version: 66.07.10.p01
glider: 573
mission: 12
dive: 503
start: 11 13 115 23 19 51
data:
$ID,573
$MISSION,12
$DIVE,503
$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,-22565.178
$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,37
$R_STBD_OVSHOOT,33
$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,502
$GPS1,131115,230832,-4503.820,623.838,36,1.0,39,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-66.8
$GPS2,131115,231929,-4503.804,624.018,15,1.0,15,-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,24.3,14453,-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,-7.47,0.000,2,0.000,0.000,68,2074,1275,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.1,-0.0,1,119,10.90,2.38,-61.42,0.000,4,0.198,0.071,2934,665,2427,0,0,0,0,0,0
$GC,397,-0.68,-116.8,33.4,-11.7,59,405,0.10,2.25,0.00,0.000,6,0.137,0.040,2959,2066,2429,0,0,0,0,0,0
$GC,549,-0.68,-116.8,49.4,-10.8,84,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2066,2429,0,0,0,0,0,0
$GC,906,-0.68,-116.8,86.2,-9.7,138,910,0.00,2.28,0.00,0.000,4,0.000,0.054,2959,663,2429,0,0,0,0,0,0
$GC,978,-0.68,-116.8,94.0,-10.5,141,982,0.00,2.25,0.00,0.000,6,0.000,0.043,2950,2079,2429,0,0,0,0,0,0
$GC,1302,-0.68,-116.8,126.3,-10.2,157,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2079,2429,0,0,0,0,0,0
$GC,1609,-0.68,-116.8,159.1,-10.7,172,1613,0.00,2.30,0.00,0.000,4,0.000,0.051,2950,651,2429,0,0,0,0,0,0
$GC,1655,-0.68,-116.8,164.2,-10.9,174,1660,0.10,2.25,0.00,0.000,6,0.173,0.042,2967,2071,2429,0,0,0,0,0,0
$GC,1984,-0.71,-116.8,195.6,-9.5,190,1988,0.00,2.28,0.00,0.000,4,0.000,0.063,2956,3466,2429,0,0,0,0,0,0
$GC,2084,-0.75,-116.8,205.1,-9.2,194,2088,0.00,2.17,0.00,0.000,6,0.000,0.040,2956,2053,2429,0,0,0,0,0,0
$GC,2406,-0.75,-116.8,234.3,-9.0,210,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2053,2429,0,0,0,0,0,0
$GC,2717,-0.75,-116.8,261.9,-9.0,225,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2053,2430,0,0,0,0,0,0
$GC,3025,-0.75,-116.8,290.3,-9.2,240,3029,0.00,2.22,0.00,0.000,4,0.000,0.054,2957,658,2430,0,0,0,0,0,0
$GC,3068,-0.75,-116.8,294.8,-10.1,242,3073,0.00,2.25,0.00,0.000,6,0.000,0.041,2948,2066,2430,0,0,0,0,0,0
$GC,3395,-0.75,-116.8,324.7,-9.1,258,3399,0.00,2.30,0.00,0.000,4,0.000,0.066,2937,3463,2430,0,0,0,0,0,0
$GC,3421,-0.75,-116.8,327.3,-9.7,259,3425,0.00,2.17,0.00,0.000,6,0.000,0.040,2937,2057,2429,0,0,0,0,0,0
$GC,3743,-0.75,-116.8,358.2,-9.8,275,3747,0.00,2.25,0.00,0.000,4,0.000,0.056,2937,652,2430,0,0,0,0,0,0
$GC,3793,-0.71,-116.8,363.9,-11.2,277,3797,0.10,2.25,0.00,0.000,6,0.171,0.044,2954,2064,2430,0,0,0,0,0,0
$GC,4114,-0.71,-116.8,394.1,-9.3,293,4117,0.00,2.28,0.00,0.000,4,0.000,0.067,2944,3464,2430,0,0,0,0,0,0
$GC,4140,-0.71,-116.8,396.8,-9.7,294,4145,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2063,2430,0,0,0,0,0,0
$GC,4467,-0.71,-116.8,426.8,-9.1,310,4471,0.00,2.25,0.00,0.000,4,0.000,0.054,2944,655,2429,0,0,0,0,0,0
$GC,4521,-0.71,-116.8,432.1,-9.5,312,4527,0.03,2.25,0.00,0.000,6,0.171,0.044,2946,2052,2429,0,0,0,0,0,0
$GC,4836,-0.71,-116.8,458.9,-8.6,328,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2052,2430,0,0,0,0,0,0
$GC,5147,-0.71,-116.8,484.6,-8.1,343,5151,0.00,2.30,0.00,0.000,4,0.000,0.061,2936,3466,2430,0,0,0,0,0,0
$GC,5175,-0.71,-116.8,487.0,-8.4,344,5180,0.08,2.17,0.00,0.000,6,0.178,0.041,2953,2055,2430,0,0,0,0,0,0
