version: 66.07.10.p01
glider: 573
mission: 12
dive: 434
start: 10 29 115 15 46 20
data:
$ID,573
$MISSION,12
$DIVE,434
$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,-22351.209
$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,32
$R_STBD_OVSHOOT,54
$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,433
$GPS1,291015,153651,-4501.821,627.519,35,0.9,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-69.7
$GPS2,291015,154559,-4501.758,627.613,18,1.2,18,-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,0.4,11669,-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,-116.8,0.0,0.0,0,46,0.00,0.00,-19.33,0.000,2,0.000,0.000,67,2079,1518,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.4,3,113,11.73,2.35,-44.83,0.000,4,0.230,0.064,2931,663,2426,0,0,0,0,0,0
$GC,306,-0.65,-116.8,24.7,-11.9,44,314,0.15,2.20,0.00,0.000,6,0.132,0.039,2971,2032,2428,0,0,0,0,0,0
$GC,463,-0.65,-116.8,40.4,-9.6,69,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2032,2428,0,0,0,0,0,0
$GC,815,-0.65,-116.8,74.4,-9.6,130,821,0.00,2.30,0.00,0.000,4,0.000,0.056,2960,3472,2428,0,0,0,0,0,0
$GC,861,-0.65,-116.8,79.0,-9.9,138,868,0.00,2.25,0.00,0.000,6,0.000,0.040,2960,2055,2428,0,0,0,0,0,0
$GC,1187,-0.65,-116.8,112.8,-10.4,155,1191,0.00,2.25,0.00,0.000,4,0.000,0.055,2960,651,2428,0,0,0,0,0,0
$GC,1242,-0.65,-116.8,119.3,-10.6,157,1249,0.05,2.25,0.00,0.000,6,0.158,0.041,2968,2055,2428,0,0,0,0,0,0
$GC,1561,-0.65,-116.8,148.3,-8.8,173,1565,0.00,2.28,0.00,0.000,4,0.000,0.057,2958,3469,2428,0,0,0,0,0,0
$GC,1589,-0.65,-116.8,151.1,-8.9,174,1593,0.00,2.17,0.00,0.000,6,0.000,0.039,2958,2059,2429,0,0,0,0,0,0
$GC,1907,-0.65,-116.8,176.9,-7.5,189,1909,0.03,0.00,0.00,0.000,6,0.269,0.000,2968,2058,2429,0,0,0,0,0,0
$GC,2214,-0.69,-116.8,200.2,-7.9,204,2218,0.00,2.25,0.00,0.000,4,0.000,0.055,2968,657,2429,0,0,0,0,0,0
$GC,2270,-0.69,-116.8,204.9,-8.1,206,2274,0.00,2.20,0.00,0.000,6,0.000,0.040,2960,2074,2429,0,0,0,0,0,0
$GC,2591,-0.69,-116.8,232.7,-9.1,222,2595,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,3472,2429,0,0,0,0,0,0
$GC,2624,-0.69,-116.8,236.1,-9.7,223,2630,0.00,2.22,0.00,0.000,6,0.000,0.039,2949,2061,2429,0,0,0,0,0,0
$GC,2943,-0.69,-116.8,267.2,-10.0,239,2947,0.00,2.25,0.00,0.000,4,0.000,0.054,2949,653,2429,0,0,0,0,0,0
$GC,2971,-0.69,-116.8,270.5,-11.1,240,2976,0.08,2.22,0.00,0.000,6,0.193,0.039,2957,2070,2429,0,0,0,0,0,0
$GC,3289,-0.69,-116.8,299.8,-8.9,255,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2070,2429,0,0,0,0,0,0
$GC,3595,-0.69,-116.8,326.1,-8.3,270,3599,0.00,2.25,0.00,0.000,4,0.000,0.060,2948,3463,2429,0,0,0,0,0,0
$GC,3639,-0.69,-116.8,329.7,-8.0,272,3643,0.00,2.20,0.00,0.000,6,0.000,0.038,2947,2048,2429,0,0,0,0,0,0
$GC,3965,-0.69,-116.8,354.6,-7.2,288,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2048,2429,0,0,0,0,0,0
$GC,4276,-0.69,-116.8,377.8,-7.5,303,4280,0.00,2.25,0.00,0.000,4,0.000,0.054,2947,654,2429,0,0,0,0,0,0
$GC,4365,-0.69,-116.8,385.2,-8.0,307,4369,0.10,2.20,0.00,0.000,6,0.177,0.041,2963,2067,2429,0,0,0,0,0,0
$GC,4693,-0.72,-116.8,408.6,-7.5,323,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2066,2429,0,0,0,0,0,0
$GC,5000,-0.76,-116.8,432.4,-8.0,338,5005,0.08,2.25,0.00,0.000,4,0.123,0.060,2906,3463,2429,0,0,0,0,0,0
