version: 66.07.10.p01
glider: 573
mission: 12
dive: 395
start: 10 20 115 13 47 32
data:
$ID,573
$MISSION,12
$DIVE,395
$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,-22244.311
$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,39
$R_STBD_OVSHOOT,44
$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,394
$GPS1,201015,133821,-4459.844,639.104,41,1.0,41,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-68.4
$GPS2,201015,134711,-4459.835,639.269,23,1.0,23,-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,233.5,8820,-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,-116.8,0.0,0.0,0,46,0.00,0.00,-19.62,0.000,2,0.000,0.000,64,2064,1518,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-3.7,3,113,11.60,2.33,-42.90,0.000,4,0.228,0.079,2926,3441,2427,0,0,0,0,0,0
$GC,336,-0.68,-116.8,28.3,-10.9,49,344,0.10,2.20,0.00,0.000,6,0.138,0.040,2959,2064,2429,0,0,0,0,0,0
$GC,491,-0.68,-116.8,43.7,-10.6,74,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2064,2429,0,0,0,0,0,0
$GC,838,-0.68,-116.8,79.5,-10.1,135,845,0.00,2.30,0.00,0.000,4,0.000,0.060,2950,3448,2430,0,0,0,0,0,0
$GC,889,-0.68,-116.8,85.2,-10.3,138,894,0.00,2.22,0.00,0.000,6,0.000,0.041,2950,2052,2430,0,0,0,0,0,0
$GC,1217,-0.65,-116.8,120.6,-11.0,154,1222,0.10,2.28,0.00,0.000,4,0.182,0.055,2975,655,2430,0,0,0,0,0,0
$GC,1257,-0.65,-116.8,125.0,-10.8,156,1261,0.00,2.22,0.00,0.000,6,0.000,0.042,2966,2055,2430,0,0,0,0,0,0
$GC,1583,-0.65,-116.8,158.9,-10.3,172,1587,0.00,2.30,0.00,0.000,4,0.000,0.059,2956,3475,2430,0,0,0,0,0,0
$GC,1637,-0.65,-116.8,164.8,-10.4,174,1646,0.03,2.25,0.00,0.000,6,0.175,0.041,2966,2052,2430,0,0,0,0,0,0
$GC,1954,-0.65,-116.8,194.4,-9.2,190,1958,0.00,2.25,0.00,0.000,4,0.000,0.055,2966,659,2430,0,0,0,0,0,0
$GC,1974,-0.65,-116.8,196.6,-9.3,191,1979,0.00,2.25,0.00,0.000,6,0.000,0.040,2957,2066,2430,0,0,0,0,0,0
$GC,2306,-0.65,-116.8,224.2,-8.4,207,2311,0.05,2.30,0.00,0.000,4,0.233,0.063,2958,3465,2430,0,0,0,0,0,0
$GC,2378,-0.65,-116.8,230.8,-8.4,210,2382,0.05,2.20,0.00,0.000,6,0.211,0.039,2970,2048,2430,0,0,0,0,0,0
$GC,2700,-0.68,-116.8,256.3,-8.2,226,2705,0.00,2.25,0.00,0.000,4,0.000,0.054,2970,652,2430,0,0,0,0,0,0
$GC,2741,-0.68,-116.8,260.0,-8.8,228,2745,0.00,2.22,0.00,0.000,6,0.000,0.041,2961,2061,2430,0,0,0,0,0,0
$GC,3067,-0.68,-116.8,290.2,-9.4,244,3071,0.00,2.28,0.00,0.000,4,0.000,0.062,2951,3464,2430,0,0,0,0,0,0
$GC,3127,-0.68,-116.8,296.1,-9.5,246,3135,0.00,2.20,0.00,0.000,6,0.000,0.040,2951,2067,2430,0,0,0,0,0,0
$GC,3444,-0.68,-116.8,326.5,-9.9,262,3448,0.00,2.28,0.00,0.000,4,0.000,0.054,2951,656,2430,0,0,0,0,0,0
$GC,3487,-0.68,-116.8,331.2,-10.5,264,3492,0.05,2.25,0.00,0.000,6,0.153,0.040,2959,2064,2430,0,0,0,0,0,0
$GC,3813,-0.68,-116.8,362.1,-9.3,280,3817,0.00,2.30,0.00,0.000,4,0.000,0.063,2949,3472,2430,0,0,0,0,0,0
$GC,3884,-0.68,-116.8,368.7,-8.8,283,3889,0.00,2.22,0.00,0.000,6,0.000,0.042,2949,2067,2430,0,0,0,0,0,0
$GC,4206,-0.68,-116.8,397.4,-8.8,299,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2067,2430,0,0,0,0,0,0
$GC,4514,-0.68,-116.8,424.0,-8.5,314,4518,0.00,2.28,0.00,0.000,4,0.000,0.054,2949,652,2430,0,0,0,0,0,0
$GC,4576,-0.65,-116.8,429.9,-9.8,317,4581,0.12,2.22,0.00,0.000,6,0.164,0.042,2973,2060,2430,0,0,0,0,0,0
