version: 66.07.10.p01
glider: 573
mission: 12
dive: 321
start: 10 4 115 0 54 33
data:
$ID,573
$MISSION,12
$DIVE,321
$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,-22040.43
$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,30
$R_STBD_OVSHOOT,37
$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,320
$GPS1,041015,004528,-4504.697,631.924,41,1.2,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-72.1
$GPS2,041015,005412,-4504.730,632.038,18,1.2,19,-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,301.7,10600,-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,-19.40,0.000,2,0.000,0.000,75,2064,1503,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.0,-2.5,3,113,12.07,2.33,-41.40,0.000,4,0.247,0.073,2925,3455,2428,0,0,0,0,0,0
$GC,366,-0.67,-116.8,34.4,-12.7,54,373,0.12,2.25,0.00,0.000,6,0.144,0.041,2965,2055,2430,0,0,0,0,0,0
$GC,516,-0.67,-116.8,50.6,-10.9,79,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2055,2430,0,0,0,0,0,0
$GC,863,-0.67,-116.8,87.0,-10.5,131,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2055,2430,0,0,0,0,0,0
$GC,1168,-0.67,-116.8,118.5,-9.9,146,1173,0.00,2.33,0.00,0.000,4,0.000,0.062,2955,3466,2430,0,0,0,0,0,0
$GC,1195,-0.67,-116.8,121.4,-10.1,147,1200,0.00,2.22,0.00,0.000,6,0.000,0.041,2955,2061,2430,0,0,0,0,0,0
$GC,1519,-0.63,-116.8,152.7,-9.3,163,1521,0.10,0.00,0.00,0.000,6,0.194,0.000,2980,2061,2430,0,0,0,0,0,0
$GC,1827,-0.67,-116.8,177.0,-7.6,178,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2061,2430,0,0,0,0,0,0
$GC,2138,-0.70,-116.8,200.3,-7.1,193,2143,0.08,2.28,0.00,0.000,4,0.125,0.054,2933,655,2430,0,0,0,0,0,0
$GC,2238,-0.61,-116.8,210.1,-9.8,197,2244,0.15,2.22,0.00,0.000,6,0.148,0.041,2980,2046,2430,0,0,0,0,0,0
$GC,2558,-0.66,-116.8,233.8,-7.4,213,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2046,2430,0,0,0,0,0,0
$GC,2864,-0.70,-116.8,261.4,-9.4,228,2869,0.08,2.33,0.00,0.000,4,0.124,0.061,2923,3477,2430,0,0,0,0,0,0
$GC,2908,-0.64,-116.8,266.4,-11.2,230,2912,0.17,2.25,0.00,0.000,6,0.151,0.041,2972,2054,2430,0,0,0,0,0,0
$GC,3235,-0.67,-116.8,296.1,-9.0,246,3239,0.00,2.25,0.00,0.000,4,0.000,0.058,2973,651,2431,0,0,0,0,0,0
$GC,3262,-0.67,-116.8,298.9,-9.7,247,3267,0.00,2.25,0.00,0.000,6,0.000,0.043,2964,2058,2430,0,0,0,0,0,0
$GC,3590,-0.67,-116.8,328.2,-8.8,263,3594,0.00,2.30,0.00,0.000,4,0.000,0.063,2954,3471,2431,0,0,0,0,0,0
$GC,3655,-0.67,-116.8,334.5,-9.0,266,3660,0.00,2.22,0.00,0.000,6,0.000,0.042,2954,2063,2430,0,0,0,0,0,0
$GC,3982,-0.67,-116.8,363.9,-8.9,282,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2063,2430,0,0,0,0,0,0
$GC,4292,-0.67,-116.8,392.0,-9.1,297,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2063,2431,0,0,0,0,0,0
$GC,4600,-0.67,-116.8,421.1,-9.5,312,4604,0.00,2.25,0.00,0.000,4,0.000,0.056,2954,656,2430,0,0,0,0,0,0
$GC,4638,-0.67,-116.8,425.2,-11.1,313,4644,0.05,2.22,0.00,0.000,6,0.147,0.040,2962,2057,2430,0,0,0,0,0,0
$GC,4955,-0.67,-116.8,456.8,-10.1,329,4959,0.00,2.28,0.00,0.000,4,0.000,0.060,2952,3463,2430,0,0,0,0,0,0
$GC,5027,-0.67,-116.8,464.2,-10.4,332,5032,0.05,2.20,0.00,0.000,6,0.221,0.042,2962,2060,2430,0,0,0,0,0,0
$GC,5343,-0.67,-116.8,494.3,-9.5,347,5347,0.00,2.28,0.00,0.000,4,0.000,0.057,2964,647,2430,0,0,0,0,0,0
$GC,5380,-0.67,-116.8,498.4,-10.2,348,5386,0.00,2.25,0.00,0.000,6,0.000,0.041,2955,2060,2430,0,0,0,0,0,0
