version: 66.07.10.p01
glider: 573
mission: 12
dive: 604
start: 12 6 115 20 35 29
data:
$ID,573
$MISSION,12
$DIVE,604
$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,-22909.891
$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,50
$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,603
$GPS1,061215,202528,-4502.617,629.079,47,1.0,47,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-65.6
$GPS2,061215,203509,-4502.562,629.219,25,0.9,25,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,RECOVER
$TGT_LATLONG,-4500.100,633.690
$TGT_RADIUS,500.000
$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,76.5,7421,-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,-116.8,0.0,0.0,0,47,0.00,0.00,-19.45,0.000,2,0.000,0.000,65,2089,1519,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.2,-4.0,3,114,11.80,2.35,-44.35,0.000,4,0.231,0.062,2934,659,2426,0,0,0,0,0,0
$GC,392,-0.68,-116.8,37.8,-10.9,58,400,0.10,2.22,0.00,0.000,6,0.141,0.041,2959,2043,2428,0,0,0,0,0,0
$GC,542,-0.68,-116.8,53.4,-9.6,83,547,0.00,2.25,0.00,0.000,4,0.000,0.051,2959,655,2428,0,0,0,0,0,0
$GC,646,-0.68,-116.8,63.6,-9.7,101,651,0.00,2.25,0.00,0.000,6,0.000,0.042,2950,2076,2428,0,0,0,0,0,0
$GC,989,-0.68,-116.8,96.3,-9.7,140,993,0.00,2.25,0.00,0.000,4,0.000,0.059,2939,3472,2429,0,0,0,0,0,0
$GC,1030,-0.68,-116.8,100.2,-10.0,142,1034,0.10,2.17,0.00,0.000,6,0.168,0.039,2965,2060,2429,0,0,0,0,0,0
$GC,1358,-0.71,-116.8,131.3,-9.6,158,1362,0.00,2.22,0.00,0.000,4,0.000,0.054,2965,659,2429,0,0,0,0,0,0
$GC,1429,-0.71,-116.8,138.4,-10.2,161,1433,0.00,2.20,0.00,0.000,6,0.000,0.041,2956,2059,2429,0,0,0,0,0,0
$GC,1758,-0.71,-116.8,168.1,-8.4,177,1762,0.00,2.25,0.00,0.000,4,0.000,0.063,2946,3465,2429,0,0,0,0,0,0
$GC,1801,-0.71,-116.8,171.8,-8.9,179,1805,0.00,2.15,0.00,0.000,6,0.000,0.037,2946,2060,2429,0,0,0,0,0,0
$GC,2130,-0.71,-116.8,202.2,-9.6,195,2134,0.00,2.22,0.00,0.000,4,0.000,0.053,2946,652,2429,0,0,0,0,0,0
$GC,2193,-0.71,-116.8,209.2,-10.9,198,2198,0.05,2.22,0.00,0.000,6,0.223,0.041,2949,2063,2429,0,0,0,0,0,0
$GC,2520,-0.71,-116.8,240.0,-9.0,214,2524,0.00,2.25,0.00,0.000,4,0.000,0.063,2938,3462,2429,0,0,0,0,0,0
$GC,2560,-0.71,-116.8,243.6,-8.9,216,2564,0.00,2.17,0.00,0.000,6,0.000,0.037,2938,2055,2429,0,0,0,0,0,0
$GC,2887,-0.71,-116.8,272.7,-9.0,232,2891,0.00,2.22,0.00,0.000,4,0.000,0.054,2938,653,2429,0,0,0,0,0,0
$GC,2953,-0.71,-116.8,278.5,-9.2,235,2957,0.08,2.22,0.00,0.000,6,0.185,0.041,2949,2066,2429,0,0,0,0,0,0
$GC,3280,-0.71,-116.8,306.0,-8.1,251,3284,0.00,2.25,0.00,0.000,4,0.000,0.063,2938,3463,2429,0,0,0,0,0,0
$GC,3301,-0.71,-116.8,307.9,-7.9,252,3305,0.00,2.17,0.00,0.000,6,0.000,0.037,2938,2054,2429,0,0,0,0,0,0
$GC,3621,-0.71,-116.8,334.6,-8.6,268,3625,0.00,2.22,0.00,0.000,4,0.000,0.054,2938,659,2429,0,0,0,0,0,0
$GC,3687,-0.71,-116.8,341.2,-10.1,271,3691,0.10,2.20,0.00,0.000,6,0.167,0.041,2955,2059,2429,0,0,0,0,0,0
$GC,4015,-0.75,-116.8,371.5,-9.8,287,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2059,2429,0,0,0,0,0,0
$GC,4323,-0.80,-116.8,401.2,-9.2,302,4325,0.10,0.00,0.00,0.000,6,0.096,0.000,2898,2059,2429,0,0,0,0,0,0
$GC,4634,-0.72,-116.8,434.2,-10.5,317,4636,0.17,0.00,0.00,0.000,6,0.155,0.000,2947,2059,2430,0,0,0,0,0,0
