version: 66.07.10.p01
glider: 573
mission: 12
dive: 491
start: 11 11 115 16 7 48
data:
$ID,573
$MISSION,12
$DIVE,491
$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,-22528.451
$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,33
$R_STBD_OVSHOOT,33
$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,490
$GPS1,111115,155551,-4505.274,628.322,38,1.0,38,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-68.2
$GPS2,111115,160728,-4505.367,628.358,14,1.6,14,-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,318.3,6237,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.15,0.000,2,0.000,0.000,80,2069,1629,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-3.5,4,107,11.68,2.35,-32.17,0.000,4,0.230,0.073,2924,3464,2425,0,0,0,0,0,0
$GC,186,-0.68,-116.8,15.7,-14.7,24,194,0.10,2.25,0.00,0.000,6,0.129,0.041,2958,2063,2427,0,0,0,0,0,0
$GC,245,-0.68,-116.8,22.9,-10.9,33,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2063,2428,0,0,0,0,0,0
$GC,400,-0.68,-116.8,38.3,-9.8,58,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2063,2428,0,0,0,0,0,0
$GC,547,-0.68,-116.8,52.3,-9.9,83,552,0.00,2.30,0.00,0.000,4,0.000,0.054,2958,645,2428,0,0,0,0,0,0
$GC,578,-0.68,-116.8,55.7,-11.0,88,584,0.05,2.22,0.00,0.000,6,0.221,0.037,2961,2063,2428,0,0,0,0,0,0
$GC,928,-0.68,-116.8,92.6,-10.0,133,933,0.00,2.28,0.00,0.000,4,0.000,0.063,2950,3464,2428,0,0,0,0,0,0
$GC,1061,-0.68,-116.8,107.0,-11.0,139,1065,0.00,2.20,0.00,0.000,6,0.000,0.038,2950,2052,2428,0,0,0,0,0,0
$GC,1390,-0.68,-116.8,142.3,-10.3,155,1394,0.00,2.22,0.00,0.000,4,0.000,0.052,2950,661,2429,0,0,0,0,0,0
$GC,1439,-0.68,-116.8,148.2,-10.8,157,1444,0.08,2.22,0.00,0.000,6,0.184,0.039,2960,2060,2429,0,0,0,0,0,0
$GC,1762,-0.68,-116.8,181.4,-10.3,173,1766,0.00,2.30,0.00,0.000,4,0.000,0.063,2950,3471,2429,0,0,0,0,0,0
$GC,1784,-0.68,-116.8,184.1,-10.8,174,1788,0.00,2.22,0.00,0.000,6,0.000,0.041,2950,2062,2428,0,0,0,0,0,0
$GC,2111,-0.68,-116.8,217.3,-9.9,190,2113,0.03,0.00,0.00,0.000,6,0.272,0.000,2960,2061,2429,0,0,0,0,0,0
$GC,2423,-0.68,-116.8,243.8,-8.2,205,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2061,2429,0,0,0,0,0,0
$GC,2730,-0.68,-116.8,268.7,-8.2,220,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2061,2428,0,0,0,0,0,0
$GC,3042,-0.71,-116.8,292.7,-7.8,235,3046,0.00,2.25,0.00,0.000,4,0.000,0.054,2960,654,2429,0,0,0,0,0,0
$GC,3108,-0.71,-116.8,298.8,-8.5,238,3112,0.00,2.22,0.00,0.000,6,0.000,0.042,2951,2062,2429,0,0,0,0,0,0
$GC,3434,-0.71,-116.8,327.8,-9.0,254,3438,0.00,2.28,0.00,0.000,4,0.000,0.062,2941,3463,2429,0,0,0,0,0,0
$GC,3473,-0.71,-116.8,331.5,-9.9,256,3477,0.00,2.20,0.00,0.000,6,0.000,0.039,2941,2055,2429,0,0,0,0,0,0
$GC,3798,-0.71,-116.8,362.8,-9.9,272,3802,0.00,2.25,0.00,0.000,4,0.000,0.054,2941,661,2429,0,0,0,0,0,0
$GC,3836,-0.71,-116.8,366.8,-10.1,274,3841,0.08,2.20,0.00,0.000,6,0.183,0.040,2950,2061,2429,0,0,0,0,0,0
$GC,4161,-0.71,-116.8,396.9,-8.8,290,4165,0.00,2.28,0.00,0.000,4,0.000,0.063,2940,3468,2429,0,0,0,0,0,0
$GC,4239,-0.71,-116.8,404.0,-8.9,293,4243,0.00,2.22,0.00,0.000,6,0.000,0.040,2940,2063,2429,0,0,0,0,0,0
$GC,4555,-0.71,-116.8,431.4,-8.8,309,4559,0.00,2.25,0.00,0.000,4,0.000,0.054,2940,650,2429,0,0,0,0,0,0
