version: 66.07.10.p01
glider: 573
mission: 12
dive: 396
start: 10 20 115 20 5 43
data:
$ID,573
$MISSION,12
$DIVE,396
$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,-22246.789
$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,34
$R_STBD_OVSHOOT,37
$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,395
$GPS1,201015,195621,-4501.325,639.173,55,0.8,55,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-68.1
$GPS2,201015,200522,-4501.279,639.218,20,0.9,20,-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,244.4,6565,-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,-19.50,0.000,2,0.000,0.000,81,2063,1513,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.1,-2.7,3,113,11.65,2.33,-45.80,0.000,4,0.232,0.072,2922,3468,2424,0,0,0,0,0,0
$GC,372,-0.67,-116.8,32.8,-11.9,55,380,0.12,2.25,0.00,0.000,6,0.136,0.041,2963,2062,2427,0,0,0,0,0,0
$GC,521,-0.67,-116.8,49.7,-9.4,80,526,0.00,2.28,0.00,0.000,4,0.000,0.054,2963,654,2427,0,0,0,0,0,0
$GC,554,-0.67,-116.8,52.4,-9.1,85,559,0.00,2.22,0.00,0.000,6,0.000,0.039,2954,2056,2427,0,0,0,0,0,0
$GC,913,-0.64,-116.8,88.4,-10.1,137,918,0.10,2.30,0.00,0.000,4,0.188,0.060,2968,3465,2427,0,0,0,0,0,0
$GC,957,-0.64,-116.8,92.9,-9.9,139,961,0.00,2.22,0.00,0.000,6,0.000,0.038,2968,2050,2427,0,0,0,0,0,0
$GC,1286,-0.64,-116.8,125.9,-10.6,155,1290,0.00,2.25,0.00,0.000,4,0.000,0.054,2969,659,2427,0,0,0,0,0,0
$GC,1336,-0.64,-116.8,131.8,-11.2,157,1341,0.03,2.22,0.00,0.000,6,0.180,0.040,2969,2052,2427,0,0,0,0,0,0
$GC,1659,-0.64,-116.8,167.4,-11.2,173,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2052,2427,0,0,0,0,0,0
$GC,1967,-0.64,-116.8,199.0,-10.0,188,1970,0.00,2.25,0.00,0.000,4,0.000,0.051,2969,660,2428,0,0,0,0,0,0
$GC,2082,-0.64,-116.8,210.7,-10.3,193,2087,0.05,2.22,0.00,0.000,6,0.224,0.039,2972,2074,2428,0,0,0,0,0,0
$GC,2412,-0.67,-116.8,242.6,-9.5,209,2416,0.00,2.22,0.00,0.000,4,0.000,0.057,2962,3464,2428,0,0,0,0,0,0
$GC,2455,-0.71,-116.8,246.7,-9.6,211,2459,0.00,2.17,0.00,0.000,6,0.000,0.039,2962,2060,2428,0,0,0,0,0,0
$GC,2784,-0.71,-116.8,278.2,-9.5,227,2788,0.00,2.25,0.00,0.000,4,0.000,0.054,2963,653,2428,0,0,0,0,0,0
$GC,2861,-0.71,-116.8,286.3,-10.4,230,2869,0.00,2.25,0.00,0.000,6,0.000,0.041,2953,2067,2428,0,0,0,0,0,0
$GC,3176,-0.71,-116.8,316.2,-9.3,246,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2067,2428,0,0,0,0,0,0
$GC,3487,-0.71,-116.8,346.3,-10.0,261,3491,0.00,2.30,0.00,0.000,4,0.000,0.053,2954,651,2428,0,0,0,0,0,0
$GC,3549,-0.71,-116.8,352.9,-10.7,264,3553,0.00,2.22,0.00,0.000,6,0.000,0.041,2945,2062,2428,0,0,0,0,0,0
$GC,3874,-0.71,-116.8,387.0,-10.3,280,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2062,2428,0,0,0,0,0,0
$GC,4185,-0.71,-116.8,417.7,-9.9,295,4189,0.00,2.30,0.00,0.000,4,0.000,0.063,2934,3471,2428,0,0,0,0,0,0
$GC,4228,-0.71,-116.8,422.6,-11.1,297,4233,0.05,2.22,0.00,0.000,6,0.152,0.042,2952,2069,2428,0,0,0,0,0,0
$GC,4555,-0.71,-116.8,454.6,-9.5,313,4559,0.00,2.28,0.00,0.000,4,0.000,0.054,2952,656,2428,0,0,0,0,0,0
$GC,4595,-0.71,-116.8,458.6,-9.9,315,4599,0.00,2.20,0.00,0.000,6,0.000,0.039,2943,2061,2428,0,0,0,0,0,0
$GC,4921,-0.71,-116.8,491.7,-10.1,331,4925,0.00,2.30,0.00,0.000,4,0.000,0.063,2932,3471,2428,0,0,0,0,0,0
