version: 66.07.10.p01
glider: 573
mission: 12
dive: 531
start: 11 20 115 7 50 7
data:
$ID,573
$MISSION,12
$DIVE,531
$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,-22656.205
$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,36
$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,530
$GPS1,201115,073933,-4501.833,625.724,36,0.8,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-59.9
$GPS2,201115,074946,-4501.763,625.706,32,0.9,32,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,12.6,10904,-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,26,-0.76,-116.8,0.0,0.0,0,35,0.00,0.00,-7.72,0.000,2,0.000,0.000,75,2054,1285,0,0,0,0,0,0
$GC,38,-0.76,-116.8,3.2,-0.0,1,108,11.70,2.30,-50.72,0.000,4,0.229,0.066,2932,648,2421,0,0,0,0,0,0
$GC,282,-0.64,-116.8,27.7,-13.6,40,290,0.15,2.28,0.00,0.000,6,0.144,0.041,2970,2066,2424,0,0,0,0,0,0
$GC,435,-0.64,-116.8,48.1,-13.1,65,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2066,2424,0,0,0,0,0,0
$GC,799,-0.64,-116.8,84.5,-10.5,123,803,0.00,2.28,0.00,0.000,4,0.000,0.063,2960,3464,2424,0,0,0,0,0,0
$GC,842,-0.64,-116.8,89.7,-10.3,125,847,0.03,2.22,0.00,0.000,6,0.186,0.038,2969,2057,2424,0,0,0,0,0,0
$GC,1173,-0.67,-116.8,123.1,-10.2,141,1178,0.00,2.30,0.00,0.000,4,0.000,0.060,2960,3468,2424,0,0,0,0,0,0
$GC,1223,-0.71,-116.8,128.9,-11.0,143,1227,0.00,2.17,0.00,0.000,6,0.000,0.040,2960,2055,2424,0,0,0,0,0,0
$GC,1539,-0.71,-116.8,161.1,-10.3,158,1543,0.00,2.25,0.00,0.000,4,0.000,0.055,2961,658,2424,0,0,0,0,0,0
$GC,1589,-0.71,-116.8,166.6,-11.2,160,1593,0.00,2.22,0.00,0.000,6,0.000,0.040,2952,2060,2424,0,0,0,0,0,0
$GC,1911,-0.71,-116.8,199.2,-10.3,176,1915,0.00,2.28,0.00,0.000,4,0.000,0.062,2941,3465,2424,0,0,0,0,0,0
$GC,1982,-0.71,-116.8,205.9,-9.6,179,1986,0.00,2.17,0.00,0.000,6,0.000,0.038,2941,2048,2424,0,0,0,0,0,0
$GC,2311,-0.71,-116.8,236.4,-8.7,195,2315,0.00,2.22,0.00,0.000,4,0.000,0.054,2941,648,2425,0,0,0,0,0,0
$GC,2360,-0.71,-116.8,241.3,-9.1,197,2365,0.08,2.22,0.00,0.000,6,0.181,0.038,2950,2086,2425,0,0,0,0,0,0
$GC,2684,-0.71,-116.8,266.8,-8.0,213,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2086,2425,0,0,0,0,0,0
$GC,2992,-0.71,-116.8,290.9,-7.7,228,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2086,2425,0,0,0,0,0,0
$GC,3301,-0.71,-116.8,315.6,-8.1,243,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2085,2425,0,0,0,0,0,0
$GC,3610,-0.71,-116.8,342.3,-9.0,258,3614,0.00,2.25,0.00,0.000,4,0.000,0.063,2940,3464,2425,0,0,0,0,0,0
$GC,3659,-0.71,-116.8,347.2,-9.6,260,3663,0.00,2.20,0.00,0.000,6,0.000,0.039,2940,2063,2425,0,0,0,0,0,0
$GC,3980,-0.71,-116.8,377.7,-9.7,276,3984,0.00,2.25,0.00,0.000,4,0.000,0.054,2940,649,2425,0,0,0,0,0,0
$GC,4007,-0.71,-116.8,380.4,-10.2,277,4011,0.05,2.22,0.00,0.000,6,0.147,0.039,2948,2063,2425,0,0,0,0,0,0
$GC,4328,-0.71,-116.8,408.7,-8.6,293,4332,0.00,2.28,0.00,0.000,4,0.000,0.063,2938,3459,2424,0,0,0,0,0,0
$GC,4354,-0.71,-116.8,411.2,-9.0,294,4359,0.00,2.20,0.00,0.000,6,0.000,0.039,2938,2022,2424,0,0,0,0,0,0
