version: 66.07.10.p01
glider: 573
mission: 12
dive: 117
start: 8 20 115 4 32 49
data:
$ID,573
$MISSION,12
$DIVE,117
$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,-21373.129
$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,35
$R_STBD_OVSHOOT,38
$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,116
$GPS1,200815,042304,-4500.493,628.564,31,0.9,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-63.6
$GPS2,200815,043229,-4500.584,628.592,15,1.3,15,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,349.1,10408,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.76,-116.8,0.0,0.0,0,52,0.00,0.00,-26.85,0.000,2,0.000,0.000,61,2066,1691,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.2,-3.0,4,99,11.95,0.00,-27.62,0.000,6,0.251,0.000,2933,2065,2426,0,0,0,0,0,0
$GC,150,-0.67,-116.8,10.0,-9.6,19,158,0.12,0.00,0.00,0.000,6,0.188,0.000,2964,2064,2429,0,0,0,0,0,0
$GC,209,-0.67,-116.8,14.7,-7.9,28,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2065,2428,0,0,0,0,0,0
$GC,266,-0.61,-116.8,19.6,-10.1,37,274,0.08,0.00,0.00,0.000,6,0.222,0.000,2980,2065,2429,0,0,0,0,0,0
$GC,324,-0.61,-116.8,28.2,-13.7,46,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2065,2429,0,0,0,0,0,0
$GC,476,-0.61,-116.8,42.5,-8.1,71,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2065,2429,0,0,0,0,0,0
$GC,822,-0.61,-116.8,79.9,-14.1,132,829,0.00,2.25,0.00,0.000,4,0.000,0.056,2970,3457,2429,0,0,0,0,0,0
$GC,877,-0.61,-116.8,86.5,-12.5,141,885,0.03,2.17,0.00,0.000,6,0.195,0.037,2978,2055,2429,0,0,0,0,0,0
$GC,1211,-0.61,-116.8,120.9,-9.2,182,1215,0.00,2.25,0.00,0.000,4,0.000,0.058,2969,3459,2429,0,0,0,0,0,0
$GC,1311,-0.64,-116.8,130.9,-9.6,190,1317,0.00,2.15,0.00,0.000,6,0.000,0.036,2969,2064,2429,0,0,0,0,0,0
$GC,1639,-0.64,-116.8,161.7,-9.5,221,1643,0.00,2.22,0.00,0.000,4,0.000,0.051,2969,645,2429,0,0,0,0,0,0
$GC,1655,-0.64,-116.8,163.6,-10.2,222,1660,0.05,2.20,0.00,0.000,6,0.230,0.037,2970,2070,2429,0,0,0,0,0,0
$GC,1979,-0.64,-116.8,194.4,-9.8,252,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2070,2429,0,0,0,0,0,0
$GC,2299,-0.64,-116.8,225.4,-9.8,282,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2070,2429,0,0,0,0,0,0
$GC,2618,-0.64,-116.8,254.0,-8.2,312,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2070,2430,0,0,0,0,0,0
$GC,2936,-0.64,-116.8,280.4,-8.9,342,2940,0.00,2.17,0.00,0.000,4,0.000,0.057,2961,3459,2430,0,0,0,0,0,0
$GC,2967,-0.64,-116.8,283.4,-9.0,344,2976,0.00,2.15,0.00,0.000,6,0.000,0.036,2961,2056,2430,0,0,0,0,0,0
$GC,3293,-0.64,-116.8,311.3,-8.4,375,3295,0.03,0.00,0.00,0.000,6,0.275,0.000,2969,2056,2430,0,0,0,0,0,0
$GC,3614,-0.64,-116.8,337.7,-8.4,405,3618,0.00,2.17,0.00,0.000,4,0.000,0.053,2971,648,2430,0,0,0,0,0,0
$GC,3645,-0.64,-116.8,341.0,-9.1,407,3652,0.00,2.20,0.00,0.000,6,0.000,0.039,2962,2057,2430,0,0,0,0,0,0
$GC,3971,-0.64,-116.8,370.5,-9.0,438,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2430,0,0,0,0,0,0
$GC,4290,-0.64,-116.8,399.3,-8.9,468,4294,0.00,2.20,0.00,0.000,4,0.000,0.060,2952,3467,2430,0,0,0,0,0,0
$GC,4338,-0.64,-116.8,404.0,-9.2,470,4344,0.05,2.17,0.00,0.000,6,0.167,0.038,2969,2054,2430,0,0,0,0,0,0
