version: 66.07.10.p01
glider: 573
mission: 12
dive: 513
start: 11 16 115 7 6 25
data:
$ID,573
$MISSION,12
$DIVE,513
$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,-22597.297
$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,35
$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,512
$GPS1,161115,065127,-4457.645,633.336,64,0.8,64,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.0
$GPS2,161115,070604,-4457.642,633.304,23,1.5,23,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,73.7,4662,-20.4,-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,-0.84,-90.9,0.0,0.0,0,52,0.00,0.00,-25.08,0.000,2,0.000,0.000,81,2067,1631,0,0,0,0,0,0
$GC,55,-0.86,-116.8,3.3,-2.8,4,106,11.73,2.35,-31.35,0.000,4,0.234,0.067,2900,663,2426,0,0,0,0,0,0
$GC,384,-0.77,-116.8,40.0,-12.3,57,392,0.12,2.22,0.00,0.000,6,0.151,0.038,2930,2050,2429,0,0,0,0,0,0
$GC,533,-0.77,-116.8,56.5,-11.0,82,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2050,2429,0,0,0,0,0,0
$GC,874,-0.77,-116.8,93.8,-10.7,126,878,0.00,2.28,0.00,0.000,4,0.000,0.057,2921,3468,2429,0,0,0,0,0,0
$GC,917,-0.77,-116.8,98.8,-10.8,128,922,0.00,2.22,0.00,0.000,6,0.000,0.038,2922,2056,2429,0,0,0,0,0,0
$GC,1245,-0.77,-116.8,137.7,-12.3,144,1249,0.00,2.25,0.00,0.000,4,0.000,0.055,2921,657,2429,0,0,0,0,0,0
$GC,1291,-0.77,-116.8,143.7,-13.3,146,1296,0.08,2.22,0.00,0.000,6,0.197,0.041,2930,2068,2429,0,0,0,0,0,0
$GC,1618,-0.77,-116.8,179.0,-9.6,162,1622,0.00,2.30,0.00,0.000,4,0.000,0.052,2930,650,2429,0,0,0,0,0,0
$GC,1661,-0.77,-116.8,183.7,-9.9,164,1666,0.00,2.25,0.00,0.000,6,0.000,0.041,2922,2063,2429,0,0,0,0,0,0
$GC,1989,-0.77,-116.8,216.0,-10.3,180,1993,0.00,2.30,0.00,0.000,4,0.000,0.063,2911,3474,2429,0,0,0,0,0,0
$GC,2154,-0.77,-116.8,233.4,-10.3,187,2159,0.10,2.22,0.00,0.000,6,0.161,0.041,2936,2057,2430,0,0,0,0,0,0
$GC,2470,-0.83,-116.8,264.6,-9.9,202,2475,0.05,2.28,0.00,0.000,4,0.165,0.054,2904,648,2429,0,0,0,0,0,0
$GC,2535,-0.79,-116.8,271.8,-11.9,205,2540,0.12,2.25,0.00,0.000,6,0.174,0.042,2927,2074,2430,0,0,0,0,0,0
$GC,2864,-0.83,-116.8,304.6,-9.7,221,2868,0.00,2.30,0.00,0.000,4,0.000,0.052,2927,653,2429,0,0,0,0,0,0
$GC,2890,-0.83,-116.8,307.7,-10.8,222,2895,0.00,2.25,0.00,0.000,6,0.000,0.040,2919,2066,2429,0,0,0,0,0,0
$GC,3211,-0.83,-116.8,338.7,-9.7,238,3215,0.00,2.22,0.00,0.000,4,0.000,0.062,2909,3462,2430,0,0,0,0,0,0
$GC,3243,-0.83,-116.8,342.0,-10.2,239,3248,0.00,2.20,0.00,0.000,6,0.000,0.039,2909,2061,2430,0,0,0,0,0,0
$GC,3559,-0.83,-116.8,372.5,-9.7,255,3563,0.00,2.28,0.00,0.000,4,0.000,0.055,2909,649,2429,0,0,0,0,0,0
$GC,3631,-0.83,-116.8,380.2,-10.6,258,3636,0.08,2.20,0.00,0.000,6,0.200,0.042,2916,2060,2429,0,0,0,0,0,0
$GC,3951,-0.83,-116.8,410.1,-9.3,274,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2060,2429,0,0,0,0,0,0
$GC,4262,-0.83,-116.8,440.4,-9.9,289,4266,0.00,2.28,0.00,0.000,4,0.000,0.063,2906,3462,2429,0,0,0,0,0,0
$GC,4350,-0.83,-116.8,450.0,-10.3,293,4354,0.00,2.20,0.00,0.000,6,0.000,0.040,2906,2038,2429,0,0,0,0,0,0
$GC,4678,-0.83,-116.8,483.8,-10.3,309,4682,0.00,2.20,0.00,0.000,4,0.000,0.055,2907,658,2429,0,0,0,0,0,0
$GC,4732,-0.83,-116.8,490.2,-11.2,311,4738,0.08,2.25,0.00,0.000,6,0.199,0.041,2914,2079,2429,0,0,0,0,0,0