$GC,5491,-0.71,-116.8,510.7,-7.6,359,5495,0.00,2.22,0.00,0.000,4,0.000,0.057,2954,664,2430,0,0,0,0,0,0
$GC,5523,-0.71,-116.8,513.5,-8.6,360,5527,0.00,2.22,0.00,0.000,6,0.000,0.038,2945,2063,2430,0,0,0,0,0,0
$GC,5844,-0.71,-116.8,538.0,-7.4,376,5848,0.00,2.33,0.00,0.000,4,0.000,0.067,2934,3471,2429,0,0,0,0,0,0
$GC,5876,-0.71,-116.8,540.6,-8.3,377,5881,0.08,2.20,0.00,0.000,6,0.181,0.043,2953,2061,2430,0,0,0,0,0,0
$GC,6193,-0.75,-116.8,563.6,-7.3,393,6197,0.00,2.28,0.00,0.000,4,0.000,0.055,2953,657,2429,0,0,0,0,0,0
$GC,6234,-0.75,-116.8,566.6,-7.1,395,6238,0.00,2.25,0.00,0.000,6,0.000,0.045,2944,2064,2429,0,0,0,0,0,0
$GC,6561,-0.75,-116.8,591.0,-7.5,411,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2064,2429,0,0,0,0,0,0
$GC,6869,-0.75,-116.8,614.2,-7.6,426,6873,0.00,2.30,0.00,0.000,4,0.000,0.067,2933,3462,2429,0,0,0,0,0,0
$GC,6896,-0.75,-116.8,616.4,-8.1,427,6899,0.00,2.17,0.00,0.000,6,0.000,0.041,2933,2059,2429,0,0,0,0,0,0
$GC,7218,-0.75,-116.8,642.6,-8.2,443,7222,0.00,2.25,0.00,0.000,4,0.000,0.057,2934,659,2429,0,0,0,0,0,0
$GC,7289,-0.75,-116.8,649.3,-9.7,446,7294,0.05,2.25,0.00,0.000,6,0.223,0.044,2937,2052,2429,0,0,0,0,0,0
$GC,7610,-0.75,-116.8,675.9,-8.0,462,7614,0.00,2.33,0.00,0.000,4,0.000,0.062,2926,3476,2429,0,0,0,0,0,0
$GC,7653,-0.75,-116.8,679.8,-8.9,464,7658,0.05,2.25,0.00,0.000,6,0.205,0.043,2939,2069,2429,0,0,0,0,0,0
$GC,7979,-0.75,-116.8,706.6,-8.4,480,7983,0.00,2.28,0.00,0.000,4,0.000,0.055,2940,648,2428,0,0,0,0,0,0
$GC,8006,-0.75,-116.8,709.0,-9.2,481,8011,0.00,2.25,0.00,0.000,6,0.000,0.041,2930,2075,2428,0,0,0,0,0,0
$GC,8328,-0.75,-116.8,737.0,-8.7,497,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2075,2429,0,0,0,0,0,0
$GC,8636,-0.75,-116.8,764.1,-8.8,512,8640,0.00,2.28,0.00,0.000,4,0.000,0.061,2920,3471,2428,0,0,0,0,0,0
$GC,8679,-0.75,-116.8,768.2,-9.5,514,8684,0.08,2.25,0.00,0.000,6,0.174,0.041,2940,2025,2428,0,0,0,0,0,0
$GC,9005,-0.75,-116.8,794.9,-8.1,530,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2025,2427,0,0,0,0,0,0
$GC,9316,-0.75,-116.8,818.1,-7.3,545,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2025,2427,0,0,0,0,0,0
$GC,9624,-0.78,-116.8,840.1,-6.9,560,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2025,2427,0,0,0,0,0,0
$GC,9935,-0.81,-116.8,862.2,-7.1,575,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2025,2427,0,0,0,0,0,0
$GC,10243,-0.85,-116.8,883.9,-7.2,590,10245,0.10,0.00,0.00,0.000,6,0.099,0.000,2888,2025,2427,0,0,0,0,0,0
$GC,10554,-0.78,-116.8,911.4,-9.2,605,10555,0.15,0.00,0.00,0.000,6,0.160,0.000,2931,2025,2427,0,0,0,0,0,0
$GC,10861,-0.78,-116.8,935.8,-7.7,620,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2025,2426,0,0,0,0,0,0
$GC,11172,-0.78,-116.8,959.9,-8.0,635,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2025,2426,0,0,0,0,0,0
$GC,11480,-0.78,-116.8,984.8,-8.1,650,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2025,2426,0,0,0,0,0,0
$STATE,11684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11684,begin apogee
$GC,11689,-0.19,0.0,1001.7,8.0,660,11806,0.60,0.00,111.97,1.261,6,0.132,0.000,3114,1598,1949,0,0,0,0,0,0
$STATE,11806,end apogee,CONTROL_FINISHED_OK
$STATE,11806,begin climb
$GC,11809,0.76,116.8,1004.8,0.0,666,11936,0.93,2.47,118.40,1.217,4,0.087,0.057,3431,205,1473,0,0,0,0,0,0
