version: 66.07.10.p01
glider: 573
mission: 12
dive: 394
start: 10 20 115 7 28 55
data:
$ID,573
$MISSION,12
$DIVE,394
$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,-22240.959
$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,38
$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,393
$GPS1,201015,071927,-4458.422,638.471,40,0.9,40,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-69.6
$GPS2,201015,072834,-4458.365,638.481,16,0.9,16,-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,221.8,10928,-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,-116.8,0.0,0.0,0,46,0.00,0.00,-19.38,0.000,2,0.000,0.000,73,2062,1509,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.0,-1.5,3,119,11.55,2.35,-48.55,0.000,4,0.226,0.074,2922,3461,2427,0,0,0,0,0,0
$GC,396,-0.67,-116.8,32.2,-11.7,59,404,0.12,2.25,0.00,0.000,6,0.137,0.041,2963,2054,2428,0,0,0,0,0,0
$GC,547,-0.67,-116.8,47.0,-9.8,84,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2054,2429,0,0,0,0,0,0
$GC,915,-0.67,-116.8,82.1,-9.7,145,919,0.00,2.28,0.00,0.000,4,0.000,0.057,2963,654,2428,0,0,0,0,0,0
$GC,1002,-0.64,-116.8,90.8,-9.6,149,1007,0.08,2.22,0.00,0.000,6,0.193,0.044,2972,2049,2428,0,0,0,0,0,0
$GC,1337,-0.64,-116.8,119.3,-8.4,165,1341,0.00,2.33,0.00,0.000,4,0.000,0.060,2961,3474,2429,0,0,0,0,0,0
$GC,1399,-0.64,-116.8,124.9,-8.5,168,1404,0.05,2.22,0.00,0.000,6,0.218,0.042,2972,2053,2429,0,0,0,0,0,0
$GC,1726,-0.64,-116.8,152.5,-8.5,184,1730,0.00,2.25,0.00,0.000,4,0.000,0.056,2973,650,2428,0,0,0,0,0,0
$GC,1803,-0.64,-116.8,159.5,-9.2,187,1809,0.00,2.28,0.00,0.000,6,0.000,0.043,2964,2060,2428,0,0,0,0,0,0
$GC,2121,-0.64,-116.8,189.9,-10.1,203,2125,0.00,2.30,0.00,0.000,4,0.000,0.063,2954,3467,2428,0,0,0,0,0,0
$GC,2261,-0.64,-116.8,204.8,-10.6,209,2266,0.05,2.22,0.00,0.000,6,0.148,0.040,2971,2062,2428,0,0,0,0,0,0
$GC,2585,-0.67,-116.8,235.1,-9.5,225,2589,0.00,2.28,0.00,0.000,4,0.000,0.054,2971,644,2428,0,0,0,0,0,0
$GC,2611,-0.67,-116.8,238.1,-10.0,226,2616,0.00,2.25,0.00,0.000,6,0.000,0.039,2962,2061,2429,0,0,0,0,0,0
$GC,2933,-0.67,-116.8,267.9,-9.1,242,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2061,2429,0,0,0,0,0,0
$GC,3245,-0.67,-116.8,294.1,-8.3,257,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2062,2429,0,0,0,0,0,0
$GC,3551,-0.67,-116.8,320.2,-8.5,272,3555,0.00,2.30,0.00,0.000,4,0.000,0.063,2951,3466,2429,0,0,0,0,0,0
$GC,3582,-0.67,-116.8,323.0,-9.3,273,3587,0.00,2.22,0.00,0.000,6,0.000,0.041,2952,2054,2429,0,0,0,0,0,0
$GC,3899,-0.67,-116.8,350.0,-8.7,289,3903,0.00,2.25,0.00,0.000,4,0.000,0.055,2951,657,2429,0,0,0,0,0,0
$GC,3931,-0.67,-116.8,353.3,-9.9,290,3937,0.05,2.22,0.00,0.000,6,0.151,0.041,2960,2051,2429,0,0,0,0,0,0
$GC,4246,-0.67,-116.8,380.7,-8.8,306,4250,0.00,2.28,0.00,0.000,4,0.000,0.058,2950,3467,2429,0,0,0,0,0,0
$GC,4323,-0.67,-116.8,387.5,-8.1,309,4328,0.05,2.20,0.00,0.000,6,0.210,0.039,2962,2052,2429,0,0,0,0,0,0
$GC,4645,-0.67,-116.8,414.1,-8.2,325,4649,0.00,2.25,0.00,0.000,4,0.000,0.056,2962,649,2429,0,0,0,0,0,0
$GC,4699,-0.67,-116.8,419.2,-9.3,327,4704,0.00,2.25,0.00,0.000,6,0.000,0.042,2953,2051,2429,0,0,0,0,0,0
$GC,5015,-0.67,-116.8,447.6,-9.4,343,5020,0.00,2.30,0.00,0.000,4,0.000,0.058,2943,3472,2428,0,0,0,0,0,0
