version: 66.07.10.p01
glider: 573
mission: 12
dive: 558
start: 11 26 115 8 45 13
data:
$ID,573
$MISSION,12
$DIVE,558
$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,-22747.463
$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,37
$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,557
$GPS1,261115,083527,-4501.225,624.947,36,0.8,36,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-74.1
$GPS2,261115,084452,-4501.231,624.940,23,1.3,23,-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,17.1,9766,-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,-116.8,0.0,0.0,0,35,0.00,0.00,-7.80,0.000,2,0.000,0.000,60,2058,1284,0,0,0,0,0,0
$GC,38,-0.76,-116.8,3.1,-0.0,1,120,11.93,2.28,-60.88,0.000,4,0.230,0.059,2935,665,2424,0,0,0,0,0,0
$GC,239,-0.68,-116.8,12.8,-11.3,33,248,0.10,2.22,0.00,0.000,6,0.140,0.038,2959,2053,2425,0,0,0,0,0,0
$GC,299,-0.68,-116.8,19.2,-10.3,42,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2053,2425,0,0,0,0,0,0
$GC,357,-0.68,-116.8,25.2,-10.5,51,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2052,2426,0,0,0,0,0,0
$GC,512,-0.68,-116.8,41.1,-10.4,76,517,0.00,2.28,0.00,0.000,4,0.000,0.055,2949,3477,2426,0,0,0,0,0,0
$GC,553,-0.68,-116.8,45.5,-10.6,83,558,0.00,2.17,0.00,0.000,6,0.000,0.038,2949,2060,2426,0,0,0,0,0,0
$GC,905,-0.68,-116.8,82.4,-10.2,142,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2060,2427,0,0,0,0,0,0
$GC,1216,-0.68,-116.8,113.8,-9.9,157,1220,0.00,2.20,0.00,0.000,4,0.000,0.053,2949,664,2427,0,0,0,0,0,0
$GC,1248,-0.65,-116.8,117.5,-10.2,158,1256,0.08,2.22,0.00,0.000,6,0.145,0.038,2966,2067,2427,0,0,0,0,0,0
$GC,1565,-0.68,-116.8,145.9,-8.8,174,1569,0.00,2.22,0.00,0.000,4,0.000,0.059,2956,3464,2427,0,0,0,0,0,0
$GC,1657,-0.71,-116.8,153.5,-8.2,178,1661,0.00,2.15,0.00,0.000,6,0.000,0.037,2956,2052,2427,0,0,0,0,0,0
$GC,1984,-0.71,-116.8,181.8,-8.2,194,1988,0.00,2.20,0.00,0.000,4,0.000,0.053,2956,665,2427,0,0,0,0,0,0
$GC,2022,-0.71,-116.8,185.5,-9.1,195,2028,0.00,2.20,0.00,0.000,6,0.000,0.037,2947,2066,2427,0,0,0,0,0,0
$GC,2341,-0.71,-116.8,211.8,-8.5,211,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2066,2427,0,0,0,0,0,0
$GC,2648,-0.71,-116.8,238.0,-8.8,226,2652,0.00,2.25,0.00,0.000,4,0.000,0.060,2936,3462,2427,0,0,0,0,0,0
$GC,2680,-0.71,-116.8,241.0,-9.6,227,2687,0.03,2.17,0.00,0.000,6,0.168,0.037,2947,2068,2427,0,0,0,0,0,0
$GC,2999,-0.71,-116.8,268.2,-8.6,243,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2067,2427,0,0,0,0,0,0
$GC,3306,-0.71,-116.8,293.8,-8.0,258,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2067,2427,0,0,0,0,0,0
$GC,3616,-0.71,-116.8,317.5,-7.7,273,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2067,2427,0,0,0,0,0,0
$GC,3924,-0.71,-116.8,341.1,-7.6,288,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2067,2427,0,0,0,0,0,0
$GC,4234,-0.71,-116.8,365.1,-7.7,303,4238,0.00,2.25,0.00,0.000,4,0.000,0.053,2947,658,2427,0,0,0,0,0,0
$GC,4273,-0.71,-116.8,368.6,-8.3,304,4279,0.05,2.17,0.00,0.000,6,0.220,0.037,2950,2060,2427,0,0,0,0,0,0
$GC,4588,-0.71,-116.8,394.1,-8.5,320,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2060,2427,0,0,0,0,0,0
$GC,4899,-0.75,-116.8,419.8,-8.3,335,4903,0.00,2.28,0.00,0.000,4,0.000,0.062,2940,3469,2427,0,0,0,0,0,0