$GC,4904,-0.70,-116.8,456.3,-8.0,333,4908,0.00,2.30,0.00,0.000,4,0.000,0.063,2963,3471,2430,0,0,0,0,0,0
$GC,4972,-0.75,-116.8,462.2,-8.1,336,4976,0.05,2.22,0.00,0.000,6,0.163,0.042,2921,2053,2430,0,0,0,0,0,0
$GC,5292,-0.69,-116.8,494.0,-10.1,352,5297,0.15,2.28,0.00,0.000,4,0.160,0.057,2962,658,2429,0,0,0,0,0,0
$GC,5354,-0.69,-116.8,499.8,-9.0,355,5359,0.00,2.22,0.00,0.000,6,0.000,0.042,2954,2062,2430,0,0,0,0,0,0
$GC,5681,-0.69,-116.8,528.4,-8.7,371,5685,0.00,2.30,0.00,0.000,4,0.000,0.064,2943,3466,2430,0,0,0,0,0,0
$GC,5766,-0.69,-116.8,536.0,-8.5,375,5771,0.08,2.20,0.00,0.000,6,0.181,0.041,2961,2060,2430,0,0,0,0,0,0
$GC,6094,-0.73,-116.8,564.3,-8.7,391,6098,0.00,2.25,0.00,0.000,4,0.000,0.054,2961,650,2429,0,0,0,0,0,0
$GC,6165,-0.73,-116.8,571.2,-9.6,394,6169,0.00,2.25,0.00,0.000,6,0.000,0.042,2952,2054,2430,0,0,0,0,0,0
$GC,6486,-0.73,-116.8,600.1,-9.1,410,6490,0.00,2.30,0.00,0.000,4,0.000,0.060,2942,3474,2429,0,0,0,0,0,0
$GC,6548,-0.73,-116.8,605.7,-9.4,413,6552,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,2053,2429,0,0,0,0,0,0
$GC,6874,-0.73,-116.8,638.0,-9.9,429,6878,0.00,2.25,0.00,0.000,4,0.000,0.056,2942,651,2429,0,0,0,0,0,0
$GC,6959,-0.73,-116.8,647.2,-10.7,433,6964,0.05,2.25,0.00,0.000,6,0.220,0.043,2945,2072,2429,0,0,0,0,0,0
$GC,7291,-0.73,-116.8,679.3,-9.4,449,7295,0.00,2.28,0.00,0.000,4,0.000,0.061,2934,3469,2429,0,0,0,0,0,0
$GC,7336,-0.73,-116.8,683.7,-9.7,451,7340,0.00,2.20,0.00,0.000,6,0.000,0.041,2934,2053,2429,0,0,0,0,0,0
$GC,7668,-0.73,-116.8,714.0,-8.9,467,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2053,2430,0,0,0,0,0,0
$GC,7977,-0.73,-116.8,740.6,-8.3,482,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2053,2429,0,0,0,0,0,0
$GC,8287,-0.73,-116.8,764.4,-7.4,497,8291,0.00,2.28,0.00,0.000,4,0.000,0.056,2934,652,2429,0,0,0,0,0,0
$GC,8328,-0.69,-116.8,767.4,-7.5,499,8333,0.12,2.25,0.00,0.000,6,0.165,0.044,2958,2066,2429,0,0,0,0,0,0
$GC,8656,-0.73,-116.8,788.2,-6.2,515,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2065,2429,0,0,0,0,0,0
$GC,8963,-0.78,-116.8,807.3,-6.2,530,8968,0.08,2.33,0.00,0.000,4,0.122,0.064,2899,3474,2428,0,0,0,0,0,0
$GC,9003,-0.70,-116.8,810.3,-8.3,532,9008,0.20,2.22,0.00,0.000,6,0.147,0.043,2956,2060,2428,0,0,0,0,0,0
$GC,9330,-0.75,-116.8,832.4,-7.0,548,9334,0.00,2.28,0.00,0.000,4,0.000,0.054,2956,648,2428,0,0,0,0,0,0
$GC,9364,-0.75,-116.8,835.1,-8.5,549,9368,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,2065,2428,0,0,0,0,0,0
$GC,9680,-0.75,-116.8,859.0,-7.6,565,9684,0.00,2.28,0.00,0.000,4,0.000,0.064,2936,3466,2428,0,0,0,0,0,0
$GC,9729,-0.75,-116.8,863.2,-8.2,567,9734,0.00,2.20,0.00,0.000,6,0.000,0.039,2936,2053,2427,0,0,0,0,0,0
$GC,10051,-0.75,-116.8,889.7,-8.6,583,10055,0.00,2.25,0.00,0.000,4,0.000,0.056,2936,657,2427,0,0,0,0,0,0
$GC,10141,-0.75,-116.8,897.8,-9.0,587,10146,0.05,2.22,0.00,0.000,6,0.223,0.042,2939,2061,2427,0,0,0,0,0,0
$GC,10467,-0.75,-116.8,925.2,-8.7,603,10471,0.00,2.30,0.00,0.000,4,0.000,0.063,2929,3463,2427,0,0,0,0,0,0
$GC,10545,-0.75,-116.8,932.4,-9.3,606,10550,0.00,2.22,0.00,0.000,6,0.000,0.041,2929,2056,2427,0,0,0,0,0,0
$GC,10860,-0.75,-116.8,960.6,-8.8,622,10864,0.00,2.28,0.00,0.000,4,0.000,0.057,2928,656,2426,0,0,0,0,0,0
$GC,10909,-0.72,-116.8,965.3,-9.7,624,10913,0.12,2.25,0.00,0.000,6,0.161,0.044,2953,2070,2427,0,0,0,0,0,0
