version: 66.07.10.p01
glider: 573
mission: 12
dive: 551
start: 11 24 115 17 57 2
data:
$ID,573
$MISSION,12
$DIVE,551
$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,-22722.334
$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,40
$R_STBD_OVSHOOT,45
$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,550
$GPS1,241115,174733,-4504.801,633.407,50,1.0,50,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-70.0
$GPS2,241115,175641,-4504.793,633.466,19,1.0,19,-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,301.2,12468,-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,-116.8,0.0,0.0,0,41,0.00,0.00,-13.55,0.000,2,0.000,0.000,61,2057,1403,0,0,0,0,0,0
$GC,44,-0.76,-116.8,3.1,-2.1,2,120,12.02,2.30,-55.15,0.000,4,0.233,0.063,2934,667,2426,0,0,0,0,0,0
$GC,180,-0.63,-116.8,5.8,-8.4,23,188,0.15,2.20,0.00,0.000,6,0.147,0.036,2971,2052,2427,0,0,0,0,0,0
$GC,240,-0.67,-116.8,12.5,-10.8,32,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2051,2427,0,0,0,0,0,0
$GC,298,-0.67,-116.8,17.6,-8.5,41,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2051,2427,0,0,0,0,0,0
$GC,358,-0.70,-116.8,23.3,-9.4,50,365,0.00,2.28,0.00,0.000,4,0.000,0.049,2971,659,2427,0,0,0,0,0,0
$GC,386,-0.70,-116.8,26.0,-9.7,54,394,0.00,2.22,0.00,0.000,6,0.000,0.037,2962,2063,2427,0,0,0,0,0,0
$GC,542,-0.70,-116.8,40.9,-9.7,79,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2063,2427,0,0,0,0,0,0
$GC,893,-0.70,-116.8,72.8,-8.7,140,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2063,2427,0,0,0,0,0,0
$GC,1228,-0.70,-116.8,102.5,-9.2,167,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2063,2427,0,0,0,0,0,0
$GC,1536,-0.70,-116.8,130.3,-8.9,182,1539,0.00,2.22,0.00,0.000,4,0.000,0.062,2951,3462,2428,0,0,0,0,0,0
$GC,1636,-0.70,-116.8,139.5,-8.7,186,1641,0.00,2.17,0.00,0.000,6,0.000,0.037,2952,2053,2428,0,0,0,0,0,0
$GC,1958,-0.70,-116.8,168.5,-9.2,202,1962,0.00,2.20,0.00,0.000,4,0.000,0.054,2952,664,2428,0,0,0,0,0,0
$GC,2008,-0.70,-116.8,173.7,-10.2,204,2012,0.00,2.20,0.00,0.000,6,0.000,0.037,2943,2067,2428,0,0,0,0,0,0
$GC,2330,-0.70,-116.8,204.7,-10.0,220,2332,0.03,0.00,0.00,0.000,6,0.278,0.000,2952,2067,2428,0,0,0,0,0,0
$GC,2641,-0.70,-116.8,233.5,-9.3,235,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2067,2428,0,0,0,0,0,0
$GC,2949,-0.70,-116.8,261.0,-8.8,250,2953,0.00,2.25,0.00,0.000,4,0.000,0.060,2942,3464,2428,0,0,0,0,0,0
$GC,3016,-0.70,-116.8,267.4,-9.4,253,3021,0.05,2.17,0.00,0.000,6,0.205,0.037,2954,2041,2428,0,0,0,0,0,0
$GC,3348,-0.73,-116.8,293.3,-7.7,269,3352,0.00,2.20,0.00,0.000,4,0.000,0.052,2955,657,2428,0,0,0,0,0,0
$GC,3380,-0.73,-116.8,296.5,-8.7,270,3388,0.00,2.20,0.00,0.000,6,0.000,0.038,2945,2057,2428,0,0,0,0,0,0
$GC,3696,-0.73,-116.8,322.2,-8.4,286,3700,0.00,2.25,0.00,0.000,4,0.000,0.056,2935,3469,2428,0,0,0,0,0,0
$GC,3722,-0.73,-116.8,324.5,-8.7,287,3727,0.00,2.20,0.00,0.000,6,0.000,0.038,2935,2056,2428,0,0,0,0,0,0
$GC,4044,-0.73,-116.8,353.4,-9.2,303,4048,0.00,2.22,0.00,0.000,4,0.000,0.054,2935,662,2428,0,0,0,0,0,0
$GC,4093,-0.70,-116.8,358.6,-10.4,305,4098,0.10,2.17,0.00,0.000,6,0.167,0.039,2952,2060,2428,0,0,0,0,0,0
