version: 66.07.10.p01
glider: 573
mission: 12
dive: 347
start: 10 9 115 19 34 19
data:
$ID,573
$MISSION,12
$DIVE,347
$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,-22118.236
$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,36
$R_STBD_OVSHOOT,39
$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,346
$GPS1,091015,192528,-4504.494,633.004,39,0.8,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-69.3
$GPS2,091015,193358,-4504.471,633.016,17,1.3,17,-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,298.6,11826,-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,-116.8,0.0,0.0,0,40,0.00,0.00,-13.77,0.000,2,0.000,0.000,60,2066,1407,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.0,-2.2,2,113,11.88,2.30,-52.05,0.000,4,0.238,0.065,2933,653,2425,0,0,0,0,0,0
$GC,136,-0.73,-116.8,4.8,-6.5,16,144,0.05,2.28,0.00,0.000,6,0.173,0.041,2940,2051,2426,0,0,0,0,0,0
$GC,195,-0.66,-116.8,11.8,-12.1,25,203,0.10,0.00,0.00,0.000,6,0.188,0.000,2965,2051,2427,0,0,0,0,0,0
$GC,254,-0.66,-116.8,18.0,-10.1,34,261,0.00,2.30,0.00,0.000,4,0.000,0.051,2965,664,2427,0,0,0,0,0,0
$GC,289,-0.63,-116.8,21.1,-8.6,39,297,0.05,2.25,0.00,0.000,6,0.160,0.036,2973,2067,2427,0,0,0,0,0,0
$GC,448,-0.63,-116.8,35.8,-8.5,64,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2067,2428,0,0,0,0,0,0
$GC,595,-0.63,-116.8,50.4,-10.2,89,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2067,2428,0,0,0,0,0,0
$GC,939,-0.63,-116.8,84.5,-9.7,144,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2067,2428,0,0,0,0,0,0
$GC,1250,-0.63,-116.8,114.5,-9.7,159,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2067,2428,0,0,0,0,0,0
$GC,1557,-0.63,-116.8,144.2,-9.9,174,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2068,2428,0,0,0,0,0,0
$GC,1869,-0.63,-116.8,172.6,-8.6,189,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2067,2428,0,0,0,0,0,0
$GC,2177,-0.63,-116.8,196.2,-7.5,204,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2067,2428,0,0,0,0,0,0
$GC,2488,-0.63,-116.8,220.7,-8.2,219,2492,0.00,2.28,0.00,0.000,4,0.000,0.062,2962,3468,2428,0,0,0,0,0,0
$GC,2542,-0.66,-116.8,226.0,-9.3,221,2548,0.00,2.22,0.00,0.000,6,0.000,0.041,2963,2053,2428,0,0,0,0,0,0
$GC,2861,-0.66,-116.8,255.6,-9.6,237,2865,0.00,2.25,0.00,0.000,4,0.000,0.056,2963,659,2428,0,0,0,0,0,0
$GC,2915,-0.66,-116.8,261.7,-10.8,239,2921,0.00,2.22,0.00,0.000,6,0.000,0.041,2954,2054,2429,0,0,0,0,0,0
$GC,3234,-0.66,-116.8,294.7,-10.4,255,3236,0.05,0.00,0.00,0.000,6,0.224,0.000,2965,2054,2428,0,0,0,0,0,0
$GC,3540,-0.66,-116.8,324.6,-9.5,270,3544,0.00,2.30,0.00,0.000,4,0.000,0.059,2955,3478,2428,0,0,0,0,0,0
$GC,3583,-0.66,-116.8,329.0,-10.0,272,3587,0.00,2.25,0.00,0.000,6,0.000,0.040,2955,2053,2428,0,0,0,0,0,0
$GC,3909,-0.66,-116.8,360.5,-9.9,288,3911,0.05,0.00,0.00,0.000,6,0.219,0.000,2966,2053,2428,0,0,0,0,0,0
$GC,4220,-0.69,-116.8,389.6,-9.5,303,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2053,2428,0,0,0,0,0,0
$GC,4528,-0.72,-116.8,419.7,-9.8,318,4532,0.00,2.25,0.00,0.000,4,0.000,0.056,2966,662,2428,0,0,0,0,0,0
$GC,4577,-0.72,-116.8,424.9,-10.3,320,4582,0.00,2.22,0.00,0.000,6,0.000,0.041,2958,2061,2428,0,0,0,0,0,0
