version: 66.07.10.p01
glider: 573
mission: 12
dive: 351
start: 10 10 115 18 42 19
data:
$ID,573
$MISSION,12
$DIVE,351
$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,-22130.027
$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,45
$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,350
$GPS1,101015,182958,-4503.643,624.308,38,0.9,38,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-65.0
$GPS2,101015,184159,-4503.642,624.438,21,0.9,21,-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,22.1,14165,-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,-19.73,0.000,2,0.000,0.000,69,2065,1515,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.1,3,106,11.57,2.28,-39.35,0.000,4,0.229,0.067,2930,669,2429,0,0,0,0,0,0
$GC,280,-0.62,-116.8,21.4,-12.5,40,288,0.17,2.25,0.00,0.000,6,0.142,0.043,2976,2053,2431,0,0,0,0,0,0
$GC,438,-0.62,-116.8,35.3,-9.8,65,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2052,2431,0,0,0,0,0,0
$GC,585,-0.62,-116.8,51.1,-9.1,90,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2053,2431,0,0,0,0,0,0
$GC,937,-0.65,-116.8,77.3,-4.5,151,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2053,2432,0,0,0,0,0,0
$GC,1262,-0.65,-116.8,112.5,-10.8,171,1266,0.00,2.30,0.00,0.000,4,0.000,0.061,2965,3474,2432,0,0,0,0,0,0
$GC,1378,-0.65,-116.8,124.9,-9.8,176,1382,0.00,2.22,0.00,0.000,6,0.000,0.043,2965,2075,2432,0,0,0,0,0,0
$GC,1700,-0.65,-116.8,156.1,-9.1,192,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2075,2432,0,0,0,0,0,0
$GC,2011,-0.65,-116.8,183.8,-9.1,207,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2075,2432,0,0,0,0,0,0
$GC,2319,-0.65,-116.8,211.2,-9.1,222,2323,0.00,2.28,0.00,0.000,4,0.000,0.055,2965,647,2432,0,0,0,0,0,0
$GC,2368,-0.65,-116.8,216.4,-9.5,224,2373,0.03,2.25,0.00,0.000,6,0.174,0.042,2966,2057,2432,0,0,0,0,0,0
$GC,2690,-0.65,-116.8,246.9,-9.6,240,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2056,2432,0,0,0,0,0,0
$GC,3001,-0.65,-116.8,274.5,-8.4,255,3005,0.00,2.28,0.00,0.000,4,0.000,0.062,2955,3464,2432,0,0,0,0,0,0
$GC,3044,-0.65,-116.8,278.2,-8.7,257,3049,0.05,2.17,0.00,0.000,6,0.207,0.041,2967,2046,2432,0,0,0,0,0,0
$GC,3372,-0.65,-116.8,303.5,-7.7,273,3376,0.00,2.22,0.00,0.000,4,0.000,0.055,2967,649,2433,0,0,0,0,0,0
$GC,3399,-0.65,-116.8,306.0,-8.4,274,3403,0.00,2.25,0.00,0.000,6,0.000,0.041,2959,2067,2432,0,0,0,0,0,0
$GC,3718,-0.65,-116.8,333.0,-8.6,290,3722,0.00,2.28,0.00,0.000,4,0.000,0.063,2948,3468,2432,0,0,0,0,0,0
$GC,3757,-0.65,-116.8,336.4,-9.4,292,3762,0.10,2.20,0.00,0.000,6,0.165,0.041,2974,2051,2432,0,0,0,0,0,0
$GC,4090,-0.70,-116.8,365.0,-8.8,308,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2051,2432,0,0,0,0,0,0
$GC,4400,-0.74,-116.8,392.7,-9.1,323,4404,0.10,2.25,0.00,0.000,4,0.099,0.056,2919,650,2432,0,0,0,0,0,0
$GC,4426,-0.66,-116.8,396.0,-11.9,324,4431,0.20,2.20,0.00,0.000,6,0.151,0.043,2966,2060,2432,0,0,0,0,0,0
$GC,4742,-0.66,-116.8,425.7,-9.1,339,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2060,2432,0,0,0,0,0,0
$GC,5050,-0.66,-116.8,454.1,-9.0,354,5054,0.00,2.28,0.00,0.000,4,0.000,0.063,2955,3463,2432,0,0,0,0,0,0
$GC,5088,-0.66,-116.8,457.6,-8.9,355,5093,0.00,2.20,0.00,0.000,6,0.000,0.042,2955,2062,2431,0,0,0,0,0,0
$GC,5405,-0.66,-116.8,485.2,-8.5,371,5409,0.00,2.25,0.00,0.000,4,0.000,0.057,2955,654,2431,0,0,0,0,0,0
