version: 66.07.10.p01
glider: 573
mission: 12
dive: 400
start: 10 21 115 18 31 36
data:
$ID,573
$MISSION,12
$DIVE,400
$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,-22257.355
$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,31
$R_STBD_OVSHOOT,29
$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,399
$GPS1,211015,181933,-4503.524,633.239,26,0.9,26,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-70.5
$GPS2,211015,183116,-4503.500,633.348,19,1.0,19,-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,290.1,12262,-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,24,begin dive
$GC,26,-0.76,-116.8,0.0,0.0,0,40,0.00,0.00,-12.52,0.000,2,0.000,0.000,80,2046,1383,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.1,-2.2,2,113,11.45,2.40,-46.90,0.000,4,0.224,0.075,2922,3465,2428,0,0,0,0,0,0
$GC,148,-0.65,-116.8,8.5,-12.3,18,156,0.15,2.25,0.00,0.000,6,0.142,0.040,2969,2064,2429,0,0,0,0,0,0
$GC,207,-0.65,-116.8,14.1,-9.1,27,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2064,2430,0,0,0,0,0,0
$GC,265,-0.65,-116.8,19.6,-10.0,36,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2064,2430,0,0,0,0,0,0
$GC,323,-0.65,-116.8,24.6,-8.6,45,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2064,2430,0,0,0,0,0,0
$GC,478,-0.65,-116.8,40.2,-9.9,70,483,0.00,2.28,0.00,0.000,4,0.000,0.054,2969,649,2430,0,0,0,0,0,0
$GC,519,-0.65,-116.8,44.4,-9.9,77,525,0.00,2.25,0.00,0.000,6,0.000,0.039,2960,2066,2430,0,0,0,0,0,0
$GC,868,-0.65,-116.8,78.2,-9.9,138,875,0.00,2.33,0.00,0.000,4,0.000,0.063,2950,3463,2430,0,0,0,0,0,0
$GC,907,-0.65,-116.8,82.4,-9.7,142,916,0.03,2.22,0.00,0.000,6,0.174,0.039,2960,2060,2430,0,0,0,0,0,0
$GC,1224,-0.65,-116.8,112.6,-9.5,158,1228,0.00,2.28,0.00,0.000,4,0.000,0.054,2960,652,2430,0,0,0,0,0,0
$GC,1294,-0.62,-116.8,119.6,-10.4,161,1299,0.12,2.22,0.00,0.000,6,0.172,0.041,2984,2057,2430,0,0,0,0,0,0
$GC,1624,-0.66,-116.8,147.2,-8.4,177,1628,0.00,2.30,0.00,0.000,4,0.000,0.061,2973,3471,2430,0,0,0,0,0,0
$GC,1674,-0.71,-116.8,152.5,-10.1,179,1678,0.00,2.20,0.00,0.000,6,0.000,0.040,2973,2056,2430,0,0,0,0,0,0
$GC,1998,-0.74,-116.8,180.7,-8.1,195,2003,0.10,2.33,0.00,0.000,4,0.099,0.060,2906,3468,2430,0,0,0,0,0,0
$GC,2031,-0.64,-116.8,184.3,-10.8,196,2039,0.20,2.22,0.00,0.000,6,0.135,0.041,2969,2066,2431,0,0,0,0,0,0
$GC,2347,-0.64,-116.8,210.7,-8.4,212,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2066,2430,0,0,0,0,0,0
$GC,2658,-0.64,-116.8,237.0,-8.5,227,2662,0.00,2.28,0.00,0.000,4,0.000,0.053,2969,647,2430,0,0,0,0,0,0
$GC,2685,-0.64,-116.8,239.8,-9.3,228,2690,0.03,2.22,0.00,0.000,6,0.184,0.037,2969,2056,2430,0,0,0,0,0,0
$GC,3008,-0.67,-116.8,267.0,-8.4,244,3012,0.00,2.25,0.00,0.000,4,0.000,0.058,2959,3462,2431,0,0,0,0,0,0
$GC,3049,-0.70,-116.8,270.8,-9.0,246,3053,0.00,2.20,0.00,0.000,6,0.000,0.038,2959,2043,2431,0,0,0,0,0,0
$GC,3375,-0.70,-116.8,297.8,-8.0,262,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2043,2431,0,0,0,0,0,0
$GC,3684,-0.70,-116.8,323.5,-8.9,277,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2043,2431,0,0,0,0,0,0
$GC,3992,-0.70,-116.8,351.0,-9.0,292,3996,0.00,2.20,0.00,0.000,4,0.000,0.053,2959,660,2431,0,0,0,0,0,0
$GC,4053,-0.70,-116.8,356.9,-9.5,294,4059,0.00,2.22,0.00,0.000,6,0.000,0.039,2950,2060,2431,0,0,0,0,0,0
