version: 66.07.10.p01
glider: 573
mission: 12
dive: 526
start: 11 19 115 1 24 20
data:
$ID,573
$MISSION,12
$DIVE,526
$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,-22638.836
$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,44
$R_STBD_OVSHOOT,64
$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,525
$GPS1,191115,011503,-4505.557,633.138,29,1.0,29,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-63.4
$GPS2,191115,012359,-4505.590,633.213,22,1.2,22,-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,308.1,12405,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.08,0.000,2,0.000,0.000,65,2045,1608,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.2,-4.6,4,112,11.57,0.00,-38.85,0.000,6,0.223,0.000,2932,2045,2425,0,0,0,0,0,0
$GC,166,-0.69,-116.8,9.5,-11.3,21,173,0.10,0.00,0.00,0.000,6,0.168,0.000,2959,2045,2427,0,0,0,0,0,0
$GC,225,-0.69,-116.8,17.1,-10.7,30,232,0.00,2.25,0.00,0.000,4,0.000,0.052,2960,668,2427,0,0,0,0,0,0
$GC,253,-0.69,-116.8,19.5,-8.2,34,261,0.00,2.17,0.00,0.000,6,0.000,0.038,2952,2022,2427,0,0,0,0,0,0
$GC,313,-0.69,-116.8,25.9,-9.9,43,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2022,2427,0,0,0,0,0,0
$GC,466,-0.69,-116.8,40.8,-10.0,68,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2022,2428,0,0,0,0,0,0
$GC,814,-0.69,-116.8,75.6,-10.7,129,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2022,2428,0,0,0,0,0,0
$GC,1144,-0.69,-116.8,111.6,-11.1,150,1148,0.00,2.33,0.00,0.000,4,0.000,0.060,2941,3462,2428,0,0,0,0,0,0
$GC,1193,-0.69,-116.8,117.0,-10.6,152,1198,0.03,2.20,0.00,0.000,6,0.173,0.038,2951,2063,2428,0,0,0,0,0,0
$GC,1520,-0.69,-116.8,148.7,-9.2,168,1524,0.00,2.22,0.00,0.000,4,0.000,0.054,2952,662,2428,0,0,0,0,0,0
$GC,1580,-0.69,-116.8,155.0,-9.9,170,1588,0.00,2.22,0.00,0.000,6,0.000,0.041,2943,2057,2428,0,0,0,0,0,0
$GC,1898,-0.69,-116.8,184.1,-9.7,186,1903,0.05,2.28,0.00,0.000,4,0.230,0.058,2944,3476,2428,0,0,0,0,0,0
$GC,2034,-0.69,-116.8,199.2,-10.9,192,2038,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2052,2428,0,0,0,0,0,0
$GC,2356,-0.69,-116.8,231.3,-9.6,208,2360,0.05,2.25,0.00,0.000,4,0.222,0.055,2956,654,2428,0,0,0,0,0,0
$GC,2428,-0.69,-116.8,238.4,-9.7,211,2432,0.00,2.25,0.00,0.000,6,0.000,0.041,2948,2087,2428,0,0,0,0,0,0
$GC,2757,-0.69,-116.8,269.1,-9.5,227,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2087,2428,0,0,0,0,0,0
$GC,3064,-0.69,-116.8,299.1,-9.7,242,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2087,2428,0,0,0,0,0,0
$GC,3373,-0.69,-116.8,328.9,-9.5,257,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2087,2428,0,0,0,0,0,0
$GC,3681,-0.69,-116.8,357.7,-9.2,272,3685,0.00,2.33,0.00,0.000,4,0.000,0.054,2948,657,2428,0,0,0,0,0,0
$GC,3714,-0.69,-116.8,361.0,-10.4,273,3719,0.08,2.25,0.00,0.000,6,0.191,0.042,2957,2063,2428,0,0,0,0,0,0
$GC,4031,-0.73,-116.8,388.9,-9.1,289,4035,0.00,2.30,0.00,0.000,4,0.000,0.064,2946,3472,2428,0,0,0,0,0,0
$GC,4065,-0.73,-116.8,392.1,-8.9,290,4070,0.00,2.20,0.00,0.000,6,0.000,0.042,2947,2059,2428,0,0,0,0,0,0
$GC,4379,-0.73,-116.8,421.6,-9.5,306,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2058,2428,0,0,0,0,0,0
$GC,4690,-0.73,-116.8,451.6,-9.8,321,4694,0.00,2.22,0.00,0.000,4,0.000,0.055,2946,659,2428,0,0,0,0,0,0
