version: 66.07.10.p01
glider: 573
mission: 12
dive: 265
start: 9 21 115 20 21 55
data:
$ID,573
$MISSION,12
$DIVE,265
$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,-21847.537
$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,33
$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,264
$GPS1,210915,201402,-4503.612,623.816,29,1.0,29,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-69.0
$GPS2,210915,202135,-4503.657,623.888,15,1.1,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,25.0,14182,-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,-116.8,0.0,0.0,0,53,0.00,0.00,-25.88,0.000,2,0.000,0.000,67,2069,1633,0,0,0,0,0,0
$GC,56,-0.76,-116.8,3.2,-3.4,4,113,11.93,0.00,-36.67,0.000,6,0.244,0.000,2935,2069,2427,0,0,0,0,0,0
$GC,165,-0.66,-116.8,7.4,-8.4,21,172,0.12,0.00,0.00,0.000,6,0.184,0.000,2967,2069,2428,0,0,0,0,0,0
$GC,224,-0.63,-116.8,13.9,-10.8,30,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2069,2429,0,0,0,0,0,0
$GC,282,-0.58,-116.8,21.3,-12.5,39,289,0.10,0.00,0.00,0.000,6,0.195,0.000,2991,2069,2429,0,0,0,0,0,0
$GC,437,-0.62,-116.8,36.3,-9.8,64,444,0.00,2.33,0.00,0.000,4,0.000,0.067,2981,3457,2429,0,0,0,0,0,0
$GC,465,-0.62,-116.8,38.8,-9.2,68,473,0.00,2.22,0.00,0.000,6,0.000,0.041,2981,2064,2429,0,0,0,0,0,0
$GC,610,-0.62,-116.8,53.0,-9.0,93,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2064,2429,0,0,0,0,0,0
$GC,963,-0.62,-116.8,89.3,-10.9,144,967,0.00,2.25,0.00,0.000,4,0.000,0.055,2981,655,2430,0,0,0,0,0,0
$GC,1007,-0.62,-116.8,94.4,-11.2,146,1012,0.00,2.25,0.00,0.000,6,0.000,0.041,2972,2060,2429,0,0,0,0,0,0
$GC,1335,-0.62,-116.8,129.1,-10.6,162,1339,0.00,2.28,0.00,0.000,4,0.000,0.063,2962,3466,2430,0,0,0,0,0,0
$GC,1361,-0.62,-116.8,131.5,-10.5,163,1366,0.08,2.20,0.00,0.000,6,0.182,0.041,2979,2056,2430,0,0,0,0,0,0
$GC,1689,-0.62,-116.8,164.7,-9.9,179,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2056,2430,0,0,0,0,0,0
$GC,1996,-0.62,-116.8,193.0,-8.9,194,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2056,2430,0,0,0,0,0,0
$GC,2308,-0.66,-116.8,219.9,-8.4,209,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2056,2430,0,0,0,0,0,0
$GC,2616,-0.69,-116.8,244.7,-8.0,224,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2056,2430,0,0,0,0,0,0
$GC,2927,-0.72,-116.8,267.4,-7.4,239,2929,0.10,0.00,0.00,0.000,6,0.100,0.000,2926,2056,2431,0,0,0,0,0,0
$GC,3234,-0.64,-116.8,297.7,-9.9,254,3239,0.17,2.33,0.00,0.000,4,0.163,0.065,2964,3465,2431,0,0,0,0,0,0
$GC,3274,-0.64,-116.8,301.2,-8.1,256,3278,0.00,2.17,0.00,0.000,6,0.000,0.041,2964,2052,2430,0,0,0,0,0,0
$GC,3599,-0.64,-116.8,328.6,-8.7,272,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2052,2431,0,0,0,0,0,0
$GC,3910,-0.64,-116.8,357.3,-9.4,287,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2052,2430,0,0,0,0,0,0
$GC,4218,-0.64,-116.8,386.2,-9.3,302,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2052,2430,0,0,0,0,0,0
$GC,4529,-0.64,-116.8,413.3,-8.4,317,4533,0.00,2.22,0.00,0.000,4,0.000,0.057,2964,652,2430,0,0,0,0,0,0
$GC,4549,-0.64,-116.8,415.3,-9.1,318,4554,0.00,2.25,0.00,0.000,6,0.000,0.044,2956,2060,2430,0,0,0,0,0,0
$GC,4875,-0.64,-116.8,443.0,-8.6,334,4877,0.08,0.00,0.00,0.000,6,0.190,0.000,2972,2060,2430,0,0,0,0,0,0