$GC,4368,-0.70,-116.8,384.5,-8.7,310,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2060,2431,0,0,0,0,0,0
$GC,4679,-0.70,-116.8,411.5,-8.7,325,4683,0.00,2.28,0.00,0.000,4,0.000,0.061,2940,3467,2431,0,0,0,0,0,0
$GC,4711,-0.70,-116.8,414.6,-8.8,326,4718,0.03,2.22,0.00,0.000,6,0.165,0.041,2950,2055,2431,0,0,0,0,0,0
$GC,5026,-0.70,-116.8,443.3,-9.1,342,5030,0.00,2.25,0.00,0.000,4,0.000,0.055,2950,661,2431,0,0,0,0,0,0
$GC,5058,-0.70,-116.8,446.4,-9.7,343,5063,0.00,2.22,0.00,0.000,6,0.000,0.039,2941,2060,2430,0,0,0,0,0,0
$GC,5374,-0.70,-116.8,474.9,-8.8,359,5378,0.00,2.30,0.00,0.000,4,0.000,0.062,2930,3474,2430,0,0,0,0,0,0
$GC,5407,-0.70,-116.8,478.0,-9.1,360,5412,0.05,2.25,0.00,0.000,6,0.146,0.042,2948,2055,2430,0,0,0,0,0,0
$GC,5727,-0.70,-116.8,506.2,-9.3,376,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2055,2430,0,0,0,0,0,0
$GC,6038,-0.70,-116.8,535.7,-9.6,391,6042,0.00,2.28,0.00,0.000,4,0.000,0.057,2948,652,2429,0,0,0,0,0,0
$GC,6092,-0.70,-116.8,541.4,-10.3,393,6098,0.03,2.25,0.00,0.000,6,0.179,0.043,2949,2059,2429,0,0,0,0,0,0
$GC,6409,-0.70,-116.8,569.5,-8.6,409,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2058,2429,0,0,0,0,0,0
$GC,6717,-0.70,-116.8,595.0,-7.8,424,6721,0.00,2.30,0.00,0.000,4,0.000,0.063,2939,3468,2429,0,0,0,0,0,0
$GC,6788,-0.70,-116.8,600.7,-7.9,427,6793,0.05,2.22,0.00,0.000,6,0.207,0.041,2951,2049,2429,0,0,0,0,0,0
$GC,7110,-0.70,-116.8,624.7,-7.7,443,7114,0.00,2.22,0.00,0.000,4,0.000,0.055,2951,660,2429,0,0,0,0,0,0
$GC,7142,-0.70,-116.8,627.4,-8.5,444,7148,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,2075,2429,0,0,0,0,0,0
$GC,7457,-0.70,-116.8,654.2,-9.2,460,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2075,2429,0,0,0,0,0,0
$GC,7767,-0.70,-116.8,683.5,-9.8,475,7771,0.00,2.25,0.00,0.000,4,0.000,0.057,2932,3468,2429,0,0,0,0,0,0
$GC,7816,-0.70,-116.8,688.5,-10.2,477,7821,0.05,2.22,0.00,0.000,6,0.145,0.041,2950,2063,2429,0,0,0,0,0,0
$GC,8139,-0.70,-116.8,716.7,-8.5,493,8143,0.00,2.28,0.00,0.000,4,0.000,0.055,2950,654,2429,0,0,0,0,0,0
$GC,8201,-0.70,-116.8,722.5,-9.8,496,8205,0.00,2.22,0.00,0.000,6,0.000,0.040,2941,2066,2428,0,0,0,0,0,0
$GC,8526,-0.70,-116.8,752.0,-9.1,512,8530,0.00,2.30,0.00,0.000,4,0.000,0.063,2931,3468,2429,0,0,0,0,0,0
$GC,8588,-0.70,-116.8,757.7,-9.3,515,8593,0.10,2.20,0.00,0.000,6,0.162,0.041,2957,2059,2428,0,0,0,0,0,0
$GC,8916,-0.75,-116.8,786.0,-8.9,531,8920,0.00,2.25,0.00,0.000,4,0.000,0.056,2957,655,2428,0,0,0,0,0,0
$GC,8970,-0.75,-116.8,791.5,-9.1,533,8975,0.00,2.25,0.00,0.000,6,0.000,0.043,2948,2055,2428,0,0,0,0,0,0
$GC,9287,-0.75,-116.8,818.5,-8.4,549,9291,0.00,2.30,0.00,0.000,4,0.000,0.059,2937,3471,2428,0,0,0,0,0,0
$GC,9380,-0.75,-116.8,826.8,-8.9,553,9385,0.00,2.22,0.00,0.000,6,0.000,0.041,2937,2067,2428,0,0,0,0,0,0
$GC,9703,-0.75,-116.8,853.6,-8.1,569,9707,0.00,2.28,0.00,0.000,4,0.000,0.054,2937,656,2428,0,0,0,0,0,0
$GC,9742,-0.75,-116.8,857.0,-8.7,571,9746,0.00,2.22,0.00,0.000,6,0.000,0.039,2929,2070,2428,0,0,0,0,0,0
$GC,10069,-0.75,-116.8,882.3,-7.6,587,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2070,2428,0,0,0,0,0,0
$GC,10377,-0.75,-116.8,905.9,-7.6,602,10381,0.00,2.28,0.00,0.000,4,0.000,0.062,2918,3462,2428,0,0,0,0,0,0
$GC,10420,-0.75,-116.8,909.3,-7.5,604,10425,0.08,2.20,0.00,0.000,6,0.184,0.041,2936,2052,2427,0,0,0,0,0,0