$GC,4898,-0.72,-116.8,456.7,-9.5,336,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2061,2428,0,0,0,0,0,0
$GC,5209,-0.72,-116.8,484.5,-8.8,351,5213,0.00,2.30,0.00,0.000,4,0.000,0.066,2947,3466,2429,0,0,0,0,0,0
$GC,5235,-0.72,-116.8,487.1,-9.0,352,5240,0.00,2.22,0.00,0.000,6,0.000,0.042,2947,2066,2428,0,0,0,0,0,0
$GC,5562,-0.72,-116.8,514.8,-8.1,368,5566,0.00,2.28,0.00,0.000,4,0.000,0.055,2947,653,2428,0,0,0,0,0,0
$GC,5656,-0.72,-116.8,522.8,-8.2,372,5660,0.00,2.25,0.00,0.000,6,0.000,0.044,2938,2074,2428,0,0,0,0,0,0
$GC,5976,-0.72,-116.8,548.9,-8.3,388,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2074,2428,0,0,0,0,0,0
$GC,6287,-0.72,-116.8,572.1,-7.5,403,6291,0.00,2.25,0.00,0.000,4,0.000,0.060,2927,3466,2428,0,0,0,0,0,0
$GC,6321,-0.69,-116.8,574.7,-7.8,404,6327,0.12,2.20,0.00,0.000,6,0.158,0.041,2961,2052,2428,0,0,0,0,0,0
$GC,6637,-0.73,-116.8,596.2,-6.8,420,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2053,2428,0,0,0,0,0,0
$GC,6946,-0.77,-116.8,618.4,-7.3,435,6948,0.08,0.00,0.00,0.000,6,0.122,0.000,2915,2053,2428,0,0,0,0,0,0
$GC,7255,-0.71,-116.8,646.7,-9.5,450,7260,0.15,2.28,0.00,0.000,4,0.158,0.058,2956,654,2428,0,0,0,0,0,0
$GC,7289,-0.71,-116.8,649.6,-8.5,451,7293,0.00,2.25,0.00,0.000,6,0.000,0.044,2948,2068,2428,0,0,0,0,0,0
$GC,7605,-0.71,-116.8,674.8,-8.1,467,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2068,2427,0,0,0,0,0,0
$GC,7913,-0.71,-116.8,700.6,-8.4,482,7917,0.00,2.30,0.00,0.000,4,0.000,0.054,2948,658,2426,0,0,0,0,0,0
$GC,7939,-0.71,-116.8,703.0,-9.1,483,7944,0.03,2.25,0.00,0.000,6,0.176,0.042,2948,2061,2427,0,0,0,0,0,0
$GC,8261,-0.71,-116.8,725.7,-6.9,499,8265,0.00,2.33,0.00,0.000,4,0.000,0.066,2938,3476,2426,0,0,0,0,0,0
$GC,8327,-0.71,-116.8,730.2,-6.6,502,8331,0.05,2.25,0.00,0.000,6,0.210,0.044,2950,2046,2426,0,0,0,0,0,0
$GC,8652,-0.71,-116.8,751.9,-6.9,518,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2046,2426,0,0,0,0,0,0
$GC,8963,-0.71,-116.8,774.5,-7.5,533,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2046,2426,0,0,0,0,0,0
$GC,9271,-0.71,-116.8,798.3,-7.6,548,9275,0.00,2.25,0.00,0.000,4,0.000,0.055,2950,655,2426,0,0,0,0,0,0
$GC,9325,-0.71,-116.8,803.1,-8.9,550,9331,0.00,2.25,0.00,0.000,6,0.000,0.041,2941,2066,2426,0,0,0,0,0,0
$GC,9640,-0.71,-116.8,829.5,-8.3,566,9645,0.00,2.30,0.00,0.000,4,0.000,0.065,2931,3468,2426,0,0,0,0,0,0
$GC,9690,-0.71,-116.8,833.9,-8.5,568,9695,0.10,2.22,0.00,0.000,6,0.160,0.041,2957,2050,2425,0,0,0,0,0,0
$GC,10012,-0.76,-116.8,857.8,-7.6,584,10017,0.05,2.28,0.00,0.000,4,0.167,0.056,2918,651,2425,0,0,0,0,0,0
$GC,10050,-0.70,-116.8,861.4,-9.6,586,10055,0.17,2.25,0.00,0.000,6,0.153,0.044,2957,2070,2425,0,0,0,0,0,0
$GC,10377,-0.75,-116.8,888.5,-8.3,602,10381,0.00,2.30,0.00,0.000,4,0.000,0.064,2947,3475,2425,0,0,0,0,0,0
$GC,10404,-0.79,-116.8,891.0,-8.5,603,10409,0.05,2.22,0.00,0.000,6,0.161,0.042,2908,2058,2425,0,0,0,0,0,0
$GC,10719,-0.74,-116.8,922.9,-10.2,618,10721,0.12,0.00,0.00,0.000,6,0.165,0.000,2941,2058,2425,0,0,0,0,0,0
$GC,11029,-0.74,-116.8,949.3,-8.1,633,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2059,2425,0,0,0,0,0,0
$GC,11337,-0.74,-116.8,973.9,-7.5,648,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2059,2425,0,0,0,0,0,0
