version: 66.07.10.p01
glider: 573
mission: 12
dive: 598
start: 12 5 115 8 0 1
data:
$ID,573
$MISSION,12
$DIVE,598
$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,-22888.021
$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,39
$R_STBD_OVSHOOT,31
$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,597
$GPS1,051215,075134,-4503.560,635.729,30,0.9,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-71.3
$GPS2,051215,075941,-4503.529,635.783,19,1.5,19,-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,291.2,15437,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.76,-116.8,0.0,0.0,0,49,0.00,0.00,-19.50,0.000,2,0.000,0.000,70,2050,1506,0,0,0,0,0,0
$GC,52,-0.76,-116.8,3.0,-1.2,3,116,11.85,2.33,-46.60,0.000,4,0.229,0.071,2924,3465,2424,0,0,0,0,0,0
$GC,255,-0.72,-116.8,16.6,-10.8,35,263,0.08,2.22,0.00,0.000,6,0.145,0.040,2950,2069,2426,0,0,0,0,0,0
$GC,315,-0.72,-116.8,22.8,-10.0,44,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2070,2427,0,0,0,0,0,0
$GC,470,-0.72,-116.8,38.4,-10.3,69,477,0.00,2.33,0.00,0.000,4,0.000,0.054,2950,648,2427,0,0,0,0,0,0
$GC,542,-0.67,-116.8,46.0,-10.0,81,550,0.05,2.25,0.00,0.000,6,0.156,0.039,2958,2059,2427,0,0,0,0,0,0
$GC,896,-0.67,-116.8,77.5,-9.0,142,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2059,2428,0,0,0,0,0,0
$GC,1216,-0.67,-116.8,105.4,-8.7,161,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2059,2428,0,0,0,0,0,0
$GC,1524,-0.67,-116.8,133.4,-9.1,176,1528,0.00,2.30,0.00,0.000,4,0.000,0.062,2949,3474,2428,0,0,0,0,0,0
$GC,1568,-0.67,-116.8,137.4,-8.9,178,1572,0.05,2.22,0.00,0.000,6,0.207,0.041,2961,2050,2428,0,0,0,0,0,0
$GC,1897,-0.70,-116.8,166.2,-9.0,194,1901,0.00,2.25,0.00,0.000,4,0.000,0.056,2961,651,2428,0,0,0,0,0,0
$GC,1946,-0.70,-116.8,171.4,-9.4,196,1950,0.00,2.25,0.00,0.000,6,0.000,0.041,2952,2078,2428,0,0,0,0,0,0
$GC,2274,-0.70,-116.8,199.8,-8.8,212,2278,0.00,2.22,0.00,0.000,4,0.000,0.057,2942,3471,2428,0,0,0,0,0,0
$GC,2344,-0.70,-116.8,205.8,-8.3,215,2349,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,2062,2428,0,0,0,0,0,0
$GC,2674,-0.70,-116.8,234.8,-8.9,231,2678,0.00,2.28,0.00,0.000,4,0.000,0.054,2942,648,2428,0,0,0,0,0,0
$GC,2729,-0.70,-116.8,240.4,-9.5,233,2735,0.08,2.25,0.00,0.000,6,0.188,0.038,2951,2089,2428,0,0,0,0,0,0
$GC,3048,-0.70,-116.8,266.8,-8.1,249,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2089,2428,0,0,0,0,0,0
$GC,3355,-0.70,-116.8,292.0,-8.2,264,3359,0.00,2.25,0.00,0.000,4,0.000,0.063,2940,3471,2428,0,0,0,0,0,0
$GC,3388,-0.70,-116.8,294.9,-8.1,265,3393,0.00,2.20,0.00,0.000,6,0.000,0.041,2940,2051,2429,0,0,0,0,0,0
$GC,3704,-0.70,-116.8,319.0,-7.7,281,3709,0.05,2.28,0.00,0.000,4,0.215,0.055,2953,646,2429,0,0,0,0,0,0
$GC,3771,-0.70,-116.8,324.7,-8.7,284,3775,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2063,2428,0,0,0,0,0,0
$GC,4097,-0.70,-116.8,350.6,-8.0,300,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2063,2428,0,0,0,0,0,0
$GC,4408,-0.70,-116.8,374.9,-7.8,315,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2063,2428,0,0,0,0,0,0
$GC,4715,-0.70,-116.8,399.0,-8.0,330,4720,0.00,2.28,0.00,0.000,4,0.000,0.063,2933,3462,2428,0,0,0,0,0,0
$GC,4760,-0.70,-116.8,402.7,-8.2,332,4765,0.08,2.20,0.00,0.000,6,0.180,0.038,2952,2048,2428,0,0,0,0,0,0
