version: 66.07.10.p01
glider: 573
mission: 12
dive: 519
start: 11 17 115 13 44 48
data:
$ID,573
$MISSION,12
$DIVE,519
$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,-22616.512
$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,48
$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,518
$GPS1,171115,133503,-4459.777,637.099,28,0.9,28,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-65.9
$GPS2,171115,134427,-4459.747,637.139,22,0.9,23,-24.4
$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,215.1,8016,-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,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,41,0.00,0.00,-14.00,0.000,2,0.000,0.000,75,2066,1408,0,0,0,0,0,0
$GC,44,-0.76,-116.8,3.0,-2.9,2,114,11.80,2.33,-48.22,0.000,4,0.231,0.077,2923,3447,2427,0,0,0,0,0,0
$GC,216,-0.71,-116.8,14.7,-11.0,29,224,0.08,2.22,0.00,0.000,6,0.142,0.041,2948,2057,2430,0,0,0,0,0,0
$GC,275,-0.71,-116.8,20.5,-9.6,38,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2057,2430,0,0,0,0,0,0
$GC,431,-0.71,-116.8,35.3,-9.4,63,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2057,2430,0,0,0,0,0,0
$GC,580,-0.71,-116.8,50.0,-9.7,88,585,0.00,2.22,0.00,0.000,4,0.000,0.054,2948,657,2430,0,0,0,0,0,0
$GC,626,-0.67,-116.8,55.2,-11.0,96,634,0.08,2.22,0.00,0.000,6,0.155,0.042,2964,2041,2430,0,0,0,0,0,0
$GC,974,-0.67,-116.8,90.6,-9.7,143,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2041,2430,0,0,0,0,0,0
$GC,1281,-0.67,-116.8,119.5,-9.4,158,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2041,2430,0,0,0,0,0,0
$GC,1592,-0.67,-116.8,146.7,-8.7,173,1596,0.00,2.33,0.00,0.000,4,0.000,0.063,2954,3470,2431,0,0,0,0,0,0
$GC,1642,-0.67,-116.8,151.6,-9.1,175,1646,0.00,2.22,0.00,0.000,6,0.000,0.040,2954,2057,2431,0,0,0,0,0,0
$GC,1966,-0.67,-116.8,179.1,-7.9,191,1970,0.00,2.25,0.00,0.000,4,0.000,0.054,2954,655,2431,0,0,0,0,0,0
$GC,2074,-0.67,-116.8,188.1,-8.1,196,2079,0.10,2.22,0.00,0.000,6,0.172,0.042,2970,2063,2431,0,0,0,0,0,0
$GC,2403,-0.71,-116.8,214.2,-8.3,212,2407,0.00,2.28,0.00,0.000,4,0.000,0.063,2960,3472,2431,0,0,0,0,0,0
$GC,2448,-0.77,-116.8,218.6,-9.4,214,2453,0.08,2.20,0.00,0.000,6,0.119,0.041,2917,2058,2431,0,0,0,0,0,0
$GC,2777,-0.70,-116.8,251.9,-10.6,230,2781,0.12,2.28,0.00,0.000,4,0.162,0.055,2952,649,2431,0,0,0,0,0,0
$GC,2826,-0.70,-116.8,257.2,-9.8,232,2830,0.00,2.25,0.00,0.000,6,0.000,0.042,2942,2059,2431,0,0,0,0,0,0
$GC,3153,-0.70,-116.8,289.5,-10.1,248,3157,0.00,2.25,0.00,0.000,4,0.000,0.063,2932,3463,2431,0,0,0,0,0,0
$GC,3224,-0.70,-116.8,296.8,-10.8,251,3229,0.08,2.20,0.00,0.000,6,0.179,0.038,2950,2047,2431,0,0,0,0,0,0
$GC,3551,-0.70,-116.8,330.1,-10.2,267,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2047,2430,0,0,0,0,0,0
$GC,3859,-0.70,-116.8,360.5,-9.6,282,3863,0.00,2.20,0.00,0.000,4,0.000,0.053,2951,661,2431,0,0,0,0,0,0
$GC,3925,-0.70,-116.8,367.0,-9.8,285,3929,0.00,2.22,0.00,0.000,6,0.000,0.040,2943,2061,2431,0,0,0,0,0,0
$GC,4252,-0.70,-116.8,397.7,-9.3,301,4256,0.00,2.30,0.00,0.000,4,0.000,0.064,2932,3469,2431,0,0,0,0,0,0
$GC,4315,-0.70,-116.8,403.7,-9.5,304,4320,0.08,2.20,0.00,0.000,6,0.174,0.042,2952,2061,2431,0,0,0,0,0,0
$GC,4640,-0.70,-116.8,432.5,-8.9,320,4644,0.00,2.25,0.00,0.000,4,0.000,0.054,2952,652,2431,0,0,0,0,0,0
