version: 66.07.10.p01
glider: 573
mission: 12
dive: 536
start: 11 21 115 13 37 7
data:
$ID,573
$MISSION,12
$DIVE,536
$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,-22673.566
$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,58
$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,535
$GPS1,211115,132733,-4456.367,628.245,34,1.1,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-61.1
$GPS2,211115,133646,-4456.353,628.346,32,0.9,32,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,110.7,10056,-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,-116.8,0.0,0.0,0,65,0.00,0.00,-37.70,0.000,2,0.000,0.000,62,2091,1393,0,0,0,0,0,0
$GC,68,-0.76,-116.8,3.1,-1.2,6,132,11.80,2.40,-42.30,0.000,4,0.230,0.066,2930,650,2429,0,0,0,0,0,0
$GC,410,-0.68,-116.8,39.8,-12.2,61,418,0.10,2.22,0.00,0.000,6,0.137,0.041,2955,2030,2430,0,0,0,0,0,0
$GC,557,-0.68,-116.8,54.3,-8.2,86,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2030,2431,0,0,0,0,0,0
$GC,903,-0.68,-116.8,91.2,-10.6,133,907,0.00,2.33,0.00,0.000,4,0.000,0.057,2945,3476,2431,0,0,0,0,0,0
$GC,990,-0.68,-116.8,100.2,-10.6,137,995,0.08,2.22,0.00,0.000,6,0.181,0.042,2964,2053,2431,0,0,0,0,0,0
$GC,1319,-0.68,-116.8,133.6,-10.3,153,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2053,2431,0,0,0,0,0,0
$GC,1626,-0.68,-116.8,162.7,-8.9,168,1630,0.00,2.25,0.00,0.000,4,0.000,0.054,2964,648,2431,0,0,0,0,0,0
$GC,1696,-0.68,-116.8,169.0,-9.3,171,1700,0.00,2.25,0.00,0.000,6,0.000,0.041,2955,2076,2431,0,0,0,0,0,0
$GC,2024,-0.68,-116.8,197.7,-8.8,187,2028,0.00,2.28,0.00,0.000,4,0.000,0.051,2955,655,2431,0,0,0,0,0,0
$GC,2091,-0.68,-116.8,204.8,-9.9,190,2096,0.08,2.22,0.00,0.000,6,0.194,0.040,2964,2050,2431,0,0,0,0,0,0
$GC,2419,-0.68,-116.8,230.1,-7.1,206,2423,0.00,2.28,0.00,0.000,4,0.000,0.057,2953,3473,2431,0,0,0,0,0,0
$GC,2498,-0.71,-116.8,236.1,-7.1,209,2502,0.00,2.20,0.00,0.000,6,0.000,0.041,2953,2060,2431,0,0,0,0,0,0
$GC,2813,-0.71,-116.8,262.6,-9.0,224,2817,0.00,2.22,0.00,0.000,4,0.000,0.054,2953,650,2431,0,0,0,0,0,0
$GC,2879,-0.71,-116.8,268.6,-9.3,227,2883,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2066,2431,0,0,0,0,0,0
$GC,3208,-0.71,-116.8,299.1,-9.3,243,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2066,2431,0,0,0,0,0,0
$GC,3514,-0.71,-116.8,328.5,-9.8,258,3518,0.00,2.28,0.00,0.000,4,0.000,0.053,2945,660,2431,0,0,0,0,0,0
$GC,3563,-0.71,-116.8,333.6,-10.5,260,3568,0.08,2.22,0.00,0.000,6,0.187,0.041,2954,2058,2431,0,0,0,0,0,0
$GC,3883,-0.71,-116.8,364.6,-9.4,276,3887,0.00,2.28,0.00,0.000,4,0.000,0.061,2944,3468,2431,0,0,0,0,0,0
$GC,3937,-0.71,-116.8,370.1,-10.1,278,3943,0.00,2.20,0.00,0.000,6,0.000,0.039,2944,2064,2431,0,0,0,0,0,0
$GC,4252,-0.71,-116.8,400.2,-9.1,294,4257,0.00,2.25,0.00,0.000,4,0.000,0.054,2944,659,2431,0,0,0,0,0,0
$GC,4360,-0.71,-116.8,410.9,-10.1,299,4365,0.08,2.22,0.00,0.000,6,0.186,0.041,2953,2070,2431,0,0,0,0,0,0
$GC,4687,-0.71,-116.8,439.3,-8.5,315,4691,0.00,2.28,0.00,0.000,4,0.000,0.062,2943,3471,2430,0,0,0,0,0,0
$GC,4730,-0.71,-116.8,443.4,-8.9,317,4734,0.00,2.22,0.00,0.000,6,0.000,0.040,2942,2024,2430,0,0,0,0,0,0
$GC,5058,-0.71,-116.8,471.7,-8.7,333,5062,0.00,2.17,0.00,0.000,4,0.000,0.054,2943,656,2430,0,0,0,0,0,0
