version: 66.07.10.p01
glider: 573
mission: 12
dive: 204
start: 9 7 115 18 36 16
data:
$ID,573
$MISSION,12
$DIVE,204
$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,-21642.729
$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,39
$R_STBD_OVSHOOT,43
$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,203
$GPS1,070915,182721,-4502.447,625.953,39,0.9,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-68.2
$GPS2,070915,183556,-4502.506,626.024,19,0.8,21,-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,12.0,12337,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-26.30,0.000,2,0.000,0.000,64,2066,1533,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.1,-3.3,4,118,11.65,2.33,-43.45,0.000,4,0.237,0.069,2930,665,2426,0,0,0,0,0,0
$GC,268,-0.61,-116.8,21.5,-12.4,38,275,0.20,2.22,0.00,0.000,6,0.161,0.041,2982,2041,2427,0,0,0,0,0,0
$GC,424,-0.61,-116.8,37.9,-10.0,63,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2040,2428,0,0,0,0,0,0
$GC,572,-0.61,-116.8,53.2,-10.0,88,577,0.00,2.33,0.00,0.000,4,0.000,0.065,2970,3480,2428,0,0,0,0,0,0
$GC,601,-0.61,-116.8,56.5,-10.3,93,608,0.00,2.25,0.00,0.000,6,0.000,0.041,2971,2058,2428,0,0,0,0,0,0
$GC,952,-0.61,-116.8,93.4,-10.7,154,958,0.05,2.25,0.00,0.000,4,0.238,0.056,2986,655,2428,0,0,0,0,0,0
$GC,1006,-0.61,-116.8,99.1,-10.3,163,1011,0.00,2.25,0.00,0.000,6,0.000,0.044,2977,2075,2427,0,0,0,0,0,0
$GC,1336,-0.61,-116.8,133.0,-9.8,195,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2075,2428,0,0,0,0,0,0
$GC,1658,-0.61,-116.8,162.2,-8.7,225,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2075,2428,0,0,0,0,0,0
$GC,1974,-0.61,-116.8,185.7,-6.9,255,1978,0.00,2.25,0.00,0.000,4,0.000,0.052,2977,654,2428,0,0,0,0,0,0
$GC,2017,-0.61,-116.8,189.2,-7.7,258,2023,0.03,2.22,0.00,0.000,6,0.208,0.041,2976,2063,2428,0,0,0,0,0,0
$GC,2345,-0.61,-116.8,214.5,-8.7,289,2349,0.00,2.22,0.00,0.000,4,0.000,0.064,2966,3464,2428,0,0,0,0,0,0
$GC,2373,-0.61,-116.8,217.3,-9.2,291,2378,0.08,2.17,0.00,0.000,6,0.198,0.040,2982,2056,2428,0,0,0,0,0,0
$GC,2700,-0.64,-116.8,246.2,-8.9,321,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2055,2428,0,0,0,0,0,0
$GC,3017,-0.68,-116.8,274.0,-9.0,351,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2055,2428,0,0,0,0,0,0
$GC,3338,-0.72,-116.8,303.0,-9.2,381,3342,0.10,2.22,0.00,0.000,4,0.103,0.054,2929,656,2428,0,0,0,0,0,0
$GC,3392,-0.61,-116.8,309.0,-11.9,385,3396,0.22,2.20,0.00,0.000,6,0.172,0.045,2981,2060,2428,0,0,0,0,0,0
$GC,3716,-0.64,-116.8,338.7,-8.6,415,3721,0.00,2.25,0.00,0.000,4,0.000,0.064,2970,3470,2428,0,0,0,0,0,0
$GC,3794,-0.68,-116.8,345.2,-9.0,421,3798,0.00,2.15,0.00,0.000,6,0.000,0.041,2970,2060,2428,0,0,0,0,0,0
$GC,4118,-0.68,-116.8,373.5,-8.3,451,4122,0.00,2.20,0.00,0.000,4,0.000,0.054,2971,654,2428,0,0,0,0,0,0
$GC,4184,-0.68,-116.8,379.4,-8.8,456,4193,0.00,2.22,0.00,0.000,6,0.000,0.044,2962,2057,2428,0,0,0,0,0,0
$GC,4519,-0.68,-116.8,406.9,-7.9,484,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2057,2428,0,0,0,0,0,0
$GC,4828,-0.68,-116.8,431.1,-7.9,499,4832,0.00,2.28,0.00,0.000,4,0.000,0.063,2951,3477,2428,0,0,0,0,0,0
