version: 66.07.10.p01
glider: 573
mission: 12
dive: 573
start: 11 29 115 21 13 56
data:
$ID,573
$MISSION,12
$DIVE,573
$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,-22800.562
$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,30
$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,572
$GPS1,291115,210450,-4505.046,629.655,27,1.2,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-68.4
$GPS2,291115,211335,-4505.095,629.682,18,1.0,19,-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,309.7,7704,-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,-19.60,0.000,2,0.000,0.000,64,2045,1507,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.1,-2.2,3,114,11.98,2.38,-42.85,0.000,4,0.233,0.072,2926,3469,2426,0,0,0,0,0,0
$GC,175,-0.70,-116.8,10.7,-12.2,22,183,0.08,2.25,0.00,0.000,6,0.135,0.042,2952,2065,2428,0,0,0,0,0,0
$GC,235,-0.70,-116.8,16.9,-10.2,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2065,2428,0,0,0,0,0,0
$GC,293,-0.70,-116.8,22.8,-10.0,40,300,0.00,2.30,0.00,0.000,4,0.000,0.053,2952,652,2428,0,0,0,0,0,0
$GC,334,-0.66,-116.8,27.1,-10.7,46,342,0.05,2.25,0.00,0.000,6,0.161,0.039,2961,2057,2428,0,0,0,0,0,0
$GC,489,-0.66,-116.8,43.2,-10.0,71,494,0.00,2.30,0.00,0.000,4,0.000,0.059,2950,3471,2429,0,0,0,0,0,0
$GC,524,-0.66,-116.8,47.0,-10.2,77,530,0.08,2.22,0.00,0.000,6,0.181,0.040,2968,2050,2429,0,0,0,0,0,0
$GC,889,-0.66,-116.8,82.5,-10.0,138,893,0.00,2.25,0.00,0.000,4,0.000,0.053,2968,651,2429,0,0,0,0,0,0
$GC,930,-0.66,-116.8,86.7,-10.8,140,934,0.00,2.22,0.00,0.000,6,0.000,0.040,2960,2066,2429,0,0,0,0,0,0
$GC,1257,-0.66,-116.8,120.9,-10.5,156,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2066,2429,0,0,0,0,0,0
$GC,1569,-0.66,-116.8,152.9,-10.3,171,1573,0.00,2.28,0.00,0.000,4,0.000,0.061,2949,3471,2429,0,0,0,0,0,0
$GC,1596,-0.66,-116.8,156.2,-10.6,172,1601,0.08,2.20,0.00,0.000,6,0.179,0.040,2967,2056,2429,0,0,0,0,0,0
$GC,1918,-0.71,-116.8,187.6,-9.9,188,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2055,2429,0,0,0,0,0,0
$GC,2229,-0.76,-116.8,217.5,-9.6,203,2234,0.08,2.33,0.00,0.000,4,0.122,0.060,2912,3471,2429,0,0,0,0,0,0
$GC,2257,-0.73,-116.8,220.7,-11.4,204,2261,0.12,2.20,0.00,0.000,6,0.155,0.040,2946,2056,2429,0,0,0,0,0,0
$GC,2574,-0.73,-116.8,251.9,-9.6,219,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2056,2429,0,0,0,0,0,0
$GC,2882,-0.73,-116.8,280.1,-8.7,234,2886,0.00,2.22,0.00,0.000,4,0.000,0.053,2947,655,2429,0,0,0,0,0,0
$GC,2954,-0.73,-116.8,287.1,-9.2,237,2958,0.00,2.20,0.00,0.000,6,0.000,0.041,2938,2056,2430,0,0,0,0,0,0
$GC,3277,-0.73,-116.8,315.2,-8.5,253,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2056,2429,0,0,0,0,0,0
$GC,3585,-0.73,-116.8,341.0,-8.2,268,3589,0.00,2.28,0.00,0.000,4,0.000,0.057,2927,3472,2429,0,0,0,0,0,0
$GC,3623,-0.73,-116.8,344.4,-9.0,270,3628,0.08,2.20,0.00,0.000,6,0.178,0.040,2946,2056,2429,0,0,0,0,0,0
$GC,3949,-0.73,-116.8,369.9,-8.0,286,3953,0.00,2.25,0.00,0.000,4,0.000,0.054,2946,653,2429,0,0,0,0,0,0
$GC,4033,-0.73,-116.8,377.0,-8.5,290,4037,0.00,2.22,0.00,0.000,6,0.000,0.041,2937,2066,2429,0,0,0,0,0,0
$GC,4359,-0.73,-116.8,404.1,-8.4,306,4363,0.00,2.28,0.00,0.000,4,0.000,0.062,2926,3469,2429,0,0,0,0,0,0
