version: 66.07.10.p01
glider: 573
mission: 12
dive: 488
start: 11 10 115 20 25 29
data:
$ID,573
$MISSION,12
$DIVE,488
$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,-22519.668
$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,38
$R_STBD_OVSHOOT,55
$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,487
$GPS1,101115,201703,-4504.055,635.591,64,0.9,64,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-66.1
$GPS2,101115,202509,-4504.009,635.567,21,1.2,21,-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,294.5,15130,-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,-116.8,0.0,0.0,0,35,0.00,0.00,-7.90,0.000,2,0.000,0.000,81,2087,1290,0,0,0,0,0,0
$GC,38,-0.76,-116.8,3.1,-0.0,1,120,11.35,2.38,-62.10,0.000,4,0.219,0.064,2928,662,2425,0,0,0,0,0,0
$GC,228,-0.68,-116.8,13.9,-10.9,31,236,0.12,2.22,0.00,0.000,6,0.135,0.044,2960,2024,2426,0,0,0,0,0,0
$GC,287,-0.68,-116.8,20.7,-10.2,40,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2024,2426,0,0,0,0,0,0
$GC,442,-0.68,-116.8,34.8,-9.8,65,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2024,2426,0,0,0,0,0,0
$GC,589,-0.68,-116.8,49.5,-8.6,90,596,0.00,2.28,0.00,0.000,4,0.000,0.054,2960,658,2426,0,0,0,0,0,0
$GC,660,-0.65,-116.8,56.4,-9.7,102,668,0.05,2.25,0.00,0.000,6,0.151,0.041,2969,2056,2426,0,0,0,0,0,0
$GC,1012,-0.65,-116.8,92.7,-9.8,147,1016,0.00,2.33,0.00,0.000,4,0.000,0.061,2959,3480,2427,0,0,0,0,0,0
$GC,1044,-0.65,-116.8,96.4,-10.6,148,1052,0.00,2.25,0.00,0.000,6,0.000,0.040,2959,2061,2427,0,0,0,0,0,0
$GC,1360,-0.65,-116.8,126.6,-9.7,164,1365,0.05,2.28,0.00,0.000,4,0.217,0.055,2972,650,2427,0,0,0,0,0,0
$GC,1393,-0.65,-116.8,130.0,-9.7,165,1399,0.00,2.28,0.00,0.000,6,0.000,0.042,2964,2068,2427,0,0,0,0,0,0
$GC,1711,-0.65,-116.8,159.4,-9.3,181,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2067,2427,0,0,0,0,0,0
$GC,2019,-0.65,-116.8,187.4,-9.4,196,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2067,2427,0,0,0,0,0,0
$GC,2331,-0.68,-116.8,213.3,-8.4,211,2335,0.00,2.28,0.00,0.000,4,0.000,0.062,2953,3465,2428,0,0,0,0,0,0
$GC,2403,-0.72,-116.8,220.2,-8.8,214,2407,0.00,2.17,0.00,0.000,6,0.000,0.039,2953,2055,2428,0,0,0,0,0,0
$GC,2725,-0.72,-116.8,250.2,-9.5,230,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2055,2428,0,0,0,0,0,0
$GC,3036,-0.72,-116.8,280.8,-9.6,245,3040,0.00,2.25,0.00,0.000,4,0.000,0.056,2953,657,2428,0,0,0,0,0,0
$GC,3062,-0.72,-116.8,283.8,-10.5,246,3066,0.00,2.25,0.00,0.000,6,0.000,0.042,2944,2065,2428,0,0,0,0,0,0
$GC,3383,-0.72,-116.8,315.6,-10.2,262,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2064,2428,0,0,0,0,0,0
$GC,3694,-0.72,-116.8,345.2,-9.2,277,3698,0.00,2.28,0.00,0.000,4,0.000,0.065,2933,3463,2427,0,0,0,0,0,0
$GC,3771,-0.72,-116.8,352.6,-9.3,280,3776,0.03,2.22,0.00,0.000,6,0.162,0.040,2944,2059,2428,0,0,0,0,0,0
$GC,4091,-0.72,-116.8,380.2,-8.5,296,4096,0.00,2.25,0.00,0.000,4,0.000,0.056,2944,655,2428,0,0,0,0,0,0
$GC,4118,-0.72,-116.8,382.7,-8.9,297,4123,0.05,2.25,0.00,0.000,6,0.216,0.044,2947,2057,2428,0,0,0,0,0,0
$GC,4440,-0.72,-116.8,407.9,-7.8,313,4444,0.00,2.30,0.00,0.000,4,0.000,0.063,2936,3465,2427,0,0,0,0,0,0
$GC,4490,-0.72,-116.8,412.2,-7.9,315,4494,0.00,2.20,0.00,0.000,6,0.000,0.041,2937,2060,2427,0,0,0,0,0,0
