version: 66.07.10.p01
glider: 573
mission: 12
dive: 490
start: 11 11 115 9 26 6
data:
$ID,573
$MISSION,12
$DIVE,490
$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,-22525.504
$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,37
$R_STBD_OVSHOOT,39
$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,489
$GPS1,111115,091622,-4505.652,630.364,64,0.9,64,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-74.1
$GPS2,111115,092546,-4505.625,630.453,16,1.3,16,-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,314.0,8961,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,35,0.00,0.00,-7.95,0.000,2,0.000,0.000,80,2070,1289,0,0,0,0,0,0
$GC,38,-0.76,-116.8,3.1,-0.0,1,120,11.35,2.35,-62.30,0.000,4,0.219,0.074,2926,3448,2424,0,0,0,0,0,0
$GC,174,-0.67,-116.8,5.2,-7.6,22,181,0.10,2.22,0.00,0.000,6,0.142,0.044,2959,2072,2426,0,0,0,0,0,0
$GC,233,-0.67,-116.8,11.4,-10.8,31,240,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2072,2426,0,0,0,0,0,0
$GC,291,-0.67,-116.8,17.5,-10.4,40,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2072,2426,0,0,0,0,0,0
$GC,349,-0.67,-116.8,23.2,-9.6,49,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2072,2426,0,0,0,0,0,0
$GC,504,-0.67,-116.8,38.3,-9.4,74,511,0.00,2.33,0.00,0.000,4,0.000,0.054,2959,647,2426,0,0,0,0,0,0
$GC,538,-0.67,-116.8,41.8,-9.9,79,543,0.05,2.22,0.00,0.000,6,0.219,0.038,2963,2054,2426,0,0,0,0,0,0
$GC,888,-0.67,-116.8,76.0,-9.2,140,893,0.00,2.30,0.00,0.000,4,0.000,0.052,2963,643,2426,0,0,0,0,0,0
$GC,959,-0.67,-116.8,82.7,-9.6,149,963,0.00,2.22,0.00,0.000,6,0.000,0.037,2954,2067,2426,0,0,0,0,0,0
$GC,1294,-0.67,-116.8,113.1,-9.2,165,1298,0.00,2.28,0.00,0.000,4,0.000,0.061,2943,3469,2426,0,0,0,0,0,0
$GC,1337,-0.67,-116.8,117.1,-9.3,167,1342,0.10,2.22,0.00,0.000,6,0.164,0.041,2969,2046,2427,0,0,0,0,0,0
$GC,1667,-0.70,-116.8,146.0,-8.5,183,1671,0.00,2.25,0.00,0.000,4,0.000,0.054,2970,649,2427,0,0,0,0,0,0
$GC,1711,-0.70,-116.8,150.1,-9.4,185,1715,0.00,2.22,0.00,0.000,6,0.000,0.038,2961,2065,2427,0,0,0,0,0,0
$GC,2039,-0.70,-116.8,180.8,-9.1,201,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2065,2427,0,0,0,0,0,0
$GC,2347,-0.70,-116.8,205.9,-7.6,216,2351,0.00,2.25,0.00,0.000,4,0.000,0.063,2950,3463,2427,0,0,0,0,0,0
$GC,2402,-0.70,-116.8,210.6,-8.1,218,2406,0.00,2.17,0.00,0.000,6,0.000,0.038,2950,2049,2427,0,0,0,0,0,0
$GC,2724,-0.70,-116.8,237.4,-8.5,234,2728,0.00,2.22,0.00,0.000,4,0.000,0.053,2951,660,2427,0,0,0,0,0,0
$GC,2764,-0.70,-116.8,241.0,-9.0,236,2768,0.05,2.20,0.00,0.000,6,0.217,0.039,2954,2060,2426,0,0,0,0,0,0
$GC,3090,-0.70,-116.8,269.3,-9.1,252,3094,0.00,2.28,0.00,0.000,4,0.000,0.063,2943,3465,2427,0,0,0,0,0,0
$GC,3122,-0.70,-116.8,272.5,-9.6,253,3128,0.00,2.20,0.00,0.000,6,0.000,0.040,2943,2065,2427,0,0,0,0,0,0
$GC,3439,-0.70,-116.8,302.8,-10.0,269,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2065,2427,0,0,0,0,0,0
$GC,3746,-0.70,-116.8,332.8,-9.5,284,3750,0.00,2.25,0.00,0.000,4,0.000,0.054,2943,660,2427,0,0,0,0,0,0
$GC,3773,-0.70,-116.8,335.6,-10.0,285,3778,0.05,2.22,0.00,0.000,6,0.150,0.041,2952,2055,2427,0,0,0,0,0,0
$GC,4095,-0.70,-116.8,364.3,-8.9,301,4099,0.00,2.28,0.00,0.000,4,0.000,0.057,2942,3469,2427,0,0,0,0,0,0