$GC,5027,-0.71,-116.8,435.1,-10.1,339,5032,0.17,2.17,0.00,0.000,6,0.148,0.039,2955,2059,2429,0,0,0,0,0,0
$GC,5341,-0.71,-116.8,463.4,-9.2,354,5346,0.00,2.28,0.00,0.000,4,0.000,0.057,2955,649,2429,0,0,0,0,0,0
$GC,5404,-0.71,-116.8,469.1,-9.7,357,5408,0.00,2.20,0.00,0.000,6,0.000,0.041,2947,2060,2429,0,0,0,0,0,0
$GC,5730,-0.71,-116.8,500.7,-9.8,373,5734,0.00,2.30,0.00,0.000,4,0.000,0.062,2936,3473,2429,0,0,0,0,0,0
$GC,5797,-0.71,-116.8,507.4,-9.8,376,5801,0.08,2.22,0.00,0.000,6,0.179,0.042,2954,2054,2429,0,0,0,0,0,0
$GC,6122,-0.71,-116.8,536.6,-8.6,392,6126,0.00,2.25,0.00,0.000,4,0.000,0.057,2954,649,2428,0,0,0,0,0,0
$GC,6144,-0.71,-116.8,538.6,-9.1,393,6148,0.00,2.25,0.00,0.000,6,0.000,0.042,2946,2054,2428,0,0,0,0,0,0
$GC,6471,-0.71,-116.8,566.6,-8.3,409,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2054,2428,0,0,0,0,0,0
$GC,6779,-0.71,-116.8,593.0,-8.8,424,6783,0.00,2.28,0.00,0.000,4,0.000,0.057,2935,3473,2428,0,0,0,0,0,0
$GC,6818,-0.71,-116.8,596.6,-9.2,426,6823,0.08,2.22,0.00,0.000,6,0.179,0.041,2953,2053,2428,0,0,0,0,0,0
$GC,7145,-0.74,-116.8,623.5,-8.1,442,7149,0.00,2.25,0.00,0.000,4,0.000,0.057,2953,658,2428,0,0,0,0,0,0
$GC,7200,-0.74,-116.8,628.6,-8.9,444,7206,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2054,2428,0,0,0,0,0,0
$GC,7515,-0.74,-116.8,655.9,-8.7,460,7519,0.00,2.28,0.00,0.000,4,0.000,0.057,2933,3472,2428,0,0,0,0,0,0
$GC,7542,-0.74,-116.8,658.4,-9.7,461,7546,0.00,2.20,0.00,0.000,6,0.000,0.041,2934,2052,2428,0,0,0,0,0,0
$GC,7864,-0.74,-116.8,687.6,-9.0,477,7868,0.00,2.25,0.00,0.000,4,0.000,0.057,2934,659,2427,0,0,0,0,0,0
$GC,7903,-0.71,-116.8,691.7,-10.0,478,7909,0.10,2.22,0.00,0.000,6,0.178,0.041,2950,2072,2427,0,0,0,0,0,0
$GC,8218,-0.74,-116.8,720.0,-9.0,494,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2071,2427,0,0,0,0,0,0
$GC,8528,-0.78,-116.8,747.4,-8.8,509,8533,0.05,2.28,0.00,0.000,4,0.168,0.059,2899,3467,2426,0,0,0,0,0,0
$GC,8574,-0.72,-116.8,751.9,-9.9,511,8578,0.17,2.20,0.00,0.000,6,0.147,0.041,2949,2060,2426,0,0,0,0,0,0
$GC,8902,-0.76,-116.8,780.2,-8.6,527,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2060,2426,0,0,0,0,0,0
$GC,9209,-0.80,-116.8,807.0,-8.6,542,9213,0.08,2.28,0.00,0.000,4,0.122,0.056,2900,651,2426,0,0,0,0,0,0
$GC,9252,-0.70,-116.8,811.7,-11.9,544,9257,0.22,2.20,0.00,0.000,6,0.148,0.042,2955,2058,2426,0,0,0,0,0,0
$GC,9574,-0.76,-116.8,838.6,-8.5,560,9578,0.00,2.30,0.00,0.000,4,0.000,0.061,2945,3468,2426,0,0,0,0,0,0
$GC,9645,-0.81,-116.8,845.2,-9.3,563,9650,0.08,2.22,0.00,0.000,6,0.121,0.040,2900,2049,2425,0,0,0,0,0,0
$GC,9967,-0.75,-116.8,878.2,-10.3,579,9969,0.15,0.00,0.00,0.000,6,0.160,0.000,2941,2049,2425,0,0,0,0,0,0
$GC,10274,-0.75,-116.8,905.9,-8.7,594,10278,0.00,2.28,0.00,0.000,4,0.000,0.056,2941,647,2425,0,0,0,0,0,0
$GC,10358,-0.75,-116.8,913.8,-9.5,598,10362,0.00,2.22,0.00,0.000,6,0.000,0.041,2932,2069,2425,0,0,0,0,0,0
$GC,10683,-0.75,-116.8,942.3,-8.6,614,10687,0.00,2.25,0.00,0.000,4,0.000,0.061,2921,3463,2425,0,0,0,0,0,0
$GC,10716,-0.75,-116.8,945.1,-9.2,615,10721,0.05,2.22,0.00,0.000,6,0.146,0.040,2939,2054,2425,0,0,0,0,0,0
$GC,11034,-0.78,-116.8,968.5,-7.2,631,11038,0.00,2.28,0.00,0.000,4,0.000,0.057,2940,650,2425,0,0,0,0,0,0
$GC,11066,-0.78,-116.8,971.1,-7.1,632,11070,0.00,2.22,0.00,0.000,6,0.000,0.044,2931,2061,2424,0,0,0,0,0,0
