version: 66.07.10.p01
glider: 573
mission: 12
dive: 601
start: 12 6 115 3 22 0
data:
$ID,573
$MISSION,12
$DIVE,601
$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,-22898.928
$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,43
$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,600
$GPS1,061215,031157,-4503.945,627.545,59,0.8,59,-24.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.1
$GPS2,061215,032140,-4503.914,627.637,14,1.7,15,-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,292.5,4759,-19.9,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.82,-95.1,0.0,0.0,0,48,0.00,0.00,-18.95,0.000,2,0.000,0.000,61,2080,1503,0,0,0,0,0,0
$GC,51,-0.84,-116.8,3.2,-3.8,3,115,11.68,2.33,-44.53,0.000,4,0.229,0.076,2898,3454,2427,0,0,0,0,0,0
$GC,162,-0.78,-116.8,8.4,-12.2,20,171,0.08,2.22,0.00,0.000,6,0.145,0.041,2923,2063,2429,0,0,0,0,0,0
$GC,222,-0.78,-116.8,16.2,-12.1,29,230,0.00,2.30,0.00,0.000,4,0.000,0.053,2923,654,2430,0,0,0,0,0,0
$GC,245,-0.74,-116.8,18.9,-12.7,32,253,0.08,2.25,0.00,0.000,6,0.157,0.043,2939,2045,2429,0,0,0,0,0,0
$GC,305,-0.74,-116.8,25.0,-9.4,41,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2045,2429,0,0,0,0,0,0
$GC,457,-0.74,-116.8,42.0,-10.7,66,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2045,2430,0,0,0,0,0,0
$GC,809,-0.74,-116.8,80.2,-10.7,127,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2045,2430,0,0,0,0,0,0
$GC,1117,-0.74,-116.8,113.5,-11.0,142,1121,0.00,2.33,0.00,0.000,4,0.000,0.063,2929,3472,2430,0,0,0,0,0,0
$GC,1182,-0.74,-116.8,120.7,-11.4,145,1186,0.00,2.20,0.00,0.000,6,0.000,0.041,2929,2057,2430,0,0,0,0,0,0
$GC,1511,-0.74,-116.8,157.2,-10.9,161,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2056,2431,0,0,0,0,0,0
$GC,1818,-0.74,-116.8,192.7,-11.4,176,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2056,2431,0,0,0,0,0,0
$GC,2130,-0.78,-116.8,225.4,-9.9,191,2134,0.00,2.25,0.00,0.000,4,0.000,0.053,2929,651,2431,0,0,0,0,0,0
$GC,2179,-0.78,-116.8,231.0,-10.2,193,2183,0.00,2.25,0.00,0.000,6,0.000,0.042,2920,2065,2431,0,0,0,0,0,0
$GC,2503,-0.78,-116.8,262.8,-10.0,209,2507,0.00,2.28,0.00,0.000,4,0.000,0.065,2909,3462,2431,0,0,0,0,0,0
$GC,2546,-0.78,-116.8,267.1,-10.4,211,2550,0.08,2.17,0.00,0.000,6,0.174,0.038,2927,2054,2431,0,0,0,0,0,0
$GC,2878,-0.82,-116.8,298.7,-9.8,227,2882,0.00,2.25,0.00,0.000,4,0.000,0.054,2927,653,2431,0,0,0,0,0,0
$GC,2978,-0.82,-116.8,310.2,-10.5,231,2982,0.00,2.22,0.00,0.000,6,0.000,0.043,2919,2061,2431,0,0,0,0,0,0
$GC,3294,-0.82,-116.8,343.1,-10.4,247,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2061,2431,0,0,0,0,0,0
$GC,3602,-0.82,-116.8,376.0,-10.5,262,3606,0.00,2.30,0.00,0.000,4,0.000,0.064,2908,3469,2431,0,0,0,0,0,0
$GC,3680,-0.82,-116.8,384.4,-10.5,265,3685,0.00,2.20,0.00,0.000,6,0.000,0.042,2908,2056,2431,0,0,0,0,0,0
$GC,3996,-0.82,-116.8,418.5,-10.6,281,4000,0.00,2.25,0.00,0.000,4,0.000,0.054,2908,659,2431,0,0,0,0,0,0
$GC,4085,-0.82,-116.8,428.3,-10.2,285,4089,0.08,2.20,0.00,0.000,6,0.190,0.042,2917,2062,2431,0,0,0,0,0,0
$GC,4412,-0.85,-116.8,459.6,-9.8,301,4416,0.00,2.30,0.00,0.000,4,0.000,0.065,2908,3468,2431,0,0,0,0,0,0
$GC,4473,-0.85,-116.8,465.9,-10.4,304,4477,0.00,2.20,0.00,0.000,6,0.000,0.042,2908,2059,2431,0,0,0,0,0,0
$GC,4798,-0.85,-116.8,497.5,-10.0,320,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2059,2431,0,0,0,0,0,0
