version: 66.07.10.p01
glider: 573
mission: 12
dive: 129
start: 8 23 115 0 5 51
data:
$ID,573
$MISSION,12
$DIVE,129
$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,-21408.67
$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,46
$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,128
$GPS1,220815,235821,-4456.323,635.998,44,1.0,44,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-74.0
$GPS2,230815,000530,-4456.349,635.945,17,0.8,18,-24.4
$SPEED_LIMITS,0.148,0.223
$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,204.1,14170,-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,-116.8,0.0,0.0,0,51,0.00,0.00,-25.98,0.000,2,0.000,0.000,74,2081,1655,0,0,0,0,0,0
$GC,54,-0.76,-116.8,3.1,-2.9,4,105,11.85,2.25,-33.12,0.000,4,0.251,0.075,2923,3456,2424,0,0,0,0,0,0
$GC,133,-0.62,-116.8,5.4,-6.5,16,141,0.17,2.22,0.00,0.000,6,0.157,0.043,2976,2068,2425,0,0,0,0,0,0
$GC,192,-0.62,-116.8,11.4,-9.7,25,199,0.00,2.30,0.00,0.000,4,0.000,0.055,2977,655,2426,0,0,0,0,0,0
$GC,244,-0.58,-116.8,16.8,-10.5,33,252,0.10,2.25,0.00,0.000,6,0.155,0.043,2999,2050,2426,0,0,0,0,0,0
$GC,303,-0.62,-116.8,22.5,-8.8,42,311,0.00,2.30,0.00,0.000,4,0.000,0.060,2989,3466,2426,0,0,0,0,0,0
$GC,344,-0.65,-116.8,26.2,-9.3,48,351,0.00,2.22,0.00,0.000,6,0.000,0.041,2989,2062,2426,0,0,0,0,0,0
$GC,499,-0.65,-116.8,40.9,-10.3,73,504,0.00,2.22,0.00,0.000,4,0.000,0.054,2989,648,2426,0,0,0,0,0,0
$GC,551,-0.65,-116.8,46.2,-10.4,82,557,0.00,2.22,0.00,0.000,6,0.000,0.040,2980,2070,2426,0,0,0,0,0,0
$GC,899,-0.65,-116.8,82.2,-10.9,143,904,0.00,2.22,0.00,0.000,4,0.000,0.059,2969,3466,2426,0,0,0,0,0,0
$GC,933,-0.65,-116.8,85.9,-10.8,149,939,0.00,2.20,0.00,0.000,6,0.000,0.039,2970,2046,2426,0,0,0,0,0,0
$GC,1272,-0.65,-116.8,121.4,-10.2,192,1276,0.00,2.17,0.00,0.000,4,0.000,0.052,2970,657,2426,0,0,0,0,0,0
$GC,1345,-0.62,-116.8,129.4,-10.4,198,1350,0.08,2.20,0.00,0.000,6,0.202,0.041,2978,2065,2426,0,0,0,0,0,0
$GC,1669,-0.62,-116.8,163.1,-9.5,228,1673,0.00,2.22,0.00,0.000,4,0.000,0.061,2967,3461,2427,0,0,0,0,0,0
$GC,1743,-0.62,-116.8,170.0,-9.3,234,1747,0.05,2.15,0.00,0.000,6,0.220,0.038,2978,2059,2427,0,0,0,0,0,0
$GC,2067,-0.62,-116.8,198.1,-8.9,264,2071,0.00,2.20,0.00,0.000,4,0.000,0.054,2980,651,2427,0,0,0,0,0,0
$GC,2167,-0.62,-116.8,207.4,-9.4,272,2175,0.00,2.22,0.00,0.000,6,0.000,0.041,2971,2060,2427,0,0,0,0,0,0
$GC,2492,-0.62,-116.8,236.6,-9.3,303,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2060,2426,0,0,0,0,0,0