$GC,11387,-0.78,-116.8,995.6,-7.8,648,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2062,2425,0,0,0,0,0,0
$STATE,11448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11448,begin apogee
$GC,11454,-0.19,0.0,1000.3,7.8,651,11569,0.62,0.00,110.28,1.265,6,0.134,0.000,3121,1592,1950,0,0,0,0,0,0
$STATE,11570,end apogee,CONTROL_FINISHED_OK
$STATE,11570,begin climb
$GC,11572,0.76,116.8,1003.2,0.0,657,11699,0.90,2.58,117.28,1.222,4,0.084,0.056,3434,206,1473,0,0,0,0,0,0
$GC,11756,0.76,116.8,991.6,9.5,665,11760,0.00,2.38,0.00,0.000,6,0.000,0.035,3434,1618,1468,0,0,0,0,0,0
$GC,12072,0.76,116.8,963.9,8.6,681,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1619,1464,0,0,0,0,0,0
$GC,12379,0.76,116.8,937.3,8.7,696,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1619,1463,0,0,0,0,0,0
$GC,12690,0.76,120.8,911.2,8.3,711,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1618,1462,0,0,0,0,0,0
$GC,12998,0.77,133.2,886.2,7.9,726,13018,0.00,0.00,15.62,1.113,6,0.000,0.000,3433,1619,1405,0,0,0,0,0,0
$GC,13327,0.77,133.2,858.2,8.9,742,13331,0.00,2.33,0.00,0.000,4,0.000,0.054,3443,195,1403,0,0,0,0,0,0
$GC,13390,0.77,133.2,852.1,10.0,745,13394,0.00,2.20,0.00,0.000,6,0.000,0.037,3444,1611,1402,0,0,0,0,0,0
$GC,13716,0.77,133.2,820.1,9.9,761,13720,0.00,2.22,0.00,0.000,4,0.000,0.054,3443,2993,1402,0,0,0,0,0,0
$GC,13777,0.77,133.2,813.8,10.4,764,13781,0.08,2.17,0.00,0.000,6,0.194,0.037,3434,1593,1402,0,0,0,0,0,0
$GC,14107,0.77,133.2,782.0,9.8,780,14111,0.00,2.28,0.00,0.000,4,0.000,0.057,3444,198,1401,0,0,0,0,0,0
$GC,14220,0.77,133.2,770.3,10.8,785,14224,0.00,2.17,0.00,0.000,6,0.000,0.037,3444,1606,1401,0,0,0,0,0,0
$GC,14547,0.77,133.2,737.6,9.7,801,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1607,1401,0,0,0,0,0,0
$GC,14855,0.77,133.2,708.1,9.4,816,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1607,1401,0,0,0,0,0,0
$GC,15166,0.77,133.2,679.8,8.9,831,15170,0.00,2.30,0.00,0.000,4,0.000,0.054,3454,191,1401,0,0,0,0,0,0
$GC,15220,0.77,133.2,674.6,8.8,833,15226,0.05,2.22,0.00,0.000,6,0.134,0.036,3434,1599,1400,0,0,0,0,0,0
$GC,15537,0.77,133.2,647.9,8.6,849,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1599,1400,0,0,0,0,0,0
$GC,15845,0.82,151.5,623.2,7.6,864,15869,0.00,2.33,18.50,1.001,4,0.000,0.055,3444,205,1332,0,0,0,0,0,0
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$STATE,22593,end climb,SURFACE_DEPTH_REACHED
$STATE,22593,begin surface coast
$FINISH,1.8,1.012503
$STATE,22631,end surface coast,CONTROL_FINISHED_OK
$STATE,22631,begin surface
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$SM_GC,3.27,0.00,0.00,18.30,0.000,0.000,0.054,70,2089,1133,-9.73,0.79,200.16
$IRIDIUM_FIX,-4447.43,621.76,240808,222250
$TT8_MAMPS,0.026964
$HUMID,64.37
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.20
$XPDR_PINGS,1
$24V_AH,22.1,51.738
$10V_AH,9.7,54.289
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.225,163.325,274.600,18.300,0.000,26.346,48.620,312.003,0.250,0.000,22.321,2773.434,16285.453,415.029,3444.043,287.957,0.000,1702.501,0.000,2914.380,0.000,0.540,0.000
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$MEM,353248
$DATA_FILE_SIZE,93926,1292
$CAP_FILE_SIZE,188229,0
$CFSIZE,2097086464,2035154944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291015,220523,-4459.304,628.700,38,1.0,38,-24.4