$GC,4890,-0.68,-116.8,436.5,-8.7,502,4894,0.00,2.20,0.00,0.000,6,0.000,0.041,2951,2048,2428,0,0,0,0,0,0
$GC,5222,-0.68,-116.8,466.5,-9.4,518,5226,0.00,2.20,0.00,0.000,4,0.000,0.056,2951,647,2428,0,0,0,0,0,0
$GC,5271,-0.64,-116.8,471.7,-10.7,520,5276,0.10,2.22,0.00,0.000,6,0.158,0.041,2973,2063,2428,0,0,0,0,0,0
$GC,5594,-0.67,-116.8,499.3,-8.6,536,5598,0.00,2.22,0.00,0.000,4,0.000,0.065,2963,3469,2428,0,0,0,0,0,0
$GC,5625,-0.67,-116.8,502.6,-8.9,537,5631,0.00,2.20,0.00,0.000,6,0.000,0.041,2963,2058,2427,0,0,0,0,0,0
$GC,5942,-0.67,-116.8,531.0,-9.2,553,5946,0.00,2.20,0.00,0.000,4,0.000,0.055,2963,655,2427,0,0,0,0,0,0
$GC,5975,-0.67,-116.8,534.2,-10.0,554,5980,0.00,2.20,0.00,0.000,6,0.000,0.045,2954,2063,2427,0,0,0,0,0,0
$GC,6290,-0.67,-116.8,563.8,-9.4,570,6294,0.00,2.22,0.00,0.000,4,0.000,0.065,2944,3465,2427,0,0,0,0,0,0
$GC,6316,-0.67,-116.8,566.5,-9.4,571,6321,0.05,2.17,0.00,0.000,6,0.159,0.041,2960,2067,2426,0,0,0,0,0,0
$GC,6637,-0.67,-116.8,595.9,-8.9,587,6641,0.00,2.22,0.00,0.000,4,0.000,0.055,2961,648,2426,0,0,0,0,0,0
$GC,6701,-0.67,-116.8,601.8,-10.2,590,6706,0.05,2.17,0.00,0.000,6,0.226,0.041,2962,2064,2426,0,0,0,0,0,0
$GC,7027,-0.67,-116.8,631.3,-9.0,606,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2064,2426,0,0,0,0,0,0
$GC,7336,-0.67,-116.8,659.9,-9.2,621,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2064,2426,0,0,0,0,0,0
$GC,7646,-0.67,-116.8,686.9,-8.4,636,7650,0.00,2.25,0.00,0.000,4,0.000,0.065,2952,3469,2425,0,0,0,0,0,0
$GC,7685,-0.67,-116.8,690.3,-9.3,638,7689,0.05,2.15,0.00,0.000,6,0.221,0.041,2963,2054,2425,0,0,0,0,0,0
$GC,8013,-0.67,-116.8,715.4,-7.5,654,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2054,2425,0,0,0,0,0,0
$GC,8321,-0.70,-116.8,738.1,-7.6,669,8325,0.00,2.20,0.00,0.000,4,0.000,0.055,2964,658,2425,0,0,0,0,0,0
$GC,8347,-0.70,-116.8,740.4,-8.9,670,8352,0.00,2.20,0.00,0.000,6,0.000,0.043,2955,2050,2425,0,0,0,0,0,0
$GC,8669,-0.70,-116.8,764.3,-7.3,686,8673,0.00,2.25,0.00,0.000,4,0.000,0.061,2944,3465,2425,0,0,0,0,0,0
$GC,8768,-0.70,-116.8,771.9,-7.1,690,8774,0.00,2.17,0.00,0.000,6,0.000,0.040,2944,2063,2425,0,0,0,0,0,0
$GC,9085,-0.70,-116.8,794.9,-7.3,706,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2063,2425,0,0,0,0,0,0
$GC,9394,-0.70,-116.8,817.2,-7.1,721,9398,0.00,2.22,0.00,0.000,4,0.000,0.055,2944,657,2425,0,0,0,0,0,0
$GC,9503,-0.67,-116.8,825.7,-8.0,726,9507,0.12,2.17,0.00,0.000,6,0.174,0.042,2967,2065,2425,0,0,0,0,0,0
$GC,9830,-0.72,-116.8,848.5,-7.0,742,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2066,2424,0,0,0,0,0,0
$GC,10139,-0.77,-116.8,871.0,-7.6,757,10143,0.10,2.25,0.00,0.000,4,0.103,0.063,2903,3469,2424,0,0,0,0,0,0
$GC,10227,-0.69,-116.8,879.8,-9.6,761,10232,0.15,2.20,0.00,0.000,6,0.142,0.042,2953,2064,2424,0,0,0,0,0,0
$GC,10556,-0.69,-116.8,906.1,-7.9,777,10560,0.00,2.22,0.00,0.000,4,0.000,0.054,2954,654,2424,0,0,0,0,0,0
$GC,10618,-0.69,-116.8,911.4,-8.4,780,10623,0.05,2.17,0.00,0.000,6,0.219,0.043,2955,2062,2424,0,0,0,0,0,0
$GC,10947,-0.72,-116.8,936.4,-7.4,796,10951,0.00,2.25,0.00,0.000,4,0.000,0.065,2945,3471,2424,0,0,0,0,0,0
