version: 66.07.10.p01
glider: 573
mission: 12
dive: 68
start: 8 9 115 21 57 14
data:
$ID,573
$MISSION,12
$DIVE,68
$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,335
$T_MISSION,350
$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,130
$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,-21229.566
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,48
$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,67
$GPS1,090815,214703,-4455.888,636.048,38,0.9,38,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-69.6
$GPS2,090815,215653,-4455.856,636.184,14,0.9,15,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,205.3,15085,-19.6,-9.950
$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,24,-0.83,-126.5,0.0,0.0,0,46,0.00,0.00,-20.55,0.000,2,0.000,0.000,60,2078,1549,0,0,0,0,0,0
$GC,48,-0.83,-126.5,3.0,-4.0,3,106,11.75,2.25,-38.40,0.000,4,0.253,0.073,2899,3463,2465,0,0,0,0,0,0
$GC,175,-0.75,-126.5,12.2,-13.5,23,183,0.12,2.22,0.00,0.000,6,0.156,0.039,2938,2053,2467,0,0,0,0,0,0
$GC,234,-0.71,-126.5,19.6,-12.8,32,241,0.00,2.22,0.00,0.000,4,0.000,0.053,2938,667,2467,0,0,0,0,0,0
$GC,268,-0.67,-126.5,24.1,-13.6,37,276,0.10,2.20,0.00,0.000,6,0.169,0.039,2960,2043,2467,0,0,0,0,0,0
$GC,421,-0.67,-126.5,41.4,-11.5,62,426,0.00,2.28,0.00,0.000,4,0.000,0.060,2950,3469,2467,0,0,0,0,0,0
$GC,486,-0.67,-126.5,48.3,-11.0,73,491,0.05,2.17,0.00,0.000,6,0.230,0.039,2960,2053,2467,0,0,0,0,0,0
$GC,833,-0.67,-126.5,86.0,-10.6,134,838,0.00,2.20,0.00,0.000,4,0.000,0.053,2961,655,2468,0,0,0,0,0,0
$GC,879,-0.67,-126.5,91.1,-11.8,142,885,0.00,2.22,0.00,0.000,6,0.000,0.041,2952,2077,2468,0,0,0,0,0,0
$GC,1214,-0.67,-126.5,127.3,-10.2,180,1218,0.00,2.20,0.00,0.000,4,0.000,0.058,2942,3463,2468,0,0,0,0,0,0
$GC,1313,-0.67,-126.5,137.0,-8.7,188,1322,0.05,2.17,0.00,0.000,6,0.177,0.037,2957,2063,2468,0,0,0,0,0,0
$GC,1639,-0.67,-126.5,165.7,-9.4,219,1643,0.00,2.25,0.00,0.000,4,0.000,0.058,2949,3473,2468,0,0,0,0,0,0
$GC,1704,-0.67,-126.5,172.7,-10.0,224,1714,0.03,2.20,0.00,0.000,6,0.192,0.039,2957,2057,2468,0,0,0,0,0,0
$GC,2030,-0.69,-126.5,205.6,-10.7,255,2034,0.00,2.25,0.00,0.000,4,0.000,0.060,2948,3462,2469,0,0,0,0,0,0
$GC,2081,-0.69,-126.5,211.2,-10.9,259,2085,0.00,2.12,0.00,0.000,6,0.000,0.037,2948,2056,2469,0,0,0,0,0,0
$GC,2407,-0.69,-126.5,245.5,-10.4,289,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2056,2469,0,0,0,0,0,0
