version: 66.07.10.p01
glider: 573
mission: 12
dive: 553
start: 11 25 115 6 58 36
data:
$ID,573
$MISSION,12
$DIVE,553
$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,-22729.67
$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,41
$R_STBD_OVSHOOT,47
$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,552
$GPS1,251115,064849,-4505.231,627.462,43,1.1,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-69.4
$GPS2,251115,065815,-4505.234,627.525,21,0.8,22,-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,320.8,5146,-18.3,-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,-0.77,-112.7,0.0,0.0,0,47,0.00,0.00,-19.38,0.000,2,0.000,0.000,62,2075,1517,0,0,0,0,0,0
$GC,50,-0.77,-116.8,3.2,-2.9,3,108,12.68,2.28,-39.08,0.000,4,0.256,0.063,2926,665,2426,0,0,0,0,0,0
$GC,319,-0.69,-116.8,29.6,-12.1,46,328,0.12,2.20,0.00,0.000,6,0.143,0.036,2958,2047,2428,0,0,0,0,0,0
$GC,473,-0.69,-116.8,45.1,-9.7,71,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2047,2428,0,0,0,0,0,0
$GC,821,-0.69,-116.8,80.2,-9.9,132,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2047,2429,0,0,0,0,0,0
$GC,1133,-0.69,-116.8,110.5,-9.9,147,1137,0.00,2.28,0.00,0.000,4,0.000,0.057,2948,3466,2429,0,0,0,0,0,0
$GC,1154,-0.69,-116.8,113.1,-10.0,148,1158,0.00,2.17,0.00,0.000,6,0.000,0.037,2948,2063,2429,0,0,0,0,0,0
$GC,1482,-0.69,-116.8,145.5,-10.2,164,1486,0.00,2.22,0.00,0.000,4,0.000,0.051,2948,663,2429,0,0,0,0,0,0
$GC,1515,-0.69,-116.8,149.5,-11.4,165,1521,0.05,2.20,0.00,0.000,6,0.156,0.037,2956,2060,2429,0,0,0,0,0,0
$GC,1833,-0.69,-116.8,179.5,-9.0,181,1837,0.00,2.25,0.00,0.000,4,0.000,0.060,2946,3464,2428,0,0,0,0,0,0
$GC,1876,-0.69,-116.8,183.3,-9.1,183,1881,0.05,2.15,0.00,0.000,6,0.210,0.037,2958,2060,2429,0,0,0,0,0,0
$GC,2207,-0.73,-116.8,211.0,-8.4,199,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2060,2430,0,0,0,0,0,0
$GC,2513,-0.77,-116.8,235.9,-8.1,214,2517,0.08,2.22,0.00,0.000,4,0.120,0.051,2914,665,2429,0,0,0,0,0,0
$GC,2540,-0.72,-116.8,238.6,-9.5,215,2545,0.17,2.17,0.00,0.000,6,0.155,0.036,2953,2068,2429,0,0,0,0,0,0
$GC,2856,-0.72,-116.8,265.5,-8.7,230,2860,0.00,2.20,0.00,0.000,4,0.000,0.060,2944,3460,2429,0,0,0,0,0,0
$GC,2911,-0.72,-116.8,270.7,-9.7,232,2919,0.00,2.17,0.00,0.000,6,0.000,0.037,2943,2062,2429,0,0,0,0,0,0
$GC,3227,-0.72,-116.8,300.1,-9.4,248,3231,0.00,2.22,0.00,0.000,4,0.000,0.053,2943,662,2429,0,0,0,0,0,0
$GC,3249,-0.72,-116.8,302.5,-10.1,249,3254,0.03,2.20,0.00,0.000,6,0.177,0.038,2944,2058,2429,0,0,0,0,0,0
$GC,3576,-0.72,-116.8,334.0,-9.9,265,3580,0.00,2.25,0.00,0.000,4,0.000,0.060,2935,3463,2429,0,0,0,0,0,0
$GC,3602,-0.72,-116.8,336.8,-10.2,266,3607,0.08,2.20,0.00,0.000,6,0.184,0.038,2952,2054,2429,0,0,0,0,0,0
$GC,3929,-0.76,-116.8,366.6,-8.9,282,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2054,2429,0,0,0,0,0,0
$GC,4240,-0.80,-116.8,393.4,-8.5,297,4241,0.08,0.00,0.00,0.000,6,0.120,0.000,2908,2054,2429,0,0,0,0,0,0
$GC,4547,-0.74,-116.8,425.1,-10.3,312,4552,0.12,2.25,0.00,0.000,4,0.159,0.056,2942,660,2429,0,0,0,0,0,0
$GC,4591,-0.74,-116.8,429.5,-9.5,314,4595,0.00,2.20,0.00,0.000,6,0.000,0.039,2934,2057,2429,0,0,0,0,0,0
