version: 66.07.10.p01
glider: 573
mission: 9
dive: 195
start: 5 1 115 1 58 15
data:
$ID,573
$MISSION,9
$DIVE,195
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,333
$T_MISSION,348
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,225
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-14141.251
$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,3020
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,14
$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,2864
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,-86.704987
$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,50
$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
$DEVICE3,35
$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,194
$GPS1,010515,014752,-3429.895,2552.635,39,1.0,55,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-64.3
$GPS2,010515,015754,-3429.899,2552.588,45,1.0,45,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3437.535,2543.308
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,252.9,20000,-16.9,-10.010
$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,-1.05,-170.3,0.0,0.0,0,72,0.00,0.00,-44.50,0.000,2,0.000,0.000,91,1931,2579,0,0,0,0,0,0
$GC,74,-1.05,-170.3,3.0,-3.8,7,118,11.25,0.00,-27.15,0.000,6,0.259,0.000,2675,1930,3561,0,0,0,0,0,0
$GC,195,-0.84,-170.3,22.2,-21.0,26,202,0.25,0.00,0.00,0.000,6,0.209,0.000,2742,1931,3565,0,0,0,0,0,0
$GC,276,-0.73,-170.3,36.3,-16.5,39,282,0.15,2.42,0.00,0.000,4,0.197,0.094,2768,3343,3567,0,0,0,0,0,0
$GC,477,-0.73,-170.3,61.1,-11.0,73,483,0.05,2.50,0.00,0.000,6,0.188,0.100,2779,1919,3569,0,0,0,0,0,0
$GC,592,-0.73,-170.3,73.5,-10.8,92,599,0.00,2.50,0.00,0.000,4,0.000,0.097,2779,484,3571,0,0,0,0,0,0
$GC,653,-0.73,-170.3,80.3,-10.6,102,660,0.00,2.53,0.00,0.000,6,0.000,0.090,2770,1913,3571,0,0,0,0,0,0
$GC,770,-0.73,-170.3,92.9,-10.0,121,776,0.00,2.40,0.00,0.000,4,0.000,0.088,2759,3355,3572,0,0,0,0,0,0
$GC,844,-0.73,-170.3,101.0,-11.4,133,850,0.10,2.50,0.00,0.000,6,0.165,0.096,2782,1911,3573,0,0,0,0,0,0
$GC,957,-0.73,-170.3,114.1,-11.8,152,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1911,3573,0,0,0,0,0,0
$GC,1071,-0.73,-170.3,127.3,-11.3,171,1076,0.00,2.45,0.00,0.000,4,0.000,0.095,2773,3353,3574,0,0,0,0,0,0
$GC,1111,-0.73,-170.3,132.0,-12.4,177,1116,0.00,2.50,0.00,0.000,6,0.000,0.099,2773,1915,3574,0,0,0,0,0,0
$GC,1223,-0.73,-170.3,145.5,-11.4,196,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1915,3574,0,0,0,0,0,0
$GC,1340,-0.73,-170.3,158.5,-11.5,215,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1915,3574,0,0,0,0,0,0
$GC,1452,-0.73,-170.3,171.0,-11.3,234,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1915,3574,0,0,0,0,0,0
$GC,1567,-0.73,-170.3,183.3,-10.4,253,1572,0.00,2.47,0.00,0.000,4,0.000,0.102,2764,3352,3574,0,0,0,0,0,0
$GC,1616,-0.73,-170.3,188.8,-11.5,261,1622,0.08,2.55,0.00,0.000,6,0.157,0.109,2780,1911,3574,0,0,0,0,0,0
$GC,1731,-0.73,-170.3,201.4,-10.3,280,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1911,3574,0,0,0,0,0,0
$GC,1847,-0.73,-170.3,214.2,-11.2,299,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1911,3573,0,0,0,0,0,0
$GC,1957,-0.73,-170.3,226.7,-11.1,318,1964,0.00,2.42,0.00,0.000,4,0.000,0.091,2780,488,3573,0,0,0,0,0,0
$GC,1984,-0.73,-170.3,229.5,-11.4,322,1994,0.00,2.47,0.00,0.000,6,0.000,0.083,2771,1920,3573,0,0,0,0,0,0
$GC,2104,-0.73,-170.3,243.2,-11.3,341,2110,0.00,2.40,0.00,0.000,4,0.000,0.097,2760,3343,3573,0,0,0,0,0,0
