version: 66.07.10.p01
glider: 573
mission: 12
dive: 386
start: 10 18 115 13 50 41
data:
$ID,573
$MISSION,12
$DIVE,386
$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,-22221.109
$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,47
$R_STBD_OVSHOOT,47
$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,385
$GPS1,181015,133827,-4455.305,629.302,41,1.0,41,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-68.6
$GPS2,181015,135021,-4455.186,629.438,23,1.3,23,-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,124.3,8735,-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,25,-0.76,-116.8,0.0,0.0,0,40,0.00,0.00,-13.75,0.000,2,0.000,0.000,81,2046,1406,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.1,-2.4,2,118,11.88,2.22,-56.35,0.000,4,0.236,0.062,2932,670,2426,0,0,0,0,0,0
$GC,395,-0.66,-116.8,32.1,-12.4,59,403,0.12,2.22,0.00,0.000,6,0.139,0.041,2963,2043,2427,0,0,0,0,0,0
$GC,546,-0.66,-116.8,48.0,-11.4,84,554,0.00,2.28,0.00,0.000,4,0.000,0.053,2963,671,2428,0,0,0,0,0,0
$GC,629,-0.63,-116.8,57.1,-10.7,98,635,0.10,2.22,0.00,0.000,6,0.177,0.041,2980,2064,2428,0,0,0,0,0,0
$GC,977,-0.63,-116.8,90.3,-9.8,145,981,0.00,2.28,0.00,0.000,4,0.000,0.064,2969,3463,2428,0,0,0,0,0,0
$GC,1044,-0.66,-116.8,97.4,-9.9,148,1048,0.00,2.17,0.00,0.000,6,0.000,0.038,2969,2070,2428,0,0,0,0,0,0
$GC,1371,-0.66,-116.8,130.7,-10.0,164,1375,0.00,2.28,0.00,0.000,4,0.000,0.052,2969,649,2427,0,0,0,0,0,0
$GC,1420,-0.66,-116.8,135.9,-10.3,166,1424,0.00,2.28,0.00,0.000,6,0.000,0.041,2960,2063,2428,0,0,0,0,0,0
$GC,1742,-0.66,-116.8,164.4,-7.8,182,1746,0.00,2.30,0.00,0.000,4,0.000,0.063,2950,3468,2427,0,0,0,0,0,0
$GC,1797,-0.66,-116.8,168.8,-7.2,184,1802,0.08,2.22,0.00,0.000,6,0.181,0.040,2968,2046,2428,0,0,0,0,0,0
$GC,2119,-0.66,-116.8,193.3,-8.5,200,2123,0.00,2.33,0.00,0.000,4,0.000,0.058,2959,3472,2428,0,0,0,0,0,0
$GC,2156,-0.66,-116.8,196.9,-9.2,201,2162,0.00,2.22,0.00,0.000,6,0.000,0.041,2959,2060,2428,0,0,0,0,0,0
$GC,2475,-0.66,-116.8,226.1,-9.2,217,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2060,2428,0,0,0,0,0,0
$GC,2782,-0.66,-116.8,254.4,-9.2,232,2786,0.00,2.25,0.00,0.000,4,0.000,0.054,2959,653,2428,0,0,0,0,0,0
$GC,2843,-0.66,-116.8,260.5,-10.0,234,2852,0.05,2.25,0.00,0.000,6,0.154,0.042,2967,2057,2428,0,0,0,0,0,0
$GC,3159,-0.66,-116.8,288.5,-9.2,250,3163,0.00,2.30,0.00,0.000,4,0.000,0.061,2957,3469,2428,0,0,0,0,0,0
$GC,3229,-0.69,-116.8,294.5,-9.1,253,3233,0.00,2.20,0.00,0.000,6,0.000,0.040,2957,2058,2428,0,0,0,0,0,0
$GC,3556,-0.69,-116.8,325.0,-9.2,269,3560,0.00,2.25,0.00,0.000,4,0.000,0.054,2957,651,2428,0,0,0,0,0,0
$GC,3616,-0.69,-116.8,331.1,-9.8,272,3620,0.00,2.25,0.00,0.000,6,0.000,0.043,2948,2070,2428,0,0,0,0,0,0
$GC,3948,-0.69,-116.8,361.5,-8.9,288,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2070,2428,0,0,0,0,0,0
$GC,4258,-0.69,-116.8,389.2,-9.2,303,4263,0.00,2.28,0.00,0.000,4,0.000,0.062,2938,3466,2428,0,0,0,0,0,0
$GC,4291,-0.69,-116.8,392.5,-9.4,304,4297,0.05,2.20,0.00,0.000,6,0.151,0.040,2955,2066,2428,0,0,0,0,0,0
$GC,4606,-0.69,-116.8,420.4,-9.0,320,4610,0.00,2.28,0.00,0.000,4,0.000,0.054,2955,651,2428,0,0,0,0,0,0
$GC,4694,-0.69,-116.8,429.0,-9.6,324,4698,0.00,2.25,0.00,0.000,6,0.000,0.042,2946,2067,2428,0,0,0,0,0,0