$GC,4660,-0.64,-116.8,432.2,-8.7,486,4664,0.00,2.17,0.00,0.000,4,0.000,0.053,2969,650,2430,0,0,0,0,0,0
$GC,4681,-0.64,-116.8,434.3,-9.2,487,4686,0.00,2.20,0.00,0.000,6,0.000,0.040,2960,2055,2430,0,0,0,0,0,0
$GC,5008,-0.64,-116.8,462.8,-8.6,503,5013,0.05,2.22,0.00,0.000,4,0.233,0.060,2960,3463,2430,0,0,0,0,0,0
$GC,5029,-0.64,-116.8,464.7,-8.5,504,5033,0.00,2.15,0.00,0.000,6,0.000,0.038,2960,2065,2430,0,0,0,0,0,0
$GC,5356,-0.64,-116.8,491.3,-8.0,520,5361,0.05,2.22,0.00,0.000,4,0.236,0.057,2962,3463,2429,0,0,0,0,0,0
$GC,5376,-0.64,-116.8,493.2,-8.6,521,5381,0.00,2.15,0.00,0.000,6,0.000,0.037,2962,2062,2430,0,0,0,0,0,0
$GC,5704,-0.64,-116.8,519.8,-8.1,537,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2062,2429,0,0,0,0,0,0
$GC,6014,-0.64,-116.8,545.7,-8.4,552,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2062,2429,0,0,0,0,0,0
$GC,6323,-0.64,-116.8,572.3,-8.5,567,6327,0.00,2.20,0.00,0.000,4,0.000,0.054,2962,655,2429,0,0,0,0,0,0
$GC,6354,-0.64,-116.8,575.5,-10.1,568,6361,0.05,2.20,0.00,0.000,6,0.167,0.039,2969,2067,2429,0,0,0,0,0,0
$GC,6671,-0.64,-116.8,601.5,-8.1,584,6675,0.00,2.17,0.00,0.000,4,0.000,0.060,2959,3463,2429,0,0,0,0,0,0
$GC,6697,-0.64,-116.8,603.9,-8.7,585,6703,0.03,2.17,0.00,0.000,6,0.186,0.038,2968,2051,2429,0,0,0,0,0,0
$GC,7020,-0.67,-116.8,630.6,-8.5,601,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2052,2429,0,0,0,0,0,0
$GC,7329,-0.70,-116.8,655.4,-8.1,616,7333,0.00,2.17,0.00,0.000,4,0.000,0.054,2968,658,2429,0,0,0,0,0,0
$GC,7369,-0.70,-116.8,659.0,-9.0,618,7373,0.00,2.15,0.00,0.000,6,0.000,0.039,2959,2068,2429,0,0,0,0,0,0
$GC,7695,-0.70,-116.8,686.8,-8.5,634,7699,0.00,2.20,0.00,0.000,4,0.000,0.060,2949,3472,2428,0,0,0,0,0,0
$GC,7743,-0.70,-116.8,691.2,-8.8,636,7748,0.00,2.17,0.00,0.000,6,0.000,0.039,2948,2056,2428,0,0,0,0,0,0
$GC,8065,-0.70,-116.8,719.8,-8.7,652,8069,0.00,2.20,0.00,0.000,4,0.000,0.054,2949,651,2427,0,0,0,0,0,0
$GC,8097,-0.67,-116.8,723.2,-9.9,653,8104,0.05,2.20,0.00,0.000,6,0.169,0.042,2956,2053,2427,0,0,0,0,0,0
$GC,8413,-0.67,-116.8,751.2,-9.0,669,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2053,2427,0,0,0,0,0,0
$GC,8723,-0.67,-116.8,778.6,-8.7,684,8727,0.00,2.20,0.00,0.000,4,0.000,0.058,2946,3468,2427,0,0,0,0,0,0
$GC,8762,-0.67,-116.8,782.0,-9.0,686,8767,0.08,2.12,0.00,0.000,6,0.196,0.040,2963,2059,2427,0,0,0,0,0,0
$GC,9089,-0.71,-116.8,808.9,-8.1,702,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2059,2427,0,0,0,0,0,0
$GC,9398,-0.74,-116.8,834.0,-8.0,717,9400,0.05,0.00,0.00,0.000,6,0.168,0.000,2931,2059,2426,0,0,0,0,0,0
$GC,9707,-0.71,-116.8,863.1,-9.2,732,9709,0.10,0.00,0.00,0.000,6,0.187,0.000,2954,2059,2426,0,0,0,0,0,0
$GC,10016,-0.71,-116.8,888.5,-8.1,747,10020,0.00,2.20,0.00,0.000,4,0.000,0.054,2955,654,2426,0,0,0,0,0,0
$GC,10037,-0.71,-116.8,890.4,-8.3,748,10042,0.00,2.20,0.00,0.000,6,0.000,0.041,2946,2061,2426,0,0,0,0,0,0
$GC,10365,-0.71,-116.8,917.4,-8.3,764,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2061,2425,0,0,0,0,0,0
$GC,10675,-0.71,-116.8,941.0,-7.3,779,10679,0.00,2.22,0.00,0.000,4,0.000,0.063,2936,3464,2425,0,0,0,0,0,0
$GC,10718,-0.71,-116.8,944.5,-7.6,781,10723,0.05,2.17,0.00,0.000,6,0.164,0.040,2952,2057,2425,0,0,0,0,0,0