$GC,4735,-0.70,-116.8,441.4,-9.8,324,4739,0.00,2.22,0.00,0.000,6,0.000,0.042,2943,2061,2431,0,0,0,0,0,0
$GC,5055,-0.70,-116.8,469.8,-8.8,340,5059,0.00,2.28,0.00,0.000,4,0.000,0.063,2932,3468,2430,0,0,0,0,0,0
$GC,5115,-0.70,-116.8,475.5,-9.6,342,5122,0.05,2.22,0.00,0.000,6,0.148,0.041,2951,2063,2430,0,0,0,0,0,0
$GC,5431,-0.70,-116.8,501.7,-8.3,358,5435,0.00,2.25,0.00,0.000,4,0.000,0.054,2952,655,2430,0,0,0,0,0,0
$GC,5499,-0.70,-116.8,507.9,-8.9,361,5503,0.00,2.22,0.00,0.000,6,0.000,0.041,2943,2063,2430,0,0,0,0,0,0
$GC,5825,-0.70,-116.8,536.8,-8.8,377,5829,0.00,2.30,0.00,0.000,4,0.000,0.063,2932,3471,2429,0,0,0,0,0,0
$GC,5914,-0.70,-116.8,544.8,-8.7,381,5919,0.10,2.25,0.00,0.000,6,0.158,0.042,2959,2054,2429,0,0,0,0,0,0
$GC,6243,-0.76,-116.8,569.1,-7.3,397,6248,0.05,2.25,0.00,0.000,4,0.164,0.055,2919,655,2429,0,0,0,0,0,0
$GC,6304,-0.70,-116.8,574.7,-9.6,400,6309,0.17,2.22,0.00,0.000,6,0.148,0.043,2959,2061,2429,0,0,0,0,0,0
$GC,6632,-0.75,-116.8,598.3,-7.2,416,6636,0.00,2.30,0.00,0.000,4,0.000,0.064,2949,3468,2429,0,0,0,0,0,0
$GC,6704,-0.80,-116.8,603.9,-7.7,419,6709,0.08,2.22,0.00,0.000,6,0.119,0.041,2907,2050,2429,0,0,0,0,0,0
$GC,7025,-0.75,-116.8,633.3,-9.4,435,7030,0.12,2.28,0.00,0.000,4,0.162,0.057,2941,651,2429,0,0,0,0,0,0
$GC,7074,-0.75,-116.8,638.0,-8.8,437,7079,0.00,2.25,0.00,0.000,6,0.000,0.042,2932,2055,2429,0,0,0,0,0,0
$GC,7397,-0.75,-116.8,663.4,-7.8,453,7401,0.00,2.30,0.00,0.000,4,0.000,0.060,2922,3471,2429,0,0,0,0,0,0
$GC,7514,-0.75,-116.8,673.5,-7.8,458,7519,0.08,2.20,0.00,0.000,6,0.174,0.043,2941,2060,2429,0,0,0,0,0,0
$GC,7834,-0.75,-116.8,697.7,-7.3,474,7838,0.00,2.28,0.00,0.000,4,0.000,0.056,2941,649,2429,0,0,0,0,0,0
$GC,7897,-0.75,-116.8,702.5,-8.2,477,7901,0.00,2.25,0.00,0.000,6,0.000,0.042,2932,2071,2429,0,0,0,0,0,0
$GC,8224,-0.75,-116.8,727.2,-7.3,493,8228,0.00,2.28,0.00,0.000,4,0.000,0.061,2921,3467,2428,0,0,0,0,0,0
$GC,8296,-0.75,-116.8,732.8,-8.2,496,8300,0.08,2.20,0.00,0.000,6,0.174,0.038,2940,2050,2429,0,0,0,0,0,0
$GC,8616,-0.75,-116.8,757.1,-7.6,512,8620,0.00,2.22,0.00,0.000,4,0.000,0.053,2941,655,2428,0,0,0,0,0,0
$GC,8648,-0.75,-116.8,759.9,-9.1,513,8653,0.00,2.25,0.00,0.000,6,0.000,0.040,2931,2066,2428,0,0,0,0,0,0
$GC,8965,-0.75,-116.8,785.3,-8.2,529,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2067,2428,0,0,0,0,0,0
$GC,9272,-0.75,-116.8,811.7,-8.7,544,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2066,2428,0,0,0,0,0,0
$GC,9583,-0.75,-116.8,839.2,-8.9,559,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2066,2427,0,0,0,0,0,0
$GC,9891,-0.75,-116.8,866.2,-8.4,574,9896,0.00,2.30,0.00,0.000,4,0.000,0.063,2921,3471,2427,0,0,0,0,0,0
$GC,9992,-0.75,-116.8,875.1,-8.5,578,9998,0.08,2.20,0.00,0.000,6,0.172,0.043,2941,2064,2427,0,0,0,0,0,0
$GC,10309,-0.79,-116.8,899.7,-7.7,594,10313,0.00,2.25,0.00,0.000,4,0.000,0.054,2941,654,2427,0,0,0,0,0,0
$GC,10376,-0.79,-116.8,905.2,-8.2,597,10380,0.00,2.22,0.00,0.000,6,0.000,0.041,2932,2062,2426,0,0,0,0,0,0
$GC,10697,-0.79,-116.8,928.2,-7.1,613,10701,0.00,2.28,0.00,0.000,4,0.000,0.065,2921,3462,2426,0,0,0,0,0,0
$GC,10743,-0.79,-116.8,931.7,-7.7,615,10748,0.00,2.17,0.00,0.000,6,0.000,0.040,2921,2054,2426,0,0,0,0,0,0
$GC,11077,-0.79,-116.8,957.0,-7.7,631,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2055,2426,0,0,0,0,0,0