$GC,5437,-0.66,-116.8,488.3,-9.7,372,5443,0.05,2.22,0.00,0.000,6,0.154,0.042,2964,2058,2431,0,0,0,0,0,0
$GC,5753,-0.70,-116.8,513.8,-8.1,388,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2058,2431,0,0,0,0,0,0
$GC,6063,-0.73,-116.8,539.5,-8.3,403,6067,0.00,2.28,0.00,0.000,4,0.000,0.063,2953,3470,2430,0,0,0,0,0,0
$GC,6095,-0.73,-116.8,542.6,-9.2,404,6101,0.00,2.22,0.00,0.000,6,0.000,0.043,2953,2063,2430,0,0,0,0,0,0
$GC,6410,-0.73,-116.8,570.4,-8.8,420,6414,0.00,2.25,0.00,0.000,4,0.000,0.056,2953,649,2430,0,0,0,0,0,0
$GC,6437,-0.73,-116.8,573.0,-10.1,421,6441,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2056,2430,0,0,0,0,0,0
$GC,6758,-0.73,-116.8,604.4,-9.6,437,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2056,2430,0,0,0,0,0,0
$GC,7066,-0.73,-116.8,632.6,-9.0,452,7071,0.00,2.28,0.00,0.000,4,0.000,0.060,2934,3472,2429,0,0,0,0,0,0
$GC,7161,-0.73,-116.8,641.3,-8.9,456,7165,0.00,2.22,0.00,0.000,6,0.000,0.043,2934,2062,2429,0,0,0,0,0,0
$GC,7481,-0.73,-116.8,669.3,-8.6,472,7485,0.00,2.25,0.00,0.000,4,0.000,0.057,2934,651,2429,0,0,0,0,0,0
$GC,7514,-0.68,-116.8,672.2,-9.4,473,7520,0.15,2.20,0.00,0.000,6,0.160,0.041,2965,2067,2429,0,0,0,0,0,0
$GC,7831,-0.72,-116.8,694.3,-6.7,489,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2067,2429,0,0,0,0,0,0
$GC,8139,-0.77,-116.8,715.1,-6.7,504,8144,0.10,2.28,0.00,0.000,4,0.096,0.064,2896,3463,2429,0,0,0,0,0,0
$GC,8177,-0.68,-116.8,718.4,-10.1,506,8182,0.22,2.20,0.00,0.000,6,0.144,0.042,2960,2052,2429,0,0,0,0,0,0
$GC,8504,-0.72,-116.8,740.9,-6.8,522,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2052,2429,0,0,0,0,0,0
$GC,8814,-0.77,-116.8,762.8,-7.4,537,8819,0.08,2.25,0.00,0.000,4,0.119,0.057,2913,656,2428,0,0,0,0,0,0
$GC,8852,-0.68,-116.8,766.7,-10.4,538,8858,0.17,2.25,0.00,0.000,6,0.136,0.044,2960,2060,2428,0,0,0,0,0,0
$GC,9167,-0.72,-116.8,791.3,-8.0,554,9171,0.00,2.30,0.00,0.000,4,0.000,0.064,2949,3471,2429,0,0,0,0,0,0
$GC,9206,-0.76,-116.8,794.4,-8.5,556,9210,0.00,2.20,0.00,0.000,6,0.000,0.044,2949,2049,2429,0,0,0,0,0,0
$GC,9531,-0.76,-116.8,820.8,-8.0,572,9535,0.00,2.22,0.00,0.000,4,0.000,0.057,2949,657,2429,0,0,0,0,0,0
$GC,9552,-0.76,-116.8,822.7,-8.6,573,9557,0.00,2.22,0.00,0.000,6,0.000,0.042,2940,2060,2429,0,0,0,0,0,0
$GC,9880,-0.76,-116.8,850.9,-8.6,589,9884,0.00,2.30,0.00,0.000,4,0.000,0.064,2930,3463,2428,0,0,0,0,0,0
$GC,9906,-0.76,-116.8,853.4,-8.6,590,9911,0.00,2.22,0.00,0.000,6,0.000,0.042,2929,2053,2429,0,0,0,0,0,0
$GC,10226,-0.76,-116.8,878.9,-7.8,606,10230,0.00,2.25,0.00,0.000,4,0.000,0.058,2929,651,2429,0,0,0,0,0,0
$GC,10259,-0.71,-116.8,881.7,-8.5,607,10264,0.12,2.22,0.00,0.000,6,0.164,0.044,2954,2058,2428,0,0,0,0,0,0
$GC,10577,-0.76,-116.8,903.8,-7.4,623,10581,0.00,2.30,0.00,0.000,4,0.000,0.064,2944,3471,2428,0,0,0,0,0,0
$GC,10604,-0.79,-116.8,906.1,-7.7,624,10608,0.00,2.20,0.00,0.000,6,0.000,0.044,2944,2051,2428,0,0,0,0,0,0
$GC,10919,-0.79,-116.8,932.7,-8.7,639,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2051,2428,0,0,0,0,0,0
$GC,11228,-0.79,-116.8,956.9,-7.7,654,11232,0.00,2.25,0.00,0.000,4,0.000,0.058,2944,647,2428,0,0,0,0,0,0
$GC,11271,-0.79,-116.8,960.3,-7.4,656,11276,0.00,2.22,0.00,0.000,6,0.000,0.044,2935,2060,2428,0,0,0,0,0,0
