version: 66.07.10.p01
glider: 573
mission: 12
dive: 401
start: 10 22 115 0 55 25
data:
$ID,573
$MISSION,12
$DIVE,401
$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,-22260.797
$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,30
$R_STBD_OVSHOOT,28
$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,400
$GPS1,221015,004641,-4503.014,630.807,46,0.9,46,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.21
$_SM_ANGLEo,-69.7
$GPS2,221015,005504,-4502.958,630.882,19,0.8,19,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,282.3,9207,-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,-116.8,0.0,0.0,0,40,0.00,0.00,-13.85,0.000,2,0.000,0.000,67,2048,1409,0,0,0,0,0,0
$GC,43,-0.76,-116.8,3.0,-2.1,2,113,11.82,2.35,-51.38,0.000,4,0.235,0.071,2920,3475,2426,0,0,0,0,0,0
$GC,251,-0.65,-116.8,18.0,-13.0,35,259,0.12,2.28,0.00,0.000,6,0.132,0.042,2962,2060,2428,0,0,0,0,0,0
$GC,310,-0.65,-116.8,24.9,-10.9,44,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2059,2428,0,0,0,0,0,0
$GC,465,-0.65,-116.8,40.0,-9.0,69,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2060,2428,0,0,0,0,0,0
$GC,816,-0.65,-116.8,73.1,-10.2,130,821,0.00,2.28,0.00,0.000,4,0.000,0.055,2962,650,2428,0,0,0,0,0,0
$GC,870,-0.62,-116.8,78.8,-10.8,139,876,0.12,2.25,0.00,0.000,6,0.171,0.041,2985,2063,2428,0,0,0,0,0,0
$GC,1194,-0.66,-116.8,107.7,-8.4,156,1198,0.00,2.30,0.00,0.000,4,0.000,0.063,2975,3468,2428,0,0,0,0,0,0
$GC,1243,-0.70,-116.8,112.2,-9.0,158,1248,0.05,2.20,0.00,0.000,6,0.163,0.040,2932,2055,2428,0,0,0,0,0,0
$GC,1565,-0.63,-116.8,145.1,-10.5,174,1567,0.17,0.00,0.00,0.000,6,0.156,0.000,2980,2054,2428,0,0,0,0,0,0
$GC,1877,-0.67,-116.8,171.2,-8.3,189,1881,0.00,2.25,0.00,0.000,4,0.000,0.054,2980,659,2428,0,0,0,0,0,0
$GC,1940,-0.67,-116.8,176.8,-8.5,192,1944,0.00,2.22,0.00,0.000,6,0.000,0.040,2971,2073,2428,0,0,0,0,0,0
$GC,2266,-0.71,-116.8,205.0,-8.9,208,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2073,2428,0,0,0,0,0,0
$GC,2578,-0.74,-116.8,232.4,-8.6,223,2582,0.08,2.25,0.00,0.000,4,0.121,0.059,2907,3463,2429,0,0,0,0,0,0
$GC,2667,-0.66,-116.8,242.3,-11.4,227,2671,0.20,2.20,0.00,0.000,6,0.144,0.039,2964,2050,2429,0,0,0,0,0,0
$GC,2996,-0.66,-116.8,269.5,-8.2,243,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2050,2428,0,0,0,0,0,0
$GC,3303,-0.66,-116.8,295.2,-8.4,258,3307,0.00,2.22,0.00,0.000,4,0.000,0.054,2965,660,2429,0,0,0,0,0,0
$GC,3375,-0.66,-116.8,301.8,-8.7,261,3379,0.00,2.22,0.00,0.000,6,0.000,0.039,2956,2058,2429,0,0,0,0,0,0
$GC,3703,-0.66,-116.8,329.3,-8.1,277,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2059,2429,0,0,0,0,0,0
$GC,4011,-0.66,-116.8,354.2,-7.9,292,4015,0.00,2.28,0.00,0.000,4,0.000,0.058,2945,3468,2429,0,0,0,0,0,0
$GC,4043,-0.66,-116.8,356.8,-8.2,293,4048,0.10,2.20,0.00,0.000,6,0.164,0.040,2971,2050,2429,0,0,0,0,0,0
$GC,4360,-0.70,-116.8,377.7,-6.1,309,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2050,2429,0,0,0,0,0,0
$GC,4668,-0.75,-116.8,397.1,-6.3,324,4670,0.10,0.00,0.00,0.000,6,0.098,0.000,2914,2050,2429,0,0,0,0,0,0
$GC,4978,-0.68,-116.8,424.8,-9.4,339,4983,0.17,2.35,0.00,0.000,4,0.157,0.061,2954,3472,2429,0,0,0,0,0,0