$GC,2724,-0.69,-126.5,278.7,-10.6,319,2728,0.00,2.17,0.00,0.000,4,0.000,0.053,2949,654,2470,0,0,0,0,0,0
$GC,2812,-0.69,-126.5,288.9,-11.1,326,2819,0.03,2.20,0.00,0.000,6,0.197,0.040,2948,2059,2469,0,0,0,0,0,0
$GC,3140,-0.69,-126.5,323.0,-10.5,357,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2059,2470,0,0,0,0,0,0
$GC,3457,-0.69,-126.5,357.0,-10.7,387,3461,0.00,2.22,0.00,0.000,4,0.000,0.061,2938,3463,2470,0,0,0,0,0,0
$GC,3507,-0.69,-126.5,362.6,-11.0,391,3512,0.08,2.15,0.00,0.000,6,0.201,0.038,2955,2052,2470,0,0,0,0,0,0
$GC,3834,-0.72,-126.5,396.0,-10.2,421,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2051,2470,0,0,0,0,0,0
$GC,4142,-0.74,-126.5,427.9,-10.2,438,4146,0.00,2.17,0.00,0.000,4,0.000,0.054,2960,649,2470,0,0,0,0,0,0
$GC,4190,-0.74,-126.5,433.2,-10.1,440,4195,0.00,2.20,0.00,0.000,6,0.000,0.040,2951,2056,2470,0,0,0,0,0,0
$GC,4513,-0.76,-126.5,464.6,-9.6,456,4517,0.00,2.22,0.00,0.000,4,0.000,0.060,2941,3464,2470,0,0,0,0,0,0
$GC,4545,-0.76,-126.5,468.0,-9.8,457,4551,0.00,2.15,0.00,0.000,6,0.000,0.038,2940,2068,2469,0,0,0,0,0,0
$GC,4861,-0.76,-126.5,499.9,-10.4,473,4865,0.00,2.17,0.00,0.000,4,0.000,0.052,2941,652,2469,0,0,0,0,0,0
$GC,4892,-0.76,-126.5,503.7,-11.7,474,4899,0.00,2.20,0.00,0.000,6,0.000,0.040,2932,2060,2469,0,0,0,0,0,0
$GC,5209,-0.76,-126.5,538.0,-11.0,490,5213,0.00,2.22,0.00,0.000,4,0.000,0.061,2921,3471,2469,0,0,0,0,0,0
$GC,5280,-0.76,-126.5,546.3,-11.4,493,5285,0.00,2.17,0.00,0.000,6,0.000,0.039,2921,2063,2468,0,0,0,0,0,0
$GC,5602,-0.76,-126.5,582.0,-11.2,509,5604,0.05,0.00,0.00,0.000,6,0.228,0.000,2931,2064,2469,0,0,0,0,0,0
$GC,5911,-0.76,-126.5,614.9,-10.2,524,5915,0.00,2.20,0.00,0.000,4,0.000,0.053,2933,653,2469,0,0,0,0,0,0
$GC,5959,-0.76,-126.5,620.3,-10.8,526,5964,0.00,2.20,0.00,0.000,6,0.000,0.039,2925,2062,2469,0,0,0,0,0,0
$GC,6281,-0.76,-126.5,652.7,-9.8,542,6285,0.00,2.22,0.00,0.000,4,0.000,0.062,2914,3468,2469,0,0,0,0,0,0
$GC,6324,-0.76,-126.5,657.2,-10.7,544,6330,0.05,2.17,0.00,0.000,6,0.164,0.039,2931,2060,2469,0,0,0,0,0,0
$GC,6652,-0.76,-126.5,687.2,-9.2,560,6656,0.00,2.20,0.00,0.000,4,0.000,0.052,2934,651,2468,0,0,0,0,0,0
$GC,6714,-0.76,-126.5,693.1,-9.2,563,6718,0.00,2.17,0.00,0.000,6,0.000,0.040,2925,2061,2468,0,0,0,0,0,0
$GC,7042,-0.76,-126.5,723.6,-9.8,579,7046,0.00,2.22,0.00,0.000,4,0.000,0.062,2915,3469,2468,0,0,0,0,0,0
$GC,7127,-0.76,-126.5,732.3,-10.1,583,7132,0.08,2.12,0.00,0.000,6,0.197,0.038,2931,2056,2467,0,0,0,0,0,0
