version: 66.07.10.p01
glider: 573
mission: 12
dive: 381
start: 10 17 115 10 8 13
data:
$ID,573
$MISSION,12
$DIVE,381
$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,-22208.506
$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,34
$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,380
$GPS1,171015,095827,-4459.898,626.063,40,0.8,40,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-65.5
$GPS2,171015,100753,-4459.887,626.127,17,1.4,17,-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,3.2,7720,-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,-116.8,0.0,0.0,0,34,0.00,0.00,-8.00,0.000,2,0.000,0.000,73,2069,1249,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.0,-0.0,1,125,11.62,2.35,-66.28,0.000,4,0.230,0.068,2932,665,2427,0,0,0,0,0,0
$GC,293,-0.69,-116.8,29.2,-14.7,42,300,0.08,2.25,0.00,0.000,6,0.148,0.041,2948,2056,2428,0,0,0,0,0,0
$GC,451,-0.64,-116.8,41.4,-7.7,67,457,0.10,2.30,0.00,0.000,4,0.189,0.052,2973,655,2429,0,0,0,0,0,0
$GC,493,-0.64,-116.8,45.6,-9.5,74,498,0.00,2.22,0.00,0.000,6,0.000,0.041,2964,2063,2429,0,0,0,0,0,0
$GC,843,-0.64,-116.8,74.6,-9.4,135,850,0.00,2.33,0.00,0.000,4,0.000,0.066,2954,3460,2429,0,0,0,0,0,0
$GC,879,-0.64,-116.8,78.2,-9.5,141,887,0.05,2.22,0.00,0.000,6,0.151,0.040,2971,2057,2428,0,0,0,0,0,0
$GC,1211,-0.64,-116.8,107.5,-11.4,159,1215,0.00,2.25,0.00,0.000,4,0.000,0.054,2971,652,2429,0,0,0,0,0,0
$GC,1231,-0.64,-116.8,110.6,-12.7,160,1236,0.00,2.28,0.00,0.000,6,0.000,0.044,2962,2062,2429,0,0,0,0,0,0
$GC,1559,-0.64,-116.8,145.5,-9.2,176,1563,0.00,2.30,0.00,0.000,4,0.000,0.065,2952,3474,2429,0,0,0,0,0,0
$GC,1607,-0.64,-116.8,150.6,-10.0,178,1613,0.03,2.25,0.00,0.000,6,0.171,0.041,2962,2058,2429,0,0,0,0,0,0
$GC,1930,-0.64,-116.8,178.8,-8.4,194,1934,0.00,2.25,0.00,0.000,4,0.000,0.055,2962,650,2429,0,0,0,0,0,0
$GC,1948,-0.64,-116.8,180.4,-8.8,195,1953,0.08,2.22,0.00,0.000,6,0.197,0.043,2970,2064,2429,0,0,0,0,0,0
$GC,2280,-0.64,-116.8,206.6,-8.0,211,2284,0.00,2.28,0.00,0.000,4,0.000,0.064,2960,3466,2429,0,0,0,0,0,0
$GC,2306,-0.64,-116.8,209.3,-8.2,212,2311,0.00,2.22,0.00,0.000,6,0.000,0.041,2960,2060,2429,0,0,0,0,0,0
$GC,2628,-0.64,-116.8,236.2,-8.2,228,2630,0.05,0.00,0.00,0.000,6,0.223,0.000,2971,2060,2430,0,0,0,0,0,0
$GC,2940,-0.68,-116.8,261.8,-8.5,243,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2060,2429,0,0,0,0,0,0
$GC,3247,-0.71,-116.8,288.2,-8.5,258,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2060,2429,0,0,0,0,0,0
$GC,3557,-0.75,-116.8,314.6,-8.4,273,3559,0.10,0.00,0.00,0.000,6,0.097,0.000,2914,2060,2429,0,0,0,0,0,0
$GC,3864,-0.67,-116.8,346.4,-10.0,288,3866,0.17,0.00,0.00,0.000,6,0.157,0.000,2963,2060,2429,0,0,0,0,0,0
$GC,4175,-0.67,-116.8,369.8,-7.1,303,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2060,2429,0,0,0,0,0,0
$GC,4483,-0.67,-116.8,392.4,-7.6,318,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2060,2429,0,0,0,0,0,0
$GC,4794,-0.67,-116.8,416.9,-8.3,333,4798,0.00,2.30,0.00,0.000,4,0.000,0.065,2953,3463,2429,0,0,0,0,0,0
$GC,4827,-0.67,-116.8,419.9,-8.6,334,4833,0.05,2.20,0.00,0.000,6,0.211,0.040,2965,2050,2429,0,0,0,0,0,0
$GC,5142,-0.70,-116.8,447.2,-9.1,350,5146,0.00,2.25,0.00,0.000,4,0.000,0.056,2965,648,2429,0,0,0,0,0,0