$GC,5082,-0.75,-116.8,427.3,-7.9,348,5086,0.00,2.25,0.00,0.000,4,0.000,0.054,2952,647,2428,0,0,0,0,0,0
$GC,5165,-0.75,-116.8,434.5,-8.9,352,5169,0.00,2.20,0.00,0.000,6,0.000,0.037,2944,2060,2428,0,0,0,0,0,0
$GC,5491,-0.75,-116.8,462.2,-8.3,368,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2060,2428,0,0,0,0,0,0
$GC,5801,-0.75,-116.8,488.4,-8.3,383,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2060,2428,0,0,0,0,0,0
$GC,6109,-0.75,-116.8,514.5,-8.8,398,6113,0.00,2.30,0.00,0.000,4,0.000,0.063,2933,3464,2428,0,0,0,0,0,0
$GC,6163,-0.75,-116.8,519.6,-9.6,400,6169,0.00,2.22,0.00,0.000,6,0.000,0.040,2932,2058,2428,0,0,0,0,0,0
$GC,6478,-0.75,-116.8,548.6,-9.3,416,6483,0.00,2.28,0.00,0.000,4,0.000,0.057,2933,654,2428,0,0,0,0,0,0
$GC,6541,-0.75,-116.8,554.5,-9.3,419,6546,0.08,2.22,0.00,0.000,6,0.190,0.042,2942,2059,2428,0,0,0,0,0,0
$GC,6870,-0.75,-116.8,582.6,-8.5,435,6874,0.00,2.28,0.00,0.000,4,0.000,0.063,2932,3465,2427,0,0,0,0,0,0
$GC,6919,-0.75,-116.8,587.1,-8.9,437,6923,0.00,2.20,0.00,0.000,6,0.000,0.040,2932,2053,2427,0,0,0,0,0,0
$GC,7241,-0.75,-116.8,614.8,-8.7,453,7245,0.00,2.25,0.00,0.000,4,0.000,0.055,2932,659,2427,0,0,0,0,0,0
$GC,7352,-0.75,-116.8,624.8,-9.0,458,7357,0.03,2.22,0.00,0.000,6,0.175,0.041,2934,2058,2427,0,0,0,0,0,0
$GC,7678,-0.75,-116.8,650.3,-8.1,474,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2058,2427,0,0,0,0,0,0
$GC,7989,-0.75,-116.8,675.6,-8.4,489,7993,0.00,2.30,0.00,0.000,4,0.000,0.062,2924,3471,2426,0,0,0,0,0,0
$GC,8029,-0.75,-116.8,679.1,-8.8,491,8034,0.08,2.22,0.00,0.000,6,0.177,0.042,2943,2053,2426,0,0,0,0,0,0
$GC,8358,-0.79,-116.8,705.4,-8.0,507,8363,0.00,2.25,0.00,0.000,4,0.000,0.056,2943,661,2426,0,0,0,0,0,0
$GC,8414,-0.79,-116.8,710.3,-8.1,509,8418,0.00,2.20,0.00,0.000,6,0.000,0.041,2934,2071,2426,0,0,0,0,0,0
$GC,8730,-0.79,-116.8,735.3,-8.1,525,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2071,2426,0,0,0,0,0,0
$GC,9039,-0.79,-116.8,760.4,-8.4,540,9043,0.00,2.28,0.00,0.000,4,0.000,0.054,2934,659,2425,0,0,0,0,0,0
$GC,9093,-0.79,-116.8,765.5,-9.6,542,9099,0.00,2.20,0.00,0.000,6,0.000,0.041,2925,2060,2425,0,0,0,0,0,0
$GC,9408,-0.79,-116.8,793.7,-9.4,558,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2060,2425,0,0,0,0,0,0
$GC,9719,-0.79,-116.8,820.9,-8.8,573,9723,0.00,2.30,0.00,0.000,4,0.000,0.056,2925,649,2425,0,0,0,0,0,0
$GC,9752,-0.79,-116.8,824.2,-9.8,574,9758,0.00,2.22,0.00,0.000,6,0.000,0.042,2917,2062,2425,0,0,0,0,0,0
$GC,10067,-0.79,-116.8,853.2,-8.8,590,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2062,2424,0,0,0,0,0,0
$GC,10378,-0.79,-116.8,879.1,-8.1,605,10382,0.00,2.28,0.00,0.000,4,0.000,0.064,2906,3462,2424,0,0,0,0,0,0
$GC,10427,-0.79,-116.8,883.5,-8.9,607,10432,0.08,2.20,0.00,0.000,6,0.182,0.040,2924,2054,2424,0,0,0,0,0,0
$GC,10749,-0.79,-116.8,909.6,-8.0,623,10753,0.00,2.25,0.00,0.000,4,0.000,0.057,2924,659,2424,0,0,0,0,0,0
$GC,10826,-0.79,-116.8,916.3,-8.6,626,10830,0.00,2.20,0.00,0.000,6,0.000,0.041,2916,2058,2424,0,0,0,0,0,0
$GC,11147,-0.79,-116.8,940.9,-7.5,642,11151,0.00,2.30,0.00,0.000,4,0.000,0.062,2905,3469,2424,0,0,0,0,0,0
$GC,11185,-0.79,-116.8,943.9,-8.6,644,11190,0.08,2.22,0.00,0.000,6,0.179,0.041,2924,2054,2424,0,0,0,0,0,0
