version: 66.07.10.p01
glider: 573
mission: 12
dive: 418
start: 10 25 115 23 15 32
data:
$ID,573
$MISSION,12
$DIVE,418
$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,-22307.637
$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,33
$R_STBD_OVSHOOT,32
$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,417
$GPS1,251015,230633,-4500.256,639.161,60,1.0,60,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-71.1
$GPS2,251015,231511,-4500.238,639.189,18,1.2,18,-24.5
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,235.4,8120,-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,25,-0.76,-116.8,0.0,0.0,0,34,0.00,0.00,-7.78,0.000,2,0.000,0.000,78,2053,1287,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.1,-0.0,1,119,11.80,2.35,-60.72,0.000,4,0.235,0.071,2922,3464,2427,0,0,0,0,0,0
$GC,398,-0.67,-116.8,32.8,-10.4,59,406,0.12,2.22,0.00,0.000,6,0.134,0.040,2963,2065,2429,0,0,0,0,0,0
$GC,550,-0.67,-116.8,48.4,-9.5,84,557,0.00,2.30,0.00,0.000,4,0.000,0.058,2954,3460,2428,0,0,0,0,0,0
$GC,594,-0.67,-116.8,52.2,-8.9,91,599,0.00,2.20,0.00,0.000,6,0.000,0.038,2954,2053,2429,0,0,0,0,0,0
$GC,945,-0.67,-116.8,88.5,-10.2,142,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2429,0,0,0,0,0,0
$GC,1256,-0.67,-116.8,119.6,-10.0,157,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2429,0,0,0,0,0,0
$GC,1563,-0.67,-116.8,148.2,-9.2,172,1567,0.00,2.25,0.00,0.000,4,0.000,0.055,2954,659,2429,0,0,0,0,0,0
$GC,1613,-0.63,-116.8,153.2,-10.0,174,1618,0.12,2.20,0.00,0.000,6,0.171,0.039,2977,2061,2429,0,0,0,0,0,0
$GC,1935,-0.68,-116.8,179.6,-8.8,190,1939,0.00,2.28,0.00,0.000,4,0.000,0.063,2967,3463,2429,0,0,0,0,0,0
$GC,2082,-0.72,-116.8,193.1,-8.4,196,2086,0.00,2.17,0.00,0.000,6,0.000,0.038,2967,2055,2429,0,0,0,0,0,0
$GC,2402,-0.72,-116.8,220.1,-8.6,212,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2055,2429,0,0,0,0,0,0
$GC,2715,-0.75,-116.8,244.4,-7.6,227,2720,0.08,2.25,0.00,0.000,4,0.124,0.054,2919,660,2429,0,0,0,0,0,0
$GC,2777,-0.65,-116.8,250.6,-9.8,230,2782,0.22,2.20,0.00,0.000,6,0.151,0.040,2973,2061,2429,0,0,0,0,0,0
$GC,3106,-0.69,-116.8,272.7,-6.6,246,3110,0.00,2.28,0.00,0.000,4,0.000,0.062,2963,3463,2429,0,0,0,0,0,0
$GC,3150,-0.74,-116.8,276.1,-7.0,248,3154,0.00,2.17,0.00,0.000,6,0.000,0.039,2963,2060,2429,0,0,0,0,0,0
$GC,3471,-0.74,-116.8,300.0,-7.9,264,3475,0.00,2.25,0.00,0.000,4,0.000,0.054,2963,658,2429,0,0,0,0,0,0
$GC,3498,-0.74,-116.8,302.6,-9.1,265,3502,0.00,2.25,0.00,0.000,6,0.000,0.041,2954,2068,2429,0,0,0,0,0,0
$GC,3820,-0.74,-116.8,331.2,-9.3,281,3824,0.00,2.28,0.00,0.000,4,0.000,0.060,2944,3474,2429,0,0,0,0,0,0
$GC,3897,-0.74,-116.8,339.1,-10.6,284,3903,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2064,2429,0,0,0,0,0,0
$GC,4212,-0.74,-116.8,372.5,-10.9,300,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2065,2429,0,0,0,0,0,0
$GC,4523,-0.74,-116.8,405.5,-10.9,315,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2064,2429,0,0,0,0,0,0
$GC,4830,-0.74,-116.8,438.2,-10.2,330,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2064,2429,0,0,0,0,0,0
$GC,5141,-0.74,-116.8,468.3,-9.2,345,5145,0.00,2.28,0.00,0.000,4,0.000,0.057,2935,3463,2429,0,0,0,0,0,0
$GC,5230,-0.74,-116.8,476.8,-9.2,349,5234,0.00,2.22,0.00,0.000,6,0.000,0.039,2935,2029,2429,0,0,0,0,0,0
