version: 66.07.10.p01
glider: 573
mission: 12
dive: 402
start: 10 22 115 7 30 37
data:
$ID,573
$MISSION,12
$DIVE,402
$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,-22263.17
$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,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,401
$GPS1,221015,072058,-4503.282,628.508,56,0.8,56,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-67.8
$GPS2,221015,073017,-4503.298,628.579,20,0.9,20,-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,282.2,6129,-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,-19.83,0.000,2,0.000,0.000,82,2067,1523,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-1.6,3,113,11.62,2.33,-44.17,0.000,4,0.230,0.070,2922,3456,2426,0,0,0,0,0,0
$GC,244,-0.66,-116.8,18.6,-14.3,34,252,0.12,2.22,0.00,0.000,6,0.137,0.039,2963,2067,2428,0,0,0,0,0,0
$GC,303,-0.66,-116.8,25.9,-11.4,43,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2066,2428,0,0,0,0,0,0
$GC,456,-0.66,-116.8,41.2,-9.9,68,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2066,2428,0,0,0,0,0,0
$GC,804,-0.66,-116.8,74.0,-9.5,129,811,0.00,2.30,0.00,0.000,4,0.000,0.054,2963,657,2428,0,0,0,0,0,0
$GC,848,-0.66,-116.8,78.1,-10.0,136,854,0.05,2.22,0.00,0.000,6,0.222,0.038,2965,2069,2428,0,0,0,0,0,0
$GC,1176,-0.66,-116.8,108.0,-9.3,154,1180,0.00,2.28,0.00,0.000,4,0.000,0.060,2955,3468,2428,0,0,0,0,0,0
$GC,1197,-0.66,-116.8,110.4,-9.8,155,1201,0.00,2.22,0.00,0.000,6,0.000,0.038,2955,2053,2429,0,0,0,0,0,0
$GC,1527,-0.66,-116.8,142.1,-9.5,171,1531,0.00,2.25,0.00,0.000,4,0.000,0.054,2955,660,2429,0,0,0,0,0,0
$GC,1589,-0.61,-116.8,148.7,-10.0,174,1594,0.15,2.22,0.00,0.000,6,0.162,0.040,2986,2068,2429,0,0,0,0,0,0
$GC,1918,-0.67,-116.8,176.1,-7.7,190,1922,0.05,2.28,0.00,0.000,4,0.162,0.060,2930,3464,2429,0,0,0,0,0,0
$GC,2065,-0.63,-116.8,189.9,-9.6,196,2072,0.12,2.20,0.00,0.000,6,0.129,0.038,2971,2066,2429,0,0,0,0,0,0
$GC,2382,-0.66,-116.8,215.0,-8.0,212,2386,0.00,2.22,0.00,0.000,4,0.000,0.053,2972,655,2429,0,0,0,0,0,0
$GC,2422,-0.66,-116.8,218.6,-8.9,214,2426,0.00,2.22,0.00,0.000,6,0.000,0.038,2962,2071,2429,0,0,0,0,0,0
$GC,2748,-0.66,-116.8,246.0,-8.3,230,2752,0.00,2.30,0.00,0.000,4,0.000,0.052,2963,650,2429,0,0,0,0,0,0
$GC,2787,-0.66,-116.8,249.8,-9.6,231,2793,0.00,2.22,0.00,0.000,6,0.000,0.038,2953,2054,2429,0,0,0,0,0,0
$GC,3105,-0.66,-116.8,278.8,-9.5,247,3107,0.05,0.00,0.00,0.000,6,0.236,0.000,2964,2054,2429,0,0,0,0,0,0
$GC,3411,-0.66,-116.8,306.7,-8.9,262,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2054,2429,0,0,0,0,0,0
$GC,3722,-0.66,-116.8,333.3,-8.6,277,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2053,2429,0,0,0,0,0,0
$GC,4030,-0.66,-116.8,359.2,-8.3,292,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2053,2429,0,0,0,0,0,0
$GC,4340,-0.66,-116.8,385.5,-8.6,307,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2053,2429,0,0,0,0,0,0
$GC,4649,-0.70,-116.8,411.2,-8.2,322,4653,0.00,2.28,0.00,0.000,4,0.000,0.057,2954,3469,2429,0,0,0,0,0,0
$GC,4671,-0.73,-116.8,413.0,-7.7,323,4675,0.00,2.20,0.00,0.000,6,0.000,0.038,2955,2046,2429,0,0,0,0,0,0
$GC,4992,-0.73,-116.8,439.6,-8.3,339,4996,0.00,2.22,0.00,0.000,4,0.000,0.054,2954,660,2429,0,0,0,0,0,0
$GC,5052,-0.73,-116.8,445.1,-8.9,342,5057,0.00,2.20,0.00,0.000,6,0.000,0.039,2945,2057,2428,0,0,0,0,0,0