$GC,4408,-0.70,-116.8,387.7,-9.2,320,4412,0.00,2.25,0.00,0.000,4,0.000,0.061,2942,3460,2428,0,0,0,0,0,0
$GC,4474,-0.70,-116.8,393.9,-9.1,323,4478,0.00,2.17,0.00,0.000,6,0.000,0.038,2942,2062,2428,0,0,0,0,0,0
$GC,4802,-0.70,-116.8,422.6,-8.5,339,4807,0.03,2.25,0.00,0.000,4,0.259,0.055,2952,658,2428,0,0,0,0,0,0
$GC,4879,-0.70,-116.8,429.6,-8.9,342,4883,0.00,2.20,0.00,0.000,6,0.000,0.041,2943,2049,2428,0,0,0,0,0,0
$GC,5200,-0.70,-116.8,456.8,-8.7,358,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2049,2428,0,0,0,0,0,0
$GC,5511,-0.70,-116.8,482.7,-8.3,373,5515,0.00,2.28,0.00,0.000,4,0.000,0.060,2932,3466,2428,0,0,0,0,0,0
$GC,5582,-0.70,-116.8,489.1,-8.5,376,5587,0.10,2.17,0.00,0.000,6,0.161,0.039,2958,2057,2428,0,0,0,0,0,0
$GC,5904,-0.76,-116.8,514.3,-7.9,392,5909,0.05,2.25,0.00,0.000,4,0.166,0.056,2916,650,2427,0,0,0,0,0,0
$GC,5959,-0.69,-116.8,520.0,-10.9,394,5966,0.17,2.22,0.00,0.000,6,0.150,0.043,2956,2072,2427,0,0,0,0,0,0
$GC,6275,-0.74,-116.8,545.4,-7.8,410,6279,0.00,2.25,0.00,0.000,4,0.000,0.060,2946,3467,2427,0,0,0,0,0,0
$GC,6325,-0.78,-116.8,549.3,-7.7,412,6328,0.00,2.17,0.00,0.000,6,0.000,0.039,2946,2061,2427,0,0,0,0,0,0
$GC,6641,-0.81,-116.8,573.2,-7.7,427,6646,0.08,2.25,0.00,0.000,4,0.119,0.056,2898,662,2427,0,0,0,0,0,0
$GC,6709,-0.72,-116.8,579.9,-10.5,430,6714,0.22,2.20,0.00,0.000,6,0.152,0.040,2953,2070,2426,0,0,0,0,0,0
$GC,7033,-0.76,-116.8,603.2,-7.0,446,7037,0.00,2.25,0.00,0.000,4,0.000,0.061,2943,3463,2426,0,0,0,0,0,0
$GC,7105,-0.80,-116.8,608.9,-7.5,449,7109,0.00,2.17,0.00,0.000,6,0.000,0.038,2943,2056,2426,0,0,0,0,0,0
$GC,7421,-0.83,-116.8,633.2,-7.7,464,7425,0.08,2.22,0.00,0.000,4,0.122,0.056,2899,661,2426,0,0,0,0,0,0
$GC,7470,-0.74,-116.8,638.1,-10.0,466,7475,0.20,2.20,0.00,0.000,6,0.156,0.040,2945,2072,2426,0,0,0,0,0,0
$GC,7787,-0.77,-116.8,665.3,-9.0,481,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2072,2425,0,0,0,0,0,0
$GC,8096,-0.80,-116.8,691.8,-8.4,496,8098,0.05,0.00,0.00,0.000,6,0.167,0.000,2907,2072,2425,0,0,0,0,0,0
$GC,8405,-0.75,-116.8,721.5,-9.5,511,8407,0.12,0.00,0.00,0.000,6,0.165,0.000,2940,2072,2425,0,0,0,0,0,0
$GC,8713,-0.75,-116.8,746.5,-7.8,526,8718,0.00,2.25,0.00,0.000,4,0.000,0.061,2930,3468,2425,0,0,0,0,0,0
$GC,8785,-0.75,-116.8,752.4,-9.0,529,8790,0.00,2.17,0.00,0.000,6,0.000,0.040,2930,2062,2425,0,0,0,0,0,0
$GC,9108,-0.75,-116.8,777.6,-7.8,545,9112,0.00,2.25,0.00,0.000,4,0.000,0.056,2930,651,2425,0,0,0,0,0,0
$GC,9180,-0.75,-116.8,783.7,-8.5,548,9184,0.08,2.20,0.00,0.000,6,0.182,0.041,2940,2057,2425,0,0,0,0,0,0
$GC,9498,-0.79,-116.8,806.8,-7.6,563,9502,0.00,2.28,0.00,0.000,4,0.000,0.060,2930,3471,2425,0,0,0,0,0,0
$GC,9575,-0.79,-116.8,813.5,-9.1,566,9579,0.00,2.20,0.00,0.000,6,0.000,0.041,2931,2057,2425,0,0,0,0,0,0
$GC,9896,-0.79,-116.8,839.4,-8.0,582,9900,0.00,2.25,0.00,0.000,4,0.000,0.057,2931,655,2424,0,0,0,0,0,0
$GC,9973,-0.79,-116.8,846.1,-8.6,585,9978,0.00,2.22,0.00,0.000,6,0.000,0.043,2923,2063,2424,0,0,0,0,0,0
$GC,10289,-0.79,-116.8,873.3,-8.9,601,10293,0.00,2.28,0.00,0.000,4,0.000,0.063,2913,3463,2424,0,0,0,0,0,0
$GC,10367,-0.79,-116.8,880.8,-10.1,604,10372,0.08,2.20,0.00,0.000,6,0.171,0.041,2931,2049,2424,0,0,0,0,0,0
