version: 66.07.10.p01
glider: 573
mission: 12
dive: 489
start: 11 11 115 2 58 31
data:
$ID,573
$MISSION,12
$DIVE,489
$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,-22522.604
$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,40
$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,488
$GPS1,111115,024404,-4504.944,633.111,31,0.9,31,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-65.5
$GPS2,111115,025811,-4505.025,633.162,14,1.2,14,-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,303.4,12133,-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,-116.8,0.0,0.0,0,41,0.00,0.00,-13.82,0.000,2,0.000,0.000,73,2060,1406,0,0,0,0,0,0
$GC,44,-0.76,-116.8,3.0,-1.5,2,114,11.70,2.33,-47.58,0.000,4,0.228,0.064,2938,659,2428,0,0,0,0,0,0
$GC,222,-0.66,-116.8,17.7,-16.4,30,230,0.10,2.25,0.00,0.000,6,0.124,0.041,2964,2043,2430,0,0,0,0,0,0
$GC,281,-0.66,-116.8,25.9,-12.8,39,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2043,2430,0,0,0,0,0,0
$GC,436,-0.66,-116.8,41.8,-10.5,64,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2043,2430,0,0,0,0,0,0
$GC,786,-0.66,-116.8,76.6,-10.4,125,791,0.00,2.30,0.00,0.000,4,0.000,0.062,2953,3472,2430,0,0,0,0,0,0
$GC,915,-0.66,-116.8,90.8,-10.9,135,921,0.00,2.25,0.00,0.000,6,0.000,0.041,2953,2062,2431,0,0,0,0,0,0
$GC,1233,-0.66,-116.8,124.9,-10.7,151,1238,0.05,2.25,0.00,0.000,4,0.222,0.054,2966,655,2431,0,0,0,0,0,0
$GC,1276,-0.66,-116.8,129.3,-10.6,153,1280,0.00,2.25,0.00,0.000,6,0.000,0.041,2957,2078,2430,0,0,0,0,0,0
$GC,1605,-0.66,-116.8,165.0,-11.3,169,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2078,2431,0,0,0,0,0,0
$GC,1912,-0.66,-116.8,196.2,-10.0,184,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2078,2430,0,0,0,0,0,0
$GC,2224,-0.66,-116.8,224.0,-8.6,199,2228,0.00,2.25,0.00,0.000,4,0.000,0.058,2947,3474,2430,0,0,0,0,0,0
$GC,2256,-0.66,-116.8,227.2,-9.2,200,2264,0.05,2.25,0.00,0.000,6,0.142,0.041,2965,2054,2431,0,0,0,0,0,0
$GC,2574,-0.71,-116.8,252.7,-8.1,216,2578,0.00,2.25,0.00,0.000,4,0.000,0.056,2965,657,2431,0,0,0,0,0,0
$GC,2623,-0.71,-116.8,257.2,-8.3,218,2627,0.00,2.20,0.00,0.000,6,0.000,0.041,2956,2063,2431,0,0,0,0,0,0
$GC,2951,-0.71,-116.8,285.6,-8.9,234,2955,0.00,2.28,0.00,0.000,4,0.000,0.063,2946,3466,2431,0,0,0,0,0,0
$GC,2994,-0.71,-116.8,290.0,-9.5,236,2999,0.00,2.22,0.00,0.000,6,0.000,0.040,2946,2056,2431,0,0,0,0,0,0
$GC,3321,-0.71,-116.8,323.0,-10.5,252,3325,0.00,2.28,0.00,0.000,4,0.000,0.056,2946,648,2431,0,0,0,0,0,0
$GC,3359,-0.71,-116.8,327.2,-11.0,254,3364,0.08,2.22,0.00,0.000,6,0.187,0.041,2955,2058,2431,0,0,0,0,0,0
$GC,3684,-0.71,-116.8,359.2,-9.6,270,3688,0.00,2.28,0.00,0.000,4,0.000,0.063,2945,3463,2431,0,0,0,0,0,0
$GC,3723,-0.71,-116.8,362.9,-9.9,272,3727,0.00,2.20,0.00,0.000,6,0.000,0.040,2945,2055,2431,0,0,0,0,0,0
$GC,4048,-0.71,-116.8,392.8,-9.1,288,4052,0.00,2.25,0.00,0.000,4,0.000,0.056,2945,659,2431,0,0,0,0,0,0
$GC,4086,-0.71,-116.8,396.6,-9.4,290,4091,0.08,2.20,0.00,0.000,6,0.184,0.041,2954,2061,2431,0,0,0,0,0,0
$GC,4411,-0.71,-116.8,425.2,-8.7,306,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2061,2431,0,0,0,0,0,0
$GC,4722,-0.74,-116.8,453.1,-9.1,321,4726,0.00,2.30,0.00,0.000,4,0.000,0.063,2945,3467,2430,0,0,0,0,0,0
$GC,4766,-0.77,-116.8,457.4,-9.3,323,4770,0.00,2.20,0.00,0.000,6,0.000,0.041,2945,2062,2431,0,0,0,0,0,0