$GC,4812,-0.72,-116.8,442.0,-9.7,331,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2060,2427,0,0,0,0,0,0
$GC,5119,-0.72,-116.8,472.1,-9.3,346,5123,0.00,2.28,0.00,0.000,4,0.000,0.057,2937,656,2428,0,0,0,0,0,0
$GC,5175,-0.72,-116.8,477.6,-9.7,348,5181,0.05,2.25,0.00,0.000,6,0.151,0.044,2946,2054,2428,0,0,0,0,0,0
$GC,5490,-0.72,-116.8,505.5,-8.9,364,5494,0.00,2.30,0.00,0.000,4,0.000,0.060,2935,3475,2427,0,0,0,0,0,0
$GC,5528,-0.72,-116.8,509.1,-9.6,366,5533,0.00,2.22,0.00,0.000,6,0.000,0.043,2935,2059,2427,0,0,0,0,0,0
$GC,5854,-0.72,-116.8,539.5,-9.3,382,5859,0.05,2.30,0.00,0.000,4,0.216,0.057,2948,651,2427,0,0,0,0,0,0
$GC,5897,-0.72,-116.8,543.9,-9.8,384,5902,0.00,2.28,0.00,0.000,6,0.000,0.044,2940,2066,2427,0,0,0,0,0,0
$GC,6224,-0.72,-116.8,575.3,-9.6,400,6228,0.00,2.30,0.00,0.000,4,0.000,0.066,2929,3465,2426,0,0,0,0,0,0
$GC,6273,-0.72,-116.8,580.4,-11.1,402,6278,0.05,2.22,0.00,0.000,6,0.138,0.041,2956,2063,2426,0,0,0,0,0,0
$GC,6595,-0.77,-116.8,607.2,-8.2,418,6597,0.05,0.00,0.00,0.000,6,0.166,0.000,2919,2063,2426,0,0,0,0,0,0
$GC,6904,-0.74,-116.8,635.9,-9.2,433,6909,0.10,2.28,0.00,0.000,4,0.168,0.057,2946,655,2426,0,0,0,0,0,0
$GC,6948,-0.74,-116.8,640.3,-8.9,435,6952,0.00,2.25,0.00,0.000,6,0.000,0.043,2937,2072,2426,0,0,0,0,0,0
$GC,7275,-0.74,-116.8,668.4,-8.7,451,7279,0.00,2.28,0.00,0.000,4,0.000,0.063,2925,3466,2426,0,0,0,0,0,0
$GC,7315,-0.74,-116.8,672.0,-9.0,453,7320,0.08,2.22,0.00,0.000,6,0.176,0.041,2945,2047,2425,0,0,0,0,0,0
$GC,7644,-0.77,-116.8,698.5,-7.9,469,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2046,2425,0,0,0,0,0,0
$GC,7951,-0.81,-116.8,722.1,-7.7,484,7955,0.08,2.25,0.00,0.000,4,0.124,0.055,2901,651,2425,0,0,0,0,0,0
$GC,7978,-0.74,-116.8,724.5,-9.8,485,7983,0.17,2.25,0.00,0.000,6,0.158,0.041,2939,2070,2425,0,0,0,0,0,0
$GC,8292,-0.74,-116.8,749.2,-7.8,500,8296,0.00,2.28,0.00,0.000,4,0.000,0.063,2929,3464,2425,0,0,0,0,0,0
$GC,8353,-0.74,-116.8,754.2,-7.7,502,8360,0.05,2.20,0.00,0.000,6,0.203,0.041,2942,2059,2425,0,0,0,0,0,0
$GC,8669,-0.77,-116.8,778.4,-7.9,518,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2059,2425,0,0,0,0,0,0
$GC,8979,-0.81,-116.8,804.2,-8.6,533,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2059,2425,0,0,0,0,0,0
$GC,9288,-0.84,-116.8,828.9,-7.8,548,9290,0.10,0.00,0.00,0.000,6,0.101,0.000,2890,2059,2425,0,0,0,0,0,0
$GC,9598,-0.77,-116.8,857.5,-9.3,563,9600,0.15,0.00,0.00,0.000,6,0.163,0.000,2932,2059,2425,0,0,0,0,0,0
$GC,9906,-0.77,-116.8,880.5,-7.4,578,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2059,2425,0,0,0,0,0,0
$GC,10216,-0.77,-116.8,903.4,-7.6,593,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2059,2424,0,0,0,0,0,0
$GC,10525,-0.77,-116.8,926.7,-7.5,608,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2059,2424,0,0,0,0,0,0
$GC,10835,-0.77,-116.8,948.4,-6.9,623,10839,0.00,2.35,0.00,0.000,4,0.000,0.066,2922,3463,2424,0,0,0,0,0,0
$GC,10884,-0.77,-116.8,952.1,-7.6,625,10888,0.00,2.20,0.00,0.000,6,0.000,0.042,2922,2062,2424,0,0,0,0,0,0
$GC,11207,-0.77,-116.8,975.0,-7.2,641,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2061,2424,0,0,0,0,0,0
$GC,11515,-0.77,-116.8,998.6,-8.1,656,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2062,2424,0,0,0,0,0,0
$STATE,11534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11534,begin apogee