$GC,4942,-0.72,-116.8,460.7,-8.4,332,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2058,2429,0,0,0,0,0,0
$GC,5253,-0.75,-116.8,486.9,-8.5,347,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2059,2429,0,0,0,0,0,0
$GC,5561,-0.78,-116.8,511.3,-7.2,362,5565,0.00,2.25,0.00,0.000,4,0.000,0.054,2947,662,2429,0,0,0,0,0,0
$GC,5600,-0.78,-116.8,514.3,-7.8,364,5604,0.00,2.20,0.00,0.000,6,0.000,0.039,2938,2065,2429,0,0,0,0,0,0
$GC,5926,-0.78,-116.8,538.4,-7.7,380,5930,0.00,2.30,0.00,0.000,4,0.000,0.065,2927,3468,2429,0,0,0,0,0,0
$GC,5992,-0.78,-116.8,543.7,-7.8,383,5996,0.00,2.20,0.00,0.000,6,0.000,0.040,2928,2058,2428,0,0,0,0,0,0
$GC,6314,-0.78,-116.8,569.6,-8.2,399,6318,0.00,2.22,0.00,0.000,4,0.000,0.055,2928,664,2429,0,0,0,0,0,0
$GC,6414,-0.78,-116.8,579.4,-9.7,403,6418,0.00,2.20,0.00,0.000,6,0.000,0.037,2920,2075,2428,0,0,0,0,0,0
$GC,6730,-0.78,-116.8,608.6,-9.4,419,6734,0.00,2.25,0.00,0.000,4,0.000,0.059,2909,3468,2428,0,0,0,0,0,0
$GC,6774,-0.78,-116.8,613.1,-9.5,421,6779,0.08,2.20,0.00,0.000,6,0.178,0.039,2927,2057,2428,0,0,0,0,0,0
$GC,7102,-0.78,-116.8,642.7,-9.0,437,7106,0.00,2.25,0.00,0.000,4,0.000,0.056,2927,663,2427,0,0,0,0,0,0
$GC,7156,-0.78,-116.8,648.1,-9.9,439,7161,0.00,2.20,0.00,0.000,6,0.000,0.037,2919,2056,2427,0,0,0,0,0,0
$GC,7473,-0.78,-116.8,676.3,-8.8,455,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2056,2427,0,0,0,0,0,0
$GC,7783,-0.78,-116.8,703.2,-8.5,470,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2056,2426,0,0,0,0,0,0
$GC,8091,-0.78,-116.8,729.6,-8.6,485,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2056,2426,0,0,0,0,0,0
$GC,8400,-0.78,-116.8,757.5,-8.9,500,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2056,2425,0,0,0,0,0,0
$GC,8710,-0.78,-116.8,786.1,-9.5,515,8714,0.00,2.28,0.00,0.000,4,0.000,0.051,2918,653,2425,0,0,0,0,0,0
$GC,8750,-0.75,-116.8,790.1,-10.1,517,8755,0.12,2.22,0.00,0.000,6,0.157,0.041,2944,2066,2425,0,0,0,0,0,0
$GC,9079,-0.80,-116.8,819.0,-8.2,533,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2066,2425,0,0,0,0,0,0
$GC,9386,-0.85,-116.8,842.9,-7.2,548,9388,0.10,0.00,0.00,0.000,6,0.099,0.000,2889,2066,2425,0,0,0,0,0,0
$GC,9696,-0.78,-116.8,870.7,-8.8,563,9701,0.15,2.30,0.00,0.000,4,0.159,0.066,2920,3469,2425,0,0,0,0,0,0
$GC,9723,-0.78,-116.8,873.1,-7.6,564,9727,0.00,2.20,0.00,0.000,6,0.000,0.041,2920,2063,2425,0,0,0,0,0,0
$GC,10040,-0.78,-116.8,896.8,-7.4,579,10044,0.00,2.28,0.00,0.000,4,0.000,0.054,2920,652,2425,0,0,0,0,0,0
$GC,10106,-0.78,-116.8,902.6,-8.2,582,10111,0.08,2.20,0.00,0.000,6,0.190,0.042,2929,2056,2425,0,0,0,0,0,0
$GC,10428,-0.78,-116.8,925.9,-7.4,598,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2057,2425,0,0,0,0,0,0
$GC,10737,-0.78,-116.8,950.1,-7.9,613,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2057,2425,0,0,0,0,0,0
$GC,11045,-0.78,-116.8,974.8,-7.9,628,11049,0.00,2.30,0.00,0.000,4,0.000,0.061,2920,3469,2424,0,0,0,0,0,0
$GC,11077,-0.78,-116.8,977.5,-9.2,629,11081,0.00,2.20,0.00,0.000,6,0.000,0.040,2920,2051,2424,0,0,0,0,0,0
$STATE,11369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11369,begin apogee
$GC,11376,-0.19,0.0,1001.2,7.8,644,11492,0.65,0.00,112.47,1.243,6,0.132,0.000,3119,1592,1950,0,0,0,0,0,0
