version: 66.07.10.p01
glider: 573
mission: 12
dive: 446
start: 11 1 115 10 25 26
data:
$ID,573
$MISSION,12
$DIVE,446
$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,-22388.221
$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,34
$R_STBD_OVSHOOT,20
$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,445
$GPS1,011115,101604,-4458.350,637.714,40,0.9,40,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-68.2
$GPS2,011115,102505,-4458.325,637.836,19,1.2,19,-24.5
$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,217.4,10780,-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,-116.8,0.0,0.0,0,40,0.00,0.00,-13.52,0.000,2,0.000,0.000,66,2034,1401,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.1,-1.8,2,119,11.65,2.40,-53.15,0.000,4,0.228,0.071,2927,3471,2427,0,0,0,0,0,0
$GC,398,-0.70,-116.8,28.1,-10.3,59,406,0.08,2.28,0.00,0.000,6,0.142,0.043,2952,2057,2428,0,0,0,0,0,0
$GC,551,-0.70,-116.8,43.7,-9.8,84,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2057,2428,0,0,0,0,0,0
$GC,903,-0.70,-116.8,78.6,-9.9,145,908,0.00,2.25,0.00,0.000,4,0.000,0.057,2952,655,2428,0,0,0,0,0,0
$GC,974,-0.66,-116.8,86.0,-10.6,151,979,0.10,2.25,0.00,0.000,6,0.177,0.042,2968,2071,2428,0,0,0,0,0,0
$GC,1305,-0.66,-116.8,115.4,-8.5,167,1309,0.00,2.28,0.00,0.000,4,0.000,0.060,2958,3474,2428,0,0,0,0,0,0
$GC,1413,-0.66,-116.8,125.3,-8.5,172,1417,0.00,2.22,0.00,0.000,6,0.000,0.041,2958,2052,2428,0,0,0,0,0,0
$GC,1739,-0.66,-116.8,154.2,-8.8,188,1743,0.00,2.25,0.00,0.000,4,0.000,0.055,2958,650,2428,0,0,0,0,0,0
$GC,1777,-0.66,-116.8,158.0,-9.7,189,1784,0.05,2.25,0.00,0.000,6,0.163,0.041,2966,2058,2428,0,0,0,0,0,0
$GC,2096,-0.66,-116.8,185.0,-8.6,205,2100,0.00,2.30,0.00,0.000,4,0.000,0.060,2955,3478,2428,0,0,0,0,0,0
$GC,2158,-0.66,-116.8,191.0,-8.9,208,2163,0.05,2.22,0.00,0.000,6,0.207,0.040,2967,2051,2428,0,0,0,0,0,0
$GC,2486,-0.69,-116.8,218.7,-8.8,224,2490,0.00,2.30,0.00,0.000,4,0.000,0.057,2958,3477,2429,0,0,0,0,0,0
$GC,2542,-0.72,-116.8,224.2,-9.2,226,2546,0.00,2.20,0.00,0.000,6,0.000,0.040,2958,2059,2429,0,0,0,0,0,0
$GC,2864,-0.72,-116.8,252.2,-8.6,242,2868,0.00,2.25,0.00,0.000,4,0.000,0.055,2958,649,2429,0,0,0,0,0,0
$GC,2919,-0.72,-116.8,257.6,-9.7,244,2927,0.00,2.25,0.00,0.000,6,0.000,0.041,2948,2066,2429,0,0,0,0,0,0
$GC,3235,-0.72,-116.8,285.8,-8.9,260,3239,0.00,2.28,0.00,0.000,4,0.000,0.061,2938,3471,2429,0,0,0,0,0,0
$GC,3312,-0.72,-116.8,293.1,-9.3,263,3318,0.00,2.22,0.00,0.000,6,0.000,0.040,2938,2062,2429,0,0,0,0,0,0
$GC,3628,-0.72,-116.8,321.8,-9.2,279,3632,0.00,2.25,0.00,0.000,4,0.000,0.054,2938,654,2429,0,0,0,0,0,0
$GC,3684,-0.68,-116.8,327.3,-9.5,281,3689,0.12,2.22,0.00,0.000,6,0.163,0.041,2962,2066,2429,0,0,0,0,0,0
$GC,4000,-0.71,-116.8,352.6,-7.8,296,4004,0.00,2.25,0.00,0.000,4,0.000,0.061,2952,3463,2429,0,0,0,0,0,0
$GC,4079,-0.75,-116.8,359.2,-8.3,299,4083,0.00,2.20,0.00,0.000,6,0.000,0.038,2952,2049,2429,0,0,0,0,0,0
$GC,4394,-0.75,-116.8,384.0,-7.8,314,4398,0.00,2.25,0.00,0.000,4,0.000,0.054,2952,649,2429,0,0,0,0,0,0
$GC,4456,-0.75,-116.8,389.4,-9.0,317,4460,0.00,2.22,0.00,0.000,6,0.000,0.039,2943,2065,2428,0,0,0,0,0,0
$GC,4782,-0.75,-116.8,417.1,-8.7,333,4786,0.00,2.28,0.00,0.000,4,0.000,0.061,2932,3469,2429,0,0,0,0,0,0