$GC,11648,-0.74,-116.8,997.9,-7.9,663,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2058,2425,0,0,0,0,0,0
$STATE,11687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11687,begin apogee
$GC,11692,-0.19,0.0,1001.3,8.0,665,11808,0.57,0.00,109.32,1.281,6,0.134,0.000,3118,1592,1949,0,0,0,0,0,0
$STATE,11809,end apogee,CONTROL_FINISHED_OK
$STATE,11809,begin climb
$GC,11811,0.76,116.8,1004.5,0.0,671,11934,0.95,2.53,116.05,1.236,4,0.084,0.054,3440,202,1473,0,0,0,0,0,0
$GC,11973,0.72,116.8,994.7,9.7,679,11978,0.10,2.42,0.00,0.000,6,0.151,0.036,3416,1620,1470,0,0,0,0,0,0
$GC,12300,0.73,128.8,968.9,8.0,695,12317,0.00,0.00,12.10,1.088,6,0.000,0.000,3416,1620,1424,0,0,0,0,0,0
$GC,12628,0.74,147.0,943.3,7.7,711,12649,0.00,0.00,19.12,1.154,6,0.000,0.000,3416,1620,1349,0,0,0,0,0,0
$GC,12958,0.79,158.3,917.1,8.0,727,12978,0.08,2.45,12.35,1.091,4,0.117,0.054,3468,189,1303,0,0,0,0,0,0
$GC,13041,0.73,158.3,908.5,11.0,730,13047,0.17,2.25,0.00,0.000,6,0.135,0.037,3417,1601,1302,0,0,0,0,0,0
$GC,13355,0.78,158.3,881.2,8.8,746,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1602,1301,0,0,0,0,0,0
$GC,13666,0.83,166.3,855.0,8.2,761,13678,0.10,0.00,8.95,1.012,6,0.098,0.000,3469,1601,1271,0,0,0,0,0,0
$GC,13974,0.79,166.3,823.5,10.3,776,13979,0.12,2.33,0.00,0.000,4,0.148,0.055,3442,198,1270,0,0,0,0,0,0
$GC,14081,0.79,166.3,813.1,9.4,781,14085,0.00,2.22,0.00,0.000,6,0.000,0.037,3443,1617,1269,0,0,0,0,0,0
$GC,14407,0.79,166.3,782.6,9.6,797,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1617,1269,0,0,0,0,0,0
$GC,14716,0.79,166.3,751.2,10.2,812,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1617,1269,0,0,0,0,0,0
$GC,15026,0.79,166.3,719.7,10.2,827,15030,0.00,2.33,0.00,0.000,4,0.000,0.054,3453,198,1269,0,0,0,0,0,0
$GC,15088,0.79,166.3,712.7,11.5,830,15093,0.05,2.20,0.00,0.000,6,0.206,0.037,3439,1605,1268,0,0,0,0,0,0
$GC,15415,0.79,166.3,678.5,10.5,846,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1607,1268,0,0,0,0,0,0
$GC,15724,0.79,166.3,646.6,9.9,861,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1607,1268,0,0,0,0,0,0
$GC,16032,0.79,166.3,615.8,10.1,876,16036,0.00,2.33,0.00,0.000,4,0.000,0.054,3448,189,1268,0,0,0,0,0,0
$GC,16103,0.79,166.3,607.9,10.6,879,16108,0.00,2.22,0.00,0.000,6,0.000,0.036,3449,1596,1268,0,0,0,0,0,0
$GC,16425,0.79,166.3,573.6,10.7,895,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1596,1268,0,0,0,0,0,0
$GC,16734,0.79,166.3,541.9,9.8,910,16736,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1596,1268,0,0,0,0,0,0
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$STATE,22517,end climb,SURFACE_DEPTH_REACHED
$STATE,22517,begin surface coast
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$STATE,22549,end surface coast,CONTROL_FINISHED_OK
$STATE,22550,begin surface
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$HUMID,64.60
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$TCM_TEMP,11.60
$XPDR_PINGS,0
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$10V_AH,9.7,44.419
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353268
$DATA_FILE_SIZE,90745,1287
$CAP_FILE_SIZE,184458,0
$CFSIZE,2097086464,2046558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101015,015152,-4504.135,630.214,40,1.2,40,-24.4