$GC,5023,-0.72,-116.8,428.8,-8.4,341,5027,0.00,2.22,0.00,0.000,6,0.000,0.041,2954,2053,2429,0,0,0,0,0,0
$GC,5344,-0.72,-116.8,454.4,-8.1,357,5348,0.00,2.25,0.00,0.000,4,0.000,0.056,2954,654,2429,0,0,0,0,0,0
$GC,5416,-0.72,-116.8,460.8,-9.1,360,5420,0.00,2.25,0.00,0.000,6,0.000,0.042,2945,2057,2428,0,0,0,0,0,0
$GC,5737,-0.72,-116.8,489.3,-9.1,376,5741,0.00,2.30,0.00,0.000,4,0.000,0.061,2934,3474,2429,0,0,0,0,0,0
$GC,5792,-0.72,-116.8,494.7,-10.1,378,5798,0.03,2.22,0.00,0.000,6,0.173,0.042,2945,2070,2429,0,0,0,0,0,0
$GC,6107,-0.72,-116.8,524.6,-9.8,394,6111,0.00,2.30,0.00,0.000,4,0.000,0.055,2945,644,2428,0,0,0,0,0,0
$GC,6145,-0.72,-116.8,528.4,-10.1,396,6150,0.05,2.22,0.00,0.000,6,0.224,0.040,2947,2066,2428,0,0,0,0,0,0
$GC,6470,-0.72,-116.8,559.4,-9.5,412,6474,0.00,2.28,0.00,0.000,4,0.000,0.064,2937,3459,2428,0,0,0,0,0,0
$GC,6520,-0.72,-116.8,564.3,-9.5,414,6524,0.00,2.22,0.00,0.000,6,0.000,0.041,2937,2051,2427,0,0,0,0,0,0
$GC,6840,-0.72,-116.8,595.6,-9.3,430,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2051,2428,0,0,0,0,0,0
$GC,7151,-0.72,-116.8,622.1,-8.3,445,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2051,2428,0,0,0,0,0,0
$GC,7459,-0.72,-116.8,646.6,-7.6,460,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2051,2427,0,0,0,0,0,0
$GC,7770,-0.72,-116.8,670.2,-7.7,475,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2050,2427,0,0,0,0,0,0
$GC,8078,-0.72,-116.8,693.2,-6.9,490,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2050,2426,0,0,0,0,0,0
$GC,8389,-0.72,-116.8,714.0,-6.8,505,8393,0.00,2.28,0.00,0.000,4,0.000,0.056,2937,650,2426,0,0,0,0,0,0
$GC,8450,-0.72,-116.8,718.7,-7.7,508,8454,0.10,2.22,0.00,0.000,6,0.176,0.041,2953,2056,2427,0,0,0,0,0,0
$GC,8777,-0.75,-116.8,740.3,-6.9,524,8781,0.00,2.30,0.00,0.000,4,0.000,0.059,2943,3471,2426,0,0,0,0,0,0
$GC,8832,-0.79,-116.8,744.3,-7.3,526,8837,0.00,2.22,0.00,0.000,6,0.000,0.042,2943,2049,2426,0,0,0,0,0,0
$GC,9147,-0.79,-116.8,768.1,-7.7,542,9151,0.00,2.25,0.00,0.000,4,0.000,0.056,2943,651,2426,0,0,0,0,0,0
$GC,9209,-0.79,-116.8,773.1,-8.9,545,9213,0.00,2.25,0.00,0.000,6,0.000,0.042,2934,2069,2426,0,0,0,0,0,0
$GC,9537,-0.79,-116.8,799.7,-7.9,561,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2069,2426,0,0,0,0,0,0
$GC,9845,-0.79,-116.8,825.1,-8.3,576,9849,0.00,2.28,0.00,0.000,4,0.000,0.061,2923,3469,2425,0,0,0,0,0,0
$GC,9877,-0.79,-116.8,827.8,-9.3,577,9882,0.00,2.25,0.00,0.000,6,0.000,0.041,2923,2051,2425,0,0,0,0,0,0
$GC,10194,-0.79,-116.8,854.2,-8.3,593,10198,0.00,2.28,0.00,0.000,4,0.000,0.056,2923,645,2425,0,0,0,0,0,0
$GC,10227,-0.74,-116.8,857.4,-8.9,594,10233,0.10,2.22,0.00,0.000,6,0.177,0.041,2940,2061,2425,0,0,0,0,0,0
$GC,10541,-0.74,-116.8,883.0,-8.1,610,10545,0.00,2.28,0.00,0.000,4,0.000,0.063,2929,3463,2425,0,0,0,0,0,0
$GC,10591,-0.74,-116.8,887.2,-8.9,612,10595,0.00,2.20,0.00,0.000,6,0.000,0.041,2930,2056,2425,0,0,0,0,0,0
$GC,10917,-0.74,-116.8,915.2,-8.4,628,10922,0.05,2.30,0.00,0.000,4,0.215,0.057,2941,651,2425,0,0,0,0,0,0
$GC,11011,-0.74,-116.8,923.5,-8.9,632,11015,0.00,2.25,0.00,0.000,6,0.000,0.043,2932,2070,2425,0,0,0,0,0,0
$GC,11332,-0.74,-116.8,950.0,-8.1,648,11336,0.00,2.28,0.00,0.000,4,0.000,0.063,2922,3471,2425,0,0,0,0,0,0