$GC,5119,-0.71,-116.8,477.4,-9.9,336,5123,0.08,2.20,0.00,0.000,6,0.190,0.040,2952,2063,2430,0,0,0,0,0,0
$GC,5445,-0.71,-116.8,503.6,-8.0,352,5450,0.00,2.30,0.00,0.000,4,0.000,0.063,2942,3470,2429,0,0,0,0,0,0
$GC,5495,-0.71,-116.8,507.9,-8.6,354,5499,0.00,2.22,0.00,0.000,6,0.000,0.042,2942,2067,2429,0,0,0,0,0,0
$GC,5816,-0.71,-116.8,534.0,-8.1,370,5820,0.00,2.28,0.00,0.000,4,0.000,0.054,2942,649,2429,0,0,0,0,0,0
$GC,5870,-0.71,-116.8,538.8,-9.2,372,5877,0.05,2.22,0.00,0.000,6,0.147,0.040,2951,2052,2429,0,0,0,0,0,0
$GC,6187,-0.74,-116.8,562.5,-7.5,388,6192,0.00,2.25,0.00,0.000,4,0.000,0.059,2940,3468,2428,0,0,0,0,0,0
$GC,6288,-0.74,-116.8,570.6,-8.2,392,6293,0.00,2.20,0.00,0.000,6,0.000,0.040,2940,2046,2428,0,0,0,0,0,0
$GC,6603,-0.74,-116.8,595.4,-8.0,408,6607,0.00,2.22,0.00,0.000,4,0.000,0.054,2941,650,2428,0,0,0,0,0,0
$GC,6652,-0.74,-116.8,599.8,-9.3,410,6656,0.00,2.22,0.00,0.000,6,0.000,0.040,2931,2069,2428,0,0,0,0,0,0
$GC,6972,-0.74,-116.8,627.2,-8.7,426,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2069,2428,0,0,0,0,0,0
$GC,7283,-0.74,-116.8,654.0,-8.7,441,7287,0.00,2.25,0.00,0.000,4,0.000,0.063,2921,3465,2427,0,0,0,0,0,0
$GC,7337,-0.74,-116.8,659.4,-9.5,443,7342,0.10,2.22,0.00,0.000,6,0.158,0.040,2948,2044,2427,0,0,0,0,0,0
$GC,7660,-0.77,-116.8,685.7,-8.2,459,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2045,2427,0,0,0,0,0,0
$GC,7968,-0.81,-116.8,710.7,-8.3,474,7972,0.08,2.22,0.00,0.000,4,0.120,0.054,2905,652,2427,0,0,0,0,0,0
$GC,8068,-0.73,-116.8,720.7,-10.4,478,8074,0.17,2.22,0.00,0.000,6,0.156,0.042,2945,2067,2427,0,0,0,0,0,0
$GC,8384,-0.76,-116.8,745.5,-7.2,494,8388,0.00,2.28,0.00,0.000,4,0.000,0.054,2945,657,2427,0,0,0,0,0,0
$GC,8417,-0.76,-116.8,748.2,-8.0,495,8422,0.00,2.22,0.00,0.000,6,0.000,0.041,2936,2064,2427,0,0,0,0,0,0
$GC,8734,-0.76,-116.8,769.3,-6.8,511,8738,0.00,2.28,0.00,0.000,4,0.000,0.064,2926,3468,2426,0,0,0,0,0,0
$GC,8845,-0.76,-116.8,777.0,-6.7,516,8849,0.00,2.20,0.00,0.000,6,0.000,0.040,2926,2056,2427,0,0,0,0,0,0
$GC,9171,-0.76,-116.8,800.8,-7.9,532,9175,0.00,2.28,0.00,0.000,4,0.000,0.056,2926,652,2427,0,0,0,0,0,0
$GC,9220,-0.76,-116.8,805.0,-9.4,534,9225,0.08,2.25,0.00,0.000,6,0.187,0.043,2935,2054,2427,0,0,0,0,0,0
$GC,9541,-0.76,-116.8,830.1,-7.9,550,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2054,2427,0,0,0,0,0,0
$GC,9852,-0.76,-116.8,853.4,-7.5,565,9856,0.00,2.30,0.00,0.000,4,0.000,0.060,2925,3469,2427,0,0,0,0,0,0
$GC,9924,-0.76,-116.8,858.9,-6.8,568,9928,0.00,2.20,0.00,0.000,6,0.000,0.041,2925,2060,2427,0,0,0,0,0,0
$GC,10246,-0.76,-116.8,882.3,-7.4,584,10250,0.00,2.25,0.00,0.000,4,0.000,0.055,2925,653,2426,0,0,0,0,0,0
$GC,10330,-0.73,-116.8,889.1,-8.1,588,10335,0.12,2.22,0.00,0.000,6,0.156,0.043,2950,2058,2426,0,0,0,0,0,0
$GC,10663,-0.78,-116.8,911.3,-6.7,604,10665,0.05,0.00,0.00,0.000,6,0.167,0.000,2910,2058,2426,0,0,0,0,0,0
$GC,10972,-0.75,-116.8,937.9,-8.7,619,10977,0.12,2.33,0.00,0.000,4,0.160,0.063,2933,3469,2426,0,0,0,0,0,0
$GC,11027,-0.79,-116.8,942.5,-8.3,621,11032,0.00,2.20,0.00,0.000,6,0.000,0.040,2933,2062,2426,0,0,0,0,0,0
$GC,11344,-0.79,-116.8,967.3,-8.0,637,11348,0.00,2.28,0.00,0.000,4,0.000,0.055,2934,648,2426,0,0,0,0,0,0
$GC,11393,-0.79,-116.8,971.7,-8.8,639,11397,0.00,2.25,0.00,0.000,6,0.000,0.039,2925,2082,2426,0,0,0,0,0,0