$GC,11975,0.76,120.3,995.2,8.4,674,11985,0.00,2.38,4.50,0.738,6,0.000,0.036,3431,1603,1458,0,0,0,0,0,0
$GC,12305,0.76,120.3,964.8,9.3,690,12310,0.00,2.38,0.00,0.000,4,0.000,0.054,3441,195,1455,0,0,0,0,0,0
$GC,12360,0.76,120.3,959.3,9.9,692,12366,0.00,2.30,0.00,0.000,6,0.000,0.037,3441,1609,1454,0,0,0,0,0,0
$GC,12675,0.76,120.3,928.6,9.9,708,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1609,1453,0,0,0,0,0,0
$GC,12986,0.76,120.3,900.2,8.7,723,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1609,1453,0,0,0,0,0,0
$GC,13294,0.76,120.3,874.1,8.6,738,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1610,1453,0,0,0,0,0,0
$GC,13605,0.76,120.3,848.0,8.5,753,13609,0.00,2.22,0.00,0.000,4,0.000,0.057,3441,2999,1452,0,0,0,0,0,0
$GC,13666,0.76,120.3,842.4,8.7,756,13671,0.08,2.20,0.00,0.000,6,0.191,0.037,3432,1581,1452,0,0,0,0,0,0
$GC,13993,0.80,131.2,816.2,8.0,772,14006,0.00,0.00,11.10,1.030,6,0.000,0.000,3432,1581,1415,0,0,0,0,0,0
$GC,14302,0.84,134.1,789.7,8.4,787,14309,0.08,0.00,4.22,0.704,6,0.121,0.000,3475,1581,1403,0,0,0,0,0,0
$GC,14610,0.79,134.1,758.3,10.1,802,14615,0.12,2.28,0.00,0.000,4,0.148,0.057,3449,198,1402,0,0,0,0,0,0
$GC,14648,0.79,134.1,754.5,9.2,804,14652,0.00,2.20,0.00,0.000,6,0.000,0.037,3449,1613,1402,0,0,0,0,0,0
$GC,14974,0.79,134.1,725.2,8.8,820,14978,0.00,2.20,0.00,0.000,4,0.000,0.057,3450,2993,1402,0,0,0,0,0,0
$GC,15017,0.79,134.9,721.2,8.5,822,15022,0.08,2.17,0.00,0.000,6,0.187,0.037,3440,1594,1402,0,0,0,0,0,0
$GC,15343,0.79,135.0,693.4,8.5,838,15347,0.00,2.25,0.00,0.000,4,0.000,0.057,3450,193,1402,0,0,0,0,0,0
$GC,15409,0.79,135.0,687.0,9.3,841,15414,0.00,2.22,0.00,0.000,6,0.000,0.037,3450,1600,1401,0,0,0,0,0,0
$GC,15737,0.79,135.0,657.3,9.2,857,15740,0.00,2.22,0.00,0.000,4,0.000,0.056,3450,2995,1401,0,0,0,0,0,0
$GC,15791,0.79,135.0,651.6,9.8,859,15797,0.05,2.20,0.00,0.000,6,0.147,0.037,3441,1594,1401,0,0,0,0,0,0
$GC,16108,0.80,148.7,624.6,7.9,875,16129,0.00,2.25,16.08,0.985,4,0.000,0.055,3451,202,1342,0,0,0,0,0,0
$GC,16252,0.80,148.7,610.8,9.4,881,16257,0.00,2.22,0.00,0.000,6,0.000,0.037,3451,1598,1340,0,0,0,0,0,0
$GC,16568,0.80,148.7,582.7,9.0,897,16570,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1599,1340,0,0,0,0,0,0
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$STATE,22802,end climb,SURFACE_DEPTH_REACHED
$STATE,22802,begin surface coast
$FINISH,1.9,1.015656
$STATE,22835,end surface coast,CONTROL_FINISHED_OK
$STATE,22835,begin surface
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$SM_GC,2.77,9.10,0.00,0.00,0.043,0.000,0.000,97,2070,1106,-9.59,0.28,207.03
$IRIDIUM_FIX,-4444.39,621.76,090908,121203
$TT8_MAMPS,0.026964
$HUMID,64.53
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.9,58.975
$10V_AH,9.7,61.955
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.300,167.775,325.775,0.000,0.000,49.930,125.333,278.538,0.000,0.000,17.629,2753.496,16595.102,422.521,3490.022,309.078,0.000,1722.825,0.000,2897.905,0.000,0.540,0.000
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$SENSOR_SECS,615.737,1783.893,934.091,533.063,0.000,0.000,0.000,0.000,0.000,0.000
$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,93722,1283
$CAP_FILE_SIZE,188295,0
$CFSIZE,2097086464,2026110976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141115,054304,-4501.728,625.907,44,1.2,44,-24.4