$GC,4917,-0.74,-116.8,458.9,-8.8,330,4921,0.00,2.25,0.00,0.000,4,0.000,0.057,2923,3465,2429,0,0,0,0,0,0
$GC,4955,-0.74,-116.8,462.3,-9.0,332,4960,0.08,2.17,0.00,0.000,6,0.181,0.037,2941,2050,2429,0,0,0,0,0,0
$GC,5280,-0.74,-116.8,490.6,-8.9,348,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2050,2429,0,0,0,0,0,0
$GC,5591,-0.74,-116.8,517.8,-8.5,363,5595,0.00,2.22,0.00,0.000,4,0.000,0.055,2941,654,2429,0,0,0,0,0,0
$GC,5624,-0.74,-116.8,521.0,-9.3,364,5630,0.00,2.20,0.00,0.000,6,0.000,0.041,2933,2060,2429,0,0,0,0,0,0
$GC,5939,-0.74,-116.8,548.1,-8.5,380,5943,0.00,2.28,0.00,0.000,4,0.000,0.061,2922,3469,2429,0,0,0,0,0,0
$GC,6011,-0.74,-116.8,554.4,-8.8,383,6016,0.08,2.20,0.00,0.000,6,0.174,0.041,2941,2069,2429,0,0,0,0,0,0
$GC,6341,-0.78,-116.8,580.7,-7.8,399,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2069,2428,0,0,0,0,0,0
$GC,6647,-0.81,-116.8,605.7,-7.7,414,6652,0.05,2.30,0.00,0.000,4,0.168,0.053,2905,645,2428,0,0,0,0,0,0
$GC,6702,-0.74,-116.8,611.0,-10.0,416,6708,0.17,2.20,0.00,0.000,6,0.158,0.037,2944,2068,2428,0,0,0,0,0,0
$GC,7019,-0.78,-116.8,636.1,-7.8,432,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2068,2428,0,0,0,0,0,0
$GC,7329,-0.82,-116.8,660.6,-7.9,447,7333,0.08,2.25,0.00,0.000,4,0.125,0.060,2887,3457,2428,0,0,0,0,0,0
$GC,7363,-0.75,-116.8,664.0,-9.8,448,7369,0.17,2.17,0.00,0.000,6,0.150,0.041,2936,2051,2428,0,0,0,0,0,0
$GC,7678,-0.75,-116.8,689.7,-8.0,464,7681,0.00,2.25,0.00,0.000,4,0.000,0.056,2937,657,2428,0,0,0,0,0,0
$GC,7739,-0.75,-116.8,695.0,-8.2,466,7744,0.00,2.20,0.00,0.000,6,0.000,0.040,2929,2067,2428,0,0,0,0,0,0
$GC,8054,-0.75,-116.8,721.1,-8.3,482,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2067,2428,0,0,0,0,0,0
$GC,8364,-0.75,-116.8,748.0,-8.8,497,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2068,2427,0,0,0,0,0,0
$GC,8673,-0.75,-116.8,774.5,-8.4,512,8677,0.00,2.28,0.00,0.000,4,0.000,0.061,2917,3471,2427,0,0,0,0,0,0
$GC,8712,-0.75,-116.8,777.9,-8.6,514,8716,0.10,2.20,0.00,0.000,6,0.160,0.041,2944,2060,2427,0,0,0,0,0,0
$GC,9039,-0.81,-116.8,803.6,-7.7,530,9044,0.05,2.28,0.00,0.000,4,0.170,0.054,2906,648,2427,0,0,0,0,0,0
$GC,9078,-0.75,-116.8,807.3,-9.9,532,9083,0.15,2.22,0.00,0.000,6,0.161,0.041,2938,2065,2426,0,0,0,0,0,0
$GC,9406,-0.79,-116.8,832.1,-7.2,548,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2065,2426,0,0,0,0,0,0
$GC,9715,-0.83,-116.8,854.4,-7.2,563,9719,0.08,2.28,0.00,0.000,4,0.123,0.063,2881,3468,2426,0,0,0,0,0,0
$GC,9747,-0.76,-116.8,857.3,-8.6,564,9752,0.20,2.20,0.00,0.000,6,0.148,0.041,2938,2055,2425,0,0,0,0,0,0
$GC,10066,-0.81,-116.8,880.6,-7.5,579,10070,0.00,2.25,0.00,0.000,4,0.000,0.055,2938,660,2426,0,0,0,0,0,0
$GC,10109,-0.81,-116.8,884.4,-9.1,581,10113,0.00,2.20,0.00,0.000,6,0.000,0.041,2930,2063,2426,0,0,0,0,0,0
$GC,10438,-0.81,-116.8,910.1,-8.2,597,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2063,2425,0,0,0,0,0,0
$GC,10746,-0.81,-116.8,935.2,-8.2,612,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2063,2426,0,0,0,0,0,0
$GC,11056,-0.81,-116.8,959.9,-7.8,627,11060,0.00,2.28,0.00,0.000,4,0.000,0.063,2919,3461,2425,0,0,0,0,0,0
$GC,11105,-0.81,-116.8,964.1,-8.8,629,11109,0.00,2.17,0.00,0.000,6,0.000,0.038,2919,2051,2425,0,0,0,0,0,0
