version: 66.07.10.p01
glider: 573
mission: 12
dive: 136
start: 8 24 115 14 47 25
data:
$ID,573
$MISSION,12
$DIVE,136
$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,-21429.287
$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,40
$R_STBD_OVSHOOT,36
$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,135
$GPS1,240815,143103,-4506.283,634.029,41,1.0,41,-24.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-71.1
$GPS2,240815,144705,-4506.401,634.245,19,1.0,19,-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,312.8,14119,-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,24,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-20.58,0.000,2,0.000,0.000,76,2062,1552,0,0,0,0,0,0
$GC,48,-0.76,-116.8,3.1,-3.1,3,105,11.73,0.00,-40.40,0.000,6,0.243,0.000,2934,2060,2425,0,0,0,0,0,0
$GC,157,-0.68,-116.8,7.9,-10.0,20,164,0.10,0.00,0.00,0.000,6,0.201,0.000,2958,2060,2427,0,0,0,0,0,0
$GC,216,-0.62,-116.8,14.6,-10.9,29,223,0.10,0.00,0.00,0.000,6,0.200,0.000,2982,2060,2428,0,0,0,0,0,0
$GC,273,-0.62,-116.8,20.8,-10.5,38,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2060,2428,0,0,0,0,0,0
$GC,428,-0.62,-116.8,36.1,-10.1,63,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2061,2428,0,0,0,0,0,0
$GC,576,-0.62,-116.8,50.5,-9.6,88,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2060,2428,0,0,0,0,0,0
$GC,925,-0.62,-116.8,85.0,-9.8,149,930,0.00,2.25,0.00,0.000,4,0.000,0.060,2971,3471,2428,0,0,0,0,0,0
$GC,998,-0.62,-116.8,92.7,-10.3,162,1005,0.00,2.20,0.00,0.000,6,0.000,0.039,2971,2070,2428,0,0,0,0,0,0
$GC,1328,-0.62,-116.8,126.5,-10.0,199,1332,0.00,2.25,0.00,0.000,4,0.000,0.051,2971,647,2428,0,0,0,0,0,0
$GC,1357,-0.62,-116.8,129.3,-11.0,201,1362,0.08,2.20,0.00,0.000,6,0.200,0.037,2979,2062,2428,0,0,0,0,0,0
$GC,1682,-0.62,-116.8,160.0,-9.5,231,1686,0.00,2.25,0.00,0.000,4,0.000,0.062,2968,3471,2428,0,0,0,0,0,0
$GC,1722,-0.62,-116.8,164.2,-11.1,234,1727,0.05,2.17,0.00,0.000,6,0.219,0.040,2980,2057,2428,0,0,0,0,0,0
$GC,2046,-0.62,-116.8,198.4,-10.2,264,2050,0.00,2.17,0.00,0.000,4,0.000,0.052,2980,659,2428,0,0,0,0,0,0
$GC,2097,-0.62,-116.8,203.7,-10.6,268,2101,0.00,2.20,0.00,0.000,6,0.000,0.040,2971,2072,2428,0,0,0,0,0,0
$GC,2422,-0.62,-116.8,233.0,-8.2,298,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2071,2428,0,0,0,0,0,0
$GC,2741,-0.62,-116.8,256.4,-7.0,328,2745,0.00,2.20,0.00,0.000,4,0.000,0.058,2961,3462,2428,0,0,0,0,0,0
$GC,2774,-0.62,-116.8,258.9,-7.2,330,2780,0.08,2.15,0.00,0.000,6,0.198,0.037,2978,2054,2428,0,0,0,0,0,0
$GC,3101,-0.62,-116.8,282.0,-7.2,361,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2054,2428,0,0,0,0,0,0
$GC,3417,-0.62,-116.8,307.8,-8.7,391,3421,0.00,2.20,0.00,0.000,4,0.000,0.053,2978,656,2428,0,0,0,0,0,0
$GC,3446,-0.62,-116.8,310.3,-9.1,393,3450,0.00,2.20,0.00,0.000,6,0.000,0.041,2969,2071,2428,0,0,0,0,0,0
$GC,3771,-0.62,-116.8,339.8,-9.0,423,3775,0.00,2.20,0.00,0.000,4,0.000,0.059,2959,3462,2428,0,0,0,0,0,0
$GC,3802,-0.62,-116.8,343.0,-9.8,425,3810,0.05,2.17,0.00,0.000,6,0.164,0.038,2976,2057,2428,0,0,0,0,0,0
