version: 66.07.10.p01
glider: 573
mission: 12
dive: 462
start: 11 5 115 7 39 14
data:
$ID,573
$MISSION,12
$DIVE,462
$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,-22442.107
$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,57
$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,461
$GPS1,051115,073004,-4458.347,628.181,27,1.3,27,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-73.9
$GPS2,051115,073853,-4458.379,628.258,14,0.7,15,-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,332.7,7112,-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,-13.45,0.000,2,0.000,0.000,66,2094,1398,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.1,-1.8,2,119,12.02,2.42,-52.58,0.000,4,0.239,0.067,2934,642,2427,0,0,0,0,0,0
$GC,136,-0.69,-116.8,4.2,-5.3,16,144,0.10,2.25,0.00,0.000,6,0.158,0.041,2957,2030,2428,0,0,0,0,0,0
$GC,195,-0.69,-116.8,9.9,-9.7,25,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2030,2429,0,0,0,0,0,0
$GC,253,-0.69,-116.8,15.6,-10.0,34,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2030,2428,0,0,0,0,0,0
$GC,311,-0.69,-116.8,21.5,-10.3,43,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2030,2429,0,0,0,0,0,0
$GC,466,-0.69,-116.8,37.9,-10.5,68,473,0.00,2.35,0.00,0.000,4,0.000,0.057,2946,3463,2429,0,0,0,0,0,0
$GC,492,-0.69,-116.8,40.7,-10.1,72,499,0.00,2.22,0.00,0.000,6,0.000,0.038,2946,2060,2429,0,0,0,0,0,0
$GC,845,-0.66,-116.8,77.0,-10.5,133,850,0.10,2.30,0.00,0.000,4,0.181,0.055,2973,649,2429,0,0,0,0,0,0
$GC,875,-0.66,-116.8,80.3,-10.3,138,879,0.00,2.20,0.00,0.000,6,0.000,0.040,2964,2061,2429,0,0,0,0,0,0
$GC,1197,-0.66,-116.8,109.9,-8.9,154,1201,0.00,2.28,0.00,0.000,4,0.000,0.062,2954,3468,2430,0,0,0,0,0,0
$GC,1261,-0.66,-116.8,115.6,-9.2,157,1266,0.08,2.20,0.00,0.000,6,0.184,0.040,2971,2058,2429,0,0,0,0,0,0
$GC,1591,-0.66,-116.8,143.5,-8.5,173,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2058,2429,0,0,0,0,0,0
$GC,1898,-0.69,-116.8,169.5,-8.1,188,1902,0.00,2.25,0.00,0.000,4,0.000,0.054,2973,661,2430,0,0,0,0,0,0
$GC,1987,-0.69,-116.8,177.5,-8.2,192,1991,0.00,2.20,0.00,0.000,6,0.000,0.040,2965,2060,2430,0,0,0,0,0,0
$GC,2315,-0.69,-116.8,204.2,-8.2,208,2319,0.00,2.28,0.00,0.000,4,0.000,0.061,2954,3464,2429,0,0,0,0,0,0
$GC,2364,-0.69,-116.8,208.7,-9.0,210,2368,0.00,2.20,0.00,0.000,6,0.000,0.037,2954,2060,2430,0,0,0,0,0,0
$GC,2691,-0.69,-116.8,239.1,-9.5,226,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2060,2430,0,0,0,0,0,0
$GC,3003,-0.69,-116.8,268.8,-9.5,241,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2060,2430,0,0,0,0,0,0
$GC,3310,-0.69,-116.8,297.6,-9.3,256,3314,0.00,2.22,0.00,0.000,4,0.000,0.054,2954,661,2430,0,0,0,0,0,0
$GC,3382,-0.69,-116.8,305.0,-9.5,259,3387,0.00,2.22,0.00,0.000,6,0.000,0.039,2945,2064,2430,0,0,0,0,0,0
$GC,3710,-0.69,-116.8,337.0,-10.0,275,3714,0.00,2.25,0.00,0.000,4,0.000,0.062,2935,3463,2430,0,0,0,0,0,0
$GC,3758,-0.69,-116.8,342.3,-10.2,277,3763,0.05,2.20,0.00,0.000,6,0.153,0.038,2953,2069,2430,0,0,0,0,0,0
$GC,4080,-0.69,-116.8,371.6,-8.6,293,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2069,2430,0,0,0,0,0,0
$GC,4389,-0.69,-116.8,398.3,-8.5,308,4393,0.00,2.28,0.00,0.000,4,0.000,0.054,2954,655,2430,0,0,0,0,0,0
$GC,4415,-0.69,-116.8,400.6,-9.0,309,4420,0.00,2.22,0.00,0.000,6,0.000,0.038,2945,2057,2430,0,0,0,0,0,0