$GC,5026,-0.69,-116.8,460.7,-9.4,340,5030,0.00,2.28,0.00,0.000,4,0.000,0.063,2935,3463,2428,0,0,0,0,0,0
$GC,5074,-0.69,-116.8,465.4,-9.5,342,5080,0.05,2.22,0.00,0.000,6,0.147,0.040,2953,2054,2428,0,0,0,0,0,0
$GC,5396,-0.69,-116.8,492.8,-8.4,358,5400,0.00,2.28,0.00,0.000,4,0.000,0.057,2953,651,2428,0,0,0,0,0,0
$GC,5467,-0.69,-116.8,499.2,-8.3,361,5472,0.00,2.25,0.00,0.000,6,0.000,0.044,2945,2069,2428,0,0,0,0,0,0
$GC,5789,-0.69,-116.8,527.7,-9.0,377,5793,0.00,2.30,0.00,0.000,4,0.000,0.063,2934,3475,2428,0,0,0,0,0,0
$GC,5843,-0.69,-116.8,533.0,-9.3,379,5849,0.05,2.25,0.00,0.000,6,0.152,0.042,2952,2061,2428,0,0,0,0,0,0
$GC,6160,-0.69,-116.8,559.4,-8.0,395,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2061,2428,0,0,0,0,0,0
$GC,6468,-0.69,-116.8,584.3,-7.8,410,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2061,2427,0,0,0,0,0,0
$GC,6779,-0.69,-116.8,608.3,-7.6,425,6783,0.00,2.30,0.00,0.000,4,0.000,0.055,2952,644,2427,0,0,0,0,0,0
$GC,6818,-0.69,-116.8,611.6,-8.3,427,6823,0.00,2.25,0.00,0.000,6,0.000,0.040,2943,2072,2427,0,0,0,0,0,0
$GC,7145,-0.69,-116.8,638.9,-8.6,443,7150,0.05,2.30,0.00,0.000,4,0.229,0.062,2945,3469,2426,0,0,0,0,0,0
$GC,7177,-0.69,-116.8,641.9,-8.8,444,7183,0.00,2.25,0.00,0.000,6,0.000,0.041,2945,2052,2426,0,0,0,0,0,0
$GC,7492,-0.69,-116.8,668.0,-8.3,460,7496,0.00,2.28,0.00,0.000,4,0.000,0.056,2945,647,2426,0,0,0,0,0,0
$GC,7553,-0.69,-116.8,673.6,-9.4,462,7559,0.05,2.28,0.00,0.000,6,0.154,0.043,2953,2060,2426,0,0,0,0,0,0
$GC,7871,-0.72,-116.8,700.1,-8.3,478,7875,0.00,2.30,0.00,0.000,4,0.000,0.064,2943,3466,2426,0,0,0,0,0,0
$GC,7948,-0.72,-116.8,707.1,-8.9,481,7953,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,2062,2426,0,0,0,0,0,0
$GC,8264,-0.72,-116.8,734.8,-9.1,497,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2062,2426,0,0,0,0,0,0
$GC,8572,-0.72,-116.8,761.6,-8.4,512,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2062,2425,0,0,0,0,0,0
$GC,8883,-0.72,-116.8,787.1,-8.2,527,8887,0.00,2.30,0.00,0.000,4,0.000,0.056,2942,645,2425,0,0,0,0,0,0
$GC,8949,-0.72,-116.8,793.1,-8.9,530,8954,0.03,2.28,0.00,0.000,6,0.175,0.041,2944,2067,2425,0,0,0,0,0,0
$GC,9275,-0.72,-116.8,818.0,-7.8,546,9279,0.00,2.30,0.00,0.000,4,0.000,0.064,2933,3471,2425,0,0,0,0,0,0
$GC,9358,-0.72,-116.8,824.9,-8.7,549,9364,0.03,2.25,0.00,0.000,6,0.172,0.043,2943,2056,2425,0,0,0,0,0,0
$GC,9675,-0.72,-116.8,849.6,-7.7,565,9679,0.00,2.25,0.00,0.000,4,0.000,0.056,2943,657,2425,0,0,0,0,0,0
$GC,9718,-0.72,-116.8,853.4,-8.3,567,9723,0.05,2.25,0.00,0.000,6,0.220,0.042,2946,2074,2425,0,0,0,0,0,0
$GC,10045,-0.72,-116.8,878.1,-7.5,583,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2074,2425,0,0,0,0,0,0
$GC,10354,-0.76,-116.8,900.6,-7.0,598,10358,0.00,2.28,0.00,0.000,4,0.000,0.061,2936,3470,2424,0,0,0,0,0,0
$GC,10393,-0.76,-116.8,903.4,-7.3,600,10397,0.00,2.22,0.00,0.000,6,0.000,0.041,2935,2051,2425,0,0,0,0,0,0
$GC,10719,-0.76,-116.8,926.6,-6.8,616,10723,0.00,2.28,0.00,0.000,4,0.000,0.058,2935,657,2424,0,0,0,0,0,0
$GC,10785,-0.76,-116.8,931.6,-7.3,619,10789,0.00,2.22,0.00,0.000,6,0.000,0.042,2926,2061,2424,0,0,0,0,0,0
$GC,11113,-0.76,-116.8,954.5,-7.2,635,11117,0.00,2.30,0.00,0.000,4,0.000,0.064,2916,3469,2424,0,0,0,0,0,0
$GC,11184,-0.76,-116.8,960.6,-8.2,638,11189,0.10,2.22,0.00,0.000,6,0.168,0.043,2942,2060,2424,0,0,0,0,0,0