$GC,11715,-0.79,-116.8,997.7,-8.3,655,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2082,2425,0,0,0,0,0,0
$STATE,11756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11756,begin apogee
$GC,11762,-0.19,0.0,1001.3,8.4,657,11876,0.65,0.00,107.78,1.232,6,0.142,0.000,3119,1589,1951,0,0,0,0,0,0
$STATE,11876,end apogee,CONTROL_FINISHED_OK
$STATE,11877,begin climb
$GC,11879,0.76,116.8,1005.0,0.0,663,12006,0.90,2.47,118.68,1.220,4,0.085,0.056,3431,209,1474,0,0,0,0,0,0
$GC,12034,0.77,137.4,997.6,7.5,670,12064,0.00,2.42,23.08,1.141,6,0.000,0.035,3431,1617,1388,0,0,0,0,0,0
$GC,12376,0.81,140.0,969.5,8.4,687,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1617,1384,0,0,0,0,0,0
$GC,12684,0.84,145.0,944.0,8.3,702,12699,0.08,2.38,7.88,1.007,4,0.120,0.054,3485,207,1357,0,0,0,0,0,0
$GC,12744,0.76,145.0,937.9,11.0,704,12750,0.17,2.22,0.00,0.000,6,0.138,0.037,3433,1614,1357,0,0,0,0,0,0
$GC,13059,0.80,145.0,910.8,8.6,720,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1614,1357,0,0,0,0,0,0
$GC,13369,0.84,145.0,884.5,8.6,735,13374,0.05,2.33,0.00,0.000,4,0.165,0.055,3481,202,1357,0,0,0,0,0,0
$GC,13397,0.79,145.0,881.6,10.7,736,13402,0.15,2.20,0.00,0.000,6,0.142,0.037,3437,1607,1356,0,0,0,0,0,0
$GC,13715,0.83,150.6,854.4,8.3,751,13726,0.00,2.20,6.18,0.880,4,0.000,0.054,3437,2990,1338,0,0,0,0,0,0
$GC,13764,0.83,150.6,849.6,9.5,753,13769,0.00,2.17,0.00,0.000,6,0.000,0.038,3445,1596,1338,0,0,0,0,0,0
$GC,14086,0.83,150.6,820.7,9.3,769,14090,0.00,2.28,0.00,0.000,4,0.000,0.057,3457,196,1338,0,0,0,0,0,0
$GC,14130,0.83,150.6,816.3,9.8,771,14134,0.00,2.20,0.00,0.000,6,0.000,0.037,3457,1604,1338,0,0,0,0,0,0
$GC,14458,0.83,150.6,785.0,9.9,787,14462,0.00,2.20,0.00,0.000,4,0.000,0.054,3457,2990,1338,0,0,0,0,0,0
$GC,14497,0.83,150.6,781.1,9.9,789,14502,0.00,2.17,0.00,0.000,6,0.000,0.037,3466,1590,1337,0,0,0,0,0,0
$GC,14824,0.83,150.6,748.8,10.0,805,14828,0.00,2.28,0.00,0.000,4,0.000,0.056,3477,189,1338,0,0,0,0,0,0
$GC,14897,0.78,150.6,741.2,10.9,808,14902,0.15,2.20,0.00,0.000,6,0.140,0.037,3433,1597,1337,0,0,0,0,0,0
$GC,15215,0.84,156.1,714.9,8.3,823,15230,0.08,2.30,7.50,0.880,4,0.120,0.055,3477,2999,1313,0,0,0,0,0,0
$GC,15252,0.78,156.1,710.5,11.0,824,15258,0.17,2.17,0.00,0.000,6,0.147,0.036,3435,1585,1313,0,0,0,0,0,0
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$STATE,22777,end climb,SURFACE_DEPTH_REACHED
$STATE,22777,begin surface coast
$FINISH,1.8,1.023416
$STATE,22821,end surface coast,CONTROL_FINISHED_OK
$STATE,22821,begin surface
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$IRIDIUM_FIX,-4438.33,624.11,160908,202038
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$HUMID,64.92
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,0
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$10V_AH,9.7,65.754
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.425,220.725,287.025,16.975,0.000,25.015,21.179,319.531,0.000,0.000,36.284,2862.661,16103.653,446.896,3635.355,349.047,0.000,1871.083,0.000,3111.164,0.000,0.539,0.000
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$MEM,353188
$DATA_FILE_SIZE,93711,1291
$CAP_FILE_SIZE,213355,0
$CFSIZE,2097086464,2021752832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211115,195921,-4457.235,632.846,39,0.9,39,-24.4