$GC,5187,-0.68,-116.8,466.3,-7.9,349,5191,0.00,2.28,0.00,0.000,4,0.000,0.064,2962,3463,2430,0,0,0,0,0,0
$GC,5253,-0.71,-116.8,471.9,-8.3,352,5257,0.00,2.17,0.00,0.000,6,0.000,0.041,2962,2051,2430,0,0,0,0,0,0
$GC,5579,-0.71,-116.8,499.0,-8.4,368,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2051,2430,0,0,0,0,0,0
$GC,5890,-0.71,-116.8,525.0,-8.5,383,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2051,2430,0,0,0,0,0,0
$GC,6198,-0.71,-116.8,550.8,-8.3,398,6202,0.00,2.22,0.00,0.000,4,0.000,0.058,2962,658,2430,0,0,0,0,0,0
$GC,6241,-0.71,-116.8,554.7,-9.0,400,6246,0.00,2.22,0.00,0.000,6,0.000,0.042,2953,2058,2430,0,0,0,0,0,0
$GC,6567,-0.71,-116.8,585.2,-9.5,416,6571,0.00,2.28,0.00,0.000,4,0.000,0.063,2943,3466,2430,0,0,0,0,0,0
$GC,6617,-0.71,-116.8,590.0,-9.9,418,6621,0.00,2.20,0.00,0.000,6,0.000,0.042,2943,2068,2430,0,0,0,0,0,0
$GC,6943,-0.71,-116.8,621.9,-9.6,434,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2067,2431,0,0,0,0,0,0
$GC,7254,-0.71,-116.8,650.8,-9.2,449,7258,0.00,2.25,0.00,0.000,4,0.000,0.057,2943,657,2430,0,0,0,0,0,0
$GC,7275,-0.68,-116.8,653.1,-10.1,450,7280,0.08,2.25,0.00,0.000,6,0.151,0.042,2958,2069,2430,0,0,0,0,0,0
$GC,7601,-0.68,-116.8,680.2,-7.9,466,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2069,2430,0,0,0,0,0,0
$GC,7912,-0.68,-116.8,704.6,-7.8,481,7916,0.00,2.28,0.00,0.000,4,0.000,0.064,2948,3470,2430,0,0,0,0,0,0
$GC,7960,-0.68,-116.8,708.6,-8.1,483,7965,0.00,2.22,0.00,0.000,6,0.000,0.044,2948,2060,2430,0,0,0,0,0,0
$GC,8283,-0.68,-116.8,733.3,-7.7,499,8287,0.05,2.28,0.00,0.000,4,0.220,0.057,2960,654,2430,0,0,0,0,0,0
$GC,8326,-0.68,-116.8,736.9,-8.5,501,8330,0.00,2.25,0.00,0.000,6,0.000,0.044,2951,2057,2429,0,0,0,0,0,0
$GC,8653,-0.68,-116.8,762.6,-8.1,517,8657,0.00,2.28,0.00,0.000,4,0.000,0.063,2940,3464,2429,0,0,0,0,0,0
$GC,8675,-0.68,-116.8,764.5,-8.2,518,8680,0.05,2.20,0.00,0.000,6,0.148,0.041,2958,2059,2429,0,0,0,0,0,0
$GC,9000,-0.68,-116.8,789.9,-7.8,534,9004,0.00,2.25,0.00,0.000,4,0.000,0.057,2958,651,2429,0,0,0,0,0,0
$GC,9055,-0.68,-116.8,794.6,-9.1,536,9060,0.00,2.25,0.00,0.000,6,0.000,0.044,2949,2055,2429,0,0,0,0,0,0
$GC,9376,-0.68,-116.8,819.7,-7.6,552,9378,0.05,0.00,0.00,0.000,6,0.220,0.000,2961,2055,2429,0,0,0,0,0,0
$GC,9687,-0.72,-116.8,841.2,-6.9,567,9691,0.00,2.30,0.00,0.000,4,0.000,0.062,2950,3478,2428,0,0,0,0,0,0
$GC,9727,-0.76,-116.8,844.2,-7.4,569,9731,0.00,2.20,0.00,0.000,6,0.000,0.041,2950,2049,2428,0,0,0,0,0,0
$GC,10053,-0.76,-116.8,869.2,-8.0,585,10057,0.00,2.22,0.00,0.000,4,0.000,0.057,2950,656,2428,0,0,0,0,0,0
$GC,10086,-0.76,-116.8,872.1,-8.5,586,10092,0.00,2.25,0.00,0.000,6,0.000,0.044,2942,2066,2428,0,0,0,0,0,0
$GC,10400,-0.76,-116.8,899.2,-8.9,602,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2066,2428,0,0,0,0,0,0
$GC,10711,-0.76,-116.8,926.3,-8.8,617,10715,0.00,2.28,0.00,0.000,4,0.000,0.066,2931,3466,2428,0,0,0,0,0,0
$GC,10773,-0.76,-116.8,932.0,-10.2,620,10777,0.00,2.17,0.00,0.000,6,0.000,0.041,2931,2054,2428,0,0,0,0,0,0
$GC,11099,-0.76,-116.8,960.8,-8.5,636,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2053,2428,0,0,0,0,0,0
$GC,11410,-0.76,-116.8,986.6,-8.5,651,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2053,2428,0,0,0,0,0,0
$STATE,11573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11573,begin apogee