$GC,4675,-0.71,-116.8,439.4,-8.8,310,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2022,2424,0,0,0,0,0,0
$GC,4986,-0.71,-116.8,466.7,-8.9,325,4990,0.00,2.17,0.00,0.000,4,0.000,0.053,2939,660,2424,0,0,0,0,0,0
$GC,5035,-0.71,-116.8,471.7,-9.5,327,5040,0.10,2.17,0.00,0.000,6,0.168,0.039,2955,2062,2424,0,0,0,0,0,0
$GC,5364,-0.75,-116.8,499.3,-8.3,343,5369,0.00,2.28,0.00,0.000,4,0.000,0.063,2946,3459,2424,0,0,0,0,0,0
$GC,5431,-0.78,-116.8,505.3,-8.7,346,5435,0.00,2.15,0.00,0.000,6,0.000,0.039,2947,2058,2424,0,0,0,0,0,0
$GC,5757,-0.78,-116.8,533.1,-8.5,362,5761,0.00,2.25,0.00,0.000,4,0.000,0.056,2947,651,2423,0,0,0,0,0,0
$GC,5784,-0.78,-116.8,535.5,-9.5,363,5788,0.00,2.22,0.00,0.000,6,0.000,0.042,2939,2076,2423,0,0,0,0,0,0
$GC,6107,-0.78,-116.8,562.7,-8.5,379,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2076,2423,0,0,0,0,0,0
$GC,6415,-0.78,-116.8,587.7,-7.8,394,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2076,2423,0,0,0,0,0,0
$GC,6725,-0.78,-116.8,611.7,-8.0,409,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2075,2423,0,0,0,0,0,0
$GC,7033,-0.78,-116.8,636.4,-7.8,424,7037,0.00,2.25,0.00,0.000,4,0.000,0.058,2928,3467,2422,0,0,0,0,0,0
$GC,7089,-0.78,-116.8,640.8,-8.3,426,7094,0.00,2.17,0.00,0.000,6,0.000,0.039,2928,2059,2422,0,0,0,0,0,0
$GC,7404,-0.78,-116.8,665.5,-7.8,442,7408,0.00,2.25,0.00,0.000,4,0.000,0.056,2928,652,2422,0,0,0,0,0,0
$GC,7431,-0.75,-116.8,667.9,-8.6,443,7435,0.08,2.22,0.00,0.000,6,0.189,0.042,2937,2058,2422,0,0,0,0,0,0
$GC,7745,-0.75,-116.8,691.6,-7.3,458,7750,0.00,2.30,0.00,0.000,4,0.000,0.060,2927,3469,2423,0,0,0,0,0,0
$GC,7773,-0.75,-116.8,693.7,-8.8,459,7777,0.00,2.17,0.00,0.000,6,0.000,0.041,2928,2062,2422,0,0,0,0,0,0
$GC,8095,-0.75,-116.8,719.7,-8.2,475,8099,0.00,2.28,0.00,0.000,4,0.000,0.055,2928,651,2422,0,0,0,0,0,0
$GC,8185,-0.75,-116.8,727.8,-9.2,479,8190,0.08,2.20,0.00,0.000,6,0.186,0.041,2938,2060,2422,0,0,0,0,0,0
$GC,8512,-0.75,-116.8,754.4,-8.1,495,8516,0.00,2.28,0.00,0.000,4,0.000,0.063,2927,3462,2422,0,0,0,0,0,0
$GC,8622,-0.75,-116.8,764.2,-9.2,500,8627,0.00,2.20,0.00,0.000,6,0.000,0.039,2928,2063,2421,0,0,0,0,0,0
$GC,8949,-0.75,-116.8,792.8,-8.7,516,8953,0.00,2.25,0.00,0.000,4,0.000,0.054,2928,654,2421,0,0,0,0,0,0
$GC,8987,-0.75,-116.8,796.5,-9.7,518,8992,0.08,2.20,0.00,0.000,6,0.185,0.041,2937,2066,2421,0,0,0,0,0,0
$GC,9312,-0.75,-116.8,824.9,-8.8,534,9316,0.00,2.30,0.00,0.000,4,0.000,0.064,2927,3470,2421,0,0,0,0,0,0
$GC,9344,-0.75,-116.8,827.8,-9.5,535,9349,0.00,2.20,0.00,0.000,6,0.000,0.042,2927,2050,2421,0,0,0,0,0,0
$GC,9661,-0.75,-116.8,854.8,-8.5,551,9665,0.00,2.22,0.00,0.000,4,0.000,0.055,2927,659,2421,0,0,0,0,0,0
$GC,9693,-0.75,-116.8,857.9,-9.1,552,9699,0.08,2.20,0.00,0.000,6,0.184,0.039,2936,2068,2421,0,0,0,0,0,0
$GC,10008,-0.75,-116.8,883.2,-8.0,568,10012,0.00,2.25,0.00,0.000,4,0.000,0.062,2926,3462,2421,0,0,0,0,0,0
$GC,10058,-0.75,-116.8,887.4,-8.3,570,10063,0.00,2.17,0.00,0.000,6,0.000,0.039,2926,2049,2421,0,0,0,0,0,0