$GC,4134,-0.70,-116.8,368.0,-9.3,303,4139,0.05,2.20,0.00,0.000,6,0.203,0.040,2955,2054,2427,0,0,0,0,0,0
$GC,4463,-0.73,-116.8,396.3,-8.6,319,4467,0.00,2.25,0.00,0.000,4,0.000,0.056,2955,649,2427,0,0,0,0,0,0
$GC,4540,-0.73,-116.8,403.5,-8.3,322,4546,0.00,2.22,0.00,0.000,6,0.000,0.042,2947,2062,2427,0,0,0,0,0,0
$GC,4856,-0.73,-116.8,429.0,-8.0,338,4860,0.00,2.30,0.00,0.000,4,0.000,0.063,2936,3467,2427,0,0,0,0,0,0
$GC,4922,-0.73,-116.8,434.8,-8.5,341,4926,0.00,2.22,0.00,0.000,6,0.000,0.041,2936,2053,2427,0,0,0,0,0,0
$GC,5250,-0.73,-116.8,461.6,-8.1,357,5254,0.00,2.28,0.00,0.000,4,0.000,0.056,2936,648,2427,0,0,0,0,0,0
$GC,5299,-0.73,-116.8,466.1,-8.3,359,5304,0.08,2.25,0.00,0.000,6,0.184,0.041,2945,2068,2427,0,0,0,0,0,0
$GC,5614,-0.73,-116.8,491.8,-8.2,374,5618,0.00,2.25,0.00,0.000,4,0.000,0.062,2935,3464,2426,0,0,0,0,0,0
$GC,5669,-0.73,-116.8,496.6,-8.9,376,5675,0.00,2.22,0.00,0.000,6,0.000,0.040,2935,2056,2426,0,0,0,0,0,0
$GC,5984,-0.73,-116.8,523.7,-8.8,392,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2056,2426,0,0,0,0,0,0
$GC,6295,-0.73,-116.8,552.0,-9.2,407,6299,0.00,2.28,0.00,0.000,4,0.000,0.057,2935,658,2426,0,0,0,0,0,0
$GC,6328,-0.70,-116.8,555.5,-10.2,408,6334,0.12,2.22,0.00,0.000,6,0.158,0.041,2960,2069,2426,0,0,0,0,0,0
$GC,6644,-0.76,-116.8,581.9,-8.4,424,6645,0.05,0.00,0.00,0.000,6,0.167,0.000,2921,2070,2426,0,0,0,0,0,0
$GC,6954,-0.72,-116.8,611.3,-9.3,439,6959,0.10,2.28,0.00,0.000,4,0.170,0.063,2937,3464,2425,0,0,0,0,0,0
$GC,6992,-0.72,-116.8,614.9,-8.3,440,6997,0.00,2.22,0.00,0.000,6,0.000,0.040,2937,2056,2425,0,0,0,0,0,0
$GC,7307,-0.72,-116.8,640.9,-8.1,456,7311,0.00,2.28,0.00,0.000,4,0.000,0.057,2937,657,2425,0,0,0,0,0,0
$GC,7333,-0.72,-116.8,643.2,-9.0,457,7338,0.05,2.25,0.00,0.000,6,0.148,0.041,2946,2064,2425,0,0,0,0,0,0
$GC,7657,-0.76,-116.8,667.8,-7.6,473,7661,0.00,2.28,0.00,0.000,4,0.000,0.064,2936,3467,2425,0,0,0,0,0,0
$GC,7712,-0.76,-116.8,672.6,-7.6,475,7716,0.00,2.20,0.00,0.000,6,0.000,0.041,2936,2060,2425,0,0,0,0,0,0
$GC,8028,-0.76,-116.8,697.3,-8.1,491,8032,0.00,2.28,0.00,0.000,4,0.000,0.056,2935,654,2425,0,0,0,0,0,0
$GC,8050,-0.76,-116.8,699.3,-8.3,492,8054,0.00,2.25,0.00,0.000,6,0.000,0.043,2927,2054,2425,0,0,0,0,0,0
$GC,8376,-0.76,-116.8,725.5,-8.2,508,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2054,2424,0,0,0,0,0,0
$GC,8687,-0.76,-116.8,751.0,-8.2,523,8691,0.00,2.30,0.00,0.000,4,0.000,0.060,2916,3471,2424,0,0,0,0,0,0
$GC,8719,-0.76,-116.8,754.0,-9.1,524,8725,0.05,2.22,0.00,0.000,6,0.142,0.041,2934,2072,2424,0,0,0,0,0,0
$GC,9034,-0.76,-116.8,778.6,-7.8,540,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2072,2424,0,0,0,0,0,0
$GC,9345,-0.76,-116.8,802.5,-7.8,555,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2072,2424,0,0,0,0,0,0
$GC,9653,-0.76,-116.8,825.8,-7.2,570,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2072,2424,0,0,0,0,0,0
$GC,9963,-0.76,-116.8,847.8,-7.2,585,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2072,2423,0,0,0,0,0,0
$GC,10271,-0.76,-116.8,869.8,-7.0,600,10275,0.00,2.28,0.00,0.000,4,0.000,0.054,2935,660,2424,0,0,0,0,0,0
$GC,10299,-0.76,-116.8,872.0,-8.2,601,10303,0.00,2.22,0.00,0.000,6,0.000,0.039,2926,2071,2423,0,0,0,0,0,0