$GC,5059,-0.67,-116.8,452.1,-9.5,345,5064,0.05,2.22,0.00,0.000,6,0.148,0.042,2961,2066,2429,0,0,0,0,0,0
$GC,5386,-0.67,-116.8,484.2,-10.2,361,5390,0.00,2.28,0.00,0.000,4,0.000,0.054,2960,655,2428,0,0,0,0,0,0
$GC,5448,-0.67,-116.8,490.8,-10.9,364,5452,0.00,2.22,0.00,0.000,6,0.000,0.040,2951,2066,2429,0,0,0,0,0,0
$GC,5773,-0.67,-116.8,525.2,-10.6,380,5777,0.00,2.30,0.00,0.000,4,0.000,0.064,2940,3465,2429,0,0,0,0,0,0
$GC,5863,-0.67,-116.8,534.8,-10.6,384,5867,0.10,2.20,0.00,0.000,6,0.162,0.041,2967,2056,2429,0,0,0,0,0,0
$GC,6183,-0.72,-116.8,565.5,-9.1,400,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2056,2429,0,0,0,0,0,0
$GC,6493,-0.77,-116.8,593.7,-9.1,415,6495,0.10,0.00,0.00,0.000,6,0.097,0.000,2912,2056,2428,0,0,0,0,0,0
$GC,6803,-0.70,-116.8,627.0,-10.3,430,6807,0.15,2.30,0.00,0.000,4,0.160,0.058,2953,656,2428,0,0,0,0,0,0
$GC,6836,-0.70,-116.8,630.5,-10.1,431,6840,0.00,2.25,0.00,0.000,6,0.000,0.044,2944,2069,2428,0,0,0,0,0,0
$GC,7152,-0.70,-116.8,657.0,-8.2,447,7156,0.00,2.28,0.00,0.000,4,0.000,0.063,2933,3471,2428,0,0,0,0,0,0
$GC,7257,-0.70,-116.8,666.3,-9.5,451,7262,0.10,2.22,0.00,0.000,6,0.167,0.043,2959,2053,2427,0,0,0,0,0,0
$GC,7574,-0.74,-116.8,689.1,-7.3,467,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2053,2428,0,0,0,0,0,0
$GC,7882,-0.78,-116.8,711.2,-6.9,482,7884,0.10,0.00,0.00,0.000,6,0.099,0.000,2907,2053,2427,0,0,0,0,0,0
$GC,8192,-0.71,-116.8,740.4,-10.0,497,8197,0.15,2.35,0.00,0.000,4,0.157,0.064,2939,3463,2427,0,0,0,0,0,0
$GC,8224,-0.71,-116.8,743.8,-10.0,498,8231,0.00,2.22,0.00,0.000,6,0.000,0.042,2939,2055,2427,0,0,0,0,0,0
$GC,8539,-0.71,-116.8,774.1,-9.8,514,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2053,2426,0,0,0,0,0,0
$GC,8850,-0.71,-116.8,804.7,-9.8,529,8854,0.00,2.25,0.00,0.000,4,0.000,0.057,2939,661,2426,0,0,0,0,0,0
$GC,8933,-0.71,-116.8,813.3,-10.1,532,8940,0.05,2.25,0.00,0.000,6,0.150,0.041,2948,2064,2426,0,0,0,0,0,0
$GC,9248,-0.71,-116.8,841.5,-8.7,548,9252,0.00,2.33,0.00,0.000,4,0.000,0.066,2938,3471,2426,0,0,0,0,0,0
$GC,9337,-0.71,-116.8,849.6,-9.5,552,9341,0.00,2.22,0.00,0.000,6,0.000,0.042,2937,2068,2426,0,0,0,0,0,0
$GC,9663,-0.71,-116.8,879.0,-9.1,568,9667,0.00,2.30,0.00,0.000,4,0.000,0.054,2938,649,2425,0,0,0,0,0,0
$GC,9726,-0.71,-116.8,885.1,-10.1,571,9731,0.10,2.25,0.00,0.000,6,0.171,0.043,2955,2064,2425,0,0,0,0,0,0
$GC,10054,-0.76,-116.8,913.0,-8.3,587,10058,0.00,2.33,0.00,0.000,4,0.000,0.066,2945,3471,2425,0,0,0,0,0,0
$GC,10097,-0.80,-116.8,917.3,-9.2,589,10102,0.05,2.22,0.00,0.000,6,0.168,0.043,2909,2056,2425,0,0,0,0,0,0
$GC,10426,-0.75,-116.8,949.0,-9.5,605,10428,0.12,0.00,0.00,0.000,6,0.167,0.000,2943,2056,2425,0,0,0,0,0,0
$GC,10732,-0.75,-116.8,975.3,-8.5,620,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2056,2425,0,0,0,0,0,0
$STATE,11019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11019,begin apogee
$GC,11025,-0.19,0.0,1000.6,8.9,634,11140,0.57,0.00,110.00,1.274,6,0.131,0.000,3120,1600,1949,0,0,0,0,0,0
$STATE,11141,end apogee,CONTROL_FINISHED_OK
$STATE,11141,begin climb
$GC,11143,0.76,116.8,1004.7,0.0,640,11270,0.90,2.60,116.65,1.229,4,0.086,0.055,3431,199,1472,0,0,0,0,0,0
$GC,11303,0.76,117.3,996.9,8.5,647,11308,0.00,2.42,0.00,0.000,6,0.000,0.035,3431,1613,1469,0,0,0,0,0,0