$GC,4644,-0.71,-116.8,440.1,-10.0,313,4649,0.10,2.25,0.00,0.000,6,0.164,0.041,2958,2059,2429,0,0,0,0,0,0
$GC,4974,-0.74,-116.8,467.2,-8.2,329,4978,0.00,2.28,0.00,0.000,4,0.000,0.062,2948,3471,2429,0,0,0,0,0,0
$GC,5045,-0.78,-116.8,473.6,-8.7,332,5050,0.00,2.22,0.00,0.000,6,0.000,0.041,2948,2046,2429,0,0,0,0,0,0
$GC,5366,-0.78,-116.8,499.8,-8.3,348,5370,0.00,2.25,0.00,0.000,4,0.000,0.054,2948,647,2429,0,0,0,0,0,0
$GC,5404,-0.78,-116.8,503.1,-8.8,350,5408,0.00,2.22,0.00,0.000,6,0.000,0.038,2938,2067,2428,0,0,0,0,0,0
$GC,5730,-0.78,-116.8,530.8,-8.5,366,5734,0.00,2.28,0.00,0.000,4,0.000,0.062,2928,3468,2429,0,0,0,0,0,0
$GC,5773,-0.78,-116.8,534.7,-8.8,368,5777,0.00,2.22,0.00,0.000,6,0.000,0.040,2928,2060,2429,0,0,0,0,0,0
$GC,6099,-0.78,-116.8,563.2,-8.8,384,6104,0.00,2.28,0.00,0.000,4,0.000,0.055,2928,651,2428,0,0,0,0,0,0
$GC,6121,-0.74,-116.8,565.4,-9.8,385,6126,0.10,2.22,0.00,0.000,6,0.171,0.042,2945,2057,2428,0,0,0,0,0,0
$GC,6448,-0.74,-116.8,592.7,-8.5,401,6452,0.00,2.30,0.00,0.000,4,0.000,0.062,2934,3473,2428,0,0,0,0,0,0
$GC,6480,-0.74,-116.8,595.7,-9.4,402,6486,0.00,2.25,0.00,0.000,6,0.000,0.041,2934,2057,2429,0,0,0,0,0,0
$GC,6795,-0.74,-116.8,623.2,-8.7,418,6799,0.00,2.30,0.00,0.000,4,0.000,0.061,2926,3463,2428,0,0,0,0,0,0
$GC,6821,-0.74,-116.8,625.7,-9.8,419,6826,0.03,2.22,0.00,0.000,6,0.176,0.041,2936,2054,2428,0,0,0,0,0,0
$GC,7148,-0.74,-116.8,654.4,-8.6,435,7152,0.00,2.28,0.00,0.000,4,0.000,0.057,2937,649,2428,0,0,0,0,0,0
$GC,7181,-0.74,-116.8,657.7,-10.0,436,7187,0.05,2.25,0.00,0.000,6,0.151,0.042,2946,2052,2428,0,0,0,0,0,0
$GC,7496,-0.74,-116.8,683.8,-8.5,452,7500,0.00,2.30,0.00,0.000,4,0.000,0.060,2935,3475,2427,0,0,0,0,0,0
$GC,7523,-0.74,-116.8,686.1,-9.1,453,7527,0.00,2.22,0.00,0.000,6,0.000,0.041,2935,2051,2427,0,0,0,0,0,0
$GC,7845,-0.74,-116.8,716.4,-9.7,469,7849,0.00,2.25,0.00,0.000,4,0.000,0.054,2935,658,2427,0,0,0,0,0,0
$GC,7871,-0.74,-116.8,719.2,-10.3,470,7876,0.00,2.22,0.00,0.000,6,0.000,0.038,2926,2059,2427,0,0,0,0,0,0
$GC,8192,-0.74,-116.8,750.7,-9.7,486,8197,0.08,2.33,0.00,0.000,4,0.196,0.063,2934,3469,2426,0,0,0,0,0,0
$GC,8230,-0.74,-116.8,754.4,-9.4,488,8234,0.00,2.22,0.00,0.000,6,0.000,0.041,2934,2053,2427,0,0,0,0,0,0
$GC,8556,-0.74,-116.8,784.9,-9.2,504,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2053,2427,0,0,0,0,0,0
$GC,8867,-0.74,-116.8,811.7,-8.2,519,8871,0.00,2.25,0.00,0.000,4,0.000,0.055,2934,661,2426,0,0,0,0,0,0
$GC,8910,-0.74,-116.8,815.7,-8.6,521,8915,0.05,2.22,0.00,0.000,6,0.151,0.040,2944,2055,2426,0,0,0,0,0,0
$GC,9239,-0.78,-116.8,840.6,-7.6,537,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2055,2426,0,0,0,0,0,0
$GC,9546,-0.82,-116.8,865.1,-7.9,552,9548,0.08,0.00,0.00,0.000,6,0.122,0.000,2898,2056,2426,0,0,0,0,0,0
$GC,9856,-0.76,-116.8,894.6,-9.8,567,9861,0.15,2.30,0.00,0.000,4,0.159,0.058,2930,3475,2426,0,0,0,0,0,0
$GC,9905,-0.76,-116.8,899.2,-8.7,569,9910,0.00,2.25,0.00,0.000,6,0.000,0.042,2930,2059,2426,0,0,0,0,0,0
$GC,10227,-0.76,-116.8,926.5,-8.6,585,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2059,2426,0,0,0,0,0,0
$GC,10536,-0.76,-116.8,951.8,-7.9,600,10540,0.00,2.28,0.00,0.000,4,0.000,0.056,2930,655,2426,0,0,0,0,0,0
$GC,10557,-0.76,-116.8,953.6,-8.7,601,10561,0.08,2.28,0.00,0.000,6,0.187,0.044,2938,2083,2425,0,0,0,0,0,0