$GC,5196,-0.70,-116.8,452.6,-9.6,352,5200,0.00,2.28,0.00,0.000,6,0.000,0.044,2956,2062,2429,0,0,0,0,0,0
$GC,5517,-0.70,-116.8,485.1,-10.1,368,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2062,2429,0,0,0,0,0,0
$GC,5827,-0.70,-116.8,515.7,-9.8,383,5831,0.00,2.30,0.00,0.000,4,0.000,0.066,2946,3474,2429,0,0,0,0,0,0
$GC,5859,-0.70,-116.8,519.2,-10.4,384,5866,0.00,2.25,0.00,0.000,6,0.000,0.043,2946,2064,2429,0,0,0,0,0,0
$GC,6175,-0.70,-116.8,550.4,-9.8,400,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2064,2429,0,0,0,0,0,0
$GC,6485,-0.70,-116.8,578.5,-9.0,415,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2064,2428,0,0,0,0,0,0
$GC,6794,-0.70,-116.8,604.6,-8.2,430,6798,0.00,2.30,0.00,0.000,4,0.000,0.056,2946,645,2428,0,0,0,0,0,0
$GC,6865,-0.70,-116.8,610.7,-8.5,433,6870,0.05,2.28,0.00,0.000,6,0.157,0.041,2954,2067,2428,0,0,0,0,0,0
$GC,7187,-0.70,-116.8,633.4,-6.9,449,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2067,2427,0,0,0,0,0,0
$GC,7495,-0.70,-116.8,655.8,-7.4,464,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2067,2428,0,0,0,0,0,0
$GC,7806,-0.70,-116.8,679.6,-8.2,479,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2067,2427,0,0,0,0,0,0
$GC,8114,-0.70,-116.8,704.8,-8.3,494,8118,0.00,2.33,0.00,0.000,4,0.000,0.067,2944,3473,2427,0,0,0,0,0,0
$GC,8168,-0.70,-116.8,709.7,-9.1,496,8174,0.00,2.25,0.00,0.000,6,0.000,0.044,2944,2061,2427,0,0,0,0,0,0
$GC,8484,-0.70,-116.8,736.2,-8.1,512,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2061,2427,0,0,0,0,0,0
$GC,8795,-0.70,-116.8,760.7,-7.7,527,8798,0.00,2.28,0.00,0.000,4,0.000,0.056,2944,645,2426,0,0,0,0,0,0
$GC,8861,-0.70,-116.8,766.3,-8.3,530,8866,0.08,2.22,0.00,0.000,6,0.194,0.042,2953,2062,2426,0,0,0,0,0,0
$GC,9189,-0.73,-116.8,787.8,-6.3,546,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2062,2426,0,0,0,0,0,0
$GC,9498,-0.77,-116.8,806.6,-6.0,561,9502,0.00,2.30,0.00,0.000,4,0.000,0.067,2942,3469,2426,0,0,0,0,0,0
$GC,9537,-0.77,-116.8,809.1,-6.6,563,9542,0.00,2.20,0.00,0.000,6,0.000,0.043,2942,2055,2426,0,0,0,0,0,0
$GC,9865,-0.77,-116.8,831.6,-7.2,579,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2055,2426,0,0,0,0,0,0
$GC,10173,-0.77,-116.8,854.7,-7.8,594,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2055,2425,0,0,0,0,0,0
$GC,10483,-0.77,-116.8,878.4,-7.6,609,10487,0.00,2.28,0.00,0.000,4,0.000,0.057,2942,655,2425,0,0,0,0,0,0
$GC,10569,-0.77,-116.8,885.8,-8.4,613,10573,0.00,2.22,0.00,0.000,6,0.000,0.045,2933,2061,2425,0,0,0,0,0,0
$GC,10895,-0.77,-116.8,913.6,-8.6,629,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2061,2425,0,0,0,0,0,0
$GC,11204,-0.77,-116.8,938.0,-7.5,644,11208,0.00,2.33,0.00,0.000,4,0.000,0.067,2923,3466,2425,0,0,0,0,0,0
$GC,11253,-0.77,-116.8,941.8,-8.0,646,11257,0.00,2.20,0.00,0.000,6,0.000,0.043,2922,2057,2425,0,0,0,0,0,0
$GC,11574,-0.77,-116.8,965.0,-6.8,662,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2057,2425,0,0,0,0,0,0
$GC,11884,-0.77,-116.8,987.5,-7.3,677,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2057,2425,0,0,0,0,0,0
$STATE,12066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12067,begin apogee
$GC,12072,-0.19,0.0,1001.5,7.6,686,12187,0.65,0.00,109.47,1.275,6,0.135,0.000,3121,1590,1949,0,0,0,0,0,0
