version: 66.07.10.p01
glider: 573
mission: 12
dive: 262
start: 9 21 115 5 0 42
data:
$ID,573
$MISSION,12
$DIVE,262
$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,-21837.77
$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,38
$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,261
$GPS1,210915,045233,-4506.262,628.651,57,0.9,57,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-72.9
$GPS2,210915,050022,-4506.238,628.687,17,1.7,18,-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,328.5,7400,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.62,0.000,2,0.000,0.000,62,2055,1513,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.8,3,112,11.93,2.30,-44.40,0.000,4,0.243,0.071,2926,3460,2426,0,0,0,0,0,0
$GC,141,-0.63,-116.8,4.9,-6.4,17,149,0.15,2.22,0.00,0.000,6,0.151,0.039,2972,2066,2427,0,0,0,0,0,0
$GC,200,-0.63,-116.8,10.8,-9.9,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2066,2428,0,0,0,0,0,0
$GC,257,-0.63,-116.8,16.6,-10.2,35,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2066,2428,0,0,0,0,0,0
$GC,315,-0.63,-116.8,22.4,-10.0,44,322,0.00,2.30,0.00,0.000,4,0.000,0.054,2972,655,2428,0,0,0,0,0,0
$GC,350,-0.60,-116.8,26.0,-10.6,49,357,0.08,2.25,0.00,0.000,6,0.162,0.040,2987,2054,2428,0,0,0,0,0,0
$GC,504,-0.60,-116.8,40.6,-9.3,74,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2054,2428,0,0,0,0,0,0
$GC,851,-0.60,-116.8,73.5,-9.9,135,858,0.00,2.28,0.00,0.000,4,0.000,0.057,2976,3457,2428,0,0,0,0,0,0
$GC,912,-0.60,-116.8,79.3,-9.8,145,917,0.00,2.20,0.00,0.000,6,0.000,0.038,2977,2045,2428,0,0,0,0,0,0
$GC,1229,-0.60,-116.8,111.2,-10.0,161,1233,0.00,2.22,0.00,0.000,4,0.000,0.054,2976,656,2428,0,0,0,0,0,0
$GC,1272,-0.60,-116.8,116.3,-10.4,163,1277,0.05,2.22,0.00,0.000,6,0.167,0.037,2984,2059,2428,0,0,0,0,0,0
$GC,1601,-0.60,-116.8,147.2,-9.1,179,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2058,2429,0,0,0,0,0,0
$GC,1908,-0.60,-116.8,174.7,-9.0,194,1912,0.00,2.25,0.00,0.000,4,0.000,0.061,2973,3462,2429,0,0,0,0,0,0
$GC,2070,-0.64,-116.8,188.7,-9.1,201,2074,0.00,2.17,0.00,0.000,6,0.000,0.038,2974,2053,2429,0,0,0,0,0,0
$GC,2398,-0.64,-116.8,218.5,-9.2,217,2402,0.00,2.22,0.00,0.000,4,0.000,0.054,2973,662,2429,0,0,0,0,0,0
$GC,2424,-0.64,-116.8,221.4,-10.0,218,2428,0.00,2.20,0.00,0.000,6,0.000,0.037,2964,2061,2429,0,0,0,0,0,0
$GC,2746,-0.64,-116.8,253.2,-9.8,234,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2060,2429,0,0,0,0,0,0
$GC,3057,-0.64,-116.8,282.3,-9.5,249,3061,0.00,2.22,0.00,0.000,4,0.000,0.061,2954,3462,2429,0,0,0,0,0,0
$GC,3083,-0.64,-116.8,285.3,-9.8,250,3088,0.05,2.17,0.00,0.000,6,0.155,0.039,2971,2069,2429,0,0,0,0,0,0
$GC,3403,-0.64,-116.8,314.0,-8.9,266,3407,0.00,2.25,0.00,0.000,4,0.000,0.054,2972,657,2429,0,0,0,0,0,0
$GC,3430,-0.64,-116.8,316.6,-9.4,267,3434,0.00,2.20,0.00,0.000,6,0.000,0.038,2963,2053,2429,0,0,0,0,0,0
$GC,3758,-0.64,-116.8,346.0,-8.9,283,3762,0.00,2.22,0.00,0.000,4,0.000,0.057,2952,3464,2429,0,0,0,0,0,0
$GC,3790,-0.64,-116.8,349.0,-8.7,284,3797,0.05,2.20,0.00,0.000,6,0.155,0.038,2969,2054,2429,0,0,0,0,0,0
$GC,4105,-0.64,-116.8,376.5,-8.8,300,4109,0.00,2.25,0.00,0.000,4,0.000,0.056,2969,650,2429,0,0,0,0,0,0
$GC,4137,-0.64,-116.8,379.7,-9.9,301,4143,0.03,2.25,0.00,0.000,6,0.181,0.042,2969,2063,2429,0,0,0,0,0,0