$GC,11427,-0.81,-116.8,988.7,-7.5,645,11431,0.00,2.25,0.00,0.000,4,0.000,0.056,2919,660,2425,0,0,0,0,0,0
$GC,11494,-0.81,-116.8,994.2,-7.8,648,11498,0.00,2.20,0.00,0.000,6,0.000,0.040,2910,2059,2425,0,0,0,0,0,0
$STATE,11587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11587,begin apogee
$GC,11593,-0.19,0.0,1001.3,7.7,653,11709,0.68,0.00,111.95,1.254,6,0.140,0.000,3114,1594,1950,0,0,0,0,0,0
$STATE,11709,end apogee,CONTROL_FINISHED_OK
$STATE,11709,begin climb
$GC,11712,0.77,116.8,1003.8,0.0,659,11839,0.95,2.42,119.65,1.213,4,0.087,0.056,3439,200,1473,0,0,0,0,0,0
$GC,11889,0.77,116.8,991.7,9.3,667,11894,0.00,2.40,0.00,0.000,6,0.000,0.035,3439,1603,1470,0,0,0,0,0,0
$GC,12206,0.77,116.8,962.4,9.5,683,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1603,1465,0,0,0,0,0,0
$GC,12514,0.77,116.8,934.7,8.7,698,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1603,1464,0,0,0,0,0,0
$GC,12825,0.78,123.4,908.5,8.2,713,12835,0.00,2.25,6.12,0.893,4,0.000,0.052,3439,3007,1446,0,0,0,0,0,0
$GC,12880,0.78,125.8,903.5,8.4,715,12890,0.00,2.17,3.95,0.744,6,0.000,0.036,3448,1599,1437,0,0,0,0,0,0
$GC,13218,0.78,125.8,873.3,9.3,732,13222,0.00,2.28,0.00,0.000,4,0.000,0.056,3459,195,1437,0,0,0,0,0,0
$GC,13317,0.78,125.8,862.9,10.4,736,13324,0.10,2.22,0.00,0.000,6,0.156,0.036,3431,1630,1436,0,0,0,0,0,0
$GC,13633,0.82,125.8,834.3,9.0,752,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1630,1436,0,0,0,0,0,0
$GC,13944,0.87,125.8,805.3,9.5,767,13948,0.10,2.33,0.00,0.000,4,0.102,0.055,3494,196,1436,0,0,0,0,0,0
$GC,14010,0.77,125.8,797.4,11.6,770,14015,0.20,2.17,0.00,0.000,6,0.138,0.036,3433,1599,1435,0,0,0,0,0,0
$GC,14338,0.81,125.8,767.7,8.9,786,14339,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1599,1435,0,0,0,0,0,0
$GC,14648,0.85,125.8,740.7,8.6,801,14653,0.08,2.28,0.00,0.000,4,0.122,0.055,3488,195,1435,0,0,0,0,0,0
$GC,14692,0.77,125.8,735.9,11.4,803,14697,0.17,2.17,0.00,0.000,6,0.142,0.036,3436,1602,1435,0,0,0,0,0,0
$GC,15016,0.82,138.1,709.7,7.9,819,15031,0.00,0.00,13.80,1.004,6,0.000,0.000,3435,1602,1387,0,0,0,0,0,0
$GC,15343,0.87,149.3,682.9,8.0,835,15364,0.10,2.35,12.40,0.968,4,0.099,0.054,3500,198,1341,0,0,0,0,0,0
$GC,15423,0.79,149.3,674.5,11.8,838,15428,0.20,2.20,0.00,0.000,6,0.138,0.037,3440,1600,1339,0,0,0,0,0,0
$GC,15741,0.85,155.7,647.2,8.2,853,15750,0.00,0.00,7.65,0.859,6,0.000,0.000,3440,1600,1315,0,0,0,0,0,0
$GC,16047,0.91,155.8,620.6,8.5,868,16052,0.10,2.30,0.00,0.000,4,0.100,0.054,3504,198,1314,0,0,0,0,0,0
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$STATE,22444,end climb,SURFACE_DEPTH_REACHED
$STATE,22444,begin surface coast
$FINISH,2.1,1.023399
$STATE,22476,end surface coast,CONTROL_FINISHED_OK
$STATE,22476,begin surface
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$HUMID,64.84
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,11.30
$XPDR_PINGS,1
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$10V_AH,9.7,67.656
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353252
$DATA_FILE_SIZE,94120,1283
$CAP_FILE_SIZE,194712,0
$CFSIZE,2097086464,2019557376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251115,131504,-4504.104,625.182,40,0.8,40,-24.4