$GC,7454,-0.76,-126.5,763.8,-9.7,599,7458,0.00,2.15,0.00,0.000,4,0.000,0.053,2934,662,2467,0,0,0,0,0,0
$GC,7525,-0.76,-126.5,771.1,-9.6,602,7529,0.00,2.17,0.00,0.000,6,0.000,0.039,2925,2055,2467,0,0,0,0,0,0
$GC,7847,-0.76,-126.5,801.5,-9.4,618,7851,0.00,2.22,0.00,0.000,4,0.000,0.059,2915,3467,2467,0,0,0,0,0,0
$GC,7946,-0.76,-126.5,811.9,-10.4,622,7953,0.05,2.15,0.00,0.000,6,0.170,0.037,2931,2067,2466,0,0,0,0,0,0
$GC,8263,-0.76,-126.5,842.1,-9.4,638,8266,0.00,2.17,0.00,0.000,4,0.000,0.052,2934,659,2467,0,0,0,0,0,0
$GC,8324,-0.76,-126.5,848.6,-10.8,641,8328,0.00,2.17,0.00,0.000,6,0.000,0.038,2925,2069,2466,0,0,0,0,0,0
$GC,8651,-0.76,-126.5,880.5,-9.6,657,8655,0.00,2.20,0.00,0.000,4,0.000,0.060,2915,3469,2466,0,0,0,0,0,0
$GC,8750,-0.76,-126.5,889.7,-8.6,661,8757,0.05,2.17,0.00,0.000,6,0.173,0.038,2931,2054,2466,0,0,0,0,0,0
$GC,9067,-0.76,-126.5,914.8,-7.7,677,9071,0.00,2.17,0.00,0.000,4,0.000,0.053,2935,661,2466,0,0,0,0,0,0
$GC,9115,-0.76,-126.5,918.9,-8.0,679,9120,0.00,2.17,0.00,0.000,6,0.000,0.038,2926,2055,2465,0,0,0,0,0,0
$GC,9438,-0.76,-126.5,944.9,-8.2,695,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2055,2465,0,0,0,0,0,0
$GC,9747,-0.76,-126.5,970.6,-8.3,710,9751,0.00,2.22,0.00,0.000,4,0.000,0.058,2915,3469,2465,0,0,0,0,0,0
$GC,9779,-0.76,-126.5,973.7,-9.0,711,9786,0.05,2.17,0.00,0.000,6,0.169,0.037,2932,2054,2465,0,0,0,0,0,0
$STATE,10094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10094,begin apogee
$GC,10098,-0.19,0.0,1000.4,8.4,727,10216,0.60,0.00,114.68,1.297,6,0.151,0.000,3120,1727,1950,0,0,0,0,0,0
$STATE,10217,end apogee,CONTROL_FINISHED_OK
$STATE,10217,begin climb
$GC,10219,0.83,126.5,1003.5,0.0,733,10343,0.98,0.00,119.85,1.251,6,0.090,0.000,3444,1727,1434,0,0,0,0,0,0
$GC,10649,0.83,126.5,964.7,10.0,754,10653,0.00,2.30,0.00,0.000,4,0.000,0.048,3455,325,1425,0,0,0,0,0,0
$GC,10725,0.83,126.5,956.5,10.9,757,10732,0.00,2.28,0.00,0.000,6,0.000,0.031,3454,1734,1423,0,0,0,0,0,0
$GC,11041,0.83,126.5,923.2,10.9,773,11046,0.00,2.30,0.00,0.000,4,0.000,0.045,3464,318,1423,0,0,0,0,0,0
$GC,11126,0.80,126.5,913.2,12.6,777,11131,0.08,2.20,0.00,0.000,6,0.180,0.031,3446,1737,1422,0,0,0,0,0,0
$GC,11453,0.80,126.5,876.9,11.3,793,11457,0.00,2.28,0.00,0.000,4,0.000,0.046,3455,322,1421,0,0,0,0,0,0
$GC,11519,0.80,126.5,868.5,12.2,796,11524,0.03,2.22,0.00,0.000,6,0.171,0.031,3445,1737,1420,0,0,0,0,0,0
$GC,11847,0.80,126.5,832.7,10.9,812,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1737,1420,0,0,0,0,0,0
