version: 66.07.10.p01
glider: 573
mission: 12
dive: 227
start: 9 13 115 12 33 54
data:
$ID,573
$MISSION,12
$DIVE,227
$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,-21719.986
$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,34
$R_STBD_OVSHOOT,24
$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,226
$GPS1,130915,122521,-4458.598,637.320,27,0.9,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-68.7
$GPS2,130915,123334,-4458.634,637.384,14,1.8,14,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,4.0,5204,-18.0,-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,-115.5,0.0,0.0,0,46,0.00,0.00,-19.75,0.000,2,0.000,0.000,81,2049,1539,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.2,-3.1,3,106,11.80,2.25,-38.62,0.000,4,0.244,0.066,2927,657,2425,0,0,0,0,0,0
$GC,140,-0.60,-116.8,7.9,-11.9,17,148,0.20,2.28,0.00,0.000,6,0.154,0.042,2979,2061,2427,0,0,0,0,0,0
$GC,199,-0.60,-116.8,13.5,-8.1,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2061,2427,0,0,0,0,0,0
$GC,257,-0.60,-116.8,18.9,-9.5,35,264,0.00,2.30,0.00,0.000,4,0.000,0.063,2969,3461,2428,0,0,0,0,0,0
$GC,302,-0.60,-116.8,24.6,-12.9,42,310,0.05,2.22,0.00,0.000,6,0.171,0.041,2985,2063,2428,0,0,0,0,0,0
$GC,459,-0.60,-116.8,40.4,-9.8,67,464,0.00,2.22,0.00,0.000,4,0.000,0.053,2987,654,2428,0,0,0,0,0,0
$GC,495,-0.60,-116.8,44.2,-9.9,73,500,0.00,2.25,0.00,0.000,6,0.000,0.041,2978,2072,2428,0,0,0,0,0,0
$GC,844,-0.60,-116.8,74.9,-7.9,134,849,0.00,2.25,0.00,0.000,4,0.000,0.060,2967,3474,2428,0,0,0,0,0,0
$GC,875,-0.60,-116.8,77.2,-8.2,139,881,0.08,2.20,0.00,0.000,6,0.184,0.040,2984,2048,2428,0,0,0,0,0,0
$GC,1202,-0.60,-116.8,100.7,-6.7,159,1206,0.00,2.20,0.00,0.000,4,0.000,0.051,2985,647,2428,0,0,0,0,0,0
$GC,1234,-0.60,-116.8,103.3,-7.3,160,1242,0.03,2.22,0.00,0.000,6,0.184,0.037,2985,2057,2428,0,0,0,0,0,0
$GC,1550,-0.60,-116.8,123.4,-6.3,176,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2057,2428,0,0,0,0,0,0
$GC,1862,-0.63,-116.8,143.6,-7.0,191,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2057,2428,0,0,0,0,0,0
$GC,2169,-0.67,-116.8,167.6,-8.5,206,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2057,2429,0,0,0,0,0,0
$GC,2480,-0.71,-116.8,198.5,-10.6,221,2485,0.10,2.28,0.00,0.000,4,0.101,0.060,2919,3475,2429,0,0,0,0,0,0
$GC,2542,-0.63,-116.8,206.9,-13.6,224,2547,0.20,2.17,0.00,0.000,6,0.153,0.041,2975,2051,2429,0,0,0,0,0,0
$GC,2868,-0.63,-116.8,244.3,-11.1,240,2872,0.00,2.20,0.00,0.000,4,0.000,0.054,2975,649,2429,0,0,0,0,0,0
$GC,2917,-0.63,-116.8,250.0,-11.0,242,2922,0.00,2.25,0.00,0.000,6,0.000,0.041,2967,2071,2429,0,0,0,0,0,0
$GC,3239,-0.63,-116.8,283.8,-9.9,258,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2070,2429,0,0,0,0,0,0
$GC,3549,-0.63,-116.8,312.8,-9.0,273,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2070,2429,0,0,0,0,0,0
$GC,3857,-0.63,-116.8,339.6,-8.7,288,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2070,2429,0,0,0,0,0,0
$GC,4167,-0.63,-116.8,366.4,-8.6,303,4171,0.00,2.25,0.00,0.000,4,0.000,0.051,2966,647,2429,0,0,0,0,0,0
$GC,4194,-0.63,-116.8,368.9,-9.6,304,4199,0.05,2.22,0.00,0.000,6,0.161,0.037,2974,2070,2429,0,0,0,0,0,0