$GC,4459,-0.64,-116.8,408.7,-9.3,317,4463,0.00,2.25,0.00,0.000,4,0.000,0.063,2959,3469,2429,0,0,0,0,0,0
$GC,4486,-0.64,-116.8,411.4,-10.0,318,4491,0.03,2.20,0.00,0.000,6,0.171,0.041,2969,2067,2429,0,0,0,0,0,0
$GC,4806,-0.64,-116.8,439.8,-8.7,334,4810,0.00,2.28,0.00,0.000,4,0.000,0.055,2969,646,2429,0,0,0,0,0,0
$GC,4833,-0.64,-116.8,442.4,-10.0,335,4838,0.00,2.22,0.00,0.000,6,0.000,0.037,2960,2061,2429,0,0,0,0,0,0
$GC,5155,-0.64,-116.8,472.6,-9.2,351,5156,0.05,0.00,0.00,0.000,6,0.226,0.000,2971,2061,2429,0,0,0,0,0,0
$GC,5463,-0.67,-116.8,500.9,-9.2,366,5467,0.00,2.28,0.00,0.000,4,0.000,0.055,2972,648,2428,0,0,0,0,0,0
$GC,5501,-0.67,-116.8,504.5,-10.0,368,5505,0.00,2.22,0.00,0.000,6,0.000,0.042,2963,2064,2428,0,0,0,0,0,0
$GC,5832,-0.67,-116.8,535.2,-9.3,384,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2064,2428,0,0,0,0,0,0
$GC,6143,-0.67,-116.8,563.5,-9.2,399,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2064,2428,0,0,0,0,0,0
$GC,6451,-0.67,-116.8,591.6,-8.8,414,6455,0.00,2.25,0.00,0.000,4,0.000,0.063,2952,3469,2427,0,0,0,0,0,0
$GC,6519,-0.67,-116.8,597.6,-9.0,417,6523,0.00,2.17,0.00,0.000,6,0.000,0.041,2953,2052,2427,0,0,0,0,0,0
$GC,6851,-0.67,-116.8,625.9,-8.1,433,6855,0.00,2.22,0.00,0.000,4,0.000,0.056,2953,661,2427,0,0,0,0,0,0
$GC,6877,-0.67,-116.8,628.3,-9.0,434,6882,0.05,2.22,0.00,0.000,6,0.148,0.040,2961,2067,2427,0,0,0,0,0,0
$GC,7203,-0.67,-116.8,653.5,-8.0,450,7207,0.00,2.22,0.00,0.000,4,0.000,0.061,2951,3463,2427,0,0,0,0,0,0
$GC,7229,-0.67,-116.8,655.7,-8.9,451,7233,0.00,2.20,0.00,0.000,6,0.000,0.041,2951,2060,2427,0,0,0,0,0,0
$GC,7551,-0.67,-116.8,681.6,-8.2,467,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2060,2427,0,0,0,0,0,0
$GC,7859,-0.67,-116.8,706.7,-8.2,482,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2060,2426,0,0,0,0,0,0
$GC,8170,-0.67,-116.8,731.0,-7.8,497,8174,0.00,2.22,0.00,0.000,4,0.000,0.056,2951,654,2426,0,0,0,0,0,0
$GC,8219,-0.67,-116.8,735.4,-8.9,499,8224,0.05,2.25,0.00,0.000,6,0.149,0.042,2959,2066,2426,0,0,0,0,0,0
$GC,8542,-0.70,-116.8,760.6,-7.9,515,8546,0.00,2.22,0.00,0.000,4,0.000,0.063,2949,3469,2426,0,0,0,0,0,0
$GC,8597,-0.74,-116.8,765.3,-8.0,517,8601,0.00,2.20,0.00,0.000,6,0.000,0.041,2949,2051,2426,0,0,0,0,0,0
$GC,8913,-0.74,-116.8,791.0,-8.4,533,8917,0.00,2.22,0.00,0.000,4,0.000,0.057,2949,657,2426,0,0,0,0,0,0
$GC,8973,-0.74,-116.8,796.6,-9.1,536,8977,0.00,2.22,0.00,0.000,6,0.000,0.043,2940,2070,2426,0,0,0,0,0,0
$GC,9305,-0.74,-116.8,825.7,-8.4,552,9309,0.00,2.25,0.00,0.000,4,0.000,0.061,2929,3466,2426,0,0,0,0,0,0
$GC,9359,-0.74,-116.8,830.5,-8.5,554,9366,0.03,2.20,0.00,0.000,6,0.184,0.041,2938,2062,2426,0,0,0,0,0,0
$GC,9674,-0.74,-116.8,855.3,-7.6,570,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2062,2426,0,0,0,0,0,0
$GC,9985,-0.74,-116.8,878.3,-7.1,585,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2062,2426,0,0,0,0,0,0
$GC,10293,-0.74,-116.8,900.2,-6.8,600,10297,0.00,2.25,0.00,0.000,4,0.000,0.056,2939,656,2425,0,0,0,0,0,0
$GC,10337,-0.71,-116.8,903.3,-7.7,602,10341,0.10,2.20,0.00,0.000,6,0.174,0.040,2955,2064,2425,0,0,0,0,0,0
$GC,10663,-0.74,-116.8,924.8,-6.9,618,10667,0.00,2.25,0.00,0.000,4,0.000,0.064,2945,3464,2425,0,0,0,0,0,0