$GC,5384,-0.73,-116.8,473.8,-8.8,358,5388,0.00,2.28,0.00,0.000,4,0.000,0.057,2934,3469,2429,0,0,0,0,0,0
$GC,5410,-0.73,-116.8,476.2,-9.3,359,5415,0.00,2.20,0.00,0.000,6,0.000,0.039,2935,2070,2429,0,0,0,0,0,0
$GC,5732,-0.73,-116.8,506.1,-9.0,375,5736,0.00,2.28,0.00,0.000,4,0.000,0.054,2935,657,2428,0,0,0,0,0,0
$GC,5772,-0.68,-116.8,509.9,-9.3,377,5777,0.12,2.22,0.00,0.000,6,0.167,0.038,2958,2073,2429,0,0,0,0,0,0
$GC,6100,-0.71,-116.8,536.0,-7.8,393,6104,0.00,2.25,0.00,0.000,4,0.000,0.060,2949,3466,2429,0,0,0,0,0,0
$GC,6144,-0.71,-116.8,540.0,-8.0,395,6148,0.00,2.20,0.00,0.000,6,0.000,0.039,2949,2051,2429,0,0,0,0,0,0
$GC,6472,-0.71,-116.8,566.3,-8.0,411,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2051,2429,0,0,0,0,0,0
$GC,6780,-0.71,-116.8,591.4,-8.2,426,6784,0.00,2.25,0.00,0.000,4,0.000,0.056,2949,664,2428,0,0,0,0,0,0
$GC,6845,-0.71,-116.8,597.2,-8.9,429,6850,0.00,2.22,0.00,0.000,6,0.000,0.036,2940,2067,2428,0,0,0,0,0,0
$GC,7173,-0.71,-116.8,624.3,-8.4,445,7177,0.00,2.28,0.00,0.000,4,0.000,0.062,2928,3462,2428,0,0,0,0,0,0
$GC,7245,-0.71,-116.8,631.1,-9.3,448,7250,0.05,2.20,0.00,0.000,6,0.146,0.040,2947,2070,2428,0,0,0,0,0,0
$GC,7565,-0.71,-116.8,658.2,-8.6,464,7569,0.00,2.28,0.00,0.000,4,0.000,0.054,2948,651,2428,0,0,0,0,0,0
$GC,7633,-0.71,-116.8,664.2,-9.1,467,7638,0.03,2.22,0.00,0.000,6,0.280,0.041,2949,2057,2428,0,0,0,0,0,0
$GC,7960,-0.71,-116.8,692.0,-8.6,483,7964,0.00,2.30,0.00,0.000,4,0.000,0.060,2938,3468,2428,0,0,0,0,0,0
$GC,8031,-0.71,-116.8,698.7,-9.2,486,8036,0.05,2.22,0.00,0.000,6,0.210,0.041,2950,2052,2428,0,0,0,0,0,0
$GC,8351,-0.71,-116.8,725.6,-8.5,502,8355,0.00,2.25,0.00,0.000,4,0.000,0.056,2950,660,2427,0,0,0,0,0,0
$GC,8419,-0.71,-116.8,731.7,-9.3,505,8423,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,2065,2427,0,0,0,0,0,0
$GC,8746,-0.71,-116.8,759.9,-8.1,521,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2065,2427,0,0,0,0,0,0
$GC,9054,-0.71,-116.8,784.9,-7.9,536,9058,0.00,2.30,0.00,0.000,4,0.000,0.064,2931,3474,2427,0,0,0,0,0,0
$GC,9104,-0.71,-116.8,789.0,-8.5,538,9109,0.08,2.22,0.00,0.000,6,0.178,0.042,2949,2057,2426,0,0,0,0,0,0
$GC,9426,-0.74,-116.8,813.5,-7.5,554,9430,0.00,2.25,0.00,0.000,4,0.000,0.056,2949,654,2426,0,0,0,0,0,0
$GC,9508,-0.74,-116.8,820.5,-8.9,557,9513,0.00,2.25,0.00,0.000,6,0.000,0.043,2941,2055,2426,0,0,0,0,0,0
$GC,9825,-0.74,-116.8,844.6,-7.7,573,9829,0.00,2.30,0.00,0.000,4,0.000,0.059,2930,3471,2426,0,0,0,0,0,0
$GC,9886,-0.74,-116.8,849.7,-8.1,576,9890,0.00,2.22,0.00,0.000,6,0.000,0.041,2930,2051,2426,0,0,0,0,0,0
$GC,10217,-0.74,-116.8,874.1,-7.2,592,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2051,2426,0,0,0,0,0,0
$GC,10527,-0.74,-116.8,895.9,-7.1,607,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2051,2425,0,0,0,0,0,0
$GC,10835,-0.74,-116.8,919.4,-7.6,622,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2051,2425,0,0,0,0,0,0
$GC,11146,-0.74,-116.8,943.6,-8.1,637,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2051,2425,0,0,0,0,0,0
$GC,11454,-0.74,-116.8,969.2,-8.1,652,11458,0.00,2.28,0.00,0.000,4,0.000,0.056,2930,649,2425,0,0,0,0,0,0
$GC,11517,-0.74,-116.8,974.6,-8.5,655,11522,0.08,2.25,0.00,0.000,6,0.192,0.041,2939,2071,2425,0,0,0,0,0,0
$STATE,11843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11843,begin apogee