$GC,5093,-0.77,-116.8,487.5,-9.1,339,5097,0.00,2.25,0.00,0.000,4,0.000,0.054,2945,656,2430,0,0,0,0,0,0
$GC,5137,-0.77,-116.8,491.9,-9.8,341,5141,0.00,2.25,0.00,0.000,6,0.000,0.040,2935,2064,2430,0,0,0,0,0,0
$GC,5465,-0.77,-116.8,523.3,-9.7,357,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2065,2430,0,0,0,0,0,0
$GC,5772,-0.77,-116.8,552.2,-9.6,372,5777,0.00,2.30,0.00,0.000,4,0.000,0.064,2924,3470,2429,0,0,0,0,0,0
$GC,5822,-0.77,-116.8,556.9,-10.1,374,5826,0.00,2.25,0.00,0.000,6,0.000,0.042,2924,2054,2429,0,0,0,0,0,0
$GC,6143,-0.77,-116.8,585.8,-8.8,390,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2054,2429,0,0,0,0,0,0
$GC,6454,-0.77,-116.8,611.4,-8.3,405,6458,0.00,2.28,0.00,0.000,4,0.000,0.057,2925,651,2429,0,0,0,0,0,0
$GC,6481,-0.72,-116.8,614.0,-9.4,406,6486,0.12,2.22,0.00,0.000,6,0.164,0.043,2950,2061,2429,0,0,0,0,0,0
$GC,6803,-0.76,-116.8,638.4,-8.0,422,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2061,2429,0,0,0,0,0,0
$GC,7112,-0.80,-116.8,662.6,-7.8,437,7117,0.08,2.30,0.00,0.000,4,0.125,0.064,2896,3463,2429,0,0,0,0,0,0
$GC,7161,-0.74,-116.8,667.3,-9.7,439,7166,0.17,2.20,0.00,0.000,6,0.147,0.042,2947,2058,2429,0,0,0,0,0,0
$GC,7478,-0.77,-116.8,690.7,-7.1,454,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2058,2428,0,0,0,0,0,0
$GC,7788,-0.81,-116.8,712.6,-7.1,469,7792,0.08,2.28,0.00,0.000,4,0.123,0.057,2902,652,2428,0,0,0,0,0,0
$GC,7833,-0.72,-116.8,716.6,-9.7,471,7838,0.20,2.22,0.00,0.000,6,0.155,0.044,2949,2062,2428,0,0,0,0,0,0
$GC,8162,-0.76,-116.8,739.7,-7.1,487,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2062,2429,0,0,0,0,0,0
$GC,8469,-0.80,-116.8,762.4,-7.5,502,8473,0.08,2.33,0.00,0.000,4,0.122,0.065,2896,3470,2428,0,0,0,0,0,0
$GC,8552,-0.75,-116.8,770.2,-10.1,506,8557,0.15,2.22,0.00,0.000,6,0.150,0.044,2939,2062,2428,0,0,0,0,0,0
$GC,8879,-0.75,-116.8,795.9,-7.9,522,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2062,2428,0,0,0,0,0,0
$GC,9189,-0.75,-116.8,820.1,-7.8,537,9193,0.00,2.28,0.00,0.000,4,0.000,0.054,2938,656,2428,0,0,0,0,0,0
$GC,9255,-0.75,-116.8,825.8,-8.0,540,9259,0.00,2.25,0.00,0.000,6,0.000,0.044,2930,2069,2428,0,0,0,0,0,0
$GC,9581,-0.75,-116.8,852.6,-8.1,556,9585,0.00,2.30,0.00,0.000,4,0.000,0.063,2919,3474,2427,0,0,0,0,0,0
$GC,9619,-0.75,-116.8,855.8,-8.9,558,9624,0.10,2.22,0.00,0.000,6,0.163,0.041,2946,2054,2427,0,0,0,0,0,0
$GC,9946,-0.79,-116.8,879.2,-6.8,574,9948,0.05,0.00,0.00,0.000,6,0.167,0.000,2909,2055,2427,0,0,0,0,0,0
$GC,10256,-0.76,-116.8,904.4,-8.4,589,10258,0.10,0.00,0.00,0.000,6,0.173,0.000,2935,2055,2427,0,0,0,0,0,0
$GC,10563,-0.76,-116.8,927.5,-7.4,604,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2055,2427,0,0,0,0,0,0
$GC,10875,-0.79,-116.8,950.7,-7.5,619,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2055,2427,0,0,0,0,0,0
$GC,11183,-0.82,-116.8,974.4,-7.6,634,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2055,2427,0,0,0,0,0,0
$GC,11493,-0.86,-116.8,997.8,-7.4,649,11495,0.08,0.00,0.00,0.000,6,0.128,0.000,2893,2055,2427,0,0,0,0,0,0
$STATE,11532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11532,begin apogee
$GC,11538,-0.19,0.0,1001.3,8.1,651,11653,0.75,0.00,111.12,1.262,6,0.132,0.000,3121,1600,1950,0,0,0,0,0,0
$STATE,11654,end apogee,CONTROL_FINISHED_OK