$GC,10730,-0.78,-116.8,930.0,-7.7,621,10734,0.00,2.20,0.00,0.000,6,0.000,0.041,2946,2049,2425,0,0,0,0,0,0
$GC,11056,-0.78,-116.8,956.1,-8.4,637,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2049,2425,0,0,0,0,0,0
$GC,11364,-0.78,-116.8,981.9,-8.2,652,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2049,2425,0,0,0,0,0,0
$STATE,11591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11591,begin apogee
$GC,11596,-0.19,0.0,1000.7,8.2,663,11707,0.57,0.00,107.72,1.289,6,0.140,0.000,3120,1594,1950,0,0,0,0,0,0
$STATE,11708,end apogee,CONTROL_FINISHED_OK
$STATE,11708,begin climb
$GC,11710,0.76,116.8,1004.0,0.0,668,11828,0.93,0.00,114.82,1.248,6,0.090,0.000,3426,1594,1473,0,0,0,0,0,0
$GC,12125,0.76,116.8,972.9,8.6,689,12129,0.00,2.35,0.00,0.000,4,0.000,0.056,3437,195,1466,0,0,0,0,0,0
$GC,12179,0.72,116.8,967.6,9.6,691,12185,0.08,2.30,0.00,0.000,6,0.174,0.034,3419,1613,1464,0,0,0,0,0,0
$GC,12495,0.72,116.8,939.5,9.1,707,12499,0.00,2.25,0.00,0.000,4,0.000,0.053,3418,2992,1464,0,0,0,0,0,0
$GC,12539,0.72,116.8,935.2,9.4,709,12543,0.00,2.22,0.00,0.000,6,0.000,0.036,3427,1606,1464,0,0,0,0,0,0
$GC,12866,0.72,116.8,903.3,9.9,725,12870,0.00,2.30,0.00,0.000,4,0.000,0.057,3438,195,1463,0,0,0,0,0,0
$GC,12955,0.68,116.8,894.0,10.6,729,12960,0.08,2.25,0.00,0.000,6,0.137,0.036,3402,1604,1462,0,0,0,0,0,0
$GC,13283,0.74,125.1,867.0,8.1,745,13292,0.00,0.00,7.32,0.974,6,0.000,0.000,3402,1605,1439,0,0,0,0,0,0
$GC,13590,0.80,142.6,843.2,7.7,760,13612,0.10,0.00,18.85,1.131,6,0.095,0.000,3454,1605,1367,0,0,0,0,0,0
$GC,13919,0.75,142.6,810.7,9.6,776,13924,0.10,2.35,0.00,0.000,4,0.158,0.054,3438,189,1364,0,0,0,0,0,0
$GC,13985,0.75,142.6,804.5,9.4,779,13990,0.00,2.25,0.00,0.000,6,0.000,0.035,3438,1604,1364,0,0,0,0,0,0
$GC,14312,0.75,142.6,774.8,9.3,795,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1604,1363,0,0,0,0,0,0
$GC,14620,0.75,142.6,745.8,9.5,810,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1604,1363,0,0,0,0,0,0
$GC,14931,0.75,142.6,716.6,9.4,825,14935,0.00,2.30,0.00,0.000,4,0.000,0.054,3447,185,1363,0,0,0,0,0,0
$GC,14974,0.75,142.6,712.1,10.8,827,14979,0.05,2.22,0.00,0.000,6,0.142,0.035,3429,1600,1363,0,0,0,0,0,0
$GC,15301,0.75,142.6,682.4,9.0,843,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1600,1363,0,0,0,0,0,0
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$STATE,22735,end climb,SURFACE_DEPTH_REACHED
$STATE,22735,begin surface coast
$FINISH,1.7,1.003440
$STATE,22779,end surface coast,CONTROL_FINISHED_OK
$STATE,22779,begin surface
$SM_CCo,22797,12.45,0.055,0,0,1133,200.16
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$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.6,33.148
$10V_AH,9.9,35.073
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.550,175.850,277.875,12.450,0.000,25.666,17.480,289.528,0.000,0.000,20.186,2810.081,16350.821,461.632,3424.578,223.338,0.000,1764.822,0.000,2948.375,0.000,0.540,0.000
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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,353320
$DATA_FILE_SIZE,93798,1303
$CAP_FILE_SIZE,193507,0
$CFSIZE,2097086464,2057699328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210915,112234,-4505.289,626.081,67,0.9,67,-24.4