$GC,2179,-0.73,-170.3,251.6,-11.3,353,2185,0.10,2.50,0.00,0.000,6,0.177,0.104,2782,1913,3572,0,0,0,0,0,0
$GC,2291,-0.73,-170.3,264.2,-10.7,372,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1913,3572,0,0,0,0,0,0
$GC,2406,-0.73,-170.3,276.6,-10.8,391,2411,0.00,2.40,0.00,0.000,4,0.000,0.090,2783,478,3572,0,0,0,0,0,0
$GC,2436,-0.73,-170.3,280.3,-11.3,396,2444,0.00,2.50,0.00,0.000,6,0.000,0.086,2774,1918,3572,0,0,0,0,0,0
$GC,2552,-0.73,-170.3,293.4,-12.4,415,2557,0.00,2.42,0.00,0.000,4,0.000,0.101,2763,3353,3571,0,0,0,0,0,0
$GC,2626,-0.73,-170.3,301.8,-11.2,427,2632,0.08,2.53,0.00,0.000,6,0.171,0.109,2778,1922,3570,0,0,0,0,0,0
$GC,2738,-0.73,-170.3,314.4,-11.2,446,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1922,3570,0,0,0,0,0,0
$GC,2853,-0.73,-170.3,326.5,-9.3,465,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1922,3570,0,0,0,0,0,0
$GC,2965,-0.73,-170.3,339.2,-11.8,484,2972,0.00,2.45,0.00,0.000,4,0.000,0.092,2778,489,3570,0,0,0,0,0,0
$GC,3009,-0.73,-170.3,344.6,-13.1,491,3016,0.03,2.42,0.00,0.000,6,0.291,0.079,2776,1924,3570,0,0,0,0,0,0
$GC,3123,-0.73,-170.3,358.4,-11.9,510,3130,0.00,2.50,0.00,0.000,4,0.000,0.111,2766,3348,3569,0,0,0,0,0,0
$GC,3206,-0.73,-170.3,368.2,-11.4,524,3214,0.03,2.55,0.00,0.000,6,0.131,0.109,2775,1922,3568,0,0,0,0,0,0
$GC,3329,-0.73,-170.3,382.1,-11.7,543,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1922,3568,0,0,0,0,0,0
$GC,3442,-0.73,-170.3,395.6,-11.4,562,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1922,3568,0,0,0,0,0,0
$GC,3559,-0.73,-170.3,408.6,-10.9,581,3565,0.00,2.42,0.00,0.000,4,0.000,0.094,2775,481,3567,0,0,0,0,0,0
$GC,3597,-0.73,-170.3,413.0,-11.8,587,3603,0.08,2.40,0.00,0.000,6,0.227,0.071,2780,1922,3567,0,0,0,0,0,0
$GC,3710,-0.73,-170.3,425.5,-10.9,606,3718,0.00,2.53,0.00,0.000,4,0.000,0.114,2770,3343,3567,0,0,0,0,0,0
$GC,3769,-0.73,-170.3,431.7,-10.8,615,3775,0.00,2.47,0.00,0.000,6,0.000,0.100,2770,1918,3566,0,0,0,0,0,0
$GC,3880,-0.73,-170.3,443.7,-10.4,634,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1918,3566,0,0,0,0,0,0
$GC,3995,-0.73,-170.3,455.7,-10.0,653,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1918,3566,0,0,0,0,0,0
$GC,4108,-0.73,-170.3,468.0,-11.3,672,4115,0.00,2.45,0.00,0.000,4,0.000,0.091,2770,481,3566,0,0,0,0,0,0
$GC,4143,-0.73,-170.3,472.3,-12.3,677,4149,0.10,2.35,0.00,0.000,6,0.216,0.063,2781,1920,3565,0,0,0,0,0,0
$GC,4255,-0.73,-170.3,485.4,-11.5,696,4263,0.00,2.53,0.00,0.000,4,0.000,0.116,2771,3333,3565,0,0,0,0,0,0
$GC,4308,-0.75,-170.3,491.3,-11.8,704,4315,0.00,2.55,0.00,0.000,6,0.000,0.111,2771,1912,3564,0,0,0,0,0,0
$GC,4425,-0.75,-170.3,504.7,-11.8,723,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1912,3564,0,0,0,0,0,0
$GC,4536,-0.75,-170.3,517.8,-11.6,742,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1912,3564,0,0,0,0,0,0
$GC,4651,-0.75,-170.3,530.1,-10.8,761,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1912,3563,0,0,0,0,0,0
$GC,4763,-0.75,-170.3,542.5,-10.4,780,4771,0.00,2.40,0.00,0.000,4,0.000,0.088,2771,494,3563,0,0,0,0,0,0
$GC,4797,-0.75,-170.3,545.9,-11.0,785,4803,0.00,2.33,0.00,0.000,6,0.000,0.059,2762,1928,3563,0,0,0,0,0,0
$GC,4912,-0.75,-170.3,560.0,-12.4,804,4920,0.03,2.55,0.00,0.000,4,0.295,0.122,2760,3329,3563,0,0,0,0,0,0
$GC,4981,-0.75,-170.3,568.0,-11.4,815,4987,0.05,2.50,0.00,0.000,6,0.190,0.112,2770,1921,3562,0,0,0,0,0,0
$GC,5096,-0.75,-170.3,580.9,-10.7,834,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1921,3562,0,0,0,0,0,0