$GC,11598,-0.79,-116.8,983.9,-7.5,672,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2060,2428,0,0,0,0,0,0
$STATE,11802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11802,begin apogee
$GC,11808,-0.19,0.0,1000.5,8.2,682,11923,0.60,0.00,109.70,1.284,6,0.142,0.000,3115,1588,1949,0,0,0,0,0,0
$STATE,11924,end apogee,CONTROL_FINISHED_OK
$STATE,11924,begin climb
$GC,11926,0.76,116.8,1004.3,0.0,688,12052,0.93,2.60,115.53,1.241,4,0.089,0.057,3432,190,1473,0,0,0,0,0,0
$GC,12102,0.77,139.3,994.7,7.4,696,12133,0.00,2.42,23.67,1.155,6,0.000,0.037,3432,1607,1382,0,0,0,0,0,0
$GC,12444,0.77,139.3,965.8,8.6,713,12448,0.00,2.28,0.00,0.000,4,0.000,0.055,3432,2993,1375,0,0,0,0,0,0
$GC,12505,0.77,139.3,959.8,10.0,716,12510,0.00,2.28,0.00,0.000,6,0.000,0.037,3440,1597,1375,0,0,0,0,0,0
$GC,12837,0.77,139.3,925.0,11.1,732,12841,0.00,2.30,0.00,0.000,4,0.000,0.057,3451,193,1374,0,0,0,0,0,0
$GC,12887,0.73,139.3,919.0,12.2,734,12892,0.12,2.25,0.00,0.000,6,0.147,0.037,3417,1615,1374,0,0,0,0,0,0
$GC,13207,0.79,139.3,885.9,10.0,750,13212,0.05,2.20,0.00,0.000,4,0.161,0.054,3453,2989,1373,0,0,0,0,0,0
$GC,13275,0.73,139.3,877.8,12.3,753,13280,0.15,2.17,0.00,0.000,6,0.150,0.037,3420,1594,1373,0,0,0,0,0,0
$GC,13603,0.78,139.3,845.5,9.3,769,13607,0.00,2.30,0.00,0.000,4,0.000,0.057,3431,189,1372,0,0,0,0,0,0
$GC,13651,0.78,139.3,840.6,9.7,771,13656,0.00,2.22,0.00,0.000,6,0.000,0.037,3430,1598,1372,0,0,0,0,0,0
$GC,13973,0.78,139.3,811.5,9.3,787,13977,0.00,2.22,0.00,0.000,4,0.000,0.056,3430,2996,1372,0,0,0,0,0,0
$GC,14017,0.78,139.3,807.1,10.4,789,14021,0.00,2.20,0.00,0.000,6,0.000,0.037,3439,1595,1372,0,0,0,0,0,0
$GC,14344,0.78,139.3,774.4,10.0,805,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1595,1372,0,0,0,0,0,0
$GC,14653,0.78,139.3,744.0,10.0,820,14654,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1595,1372,0,0,0,0,0,0
$GC,14963,0.78,139.3,714.1,9.3,835,14964,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1595,1372,0,0,0,0,0,0
$GC,15271,0.78,139.3,685.8,9.3,850,15275,0.00,2.28,0.00,0.000,4,0.000,0.057,3450,195,1372,0,0,0,0,0,0
$GC,15326,0.78,139.3,680.1,9.1,852,15331,0.03,2.22,0.00,0.000,6,0.168,0.037,3439,1607,1371,0,0,0,0,0,0
$GC,15646,0.78,139.3,651.4,9.2,868,15650,0.00,2.20,0.00,0.000,4,0.000,0.054,3439,2996,1371,0,0,0,0,0,0
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$STATE,22659,end climb,SURFACE_DEPTH_REACHED
$STATE,22659,begin surface coast
$FINISH,1.7,1.023421
$STATE,22691,end surface coast,CONTROL_FINISHED_OK
$STATE,22691,begin surface
$SM_CCo,22771,0.00,0.000,0,0,1038,223.71
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$IRIDIUM_FIX,-4444.39,615.70,060808,070714
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.25506
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.3,42.760
$10V_AH,9.7,44.898
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.425,194.150,303.975,0.000,0.000,54.507,48.874,388.099,0.000,0.000,23.454,2825.260,16308.819,419.157,3664.880,271.044,0.000,1776.301,0.000,3001.255,0.000,0.539,0.000
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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,353252
$DATA_FILE_SIZE,93923,1306
$CAP_FILE_SIZE,200585,0
$CFSIZE,2097086464,2046001152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111015,010303,-4500.050,626.720,38,0.9,38,-24.4