version: 66.07.10.p01
glider: 573
mission: 12
dive: 532
start: 11 20 115 14 23 1
data:
$ID,573
$MISSION,12
$DIVE,532
$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,-22659.318
$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,34
$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,531
$GPS1,201115,141303,-4459.660,626.675,38,0.8,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-61.4
$GPS2,201115,142241,-4459.653,626.767,19,1.1,19,-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,356.2,7676,-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,-116.8,0.0,0.0,0,47,0.00,0.00,-19.70,0.000,2,0.000,0.000,68,2063,1111,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.1,-2.3,3,144,11.32,2.30,-72.72,0.000,4,0.215,0.062,2932,667,2428,0,0,0,0,0,0
$GC,425,-0.67,-116.8,27.4,-10.4,63,433,0.10,2.20,0.00,0.000,6,0.137,0.034,2958,2056,2429,0,0,0,0,0,0
$GC,582,-0.67,-116.8,43.0,-9.2,88,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2056,2429,0,0,0,0,0,0
$GC,932,-0.67,-116.8,77.8,-9.9,149,937,0.00,2.28,0.00,0.000,4,0.000,0.059,2948,3462,2429,0,0,0,0,0,0
$GC,959,-0.67,-116.8,80.5,-9.2,153,964,0.03,2.22,0.00,0.000,6,0.174,0.040,2958,2058,2429,0,0,0,0,0,0
$GC,1290,-0.67,-116.8,112.9,-10.0,169,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2057,2429,0,0,0,0,0,0
$GC,1595,-0.67,-116.8,141.2,-9.1,184,1600,0.00,2.28,0.00,0.000,4,0.000,0.056,2959,649,2429,0,0,0,0,0,0
$GC,1662,-0.67,-116.8,146.8,-9.1,187,1666,0.00,2.22,0.00,0.000,6,0.000,0.041,2950,2062,2429,0,0,0,0,0,0
$GC,1991,-0.67,-116.8,174.9,-8.0,203,1996,0.05,2.28,0.00,0.000,4,0.227,0.063,2952,3464,2429,0,0,0,0,0,0
$GC,2035,-0.67,-116.8,178.1,-7.8,205,2039,0.00,2.20,0.00,0.000,6,0.000,0.039,2952,2051,2429,0,0,0,0,0,0
$GC,2364,-0.67,-116.8,203.7,-7.4,221,2368,0.00,2.25,0.00,0.000,4,0.000,0.055,2952,652,2429,0,0,0,0,0,0
$GC,2476,-0.67,-116.8,214.2,-8.9,226,2480,0.08,2.22,0.00,0.000,6,0.187,0.041,2961,2069,2429,0,0,0,0,0,0
$GC,2803,-0.71,-116.8,242.7,-9.0,242,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2070,2429,0,0,0,0,0,0
$GC,3114,-0.75,-116.8,269.9,-8.8,257,3118,0.00,2.22,0.00,0.000,4,0.000,0.060,2951,3462,2429,0,0,0,0,0,0
$GC,3187,-0.78,-116.8,277.0,-9.2,260,3191,0.00,2.15,0.00,0.000,6,0.000,0.038,2951,2059,2429,0,0,0,0,0,0
$GC,3503,-0.78,-116.8,306.3,-9.2,275,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2058,2429,0,0,0,0,0,0
$GC,3811,-0.78,-116.8,334.4,-8.7,290,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2059,2429,0,0,0,0,0,0
$GC,4121,-0.78,-116.8,361.4,-8.8,305,4125,0.00,2.25,0.00,0.000,4,0.000,0.054,2951,653,2429,0,0,0,0,0,0
$GC,4223,-0.78,-116.8,370.8,-9.5,309,4227,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,2063,2429,0,0,0,0,0,0
$GC,4537,-0.78,-116.8,398.9,-9.0,324,4541,0.00,2.28,0.00,0.000,4,0.000,0.054,2942,658,2429,0,0,0,0,0,0
$GC,4587,-0.78,-116.8,403.7,-9.3,326,4591,0.00,2.20,0.00,0.000,6,0.000,0.040,2933,2074,2429,0,0,0,0,0,0
$GC,4907,-0.78,-116.8,434.2,-9.5,342,4911,0.00,2.22,0.00,0.000,4,0.000,0.058,2923,3463,2429,0,0,0,0,0,0
$GC,4940,-0.78,-116.8,437.4,-10.0,343,4944,0.00,2.20,0.00,0.000,6,0.000,0.038,2922,2064,2429,0,0,0,0,0,0
$GC,5257,-0.78,-116.8,467.3,-9.3,359,5261,0.00,2.28,0.00,0.000,4,0.000,0.054,2922,652,2429,0,0,0,0,0,0