$GC,4849,-0.75,-116.8,423.1,-9.0,336,4853,0.00,2.20,0.00,0.000,6,0.000,0.041,2933,2060,2429,0,0,0,0,0,0
$GC,5175,-0.75,-116.8,451.5,-8.8,352,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2060,2429,0,0,0,0,0,0
$GC,5486,-0.75,-116.8,478.2,-8.5,367,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2060,2429,0,0,0,0,0,0
$GC,5794,-0.75,-116.8,504.6,-8.5,382,5798,0.00,2.30,0.00,0.000,4,0.000,0.060,2923,3471,2429,0,0,0,0,0,0
$GC,5838,-0.75,-116.8,508.7,-9.6,384,5843,0.03,2.22,0.00,0.000,6,0.179,0.041,2934,2068,2428,0,0,0,0,0,0
$GC,6164,-0.75,-116.8,536.9,-8.6,400,6168,0.00,2.30,0.00,0.000,4,0.000,0.055,2934,645,2428,0,0,0,0,0,0
$GC,6220,-0.71,-116.8,542.1,-9.3,402,6226,0.10,2.22,0.00,0.000,6,0.177,0.038,2950,2070,2428,0,0,0,0,0,0
$GC,6535,-0.71,-116.8,568.3,-8.3,418,6539,0.00,2.28,0.00,0.000,4,0.000,0.060,2939,3469,2428,0,0,0,0,0,0
$GC,6601,-0.71,-116.8,574.1,-9.0,421,6605,0.00,2.22,0.00,0.000,6,0.000,0.040,2940,2059,2428,0,0,0,0,0,0
$GC,6929,-0.71,-116.8,600.4,-7.8,437,6933,0.00,2.25,0.00,0.000,4,0.000,0.056,2940,654,2427,0,0,0,0,0,0
$GC,6969,-0.71,-116.8,603.7,-8.3,439,6974,0.10,2.22,0.00,0.000,6,0.173,0.042,2956,2060,2427,0,0,0,0,0,0
$GC,7297,-0.75,-116.8,626.4,-6.9,455,7301,0.00,2.28,0.00,0.000,4,0.000,0.062,2946,3463,2426,0,0,0,0,0,0
$GC,7429,-0.79,-116.8,636.1,-7.1,461,7433,0.00,2.20,0.00,0.000,6,0.000,0.039,2946,2054,2427,0,0,0,0,0,0
$GC,7756,-0.79,-116.8,661.2,-7.9,477,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2054,2426,0,0,0,0,0,0
$GC,8064,-0.79,-116.8,687.2,-8.4,492,8068,0.00,2.25,0.00,0.000,4,0.000,0.057,2946,657,2426,0,0,0,0,0,0
$GC,8127,-0.79,-116.8,692.8,-9.9,495,8131,0.00,2.22,0.00,0.000,6,0.000,0.042,2937,2059,2426,0,0,0,0,0,0
$GC,8453,-0.79,-116.8,722.6,-9.0,511,8457,0.00,2.30,0.00,0.000,4,0.000,0.061,2926,3468,2426,0,0,0,0,0,0
$GC,8497,-0.79,-116.8,727.2,-9.5,513,8501,0.00,2.22,0.00,0.000,6,0.000,0.041,2926,2067,2426,0,0,0,0,0,0
$GC,8825,-0.79,-116.8,758.2,-9.6,529,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2065,2425,0,0,0,0,0,0
$GC,9133,-0.79,-116.8,787.8,-9.5,544,9137,0.00,2.28,0.00,0.000,4,0.000,0.056,2918,3470,2425,0,0,0,0,0,0
$GC,9204,-0.79,-116.8,794.9,-10.2,547,9209,0.00,2.22,0.00,0.000,6,0.000,0.040,2917,2066,2425,0,0,0,0,0,0
$GC,9526,-0.79,-116.8,825.5,-9.2,563,9531,0.00,2.30,0.00,0.000,4,0.000,0.055,2917,650,2425,0,0,0,0,0,0
$GC,9570,-0.73,-116.8,830.0,-9.9,565,9575,0.15,2.22,0.00,0.000,6,0.162,0.040,2949,2061,2425,0,0,0,0,0,0
$GC,9899,-0.77,-116.8,854.8,-7.5,581,9903,0.00,2.30,0.00,0.000,4,0.000,0.062,2938,3470,2425,0,0,0,0,0,0
$GC,9954,-0.80,-116.8,859.4,-8.3,583,9959,0.00,2.22,0.00,0.000,6,0.000,0.041,2938,2056,2425,0,0,0,0,0,0
$GC,10270,-0.80,-116.8,883.9,-7.7,599,10274,0.00,2.28,0.00,0.000,4,0.000,0.057,2938,656,2424,0,0,0,0,0,0
$GC,10359,-0.80,-116.8,891.4,-8.5,603,10363,0.00,2.25,0.00,0.000,6,0.000,0.042,2929,2071,2424,0,0,0,0,0,0
$GC,10687,-0.80,-116.8,915.5,-7.2,619,10691,0.00,2.28,0.00,0.000,4,0.000,0.060,2919,3471,2424,0,0,0,0,0,0
$GC,10753,-0.80,-116.8,920.5,-7.3,622,10757,0.00,2.22,0.00,0.000,6,0.000,0.041,2919,2057,2424,0,0,0,0,0,0
$GC,11079,-0.80,-116.8,945.0,-7.5,638,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2057,2424,0,0,0,0,0,0
$GC,11390,-0.80,-116.8,967.7,-7.5,653,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2057,2423,0,0,0,0,0,0