$GC,4737,-0.69,-116.8,428.7,-8.9,325,4741,0.00,2.28,0.00,0.000,4,0.000,0.059,2934,3463,2430,0,0,0,0,0,0
$GC,4791,-0.69,-116.8,433.9,-9.2,327,4797,0.05,2.20,0.00,0.000,6,0.151,0.038,2953,2064,2430,0,0,0,0,0,0
$GC,5108,-0.69,-116.8,459.4,-7.8,343,5112,0.00,2.28,0.00,0.000,4,0.000,0.057,2944,3463,2430,0,0,0,0,0,0
$GC,5148,-0.69,-116.8,462.6,-7.8,345,5153,0.05,2.20,0.00,0.000,6,0.203,0.038,2956,2051,2430,0,0,0,0,0,0
$GC,5476,-0.69,-116.8,488.2,-7.6,361,5480,0.00,2.25,0.00,0.000,4,0.000,0.056,2956,660,2430,0,0,0,0,0,0
$GC,5508,-0.69,-116.8,491.1,-8.2,362,5514,0.00,2.20,0.00,0.000,6,0.000,0.038,2947,2070,2430,0,0,0,0,0,0
$GC,5823,-0.69,-116.8,516.5,-8.1,378,5827,0.00,2.28,0.00,0.000,4,0.000,0.060,2937,3471,2430,0,0,0,0,0,0
$GC,5867,-0.69,-116.8,520.2,-8.0,380,5871,0.08,2.20,0.00,0.000,6,0.184,0.040,2954,2061,2430,0,0,0,0,0,0
$GC,6194,-0.73,-116.8,546.2,-8.0,396,6198,0.00,2.28,0.00,0.000,4,0.000,0.056,2955,651,2430,0,0,0,0,0,0
$GC,6221,-0.73,-116.8,548.7,-8.4,397,6224,0.00,2.22,0.00,0.000,6,0.000,0.039,2946,2071,2430,0,0,0,0,0,0
$GC,6542,-0.73,-116.8,576.6,-8.9,413,6546,0.00,2.22,0.00,0.000,4,0.000,0.060,2935,3460,2429,0,0,0,0,0,0
$GC,6597,-0.73,-116.8,581.9,-9.7,415,6602,0.00,2.20,0.00,0.000,6,0.000,0.038,2935,2063,2429,0,0,0,0,0,0
$GC,6914,-0.73,-116.8,611.2,-9.4,431,6918,0.00,2.28,0.00,0.000,4,0.000,0.054,2936,660,2429,0,0,0,0,0,0
$GC,6958,-0.69,-116.8,615.8,-9.8,433,6962,0.12,2.22,0.00,0.000,6,0.162,0.040,2960,2068,2429,0,0,0,0,0,0
$GC,7286,-0.74,-116.8,643.4,-8.3,449,7290,0.00,2.25,0.00,0.000,4,0.000,0.060,2949,3463,2429,0,0,0,0,0,0
$GC,7342,-0.79,-116.8,648.7,-9.4,451,7347,0.05,2.20,0.00,0.000,6,0.162,0.039,2912,2054,2429,0,0,0,0,0,0
$GC,7658,-0.74,-116.8,681.3,-10.3,467,7663,0.12,2.30,0.00,0.000,4,0.168,0.058,2948,653,2428,0,0,0,0,0,0
$GC,7685,-0.74,-116.8,684.3,-10.6,468,7689,0.00,2.28,0.00,0.000,6,0.000,0.043,2939,2066,2429,0,0,0,0,0,0
$GC,8005,-0.74,-116.8,713.5,-9.1,484,8009,0.00,2.28,0.00,0.000,4,0.000,0.063,2929,3465,2428,0,0,0,0,0,0
$GC,8049,-0.74,-116.8,717.5,-9.3,486,8054,0.03,2.22,0.00,0.000,6,0.174,0.040,2939,2062,2428,0,0,0,0,0,0
$GC,8375,-0.74,-116.8,746.8,-9.1,502,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2062,2428,0,0,0,0,0,0
$GC,8685,-0.74,-116.8,774.8,-9.0,517,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2062,2428,0,0,0,0,0,0
$GC,8994,-0.74,-116.8,801.1,-8.1,532,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2062,2428,0,0,0,0,0,0
$GC,9305,-0.74,-116.8,823.6,-7.1,547,9309,0.00,2.28,0.00,0.000,4,0.000,0.057,2939,657,2427,0,0,0,0,0,0
$GC,9350,-0.74,-116.8,827.1,-7.5,549,9354,0.00,2.22,0.00,0.000,6,0.000,0.041,2931,2067,2427,0,0,0,0,0,0
$GC,9683,-0.74,-116.8,851.2,-7.2,565,9688,0.05,2.30,0.00,0.000,4,0.224,0.062,2932,3471,2427,0,0,0,0,0,0
$GC,9729,-0.74,-116.8,854.4,-7.4,567,9733,0.00,2.22,0.00,0.000,6,0.000,0.042,2932,2051,2427,0,0,0,0,0,0
$GC,10062,-0.74,-116.8,878.9,-7.3,583,10066,0.00,2.28,0.00,0.000,4,0.000,0.058,2932,649,2426,0,0,0,0,0,0
$GC,10108,-0.74,-116.8,882.6,-8.3,585,10112,0.08,2.22,0.00,0.000,6,0.188,0.043,2941,2060,2427,0,0,0,0,0,0
$GC,10441,-0.74,-116.8,906.8,-7.3,601,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2060,2427,0,0,0,0,0,0
$GC,10749,-0.77,-116.8,929.5,-7.4,616,10753,0.00,2.33,0.00,0.000,4,0.000,0.063,2931,3468,2426,0,0,0,0,0,0
