version: 66.07.10.p01
glider: 573
mission: 12
dive: 393
start: 10 20 115 1 11 30
data:
$ID,573
$MISSION,12
$DIVE,393
$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,-22238.479
$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,33
$R_STBD_OVSHOOT,53
$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,392
$GPS1,201015,005933,-4457.261,637.494,40,0.8,40,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.9
$GPS2,201015,011110,-4457.165,637.628,26,1.0,26,-24.4
$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,213.9,12837,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.70,0.000,2,0.000,0.000,78,2081,1642,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-3.0,4,106,11.93,2.33,-29.20,0.000,4,0.238,0.078,2922,3444,2429,0,0,0,0,0,0
$GC,371,-0.67,-116.8,36.3,-11.7,55,380,0.12,2.22,0.00,0.000,6,0.142,0.044,2962,2066,2431,0,0,0,0,0,0
$GC,520,-0.67,-116.8,51.1,-9.1,80,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2065,2431,0,0,0,0,0,0
$GC,869,-0.67,-116.8,84.6,-9.9,136,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2066,2430,0,0,0,0,0,0
$GC,1181,-0.67,-116.8,113.0,-8.8,151,1185,0.00,2.25,0.00,0.000,4,0.000,0.057,2953,3442,2431,0,0,0,0,0,0
$GC,1236,-0.67,-116.8,118.0,-8.5,153,1242,0.00,2.20,0.00,0.000,6,0.000,0.041,2953,2053,2431,0,0,0,0,0,0
$GC,1554,-0.67,-116.8,145.5,-8.7,169,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2053,2431,0,0,0,0,0,0
$GC,1861,-0.67,-116.8,173.1,-8.9,184,1865,0.00,2.25,0.00,0.000,4,0.000,0.057,2953,661,2431,0,0,0,0,0,0
$GC,1894,-0.62,-116.8,176.4,-9.3,185,1899,0.12,2.17,0.00,0.000,6,0.170,0.040,2977,2040,2431,0,0,0,0,0,0
$GC,2219,-0.66,-116.8,200.4,-8.1,201,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2040,2431,0,0,0,0,0,0
$GC,2525,-0.70,-116.8,225.7,-8.3,216,2530,0.05,2.25,0.00,0.000,4,0.167,0.054,2931,657,2431,0,0,0,0,0,0
$GC,2590,-0.62,-116.8,232.6,-11.7,219,2595,0.20,2.22,0.00,0.000,6,0.152,0.042,2978,2058,2431,0,0,0,0,0,0
$GC,2921,-0.66,-116.8,262.6,-8.7,235,2925,0.00,2.30,0.00,0.000,4,0.000,0.064,2967,3463,2431,0,0,0,0,0,0
$GC,3009,-0.72,-116.8,270.5,-8.4,239,3013,0.00,2.20,0.00,0.000,6,0.000,0.041,2968,2056,2431,0,0,0,0,0,0
$GC,3338,-0.72,-116.8,298.8,-8.4,255,3342,0.00,2.28,0.00,0.000,4,0.000,0.057,2968,653,2431,0,0,0,0,0,0
$GC,3409,-0.72,-116.8,305.4,-9.1,258,3414,0.00,2.28,0.00,0.000,6,0.000,0.044,2959,2063,2431,0,0,0,0,0,0
$GC,3730,-0.72,-116.8,332.2,-8.3,274,3734,0.00,2.30,0.00,0.000,4,0.000,0.064,2948,3466,2430,0,0,0,0,0,0
$GC,3814,-0.72,-116.8,339.4,-8.9,278,3818,0.00,2.20,0.00,0.000,6,0.000,0.041,2948,2063,2431,0,0,0,0,0,0
$GC,4140,-0.72,-116.8,365.7,-8.1,294,4144,0.00,2.25,0.00,0.000,4,0.000,0.055,2948,657,2431,0,0,0,0,0,0
$GC,4172,-0.69,-116.8,368.7,-9.1,295,4178,0.05,2.25,0.00,0.000,6,0.154,0.043,2956,2061,2431,0,0,0,0,0,0
$GC,4488,-0.69,-116.8,394.7,-8.8,311,4492,0.00,2.33,0.00,0.000,4,0.000,0.064,2947,3477,2431,0,0,0,0,0,0
$GC,4537,-0.69,-116.8,399.3,-9.0,313,4542,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,2063,2431,0,0,0,0,0,0
$GC,4860,-0.69,-116.8,428.6,-9.4,329,4864,0.03,2.28,0.00,0.000,4,0.270,0.057,2956,655,2430,0,0,0,0,0,0