$GC,5329,-0.73,-116.8,474.7,-10.0,362,5334,0.12,2.20,0.00,0.000,6,0.161,0.040,2947,2066,2429,0,0,0,0,0,0
$GC,5645,-0.73,-116.8,500.5,-8.1,377,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2066,2430,0,0,0,0,0,0
$GC,5953,-0.73,-116.8,525.0,-7.9,392,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2066,2430,0,0,0,0,0,0
$GC,6264,-0.73,-116.8,549.0,-7.7,407,6268,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,3471,2429,0,0,0,0,0,0
$GC,6352,-0.73,-116.8,556.6,-8.2,411,6356,0.00,2.22,0.00,0.000,6,0.000,0.042,2937,2053,2429,0,0,0,0,0,0
$GC,6680,-0.73,-116.8,584.2,-8.4,427,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2053,2429,0,0,0,0,0,0
$GC,6988,-0.73,-116.8,610.5,-8.5,442,6992,0.00,2.28,0.00,0.000,4,0.000,0.057,2937,649,2428,0,0,0,0,0,0
$GC,7066,-0.73,-116.8,617.7,-9.1,445,7071,0.08,2.25,0.00,0.000,6,0.184,0.042,2946,2089,2428,0,0,0,0,0,0
$GC,7383,-0.76,-116.8,643.5,-8.3,461,7387,0.00,2.22,0.00,0.000,4,0.000,0.064,2936,3463,2428,0,0,0,0,0,0
$GC,7461,-0.79,-116.8,650.0,-8.1,464,7466,0.00,2.20,0.00,0.000,6,0.000,0.039,2936,2048,2428,0,0,0,0,0,0
$GC,7776,-0.79,-116.8,675.5,-8.0,480,7780,0.00,2.25,0.00,0.000,4,0.000,0.055,2936,649,2427,0,0,0,0,0,0
$GC,7836,-0.79,-116.8,680.8,-8.7,482,7842,0.00,2.25,0.00,0.000,6,0.000,0.041,2927,2061,2427,0,0,0,0,0,0
$GC,8152,-0.79,-116.8,705.3,-7.5,498,8156,0.00,2.28,0.00,0.000,4,0.000,0.063,2916,3466,2427,0,0,0,0,0,0
$GC,8202,-0.79,-116.8,709.2,-7.6,500,8206,0.00,2.22,0.00,0.000,6,0.000,0.041,2916,2050,2427,0,0,0,0,0,0
$GC,8522,-0.79,-116.8,733.3,-7.2,516,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2050,2427,0,0,0,0,0,0
$GC,8833,-0.79,-116.8,756.3,-8.0,531,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2050,2427,0,0,0,0,0,0
$GC,9141,-0.79,-116.8,780.8,-8.2,546,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2050,2426,0,0,0,0,0,0
$GC,9452,-0.79,-116.8,806.8,-8.5,561,9456,0.00,2.25,0.00,0.000,4,0.000,0.057,2916,650,2426,0,0,0,0,0,0
$GC,9496,-0.74,-116.8,811.0,-8.8,563,9500,0.12,2.20,0.00,0.000,6,0.164,0.041,2941,2060,2426,0,0,0,0,0,0
$GC,9819,-0.78,-116.8,835.3,-7.7,579,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2060,2426,0,0,0,0,0,0
$GC,10126,-0.82,-116.8,858.4,-7.5,594,10130,0.08,2.30,0.00,0.000,4,0.122,0.063,2887,3462,2426,0,0,0,0,0,0
$GC,10197,-0.76,-116.8,865.2,-9.8,597,10202,0.17,2.17,0.00,0.000,6,0.149,0.041,2936,2060,2426,0,0,0,0,0,0
$GC,10521,-0.79,-116.8,889.7,-7.9,613,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2060,2426,0,0,0,0,0,0
$GC,10827,-0.82,-116.8,914.1,-8.0,628,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2060,2426,0,0,0,0,0,0
$GC,11138,-0.86,-116.8,939.4,-8.2,643,11140,0.10,0.00,0.00,0.000,6,0.102,0.000,2886,2060,2426,0,0,0,0,0,0
$GC,11446,-0.79,-116.8,969.4,-9.5,658,11447,0.15,0.00,0.00,0.000,6,0.170,0.000,2926,2060,2426,0,0,0,0,0,0
$GC,11756,-0.79,-116.8,994.6,-7.6,673,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2060,2425,0,0,0,0,0,0
$STATE,11836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11836,begin apogee
$GC,11843,-0.19,0.0,1000.8,7.5,677,11958,0.62,0.00,111.80,1.260,6,0.138,0.000,3116,1591,1950,0,0,0,0,0,0
$STATE,11959,end apogee,CONTROL_FINISHED_OK