$GC,5211,-0.75,-170.3,593.6,-11.3,853,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1921,3562,0,0,0,0,0,0
$GC,5325,-0.75,-170.3,606.0,-10.6,872,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1921,3561,0,0,0,0,0,0
$GC,5439,-0.75,-170.3,618.4,-10.9,891,5445,0.00,2.40,0.00,0.000,4,0.000,0.088,2770,480,3561,0,0,0,0,0,0
$GC,5481,-0.75,-170.3,623.4,-11.1,898,5488,0.00,2.38,0.00,0.000,6,0.000,0.057,2761,1923,3561,0,0,0,0,0,0
$GC,5597,-0.75,-170.3,636.3,-11.2,917,5603,0.03,2.53,0.00,0.000,4,0.288,0.119,2760,3336,3561,0,0,0,0,0,0
$GC,5636,-0.75,-170.3,640.6,-11.0,923,5643,0.05,2.55,0.00,0.000,6,0.194,0.117,2770,1916,3560,0,0,0,0,0,0
$GC,5752,-0.75,-170.3,653.2,-10.7,942,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1916,3560,0,0,0,0,0,0
$GC,5868,-0.75,-170.3,665.9,-11.3,961,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1916,3560,0,0,0,0,0,0
$GC,5978,-0.75,-170.3,677.9,-10.5,980,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1916,3560,0,0,0,0,0,0
$GC,6093,-0.75,-170.3,689.8,-10.2,999,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1916,3560,0,0,0,0,0,0
$GC,6205,-0.75,-170.3,701.8,-10.0,1018,6212,0.00,2.42,0.00,0.000,4,0.000,0.089,2770,493,3560,0,0,0,0,0,0
$GC,6250,-0.75,-170.3,706.6,-10.9,1025,6255,0.00,2.33,0.00,0.000,6,0.000,0.057,2762,1925,3560,0,0,0,0,0,0
$GC,6363,-0.75,-170.3,718.6,-9.9,1044,6371,0.03,2.58,0.00,0.000,4,0.292,0.120,2760,3336,3559,0,0,0,0,0,0
$STATE,6379,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6379,begin apogee
$GC,6386,-0.25,0.0,720.3,10.4,1046,6531,0.60,0.00,139.38,1.066,6,0.180,0.000,2933,1759,2863,0,0,0,0,0,0
$STATE,6532,end apogee,CONTROL_FINISHED_OK
$STATE,6532,begin climb
$GC,6533,1.05,170.3,726.0,0.0,1072,6686,1.33,2.50,143.52,1.032,4,0.112,0.051,3361,331,2170,0,0,0,0,0,0
$GC,6772,0.93,170.3,707.1,12.2,1113,6778,0.15,2.38,0.00,0.000,6,0.163,0.033,3324,1781,2166,0,0,0,0,0,0
$GC,6884,0.88,170.6,695.2,10.0,1132,6892,0.08,0.00,0.00,0.000,6,0.207,0.000,3308,1781,2164,0,0,0,0,0,0
$GC,6999,0.84,170.6,684.0,10.4,1151,7005,0.05,2.42,0.00,0.000,4,0.238,0.050,3306,324,2164,0,0,0,0,0,0
$GC,7060,0.81,170.6,678.0,10.0,1161,7067,0.10,2.30,0.00,0.000,6,0.181,0.034,3283,1759,2163,0,0,0,0,0,0
$GC,7174,0.85,209.0,668.6,8.5,1180,7215,0.00,0.00,34.00,1.002,6,0.000,0.000,3284,1759,2010,0,0,0,0,0,0
$GC,7323,0.90,251.8,656.5,8.3,1205,7370,0.08,2.47,38.45,0.994,4,0.114,0.052,3328,332,1836,0,0,0,0,0,0
$GC,7408,0.88,251.8,648.0,11.7,1219,7414,0.10,2.33,0.00,0.000,6,0.159,0.035,3304,1766,1834,0,0,0,0,0,0
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$STATE,13376,end climb,SURFACE_DEPTH_REACHED
$STATE,13376,begin surface coast
$FINISH,1.4,1.009467
$STATE,13402,end surface coast,CONTROL_FINISHED_OK
$STATE,13402,begin surface
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$HUMID,60.75
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$TCM_TEMP,16.80
$XPDR_PINGS,1
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$24V_AH,23.3,20.956
$10V_AH,10.2,18.001
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.225,169.375,435.100,0.000,0.000,26.728,25.426,379.133,17.500,0.000,46.842,5000.917,1525.986,557.716,6658.213,323.590,0.000,2609.487,0.000,5530.529,0.000,107.396,0.000
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$MEM,331352
$DATA_FILE_SIZE,160268,2222
$CAP_FILE_SIZE,245706,0
$CFSIZE,2097086464,2071625728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010515,054405,-3430.491,2550.008,37,1.0,37,-27.9