version: 66.07.10.p01
glider: 573
mission: 12
dive: 360
start: 10 12 115 22 53 12
data:
$ID,573
$MISSION,12
$DIVE,360
$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,-22154.734
$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,31
$R_STBD_OVSHOOT,35
$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,359
$GPS1,121015,224104,-4500.212,638.141,40,1.1,40,-24.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-61.2
$GPS2,121015,225253,-4500.117,638.301,20,1.0,20,-24.5
$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,227.2,7796,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,59,0.00,0.00,-32.15,0.000,2,0.000,0.000,69,2073,1435,0,0,0,0,0,0
$GC,62,-0.76,-116.8,3.1,-2.3,5,126,11.73,2.35,-41.58,0.000,4,0.230,0.078,2924,3457,2427,0,0,0,0,0,0
$GC,385,-0.66,-116.8,33.6,-11.5,57,393,0.12,2.25,0.00,0.000,6,0.150,0.042,2963,2059,2429,0,0,0,0,0,0
$GC,537,-0.66,-116.8,48.7,-9.7,82,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2059,2429,0,0,0,0,0,0
$GC,883,-0.66,-116.8,91.1,-10.1,129,887,0.00,2.30,0.00,0.000,4,0.000,0.057,2964,647,2429,0,0,0,0,0,0
$GC,909,-0.63,-116.8,94.2,-10.5,130,914,0.10,2.25,0.00,0.000,6,0.182,0.043,2979,2060,2429,0,0,0,0,0,0
$GC,1231,-0.63,-116.8,122.9,-8.2,146,1235,0.00,2.30,0.00,0.000,4,0.000,0.065,2969,3465,2429,0,0,0,0,0,0
$GC,1280,-0.63,-116.8,126.8,-7.2,148,1284,0.00,2.22,0.00,0.000,6,0.000,0.041,2969,2060,2429,0,0,0,0,0,0
$GC,1602,-0.63,-116.8,150.5,-7.7,164,1606,0.00,2.28,0.00,0.000,4,0.000,0.056,2969,649,2429,0,0,0,0,0,0
$GC,1628,-0.63,-116.8,153.0,-8.8,165,1634,0.05,2.28,0.00,0.000,6,0.158,0.044,2976,2065,2429,0,0,0,0,0,0
$GC,1952,-0.66,-116.8,183.0,-10.5,181,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2065,2429,0,0,0,0,0,0
$GC,2260,-0.69,-116.8,217.7,-12.2,196,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2066,2429,0,0,0,0,0,0
$GC,2571,-0.73,-116.8,252.1,-10.2,211,2576,0.08,2.30,0.00,0.000,4,0.121,0.066,2914,3465,2429,0,0,0,0,0,0
$GC,2626,-0.66,-116.8,259.1,-12.5,213,2632,0.20,2.22,0.00,0.000,6,0.151,0.041,2971,2060,2429,0,0,0,0,0,0
$GC,2944,-0.69,-116.8,289.5,-9.0,229,2948,0.00,2.25,0.00,0.000,4,0.000,0.057,2971,654,2429,0,0,0,0,0,0
$GC,3006,-0.69,-116.8,295.7,-10.2,232,3010,0.00,2.25,0.00,0.000,6,0.000,0.044,2962,2073,2429,0,0,0,0,0,0
$GC,3331,-0.69,-116.8,324.7,-8.6,248,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2072,2429,0,0,0,0,0,0
$GC,3642,-0.69,-116.8,351.6,-8.5,263,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2073,2429,0,0,0,0,0,0
$GC,3950,-0.69,-116.8,376.7,-8.0,278,3954,0.00,2.30,0.00,0.000,4,0.000,0.054,2962,646,2429,0,0,0,0,0,0
$GC,4004,-0.69,-116.8,381.4,-8.9,280,4009,0.00,2.25,0.00,0.000,6,0.000,0.040,2954,2064,2429,0,0,0,0,0,0
$GC,4325,-0.69,-116.8,408.8,-8.8,296,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2063,2429,0,0,0,0,0,0
$GC,4636,-0.69,-116.8,435.4,-8.8,311,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2064,2429,0,0,0,0,0,0
$GC,4944,-0.69,-116.8,464.0,-9.7,326,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2064,2429,0,0,0,0,0,0
$GC,5254,-0.69,-116.8,493.4,-9.4,341,5258,0.00,2.30,0.00,0.000,4,0.000,0.067,2943,3465,2429,0,0,0,0,0,0