$GC,5049,-0.83,-116.8,522.0,-10.0,327,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2079,2429,0,0,0,0,0,0
$GC,5357,-0.83,-116.8,552.0,-9.5,342,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2079,2429,0,0,0,0,0,0
$GC,5668,-0.86,-116.8,581.2,-9.2,357,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2079,2429,0,0,0,0,0,0
$GC,5976,-0.89,-116.8,609.8,-9.2,372,5980,0.00,2.25,0.00,0.000,4,0.000,0.060,2905,3469,2429,0,0,0,0,0,0
$GC,6025,-0.89,-116.8,614.4,-9.7,374,6029,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,2064,2428,0,0,0,0,0,0
$GC,6345,-0.89,-116.8,645.4,-9.8,390,6349,0.00,2.28,0.00,0.000,4,0.000,0.055,2905,653,2428,0,0,0,0,0,0
$GC,6372,-0.89,-116.8,648.3,-10.7,391,6376,0.00,2.20,0.00,0.000,6,0.000,0.041,2896,2062,2428,0,0,0,0,0,0
$GC,6694,-0.89,-116.8,681.5,-10.4,407,6698,0.00,2.30,0.00,0.000,4,0.000,0.065,2885,3465,2428,0,0,0,0,0,0
$GC,6744,-0.89,-116.8,687.1,-10.7,409,6748,0.00,2.22,0.00,0.000,6,0.000,0.041,2885,2063,2428,0,0,0,0,0,0
$GC,7066,-0.89,-116.8,721.0,-10.6,425,7070,0.00,2.28,0.00,0.000,4,0.000,0.055,2885,656,2428,0,0,0,0,0,0
$GC,7106,-0.83,-116.8,725.4,-11.4,427,7111,0.15,2.22,0.00,0.000,6,0.173,0.042,2915,2060,2428,0,0,0,0,0,0
$GC,7435,-0.88,-116.8,755.2,-8.8,443,7439,0.00,2.30,0.00,0.000,4,0.000,0.064,2906,3464,2427,0,0,0,0,0,0
$GC,7475,-0.92,-116.8,758.8,-8.8,445,7479,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,2057,2427,0,0,0,0,0,0
$GC,7802,-0.92,-116.8,786.3,-8.4,461,7806,0.00,2.25,0.00,0.000,4,0.000,0.057,2905,656,2427,0,0,0,0,0,0
$GC,7834,-0.92,-116.8,789.4,-8.9,462,7840,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,2060,2427,0,0,0,0,0,0
$GC,8149,-0.92,-116.8,816.9,-8.9,478,8153,0.00,2.28,0.00,0.000,4,0.000,0.064,2886,3463,2426,0,0,0,0,0,0
$GC,8203,-0.92,-116.8,822.1,-9.4,480,8208,0.00,2.22,0.00,0.000,6,0.000,0.041,2886,2028,2426,0,0,0,0,0,0
$GC,8526,-0.92,-116.8,850.5,-8.8,496,8530,0.00,2.20,0.00,0.000,4,0.000,0.056,2886,661,2426,0,0,0,0,0,0
$GC,8610,-0.87,-116.8,858.9,-10.2,500,8614,0.10,2.20,0.00,0.000,6,0.187,0.042,2901,2062,2426,0,0,0,0,0,0
$GC,8941,-0.87,-116.8,888.3,-8.8,516,8945,0.00,2.30,0.00,0.000,4,0.000,0.065,2891,3468,2426,0,0,0,0,0,0
$GC,9009,-0.87,-116.8,894.7,-9.2,519,9013,0.00,2.20,0.00,0.000,6,0.000,0.044,2891,2061,2426,0,0,0,0,0,0
$GC,9335,-0.87,-116.8,926.5,-9.8,535,9339,0.00,2.28,0.00,0.000,4,0.000,0.056,2891,656,2425,0,0,0,0,0,0
$GC,9390,-0.87,-116.8,932.4,-11.0,537,9396,0.08,2.25,0.00,0.000,6,0.203,0.044,2898,2062,2425,0,0,0,0,0,0
$GC,9707,-0.87,-116.8,962.8,-9.5,553,9711,0.00,2.28,0.00,0.000,4,0.000,0.065,2888,3463,2425,0,0,0,0,0,0
$GC,9733,-0.87,-116.8,965.7,-10.6,554,9737,0.00,2.22,0.00,0.000,6,0.000,0.042,2888,2065,2425,0,0,0,0,0,0
$GC,10054,-0.87,-116.8,997.6,-10.1,570,10058,0.00,2.28,0.00,0.000,4,0.000,0.055,2888,657,2425,0,0,0,0,0,0
$STATE,10079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10079,begin apogee
$GC,10086,-0.19,0.0,1000.5,10.1,571,10200,0.75,0.00,110.53,1.261,6,0.145,0.000,3110,1609,1950,0,0,0,0,0,0
$STATE,10201,end apogee,CONTROL_FINISHED_OK
$STATE,10201,begin climb
$GC,10203,0.86,116.8,1004.7,0.0,577,10330,1.05,2.60,117.90,1.218,4,0.092,0.054,3462,202,1474,0,0,0,0,0,0