$GC,10688,-0.79,-116.8,907.6,-8.5,620,10692,0.00,2.20,0.00,0.000,4,0.000,0.055,2931,661,2424,0,0,0,0,0,0
$GC,10742,-0.79,-116.8,912.6,-8.7,622,10748,0.00,2.22,0.00,0.000,6,0.000,0.041,2923,2063,2424,0,0,0,0,0,0
$GC,11058,-0.79,-116.8,939.2,-8.2,638,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2063,2424,0,0,0,0,0,0
$GC,11369,-0.79,-116.8,964.6,-8.3,653,11373,0.00,2.28,0.00,0.000,4,0.000,0.064,2913,3462,2423,0,0,0,0,0,0
$GC,11418,-0.79,-116.8,968.9,-8.6,655,11423,0.08,2.17,0.00,0.000,6,0.171,0.040,2931,2059,2423,0,0,0,0,0,0
$GC,11746,-0.79,-116.8,993.9,-7.3,671,11750,0.00,2.25,0.00,0.000,4,0.000,0.056,2931,652,2423,0,0,0,0,0,0
$GC,11801,-0.79,-116.8,998.4,-7.4,673,11805,0.00,2.22,0.00,0.000,6,0.000,0.043,2923,2063,2423,0,0,0,0,0,0
$STATE,11826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11826,begin apogee
$GC,11833,-0.19,0.0,1000.4,7.7,675,11948,0.65,0.00,111.90,1.255,6,0.138,0.000,3119,1589,1950,0,0,0,0,0,0
$STATE,11949,end apogee,CONTROL_FINISHED_OK
$STATE,11949,begin climb
$GC,11951,0.76,116.8,1003.1,0.0,681,12079,0.93,2.55,119.35,1.211,4,0.087,0.055,3434,195,1474,0,0,0,0,0,0
$GC,12118,0.76,116.8,993.0,8.9,689,12122,0.00,2.42,0.00,0.000,6,0.000,0.035,3434,1623,1470,0,0,0,0,0,0
$GC,12446,0.76,118.1,965.1,8.5,705,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1623,1466,0,0,0,0,0,0
$GC,12754,0.76,124.9,938.9,8.2,720,12764,0.00,0.00,8.02,0.985,6,0.000,0.000,3434,1623,1440,0,0,0,0,0,0
$GC,13065,0.76,124.9,912.1,8.7,735,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1623,1438,0,0,0,0,0,0
$GC,13374,0.76,124.9,884.9,8.7,750,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1623,1437,0,0,0,0,0,0
$GC,13683,0.77,134.9,859.0,8.1,765,13700,0.00,2.33,11.38,1.047,4,0.000,0.054,3443,198,1398,0,0,0,0,0,0
$GC,13757,0.77,134.9,852.6,9.4,767,13761,0.00,2.20,0.00,0.000,6,0.000,0.037,3444,1615,1397,0,0,0,0,0,0
$GC,14071,0.77,136.2,826.1,8.5,782,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1616,1397,0,0,0,0,0,0
$GC,14382,0.77,141.9,800.1,8.3,797,14396,0.00,2.20,8.20,0.955,4,0.000,0.054,3443,2977,1370,0,0,0,0,0,0
$GC,14431,0.77,141.9,795.7,9.4,799,14435,0.08,2.12,0.00,0.000,6,0.189,0.036,3435,1598,1370,0,0,0,0,0,0
$GC,14760,0.82,154.5,770.0,7.9,815,14779,0.00,2.33,14.02,1.034,4,0.000,0.058,3444,198,1320,0,0,0,0,0,0
$GC,14825,0.86,155.9,764.0,8.5,818,14829,0.00,2.17,0.00,0.000,6,0.000,0.037,3445,1598,1319,0,0,0,0,0,0
$GC,15150,0.89,155.9,733.6,9.5,834,15155,0.08,2.20,0.00,0.000,4,0.123,0.054,3490,2984,1317,0,0,0,0,0,0
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$STATE,22985,end climb,SURFACE_DEPTH_REACHED
$STATE,22985,begin surface coast
$FINISH,2.0,1.014077
$STATE,23023,end surface coast,CONTROL_FINISHED_OK
$STATE,23023,begin surface
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$HUMID,64.56
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$TCM_TEMP,11.70
$XPDR_PINGS,1
$24V_AH,21.8,64.186
$10V_AH,9.7,67.393
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353264
$DATA_FILE_SIZE,94103,1313
$CAP_FILE_SIZE,202070,0
$CFSIZE,2097086464,2019786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251115,002234,-4505.088,630.585,40,1.1,40,-24.4