$GC,5317,-0.69,-116.8,499.4,-9.5,344,5321,0.08,2.20,0.00,0.000,6,0.184,0.042,2961,2058,2429,0,0,0,0,0,0
$GC,5642,-0.69,-116.8,528.8,-8.8,360,5646,0.00,2.25,0.00,0.000,4,0.000,0.058,2961,656,2429,0,0,0,0,0,0
$GC,5719,-0.69,-116.8,536.1,-9.2,363,5724,0.00,2.25,0.00,0.000,6,0.000,0.045,2952,2052,2429,0,0,0,0,0,0
$GC,6035,-0.69,-116.8,563.9,-9.0,379,6039,0.00,2.30,0.00,0.000,4,0.000,0.062,2941,3469,2428,0,0,0,0,0,0
$GC,6075,-0.69,-116.8,567.6,-9.3,381,6080,0.08,2.22,0.00,0.000,6,0.181,0.042,2959,2049,2429,0,0,0,0,0,0
$GC,6402,-0.69,-116.8,595.4,-8.4,397,6406,0.00,2.25,0.00,0.000,4,0.000,0.056,2959,657,2429,0,0,0,0,0,0
$GC,6445,-0.69,-116.8,599.4,-9.2,399,6450,0.00,2.25,0.00,0.000,6,0.000,0.042,2950,2062,2429,0,0,0,0,0,0
$GC,6773,-0.69,-116.8,626.9,-8.3,415,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2063,2428,0,0,0,0,0,0
$GC,7081,-0.69,-116.8,653.3,-8.4,430,7085,0.00,2.30,0.00,0.000,4,0.000,0.057,2950,648,2429,0,0,0,0,0,0
$GC,7113,-0.69,-116.8,656.3,-9.4,431,7119,0.03,2.28,0.00,0.000,6,0.178,0.045,2951,2059,2428,0,0,0,0,0,0
$GC,7430,-0.69,-116.8,681.4,-7.9,447,7434,0.00,2.33,0.00,0.000,4,0.000,0.067,2941,3469,2429,0,0,0,0,0,0
$GC,7485,-0.69,-116.8,686.1,-8.5,449,7491,0.03,2.25,0.00,0.000,6,0.171,0.044,2952,2061,2428,0,0,0,0,0,0
$GC,7801,-0.69,-116.8,712.2,-8.6,465,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2061,2428,0,0,0,0,0,0
$GC,8109,-0.69,-116.8,739.8,-8.9,480,8113,0.00,2.25,0.00,0.000,4,0.000,0.056,2952,653,2428,0,0,0,0,0,0
$GC,8154,-0.69,-116.8,743.9,-10.0,482,8158,0.08,2.25,0.00,0.000,6,0.192,0.045,2960,2065,2428,0,0,0,0,0,0
$GC,8486,-0.74,-116.8,770.4,-7.6,498,8490,0.00,2.33,0.00,0.000,4,0.000,0.068,2950,3470,2428,0,0,0,0,0,0
$GC,8536,-0.78,-116.8,774.6,-8.5,500,8540,0.00,2.22,0.00,0.000,6,0.000,0.044,2950,2056,2428,0,0,0,0,0,0
$GC,8852,-0.78,-116.8,798.8,-7.6,515,8856,0.00,2.28,0.00,0.000,4,0.000,0.057,2950,654,2428,0,0,0,0,0,0
$GC,8940,-0.78,-116.8,806.4,-7.8,519,8945,0.00,2.25,0.00,0.000,6,0.000,0.045,2941,2059,2428,0,0,0,0,0,0
$GC,9268,-0.78,-116.8,832.6,-8.0,535,9272,0.00,2.33,0.00,0.000,4,0.000,0.066,2930,3472,2427,0,0,0,0,0,0
$GC,9307,-0.78,-116.8,836.0,-8.7,537,9311,0.00,2.22,0.00,0.000,6,0.000,0.044,2930,2057,2428,0,0,0,0,0,0
$GC,9634,-0.78,-116.8,863.4,-8.4,553,9639,0.00,2.28,0.00,0.000,4,0.000,0.058,2930,656,2428,0,0,0,0,0,0
$GC,9706,-0.74,-116.8,870.3,-9.3,556,9711,0.10,2.25,0.00,0.000,6,0.174,0.046,2947,2065,2428,0,0,0,0,0,0
$GC,10026,-0.74,-116.8,895.9,-8.2,572,10031,0.00,2.30,0.00,0.000,4,0.000,0.067,2937,3465,2427,0,0,0,0,0,0
$GC,10093,-0.74,-116.8,901.5,-8.2,575,10097,0.00,2.20,0.00,0.000,6,0.000,0.042,2937,2058,2427,0,0,0,0,0,0
$GC,10420,-0.74,-116.8,928.9,-8.2,591,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2055,2426,0,0,0,0,0,0
$GC,10728,-0.74,-116.8,954.7,-8.2,606,10732,0.00,2.25,0.00,0.000,4,0.000,0.057,2936,657,2426,0,0,0,0,0,0
$GC,10783,-0.74,-116.8,959.8,-9.4,608,10789,0.00,2.25,0.00,0.000,6,0.000,0.045,2927,2052,2426,0,0,0,0,0,0
$GC,11098,-0.74,-116.8,987.3,-8.9,624,11103,0.08,2.35,0.00,0.000,4,0.197,0.064,2935,3475,2426,0,0,0,0,0,0
$GC,11192,-0.74,-116.8,995.4,-8.3,628,11196,0.00,2.22,0.00,0.000,6,0.000,0.044,2935,2059,2426,0,0,0,0,0,0