$GC,4970,-0.71,-116.8,497.0,-10.5,333,4975,0.05,2.25,0.00,0.000,6,0.147,0.041,2950,2053,2428,0,0,0,0,0,0
$GC,5292,-0.71,-116.8,527.1,-9.4,349,5296,0.00,2.25,0.00,0.000,4,0.000,0.056,2950,656,2428,0,0,0,0,0,0
$GC,5332,-0.71,-116.8,530.9,-9.4,351,5336,0.00,2.22,0.00,0.000,6,0.000,0.041,2941,2063,2428,0,0,0,0,0,0
$GC,5659,-0.71,-116.8,561.0,-8.9,367,5663,0.00,2.30,0.00,0.000,4,0.000,0.063,2931,3472,2428,0,0,0,0,0,0
$GC,5721,-0.71,-116.8,566.6,-8.7,370,5726,0.08,2.22,0.00,0.000,6,0.181,0.042,2950,2053,2427,0,0,0,0,0,0
$GC,6046,-0.71,-116.8,593.3,-8.3,386,6050,0.00,2.25,0.00,0.000,4,0.000,0.056,2949,650,2426,0,0,0,0,0,0
$GC,6124,-0.71,-116.8,600.3,-9.2,389,6129,0.00,2.25,0.00,0.000,6,0.000,0.042,2941,2054,2427,0,0,0,0,0,0
$GC,6440,-0.71,-116.8,627.9,-8.9,405,6444,0.00,2.30,0.00,0.000,4,0.000,0.059,2930,3475,2426,0,0,0,0,0,0
$GC,6517,-0.71,-116.8,635.5,-9.8,408,6523,0.03,2.25,0.00,0.000,6,0.113,0.043,2953,2061,2426,0,0,0,0,0,0
$GC,6832,-0.71,-116.8,663.3,-9.0,424,6836,0.00,2.25,0.00,0.000,4,0.000,0.055,2953,653,2426,0,0,0,0,0,0
$GC,6864,-0.71,-116.8,666.4,-10.1,425,6868,0.00,2.25,0.00,0.000,6,0.000,0.041,2945,2064,2426,0,0,0,0,0,0
$GC,7186,-0.71,-116.8,696.9,-9.6,441,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2064,2426,0,0,0,0,0,0
$GC,7495,-0.71,-116.8,726.9,-9.7,456,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2064,2426,0,0,0,0,0,0
$GC,7804,-0.71,-116.8,756.7,-9.7,471,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2064,2425,0,0,0,0,0,0
$GC,8113,-0.71,-116.8,784.9,-8.8,486,8117,0.00,2.30,0.00,0.000,4,0.000,0.063,2934,3468,2425,0,0,0,0,0,0
$GC,8151,-0.71,-116.8,788.3,-9.0,488,8156,0.08,2.22,0.00,0.000,6,0.184,0.042,2952,2047,2425,0,0,0,0,0,0
$GC,8479,-0.75,-116.8,814.8,-8.3,504,8483,0.00,2.28,0.00,0.000,4,0.000,0.056,2952,647,2425,0,0,0,0,0,0
$GC,8533,-0.75,-116.8,819.9,-9.1,506,8539,0.00,2.28,0.00,0.000,6,0.000,0.042,2943,2063,2425,0,0,0,0,0,0
$GC,8848,-0.75,-116.8,847.2,-8.6,522,8852,0.00,2.30,0.00,0.000,4,0.000,0.063,2932,3471,2425,0,0,0,0,0,0
$GC,8887,-0.75,-116.8,850.6,-9.0,524,8891,0.00,2.22,0.00,0.000,6,0.000,0.043,2932,2055,2424,0,0,0,0,0,0
$GC,9218,-0.75,-116.8,879.7,-8.8,540,9222,0.00,2.28,0.00,0.000,4,0.000,0.056,2933,650,2425,0,0,0,0,0,0
$GC,9263,-0.72,-116.8,883.7,-9.4,542,9267,0.10,2.25,0.00,0.000,6,0.173,0.043,2949,2063,2425,0,0,0,0,0,0
$GC,9590,-0.75,-116.8,909.9,-8.4,558,9594,0.00,2.30,0.00,0.000,4,0.000,0.063,2939,3467,2424,0,0,0,0,0,0
$GC,9645,-0.79,-116.8,914.6,-7.8,560,9650,0.00,2.20,0.00,0.000,6,0.000,0.041,2939,2055,2425,0,0,0,0,0,0
$GC,9959,-0.79,-116.8,939.6,-7.6,576,9963,0.00,2.28,0.00,0.000,4,0.000,0.057,2939,655,2424,0,0,0,0,0,0
$GC,10026,-0.79,-116.8,945.1,-8.5,579,10030,0.00,2.25,0.00,0.000,6,0.000,0.043,2930,2052,2424,0,0,0,0,0,0
$GC,10354,-0.79,-116.8,969.5,-6.9,595,10358,0.00,2.28,0.00,0.000,4,0.000,0.058,2920,3468,2424,0,0,0,0,0,0
$GC,10399,-0.79,-116.8,973.0,-7.7,597,10403,0.00,2.20,0.00,0.000,6,0.000,0.041,2920,2055,2424,0,0,0,0,0,0
$GC,10732,-0.79,-116.8,999.5,-8.3,613,10736,0.00,2.28,0.00,0.000,4,0.000,0.057,2920,651,2424,0,0,0,0,0,0
$STATE,10740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10740,begin apogee
$GC,10747,-0.19,0.0,1000.4,8.3,613,10860,0.65,0.00,109.30,1.274,6,0.139,0.000,3114,1616,1950,0,0,0,0,0,0