$GC,11698,-0.80,-116.8,991.5,-7.5,668,11702,0.00,2.28,0.00,0.000,4,0.000,0.057,2918,657,2423,0,0,0,0,0,0
$GC,11725,-0.77,-116.8,993.8,-8.5,669,11730,0.10,2.22,0.00,0.000,6,0.175,0.041,2935,2063,2423,0,0,0,0,0,0
$STATE,11811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11812,begin apogee
$GC,11818,-0.19,0.0,1000.4,7.6,673,11933,0.60,0.00,110.00,1.267,6,0.138,0.000,3116,1591,1952,0,0,0,0,0,0
$STATE,11934,end apogee,CONTROL_FINISHED_OK
$STATE,11934,begin climb
$GC,11936,0.76,116.8,1003.5,0.0,679,12063,0.93,2.58,117.60,1.222,4,0.087,0.057,3433,208,1473,0,0,0,0,0,0
$GC,12112,0.76,116.8,992.9,9.1,687,12117,0.00,2.40,0.00,0.000,6,0.000,0.036,3433,1603,1469,0,0,0,0,0,0
$GC,12435,0.76,126.0,966.3,8.1,703,12446,0.00,0.00,9.20,1.045,6,0.000,0.000,3433,1603,1436,0,0,0,0,0,0
$GC,12743,0.77,133.3,941.5,8.2,718,12757,0.00,2.38,8.77,1.013,4,0.000,0.055,3442,200,1406,0,0,0,0,0,0
$GC,12779,0.77,140.5,938.4,8.2,719,12794,0.00,2.25,9.00,1.011,6,0.000,0.036,3442,1616,1377,0,0,0,0,0,0
$GC,13116,0.77,140.5,908.1,9.5,736,13117,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1616,1374,0,0,0,0,0,0
$GC,13425,0.77,140.5,879.7,9.4,751,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1616,1373,0,0,0,0,0,0
$GC,13733,0.77,140.5,850.8,9.4,766,13737,0.00,2.33,0.00,0.000,4,0.000,0.055,3452,199,1373,0,0,0,0,0,0
$GC,13772,0.77,140.5,847.0,9.9,768,13777,0.08,2.20,0.00,0.000,6,0.175,0.037,3433,1611,1372,0,0,0,0,0,0
$GC,14099,0.81,140.5,817.8,9.0,784,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1611,1372,0,0,0,0,0,0
$GC,14408,0.84,140.5,790.0,9.2,799,14413,0.08,2.33,0.00,0.000,4,0.120,0.057,3486,200,1372,0,0,0,0,0,0
$GC,14469,0.76,140.5,783.1,12.0,802,14474,0.17,2.20,0.00,0.000,6,0.138,0.037,3434,1608,1372,0,0,0,0,0,0
$GC,14796,0.80,140.5,752.6,9.4,818,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1608,1372,0,0,0,0,0,0
$GC,15106,0.84,140.5,725.0,8.6,833,15108,0.03,0.00,0.00,0.000,6,0.245,0.000,3466,1607,1372,0,0,0,0,0,0
$GC,15414,0.80,140.5,693.9,10.0,848,15419,0.10,2.33,0.00,0.000,4,0.155,0.056,3448,199,1371,0,0,0,0,0,0
$GC,15544,0.81,141.1,681.5,8.5,854,15548,0.00,2.20,0.00,0.000,6,0.000,0.037,3448,1613,1370,0,0,0,0,0,0
$GC,15869,0.81,141.1,652.1,9.0,870,15870,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1613,1370,0,0,0,0,0,0
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$STATE,22936,end climb,SURFACE_DEPTH_REACHED
$STATE,22936,begin surface coast
$FINISH,2.1,1.009178
$STATE,22969,end surface coast,CONTROL_FINISHED_OK
$STATE,22969,begin surface
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$IRIDIUM_FIX,-4438.33,633.17,270808,171742
$TT8_MAMPS,0.026964
$HUMID,64.72
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.1,53.012
$10V_AH,9.6,55.685
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.750,200.275,298.750,8.600,0.000,25.308,20.278,328.702,0.000,0.000,22.441,2852.292,16337.729,432.952,3587.483,314.488,0.000,1826.498,0.000,3066.777,0.000,0.539,0.000
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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,353232
$DATA_FILE_SIZE,93814,1302
$CAP_FILE_SIZE,204391,0
$CFSIZE,2097086464,2033549312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011115,164957,-4501.084,639.779,38,1.0,38,-24.5