$STATE,11493,end apogee,CONTROL_FINISHED_OK
$STATE,11493,begin climb
$GC,11495,0.76,116.8,1003.8,0.0,650,11624,0.95,2.53,119.88,1.203,4,0.083,0.055,3440,205,1473,0,0,0,0,0,0
$GC,11647,0.77,132.5,994.6,7.8,657,11673,0.00,2.42,17.67,1.106,6,0.000,0.035,3439,1613,1408,0,0,0,0,0,0
$GC,11983,0.77,132.5,962.1,9.6,674,11987,0.00,2.28,0.00,0.000,4,0.000,0.055,3439,2996,1403,0,0,0,0,0,0
$GC,12037,0.77,132.5,956.3,10.9,676,12044,0.08,2.22,0.00,0.000,6,0.186,0.036,3430,1607,1402,0,0,0,0,0,0
$GC,12353,0.81,132.5,926.8,9.4,692,12357,0.00,2.30,0.00,0.000,4,0.000,0.056,3440,202,1401,0,0,0,0,0,0
$GC,12430,0.81,132.5,918.6,10.9,695,12435,0.00,2.20,0.00,0.000,6,0.000,0.037,3441,1607,1400,0,0,0,0,0,0
$GC,12746,0.81,132.5,887.5,9.6,711,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1607,1400,0,0,0,0,0,0
$GC,13054,0.81,132.5,857.9,9.6,726,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1607,1399,0,0,0,0,0,0
$GC,13365,0.81,132.5,829.8,8.8,741,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1607,1398,0,0,0,0,0,0
$GC,13673,0.81,132.5,803.5,8.5,756,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1607,1398,0,0,0,0,0,0
$GC,13984,0.81,132.5,776.8,8.7,771,13988,0.00,2.30,0.00,0.000,4,0.000,0.055,3450,196,1398,0,0,0,0,0,0
$GC,14055,0.81,132.5,769.8,9.6,774,14059,0.00,2.17,0.00,0.000,6,0.000,0.036,3450,1612,1397,0,0,0,0,0,0
$GC,14382,0.81,132.5,739.4,9.2,790,14383,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1611,1397,0,0,0,0,0,0
$GC,14692,0.81,132.5,712.0,8.8,805,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1611,1397,0,0,0,0,0,0
$GC,15000,0.81,132.5,683.9,9.2,820,15002,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1611,1397,0,0,0,0,0,0
$GC,15311,0.81,132.5,655.7,8.9,835,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1611,1397,0,0,0,0,0,0
$GC,15619,0.81,132.5,629.4,8.7,850,15620,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1612,1397,0,0,0,0,0,0
$GC,15930,0.81,132.5,601.7,9.2,865,15934,0.00,2.30,0.00,0.000,4,0.000,0.055,3460,201,1397,0,0,0,0,0,0
$GC,15956,0.81,132.5,599.1,8.9,866,15961,0.05,2.17,0.00,0.000,6,0.205,0.036,3446,1604,1397,0,0,0,0,0,0
$GC,16284,0.84,132.5,570.0,8.9,882,16288,0.00,2.22,0.00,0.000,4,0.000,0.054,3446,2995,1396,0,0,0,0,0,0
$GC,16316,0.84,132.5,566.9,8.9,883,16321,0.00,2.15,0.00,0.000,6,0.000,0.037,3455,1601,1397,0,0,0,0,0,0
$GC,16633,0.85,138.7,539.8,8.2,899,16643,0.00,2.30,5.28,0.707,4,0.000,0.055,3466,193,1384,0,0,0,0,0,0
$GC,16732,0.85,138.7,530.7,8.6,903,16737,0.00,2.20,0.00,0.000,6,0.000,0.036,3466,1602,1384,0,0,0,0,0,0
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$STATE,22498,end climb,SURFACE_DEPTH_REACHED
$STATE,22498,begin surface coast
$FINISH,1.9,1.012258
$STATE,22530,end surface coast,CONTROL_FINISHED_OK
$STATE,22530,begin surface
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$HUMID,66.14
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$TCM_TEMP,11.90
$XPDR_PINGS,2
$24V_AH,21.8,69.908
$10V_AH,9.7,73.460
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353760
$DATA_FILE_SIZE,93850,1281
$CAP_FILE_SIZE,187972,0
$CFSIZE,2097086464,2012872704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071215,025321,-4500.958,632.939,68,1.0,68,-24.4