$GC,2814,-0.62,-116.8,265.8,-9.3,333,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2060,2427,0,0,0,0,0,0
$GC,3130,-0.62,-116.8,294.4,-9.1,363,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2060,2427,0,0,0,0,0,0
$GC,3450,-0.62,-116.8,323.0,-8.7,393,3454,0.00,2.22,0.00,0.000,4,0.000,0.061,2961,3468,2428,0,0,0,0,0,0
$GC,3490,-0.62,-116.8,327.0,-9.2,396,3494,0.08,2.17,0.00,0.000,6,0.195,0.039,2978,2049,2427,0,0,0,0,0,0
$GC,3815,-0.65,-116.8,355.4,-8.8,426,3819,0.00,2.17,0.00,0.000,4,0.000,0.052,2978,657,2427,0,0,0,0,0,0
$GC,3869,-0.65,-116.8,360.8,-9.7,430,3875,0.00,2.20,0.00,0.000,6,0.000,0.040,2969,2058,2427,0,0,0,0,0,0
$GC,4197,-0.65,-116.8,389.6,-8.9,461,4201,0.00,2.22,0.00,0.000,4,0.000,0.060,2959,3463,2428,0,0,0,0,0,0
$GC,4262,-0.65,-116.8,395.8,-8.6,466,4269,0.00,2.17,0.00,0.000,6,0.000,0.039,2959,2057,2427,0,0,0,0,0,0
$GC,4591,-0.65,-116.8,423.6,-8.2,485,4595,0.03,2.20,0.00,0.000,4,0.264,0.055,2969,655,2427,0,0,0,0,0,0
$GC,4644,-0.65,-116.8,428.5,-9.1,487,4651,0.00,2.20,0.00,0.000,6,0.000,0.041,2960,2057,2427,0,0,0,0,0,0
$GC,4961,-0.65,-116.8,454.5,-8.2,503,4965,0.00,2.22,0.00,0.000,4,0.000,0.060,2950,3463,2427,0,0,0,0,0,0
$GC,5027,-0.65,-116.8,460.4,-8.7,506,5032,0.05,2.17,0.00,0.000,6,0.158,0.039,2967,2061,2427,0,0,0,0,0,0
$GC,5354,-0.65,-116.8,485.7,-7.5,522,5358,0.00,2.20,0.00,0.000,4,0.000,0.054,2967,646,2427,0,0,0,0,0,0
$GC,5398,-0.65,-116.8,489.4,-8.2,524,5403,0.03,2.20,0.00,0.000,6,0.179,0.039,2967,2060,2427,0,0,0,0,0,0
$GC,5725,-0.65,-116.8,514.0,-7.5,540,5729,0.00,2.22,0.00,0.000,4,0.000,0.061,2957,3469,2427,0,0,0,0,0,0
$GC,5787,-0.65,-116.8,519.1,-8.3,543,5791,0.05,2.17,0.00,0.000,6,0.220,0.039,2968,2047,2427,0,0,0,0,0,0
$GC,6115,-0.65,-116.8,544.3,-7.8,559,6119,0.00,2.17,0.00,0.000,4,0.000,0.052,2968,661,2426,0,0,0,0,0,0
$GC,6157,-0.65,-116.8,548.3,-8.7,561,6162,0.00,2.20,0.00,0.000,6,0.000,0.039,2960,2066,2426,0,0,0,0,0,0
$GC,6485,-0.65,-116.8,574.8,-8.1,577,6489,0.00,2.22,0.00,0.000,4,0.000,0.061,2949,3470,2426,0,0,0,0,0,0
$GC,6534,-0.65,-116.8,579.2,-8.7,579,6540,0.05,2.17,0.00,0.000,6,0.160,0.039,2967,2063,2426,0,0,0,0,0,0
$GC,6856,-0.65,-116.8,602.3,-7.3,595,6860,0.00,2.20,0.00,0.000,4,0.000,0.052,2967,646,2426,0,0,0,0,0,0
$GC,6933,-0.65,-116.8,608.4,-8.0,598,6939,0.03,2.20,0.00,0.000,6,0.177,0.039,2967,2054,2426,0,0,0,0,0,0
$GC,7249,-0.65,-116.8,631.5,-7.3,614,7253,0.00,2.22,0.00,0.000,4,0.000,0.059,2957,3463,2426,0,0,0,0,0,0