$GC,4515,-0.66,-116.8,394.4,-7.9,320,4519,0.00,2.22,0.00,0.000,4,0.000,0.061,2964,3471,2429,0,0,0,0,0,0
$GC,4587,-0.69,-116.8,400.4,-8.2,323,4591,0.00,2.17,0.00,0.000,6,0.000,0.041,2964,2048,2429,0,0,0,0,0,0
$GC,4909,-0.69,-116.8,425.5,-7.7,339,4913,0.00,2.25,0.00,0.000,4,0.000,0.060,2955,3471,2429,0,0,0,0,0,0
$GC,4948,-0.69,-116.8,428.6,-8.3,341,4953,0.00,2.15,0.00,0.000,6,0.000,0.041,2955,2058,2429,0,0,0,0,0,0
$GC,5275,-0.69,-116.8,454.1,-7.7,357,5279,0.00,2.22,0.00,0.000,4,0.000,0.056,2955,654,2429,0,0,0,0,0,0
$GC,5325,-0.66,-116.8,458.3,-8.3,359,5330,0.10,2.17,0.00,0.000,6,0.177,0.044,2971,2057,2429,0,0,0,0,0,0
$GC,5648,-0.69,-116.8,480.1,-6.5,375,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2057,2428,0,0,0,0,0,0
$GC,5955,-0.72,-116.8,499.9,-6.3,390,5957,0.05,0.00,0.00,0.000,6,0.166,0.000,2937,2057,2428,0,0,0,0,0,0
$GC,6266,-0.68,-116.8,523.4,-7.9,405,6271,0.10,2.25,0.00,0.000,4,0.176,0.064,2951,3467,2428,0,0,0,0,0,0
$GC,6286,-0.68,-116.8,525.3,-8.0,406,6291,0.00,2.20,0.00,0.000,6,0.000,0.041,2952,2054,2427,0,0,0,0,0,0
$GC,6613,-0.68,-116.8,549.1,-7.7,422,6617,0.00,2.25,0.00,0.000,4,0.000,0.063,2943,3463,2427,0,0,0,0,0,0
$GC,6645,-0.68,-116.8,551.5,-7.9,423,6650,0.05,2.17,0.00,0.000,6,0.153,0.041,2959,2065,2427,0,0,0,0,0,0
$GC,6961,-0.68,-116.8,575.0,-7.6,439,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2065,2427,0,0,0,0,0,0
$GC,7269,-0.68,-116.8,600.4,-8.7,454,7273,0.00,2.25,0.00,0.000,4,0.000,0.055,2960,645,2427,0,0,0,0,0,0
$GC,7307,-0.68,-116.8,604.1,-9.7,455,7312,0.00,2.22,0.00,0.000,6,0.000,0.038,2951,2066,2426,0,0,0,0,0,0
$GC,7623,-0.68,-116.8,632.2,-9.1,471,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2066,2426,0,0,0,0,0,0
$GC,7931,-0.68,-116.8,660.7,-9.4,486,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2066,2426,0,0,0,0,0,0
$GC,8242,-0.68,-116.8,689.1,-9.2,501,8246,0.00,2.25,0.00,0.000,4,0.000,0.065,2941,3461,2425,0,0,0,0,0,0
$GC,8302,-0.68,-116.8,695.0,-9.6,504,8307,0.10,2.15,0.00,0.000,6,0.168,0.041,2966,2046,2425,0,0,0,0,0,0
$GC,8635,-0.72,-116.8,723.0,-8.4,520,8639,0.00,2.20,0.00,0.000,4,0.000,0.055,2967,646,2425,0,0,0,0,0,0
$GC,8661,-0.72,-116.8,725.6,-9.8,521,8666,0.00,2.22,0.00,0.000,6,0.000,0.039,2957,2064,2425,0,0,0,0,0,0
$GC,8983,-0.72,-116.8,754.7,-9.3,537,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2064,2425,0,0,0,0,0,0
$GC,9291,-0.72,-116.8,783.2,-9.1,552,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2064,2425,0,0,0,0,0,0
$GC,9602,-0.72,-116.8,810.1,-8.3,567,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2064,2425,0,0,0,0,0,0
$GC,9910,-0.75,-116.8,835.0,-8.1,582,9914,0.00,2.22,0.00,0.000,4,0.000,0.065,2948,3461,2424,0,0,0,0,0,0
$GC,9937,-0.75,-116.8,837.3,-9.0,583,9941,0.00,2.17,0.00,0.000,6,0.000,0.041,2948,2061,2424,0,0,0,0,0,0
$GC,10259,-0.75,-116.8,863.0,-8.0,599,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2061,2424,0,0,0,0,0,0
$GC,10567,-0.75,-116.8,888.0,-7.9,614,10571,0.00,2.22,0.00,0.000,4,0.000,0.056,2948,648,2424,0,0,0,0,0,0
$GC,10605,-0.75,-116.8,891.5,-9.4,616,10610,0.00,2.22,0.00,0.000,6,0.000,0.041,2938,2058,2424,0,0,0,0,0,0