$GC,4976,-0.75,-116.8,426.7,-8.9,338,4980,0.00,2.20,0.00,0.000,6,0.000,0.041,2940,2045,2427,0,0,0,0,0,0
$GC,5297,-0.75,-116.8,454.8,-8.9,354,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2045,2427,0,0,0,0,0,0
$GC,5607,-0.75,-116.8,482.7,-8.9,369,5611,0.00,2.22,0.00,0.000,4,0.000,0.054,2940,656,2427,0,0,0,0,0,0
$GC,5663,-0.75,-116.8,487.9,-8.8,371,5667,0.00,2.17,0.00,0.000,6,0.000,0.039,2931,2063,2427,0,0,0,0,0,0
$GC,5985,-0.75,-116.8,514.8,-8.2,387,5989,0.00,2.28,0.00,0.000,4,0.000,0.063,2920,3465,2426,0,0,0,0,0,0
$GC,6046,-0.75,-116.8,520.2,-9.2,390,6050,0.08,2.20,0.00,0.000,6,0.179,0.040,2939,2054,2426,0,0,0,0,0,0
$GC,6373,-0.75,-116.8,545.0,-7.6,406,6377,0.00,2.22,0.00,0.000,4,0.000,0.056,2939,661,2426,0,0,0,0,0,0
$GC,6450,-0.75,-116.8,551.5,-8.3,409,6455,0.00,2.20,0.00,0.000,6,0.000,0.041,2930,2058,2426,0,0,0,0,0,0
$GC,6766,-0.75,-116.8,578.0,-8.5,425,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2058,2426,0,0,0,0,0,0
$GC,7074,-0.75,-116.8,604.9,-8.8,440,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2059,2425,0,0,0,0,0,0
$GC,7385,-0.75,-116.8,632.1,-8.8,455,7389,0.00,2.28,0.00,0.000,4,0.000,0.062,2920,3462,2425,0,0,0,0,0,0
$GC,7417,-0.75,-116.8,635.4,-9.5,456,7423,0.08,2.17,0.00,0.000,6,0.177,0.041,2938,2057,2425,0,0,0,0,0,0
$GC,7732,-0.75,-116.8,661.7,-8.3,472,7736,0.00,2.28,0.00,0.000,4,0.000,0.057,2938,651,2425,0,0,0,0,0,0
$GC,7771,-0.75,-116.8,665.0,-8.6,473,7776,0.00,2.25,0.00,0.000,6,0.000,0.043,2930,2055,2425,0,0,0,0,0,0
$GC,8087,-0.75,-116.8,690.7,-8.2,489,8091,0.00,2.30,0.00,0.000,4,0.000,0.060,2919,3476,2424,0,0,0,0,0,0
$GC,8104,-0.75,-116.8,692.3,-8.4,490,8109,0.10,2.20,0.00,0.000,6,0.164,0.041,2945,2054,2424,0,0,0,0,0,0
$GC,8432,-0.79,-116.8,718.4,-7.8,506,8436,0.00,2.25,0.00,0.000,4,0.000,0.057,2946,654,2424,0,0,0,0,0,0
$GC,8476,-0.79,-116.8,722.3,-8.4,508,8480,0.00,2.20,0.00,0.000,6,0.000,0.043,2936,2064,2424,0,0,0,0,0,0
$GC,8796,-0.79,-116.8,747.9,-7.9,524,8800,0.00,2.30,0.00,0.000,4,0.000,0.055,2937,654,2424,0,0,0,0,0,0
$GC,8850,-0.79,-116.8,752.8,-9.0,526,8856,0.00,2.25,0.00,0.000,6,0.000,0.043,2927,2059,2425,0,0,0,0,0,0
$GC,9166,-0.79,-116.8,779.1,-8.3,542,9170,0.00,2.28,0.00,0.000,4,0.000,0.063,2917,3472,2424,0,0,0,0,0,0
$GC,9229,-0.79,-116.8,784.3,-8.3,545,9233,0.00,2.20,0.00,0.000,6,0.000,0.042,2916,2054,2424,0,0,0,0,0,0
$GC,9556,-0.79,-116.8,811.9,-8.4,561,9560,0.00,2.28,0.00,0.000,4,0.000,0.056,2917,648,2424,0,0,0,0,0,0
$GC,9605,-0.75,-116.8,816.5,-9.0,563,9610,0.12,2.25,0.00,0.000,6,0.161,0.043,2941,2070,2424,0,0,0,0,0,0
$GC,9922,-0.79,-116.8,839.6,-7.3,578,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2070,2423,0,0,0,0,0,0
$GC,10231,-0.83,-116.8,860.8,-6.8,593,10236,0.08,2.30,0.00,0.000,4,0.122,0.053,2897,647,2423,0,0,0,0,0,0
$GC,10293,-0.76,-116.8,866.3,-8.2,596,10298,0.17,2.20,0.00,0.000,6,0.154,0.037,2937,2069,2423,0,0,0,0,0,0
$GC,10621,-0.79,-116.8,888.4,-6.5,612,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2069,2423,0,0,0,0,0,0
$GC,10930,-0.83,-116.8,908.3,-6.8,627,10935,0.08,2.28,0.00,0.000,4,0.122,0.062,2882,3465,2423,0,0,0,0,0,0
$GC,10974,-0.76,-116.8,912.1,-8.8,629,10979,0.20,2.17,0.00,0.000,6,0.150,0.041,2939,2054,2423,0,0,0,0,0,0