$STATE,10860,end apogee,CONTROL_FINISHED_OK
$STATE,10860,begin climb
$GC,10862,0.76,116.8,1003.4,0.0,619,10987,0.98,2.53,116.88,1.228,4,0.088,0.054,3430,2993,1473,0,0,0,0,0,0
$GC,11004,0.77,129.7,995.0,7.9,626,11025,0.00,2.38,15.00,1.108,6,0.000,0.034,3439,1605,1421,0,0,0,0,0,0
$GC,11353,0.77,129.7,961.5,9.6,643,11357,0.00,2.38,0.00,0.000,4,0.000,0.055,3450,193,1413,0,0,0,0,0,0
$GC,11453,0.73,129.7,950.8,10.4,647,11458,0.10,2.28,0.00,0.000,6,0.158,0.036,3423,1607,1412,0,0,0,0,0,0
$GC,11769,0.73,129.7,923.2,8.6,663,11773,0.00,2.35,0.00,0.000,4,0.000,0.054,3433,193,1411,0,0,0,0,0,0
$GC,11808,0.73,129.7,919.6,9.5,665,11812,0.00,2.22,0.00,0.000,6,0.000,0.036,3433,1602,1410,0,0,0,0,0,0
$GC,12134,0.73,129.7,889.9,9.1,681,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1603,1410,0,0,0,0,0,0
$GC,12442,0.73,129.7,862.3,8.7,696,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1603,1410,0,0,0,0,0,0
$GC,12753,0.73,129.7,835.1,8.8,711,12757,0.00,2.33,0.00,0.000,4,0.000,0.054,3443,191,1410,0,0,0,0,0,0
$GC,12784,0.73,129.7,832.1,9.2,712,12791,0.05,2.25,0.00,0.000,6,0.136,0.036,3423,1603,1409,0,0,0,0,0,0
$GC,13103,0.78,136.6,805.9,8.2,728,13110,0.00,0.00,5.88,0.869,6,0.000,0.000,3424,1604,1392,0,0,0,0,0,0
$GC,13411,0.81,138.0,780.4,8.5,743,13416,0.08,2.33,0.00,0.000,4,0.124,0.054,3476,194,1392,0,0,0,0,0,0
$GC,13437,0.76,138.0,777.6,10.1,744,13442,0.15,2.20,0.00,0.000,6,0.144,0.035,3433,1603,1392,0,0,0,0,0,0
$GC,13757,0.76,138.0,749.5,8.6,760,13761,0.00,2.33,0.00,0.000,4,0.000,0.054,3442,186,1392,0,0,0,0,0,0
$GC,13786,0.76,138.0,746.9,8.8,761,13790,0.00,2.22,0.00,0.000,6,0.000,0.035,3442,1614,1392,0,0,0,0,0,0
$GC,14100,0.77,151.4,720.0,7.9,776,14120,0.00,0.00,16.10,1.045,6,0.000,0.000,3442,1614,1333,0,0,0,0,0,0
$GC,14429,0.79,182.2,695.8,7.0,792,14465,0.00,2.38,31.02,1.070,4,0.000,0.052,3452,186,1206,0,0,0,0,0,0
$GC,14498,0.79,182.2,690.4,8.8,794,14503,0.03,2.28,0.00,0.000,6,0.164,0.035,3441,1593,1204,0,0,0,0,0,0
$GC,14820,0.84,189.2,665.1,8.2,810,14834,0.00,2.38,7.50,0.868,4,0.000,0.054,3450,189,1178,0,0,0,0,0,0
$GC,14868,0.84,189.2,660.6,9.2,812,14873,0.00,2.25,0.00,0.000,6,0.000,0.035,3450,1598,1176,0,0,0,0,0,0
$GC,15195,0.87,189.2,630.4,9.5,828,15199,0.00,2.33,0.00,0.000,4,0.000,0.054,3460,190,1176,0,0,0,0,0,0
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$STATE,21231,end climb,SURFACE_DEPTH_REACHED
$STATE,21231,begin surface coast
$FINISH,2.1,1.023449
$STATE,21257,end surface coast,CONTROL_FINISHED_OK
$STATE,21257,begin surface
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$HUMID,63.70
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$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,22.2,47.577
$10V_AH,9.7,49.916
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.875,204.175,326.375,0.000,0.000,26.583,46.640,310.598,0.250,0.000,24.206,2640.802,15174.118,457.350,3319.256,273.564,0.000,1746.998,0.000,2795.541,0.000,0.540,0.000
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$MEM,353260
$DATA_FILE_SIZE,87252,1210
$CAP_FILE_SIZE,191964,0
$CFSIZE,2097086464,2040135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211015,020233,-4502.780,638.548,39,0.9,39,-24.5