$GC,4397,-0.73,-116.8,407.5,-9.2,308,4402,0.08,2.20,0.00,0.000,6,0.177,0.040,2945,2056,2429,0,0,0,0,0,0
$GC,4724,-0.73,-116.8,433.3,-8.1,324,4728,0.00,2.25,0.00,0.000,4,0.000,0.054,2946,655,2429,0,0,0,0,0,0
$GC,4779,-0.73,-116.8,438.2,-8.8,326,4785,0.00,2.22,0.00,0.000,6,0.000,0.042,2936,2066,2429,0,0,0,0,0,0
$GC,5095,-0.73,-116.8,465.0,-8.3,342,5099,0.00,2.28,0.00,0.000,4,0.000,0.062,2926,3463,2429,0,0,0,0,0,0
$GC,5138,-0.73,-116.8,469.2,-9.4,344,5143,0.08,2.17,0.00,0.000,6,0.179,0.038,2945,2058,2429,0,0,0,0,0,0
$GC,5464,-0.73,-116.8,496.5,-8.2,360,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2058,2429,0,0,0,0,0,0
$GC,5775,-0.76,-116.8,521.5,-8.1,375,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2058,2429,0,0,0,0,0,0
$GC,6083,-0.79,-116.8,546.9,-8.2,390,6087,0.00,2.22,0.00,0.000,4,0.000,0.054,2945,662,2429,0,0,0,0,0,0
$GC,6178,-0.79,-116.8,555.2,-8.8,394,6182,0.00,2.20,0.00,0.000,6,0.000,0.039,2936,2069,2429,0,0,0,0,0,0
$GC,6499,-0.79,-116.8,581.2,-7.9,410,6503,0.00,2.28,0.00,0.000,4,0.000,0.060,2925,3471,2428,0,0,0,0,0,0
$GC,6531,-0.79,-116.8,583.9,-8.4,411,6535,0.00,2.20,0.00,0.000,6,0.000,0.041,2925,2061,2429,0,0,0,0,0,0
$GC,6848,-0.79,-116.8,609.0,-7.8,427,6852,0.00,2.22,0.00,0.000,4,0.000,0.054,2925,663,2429,0,0,0,0,0,0
$GC,6915,-0.79,-116.8,614.6,-8.5,430,6919,0.00,2.20,0.00,0.000,6,0.000,0.039,2917,2066,2429,0,0,0,0,0,0
$GC,7241,-0.79,-116.8,640.5,-8.1,446,7245,0.00,2.28,0.00,0.000,4,0.000,0.053,2917,664,2429,0,0,0,0,0,0
$GC,7268,-0.74,-116.8,642.9,-8.9,447,7273,0.12,2.20,0.00,0.000,6,0.163,0.037,2942,2074,2429,0,0,0,0,0,0
$GC,7585,-0.77,-116.8,666.0,-7.1,462,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2074,2429,0,0,0,0,0,0
$GC,7894,-0.77,-116.8,688.9,-7.9,477,7898,0.00,2.25,0.00,0.000,4,0.000,0.058,2931,3464,2428,0,0,0,0,0,0
$GC,7934,-0.77,-116.8,692.1,-7.7,479,7938,0.00,2.17,0.00,0.000,6,0.000,0.038,2931,2060,2428,0,0,0,0,0,0
$GC,8262,-0.77,-116.8,718.1,-8.3,495,8266,0.00,2.22,0.00,0.000,4,0.000,0.054,2931,662,2428,0,0,0,0,0,0
$GC,8316,-0.77,-116.8,723.1,-8.8,497,8321,0.00,2.22,0.00,0.000,6,0.000,0.040,2922,2056,2428,0,0,0,0,0,0
$GC,8633,-0.77,-116.8,751.0,-8.7,513,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2056,2427,0,0,0,0,0,0
$GC,8941,-0.77,-116.8,777.3,-8.0,528,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2056,2427,0,0,0,0,0,0
$GC,9252,-0.77,-116.8,801.4,-7.7,543,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2056,2427,0,0,0,0,0,0
$GC,9560,-0.77,-116.8,825.8,-7.8,558,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2056,2427,0,0,0,0,0,0
$GC,9871,-0.77,-116.8,849.9,-7.7,573,9875,0.00,2.28,0.00,0.000,4,0.000,0.058,2912,3466,2427,0,0,0,0,0,0
$GC,9904,-0.77,-116.8,852.8,-8.4,574,9909,0.08,2.17,0.00,0.000,6,0.181,0.038,2930,2061,2426,0,0,0,0,0,0
$GC,10219,-0.77,-116.8,875.9,-7.4,590,10223,0.00,2.25,0.00,0.000,4,0.000,0.054,2931,664,2426,0,0,0,0,0,0
$GC,10303,-0.77,-116.8,882.9,-7.8,594,10307,0.00,2.20,0.00,0.000,6,0.000,0.038,2922,2064,2426,0,0,0,0,0,0
$GC,10629,-0.77,-116.8,909.0,-8.1,610,10633,0.00,2.30,0.00,0.000,4,0.000,0.063,2912,3469,2426,0,0,0,0,0,0