$GC,11298,-0.81,-116.8,934.6,-7.2,645,11302,0.00,2.25,0.00,0.000,4,0.000,0.057,2939,652,2423,0,0,0,0,0,0
$GC,11348,-0.81,-116.8,938.9,-8.0,647,11352,0.00,2.22,0.00,0.000,6,0.000,0.044,2930,2069,2423,0,0,0,0,0,0
$GC,11662,-0.81,-116.8,963.6,-8.1,662,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2069,2422,0,0,0,0,0,0
$GC,11973,-0.81,-116.8,988.5,-7.8,677,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2069,2423,0,0,0,0,0,0
$STATE,12136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12136,begin apogee
$GC,12142,-0.19,0.0,1001.0,7.4,685,12258,0.62,0.00,112.45,1.252,6,0.135,0.000,3119,1595,1950,0,0,0,0,0,0
$STATE,12259,end apogee,CONTROL_FINISHED_OK
$STATE,12259,begin climb
$GC,12261,0.76,116.8,1004.0,0.0,691,12391,0.93,2.42,119.80,1.212,4,0.086,0.056,3434,202,1473,0,0,0,0,0,0
$GC,12457,0.76,116.8,991.3,9.2,700,12462,0.00,2.38,0.00,0.000,6,0.000,0.036,3435,1619,1468,0,0,0,0,0,0
$GC,12778,0.76,116.8,963.1,9.0,716,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1465,0,0,0,0,0,0
$GC,13089,0.76,119.5,936.2,8.4,731,13090,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1619,1464,0,0,0,0,0,0
$GC,13397,0.76,119.5,910.2,8.6,746,13401,0.00,2.33,0.00,0.000,4,0.000,0.054,3444,197,1463,0,0,0,0,0,0
$GC,13441,0.76,119.5,906.3,9.4,748,13446,0.05,2.20,0.00,0.000,6,0.207,0.037,3431,1617,1462,0,0,0,0,0,0
$GC,13772,0.76,124.0,878.4,8.3,764,13780,0.00,0.00,6.35,0.905,6,0.000,0.000,3431,1618,1444,0,0,0,0,0,0
$GC,14083,0.80,124.0,851.4,8.7,779,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1618,1444,0,0,0,0,0,0
$GC,14391,0.83,124.0,824.2,9.1,794,14396,0.05,2.33,0.00,0.000,4,0.166,0.054,3479,192,1443,0,0,0,0,0,0
$GC,14459,0.76,124.0,816.9,11.2,797,14464,0.17,2.20,0.00,0.000,6,0.138,0.036,3427,1604,1443,0,0,0,0,0,0
$GC,14788,0.80,130.6,789.2,8.2,813,14799,0.00,0.00,8.30,0.952,6,0.000,0.000,3427,1605,1417,0,0,0,0,0,0
$GC,15095,0.86,130.6,762.4,9.0,828,15096,0.10,0.00,0.00,0.000,6,0.100,0.000,3481,1604,1416,0,0,0,0,0,0
$GC,15405,0.80,130.6,728.7,11.2,843,15410,0.12,2.33,0.00,0.000,4,0.148,0.055,3454,191,1416,0,0,0,0,0,0
$GC,15445,0.80,130.6,724.3,11.8,845,15450,0.00,2.17,0.00,0.000,6,0.000,0.037,3455,1607,1415,0,0,0,0,0,0
$GC,15773,0.80,130.6,692.1,9.6,861,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1608,1415,0,0,0,0,0,0
$GC,16081,0.80,130.6,663.2,9.4,876,16082,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1608,1415,0,0,0,0,0,0
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$STATE,22831,end climb,SURFACE_DEPTH_REACHED
$STATE,22832,begin surface coast
$FINISH,2.1,1.023280
$STATE,22864,end surface coast,CONTROL_FINISHED_OK
$STATE,22864,begin surface
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$HUMID,65.59
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$TCM_TEMP,11.60
$XPDR_PINGS,1
$24V_AH,21.8,64.962
$10V_AH,9.7,68.194
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.275,162.375,309.625,3.500,0.000,28.031,40.709,320.160,0.250,0.000,26.886,2761.376,16475.869,427.206,3432.308,345.767,0.000,1737.566,0.000,2900.468,0.000,0.541,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353340
$DATA_FILE_SIZE,93679,1297
$CAP_FILE_SIZE,191418,0
$CFSIZE,2097086464,2018902016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261115,150758,-4458.381,626.246,41,1.1,41,-24.4