$GC,11578,-0.19,0.0,1000.6,8.6,659,11690,0.62,0.00,108.47,1.289,6,0.141,0.000,3122,1600,1950,0,0,0,0,0,0
$STATE,11690,end apogee,CONTROL_FINISHED_OK
$STATE,11691,begin climb
$GC,11692,0.76,116.8,1003.7,0.0,664,11811,0.90,0.00,114.85,1.250,6,0.090,0.000,3419,1600,1474,0,0,0,0,0,0
$GC,12108,0.76,126.2,974.0,8.1,685,12119,0.00,0.00,9.57,1.048,6,0.000,0.000,3419,1600,1434,0,0,0,0,0,0
$GC,12416,0.76,126.2,947.7,8.6,700,12420,0.00,2.35,0.00,0.000,4,0.000,0.057,3429,198,1431,0,0,0,0,0,0
$GC,12533,0.76,126.2,936.8,9.4,705,12537,0.00,2.30,0.00,0.000,6,0.000,0.036,3429,1619,1431,0,0,0,0,0,0
$GC,12860,0.76,126.2,906.7,9.4,721,12864,0.00,2.20,0.00,0.000,4,0.000,0.056,3429,2992,1430,0,0,0,0,0,0
$GC,12904,0.73,126.2,902.4,9.5,723,12909,0.05,2.20,0.00,0.000,6,0.152,0.036,3422,1605,1430,0,0,0,0,0,0
$GC,13231,0.73,126.2,873.6,9.0,739,13235,0.00,2.28,0.00,0.000,4,0.000,0.057,3431,198,1430,0,0,0,0,0,0
$GC,13346,0.73,126.2,862.0,10.4,744,13352,0.00,2.22,0.00,0.000,6,0.000,0.037,3431,1601,1429,0,0,0,0,0,0
$GC,13667,0.73,126.2,831.2,9.7,760,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1601,1429,0,0,0,0,0,0
$GC,13978,0.73,126.2,799.7,10.1,775,13982,0.00,2.28,0.00,0.000,4,0.000,0.054,3441,199,1429,0,0,0,0,0,0
$GC,14049,0.70,126.2,792.0,10.6,778,14054,0.08,2.22,0.00,0.000,6,0.134,0.037,3406,1604,1428,0,0,0,0,0,0
$GC,14369,0.75,126.2,762.5,8.8,794,14370,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1604,1428,0,0,0,0,0,0
$GC,14680,0.80,140.1,736.6,7.9,809,14698,0.10,0.00,13.68,1.053,6,0.096,0.000,3459,1605,1379,0,0,0,0,0,0
$GC,15009,0.75,140.1,704.6,9.9,825,15014,0.12,2.33,0.00,0.000,4,0.151,0.055,3433,197,1377,0,0,0,0,0,0
$GC,15097,0.75,140.1,696.6,9.2,829,15102,0.00,2.22,0.00,0.000,6,0.000,0.036,3434,1600,1377,0,0,0,0,0,0
$GC,15425,0.75,140.1,666.9,9.3,845,15426,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1600,1377,0,0,0,0,0,0
$GC,15733,0.75,142.1,640.4,8.5,860,15737,0.00,2.28,0.00,0.000,4,0.000,0.054,3443,195,1376,0,0,0,0,0,0
$GC,15816,0.76,146.6,632.9,8.3,863,15831,0.03,2.22,7.45,0.882,6,0.167,0.036,3433,1605,1352,0,0,0,0,0,0
$GC,16151,0.76,155.8,605.9,8.1,880,16164,0.00,0.00,10.90,0.948,6,0.000,0.000,3433,1605,1313,0,0,0,0,0,0
$GC,16462,0.77,166.8,580.5,8.0,895,16476,0.00,0.00,11.80,0.946,6,0.000,0.000,3433,1605,1270,0,0,0,0,0,0
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$STATE,22492,end climb,SURFACE_DEPTH_REACHED
$STATE,22492,begin surface coast
$FINISH,1.9,1.023406
$STATE,22530,end surface coast,CONTROL_FINISHED_OK
$STATE,22530,begin surface
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$SM_GC,3.39,0.00,0.00,1.15,0.000,0.000,0.066,64,2088,1133,-9.75,0.82,200.16
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$TT8_MAMPS,0.026964
$HUMID,63.66
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.6,33.468
$10V_AH,9.9,35.392
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.325,135.925,303.300,1.150,0.000,29.897,45.766,256.009,0.000,0.000,17.590,2750.477,16289.797,434.752,3315.331,212.656,0.000,1687.215,0.000,2848.279,0.000,0.539,0.000
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$MEM,353280
$DATA_FILE_SIZE,93999,1284
$CAP_FILE_SIZE,182218,0
$CFSIZE,2097086464,2057306112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220915,023903,-4501.690,625.603,44,0.8,44,-24.4