$GC,11231,-0.77,-116.8,989.9,-7.8,640,11235,0.00,2.28,0.00,0.000,4,0.000,0.063,2943,3463,2427,0,0,0,0,0,0
$GC,11280,-0.82,-116.8,994.0,-8.2,642,11285,0.08,2.20,0.00,0.000,6,0.117,0.039,2900,2051,2426,0,0,0,0,0,0
$STATE,11366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11366,begin apogee
$GC,11372,-0.19,0.0,1002.2,9.4,646,11488,0.73,0.00,110.40,1.275,6,0.139,0.000,3118,1600,1949,0,0,0,0,0,0
$STATE,11488,end apogee,CONTROL_FINISHED_OK
$STATE,11489,begin climb
$GC,11490,0.76,116.8,1005.4,0.0,652,11613,0.93,0.00,116.55,1.230,6,0.087,0.000,3425,1600,1474,0,0,0,0,0,0
$GC,11922,0.76,125.8,974.3,8.1,673,11936,0.00,2.40,9.43,1.027,4,0.000,0.057,3436,196,1436,0,0,0,0,0,0
$GC,12020,0.76,125.8,965.4,9.0,677,12024,0.00,2.33,0.00,0.000,6,0.000,0.036,3436,1617,1434,0,0,0,0,0,0
$GC,12342,0.76,125.8,936.9,8.7,693,12343,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1617,1432,0,0,0,0,0,0
$GC,12650,0.77,130.9,910.9,8.3,708,12660,0.00,2.33,5.47,0.868,4,0.000,0.051,3446,193,1417,0,0,0,0,0,0
$GC,12693,0.77,130.9,907.1,9.2,710,12698,0.03,2.25,0.00,0.000,6,0.166,0.036,3435,1600,1417,0,0,0,0,0,0
$GC,13019,0.77,139.8,880.9,8.1,726,13035,0.00,2.30,10.75,1.058,4,0.000,0.052,3444,197,1379,0,0,0,0,0,0
$GC,13067,0.77,139.8,876.5,9.4,727,13072,0.00,2.22,0.00,0.000,6,0.000,0.036,3444,1594,1379,0,0,0,0,0,0
$GC,13390,0.77,139.8,846.6,9.3,743,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1594,1378,0,0,0,0,0,0
$GC,13697,0.77,139.8,817.1,9.6,758,13699,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1594,1377,0,0,0,0,0,0
$GC,14008,0.77,139.8,787.0,9.4,773,14012,0.00,2.30,0.00,0.000,4,0.000,0.054,3454,195,1377,0,0,0,0,0,0
$GC,14048,0.77,139.8,783.0,10.2,775,14053,0.08,2.20,0.00,0.000,6,0.173,0.035,3434,1603,1377,0,0,0,0,0,0
$GC,14375,0.77,139.8,753.1,9.1,791,14379,0.00,2.30,0.00,0.000,4,0.000,0.054,3444,193,1377,0,0,0,0,0,0
$GC,14440,0.77,139.8,746.6,10.2,794,14445,0.00,2.22,0.00,0.000,6,0.000,0.036,3443,1598,1376,0,0,0,0,0,0
$GC,14766,0.77,139.8,715.4,9.6,810,14767,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1599,1376,0,0,0,0,0,0
$GC,15077,0.77,139.8,686.0,9.4,825,15081,0.00,2.25,0.00,0.000,4,0.000,0.055,3444,2998,1376,0,0,0,0,0,0
$GC,15098,0.77,139.8,683.9,8.6,826,15103,0.08,2.17,0.00,0.000,6,0.193,0.036,3434,1590,1376,0,0,0,0,0,0
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$STATE,21984,end climb,SURFACE_DEPTH_REACHED
$STATE,21984,begin surface coast
$FINISH,1.8,1.014640
$STATE,22011,end surface coast,CONTROL_FINISHED_OK
$STATE,22011,begin surface
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$HUMID,64.60
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$TCM_TEMP,11.70
$XPDR_PINGS,1
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$10V_AH,9.7,49.792
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.625,191.225,301.350,7.075,0.000,25.615,26.686,316.594,0.250,0.000,26.291,2750.379,15621.701,426.113,3475.382,283.699,0.000,1769.793,0.000,2963.349,0.000,0.540,0.000
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$MEM,353252
$DATA_FILE_SIZE,90403,1245
$CAP_FILE_SIZE,197457,0
$CFSIZE,2097086464,2040233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201015,195621,-4501.325,639.173,55,0.8,55,-24.5