$GC,5109,-0.85,-116.8,526.7,-9.3,335,5113,0.00,2.25,0.00,0.000,4,0.000,0.054,2907,661,2430,0,0,0,0,0,0
$GC,5194,-0.85,-116.8,535.3,-10.0,339,5198,0.00,2.22,0.00,0.000,6,0.000,0.042,2899,2070,2430,0,0,0,0,0,0
$GC,5521,-0.85,-116.8,568.1,-10.0,355,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2070,2430,0,0,0,0,0,0
$GC,5828,-0.85,-116.8,598.3,-9.4,370,5833,0.00,2.28,0.00,0.000,4,0.000,0.065,2888,3465,2430,0,0,0,0,0,0
$GC,5878,-0.85,-116.8,603.3,-9.8,372,5883,0.08,2.20,0.00,0.000,6,0.183,0.040,2906,2053,2430,0,0,0,0,0,0
$GC,6199,-0.85,-116.8,632.6,-9.4,388,6203,0.00,2.25,0.00,0.000,4,0.000,0.054,2906,654,2430,0,0,0,0,0,0
$GC,6254,-0.85,-116.8,638.1,-10.0,390,6260,0.00,2.25,0.00,0.000,6,0.000,0.043,2898,2080,2430,0,0,0,0,0,0
$GC,6569,-0.85,-116.8,666.3,-8.9,406,6573,0.00,2.25,0.00,0.000,4,0.000,0.062,2887,3463,2430,0,0,0,0,0,0
$GC,6631,-0.85,-116.8,671.7,-9.5,409,6636,0.10,2.20,0.00,0.000,6,0.167,0.041,2913,2054,2430,0,0,0,0,0,0
$GC,6960,-0.88,-116.8,697.2,-7.6,425,6964,0.00,2.25,0.00,0.000,4,0.000,0.055,2913,657,2430,0,0,0,0,0,0
$GC,7046,-0.88,-116.8,704.3,-8.3,429,7050,0.00,2.22,0.00,0.000,6,0.000,0.043,2905,2066,2430,0,0,0,0,0,0
$GC,7374,-0.88,-116.8,730.9,-8.2,445,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2066,2429,0,0,0,0,0,0
$GC,7682,-0.88,-116.8,755.7,-8.1,460,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2066,2429,0,0,0,0,0,0
$GC,7992,-0.88,-116.8,781.8,-8.6,475,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2066,2429,0,0,0,0,0,0
$GC,8300,-0.88,-116.8,809.1,-8.6,490,8304,0.00,2.30,0.00,0.000,4,0.000,0.067,2894,3469,2429,0,0,0,0,0,0
$GC,8394,-0.88,-116.8,817.8,-9.0,494,8398,0.00,2.22,0.00,0.000,6,0.000,0.043,2894,2051,2428,0,0,0,0,0,0
$GC,8715,-0.88,-116.8,847.3,-9.4,510,8719,0.00,2.25,0.00,0.000,4,0.000,0.055,2894,657,2428,0,0,0,0,0,0
$GC,8781,-0.88,-116.8,854.0,-10.2,513,8785,0.00,2.22,0.00,0.000,6,0.000,0.043,2885,2065,2428,0,0,0,0,0,0
$GC,9108,-0.88,-116.8,886.7,-10.1,529,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2066,2427,0,0,0,0,0,0
$GC,9416,-0.88,-116.8,917.4,-10.0,544,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2066,2427,0,0,0,0,0,0
$GC,9727,-0.88,-116.8,948.6,-10.3,559,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2066,2427,0,0,0,0,0,0
$GC,10035,-0.88,-116.8,979.9,-10.1,574,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2066,2427,0,0,0,0,0,0
$STATE,10239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10239,begin apogee
$GC,10246,-0.19,0.0,1000.1,9.8,584,10362,0.77,0.00,112.50,1.246,6,0.136,0.000,3121,1592,1950,0,0,0,0,0,0
$STATE,10362,end apogee,CONTROL_FINISHED_OK
$STATE,10362,begin climb
$GC,10365,0.84,116.8,1003.9,0.0,590,10492,0.98,2.45,119.35,1.206,4,0.083,0.055,3456,206,1473,0,0,0,0,0,0
$GC,10549,0.84,116.8,992.7,9.0,598,10555,0.00,2.38,0.00,0.000,6,0.000,0.036,3456,1607,1469,0,0,0,0,0,0
$GC,10864,0.87,116.8,963.8,9.4,614,10868,0.00,2.30,0.00,0.000,4,0.000,0.057,3456,3005,1465,0,0,0,0,0,0
$GC,10903,0.87,116.8,959.9,9.7,615,10907,0.00,2.25,0.00,0.000,6,0.000,0.036,3465,1595,1465,0,0,0,0,0,0
$GC,11219,0.87,116.8,927.6,10.0,631,11223,0.00,2.28,0.00,0.000,4,0.000,0.056,3476,199,1463,0,0,0,0,0,0
$GC,11304,0.87,116.8,918.5,11.0,635,11308,0.00,2.22,0.00,0.000,6,0.000,0.037,3476,1614,1463,0,0,0,0,0,0