$GC,11619,0.76,125.0,971.7,8.2,663,11629,0.00,0.00,8.20,0.995,6,0.000,0.000,3431,1612,1439,0,0,0,0,0,0
$GC,11927,0.77,128.1,946.1,8.4,678,11934,0.00,0.00,4.55,0.770,6,0.000,0.000,3431,1613,1427,0,0,0,0,0,0
$GC,12238,0.77,128.1,919.6,8.6,693,12242,0.00,2.33,0.00,0.000,4,0.000,0.054,3440,201,1426,0,0,0,0,0,0
$GC,12259,0.77,128.1,917.4,9.8,694,12263,0.00,2.22,0.00,0.000,6,0.000,0.037,3440,1608,1426,0,0,0,0,0,0
$GC,12585,0.77,128.1,886.5,9.5,710,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1607,1425,0,0,0,0,0,0
$GC,12896,0.77,128.1,857.0,9.5,725,12900,0.00,2.33,0.00,0.000,4,0.000,0.054,3450,196,1425,0,0,0,0,0,0
$GC,12939,0.73,128.1,852.4,10.6,727,12944,0.10,2.20,0.00,0.000,6,0.160,0.037,3421,1598,1424,0,0,0,0,0,0
$GC,13268,0.76,129.8,823.9,8.5,743,13272,0.00,2.30,0.00,0.000,4,0.000,0.054,3430,196,1424,0,0,0,0,0,0
$GC,13288,0.77,138.8,821.9,8.1,744,13305,0.00,2.22,11.65,1.050,6,0.000,0.037,3431,1620,1384,0,0,0,0,0,0
$GC,13614,0.77,138.8,793.0,8.6,760,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1620,1382,0,0,0,0,0,0
$GC,13924,0.77,146.8,767.3,8.2,775,13938,0.00,2.35,9.25,0.978,4,0.000,0.054,3440,192,1351,0,0,0,0,0,0
$GC,13990,0.77,146.8,761.5,9.0,778,13994,0.00,2.25,0.00,0.000,6,0.000,0.036,3440,1605,1350,0,0,0,0,0,0
$GC,14320,0.77,146.8,733.1,8.7,794,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1605,1349,0,0,0,0,0,0
$GC,14631,0.77,146.8,706.3,8.7,809,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1605,1349,0,0,0,0,0,0
$GC,14939,0.77,146.8,678.1,9.2,824,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1605,1349,0,0,0,0,0,0
$GC,15250,0.77,146.8,649.7,9.4,839,15254,0.00,2.22,0.00,0.000,4,0.000,0.054,3440,2991,1349,0,0,0,0,0,0
$GC,15267,0.77,146.8,648.2,9.5,840,15271,0.05,2.17,0.00,0.000,6,0.227,0.036,3437,1588,1348,0,0,0,0,0,0
$GC,15593,0.77,146.8,618.5,9.3,856,15597,0.00,2.28,0.00,0.000,4,0.000,0.056,3447,195,1348,0,0,0,0,0,0
$GC,15709,0.77,146.8,606.8,10.1,861,15713,0.00,2.22,0.00,0.000,6,0.000,0.037,3447,1603,1348,0,0,0,0,0,0
$GC,16031,0.77,146.8,575.4,9.8,877,16035,0.00,2.30,0.00,0.000,4,0.000,0.054,3457,198,1348,0,0,0,0,0,0
$GC,16085,0.77,146.8,569.7,10.4,879,16091,0.05,2.20,0.00,0.000,6,0.135,0.037,3437,1590,1348,0,0,0,0,0,0
$GC,16402,0.81,146.8,539.4,9.6,895,16406,0.00,2.28,0.00,0.000,4,0.000,0.054,3446,198,1348,0,0,0,0,0,0
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$STATE,22026,end climb,SURFACE_DEPTH_REACHED
$STATE,22026,begin surface coast
$FINISH,2.0,1.011637
$STATE,22058,end surface coast,CONTROL_FINISHED_OK
$STATE,22058,begin surface
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$HUMID,64.09
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$TCM_TEMP,11.60
$XPDR_PINGS,2
$24V_AH,22.2,47.324
$10V_AH,9.6,49.664
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.750,186.800,292.025,11.850,0.000,22.585,44.121,326.601,0.500,0.000,20.009,2768.931,15636.993,436.105,3503.814,279.430,0.000,1766.791,0.000,2967.764,0.000,0.540,0.000
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$MEM,353232
$DATA_FILE_SIZE,93890,1268
$CAP_FILE_SIZE,194101,0
$CFSIZE,2097086464,2040397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201015,133821,-4459.844,639.104,41,1.0,41,-24.5