$GC,11384,-0.79,-116.8,979.9,-7.3,646,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2055,2426,0,0,0,0,0,0
$STATE,11651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11652,begin apogee
$GC,11658,-0.19,0.0,1000.6,7.9,659,11774,0.65,0.00,112.53,1.260,6,0.134,0.000,3119,1599,1950,0,0,0,0,0,0
$STATE,11775,end apogee,CONTROL_FINISHED_OK
$STATE,11775,begin climb
$GC,11777,0.76,116.8,1003.7,0.0,665,11904,0.93,2.45,119.20,1.218,4,0.084,0.050,3427,2997,1473,0,0,0,0,0,0
$GC,11915,0.77,140.5,996.3,7.4,671,11946,0.00,2.40,26.38,1.147,6,0.000,0.035,3435,1606,1377,0,0,0,0,0,0
$GC,12268,0.77,140.5,964.9,9.0,689,12272,0.00,2.38,0.00,0.000,4,0.000,0.057,3447,195,1369,0,0,0,0,0,0
$GC,12368,0.77,140.5,955.4,8.8,693,12372,0.00,2.30,0.00,0.000,6,0.000,0.037,3447,1629,1368,0,0,0,0,0,0
$GC,12684,0.77,140.5,926.6,9.0,709,12688,0.00,2.38,0.00,0.000,4,0.000,0.054,3457,193,1368,0,0,0,0,0,0
$GC,12710,0.77,140.5,923.8,10.0,710,12715,0.10,2.25,0.00,0.000,6,0.157,0.037,3428,1602,1367,0,0,0,0,0,0
$GC,13031,0.82,140.5,895.3,9.3,726,13036,0.05,2.33,0.00,0.000,4,0.165,0.054,3477,183,1367,0,0,0,0,0,0
$GC,13093,0.76,140.5,888.4,12.3,729,13098,0.15,2.22,0.00,0.000,6,0.140,0.037,3433,1601,1365,0,0,0,0,0,0
$GC,13422,0.80,140.5,855.4,10.3,745,13426,0.00,2.33,0.00,0.000,4,0.000,0.055,3442,186,1365,0,0,0,0,0,0
$GC,13448,0.80,140.5,852.2,10.4,746,13452,0.00,2.25,0.00,0.000,6,0.000,0.036,3442,1613,1365,0,0,0,0,0,0
$GC,13770,0.80,140.5,819.1,10.2,762,13774,0.00,2.33,0.00,0.000,4,0.000,0.054,3452,192,1365,0,0,0,0,0,0
$GC,13809,0.80,140.5,814.9,11.8,764,13813,0.00,2.20,0.00,0.000,6,0.000,0.035,3452,1607,1365,0,0,0,0,0,0
$GC,14135,0.80,140.5,781.7,9.8,780,14139,0.00,2.33,0.00,0.000,4,0.000,0.054,3462,188,1365,0,0,0,0,0,0
$GC,14201,0.80,140.5,774.5,10.8,783,14206,0.08,2.22,0.00,0.000,6,0.171,0.037,3442,1593,1364,0,0,0,0,0,0
$GC,14529,0.80,140.5,745.6,8.6,799,14533,0.00,2.30,0.00,0.000,4,0.000,0.054,3451,189,1364,0,0,0,0,0,0
$GC,14600,0.80,140.5,739.0,9.0,802,14605,0.00,2.22,0.00,0.000,6,0.000,0.036,3451,1601,1364,0,0,0,0,0,0
$GC,14922,0.81,141.7,711.7,8.5,818,14926,0.00,2.30,0.00,0.000,4,0.000,0.054,3461,192,1364,0,0,0,0,0,0
$GC,14956,0.81,141.7,708.6,8.8,819,14961,0.08,2.20,0.00,0.000,6,0.174,0.036,3440,1607,1364,0,0,0,0,0,0
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$STATE,22221,end climb,SURFACE_DEPTH_REACHED
$STATE,22221,begin surface coast
$FINISH,1.9,1.022565
$STATE,22253,end surface coast,CONTROL_FINISHED_OK
$STATE,22253,begin surface
$SM_CCo,22272,6.68,0.057,0,0,1133,200.16
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$HUMID,64.92
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,12.00
$XPDR_PINGS,1
$24V_AH,21.9,60.692
$10V_AH,9.7,63.759
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.675,209.200,302.875,6.675,0.000,26.622,27.564,335.730,0.250,0.000,26.460,2780.137,15729.090,430.887,3555.471,335.481,0.000,1820.391,0.000,3020.239,0.000,0.540,0.000
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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,353328
$DATA_FILE_SIZE,90832,1259
$CAP_FILE_SIZE,204260,0
$CFSIZE,2097086464,2023981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171115,195727,-4502.830,637.662,43,0.9,43,-24.4