$GC,10804,-0.80,-116.8,933.7,-7.8,618,10809,0.00,2.22,0.00,0.000,6,0.000,0.042,2931,2055,2426,0,0,0,0,0,0
$GC,11119,-0.80,-116.8,958.1,-7.9,634,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2056,2426,0,0,0,0,0,0
$GC,11430,-0.80,-116.8,982.6,-7.8,649,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2055,2426,0,0,0,0,0,0
$STATE,11653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11653,begin apogee
$GC,11659,-0.19,0.0,1000.8,8.0,660,11774,0.62,0.00,111.18,1.265,6,0.140,0.000,3118,1589,1950,0,0,0,0,0,0
$STATE,11775,end apogee,CONTROL_FINISHED_OK
$STATE,11775,begin climb
$GC,11777,0.76,116.8,1004.0,0.0,666,11904,0.93,2.58,117.60,1.222,4,0.087,0.057,3436,196,1473,0,0,0,0,0,0
$GC,11944,0.76,117.5,993.7,8.5,674,11948,0.00,2.42,0.00,0.000,6,0.000,0.036,3436,1611,1469,0,0,0,0,0,0
$GC,12269,0.76,117.5,963.9,9.4,690,12273,0.00,2.30,0.00,0.000,4,0.000,0.054,3436,3001,1465,0,0,0,0,0,0
$GC,12312,0.76,117.5,959.5,10.0,692,12317,0.03,2.28,0.00,0.000,6,0.179,0.037,3435,1596,1465,0,0,0,0,0,0
$GC,12638,0.76,117.5,929.5,9.2,708,12642,0.00,2.33,0.00,0.000,4,0.000,0.057,3445,189,1464,0,0,0,0,0,0
$GC,12687,0.76,117.5,924.6,9.8,710,12692,0.03,2.25,0.00,0.000,6,0.168,0.037,3434,1598,1463,0,0,0,0,0,0
$GC,13008,0.76,117.5,894.8,9.1,726,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1599,1462,0,0,0,0,0,0
$GC,13319,0.76,117.5,866.5,9.2,741,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1599,1462,0,0,0,0,0,0
$GC,13627,0.76,117.5,838.4,9.0,756,13628,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1598,1462,0,0,0,0,0,0
$GC,13938,0.76,117.5,810.6,9.0,771,13942,0.00,2.30,0.00,0.000,4,0.000,0.055,3444,198,1461,0,0,0,0,0,0
$GC,14004,0.76,117.5,804.1,11.0,774,14008,0.03,2.22,0.00,0.000,6,0.163,0.037,3432,1595,1461,0,0,0,0,0,0
$GC,14330,0.76,117.5,774.0,9.4,790,14334,0.00,2.28,0.00,0.000,4,0.000,0.054,3442,197,1461,0,0,0,0,0,0
$GC,14362,0.76,117.5,770.9,9.6,791,14367,0.00,2.22,0.00,0.000,6,0.000,0.037,3441,1607,1461,0,0,0,0,0,0
$GC,14678,0.76,117.5,740.1,9.5,807,14682,0.00,2.22,0.00,0.000,4,0.000,0.054,3442,2996,1461,0,0,0,0,0,0
$GC,14756,0.76,117.5,732.0,10.3,810,14762,0.05,2.20,0.00,0.000,6,0.152,0.037,3432,1601,1461,0,0,0,0,0,0
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$STATE,22490,end climb,SURFACE_DEPTH_REACHED
$STATE,22491,begin surface coast
$FINISH,2.0,1.002541
$STATE,22523,end surface coast,CONTROL_FINISHED_OK
$STATE,22523,begin surface
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$SM_GC,4.30,0.00,0.00,5.10,0.000,0.000,0.056,61,2084,1133,-9.76,0.68,200.16
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$TT8_MAMPS,0.026964
$HUMID,64.64
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.0,54.794
$10V_AH,9.6,57.577
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.825,186.225,301.400,5.100,0.000,26.107,20.453,321.271,0.000,0.000,18.765,2778.507,16087.270,434.230,3459.135,307.134,0.000,1770.994,0.000,2948.600,0.000,0.540,0.000
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$SENSOR_SECS,618.129,1796.281,960.137,564.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353160
$DATA_FILE_SIZE,93795,1279
$CAP_FILE_SIZE,197805,0
$CFSIZE,2097086464,2031452160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051115,135620,-4457.312,627.086,27,1.1,42,-24.4