$STATE,11263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11263,begin apogee
$GC,11268,-0.19,0.0,1001.2,8.3,632,11384,0.60,0.00,110.00,1.281,6,0.138,0.000,3117,1590,1949,0,0,0,0,0,0
$STATE,11385,end apogee,CONTROL_FINISHED_OK
$STATE,11385,begin climb
$GC,11387,0.76,116.8,1004.3,0.0,638,11507,0.93,0.00,114.88,1.233,6,0.086,0.000,3424,1590,1475,0,0,0,0,0,0
$GC,11817,0.76,116.8,971.6,8.7,659,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1590,1467,0,0,0,0,0,0
$GC,12126,0.76,118.8,945.0,8.4,674,12130,0.00,2.30,0.00,0.000,4,0.000,0.057,3435,197,1466,0,0,0,0,0,0
$GC,12180,0.76,118.8,939.7,9.0,676,12185,0.00,2.30,0.00,0.000,6,0.000,0.038,3435,1617,1465,0,0,0,0,0,0
$GC,12501,0.76,118.8,910.2,9.2,692,12505,0.00,2.25,0.00,0.000,4,0.000,0.058,3435,2992,1465,0,0,0,0,0,0
$GC,12529,0.72,122.0,907.7,8.4,693,12539,0.10,2.20,4.65,0.786,6,0.171,0.037,3418,1588,1452,0,0,0,0,0,0
$GC,12851,0.73,128.2,880.7,8.2,709,12865,0.00,2.33,7.88,0.984,4,0.000,0.057,3428,189,1426,0,0,0,0,0,0
$GC,12922,0.73,128.2,874.4,8.6,712,12926,0.00,2.25,0.00,0.000,6,0.000,0.037,3428,1614,1426,0,0,0,0,0,0
$GC,13241,0.73,128.2,846.4,8.9,728,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1614,1426,0,0,0,0,0,0
$GC,13552,0.73,128.2,819.3,8.6,743,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1614,1425,0,0,0,0,0,0
$GC,13860,0.73,128.2,793.1,8.6,758,13864,0.00,2.22,0.00,0.000,4,0.000,0.056,3428,2994,1425,0,0,0,0,0,0
$GC,13875,0.73,128.2,791.6,8.8,758,13881,0.05,2.20,0.00,0.000,6,0.152,0.037,3421,1591,1425,0,0,0,0,0,0
$GC,14191,0.78,144.2,766.6,7.8,774,14215,0.00,2.28,16.77,1.076,4,0.000,0.057,3430,195,1362,0,0,0,0,0,0
$GC,14259,0.78,144.2,760.7,9.4,777,14264,0.00,2.25,0.00,0.000,6,0.000,0.037,3430,1604,1360,0,0,0,0,0,0
$GC,14587,0.78,148.6,732.8,8.3,793,14594,0.00,0.00,5.28,0.792,6,0.000,0.000,3430,1604,1344,0,0,0,0,0,0
$GC,14895,0.78,148.6,706.8,8.6,808,14896,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1604,1343,0,0,0,0,0,0
$GC,15206,0.81,148.6,680.2,8.8,823,15207,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1604,1343,0,0,0,0,0,0
$GC,15514,0.84,148.6,651.6,9.5,838,15519,0.08,2.30,0.00,0.000,4,0.125,0.054,3483,202,1343,0,0,0,0,0,0
$GC,15553,0.76,148.6,647.2,11.3,840,15557,0.17,2.20,0.00,0.000,6,0.142,0.037,3431,1605,1342,0,0,0,0,0,0
$GC,15879,0.79,148.6,614.3,9.9,856,15880,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1605,1342,0,0,0,0,0,0
$GC,16189,0.83,148.6,586.1,8.9,871,16193,0.00,2.30,0.00,0.000,4,0.000,0.055,3440,193,1342,0,0,0,0,0,0
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$STATE,22366,end climb,SURFACE_DEPTH_REACHED
$STATE,22366,begin surface coast
$FINISH,1.9,1.023493
$STATE,22373,end surface coast,CONTROL_FINISHED_OK
$STATE,22373,begin surface
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$HUMID,64.01
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$TCM_TEMP,11.40
$XPDR_PINGS,1
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$10V_AH,9.6,45.968
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353236
$DATA_FILE_SIZE,90643,1243
$CAP_FILE_SIZE,193101,0
$CFSIZE,2097086464,2044854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131015,050834,-4502.010,638.285,34,0.9,34,-24.5