$GC,4739,-0.73,-116.8,456.6,-9.8,323,4743,0.00,2.25,0.00,0.000,6,0.000,0.042,2938,2083,2428,0,0,0,0,0,0
$GC,5061,-0.73,-116.8,486.8,-9.3,339,5065,0.00,2.25,0.00,0.000,4,0.000,0.063,2927,3465,2428,0,0,0,0,0,0
$GC,5101,-0.73,-116.8,490.9,-10.1,341,5105,0.08,2.20,0.00,0.000,6,0.177,0.040,2946,2053,2428,0,0,0,0,0,0
$GC,5427,-0.73,-116.8,522.1,-9.5,357,5431,0.00,2.25,0.00,0.000,4,0.000,0.055,2947,659,2428,0,0,0,0,0,0
$GC,5460,-0.73,-116.8,525.5,-9.8,358,5465,0.00,2.22,0.00,0.000,6,0.000,0.040,2938,2058,2428,0,0,0,0,0,0
$GC,5775,-0.73,-116.8,554.3,-8.8,374,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2058,2428,0,0,0,0,0,0
$GC,6086,-0.73,-116.8,580.9,-8.7,389,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2058,2428,0,0,0,0,0,0
$GC,6393,-0.73,-116.8,608.6,-9.2,404,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2058,2429,0,0,0,0,0,0
$GC,6704,-0.73,-116.8,637.5,-9.4,419,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2058,2427,0,0,0,0,0,0
$GC,7012,-0.73,-116.8,665.6,-8.7,434,7016,0.00,2.30,0.00,0.000,4,0.000,0.063,2927,3469,2427,0,0,0,0,0,0
$GC,7134,-0.73,-116.8,676.7,-9.0,439,7139,0.08,2.22,0.00,0.000,6,0.175,0.041,2947,2050,2427,0,0,0,0,0,0
$GC,7451,-0.77,-116.8,701.2,-7.5,455,7455,0.00,2.22,0.00,0.000,4,0.000,0.055,2947,657,2426,0,0,0,0,0,0
$GC,7537,-0.77,-116.8,708.0,-8.0,459,7541,0.00,2.22,0.00,0.000,6,0.000,0.040,2937,2069,2426,0,0,0,0,0,0
$GC,7864,-0.77,-116.8,732.0,-7.4,475,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2069,2426,0,0,0,0,0,0
$GC,8172,-0.77,-116.8,755.1,-7.8,490,8176,0.00,2.28,0.00,0.000,4,0.000,0.063,2927,3468,2426,0,0,0,0,0,0
$GC,8226,-0.77,-116.8,759.7,-8.7,492,8232,0.00,2.25,0.00,0.000,6,0.000,0.041,2927,2049,2425,0,0,0,0,0,0
$GC,8542,-0.77,-116.8,785.6,-8.4,508,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2049,2425,0,0,0,0,0,0
$GC,8853,-0.77,-116.8,811.3,-8.1,523,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2050,2425,0,0,0,0,0,0
$GC,9161,-0.77,-116.8,836.0,-8.1,538,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2050,2425,0,0,0,0,0,0
$GC,9471,-0.77,-116.8,860.3,-7.8,553,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2049,2424,0,0,0,0,0,0
$GC,9779,-0.77,-116.8,884.5,-7.8,568,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2050,2425,0,0,0,0,0,0
$GC,10090,-0.77,-116.8,908.5,-7.7,583,10094,0.00,2.25,0.00,0.000,4,0.000,0.055,2927,656,2425,0,0,0,0,0,0
$GC,10130,-0.77,-116.8,912.0,-8.5,585,10135,0.08,2.22,0.00,0.000,6,0.187,0.040,2936,2068,2425,0,0,0,0,0,0
$GC,10459,-0.80,-116.8,936.2,-7.2,601,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2068,2424,0,0,0,0,0,0
$GC,10765,-0.84,-116.8,957.7,-7.0,616,10770,0.08,2.30,0.00,0.000,4,0.121,0.062,2882,3471,2425,0,0,0,0,0,0
$GC,10798,-0.76,-116.8,960.3,-8.5,617,10803,0.20,2.22,0.00,0.000,6,0.150,0.043,2939,2060,2424,0,0,0,0,0,0
$GC,11114,-0.81,-116.8,981.9,-6.7,632,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2060,2424,0,0,0,0,0,0
$STATE,11380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11380,begin apogee
$GC,11386,-0.19,0.0,1000.3,6.7,645,11501,0.57,0.00,111.70,1.262,6,0.135,0.000,3115,1590,1950,0,0,0,0,0,0
$STATE,11502,end apogee,CONTROL_FINISHED_OK
$STATE,11502,begin climb
$GC,11504,0.76,116.8,1002.9,0.0,651,11628,0.98,0.00,120.32,1.215,6,0.086,0.000,3432,1590,1474,0,0,0,0,0,0