$GC,10747,-0.75,-116.8,932.8,-7.1,620,10751,0.00,2.28,0.00,0.000,4,0.000,0.057,2936,651,2427,0,0,0,0,0,0
$GC,10790,-0.75,-116.8,936.4,-7.7,622,10795,0.00,2.22,0.00,0.000,6,0.000,0.042,2928,2057,2427,0,0,0,0,0,0
$GC,11117,-0.75,-116.8,962.5,-8.3,638,11121,0.00,2.30,0.00,0.000,4,0.000,0.062,2917,3463,2427,0,0,0,0,0,0
$GC,11200,-0.75,-116.8,969.8,-8.2,642,11205,0.10,2.20,0.00,0.000,6,0.163,0.041,2943,2060,2427,0,0,0,0,0,0
$GC,11527,-0.79,-116.8,996.6,-8.0,658,11531,0.00,2.25,0.00,0.000,4,0.000,0.055,2944,657,2427,0,0,0,0,0,0
$STATE,11563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11563,begin apogee
$GC,11570,-0.19,0.0,1000.1,8.9,660,11685,0.60,0.00,110.60,1.270,6,0.136,0.000,3121,1610,1949,0,0,0,0,0,0
$STATE,11686,end apogee,CONTROL_FINISHED_OK
$STATE,11686,begin climb
$GC,11688,0.76,116.8,1003.9,0.0,666,11808,0.90,0.00,116.55,1.223,6,0.090,0.000,3418,1610,1474,0,0,0,0,0,0
$GC,12119,0.77,135.3,975.0,7.6,687,12143,0.00,2.47,18.88,1.137,4,0.000,0.056,3429,202,1397,0,0,0,0,0,0
$GC,12217,0.78,144.5,967.2,8.1,691,12233,0.00,2.30,10.12,1.035,6,0.000,0.036,3429,1612,1361,0,0,0,0,0,0
$GC,12554,0.78,156.8,940.1,7.9,708,12575,0.00,2.30,13.73,1.099,4,0.000,0.054,3429,2987,1310,0,0,0,0,0,0
$GC,12602,0.79,163.1,936.0,8.2,710,12619,0.00,2.22,7.95,0.977,6,0.000,0.036,3437,1608,1284,0,0,0,0,0,0
$GC,12928,0.79,163.1,907.2,8.8,726,12932,0.00,2.30,0.00,0.000,4,0.000,0.057,3448,195,1281,0,0,0,0,0,0
$GC,13067,0.79,163.1,892.9,10.1,732,13072,0.00,2.22,0.00,0.000,6,0.000,0.037,3448,1601,1280,0,0,0,0,0,0
$GC,13383,0.79,163.1,860.2,10.5,747,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1602,1280,0,0,0,0,0,0
$GC,13691,0.79,163.1,827.1,10.8,762,13695,0.00,2.33,0.00,0.000,4,0.000,0.055,3459,191,1279,0,0,0,0,0,0
$GC,13734,0.79,163.1,822.1,11.8,764,13739,0.05,2.25,0.00,0.000,6,0.135,0.037,3438,1602,1279,0,0,0,0,0,0
$GC,14060,0.79,163.1,790.5,9.1,780,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1602,1279,0,0,0,0,0,0
$GC,14371,0.79,163.1,762.6,9.1,795,14375,0.00,2.30,0.00,0.000,4,0.000,0.055,3447,193,1279,0,0,0,0,0,0
$GC,14465,0.79,163.1,753.1,9.5,799,14469,0.00,2.22,0.00,0.000,6,0.000,0.036,3447,1602,1279,0,0,0,0,0,0
$GC,14787,0.79,163.1,723.4,9.3,815,14791,0.00,2.33,0.00,0.000,4,0.000,0.054,3457,183,1279,0,0,0,0,0,0
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$STATE,22367,end climb,SURFACE_DEPTH_REACHED
$STATE,22367,begin surface coast
$FINISH,1.8,1.020003
$STATE,22399,end surface coast,CONTROL_FINISHED_OK
$STATE,22399,begin surface
$SM_CCo,22416,4.95,0.057,0,0,1133,200.16
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$IRIDIUM_FIX,-4444.39,633.87,170808,070708
$TT8_MAMPS,0.026964
$HUMID,64.17
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.2,48.049
$10V_AH,9.6,50.387
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.600,199.100,304.475,4.950,0.000,49.717,105.881,329.462,0.000,0.000,21.452,2775.430,15980.762,466.309,3594.366,296.238,0.000,1817.564,0.000,2959.458,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,74.970,1269.900,57.375,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,90553,1274
$CAP_FILE_SIZE,200124,0
$CFSIZE,2097086464,2039578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221015,004641,-4503.014,630.807,46,0.9,46,-24.4