$GC,10379,-0.75,-116.8,913.5,-8.0,586,10383,0.00,2.22,0.00,0.000,4,0.000,0.055,2926,662,2420,0,0,0,0,0,0
$GC,10411,-0.75,-116.8,916.1,-8.6,587,10416,0.08,2.20,0.00,0.000,6,0.188,0.037,2935,2056,2420,0,0,0,0,0,0
$GC,10735,-0.79,-116.8,940.1,-7.2,603,10739,0.00,2.25,0.00,0.000,4,0.000,0.057,2925,3468,2420,0,0,0,0,0,0
$GC,10762,-0.79,-116.8,942.5,-8.1,604,10765,0.00,2.17,0.00,0.000,6,0.000,0.040,2924,2054,2420,0,0,0,0,0,0
$GC,11082,-0.79,-116.8,967.0,-7.5,620,11086,0.00,2.25,0.00,0.000,4,0.000,0.056,2925,654,2420,0,0,0,0,0,0
$GC,11126,-0.79,-116.8,970.5,-7.7,622,11131,0.00,2.22,0.00,0.000,6,0.000,0.043,2917,2073,2420,0,0,0,0,0,0
$GC,11447,-0.79,-116.8,993.4,-7.0,638,11451,0.00,2.28,0.00,0.000,4,0.000,0.060,2906,3469,2420,0,0,0,0,0,0
$GC,11510,-0.79,-116.8,997.9,-7.4,641,11514,0.10,2.20,0.00,0.000,6,0.163,0.041,2932,2061,2420,0,0,0,0,0,0
$STATE,11545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11545,begin apogee
$GC,11552,-0.19,0.0,1000.4,6.6,643,11667,0.60,0.00,110.88,1.258,6,0.139,0.000,3114,1589,1949,0,0,0,0,0,0
$STATE,11668,end apogee,CONTROL_FINISHED_OK
$STATE,11668,begin climb
$GC,11670,0.76,116.8,1002.4,0.0,649,11798,0.93,2.53,119.00,1.216,4,0.089,0.054,3430,203,1474,0,0,0,0,0,0
$GC,11825,0.76,116.8,992.5,8.8,656,11831,0.00,2.42,0.00,0.000,6,0.000,0.035,3430,1619,1471,0,0,0,0,0,0
$GC,12141,0.76,116.8,963.7,9.0,672,12145,0.00,2.25,0.00,0.000,4,0.000,0.054,3430,3001,1466,0,0,0,0,0,0
$GC,12179,0.76,116.8,959.9,9.6,674,12184,0.00,2.22,0.00,0.000,6,0.000,0.036,3439,1594,1466,0,0,0,0,0,0
$GC,12505,0.76,116.8,929.6,9.2,690,12509,0.00,2.30,0.00,0.000,4,0.000,0.056,3450,193,1465,0,0,0,0,0,0
$GC,12627,0.76,116.8,917.7,10.1,695,12632,0.08,2.25,0.00,0.000,6,0.176,0.037,3431,1638,1463,0,0,0,0,0,0
$GC,12944,0.76,117.3,891.3,8.5,711,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1638,1463,0,0,0,0,0,0
$GC,13252,0.76,117.3,865.2,8.6,726,13256,0.00,2.38,0.00,0.000,4,0.000,0.054,3441,189,1463,0,0,0,0,0,0
$GC,13335,0.76,117.3,857.3,8.7,730,13339,0.00,2.20,0.00,0.000,6,0.000,0.036,3441,1610,1462,0,0,0,0,0,0
$GC,13667,0.76,117.3,827.3,9.0,746,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1610,1462,0,0,0,0,0,0
$GC,13977,0.76,117.3,799.2,9.0,761,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1610,1462,0,0,0,0,0,0
$GC,14285,0.76,117.3,771.5,9.0,776,14290,0.00,2.33,0.00,0.000,4,0.000,0.054,3450,189,1462,0,0,0,0,0,0
$GC,14335,0.76,117.3,766.7,9.2,778,14340,0.08,2.20,0.00,0.000,6,0.174,0.036,3431,1620,1461,0,0,0,0,0,0
$GC,14656,0.80,132.8,740.6,7.8,794,14677,0.00,2.20,15.18,1.037,4,0.000,0.053,3430,2988,1407,0,0,0,0,0,0
$GC,14728,0.80,136.9,734.5,8.3,797,14738,0.00,2.17,5.75,0.812,6,0.000,0.037,3439,1584,1391,0,0,0,0,0,0
$GC,15047,0.80,136.9,707.0,8.9,812,15051,0.00,2.25,0.00,0.000,4,0.000,0.057,3450,196,1390,0,0,0,0,0,0
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$STATE,22787,end climb,SURFACE_DEPTH_REACHED
$STATE,22787,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,93913,1284
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