$GC,12156,0.80,126.5,799.9,10.3,827,12160,0.00,2.25,0.00,0.000,4,0.000,0.046,3455,325,1419,0,0,0,0,0,0
$GC,12176,0.80,126.5,797.7,10.2,828,12181,0.03,2.20,0.00,0.000,6,0.178,0.031,3445,1736,1419,0,0,0,0,0,0
$GC,12503,0.81,141.1,766.5,9.2,844,12524,0.00,2.33,12.68,1.065,4,0.000,0.046,3454,323,1373,0,0,0,0,0,0
$GC,12551,0.81,143.3,761.7,9.8,846,12556,0.00,2.20,0.00,0.000,6,0.000,0.031,3454,1723,1372,0,0,0,0,0,0
$GC,12878,0.81,143.3,728.8,10.1,862,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1723,1371,0,0,0,0,0,0
$GC,13188,0.81,143.3,697.3,10.3,877,13192,0.00,2.22,0.00,0.000,4,0.000,0.045,3464,325,1370,0,0,0,0,0,0
$GC,13214,0.81,143.3,694.4,10.0,878,13219,0.05,2.17,0.00,0.000,6,0.147,0.031,3445,1729,1370,0,0,0,0,0,0
$GC,13535,0.81,146.8,662.6,9.8,894,13543,0.00,0.00,6.15,0.847,6,0.000,0.000,3445,1729,1351,0,0,0,0,0,0
$GC,13845,0.83,146.8,631.0,10.3,909,13849,0.00,2.22,0.00,0.000,4,0.000,0.045,3455,327,1350,0,0,0,0,0,0
$GC,13929,0.83,146.9,622.2,9.9,913,13933,0.00,2.12,0.00,0.000,6,0.000,0.031,3455,1726,1350,0,0,0,0,0,0
$GC,14255,0.83,146.9,588.4,10.8,929,14259,0.00,2.22,0.00,0.000,4,0.000,0.044,3464,322,1350,0,0,0,0,0,0
$GC,14309,0.83,146.9,582.1,11.2,931,14315,0.00,2.17,0.00,0.000,6,0.000,0.031,3464,1724,1349,0,0,0,0,0,0
$GC,14625,0.83,146.9,547.4,10.8,947,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1724,1349,0,0,0,0,0,0
$GC,14935,0.83,146.9,515.0,10.2,962,14939,0.00,2.22,0.00,0.000,4,0.000,0.045,3474,319,1349,0,0,0,0,0,0
$GC,14961,0.83,146.9,511.9,10.9,963,14966,0.03,2.17,0.00,0.000,6,0.167,0.031,3463,1732,1349,0,0,0,0,0,0
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$STATE,19859,end climb,SURFACE_DEPTH_REACHED
$STATE,19859,begin surface coast
$FINISH,1.7,1.002726
$STATE,19898,end surface coast,CONTROL_FINISHED_OK
$STATE,19898,begin surface
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$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.3,13.280
$10V_AH,10.1,10.549
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.350,190.175,264.950,21.075,0.000,53.578,121.380,247.251,0.000,0.000,17.893,3598.646,12478.721,456.499,3839.531,152.479,0.000,1842.015,0.000,3206.318,0.000,0.539,0.000
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$MEM,353292
$DATA_FILE_SIZE,100617,1446
$CAP_FILE_SIZE,196896,0
$CFSIZE,2097086464,2083127296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100815,033034,-4458.901,636.985,31,1.5,31,-24.4