$GC,5558,-0.74,-116.8,508.2,-9.6,365,5562,0.00,2.22,0.00,0.000,4,0.000,0.056,2935,655,2429,0,0,0,0,0,0
$GC,5598,-0.69,-116.8,512.2,-10.0,367,5603,0.12,2.22,0.00,0.000,6,0.168,0.041,2958,2064,2429,0,0,0,0,0,0
$GC,5925,-0.69,-116.8,540.3,-8.5,383,5929,0.00,2.30,0.00,0.000,4,0.000,0.063,2948,3472,2429,0,0,0,0,0,0
$GC,5968,-0.72,-116.8,544.3,-8.8,385,5972,0.00,2.22,0.00,0.000,6,0.000,0.042,2949,2051,2429,0,0,0,0,0,0
$GC,6295,-0.72,-116.8,572.6,-8.6,401,6299,0.00,2.25,0.00,0.000,4,0.000,0.056,2948,649,2429,0,0,0,0,0,0
$GC,6367,-0.72,-116.8,579.3,-9.1,404,6371,0.00,2.25,0.00,0.000,6,0.000,0.043,2939,2054,2429,0,0,0,0,0,0
$GC,6688,-0.72,-116.8,607.0,-8.5,420,6692,0.00,2.30,0.00,0.000,4,0.000,0.059,2929,3474,2428,0,0,0,0,0,0
$GC,6731,-0.72,-116.8,610.8,-8.5,422,6736,0.08,2.22,0.00,0.000,6,0.180,0.041,2947,2053,2428,0,0,0,0,0,0
$GC,7057,-0.72,-116.8,635.8,-7.6,438,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2053,2428,0,0,0,0,0,0
$GC,7368,-0.72,-116.8,659.6,-7.9,453,7372,0.00,2.28,0.00,0.000,4,0.000,0.057,2947,649,2428,0,0,0,0,0,0
$GC,7396,-0.72,-116.8,661.9,-8.0,454,7400,0.00,2.25,0.00,0.000,6,0.000,0.042,2938,2066,2428,0,0,0,0,0,0
$GC,7712,-0.72,-116.8,686.7,-7.9,469,7716,0.00,2.28,0.00,0.000,4,0.000,0.064,2927,3463,2427,0,0,0,0,0,0
$GC,7823,-0.72,-116.8,696.0,-8.3,474,7828,0.10,2.20,0.00,0.000,6,0.164,0.040,2954,2051,2427,0,0,0,0,0,0
$GC,8150,-0.76,-116.8,719.1,-7.2,490,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2051,2427,0,0,0,0,0,0
$GC,8460,-0.80,-116.8,741.0,-7.0,505,8464,0.08,2.25,0.00,0.000,4,0.122,0.055,2908,659,2427,0,0,0,0,0,0
$GC,8498,-0.71,-116.8,744.5,-8.5,506,8504,0.20,2.20,0.00,0.000,6,0.155,0.041,2954,2061,2427,0,0,0,0,0,0
$GC,8813,-0.74,-116.8,766.5,-6.8,522,8817,0.00,2.30,0.00,0.000,4,0.000,0.064,2944,3463,2426,0,0,0,0,0,0
$GC,8862,-0.78,-116.8,770.2,-7.4,524,8866,0.00,2.20,0.00,0.000,6,0.000,0.040,2944,2050,2426,0,0,0,0,0,0
$GC,9179,-0.78,-116.8,793.2,-7.1,539,9183,0.00,2.25,0.00,0.000,4,0.000,0.056,2944,652,2426,0,0,0,0,0,0
$GC,9295,-0.78,-116.8,802.9,-8.4,544,9300,0.00,2.25,0.00,0.000,6,0.000,0.043,2935,2066,2426,0,0,0,0,0,0
$GC,9616,-0.78,-116.8,827.8,-7.6,560,9620,0.00,2.30,0.00,0.000,4,0.000,0.064,2924,3471,2426,0,0,0,0,0,0
$GC,9665,-0.78,-116.8,831.8,-8.1,562,9669,0.00,2.20,0.00,0.000,6,0.000,0.042,2924,2061,2426,0,0,0,0,0,0
$GC,9986,-0.78,-116.8,858.5,-8.4,578,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2061,2425,0,0,0,0,0,0
$GC,10296,-0.78,-116.8,883.4,-8.2,593,10301,0.00,2.30,0.00,0.000,4,0.000,0.060,2916,3463,2426,0,0,0,0,0,0
$GC,10362,-0.78,-116.8,889.5,-8.7,596,10367,0.00,2.20,0.00,0.000,6,0.000,0.040,2916,2066,2426,0,0,0,0,0,0
$GC,10689,-0.75,-116.8,918.0,-8.7,612,10694,0.10,2.30,0.00,0.000,4,0.181,0.058,2932,3466,2426,0,0,0,0,0,0
$GC,10738,-0.75,-116.8,922.3,-8.2,614,10743,0.00,2.20,0.00,0.000,6,0.000,0.040,2932,2053,2425,0,0,0,0,0,0
$GC,11059,-0.75,-116.8,949.5,-8.7,630,11063,0.00,2.25,0.00,0.000,4,0.000,0.057,2932,655,2425,0,0,0,0,0,0
$GC,11142,-0.75,-116.8,957.3,-9.8,634,11147,0.08,2.22,0.00,0.000,6,0.193,0.043,2941,2058,2425,0,0,0,0,0,0
$GC,11468,-0.75,-116.8,983.2,-7.8,650,11472,0.00,2.30,0.00,0.000,4,0.000,0.062,2931,3469,2425,0,0,0,0,0,0