$GC,5695,-0.67,-116.8,526.4,-8.6,364,5699,0.00,2.28,0.00,0.000,4,0.000,0.063,2945,3463,2430,0,0,0,0,0,0
$GC,5723,-0.67,-116.8,528.8,-8.9,365,5727,0.05,2.22,0.00,0.000,6,0.155,0.041,2961,2056,2429,0,0,0,0,0,0
$GC,6050,-0.67,-116.8,552.8,-7.1,381,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,2429,0,0,0,0,0,0
$GC,6359,-0.70,-116.8,574.9,-7.1,396,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,2429,0,0,0,0,0,0
$GC,6669,-0.73,-116.8,597.1,-7.4,411,6674,0.00,2.28,0.00,0.000,4,0.000,0.058,2962,654,2429,0,0,0,0,0,0
$GC,6691,-0.73,-116.8,599.0,-8.1,412,6695,0.00,2.25,0.00,0.000,6,0.000,0.044,2953,2055,2429,0,0,0,0,0,0
$GC,7017,-0.73,-116.8,623.7,-7.7,428,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2056,2429,0,0,0,0,0,0
$GC,7328,-0.73,-116.8,647.6,-7.7,443,7332,0.00,2.30,0.00,0.000,4,0.000,0.060,2943,3478,2429,0,0,0,0,0,0
$GC,7367,-0.73,-116.8,651.0,-8.6,445,7371,0.00,2.22,0.00,0.000,6,0.000,0.042,2943,2057,2429,0,0,0,0,0,0
$GC,7693,-0.73,-116.8,679.3,-8.2,461,7698,0.00,2.28,0.00,0.000,4,0.000,0.058,2942,656,2429,0,0,0,0,0,0
$GC,7728,-0.70,-116.8,682.5,-9.0,462,7734,0.10,2.25,0.00,0.000,6,0.174,0.045,2959,2077,2430,0,0,0,0,0,0
$GC,8043,-0.73,-116.8,706.6,-7.3,478,8047,0.00,2.25,0.00,0.000,4,0.000,0.060,2948,3473,2429,0,0,0,0,0,0
$GC,8081,-0.73,-116.8,709.8,-8.6,479,8086,0.00,2.25,0.00,0.000,6,0.000,0.043,2948,2057,2429,0,0,0,0,0,0
$GC,8397,-0.73,-116.8,736.6,-9.0,495,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2057,2429,0,0,0,0,0,0
$GC,8706,-0.73,-116.8,762.3,-7.8,510,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2057,2429,0,0,0,0,0,0
$GC,9016,-0.73,-116.8,784.6,-7.0,525,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2057,2429,0,0,0,0,0,0
$GC,9326,-0.73,-116.8,807.3,-7.2,540,9330,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,651,2428,0,0,0,0,0,0
$GC,9375,-0.73,-116.8,811.2,-8.0,542,9379,0.00,2.25,0.00,0.000,6,0.000,0.044,2940,2052,2428,0,0,0,0,0,0
$GC,9695,-0.73,-116.8,834.7,-7.4,558,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2053,2428,0,0,0,0,0,0
$GC,10006,-0.73,-116.8,856.6,-6.8,573,10010,0.00,2.30,0.00,0.000,4,0.000,0.060,2929,3474,2428,0,0,0,0,0,0
$GC,10038,-0.73,-116.8,859.3,-7.7,574,10044,0.03,2.25,0.00,0.000,6,0.164,0.042,2938,2052,2428,0,0,0,0,0,0
$GC,10353,-0.73,-116.8,881.4,-7.2,590,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2053,2428,0,0,0,0,0,0
$GC,10664,-0.73,-116.8,904.3,-7.4,605,10668,0.00,2.28,0.00,0.000,4,0.000,0.057,2938,651,2428,0,0,0,0,0,0
$GC,10704,-0.73,-116.8,907.7,-8.0,607,10709,0.05,2.25,0.00,0.000,6,0.210,0.044,2942,2072,2427,0,0,0,0,0,0
$GC,11031,-0.73,-116.8,931.1,-7.0,623,11035,0.00,2.28,0.00,0.000,4,0.000,0.060,2932,3474,2427,0,0,0,0,0,0
$GC,11081,-0.73,-116.8,935.1,-7.2,625,11085,0.00,2.25,0.00,0.000,6,0.000,0.043,2932,2058,2427,0,0,0,0,0,0
$GC,11403,-0.73,-116.8,960.7,-8.5,641,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2058,2427,0,0,0,0,0,0
$GC,11710,-0.73,-116.8,987.1,-8.6,656,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2058,2427,0,0,0,0,0,0
$STATE,11873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11874,begin apogee
$GC,11879,-0.19,0.0,1001.3,8.6,664,11992,0.62,0.00,109.45,1.285,6,0.146,0.000,3119,1590,1949,0,0,0,0,0,0
$STATE,11993,end apogee,CONTROL_FINISHED_OK