$STATE,11654,begin climb
$GC,11656,0.76,116.8,1004.2,0.0,657,11783,0.90,2.60,117.57,1.216,4,0.084,0.057,3432,205,1473,0,0,0,0,0,0
$GC,11811,0.76,116.8,994.8,9.2,664,11815,0.00,2.42,0.00,0.000,6,0.000,0.036,3432,1610,1470,0,0,0,0,0,0
$GC,12131,0.76,118.1,967.2,8.5,680,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1610,1466,0,0,0,0,0,0
$GC,12442,0.76,118.1,940.2,8.8,695,12446,0.00,2.35,0.00,0.000,4,0.000,0.055,3442,191,1464,0,0,0,0,0,0
$GC,12491,0.76,118.1,935.5,9.5,697,12495,0.00,2.25,0.00,0.000,6,0.000,0.037,3441,1619,1463,0,0,0,0,0,0
$GC,12819,0.76,118.1,904.8,9.2,713,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1619,1462,0,0,0,0,0,0
$GC,13126,0.76,118.1,877.4,8.6,728,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1619,1462,0,0,0,0,0,0
$GC,13437,0.76,118.1,849.1,9.2,743,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1619,1461,0,0,0,0,0,0
$GC,13745,0.76,118.1,820.7,9.0,758,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1619,1461,0,0,0,0,0,0
$GC,14056,0.76,118.1,792.9,8.9,773,14060,0.00,2.35,0.00,0.000,4,0.000,0.054,3452,189,1461,0,0,0,0,0,0
$GC,14121,0.76,118.1,786.5,9.3,776,14126,0.05,2.22,0.00,0.000,6,0.135,0.036,3422,1595,1461,0,0,0,0,0,0
$GC,14449,0.82,143.0,761.9,7.3,792,14479,0.08,2.28,24.50,1.092,4,0.122,0.056,3466,2991,1367,0,0,0,0,0,0
$GC,14510,0.77,143.0,756.5,9.8,795,14515,0.15,2.20,0.00,0.000,6,0.151,0.037,3433,1594,1365,0,0,0,0,0,0
$GC,14839,0.82,154.1,729.9,8.0,811,14859,0.00,2.35,12.30,0.998,4,0.000,0.057,3443,199,1321,0,0,0,0,0,0
$GC,14987,0.82,154.1,716.7,9.0,817,14992,0.00,2.22,0.00,0.000,6,0.000,0.037,3442,1595,1318,0,0,0,0,0,0
$GC,15304,0.85,154.1,689.8,8.7,833,15308,0.00,2.30,0.00,0.000,4,0.000,0.054,3452,197,1318,0,0,0,0,0,0
$GC,15344,0.85,154.1,686.0,10.0,835,15348,0.00,2.22,0.00,0.000,6,0.000,0.037,3452,1616,1317,0,0,0,0,0,0
$GC,15670,0.85,154.1,654.1,10.2,851,15671,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1616,1317,0,0,0,0,0,0
$GC,15978,0.85,154.1,622.8,9.9,866,15982,0.00,2.33,0.00,0.000,4,0.000,0.054,3462,199,1317,0,0,0,0,0,0
$GC,16062,0.85,154.1,614.2,10.3,870,16066,0.00,2.20,0.00,0.000,6,0.000,0.037,3463,1606,1317,0,0,0,0,0,0
$GC,16387,0.85,154.1,582.1,9.9,886,16388,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1606,1317,0,0,0,0,0,0
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$STATE,22498,end climb,SURFACE_DEPTH_REACHED
$STATE,22498,begin surface coast
$FINISH,1.8,1.023401
$STATE,22536,end surface coast,CONTROL_FINISHED_OK
$STATE,22536,begin surface
$SM_CCo,22555,14.85,0.055,0,0,1132,200.16
$SM_GC,3.95,0.00,0.00,14.85,0.000,0.000,0.055,87,2067,1132,-9.68,0.20,200.16
$IRIDIUM_FIX,-4447.43,628.16,060908,161646
$TT8_MAMPS,0.026964
$HUMID,64.96
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.0,57.508
$10V_AH,9.6,60.508
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.750,159.850,283.050,14.850,0.000,51.355,64.149,491.140,0.000,0.000,16.649,2771.426,16229.370,404.879,3663.309,336.481,0.000,1704.589,0.000,2912.273,0.000,0.540,0.000
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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,353176
$DATA_FILE_SIZE,94028,1285
$CAP_FILE_SIZE,193842,0
$CFSIZE,2097086464,2027945984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111115,091622,-4505.652,630.364,64,0.9,64,-24.4