$GC,10363,0.86,116.8,995.2,9.6,584,10369,0.00,2.40,0.00,0.000,6,0.000,0.036,3462,1602,1470,0,0,0,0,0,0
$GC,10679,0.89,116.8,966.3,9.4,600,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1602,1466,0,0,0,0,0,0
$GC,10989,0.93,116.8,936.5,10.2,615,10991,0.05,0.00,0.00,0.000,6,0.165,0.000,3500,1602,1464,0,0,0,0,0,0
$GC,11297,0.89,116.8,898.8,12.8,630,11299,0.10,0.00,0.00,0.000,6,0.164,0.000,3473,1603,1464,0,0,0,0,0,0
$GC,11608,0.89,116.8,861.7,11.8,645,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,1603,1463,0,0,0,0,0,0
$GC,11916,0.89,116.8,825.5,11.6,660,11920,0.00,2.33,0.00,0.000,4,0.000,0.054,3484,189,1463,0,0,0,0,0,0
$GC,12000,0.89,116.8,815.5,11.4,664,12004,0.00,2.20,0.00,0.000,6,0.000,0.037,3483,1612,1462,0,0,0,0,0,0
$GC,12325,0.89,116.8,779.1,11.0,680,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,1611,1462,0,0,0,0,0,0
$GC,12636,0.89,116.8,744.2,11.2,695,12640,0.00,2.33,0.00,0.000,4,0.000,0.054,3493,192,1462,0,0,0,0,0,0
$GC,12679,0.89,116.8,738.9,11.8,697,12684,0.05,2.22,0.00,0.000,6,0.144,0.037,3474,1599,1461,0,0,0,0,0,0
$GC,13006,0.89,116.8,704.2,10.6,713,13007,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,1599,1461,0,0,0,0,0,0
$GC,13314,0.89,116.8,672.2,10.1,728,13318,0.00,2.28,0.00,0.000,4,0.000,0.054,3483,195,1461,0,0,0,0,0,0
$GC,13358,0.89,116.8,667.7,10.2,730,13362,0.00,2.20,0.00,0.000,6,0.000,0.037,3484,1610,1461,0,0,0,0,0,0
$GC,13689,0.89,116.8,635.1,9.7,746,13693,0.00,2.20,0.00,0.000,4,0.000,0.054,3483,2986,1461,0,0,0,0,0,0
$GC,13738,0.89,116.8,630.1,9.8,748,13743,0.08,2.15,0.00,0.000,6,0.188,0.036,3474,1592,1461,0,0,0,0,0,0
$GC,14065,0.89,116.8,600.0,9.2,764,14069,0.00,2.25,0.00,0.000,4,0.000,0.056,3485,199,1461,0,0,0,0,0,0
$GC,14148,0.89,116.8,591.8,9.2,768,14152,0.00,2.17,0.00,0.000,6,0.000,0.037,3485,1606,1461,0,0,0,0,0,0
$GC,14480,0.89,116.8,560.7,9.4,784,14483,0.00,2.30,0.00,0.000,4,0.000,0.054,3494,196,1461,0,0,0,0,0,0
$GC,14529,0.89,116.8,555.7,9.9,786,14534,0.08,2.17,0.00,0.000,6,0.181,0.036,3475,1600,1461,0,0,0,0,0,0
$GC,14849,0.89,116.8,526.8,8.6,802,14853,0.00,2.20,0.00,0.000,4,0.000,0.054,3475,2990,1460,0,0,0,0,0,0
$GC,14898,0.89,116.8,522.3,8.8,804,14902,0.00,2.15,0.00,0.000,6,0.000,0.036,3484,1603,1461,0,0,0,0,0,0
$GC,15224,0.89,116.8,493.9,8.6,820,15228,0.00,2.28,0.00,0.000,4,0.000,0.056,3495,201,1461,0,0,0,0,0,0
$GC,15382,0.89,116.8,479.3,9.5,827,15387,0.08,2.17,0.00,0.000,6,0.181,0.037,3474,1606,1460,0,0,0,0,0,0
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$STATE,20495,end climb,SURFACE_DEPTH_REACHED
$STATE,20495,begin surface coast
$FINISH,1.8,1.013402
$STATE,20534,end surface coast,CONTROL_FINISHED_OK
$STATE,20534,begin surface
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$HUMID,64.45
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$XPDR_PINGS,1
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$10V_AH,9.7,63.108
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353192
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$CAP_FILE_SIZE,184877,0
$CFSIZE,2097086464,2024800256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161115,125028,-4457.496,637.096,36,0.9,36,-24.4