$GC,11513,-0.79,-116.8,967.7,-7.3,660,11517,0.00,2.28,0.00,0.000,4,0.000,0.056,2924,651,2424,0,0,0,0,0,0
$GC,11580,-0.79,-116.8,972.9,-7.3,663,11584,0.00,2.25,0.00,0.000,6,0.000,0.042,2916,2073,2424,0,0,0,0,0,0
$GC,11901,-0.79,-116.8,998.2,-8.1,679,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2073,2424,0,0,0,0,0,0
$STATE,11940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11940,begin apogee
$GC,11947,-0.19,0.0,1001.5,8.2,681,12063,0.65,0.00,112.82,1.247,6,0.131,0.000,3116,1595,1950,0,0,0,0,0,0
$STATE,12064,end apogee,CONTROL_FINISHED_OK
$STATE,12064,begin climb
$GC,12066,0.76,116.8,1004.4,0.0,687,12190,0.95,0.00,120.25,1.211,6,0.085,0.000,3425,1595,1474,0,0,0,0,0,0
$GC,12491,0.81,124.8,973.7,8.2,708,12505,0.00,2.40,8.35,1.012,4,0.000,0.057,3435,199,1441,0,0,0,0,0,0
$GC,12561,0.81,124.8,967.4,9.3,711,12566,0.00,2.28,0.00,0.000,6,0.000,0.036,3435,1623,1439,0,0,0,0,0,0
$GC,12883,0.81,124.8,937.1,9.6,727,12887,0.00,2.17,0.00,0.000,4,0.000,0.054,3435,2985,1437,0,0,0,0,0,0
$GC,12922,0.81,124.8,933.0,10.2,728,12927,0.00,2.17,0.00,0.000,6,0.000,0.037,3444,1590,1437,0,0,0,0,0,0
$GC,13237,0.81,124.8,901.5,9.9,744,13241,0.00,2.28,0.00,0.000,4,0.000,0.057,3455,188,1437,0,0,0,0,0,0
$GC,13326,0.81,124.8,892.0,10.6,748,13330,0.00,2.20,0.00,0.000,6,0.000,0.036,3455,1600,1436,0,0,0,0,0,0
$GC,13652,0.81,124.8,859.6,9.8,764,13656,0.00,2.20,0.00,0.000,4,0.000,0.054,3456,2987,1436,0,0,0,0,0,0
$GC,13691,0.77,124.8,855.6,9.4,766,13695,0.12,2.15,0.00,0.000,6,0.159,0.036,3429,1592,1436,0,0,0,0,0,0
$GC,14018,0.82,124.8,826.4,9.0,782,14023,0.05,2.28,0.00,0.000,4,0.162,0.056,3481,199,1436,0,0,0,0,0,0
$GC,14096,0.75,124.8,817.6,10.8,785,14101,0.17,2.17,0.00,0.000,6,0.139,0.037,3428,1597,1435,0,0,0,0,0,0
$GC,14412,0.80,124.8,788.9,9.1,801,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1597,1435,0,0,0,0,0,0
$GC,14720,0.85,124.8,761.1,8.9,816,14722,0.10,0.00,0.00,0.000,6,0.099,0.000,3483,1598,1435,0,0,0,0,0,0
$GC,15031,0.79,124.8,728.6,10.4,831,15033,0.15,0.00,0.00,0.000,6,0.145,0.000,3439,1602,1435,0,0,0,0,0,0
$GC,15339,0.83,124.8,701.1,8.8,846,15343,0.00,2.28,0.00,0.000,4,0.000,0.055,3449,203,1435,0,0,0,0,0,0
$GC,15394,0.83,124.8,695.8,9.6,848,15400,0.00,2.20,0.00,0.000,6,0.000,0.036,3449,1610,1434,0,0,0,0,0,0
$GC,15709,0.83,124.8,666.9,9.1,864,15713,0.00,2.17,0.00,0.000,4,0.000,0.053,3449,2995,1434,0,0,0,0,0,0
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$STATE,22785,end climb,SURFACE_DEPTH_REACHED
$STATE,22785,begin surface coast
$FINISH,1.9,1.023305
$STATE,22823,end surface coast,CONTROL_FINISHED_OK
$STATE,22823,begin surface
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$TT8_MAMPS,0.026964
$HUMID,65.31
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$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.7,69.234
$10V_AH,9.7,72.705
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.525,184.650,276.900,20.950,0.000,24.719,43.697,259.071,0.000,0.000,22.375,2846.688,16213.954,455.758,3476.385,357.866,0.000,1775.945,0.000,3000.559,0.000,0.539,0.000
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$MEM,353284
$DATA_FILE_SIZE,97212,1314
$CAP_FILE_SIZE,197617,0
$CFSIZE,2097086464,2013626368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,051215,142222,-4503.975,632.957,37,0.9,37,-24.4