$GC,10937,-0.75,-116.8,919.6,-8.6,632,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2058,2424,0,0,0,0,0,0
$GC,11248,-0.75,-116.8,945.1,-7.9,647,11252,0.00,2.25,0.00,0.000,4,0.000,0.064,2928,3470,2423,0,0,0,0,0,0
$GC,11281,-0.75,-116.8,948.0,-8.7,648,11286,0.00,2.17,0.00,0.000,6,0.000,0.042,2928,2056,2423,0,0,0,0,0,0
$GC,11595,-0.75,-116.8,973.4,-8.2,664,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2056,2424,0,0,0,0,0,0
$GC,11906,-0.75,-116.8,998.1,-7.8,679,11910,0.00,2.20,0.00,0.000,4,0.000,0.057,2927,660,2424,0,0,0,0,0,0
$STATE,11925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11925,begin apogee
$GC,11931,-0.19,0.0,1000.1,8.6,680,12041,0.60,0.00,106.15,1.285,6,0.144,0.000,3110,1610,1950,0,0,0,0,0,0
$STATE,12041,end apogee,CONTROL_FINISHED_OK
$STATE,12041,begin climb
$GC,12043,0.76,116.8,1002.5,0.0,685,12163,0.95,2.50,112.32,1.249,4,0.096,0.055,3421,2992,1474,0,0,0,0,0,0
$GC,12214,0.76,116.8,990.1,9.4,694,12219,0.00,2.35,0.00,0.000,6,0.000,0.036,3430,1614,1470,0,0,0,0,0,0
$GC,12545,0.76,116.8,956.1,10.6,710,12550,0.00,2.40,0.00,0.000,4,0.000,0.055,3442,190,1466,0,0,0,0,0,0
$GC,12617,0.72,116.8,947.9,11.3,713,12622,0.08,2.30,0.00,0.000,6,0.138,0.038,3417,1599,1465,0,0,0,0,0,0
$GC,12945,0.72,116.8,915.3,9.7,729,12949,0.00,2.28,0.00,0.000,4,0.000,0.056,3417,2994,1464,0,0,0,0,0,0
$GC,12987,0.72,116.8,910.8,10.0,731,12992,0.00,2.22,0.00,0.000,6,0.000,0.035,3425,1595,1463,0,0,0,0,0,0
$GC,13315,0.72,116.8,879.3,9.6,747,13319,0.00,2.30,0.00,0.000,4,0.000,0.056,3436,185,1463,0,0,0,0,0,0
$GC,13414,0.68,116.8,868.7,10.6,751,13420,0.08,2.25,0.00,0.000,6,0.136,0.037,3410,1603,1462,0,0,0,0,0,0
$GC,13731,0.71,116.8,840.1,9.0,767,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1604,1462,0,0,0,0,0,0
$GC,14039,0.75,116.8,812.6,8.9,782,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1604,1462,0,0,0,0,0,0
$GC,14349,0.78,116.8,785.2,9.0,797,14351,0.08,0.00,0.00,0.000,6,0.120,0.000,3454,1604,1462,0,0,0,0,0,0
$GC,14657,0.72,116.8,753.3,10.2,812,14659,0.12,0.00,0.00,0.000,6,0.153,0.000,3419,1607,1461,0,0,0,0,0,0
$GC,14968,0.72,116.8,726.3,8.6,827,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1607,1461,0,0,0,0,0,0
$GC,15276,0.72,116.8,699.4,8.6,842,15280,0.00,2.28,0.00,0.000,4,0.000,0.056,3429,190,1461,0,0,0,0,0,0
$GC,15330,0.72,116.8,694.4,9.0,844,15336,0.03,2.22,0.00,0.000,6,0.171,0.037,3420,1606,1460,0,0,0,0,0,0
$GC,15651,0.72,122.4,667.9,8.3,860,15661,0.00,2.22,4.10,0.665,4,0.000,0.054,3419,2990,1451,0,0,0,0,0,0
$GC,15733,0.72,128.0,660.7,8.3,863,15745,0.00,2.17,7.35,0.888,6,0.000,0.037,3428,1598,1427,0,0,0,0,0,0
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$STATE,22926,end climb,SURFACE_DEPTH_REACHED
$STATE,22926,begin surface coast
$FINISH,1.8,1.014247
$STATE,22952,end surface coast,CONTROL_FINISHED_OK
$STATE,22952,begin surface
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$FG_AHR_10Vo,0.000
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$MEM,353320
$DATA_FILE_SIZE,94125,1306
$CAP_FILE_SIZE,192545,0
$CFSIZE,2097086464,2062286848
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