4,0.000,0.058,2946,648,2425,0,0,0,0,0,0
$GC,8825,-0.69,-116.8,787.5,-9.4,520,8830,0.05,2.25,0.00,0.000,6,0.155,0.044,2954,2060,2425,0,0,0,0,0,0
$GC,9153,-0.69,-116.8,815.7,-8.9,536,9157,0.00,2.25,0.00,0.000,4,0.000,0.057,2954,655,2425,0,0,0,0,0,0
$GC,9191,-0.69,-116.8,819.5,-10.0,538,9195,0.00,2.22,0.00,0.000,6,0.000,0.044,2945,2061,2425,0,0,0,0,0,0
$GC,9522,-0.69,-116.8,851.4,-9.9,554,9526,0.00,2.30,0.00,0.000,4,0.000,0.057,2945,647,2425,0,0,0,0,0,0
$GC,9549,-0.69,-116.8,854.3,-11.1,555,9554,0.05,2.25,0.00,0.000,6,0.156,0.044,2953,2054,2425,0,0,0,0,0,0
$GC,9871,-0.72,-116.8,883.8,-9.0,571,9875,0.00,2.25,0.00,0.000,4,0.000,0.060,2943,3465,2425,0,0,0,0,0,0
$GC,9937,-0.72,-116.8,889.9,-8.6,574,9941,0.00,2.22,0.00,0.000,6,0.000,0.042,2943,2052,2424,0,0,0,0,0,0
$GC,10263,-0.72,-116.8,920.0,-9.3,590,10267,0.00,2.25,0.00,0.000,4,0.000,0.058,2943,656,2424,0,0,0,0,0,0
$GC,10295,-0.72,-116.8,922.9,-9.3,591,10300,0.00,2.25,0.00,0.000,6,0.000,0.044,2934,2066,2424,0,0,0,0,0,0
$GC,10611,-0.72,-116.8,952.6,-9.4,607,10616,0.05,2.30,0.00,0.000,4,0.221,0.066,2935,3471,2425,0,0,0,0,0,0
$GC,10637,-0.72,-116.8,955.1,-9.3,608,10642,0.00,2.22,0.00,0.000,6,0.000,0.043,2935,2061,2424,0,0,0,0,0,0
$GC,10958,-0.72,-116.8,983.4,-8.9,624,10959,0.03,0.00,0.00,0.000,6,0.272,0.000,2944,2061,2425,0,0,0,0,0,0
$STATE,11162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11163,begin apogee
$GC,11168,-0.19,0.0,1001.3,8.7,634,11279,0.57,0.00,107.62,1.285,6,0.142,0.000,3120,1592,1950,0,0,0,0,0,0
$STATE,11279,end apogee,CONTROL_FINISHED_OK
$STATE,11279,begin climb
$GC,11281,0.76,116.8,1004.7,0.0,639,11400,0.93,0.00,114.80,1.248,6,0.091,0.000,3424,1591,1474,0,0,0,0,0,0
$GC,11695,0.76,119.1,975.4,8.4,660,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1591,1466,0,0,0,0,0,0
$GC,12006,0.76,119.1,947.9,9.0,675,12010,0.00,2.33,0.00,0.000,4,0.000,0.057,3435,198,1464,0,0,0,0,0,0
$GC,12043,0.73,119.1,944.3,10.1,676,12050,0.03,2.28,0.00,0.000,6,0.162,0.037,3425,1610,1464,0,0,0,0,0,0
$GC,12358,0.73,119.1,915.9,9.1,692,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1610,1463,0,0,0,0,0,0
$GC,12669,0.73,119.1,887.0,9.8,707,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1610,1463,0,0,0,0,0,0
$GC,12977,0.73,119.1,857.1,9.3,722,12978,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1610,1462,0,0,0,0,0,0
$GC,13288,0.73,122.6,829.9,8.4,737,13294,0.00,0.00,4.72,0.793,6,0.000,0.000,3424,1610,1449,0,0,0,0,0,0
$GC,13596,0.74,133.7,804.4,8.0,752,13617,0.00,2.40,12.62,1.061,4,0.000,0.056,3434,187,1404,0,0,0,0,0,0
$GC,13655,0.74,133.7,799.2,8.9,754,13661,0.00,2.25,0.00,0.000,6,0.000,0.036,3433,1599,1403,0,0,0,0,0,0
$GC,13970,0.74,133.7,771.4,8.6,770,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1599,1402,0,0,0,0,0,0
$GC,14281,0.74,133.7,744.2,8.6,785,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1599,1402,0,0,0,0,0,0
$GC,14589,0.74,133.7,716.9,9.2,800,14590,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1599,1401,0,0,0,0,0,0
$GC,14899,0.74,133.7,688.6,9.2,815,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1599,1401,0,0,0,0,0,0
$GC,15207,0.74,133.7,660.0,9.2,830,15211,0.00,2.22,0.00,0.000,4,0.000,0.054,3433,2995,1401,0,0,0,0,0,0
$GC,15245,0.74,133.7,656.0,9.9,831,15251,0.05,2.20,0.00,0.000,6,0.155,0.036,3425,1594,1401,0,0,0,0,0,0
$GC,15562,0.74,133.7,627.9,8.9,847,15563,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1594,1401,0,0,0,0,0,0
$GC,15870,0.74,133.7,600.1,8.9,862,15874,0.00,2.28,0.00,0.000,4,0.000,0.057,3435,195,1401,0,0,0,0,0,0
$GC,15925,0.74,133.7,594.8,9.8,864,15930,0.00,2.22,0.00,0.000,6,0.000,0.036,3435,1617,1401,0,0,0,0,0,0
$GC,16245,0.74,133.7,565.2,9.2,880,16247,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1617,1401,0,0,0,0,0,0
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$STATE,22404,end climb,SURFACE_DEPTH_REACHED
$STATE,22404,begin surface coast
$FINISH,1.8,1.014923
$STATE,22437,end surface coast,CONTROL_FINISHED_OK
$STATE,22437,begin surface
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$HUMID,63.58
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$TCM_TEMP,11.80
$XPDR_PINGS,0
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$10V_AH,9.9,34.683
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353292
$DATA_FILE_SIZE,94125,1275
$CAP_FILE_SIZE,183231,0
$CFSIZE,2097086464,2058092544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,200915,155803,-4505.961,633.875,40,1.0,40,-24.4