$STATE,12188,end apogee,CONTROL_FINISHED_OK
$STATE,12188,begin climb
$GC,12190,0.76,116.8,1004.0,0.0,692,12315,0.95,2.53,115.65,1.229,4,0.086,0.057,3441,201,1473,0,0,0,0,0,0
$GC,12372,0.76,116.8,991.5,9.8,701,12377,0.00,2.42,0.00,0.000,6,0.000,0.037,3441,1618,1469,0,0,0,0,0,0
$GC,12698,0.76,116.8,960.4,9.4,717,12702,0.00,2.33,0.00,0.000,4,0.000,0.058,3441,3005,1465,0,0,0,0,0,0
$GC,12748,0.72,116.8,955.3,9.9,719,12752,0.12,2.25,0.00,0.000,6,0.162,0.036,3418,1599,1465,0,0,0,0,0,0
$GC,13070,0.75,120.2,928.3,8.4,735,13074,0.00,2.33,0.00,0.000,4,0.000,0.057,3428,199,1464,0,0,0,0,0,0
$GC,13169,0.75,120.2,919.3,8.6,739,13174,0.00,2.28,0.00,0.000,6,0.000,0.037,3428,1615,1463,0,0,0,0,0,0
$GC,13486,0.75,120.2,891.5,8.8,755,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1616,1462,0,0,0,0,0,0
$GC,13794,0.75,120.2,863.5,9.5,770,13798,0.00,2.35,0.00,0.000,4,0.000,0.053,3437,190,1462,0,0,0,0,0,0
$GC,13893,0.75,120.2,853.0,11.7,774,13899,0.00,2.25,0.00,0.000,6,0.000,0.037,3437,1604,1461,0,0,0,0,0,0
$GC,14208,0.75,120.2,823.0,9.5,790,14212,0.00,2.22,0.00,0.000,4,0.000,0.056,3437,2992,1461,0,0,0,0,0,0
$GC,14263,0.75,120.2,817.5,9.3,792,14270,0.05,2.20,0.00,0.000,6,0.154,0.036,3428,1597,1461,0,0,0,0,0,0
$GC,14578,0.75,120.2,788.4,9.3,808,14582,0.00,2.30,0.00,0.000,4,0.000,0.056,3438,193,1461,0,0,0,0,0,0
$GC,14678,0.75,120.2,778.3,9.8,812,14685,0.03,2.22,0.00,0.000,6,0.168,0.037,3428,1594,1460,0,0,0,0,0,0
$GC,14993,0.75,120.2,750.5,8.7,828,14994,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1594,1460,0,0,0,0,0,0
$GC,15304,0.75,120.2,723.3,8.9,843,15305,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1595,1460,0,0,0,0,0,0
$GC,15612,0.75,121.6,696.4,8.5,858,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1594,1461,0,0,0,0,0,0
$GC,15923,0.75,121.6,668.5,8.8,873,15927,0.00,2.28,0.00,0.000,4,0.000,0.054,3437,198,1460,0,0,0,0,0,0
$GC,15977,0.75,121.6,663.3,9.1,875,15982,0.00,2.22,0.00,0.000,6,0.000,0.037,3437,1604,1460,0,0,0,0,0,0
$GC,16294,0.75,121.6,635.7,8.7,891,16295,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1605,1460,0,0,0,0,0,0
$GC,16602,0.75,125.2,609.5,8.4,906,16611,0.00,0.00,6.95,0.843,6,0.000,0.000,3437,1605,1439,0,0,0,0,0,0
$GC,16913,0.75,127.9,582.9,8.4,921,16922,0.00,2.30,4.28,0.654,4,0.000,0.054,3447,196,1428,0,0,0,0,0,0
$GC,17002,0.75,127.9,574.9,10.0,925,17007,0.08,2.17,0.00,0.000,6,0.174,0.037,3426,1600,1428,0,0,0,0,0,0
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$STATE,23069,end climb,SURFACE_DEPTH_REACHED
$STATE,23069,begin surface coast
$FINISH,1.7,1.014946
$STATE,23095,end surface coast,CONTROL_FINISHED_OK
$STATE,23095,begin surface
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$10V_AH,9.6,48.206
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.275,169.600,362.525,0.000,0.000,24.189,48.442,341.830,0.250,0.000,19.650,2787.194,16716.588,456.254,3496.380,273.074,0.000,1802.313,0.000,2946.246,0.000,0.539,0.000
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$MEM,353224
$DATA_FILE_SIZE,97269,1314
$CAP_FILE_SIZE,192849,0
$CFSIZE,2097086464,2042101760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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