$GC,11540,-0.19,0.0,1000.1,8.0,657,11655,0.62,0.00,110.82,1.262,6,0.129,0.000,3116,1593,1950,0,0,0,0,0,0
$STATE,11656,end apogee,CONTROL_FINISHED_OK
$STATE,11656,begin climb
$GC,11659,0.76,116.8,1003.4,0.0,663,11781,0.95,0.00,118.85,1.218,6,0.085,0.000,3425,1593,1473,0,0,0,0,0,0
$GC,12085,0.79,125.4,972.6,8.1,684,12099,0.00,2.40,9.02,1.002,4,0.000,0.057,3436,202,1437,0,0,0,0,0,0
$GC,12132,0.79,125.4,968.2,9.1,686,12137,0.00,2.30,0.00,0.000,6,0.000,0.037,3435,1604,1436,0,0,0,0,0,0
$GC,12459,0.79,125.4,940.2,8.7,702,12463,0.00,2.28,0.00,0.000,4,0.000,0.056,3435,3003,1435,0,0,0,0,0,0
$GC,12530,0.79,125.4,933.2,9.2,705,12534,0.00,2.22,0.00,0.000,6,0.000,0.037,3445,1603,1434,0,0,0,0,0,0
$GC,12852,0.79,125.4,903.3,9.3,721,12856,0.00,2.30,0.00,0.000,4,0.000,0.057,3456,198,1435,0,0,0,0,0,0
$GC,12952,0.76,125.4,892.9,9.9,725,12957,0.10,2.22,0.00,0.000,6,0.160,0.037,3428,1615,1433,0,0,0,0,0,0
$GC,13268,0.76,125.4,865.2,9.0,741,13272,0.00,2.33,0.00,0.000,4,0.000,0.054,3437,192,1433,0,0,0,0,0,0
$GC,13352,0.76,125.4,857.1,10.5,745,13356,0.00,2.20,0.00,0.000,6,0.000,0.036,3437,1607,1433,0,0,0,0,0,0
$GC,13685,0.76,125.4,827.1,8.8,761,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1607,1433,0,0,0,0,0,0
$GC,13993,0.76,125.4,798.8,9.4,776,13997,0.00,2.20,0.00,0.000,4,0.000,0.055,3437,2992,1432,0,0,0,0,0,0
$GC,14042,0.76,125.4,794.0,9.4,778,14047,0.03,2.20,0.00,0.000,6,0.177,0.037,3437,1596,1433,0,0,0,0,0,0
$GC,14362,0.76,125.4,765.8,8.7,794,14366,0.00,2.28,0.00,0.000,4,0.000,0.057,3446,199,1432,0,0,0,0,0,0
$GC,14442,0.76,130.9,758.8,8.3,797,14453,0.08,2.20,5.88,0.841,6,0.174,0.037,3427,1610,1415,0,0,0,0,0,0
$GC,14775,0.83,153.6,733.2,7.4,814,14805,0.08,2.28,24.00,1.071,4,0.122,0.055,3470,2988,1323,0,0,0,0,0,0
$GC,14833,0.78,153.6,727.4,10.5,816,14839,0.15,2.20,0.00,0.000,6,0.148,0.037,3437,1590,1322,0,0,0,0,0,0
$GC,15148,0.82,162.0,701.2,8.1,832,15162,0.00,2.28,9.45,0.934,4,0.000,0.058,3447,199,1289,0,0,0,0,0,0
$GC,15266,0.82,164.4,691.0,8.4,837,15270,0.00,2.20,0.00,0.000,6,0.000,0.037,3447,1609,1287,0,0,0,0,0,0
$GC,15593,0.85,164.4,662.1,9.1,853,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1608,1286,0,0,0,0,0,0
$GC,15901,0.89,164.4,633.1,9.8,868,15906,0.05,2.33,0.00,0.000,4,0.168,0.055,3494,200,1286,0,0,0,0,0,0
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$STATE,22578,end climb,SURFACE_DEPTH_REACHED
$STATE,22579,begin surface coast
$FINISH,2.0,1.023387
$STATE,22611,end surface coast,CONTROL_FINISHED_OK
$STATE,22611,begin surface
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$TT8_MAMPS,0.026964
$HUMID,65.00
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.90
$XPDR_PINGS,1
$24V_AH,21.9,57.377
$10V_AH,9.7,60.375
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.475,186.400,286.325,15.350,0.000,28.060,20.184,286.063,0.250,0.000,24.440,2793.503,16178.618,455.856,3403.605,301.749,0.000,1760.160,0.000,2923.002,0.000,0.540,0.000
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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,353288
$DATA_FILE_SIZE,93910,1288
$CAP_FILE_SIZE,195649,0
$CFSIZE,2097086464,2028077056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111115,024404,-4504.944,633.111,31,0.9,31,-24.4