$GC,11364,-0.74,-116.8,952.8,-9.1,649,11369,0.05,2.22,0.00,0.000,6,0.148,0.041,2939,2066,2425,0,0,0,0,0,0
$GC,11686,-0.74,-116.8,978.1,-7.7,665,11690,0.00,2.30,0.00,0.000,4,0.000,0.055,2939,647,2425,0,0,0,0,0,0
$GC,11735,-0.74,-116.8,982.4,-8.5,667,11739,0.00,2.22,0.00,0.000,6,0.000,0.038,2930,2064,2424,0,0,0,0,0,0
$STATE,11972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11972,begin apogee
$GC,11978,-0.19,0.0,1001.2,7.8,679,12093,0.62,0.00,109.62,1.267,6,0.135,0.000,3121,1593,1950,0,0,0,0,0,0
$STATE,12094,end apogee,CONTROL_FINISHED_OK
$STATE,12094,begin climb
$GC,12096,0.76,116.8,1003.9,0.0,685,12223,0.90,2.60,115.97,1.224,4,0.087,0.055,3431,202,1473,0,0,0,0,0,0
$GC,12256,0.76,118.4,994.1,8.5,692,12262,0.00,2.40,0.00,0.000,6,0.000,0.035,3431,1605,1470,0,0,0,0,0,0
$GC,12571,0.76,118.4,964.0,9.5,708,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1605,1465,0,0,0,0,0,0
$GC,12882,0.76,118.4,934.0,9.8,723,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1605,1464,0,0,0,0,0,0
$GC,13190,0.76,118.4,903.8,9.8,738,13194,0.00,2.33,0.00,0.000,4,0.000,0.054,3441,199,1463,0,0,0,0,0,0
$GC,13244,0.76,118.4,897.9,10.9,740,13251,0.00,2.25,0.00,0.000,6,0.000,0.036,3441,1610,1462,0,0,0,0,0,0
$GC,13560,0.76,118.4,865.7,10.3,756,13561,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1609,1462,0,0,0,0,0,0
$GC,13870,0.76,118.4,836.1,8.9,771,13871,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1610,1462,0,0,0,0,0,0
$GC,14178,0.76,118.4,809.4,8.6,786,14182,0.00,2.33,0.00,0.000,4,0.000,0.054,3451,196,1461,0,0,0,0,0,0
$GC,14252,0.73,118.4,802.9,9.0,789,14257,0.12,2.20,0.00,0.000,6,0.147,0.036,3415,1600,1461,0,0,0,0,0,0
$GC,14568,0.78,139.1,778.6,7.5,804,14592,0.05,0.00,21.05,1.094,6,0.164,0.000,3452,1600,1382,0,0,0,0,0,0
$GC,14896,0.78,139.1,749.4,8.7,820,14900,0.05,2.33,0.00,0.000,4,0.210,0.054,3449,198,1378,0,0,0,0,0,0
$GC,14950,0.78,139.1,744.4,8.6,822,14956,0.00,2.22,0.00,0.000,6,0.000,0.037,3449,1599,1377,0,0,0,0,0,0
$GC,15265,0.78,139.1,717.1,8.9,838,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1598,1378,0,0,0,0,0,0
$GC,15576,0.78,140.1,690.4,8.5,853,15580,0.00,2.28,0.00,0.000,4,0.000,0.054,3459,198,1377,0,0,0,0,0,0
$GC,15670,0.78,140.1,681.5,8.7,857,15676,0.05,2.22,0.00,0.000,6,0.134,0.037,3438,1597,1377,0,0,0,0,0,0
$GC,15998,0.78,140.1,653.4,8.7,873,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1597,1377,0,0,0,0,0,0
$GC,16306,0.78,140.1,626.8,8.6,888,16307,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1597,1377,0,0,0,0,0,0
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$STATE,22989,end climb,SURFACE_DEPTH_REACHED
$STATE,22989,begin surface coast
$FINISH,1.9,1.014728
$STATE,23015,end surface coast,CONTROL_FINISHED_OK
$STATE,23015,begin surface
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$TCM_TEMP,11.90
$XPDR_PINGS,0
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$10V_AH,9.7,50.519
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353228
$DATA_FILE_SIZE,93846,1314
$CAP_FILE_SIZE,197392,0
$CFSIZE,2097086464,2039447552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221015,072058,-4503.282,628.508,56,0.8,56,-24.4