$GC,11546,-0.75,-116.8,989.6,-8.8,653,11551,0.00,2.22,0.00,0.000,6,0.000,0.041,2931,2065,2425,0,0,0,0,0,0
$STATE,11695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11695,begin apogee
$GC,11701,-0.19,0.0,1001.3,7.8,661,11817,0.62,0.00,109.47,1.269,6,0.134,0.000,3122,1591,1950,0,0,0,0,0,0
$STATE,11817,end apogee,CONTROL_FINISHED_OK
$STATE,11818,begin climb
$GC,11820,0.76,116.8,1004.1,0.0,667,11940,0.93,0.00,117.00,1.222,6,0.086,0.000,3424,1592,1474,0,0,0,0,0,0
$GC,12246,0.76,121.0,972.1,8.3,688,12255,0.00,2.38,4.38,0.796,4,0.000,0.056,3434,198,1456,0,0,0,0,0,0
$GC,12305,0.76,121.0,966.9,9.0,690,12311,0.00,2.33,0.00,0.000,6,0.000,0.037,3434,1618,1455,0,0,0,0,0,0
$GC,12620,0.76,124.5,940.1,8.4,706,12627,0.00,0.00,4.82,0.801,6,0.000,0.000,3434,1618,1441,0,0,0,0,0,0
$GC,12931,0.77,128.2,914.4,8.4,721,12938,0.00,0.00,5.40,0.853,6,0.000,0.000,3434,1618,1427,0,0,0,0,0,0
$GC,13238,0.77,128.2,886.9,9.4,736,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1618,1426,0,0,0,0,0,0
$GC,13549,0.77,128.2,858.8,8.9,751,13550,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1425,0,0,0,0,0,0
$GC,13857,0.77,128.2,831.5,8.8,766,13861,0.00,2.20,0.00,0.000,4,0.000,0.055,3434,2989,1425,0,0,0,0,0,0
$GC,13890,0.77,131.3,828.5,8.4,767,13900,0.00,2.17,4.68,0.770,6,0.000,0.036,3443,1609,1414,0,0,0,0,0,0
$GC,14227,0.77,131.3,796.6,9.8,784,14231,0.00,2.30,0.00,0.000,4,0.000,0.056,3455,195,1414,0,0,0,0,0,0
$GC,14327,0.73,131.3,786.0,10.7,788,14333,0.12,2.20,0.00,0.000,6,0.147,0.037,3418,1607,1413,0,0,0,0,0,0
$GC,14642,0.78,131.3,758.5,8.7,804,14646,0.00,2.33,0.00,0.000,4,0.000,0.054,3428,189,1413,0,0,0,0,0,0
$GC,14696,0.82,131.3,753.7,8.8,806,14702,0.05,2.20,0.00,0.000,6,0.163,0.037,3461,1600,1412,0,0,0,0,0,0
$GC,15012,0.78,131.3,722.7,9.8,822,15016,0.10,2.33,0.00,0.000,4,0.162,0.054,3443,185,1413,0,0,0,0,0,0
$GC,15060,0.78,131.3,718.0,9.3,824,15065,0.00,2.22,0.00,0.000,6,0.000,0.037,3443,1597,1412,0,0,0,0,0,0
$GC,15381,0.78,133.7,690.3,8.4,840,15382,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1598,1412,0,0,0,0,0,0
$GC,15692,0.78,133.7,663.9,8.6,855,15696,0.00,2.22,0.00,0.000,4,0.000,0.054,3444,2992,1412,0,0,0,0,0,0
$GC,15724,0.78,133.7,660.9,8.5,856,15729,0.03,2.20,0.00,0.000,6,0.181,0.036,3442,1588,1412,0,0,0,0,0,0
$GC,16044,0.78,134.8,634.2,8.5,872,16054,0.00,2.25,4.57,0.703,4,0.000,0.057,3453,199,1400,0,0,0,0,0,0
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$STATE,23050,end climb,SURFACE_DEPTH_REACHED
$STATE,23051,begin surface coast
$FINISH,1.9,1.021695
$STATE,23089,end surface coast,CONTROL_FINISHED_OK
$STATE,23090,begin surface
$SM_CCo,23109,3.53,0.059,0,0,1133,200.16
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$HUMID,64.53
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.10
$XPDR_PINGS,1
$24V_AH,22.1,50.010
$10V_AH,9.6,52.464
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.725,198.950,300.825,3.525,0.000,28.208,22.725,306.871,0.250,0.000,21.446,2851.221,16506.791,461.583,3503.336,297.780,0.000,1811.816,0.000,3002.448,0.000,0.540,0.000
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$MEM,353276
$DATA_FILE_SIZE,93827,1308
$CAP_FILE_SIZE,204369,0
$CFSIZE,2097086464,2037219328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261015,054203,-4502.206,638.427,41,0.9,41,-24.5