$GC,4129,-0.65,-116.8,372.3,-9.2,456,4133,0.00,2.20,0.00,0.000,4,0.000,0.054,2976,654,2428,0,0,0,0,0,0
$GC,4168,-0.65,-116.8,376.3,-10.2,459,4172,0.00,2.20,0.00,0.000,6,0.000,0.042,2968,2066,2429,0,0,0,0,0,0
$GC,4501,-0.65,-116.8,409.2,-10.1,486,4505,0.00,2.22,0.00,0.000,4,0.000,0.062,2957,3465,2429,0,0,0,0,0,0
$GC,4533,-0.65,-116.8,412.5,-10.2,487,4539,0.03,2.17,0.00,0.000,6,0.180,0.039,2966,2061,2428,0,0,0,0,0,0
$GC,4849,-0.65,-116.8,443.5,-9.4,503,4853,0.00,2.22,0.00,0.000,4,0.000,0.054,2966,649,2428,0,0,0,0,0,0
$GC,4920,-0.65,-116.8,450.7,-9.6,506,4925,0.00,2.22,0.00,0.000,6,0.000,0.041,2957,2062,2428,0,0,0,0,0,0
$GC,5242,-0.65,-116.8,477.1,-7.5,522,5244,0.05,0.00,0.00,0.000,6,0.223,0.000,2968,2062,2428,0,0,0,0,0,0
$GC,5552,-0.65,-116.8,498.3,-6.7,537,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2062,2428,0,0,0,0,0,0
$GC,5861,-0.65,-116.8,520.1,-7.1,552,5865,0.00,2.22,0.00,0.000,4,0.000,0.063,2958,3463,2427,0,0,0,0,0,0
$GC,5915,-0.65,-116.8,524.4,-7.9,554,5921,0.00,2.17,0.00,0.000,6,0.000,0.039,2958,2060,2427,0,0,0,0,0,0
$GC,6232,-0.65,-116.8,548.0,-7.5,570,6236,0.00,2.22,0.00,0.000,4,0.000,0.054,2958,648,2427,0,0,0,0,0,0
$GC,6286,-0.65,-116.8,552.7,-8.3,572,6293,0.05,2.22,0.00,0.000,6,0.157,0.041,2966,2060,2427,0,0,0,0,0,0
$GC,6603,-0.65,-116.8,576.4,-7.6,588,6607,0.00,2.22,0.00,0.000,4,0.000,0.061,2956,3463,2427,0,0,0,0,0,0
$GC,6636,-0.65,-116.8,579.0,-8.1,589,6642,0.05,2.15,0.00,0.000,6,0.219,0.039,2967,2052,2426,0,0,0,0,0,0
$GC,6952,-0.65,-116.8,602.7,-7.6,605,6956,0.00,2.20,0.00,0.000,4,0.000,0.054,2967,652,2426,0,0,0,0,0,0
$GC,6978,-0.65,-116.8,605.0,-8.3,606,6983,0.00,2.20,0.00,0.000,6,0.000,0.041,2959,2054,2427,0,0,0,0,0,0
$GC,7300,-0.65,-116.8,630.2,-8.0,622,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2054,2426,0,0,0,0,0,0
$GC,7610,-0.65,-116.8,654.1,-7.6,637,7614,0.00,2.22,0.00,0.000,4,0.000,0.058,2949,3463,2426,0,0,0,0,0,0
$GC,7658,-0.65,-116.8,658.3,-8.3,639,7664,0.05,2.17,0.00,0.000,6,0.157,0.039,2966,2062,2425,0,0,0,0,0,0
$GC,7981,-0.68,-116.8,683.6,-8.0,655,7985,0.00,2.20,0.00,0.000,4,0.000,0.054,2966,656,2425,0,0,0,0,0,0
$GC,8008,-0.68,-116.8,686.1,-9.3,656,8012,0.00,2.20,0.00,0.000,6,0.000,0.041,2957,2055,2425,0,0,0,0,0,0
$GC,8330,-0.68,-116.8,713.3,-8.5,672,8334,0.00,2.22,0.00,0.000,4,0.000,0.060,2947,3463,2425,0,0,0,0,0,0
$GC,8378,-0.68,-116.8,717.9,-9.2,674,8384,0.03,2.17,0.00,0.000,6,0.177,0.039,2957,2059,2425,0,0,0,0,0,0
$GC,8700,-0.68,-116.8,745.3,-8.5,690,8704,0.00,2.20,0.00,0.000,4,0.000,0.054,2957,657,2425,0,0,0,0,0,0
$GC,8770,-0.68,-116.8,752.0,-9.5,693,8776,0.00,2.22,0.00,0.000,6,0.000,0.042,2948,2064,2425,0,0,0,0,0,0
$GC,9093,-0.68,-116.8,778.4,-8.0,709,9095,0.05,0.00,0.00,0.000,6,0.221,0.000,2959,2064,2425,0,0,0,0,0,0
$GC,9402,-0.68,-116.8,799.6,-6.6,724,9406,0.00,2.25,0.00,0.000,4,0.000,0.063,2949,3477,2424,0,0,0,0,0,0
$GC,9464,-0.68,-116.8,803.7,-6.8,727,9468,0.00,2.17,0.00,0.000,6,0.000,0.041,2949,2057,2424,0,0,0,0,0,0
$GC,9790,-0.68,-116.8,825.8,-6.8,743,9792,0.03,0.00,0.00,0.000,6,0.271,0.000,2958,2057,2424,0,0,0,0,0,0