$GC,4936,-0.69,-116.8,436.1,-9.6,332,4942,0.00,2.25,0.00,0.000,6,0.000,0.041,2948,2060,2431,0,0,0,0,0,0
$GC,5251,-0.69,-116.8,465.4,-9.3,348,5255,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,3472,2431,0,0,0,0,0,0
$GC,5306,-0.69,-116.8,470.8,-10.0,350,5311,0.05,2.25,0.00,0.000,6,0.152,0.044,2955,2064,2431,0,0,0,0,0,0
$GC,5627,-0.69,-116.8,499.0,-8.8,366,5631,0.00,2.28,0.00,0.000,4,0.000,0.055,2956,650,2431,0,0,0,0,0,0
$GC,5677,-0.69,-116.8,503.9,-10.0,368,5681,0.00,2.25,0.00,0.000,6,0.000,0.042,2947,2070,2431,0,0,0,0,0,0
$GC,6003,-0.69,-116.8,532.6,-8.6,384,6007,0.00,2.28,0.00,0.000,4,0.000,0.064,2936,3465,2431,0,0,0,0,0,0
$GC,6074,-0.69,-116.8,539.3,-9.3,387,6079,0.05,2.25,0.00,0.000,6,0.149,0.042,2955,2050,2430,0,0,0,0,0,0
$GC,6402,-0.69,-116.8,567.0,-8.5,403,6406,0.00,2.28,0.00,0.000,4,0.000,0.057,2954,651,2430,0,0,0,0,0,0
$GC,6442,-0.69,-116.8,570.7,-9.5,405,6446,0.00,2.25,0.00,0.000,6,0.000,0.044,2946,2064,2430,0,0,0,0,0,0
$GC,6770,-0.69,-116.8,599.2,-8.5,421,6774,0.05,2.33,0.00,0.000,4,0.235,0.067,2947,3463,2430,0,0,0,0,0,0
$GC,6858,-0.72,-116.8,606.9,-8.9,425,6862,0.00,2.20,0.00,0.000,6,0.000,0.041,2947,2059,2430,0,0,0,0,0,0
$GC,7185,-0.72,-116.8,634.8,-8.6,441,7189,0.00,2.25,0.00,0.000,4,0.000,0.057,2947,657,2430,0,0,0,0,0,0
$GC,7263,-0.72,-116.8,642.0,-9.6,444,7269,0.00,2.25,0.00,0.000,6,0.000,0.044,2938,2052,2430,0,0,0,0,0,0
$GC,7578,-0.72,-116.8,670.3,-9.2,460,7582,0.00,2.28,0.00,0.000,4,0.000,0.060,2927,3468,2429,0,0,0,0,0,0
$GC,7610,-0.72,-116.8,673.5,-9.0,461,7615,0.05,2.22,0.00,0.000,6,0.155,0.041,2945,2065,2429,0,0,0,0,0,0
$GC,7932,-0.72,-116.8,702.2,-9.1,477,7936,0.00,2.28,0.00,0.000,4,0.000,0.055,2945,648,2429,0,0,0,0,0,0
$GC,8026,-0.72,-116.8,711.6,-10.5,481,8030,0.00,2.28,0.00,0.000,6,0.000,0.043,2936,2060,2429,0,0,0,0,0,0
$GC,8348,-0.72,-116.8,741.3,-9.3,497,8352,0.05,2.33,0.00,0.000,4,0.230,0.064,2937,3466,2429,0,0,0,0,0,0
$GC,8387,-0.72,-116.8,745.0,-9.5,499,8391,0.00,2.22,0.00,0.000,6,0.000,0.041,2937,2048,2429,0,0,0,0,0,0
$GC,8714,-0.72,-116.8,774.8,-8.9,515,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2048,2429,0,0,0,0,0,0
$GC,9023,-0.72,-116.8,801.1,-8.4,530,9027,0.00,2.25,0.00,0.000,4,0.000,0.056,2938,653,2429,0,0,0,0,0,0
$GC,9061,-0.72,-116.8,804.6,-9.5,532,9066,0.10,2.25,0.00,0.000,6,0.174,0.044,2954,2064,2429,0,0,0,0,0,0
$GC,9389,-0.76,-116.8,829.2,-7.4,548,9393,0.00,2.30,0.00,0.000,4,0.000,0.066,2944,3463,2429,0,0,0,0,0,0
$GC,9438,-0.80,-116.8,833.1,-8.1,550,9443,0.05,2.20,0.00,0.000,6,0.161,0.041,2907,2059,2429,0,0,0,0,0,0
$GC,9754,-0.74,-116.8,860.8,-8.9,565,9759,0.12,2.28,0.00,0.000,4,0.167,0.059,2940,658,2429,0,0,0,0,0,0
$GC,9815,-0.74,-116.8,866.3,-8.9,568,9819,0.00,2.22,0.00,0.000,6,0.000,0.044,2932,2058,2429,0,0,0,0,0,0
$GC,10146,-0.74,-116.8,893.1,-8.1,584,10151,0.00,2.33,0.00,0.000,4,0.000,0.064,2921,3470,2429,0,0,0,0,0,0
$GC,10224,-0.74,-116.8,899.6,-8.0,587,10229,0.08,2.22,0.00,0.000,6,0.185,0.043,2939,2055,2429,0,0,0,0,0,0
$GC,10541,-0.74,-116.8,924.5,-7.8,603,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2055,2429,0,0,0,0,0,0
$GC,10848,-0.74,-116.8,949.5,-8.2,618,10853,0.00,2.28,0.00,0.000,4,0.000,0.057,2939,647,2428,0,0,0,0,0,0