$GC,11630,0.87,116.8,883.8,10.7,651,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1614,1463,0,0,0,0,0,0
$GC,11939,0.87,116.8,850.9,10.6,666,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1615,1463,0,0,0,0,0,0
$GC,12249,0.87,116.8,819.2,10.0,681,12253,0.00,2.22,0.00,0.000,4,0.000,0.057,3476,2996,1462,0,0,0,0,0,0
$GC,12292,0.87,116.8,814.6,10.0,683,12297,0.08,2.15,0.00,0.000,6,0.190,0.036,3467,1596,1462,0,0,0,0,0,0
$GC,12620,0.87,116.8,782.4,9.9,699,12624,0.00,2.28,0.00,0.000,4,0.000,0.055,3477,196,1462,0,0,0,0,0,0
$GC,12686,0.87,116.8,775.4,9.7,702,12690,0.00,2.20,0.00,0.000,6,0.000,0.037,3477,1604,1461,0,0,0,0,0,0
$GC,13007,0.87,116.8,743.8,9.6,718,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1604,1461,0,0,0,0,0,0
$GC,13317,0.87,116.8,713.6,10.0,733,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1604,1461,0,0,0,0,0,0
$GC,13626,0.87,116.8,681.7,10.4,748,13630,0.00,2.30,0.00,0.000,4,0.000,0.053,3487,193,1461,0,0,0,0,0,0
$GC,13669,0.87,116.8,676.8,11.5,750,13674,0.08,2.20,0.00,0.000,6,0.177,0.037,3466,1604,1461,0,0,0,0,0,0
$GC,13995,0.87,116.8,644.9,9.5,766,13999,0.00,2.22,0.00,0.000,4,0.000,0.056,3467,2992,1461,0,0,0,0,0,0
$GC,14045,0.87,116.8,639.9,9.5,768,14049,0.00,2.15,0.00,0.000,6,0.000,0.037,3476,1599,1461,0,0,0,0,0,0
$GC,14366,0.87,116.8,608.2,9.8,784,14370,0.00,2.28,0.00,0.000,4,0.000,0.055,3487,195,1461,0,0,0,0,0,0
$GC,14428,0.87,116.8,601.8,10.2,787,14433,0.08,2.20,0.00,0.000,6,0.179,0.037,3467,1606,1460,0,0,0,0,0,0
$GC,14757,0.90,116.8,571.8,9.1,803,14758,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1606,1460,0,0,0,0,0,0
$GC,15064,0.94,116.8,542.0,9.8,818,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1606,1460,0,0,0,0,0,0
$GC,15374,0.97,116.8,513.6,9.0,833,15379,0.10,2.28,0.00,0.000,4,0.099,0.054,3531,199,1460,0,0,0,0,0,0
$GC,15452,0.87,116.8,504.6,12.6,836,15457,0.22,2.20,0.00,0.000,6,0.142,0.037,3463,1606,1460,0,0,0,0,0,0
$GC,15770,0.91,116.8,476.6,8.9,851,15771,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1606,1460,0,0,0,0,0,0
$GC,16077,0.97,127.1,450.8,7.9,866,16091,0.10,2.35,9.00,0.804,4,0.098,0.054,3526,182,1431,0,0,0,0,0,0
$GC,16120,0.88,127.1,446.5,9.8,868,16125,0.20,2.22,0.00,0.000,6,0.148,0.036,3468,1610,1430,0,0,0,0,0,0
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$STATE,20874,end climb,SURFACE_DEPTH_REACHED
$STATE,20874,begin surface coast
$FINISH,1.9,1.023302
$STATE,20906,end surface coast,CONTROL_FINISHED_OK
$STATE,20906,begin surface
$SM_CCo,20925,30.20,0.054,0,0,1133,200.16
$SM_GC,2.66,0.00,0.00,30.20,0.000,0.000,0.054,61,2082,1133,-9.76,0.62,200.16
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$TT8_MAMPS,0.026964
$HUMID,65.55
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.8,69.584
$10V_AH,9.7,73.093
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.300,162.675,253.450,30.200,0.000,26.210,20.727,362.536,0.000,0.000,16.829,2591.432,14872.864,397.444,3315.581,348.464,0.000,1653.437,0.000,2786.637,0.000,0.539,0.000
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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,353240
$DATA_FILE_SIZE,87243,1193
$CAP_FILE_SIZE,182283,0
$CFSIZE,2097086464,2013265920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061215,091233,-4503.491,625.649,40,0.8,40,-24.4