$GC,10990,-0.72,-116.8,940.0,-7.2,798,10994,0.00,2.20,0.00,0.000,6,0.000,0.042,2947,2063,2424,0,0,0,0,0,0
$GC,11317,-0.72,-116.8,964.8,-7.7,814,11321,0.00,2.20,0.00,0.000,4,0.000,0.054,2949,656,2423,0,0,0,0,0,0
$GC,11344,-0.72,-116.8,966.9,-8.5,815,11348,0.00,2.20,0.00,0.000,6,0.000,0.041,2940,2054,2424,0,0,0,0,0,0
$GC,11666,-0.72,-116.8,992.2,-7.9,831,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2054,2423,0,0,0,0,0,0
$STATE,11767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11767,begin apogee
$GC,11772,-0.19,0.0,1000.5,8.1,836,11882,0.57,0.00,106.32,1.294,6,0.147,0.000,3116,1587,1949,0,0,0,0,0,0
$STATE,11883,end apogee,CONTROL_FINISHED_OK
$STATE,11883,begin climb
$GC,11884,0.76,116.8,1003.4,0.0,841,12007,0.95,2.53,111.62,1.255,4,0.095,0.054,3437,200,1472,0,0,0,0,0,0
$GC,12098,0.72,116.8,987.2,10.0,851,12103,0.08,2.35,0.00,0.000,6,0.169,0.037,3419,1619,1468,0,0,0,0,0,0
$GC,12425,0.72,116.8,957.7,9.0,867,12429,0.00,2.28,0.00,0.000,4,0.000,0.056,3419,2994,1464,0,0,0,0,0,0
$GC,12479,0.72,116.8,952.2,10.3,869,12485,0.00,2.25,0.00,0.000,6,0.000,0.035,3427,1597,1464,0,0,0,0,0,0
$GC,12795,0.72,116.8,921.0,9.4,885,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1597,1463,0,0,0,0,0,0
$GC,13104,0.72,116.8,892.0,9.4,900,13108,0.00,2.28,0.00,0.000,4,0.000,0.055,3438,195,1462,0,0,0,0,0,0
$GC,13154,0.67,116.8,887.1,9.4,902,13159,0.10,2.22,0.00,0.000,6,0.135,0.036,3404,1601,1461,0,0,0,0,0,0
$GC,13476,0.71,116.8,859.4,8.6,918,13480,0.00,2.22,0.00,0.000,4,0.000,0.054,3404,3005,1461,0,0,0,0,0,0
$GC,13569,0.71,116.8,850.7,9.3,922,13574,0.00,2.20,0.00,0.000,6,0.000,0.036,3413,1604,1461,0,0,0,0,0,0
$GC,13892,0.71,119.0,823.6,8.4,938,13896,0.00,2.25,0.00,0.000,4,0.000,0.054,3423,195,1461,0,0,0,0,0,0
$GC,14003,0.71,119.0,814.0,9.1,943,14007,0.00,2.22,0.00,0.000,6,0.000,0.036,3423,1607,1461,0,0,0,0,0,0
$GC,14330,0.72,126.9,786.9,8.2,959,14341,0.00,0.00,8.68,0.992,6,0.000,0.000,3423,1608,1432,0,0,0,0,0,0
$GC,14640,0.73,139.7,761.3,7.9,974,14660,0.00,2.28,13.77,1.056,4,0.000,0.054,3424,2999,1380,0,0,0,0,0,0
$GC,14721,0.73,142.4,754.2,8.4,977,14732,0.03,2.20,4.15,0.685,6,0.174,0.035,3423,1602,1368,0,0,0,0,0,0
$GC,15060,0.73,142.4,726.3,8.6,994,15064,0.00,2.28,0.00,0.000,4,0.000,0.055,3433,196,1367,0,0,0,0,0,0
$GC,15121,0.73,142.4,720.6,9.4,997,15126,0.05,2.17,0.00,0.000,6,0.205,0.036,3421,1609,1367,0,0,0,0,0,0
$GC,15450,0.77,155.3,693.9,7.9,1013,15467,0.00,0.00,13.82,1.022,6,0.000,0.000,3421,1610,1316,0,0,0,0,0,0
$GC,15778,0.81,157.3,666.7,8.5,1029,15779,0.08,0.00,0.00,0.000,6,0.123,0.000,3459,1610,1314,0,0,0,0,0,0
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$STATE,22850,end climb,SURFACE_DEPTH_REACHED
$STATE,22850,begin surface coast
$FINISH,1.7,1.023317
$STATE,22876,end surface coast,CONTROL_FINISHED_OK
$STATE,22876,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.9,28.053
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$FG_AHR_10Vo,0.000
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$MEM,353272
$DATA_FILE_SIZE,113719,1640
$CAP_FILE_SIZE,213886,0
$CFSIZE,2097086464,2065268736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080915,010004,-4501.357,626.068,42,0.9,42,-24.4