$GC,11930,0.76,116.8,969.1,9.0,672,11934,0.00,2.35,0.00,0.000,4,0.000,0.057,3442,199,1466,0,0,0,0,0,0
$GC,12019,0.76,116.8,960.7,9.7,676,12023,0.00,2.28,0.00,0.000,6,0.000,0.036,3442,1623,1465,0,0,0,0,0,0
$GC,12345,0.76,116.8,931.1,9.1,692,12349,0.00,2.35,0.00,0.000,4,0.000,0.054,3452,198,1464,0,0,0,0,0,0
$GC,12424,0.76,116.8,923.2,9.3,695,12429,0.10,2.20,0.00,0.000,6,0.158,0.037,3425,1598,1463,0,0,0,0,0,0
$GC,12742,0.80,123.3,896.6,8.2,711,12750,0.00,0.00,5.82,0.878,6,0.000,0.000,3425,1598,1447,0,0,0,0,0,0
$GC,13049,0.85,141.9,872.7,7.6,726,13075,0.10,2.33,20.33,1.128,4,0.103,0.054,3486,189,1371,0,0,0,0,0,0
$GC,13126,0.76,141.9,865.1,10.3,729,13131,0.17,2.25,0.00,0.000,6,0.139,0.037,3434,1611,1369,0,0,0,0,0,0
$GC,13442,0.80,141.9,837.8,8.8,745,13447,0.00,2.33,0.00,0.000,4,0.000,0.055,3443,198,1367,0,0,0,0,0,0
$GC,13486,0.80,141.9,833.6,9.9,747,13490,0.00,2.22,0.00,0.000,6,0.000,0.036,3443,1602,1366,0,0,0,0,0,0
$GC,13814,0.80,143.2,805.2,8.5,763,13818,0.00,2.22,0.00,0.000,4,0.000,0.054,3443,2990,1366,0,0,0,0,0,0
$GC,13854,0.80,143.2,801.7,8.6,765,13858,0.00,2.17,0.00,0.000,6,0.000,0.036,3452,1595,1365,0,0,0,0,0,0
$GC,14181,0.80,146.3,774.1,8.4,781,14191,0.00,2.25,5.20,0.802,4,0.000,0.055,3464,197,1352,0,0,0,0,0,0
$GC,14286,0.80,146.3,764.7,9.1,786,14291,0.08,2.20,0.00,0.000,6,0.173,0.037,3444,1600,1352,0,0,0,0,0,0
$GC,14613,0.81,166.0,739.2,7.6,802,14639,0.00,2.33,21.05,1.068,4,0.000,0.054,3453,189,1273,0,0,0,0,0,0
$GC,14724,0.81,166.0,729.9,8.8,807,14728,0.00,2.22,0.00,0.000,6,0.000,0.035,3453,1603,1270,0,0,0,0,0,0
$GC,15045,0.81,166.3,702.7,8.5,823,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1603,1269,0,0,0,0,0,0
$GC,15354,0.81,166.3,675.1,9.2,838,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1604,1269,0,0,0,0,0,0
$GC,15664,0.81,166.3,645.8,9.6,853,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1603,1269,0,0,0,0,0,0
$GC,15972,0.81,166.3,615.5,9.9,868,15976,0.00,2.30,0.00,0.000,4,0.000,0.054,3463,187,1269,0,0,0,0,0,0
$GC,16071,0.81,166.3,605.1,10.3,872,16078,0.08,2.20,0.00,0.000,6,0.169,0.036,3442,1605,1268,0,0,0,0,0,0
$GC,16387,0.86,166.3,576.4,9.1,888,16392,0.05,2.33,0.00,0.000,4,0.165,0.054,3489,193,1268,0,0,0,0,0,0
$GC,16426,0.81,166.3,572.1,11.8,890,16431,0.15,2.20,0.00,0.000,6,0.142,0.036,3444,1606,1268,0,0,0,0,0,0
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$STATE,22149,end climb,SURFACE_DEPTH_REACHED
$STATE,22149,begin surface coast
$FINISH,1.9,1.023398
$STATE,22157,end surface coast,CONTROL_FINISHED_OK
$STATE,22157,begin surface
$SM_CCo,22178,2.05,0.067,0,0,1133,200.16
$SM_GC,3.56,0.00,0.00,2.05,0.000,0.000,0.067,67,2055,1133,-9.74,-0.14,200.16
$IRIDIUM_FIX,-4444.39,636.90,140908,080808
$TT8_MAMPS,0.026964
$HUMID,64.60
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.9,61.410
$10V_AH,9.7,64.506
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.375,154.725,313.600,2.050,0.000,23.695,19.565,313.969,0.000,0.000,26.154,2680.702,15930.861,449.696,3318.650,324.444,0.000,1709.386,0.000,2816.388,0.000,0.539,0.000
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$MEM,353252
$DATA_FILE_SIZE,90594,1249
$CAP_FILE_SIZE,185817,0
$CFSIZE,2097086464,2023096320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191115,073521,-4505.546,630.516,43,0.9,43,-24.4