$GC,11506,-0.79,-116.8,985.1,-7.8,654,11510,0.00,2.28,0.00,0.000,4,0.000,0.056,2942,645,2424,0,0,0,0,0,0
$GC,11571,-0.79,-116.8,990.9,-8.9,657,11576,0.00,2.28,0.00,0.000,6,0.000,0.041,2933,2060,2423,0,0,0,0,0,0
$STATE,11692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11693,begin apogee
$GC,11698,-0.19,0.0,1001.2,8.4,663,11812,0.60,0.00,108.38,1.272,6,0.135,0.000,3116,1588,1951,0,0,0,0,0,0
$STATE,11813,end apogee,CONTROL_FINISHED_OK
$STATE,11813,begin climb
$GC,11815,0.76,116.8,1005.5,0.0,669,11942,0.93,2.58,116.07,1.232,4,0.086,0.056,3434,202,1473,0,0,0,0,0,0
$GC,11999,0.76,120.3,995.4,8.4,677,12008,0.00,2.40,4.25,0.711,6,0.000,0.035,3434,1613,1459,0,0,0,0,0,0
$GC,12336,0.76,120.3,964.8,9.5,694,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1613,1456,0,0,0,0,0,0
$GC,12645,0.76,120.3,933.5,10.3,709,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1613,1455,0,0,0,0,0,0
$GC,12953,0.76,120.3,901.3,10.6,724,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1613,1454,0,0,0,0,0,0
$GC,13264,0.76,120.3,870.1,9.5,739,13268,0.00,2.35,0.00,0.000,4,0.000,0.054,3444,190,1454,0,0,0,0,0,0
$GC,13279,0.76,120.3,868.6,9.4,740,13284,0.05,2.22,0.00,0.000,6,0.206,0.036,3432,1607,1454,0,0,0,0,0,0
$GC,13611,0.77,128.9,840.3,8.1,756,13626,0.00,2.35,8.75,0.998,4,0.000,0.054,3441,196,1424,0,0,0,0,0,0
$GC,13671,0.77,133.5,835.1,8.3,758,13682,0.00,2.22,6.40,0.890,6,0.000,0.036,3441,1595,1405,0,0,0,0,0,0
$GC,14005,0.77,133.5,806.8,8.6,775,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1596,1403,0,0,0,0,0,0
$GC,14313,0.77,133.5,778.7,9.5,790,14317,0.00,2.25,0.00,0.000,4,0.000,0.055,3441,2990,1403,0,0,0,0,0,0
$GC,14345,0.77,133.5,775.3,9.9,791,14351,0.05,2.20,0.00,0.000,6,0.151,0.036,3432,1592,1403,0,0,0,0,0,0
$GC,14661,0.77,133.5,744.7,9.9,807,14665,0.00,2.28,0.00,0.000,4,0.000,0.057,3442,196,1403,0,0,0,0,0,0
$GC,14710,0.77,133.5,739.3,10.7,809,14715,0.00,2.22,0.00,0.000,6,0.000,0.037,3442,1607,1402,0,0,0,0,0,0
$GC,15032,0.77,133.5,706.2,10.1,825,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1608,1402,0,0,0,0,0,0
$GC,15341,0.77,133.5,676.8,9.3,840,15345,0.00,2.33,0.00,0.000,4,0.000,0.054,3451,192,1402,0,0,0,0,0,0
$GC,15362,0.77,133.5,674.7,9.5,841,15367,0.05,2.22,0.00,0.000,6,0.141,0.036,3433,1600,1402,0,0,0,0,0,0
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$STATE,22472,end climb,SURFACE_DEPTH_REACHED
$STATE,22472,begin surface coast
$FINISH,1.7,1.011426
$STATE,22513,end surface coast,CONTROL_FINISHED_OK
$STATE,22513,begin surface
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$HUMID,64.37
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$TCM_TEMP,11.60
$XPDR_PINGS,0
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$10V_AH,9.6,48.782
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.950,200.425,270.200,20.875,0.000,51.396,122.743,315.232,0.000,0.000,26.057,2803.442,16095.400,428.098,3647.039,281.141,0.000,1779.913,0.000,2996.959,0.000,0.539,0.000
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$MEM,353172
$DATA_FILE_SIZE,93765,1285
$CAP_FILE_SIZE,197988,0
$CFSIZE,2097086464,2041413632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181015,200752,-4454.695,634.094,41,0.8,41,-24.4