$STATE,11993,begin climb
$GC,11995,0.76,116.8,1004.4,0.0,669,12117,0.93,0.00,114.38,1.238,6,0.093,0.000,3422,1590,1474,0,0,0,0,0,0
$GC,12425,0.76,124.0,973.4,8.2,690,12439,0.00,2.42,7.60,0.978,4,0.000,0.057,3433,190,1444,0,0,0,0,0,0
$GC,12491,0.76,124.0,967.7,9.6,693,12495,0.00,2.30,0.00,0.000,6,0.000,0.036,3433,1616,1443,0,0,0,0,0,0
$GC,12823,0.76,124.8,939.1,8.5,709,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1616,1442,0,0,0,0,0,0
$GC,13131,0.77,135.0,913.4,8.0,724,13145,0.00,0.00,12.12,1.096,6,0.000,0.000,3433,1616,1399,0,0,0,0,0,0
$GC,13442,0.78,144.7,888.8,8.1,739,13454,0.00,0.00,10.80,1.066,6,0.000,0.000,3433,1616,1359,0,0,0,0,0,0
$GC,13749,0.78,144.7,861.0,9.5,754,13753,0.00,2.35,0.00,0.000,4,0.000,0.056,3442,198,1357,0,0,0,0,0,0
$GC,13804,0.78,144.7,855.1,10.6,756,13810,0.00,2.25,0.00,0.000,6,0.000,0.037,3442,1608,1357,0,0,0,0,0,0
$GC,14119,0.78,144.7,821.8,10.8,772,14123,0.00,2.33,0.00,0.000,4,0.000,0.055,3452,198,1357,0,0,0,0,0,0
$GC,14163,0.73,144.7,816.7,11.0,774,14167,0.12,2.20,0.00,0.000,6,0.150,0.036,3417,1601,1356,0,0,0,0,0,0
$GC,14489,0.77,144.7,785.1,9.4,790,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1601,1356,0,0,0,0,0,0
$GC,14800,0.82,144.7,756.2,9.1,805,14804,0.10,2.33,0.00,0.000,4,0.099,0.056,3479,196,1356,0,0,0,0,0,0
$GC,14866,0.72,144.7,748.3,11.4,808,14871,0.20,2.20,0.00,0.000,6,0.138,0.036,3420,1604,1355,0,0,0,0,0,0
$GC,15187,0.75,144.7,718.0,9.4,824,15191,0.00,2.30,0.00,0.000,4,0.000,0.055,3429,195,1355,0,0,0,0,0,0
$GC,15225,0.75,144.7,714.0,10.5,825,15230,0.00,2.22,0.00,0.000,6,0.000,0.035,3430,1610,1355,0,0,0,0,0,0
$GC,15542,0.75,144.7,683.7,9.0,841,15543,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1610,1355,0,0,0,0,0,0
$GC,15850,0.75,144.7,655.3,9.0,856,15854,0.00,2.30,0.00,0.000,4,0.000,0.054,3439,195,1355,0,0,0,0,0,0
$GC,15960,0.75,144.7,644.9,8.9,861,15965,0.00,2.22,0.00,0.000,6,0.000,0.035,3439,1610,1355,0,0,0,0,0,0
$GC,16288,0.75,144.7,615.0,9.0,877,16289,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1611,1355,0,0,0,0,0,0
$GC,16596,0.75,144.7,588.0,8.7,892,16600,0.00,2.33,0.00,0.000,4,0.000,0.055,3448,190,1355,0,0,0,0,0,0
$GC,16651,0.76,151.9,583.0,8.2,894,16666,0.05,2.20,7.60,0.857,6,0.135,0.035,3429,1593,1330,0,0,0,0,0,0
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$STATE,22628,end climb,SURFACE_DEPTH_REACHED
$STATE,22628,begin surface coast
$FINISH,1.7,1.012212
$STATE,22666,end surface coast,CONTROL_FINISHED_OK
$STATE,22666,begin surface
$SM_CCo,22684,8.07,0.056,0,0,1133,200.16
$SM_GC,4.36,0.00,0.00,8.07,0.000,0.000,0.056,71,2063,1133,-9.73,0.08,200.16
$IRIDIUM_FIX,-4447.43,637.25,300708,070704
$TT8_MAMPS,0.026964
$HUMID,63.50
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,22.4,39.529
$10V_AH,9.8,41.506
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.500,159.850,298.150,8.075,0.000,25.563,45.584,303.514,0.250,0.000,22.105,2768.885,16366.578,432.602,3396.182,243.851,0.000,1707.768,0.000,2877.814,0.000,0.540,0.000
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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,353192
$DATA_FILE_SIZE,93966,1284
$CAP_FILE_SIZE,189640,0
$CFSIZE,2097086464,2049966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041015,071433,-4504.583,628.753,72,0.9,72,-24.4