$GC,10621,-0.76,-116.8,896.3,-7.7,617,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2071,2423,0,0,0,0,0,0
$GC,10929,-0.76,-116.8,920.3,-7.9,632,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2071,2423,0,0,0,0,0,0
$GC,11239,-0.76,-116.8,943.5,-7.5,647,11243,0.00,2.28,0.00,0.000,4,0.000,0.061,2916,3463,2423,0,0,0,0,0,0
$GC,11280,-0.76,-116.8,946.9,-8.1,649,11285,0.10,2.20,0.00,0.000,6,0.163,0.041,2942,2059,2422,0,0,0,0,0,0
$GC,11608,-0.80,-116.8,969.3,-6.7,665,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2059,2422,0,0,0,0,0,0
$GC,11915,-0.86,-116.8,990.5,-6.9,680,11917,0.10,0.00,0.00,0.000,6,0.100,0.000,2888,2059,2422,0,0,0,0,0,0
$STATE,12036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12036,begin apogee
$GC,12042,-0.19,0.0,1001.0,8.6,686,12158,0.75,0.00,110.43,1.262,6,0.135,0.000,3116,1593,1949,0,0,0,0,0,0
$STATE,12159,end apogee,CONTROL_FINISHED_OK
$STATE,12159,begin climb
$GC,12161,0.76,116.8,1003.3,0.0,692,12283,0.95,0.00,119.00,1.214,6,0.084,0.000,3426,1593,1473,0,0,0,0,0,0
$GC,12589,0.76,116.8,970.1,8.7,713,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1593,1466,0,0,0,0,0,0
$GC,12897,0.76,116.8,943.4,8.7,728,12901,0.00,2.30,0.00,0.000,4,0.000,0.057,3437,193,1464,0,0,0,0,0,0
$GC,12981,0.76,121.7,935.9,8.3,732,12991,0.00,2.22,4.25,0.728,6,0.000,0.037,3437,1611,1453,0,0,0,0,0,0
$GC,13313,0.76,121.7,907.0,8.7,748,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1611,1453,0,0,0,0,0,0
$GC,13623,0.76,124.9,880.5,8.4,763,13630,0.00,0.00,5.07,0.812,6,0.000,0.000,3437,1611,1439,0,0,0,0,0,0
$GC,13931,0.76,125.7,854.5,8.5,778,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1611,1439,0,0,0,0,0,0
$GC,14241,0.76,125.7,828.3,8.7,793,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1611,1439,0,0,0,0,0,0
$GC,14549,0.76,125.7,801.0,8.8,808,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1611,1439,0,0,0,0,0,0
$GC,14860,0.76,125.7,773.0,9.2,823,14861,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1612,1439,0,0,0,0,0,0
$GC,15168,0.76,125.7,745.8,8.7,838,15172,0.00,2.33,0.00,0.000,4,0.000,0.055,3447,195,1438,0,0,0,0,0,0
$GC,15206,0.76,125.7,742.5,8.7,840,15211,0.05,2.20,0.00,0.000,6,0.207,0.037,3433,1604,1437,0,0,0,0,0,0
$GC,15533,0.80,128.3,714.9,8.4,856,15540,0.00,0.00,4.65,0.734,6,0.000,0.000,3433,1605,1426,0,0,0,0,0,0
$GC,15843,0.84,131.0,689.2,8.4,871,15849,0.05,0.00,4.38,0.754,6,0.166,0.000,3470,1604,1416,0,0,0,0,0,0
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$STATE,23256,end climb,SURFACE_DEPTH_REACHED
$STATE,23256,begin surface coast
$FINISH,1.8,1.013850
$STATE,23282,end surface coast,CONTROL_FINISHED_OK
$STATE,23282,begin surface
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$HUMID,64.76
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$TCM_TEMP,11.40
$XPDR_PINGS,1
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$10V_AH,9.6,60.643
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353292
$DATA_FILE_SIZE,97253,1329
$CAP_FILE_SIZE,195821,0
$CFSIZE,2097086464,2027814912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111115,155551,-4505.274,628.322,38,1.0,38,-24.4