$GC,7348,-0.65,-116.8,639.4,-7.9,618,7355,0.03,2.17,0.00,0.000,6,0.183,0.039,2967,2054,2426,0,0,0,0,0,0
$GC,7665,-0.68,-116.8,662.2,-7.3,634,7669,0.00,2.17,0.00,0.000,4,0.000,0.054,2966,649,2425,0,0,0,0,0,0
$GC,7697,-0.68,-116.8,665.0,-7.9,635,7703,0.00,2.22,0.00,0.000,6,0.000,0.041,2958,2063,2425,0,0,0,0,0,0
$GC,8014,-0.68,-116.8,689.7,-8.0,651,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2063,2425,0,0,0,0,0,0
$GC,8323,-0.68,-116.8,714.9,-8.1,666,8327,0.00,2.22,0.00,0.000,4,0.000,0.063,2948,3465,2425,0,0,0,0,0,0
$GC,8384,-0.68,-116.8,720.2,-9.5,669,8389,0.05,2.15,0.00,0.000,6,0.215,0.039,2960,2056,2425,0,0,0,0,0,0
$GC,8711,-0.68,-116.8,746.3,-7.6,685,8715,0.00,2.17,0.00,0.000,4,0.000,0.054,2960,659,2425,0,0,0,0,0,0
$GC,8788,-0.68,-116.8,752.8,-8.4,688,8794,0.00,2.20,0.00,0.000,6,0.000,0.040,2951,2063,2425,0,0,0,0,0,0
$GC,9104,-0.68,-116.8,776.7,-7.8,704,9108,0.00,2.22,0.00,0.000,4,0.000,0.063,2941,3463,2424,0,0,0,0,0,0
$GC,9188,-0.68,-116.8,783.4,-8.4,708,9193,0.10,2.15,0.00,0.000,6,0.174,0.039,2966,2057,2424,0,0,0,0,0,0
$GC,9515,-0.72,-116.8,807.5,-7.3,724,9519,0.00,2.20,0.00,0.000,4,0.000,0.054,2966,651,2424,0,0,0,0,0,0
$GC,9564,-0.72,-116.8,811.7,-8.0,726,9569,0.00,2.22,0.00,0.000,6,0.000,0.042,2957,2065,2424,0,0,0,0,0,0
$GC,9892,-0.72,-116.8,836.6,-7.4,742,9896,0.00,2.22,0.00,0.000,4,0.000,0.063,2947,3465,2424,0,0,0,0,0,0
$GC,9923,-0.72,-116.8,839.4,-8.7,743,9929,0.00,2.17,0.00,0.000,6,0.000,0.039,2947,2057,2424,0,0,0,0,0,0
$GC,10240,-0.72,-116.8,863.9,-7.8,759,10244,0.00,2.17,0.00,0.000,4,0.000,0.054,2947,661,2424,0,0,0,0,0,0
$GC,10316,-0.72,-116.8,870.7,-8.9,762,10322,0.00,2.20,0.00,0.000,6,0.000,0.040,2938,2061,2424,0,0,0,0,0,0
$GC,10633,-0.72,-116.8,894.2,-7.4,778,10637,0.00,2.22,0.00,0.000,4,0.000,0.062,2927,3463,2423,0,0,0,0,0,0
$GC,10726,-0.72,-116.8,902.0,-8.3,782,10731,0.05,2.17,0.00,0.000,6,0.164,0.040,2945,2057,2423,0,0,0,0,0,0
$GC,11050,-0.72,-116.8,926.1,-7.6,798,11054,0.00,2.17,0.00,0.000,4,0.000,0.054,2945,658,2423,0,0,0,0,0,0
$GC,11115,-0.72,-116.8,932.0,-9.0,801,11120,0.00,2.20,0.00,0.000,6,0.000,0.041,2936,2060,2423,0,0,0,0,0,0
$GC,11443,-0.72,-116.8,958.7,-8.3,817,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2060,2424,0,0,0,0,0,0
$GC,11752,-0.72,-116.8,984.6,-8.3,832,11756,0.00,2.22,0.00,0.000,4,0.000,0.061,2925,3462,2423,0,0,0,0,0,0