$GC,11045,-0.71,-116.8,967.4,-6.9,797,11049,0.00,2.17,0.00,0.000,4,0.000,0.054,2953,655,2425,0,0,0,0,0,0
$GC,11065,-0.71,-116.8,969.1,-7.7,798,11070,0.00,2.20,0.00,0.000,6,0.000,0.042,2944,2055,2425,0,0,0,0,0,0
$GC,11393,-0.71,-116.8,992.2,-6.7,814,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2055,2425,0,0,0,0,0,0
$STATE,11515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11515,begin apogee
$GC,11520,-0.19,0.0,1001.1,7.1,820,11629,0.57,0.00,106.43,1.291,6,0.144,0.000,3123,1601,1950,0,0,0,0,0,0
$STATE,11630,end apogee,CONTROL_FINISHED_OK
$STATE,11630,begin climb
$GC,11632,0.76,116.8,1003.3,0.0,825,11754,0.90,2.50,110.70,1.253,4,0.089,0.052,3434,202,1473,0,0,0,0,0,0
$GC,11826,0.72,116.8,988.6,11.1,834,11831,0.05,2.33,0.00,0.000,6,0.135,0.034,3417,1603,1468,0,0,0,0,0,0
$GC,12152,0.72,116.8,959.0,9.1,850,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1603,1465,0,0,0,0,0,0
$GC,12462,0.72,116.8,931.1,9.1,865,12466,0.00,2.28,0.00,0.000,4,0.000,0.050,3426,198,1464,0,0,0,0,0,0
$GC,12504,0.72,116.8,926.9,10.2,867,12509,0.00,2.25,0.00,0.000,6,0.000,0.034,3426,1608,1463,0,0,0,0,0,0
$GC,12832,0.72,116.8,895.4,9.6,883,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1462,0,0,0,0,0,0
$GC,13141,0.72,116.8,866.7,9.1,898,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1462,0,0,0,0,0,0
$GC,13451,0.72,116.8,838.1,9.2,913,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1462,0,0,0,0,0,0
$GC,13760,0.72,116.8,808.8,9.7,928,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1462,0,0,0,0,0,0
$GC,14069,0.72,116.8,779.8,9.1,943,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1461,0,0,0,0,0,0
$GC,14379,0.72,116.8,752.4,8.5,958,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1462,0,0,0,0,0,0
$GC,14688,0.72,116.8,726.1,8.7,973,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1462,0,0,0,0,0,0
$GC,14998,0.73,121.7,700.2,8.3,988,14999,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1461,0,0,0,0,0,0
$GC,15307,0.73,123.1,674.1,8.5,1003,15313,0.00,0.00,4.55,0.728,6,0.000,0.000,3426,1608,1448,0,0,0,0,0,0
$GC,15616,0.73,123.1,647.5,8.7,1018,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1448,0,0,0,0,0,0
$GC,15925,0.73,123.1,619.7,9.0,1033,15926,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1608,1448,0,0,0,0,0,0
$GC,16235,0.73,123.1,591.9,9.1,1048,16239,0.00,2.25,0.00,0.000,4,0.000,0.051,3436,194,1448,0,0,0,0,0,0
$GC,16289,0.73,123.1,586.4,9.6,1050,16296,0.03,2.17,0.00,0.000,6,0.158,0.033,3425,1602,1448,0,0,0,0,0,0
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$STATE,22773,end climb,SURFACE_DEPTH_REACHED
$STATE,22773,begin surface coast
$FINISH,1.4,1.009425
$STATE,22806,end surface coast,CONTROL_FINISHED_OK
$STATE,22806,begin surface
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$10V_AH,10.1,16.730
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$FG_AHR_10Vo,0.000
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$MEM,353260
$DATA_FILE_SIZE,113728,1633
$CAP_FILE_SIZE,205689,0
$CFSIZE,2097086464,2076704768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200815,105433,-4459.584,627.725,36,0.8,36,-24.4