$STATE,11959,begin climb
$GC,11961,0.76,116.8,1003.8,0.0,683,12084,0.93,0.00,118.78,1.216,6,0.089,0.000,3421,1591,1474,0,0,0,0,0,0
$GC,12391,0.80,116.8,970.1,8.9,704,12393,0.05,0.00,0.00,0.000,6,0.158,0.000,3460,1591,1465,0,0,0,0,0,0
$GC,12702,0.77,116.8,938.5,10.2,719,12704,0.10,0.00,0.00,0.000,6,0.153,0.000,3433,1591,1464,0,0,0,0,0,0
$GC,13010,0.77,124.1,912.0,8.2,734,13018,0.00,0.00,6.78,0.937,6,0.000,0.000,3433,1591,1443,0,0,0,0,0,0
$GC,13320,0.81,124.1,885.4,8.7,749,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1591,1443,0,0,0,0,0,0
$GC,13628,0.81,124.1,858.8,8.8,764,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1591,1442,0,0,0,0,0,0
$GC,13939,0.84,124.1,830.8,9.0,779,13941,0.05,0.00,0.00,0.000,6,0.164,0.000,3470,1590,1441,0,0,0,0,0,0
$GC,14249,0.80,124.1,798.8,10.2,794,14253,0.10,2.28,0.00,0.000,4,0.152,0.057,3453,193,1441,0,0,0,0,0,0
$GC,14292,0.80,124.1,794.3,10.4,796,14296,0.00,2.22,0.00,0.000,6,0.000,0.037,3453,1637,1441,0,0,0,0,0,0
$GC,14620,0.80,136.0,766.5,8.0,812,14641,0.00,2.40,13.07,1.033,4,0.000,0.054,3463,192,1394,0,0,0,0,0,0
$GC,14679,0.80,136.0,761.0,8.7,814,14686,0.05,2.22,0.00,0.000,6,0.131,0.036,3442,1591,1394,0,0,0,0,0,0
$GC,14995,0.82,157.8,736.8,7.5,830,15024,0.00,2.35,22.45,1.068,4,0.000,0.054,3442,3004,1306,0,0,0,0,0,0
$GC,15052,0.82,161.4,732.2,8.4,832,15062,0.00,2.20,4.95,0.794,6,0.000,0.036,3451,1603,1292,0,0,0,0,0,0
$GC,15390,0.82,161.4,701.7,9.6,849,15394,0.00,2.30,0.00,0.000,4,0.000,0.058,3462,196,1289,0,0,0,0,0,0
$GC,15490,0.82,161.4,691.0,10.0,853,15495,0.00,2.22,0.00,0.000,6,0.000,0.037,3462,1612,1289,0,0,0,0,0,0
$GC,15807,0.82,161.4,658.9,10.4,869,15808,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1612,1288,0,0,0,0,0,0
$GC,16116,0.82,161.4,626.4,10.9,884,16120,0.00,2.30,0.00,0.000,4,0.000,0.055,3472,195,1288,0,0,0,0,0,0
$GC,16166,0.82,161.4,620.6,11.1,886,16171,0.08,2.20,0.00,0.000,6,0.169,0.036,3451,1591,1288,0,0,0,0,0,0
$GC,16488,0.85,161.4,589.1,9.8,902,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1591,1288,0,0,0,0,0,0
$GC,16797,0.89,161.4,559.7,9.6,917,16801,0.00,2.25,0.00,0.000,4,0.000,0.053,3451,3002,1287,0,0,0,0,0,0
$GC,16899,0.89,161.4,549.2,10.2,921,16903,0.00,2.17,0.00,0.000,6,0.000,0.037,3460,1584,1288,0,0,0,0,0,0
$GC,17213,0.89,161.4,516.4,10.3,936,17217,0.00,2.25,0.00,0.000,4,0.000,0.057,3471,203,1288,0,0,0,0,0,0
$GC,17342,0.89,161.4,501.9,10.9,942,17346,0.00,2.17,0.00,0.000,6,0.000,0.037,3470,1611,1287,0,0,0,0,0,0
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$STATE,22447,end climb,SURFACE_DEPTH_REACHED
$STATE,22447,begin surface coast
$FINISH,2.0,1.022837
$STATE,22479,end surface coast,CONTROL_FINISHED_OK
$STATE,22479,begin surface
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$HUMID,65.12
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$TCM_TEMP,11.40
$XPDR_PINGS,0
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$10V_AH,9.7,65.263
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353192
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$CAP_FILE_SIZE,182569,0
$CFSIZE,2097086464,2022309888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201115,203927,-4457.678,626.352,40,1.0,40,-24.4