$GC,11818,-0.72,-116.8,990.5,-9.2,835,11823,0.05,2.17,0.00,0.000,6,0.164,0.040,2944,2060,2423,0,0,0,0,0,0
$STATE,11938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11938,begin apogee
$GC,11943,-0.19,0.0,1000.7,8.5,841,12052,0.55,0.00,105.75,1.292,6,0.142,0.000,3115,1595,1950,0,0,0,0,0,0
$STATE,12053,end apogee,CONTROL_FINISHED_OK
$STATE,12053,begin climb
$GC,12054,0.76,116.8,1004.5,0.0,846,12170,0.93,0.00,112.03,1.255,6,0.095,0.000,3420,1595,1474,0,0,0,0,0,0
$GC,12470,0.76,119.9,975.3,8.4,867,12474,0.00,2.33,0.00,0.000,4,0.000,0.050,3420,3000,1465,0,0,0,0,0,0
$GC,12490,0.76,119.9,973.3,8.9,868,12495,0.00,2.25,0.00,0.000,6,0.000,0.034,3429,1602,1465,0,0,0,0,0,0
$GC,12818,0.76,119.9,943.4,9.2,884,12822,0.00,2.28,0.00,0.000,4,0.000,0.053,3440,198,1464,0,0,0,0,0,0
$GC,12861,0.72,119.9,939.0,10.4,886,12866,0.05,2.25,0.00,0.000,6,0.141,0.036,3422,1607,1462,0,0,0,0,0,0
$GC,13188,0.72,119.9,908.9,9.1,902,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1607,1462,0,0,0,0,0,0
$GC,13497,0.72,119.9,879.5,9.6,917,13501,0.00,2.20,0.00,0.000,4,0.000,0.051,3421,3002,1461,0,0,0,0,0,0
$GC,13573,0.72,119.9,871.6,11.0,920,13579,0.00,2.20,0.00,0.000,6,0.000,0.035,3430,1597,1461,0,0,0,0,0,0
$GC,13890,0.72,119.9,839.7,10.5,936,13894,0.00,2.25,0.00,0.000,4,0.000,0.052,3441,192,1461,0,0,0,0,0,0
$GC,13906,0.72,119.9,837.9,10.6,937,13911,0.10,2.17,0.00,0.000,6,0.164,0.035,3415,1610,1460,0,0,0,0,0,0
$GC,14232,0.72,119.9,806.5,9.6,953,14233,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1610,1460,0,0,0,0,0,0
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$STATE,22622,end climb,SURFACE_DEPTH_REACHED
$STATE,22622,begin surface coast
$FINISH,1.7,1.017330
$STATE,22660,end surface coast,CONTROL_FINISHED_OK
$STATE,22660,begin surface
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$HUMID,62.52
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$TCM_TEMP,12.60
$XPDR_PINGS,0
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$10V_AH,10.1,18.420
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.550,204.000,274.175,12.550,0.000,23.769,21.896,263.387,0.000,0.000,21.315,4022.270,14347.470,483.057,4061.033,202.304,0.000,1987.091,0.000,3518.787,0.000,0.539,0.000
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$MEM,353212
$DATA_FILE_SIZE,110430,1619
$CAP_FILE_SIZE,217829,0
$CFSIZE,2097086464,2075131904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230815,062503,-4500.327,637.799,28,0.9,28,-24.5