$GC,10099,-0.68,-116.8,847.3,-7.4,758,10103,0.00,2.20,0.00,0.000,4,0.000,0.055,2961,660,2424,0,0,0,0,0,0
$GC,10139,-0.68,-116.8,850.5,-8.6,760,10143,0.00,2.20,0.00,0.000,6,0.000,0.041,2952,2073,2424,0,0,0,0,0,0
$GC,10465,-0.68,-116.8,876.2,-8.0,776,10469,0.00,2.22,0.00,0.000,4,0.000,0.061,2941,3475,2424,0,0,0,0,0,0
$GC,10528,-0.68,-116.8,881.2,-8.4,779,10532,0.08,2.17,0.00,0.000,6,0.188,0.041,2959,2055,2424,0,0,0,0,0,0
$GC,10855,-0.71,-116.8,905.9,-7.9,795,10859,0.00,2.17,0.00,0.000,4,0.000,0.055,2959,654,2424,0,0,0,0,0,0
$GC,10909,-0.71,-116.8,910.5,-7.9,797,10915,0.00,2.22,0.00,0.000,6,0.000,0.044,2950,2066,2423,0,0,0,0,0,0
$GC,11225,-0.71,-116.8,935.6,-7.7,813,11226,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2066,2423,0,0,0,0,0,0
$GC,11535,-0.71,-116.8,960.7,-8.3,828,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2066,2423,0,0,0,0,0,0
$GC,11844,-0.71,-116.8,986.1,-8.1,843,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2066,2423,0,0,0,0,0,0
$STATE,12028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12028,begin apogee
$GC,12032,-0.19,0.0,1000.8,8.0,852,12142,0.55,0.00,106.12,1.294,6,0.142,0.000,3121,1599,1950,0,0,0,0,0,0
$STATE,12143,end apogee,CONTROL_FINISHED_OK
$STATE,12143,begin climb
$GC,12144,0.76,116.8,1004.1,0.0,857,12267,0.90,2.53,110.95,1.252,4,0.091,0.054,3431,199,1473,0,0,0,0,0,0
$GC,12316,0.76,116.8,992.9,8.9,865,12321,0.00,2.38,0.00,0.000,6,0.000,0.035,3431,1607,1468,0,0,0,0,0,0
$GC,12643,0.76,116.8,962.6,9.3,881,12647,0.00,2.28,0.00,0.000,4,0.000,0.054,3431,2996,1464,0,0,0,0,0,0
$GC,12691,0.71,116.8,957.8,9.4,883,12696,0.08,2.22,0.00,0.000,6,0.142,0.035,3415,1603,1464,0,0,0,0,0,0
$GC,13013,0.71,116.8,929.0,9.2,899,13017,0.00,2.30,0.00,0.000,4,0.000,0.053,3426,193,1462,0,0,0,0,0,0
$GC,13078,0.71,116.8,922.4,9.4,902,13083,0.00,2.25,0.00,0.000,6,0.000,0.035,3426,1604,1461,0,0,0,0,0,0
$GC,13405,0.71,116.8,890.2,10.0,918,13409,0.00,2.22,0.00,0.000,4,0.000,0.052,3426,2994,1461,0,0,0,0,0,0
$GC,13437,0.71,116.8,886.6,10.7,919,13445,0.05,2.20,0.00,0.000,6,0.155,0.034,3417,1592,1461,0,0,0,0,0,0
$GC,13754,0.71,120.4,858.3,8.4,935,13758,0.00,2.25,0.00,0.000,4,0.000,0.052,3428,195,1461,0,0,0,0,0,0
$GC,13796,0.71,120.4,854.4,8.7,937,13801,0.00,2.22,0.00,0.000,6,0.000,0.035,3427,1602,1460,0,0,0,0,0,0
$GC,14125,0.73,138.9,828.9,7.6,953,14150,0.00,2.25,20.25,1.138,4,0.000,0.051,3428,2993,1382,0,0,0,0,0,0
$GC,14252,0.73,151.7,818.6,7.9,959,14273,0.05,2.17,13.52,1.074,6,0.223,0.034,3424,1601,1330,0,0,0,0,0,0
$GC,14583,0.77,152.1,791.0,8.5,975,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1601,1327,0,0,0,0,0,0
$GC,14892,0.77,156.7,764.8,8.3,990,14902,0.00,2.28,5.40,0.828,4,0.000,0.051,3434,195,1310,0,0,0,0,0,0
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$STATE,22780,end climb,SURFACE_DEPTH_REACHED
$STATE,22780,begin surface coast
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$STATE,22812,end surface coast,CONTROL_FINISHED_OK
$STATE,22812,begin surface
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