$GC,10886,-0.80,-116.8,978.0,-7.4,617,10890,0.00,2.25,0.00,0.000,4,0.000,0.064,2928,3465,2425,0,0,0,0,0,0
$GC,10964,-0.80,-116.8,984.3,-7.8,620,10970,0.00,2.20,0.00,0.000,6,0.000,0.040,2928,2055,2425,0,0,0,0,0,0
$STATE,11194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11194,begin apogee
$GC,11200,-0.19,0.0,1001.5,7.4,632,11316,0.62,0.00,110.95,1.261,6,0.129,0.000,3121,1599,1949,0,0,0,0,0,0
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11319,0.76,116.8,1003.7,0.0,638,11442,0.93,0.00,118.93,1.218,6,0.081,0.000,3426,1599,1473,0,0,0,0,0,0
$GC,11748,0.79,116.8,968.3,9.2,659,11752,0.00,2.38,0.00,0.000,4,0.000,0.056,3436,196,1466,0,0,0,0,0,0
$GC,11802,0.79,116.8,962.7,10.0,661,11807,0.00,2.30,0.00,0.000,6,0.000,0.037,3436,1610,1464,0,0,0,0,0,0
$GC,12119,0.79,116.8,930.3,10.4,677,12123,0.00,2.25,0.00,0.000,4,0.000,0.054,3436,2995,1464,0,0,0,0,0,0
$GC,12168,0.79,116.8,924.9,10.8,679,12172,0.00,2.22,0.00,0.000,6,0.000,0.037,3445,1599,1464,0,0,0,0,0,0
$GC,12490,0.79,116.8,892.5,10.0,695,12494,0.00,2.30,0.00,0.000,4,0.000,0.056,3457,194,1462,0,0,0,0,0,0
$GC,12575,0.75,116.8,883.6,10.1,699,12580,0.10,2.22,0.00,0.000,6,0.159,0.037,3429,1607,1461,0,0,0,0,0,0
$GC,12901,0.75,116.8,855.0,8.6,715,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1608,1462,0,0,0,0,0,0
$GC,13210,0.78,118.8,828.6,8.4,730,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1607,1461,0,0,0,0,0,0
$GC,13521,0.82,120.3,802.5,8.5,745,13523,0.05,0.00,0.00,0.000,6,0.168,0.000,3468,1608,1461,0,0,0,0,0,0
$GC,13829,0.77,120.3,772.6,9.7,760,13834,0.12,2.35,0.00,0.000,4,0.150,0.054,3442,186,1461,0,0,0,0,0,0
$GC,13878,0.77,120.3,767.9,9.8,762,13882,0.00,2.25,0.00,0.000,6,0.000,0.037,3442,1605,1460,0,0,0,0,0,0
$GC,14199,0.77,120.3,738.6,9.2,778,14203,0.00,2.22,0.00,0.000,4,0.000,0.053,3442,2996,1460,0,0,0,0,0,0
$GC,14237,0.77,120.3,734.9,9.5,780,14242,0.08,2.17,0.00,0.000,6,0.192,0.037,3432,1595,1461,0,0,0,0,0,0
$GC,14564,0.81,120.3,706.7,8.7,796,14568,0.00,2.28,0.00,0.000,4,0.000,0.056,3442,199,1461,0,0,0,0,0,0
$GC,14614,0.81,120.3,701.8,9.6,798,14618,0.00,2.20,0.00,0.000,6,0.000,0.037,3442,1606,1460,0,0,0,0,0,0
$GC,14934,0.81,120.3,673.3,8.6,814,14938,0.00,2.22,0.00,0.000,4,0.000,0.054,3442,3001,1460,0,0,0,0,0,0
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$STATE,22244,end climb,SURFACE_DEPTH_REACHED
$STATE,22244,begin surface coast
$FINISH,1.7,1.023409
$STATE,22276,end surface coast,CONTROL_FINISHED_OK
$STATE,22276,begin surface
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$HUMID,64.60
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$TCM_TEMP,11.80
$XPDR_PINGS,2
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$10V_AH,9.6,60.775
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.475,212.300,287.650,12.925,0.000,53.602,101.773,316.710,0.500,0.000,17.459,2776.628,15854.348,462.513,3574.122,326.349,0.000,1801.996,0.000,2967.201,0.000,0.540,0.000
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$MEM,353256
$DATA_FILE_SIZE,90468,1264
$CAP_FILE_SIZE,203337,0
$CFSIZE,2097086464,2027651072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111115,222052,-4505.027,626.248,37,0.9,37,-24.4