$GC,10672,-0.77,-116.8,912.7,-9.4,612,10677,0.08,2.22,0.00,0.000,6,0.179,0.041,2930,2051,2426,0,0,0,0,0,0
$GC,11000,-0.80,-116.8,936.7,-7.2,628,11004,0.00,2.25,0.00,0.000,4,0.000,0.054,2930,651,2426,0,0,0,0,0,0
$GC,11063,-0.80,-116.8,941.3,-7.4,631,11068,0.00,2.22,0.00,0.000,6,0.000,0.042,2922,2056,2426,0,0,0,0,0,0
$GC,11391,-0.80,-116.8,964.7,-7.3,647,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2056,2425,0,0,0,0,0,0
$GC,11699,-0.80,-116.8,987.7,-7.3,662,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2056,2426,0,0,0,0,0,0
$STATE,11861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11861,begin apogee
$GC,11868,-0.19,0.0,1000.1,7.5,670,11984,0.62,0.00,112.82,1.252,6,0.130,0.000,3115,1594,1950,0,0,0,0,0,0
$STATE,11985,end apogee,CONTROL_FINISHED_OK
$STATE,11985,begin climb
$GC,11987,0.76,116.8,1002.4,0.0,676,12116,0.93,2.55,119.55,1.212,4,0.085,0.055,3432,202,1475,0,0,0,0,0,0
$GC,12150,0.76,116.8,992.1,9.2,684,12154,0.00,2.42,0.00,0.000,6,0.000,0.035,3432,1619,1471,0,0,0,0,0,0
$GC,12475,0.76,116.8,963.1,8.9,700,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1619,1467,0,0,0,0,0,0
$GC,12786,0.76,116.8,935.4,9.0,715,12790,0.00,2.35,0.00,0.000,4,0.000,0.054,3442,195,1466,0,0,0,0,0,0
$GC,12835,0.76,116.8,930.5,9.6,717,12839,0.00,2.22,0.00,0.000,6,0.000,0.036,3442,1610,1465,0,0,0,0,0,0
$GC,13156,0.76,116.8,901.1,9.1,733,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1610,1464,0,0,0,0,0,0
$GC,13464,0.76,116.8,874.3,8.6,748,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1610,1464,0,0,0,0,0,0
$GC,13775,0.76,116.8,847.5,9.2,763,13779,0.00,2.20,0.00,0.000,4,0.000,0.054,3442,2988,1463,0,0,0,0,0,0
$GC,13814,0.76,116.8,843.9,9.8,765,13819,0.10,2.15,0.00,0.000,6,0.168,0.036,3424,1595,1464,0,0,0,0,0,0
$GC,14143,0.81,122.1,817.8,8.3,781,14154,0.05,2.25,4.75,0.770,4,0.169,0.057,3475,204,1451,0,0,0,0,0,0
$GC,14245,0.74,122.1,807.4,11.0,785,14250,0.17,2.17,0.00,0.000,6,0.136,0.036,3422,1596,1451,0,0,0,0,0,0
$GC,14563,0.80,130.9,781.1,8.1,801,14579,0.05,0.00,10.82,1.002,6,0.166,0.000,3461,1596,1415,0,0,0,0,0,0
$GC,14890,0.80,130.9,748.9,9.6,817,14895,0.08,2.30,0.00,0.000,4,0.171,0.054,3451,199,1414,0,0,0,0,0,0
$GC,14939,0.80,130.9,743.9,10.1,819,14943,0.00,2.20,0.00,0.000,6,0.000,0.036,3451,1613,1414,0,0,0,0,0,0
$GC,15261,0.80,130.9,714.7,9.1,835,15265,0.00,2.20,0.00,0.000,4,0.000,0.053,3451,2993,1413,0,0,0,0,0,0
$GC,15301,0.80,130.9,710.9,9.2,837,15305,0.05,2.15,0.00,0.000,6,0.215,0.035,3447,1603,1413,0,0,0,0,0,0
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$STATE,22979,end climb,SURFACE_DEPTH_REACHED
$STATE,22980,begin surface coast
$FINISH,1.9,1.023385
$STATE,23013,end surface coast,CONTROL_FINISHED_OK
$STATE,23013,begin surface
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$HUMID,65.19
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$TCM_TEMP,11.60
$XPDR_PINGS,1
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$10V_AH,9.7,69.944
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353212
$DATA_FILE_SIZE,94038,1305
$CAP_FILE_SIZE,203299,0
$CFSIZE,2097086464,2016903168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301115,033923,-4504.544,627.066,39,0.9,39,-24.4