$GC,10881,-0.74,-116.8,952.6,-9.9,619,10886,0.00,2.28,0.00,0.000,6,0.000,0.045,2930,2055,2428,0,0,0,0,0,0
$GC,11198,-0.74,-116.8,979.1,-8.4,635,11202,0.00,2.30,0.00,0.000,4,0.000,0.061,2920,3465,2427,0,0,0,0,0,0
$GC,11241,-0.74,-116.8,983.3,-9.1,637,11246,0.05,2.22,0.00,0.000,6,0.151,0.041,2937,2059,2427,0,0,0,0,0,0
$STATE,11443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11443,begin apogee
$GC,11449,-0.19,0.0,1000.7,8.5,647,11564,0.60,0.00,111.03,1.273,6,0.136,0.000,3120,1590,1949,0,0,0,0,0,0
$STATE,11565,end apogee,CONTROL_FINISHED_OK
$STATE,11565,begin climb
$GC,11567,0.76,116.8,1004.8,0.0,653,11693,0.95,2.62,117.35,1.229,4,0.084,0.053,3430,3008,1473,0,0,0,0,0,0
$GC,11706,0.78,153.0,998.2,6.8,660,11750,0.00,2.40,38.67,1.180,6,0.000,0.034,3439,1604,1325,0,0,0,0,0,0
$GC,12076,0.78,153.0,963.1,9.9,678,12080,0.00,2.40,0.00,0.000,4,0.000,0.056,3450,193,1318,0,0,0,0,0,0
$GC,12205,0.78,153.0,949.5,10.3,684,12210,0.05,2.30,0.00,0.000,6,0.203,0.037,3438,1618,1317,0,0,0,0,0,0
$GC,12530,0.78,153.0,917.1,10.1,700,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1618,1316,0,0,0,0,0,0
$GC,12841,0.78,153.0,885.7,10.1,715,12845,0.00,2.35,0.00,0.000,4,0.000,0.054,3447,186,1315,0,0,0,0,0,0
$GC,12890,0.78,153.0,880.1,10.9,717,12894,0.00,2.25,0.00,0.000,6,0.000,0.036,3447,1615,1315,0,0,0,0,0,0
$GC,13217,0.78,153.0,844.6,10.8,733,13222,0.00,2.35,0.00,0.000,4,0.000,0.054,3457,192,1315,0,0,0,0,0,0
$GC,13239,0.78,153.0,842.0,11.5,734,13244,0.05,2.25,0.00,0.000,6,0.135,0.037,3437,1605,1314,0,0,0,0,0,0
$GC,13565,0.78,153.0,806.9,10.8,750,13569,0.00,2.33,0.00,0.000,4,0.000,0.054,3446,193,1314,0,0,0,0,0,0
$GC,13614,0.78,153.0,801.3,10.8,752,13618,0.00,2.22,0.00,0.000,6,0.000,0.036,3447,1599,1314,0,0,0,0,0,0
$GC,13934,0.78,153.0,765.9,10.8,768,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1599,1314,0,0,0,0,0,0
$GC,14245,0.78,153.0,733.5,10.0,783,14246,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1598,1314,0,0,0,0,0,0
$GC,14553,0.78,153.0,703.1,9.7,798,14557,0.00,2.33,0.00,0.000,4,0.000,0.054,3456,186,1314,0,0,0,0,0,0
$GC,14624,0.78,153.0,695.8,10.7,801,14629,0.05,2.22,0.00,0.000,6,0.135,0.035,3436,1593,1314,0,0,0,0,0,0
$GC,14946,0.78,153.0,667.4,8.8,817,14950,0.00,2.30,0.00,0.000,4,0.000,0.054,3446,193,1314,0,0,0,0,0,0
$GC,14995,0.78,153.0,662.8,10.3,819,14999,0.00,2.22,0.00,0.000,6,0.000,0.036,3445,1603,1313,0,0,0,0,0,0
$GC,15317,0.78,153.0,634.0,9.0,835,15321,0.00,2.33,0.00,0.000,4,0.000,0.054,3456,190,1313,0,0,0,0,0,0
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$STATE,21923,end climb,SURFACE_DEPTH_REACHED
$STATE,21923,begin surface coast
$FINISH,1.8,1.023442
$STATE,21962,end surface coast,CONTROL_FINISHED_OK
$STATE,21962,begin surface
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$HUMID,63.97
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.50
$XPDR_PINGS,0
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$10V_AH,9.6,49.533
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353148
$DATA_FILE_SIZE,90623,1256
$CAP_FILE_SIZE,200815,0
$CFSIZE,2097086464,2040496128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201015,071927,-4458.422,638.471,40,0.9,40,-24.5