$GC,11849,-0.19,0.0,1000.5,7.9,671,11963,0.57,0.00,108.53,1.268,6,0.134,0.000,3116,1596,1949,0,0,0,0,0,0
$STATE,11964,end apogee,CONTROL_FINISHED_OK
$STATE,11964,begin climb
$GC,11966,0.76,116.8,1004.4,0.0,677,12092,0.93,2.60,115.70,1.224,4,0.086,0.055,3434,203,1473,0,0,0,0,0,0
$GC,12126,0.76,125.5,995.9,8.1,684,12141,0.00,2.40,9.98,1.040,6,0.000,0.035,3433,1610,1438,0,0,0,0,0,0
$GC,12464,0.77,131.9,967.8,8.2,701,12478,0.00,2.35,6.95,0.939,4,0.000,0.053,3434,2992,1412,0,0,0,0,0,0
$GC,12507,0.77,131.9,963.8,9.0,703,12511,0.00,2.25,0.00,0.000,6,0.000,0.036,3443,1596,1412,0,0,0,0,0,0
$GC,12833,0.77,131.9,934.8,9.0,719,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1596,1410,0,0,0,0,0,0
$GC,13141,0.77,131.9,907.2,9.1,734,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1596,1410,0,0,0,0,0,0
$GC,13452,0.77,136.6,880.3,8.3,749,13463,0.00,2.28,5.65,0.870,4,0.000,0.054,3454,192,1394,0,0,0,0,0,0
$GC,13496,0.74,136.6,876.3,9.3,751,13501,0.12,2.22,0.00,0.000,6,0.145,0.036,3418,1611,1394,0,0,0,0,0,0
$GC,13825,0.81,160.7,852.2,7.4,767,13856,0.08,2.22,25.42,1.141,4,0.119,0.051,3461,2987,1295,0,0,0,0,0,0
$GC,13885,0.76,160.7,846.3,10.0,770,13890,0.15,2.20,0.00,0.000,6,0.147,0.036,3428,1594,1294,0,0,0,0,0,0
$GC,14212,0.81,160.7,818.2,8.6,786,14216,0.00,2.28,0.00,0.000,4,0.000,0.057,3437,200,1291,0,0,0,0,0,0
$GC,14353,0.81,160.7,804.8,9.8,792,14357,0.00,2.20,0.00,0.000,6,0.000,0.036,3437,1600,1290,0,0,0,0,0,0
$GC,14669,0.85,160.7,775.3,9.4,807,14673,0.05,2.33,0.00,0.000,4,0.168,0.054,3482,198,1290,0,0,0,0,0,0
$GC,14735,0.78,160.7,767.4,11.4,810,14740,0.15,2.20,0.00,0.000,6,0.142,0.036,3438,1603,1289,0,0,0,0,0,0
$GC,15056,0.82,160.7,736.9,9.4,826,15060,0.00,2.30,0.00,0.000,4,0.000,0.054,3448,200,1289,0,0,0,0,0,0
$GC,15127,0.82,160.7,729.5,10.0,829,15131,0.00,2.20,0.00,0.000,6,0.000,0.035,3448,1593,1289,0,0,0,0,0,0
$GC,15449,0.82,160.7,695.0,11.0,845,15453,0.00,2.28,0.00,0.000,4,0.000,0.054,3458,199,1289,0,0,0,0,0,0
$GC,15488,0.82,160.7,690.4,11.3,847,15492,0.00,2.20,0.00,0.000,6,0.000,0.036,3458,1611,1289,0,0,0,0,0,0
$GC,15815,0.82,160.7,654.7,10.4,863,15816,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1611,1289,0,0,0,0,0,0
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$STATE,22271,end climb,SURFACE_DEPTH_REACHED
$STATE,22271,begin surface coast
$FINISH,1.9,1.004130
$STATE,22303,end surface coast,CONTROL_FINISHED_OK
$STATE,22303,begin surface
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$SM_GC,4.46,0.00,0.00,5.80,0.000,0.000,0.057,64,2054,1133,-9.75,-0.17,200.16
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$HUMID,64.09
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.60
$XPDR_PINGS,3
$24V_AH,22.2,48.289
$10V_AH,9.7,50.648
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.025,177.425,299.750,5.800,0.000,26.646,58.200,314.157,0.750,0.000,23.199,2750.863,15958.643,422.514,3462.734,280.723,0.000,1740.921,0.000,2919.434,0.000,0.539,0.000
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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,353200
$DATA_FILE_SIZE,90589,1270
$CAP_FILE_SIZE,194186,0
$CFSIZE,2097086464,2039349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221015,134421,-4503.372,626.597,59,0.9,59,-24.4