version: 66.07.10.p01
glider: 573
mission: 12
dive: 142
start: 8 26 115 5 38 0
data:
$ID,573
$MISSION,12
$DIVE,142
$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,-21447.156
$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,32
$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,141
$GPS1,260815,052852,-4506.932,626.562,38,0.8,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-67.3
$GPS2,260815,053740,-4506.992,626.625,16,1.0,16,-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,352.6,6518,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.76,-116.8,0.0,0.0,0,52,0.00,0.00,-26.75,0.000,2,0.000,0.000,81,2060,1679,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.4,-4.3,4,105,11.73,0.00,-31.25,0.000,6,0.246,0.000,2932,2060,2427,0,0,0,0,0,0
$GC,156,-0.65,-116.8,10.2,-12.2,20,164,0.15,2.33,0.00,0.000,4,0.184,0.058,2960,3457,2428,0,0,0,0,0,0
$GC,185,-0.56,-116.8,14.3,-14.3,24,193,0.12,2.22,0.00,0.000,6,0.156,0.039,2998,2057,2428,0,0,0,0,0,0
$GC,244,-0.61,-116.8,21.1,-10.7,33,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2057,2429,0,0,0,0,0,0
$GC,400,-0.65,-116.8,34.9,-8.9,58,407,0.08,0.00,0.00,0.000,6,0.127,0.000,2961,2058,2428,0,0,0,0,0,0
$GC,548,-0.60,-116.8,48.2,-8.5,83,553,0.10,2.22,0.00,0.000,4,0.194,0.054,2987,659,2429,0,0,0,0,0,0
$GC,579,-0.60,-116.8,50.9,-8.5,88,584,0.00,2.20,0.00,0.000,6,0.000,0.040,2978,2064,2429,0,0,0,0,0,0
$GC,926,-0.60,-116.8,85.6,-10.7,149,931,0.00,2.22,0.00,0.000,4,0.000,0.062,2968,3462,2429,0,0,0,0,0,0
$GC,965,-0.60,-116.8,90.0,-11.0,156,973,0.05,2.20,0.00,0.000,6,0.166,0.038,2984,2057,2430,0,0,0,0,0,0
$GC,1298,-0.60,-116.8,125.4,-10.3,195,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2057,2429,0,0,0,0,0,0
$GC,1620,-0.63,-116.8,154.4,-9.0,225,1624,0.00,2.17,0.00,0.000,4,0.000,0.052,2984,661,2429,0,0,0,0,0,0
$GC,1659,-0.63,-116.8,158.3,-9.0,228,1663,0.00,2.17,0.00,0.000,6,0.000,0.040,2975,2067,2429,0,0,0,0,0,0
$GC,1983,-0.63,-116.8,186.5,-8.3,258,1987,0.00,2.20,0.00,0.000,4,0.000,0.059,2965,3465,2429,0,0,0,0,0,0
$GC,2038,-0.63,-116.8,191.3,-8.5,262,2044,0.00,2.17,0.00,0.000,6,0.000,0.037,2965,2061,2429,0,0,0,0,0,0
$GC,2366,-0.63,-116.8,218.0,-8.3,293,2370,0.00,2.20,0.00,0.000,4,0.000,0.052,2965,648,2429,0,0,0,0,0,0
$GC,2395,-0.63,-116.8,220.7,-8.5,295,2400,0.10,2.17,0.00,0.000,6,0.182,0.040,2980,2063,2429,0,0,0,0,0,0
$GC,2722,-0.63,-116.8,247.5,-7.7,325,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2063,2430,0,0,0,0,0,0
$GC,3039,-0.66,-116.8,273.0,-7.9,355,3043,0.00,2.20,0.00,0.000,4,0.000,0.061,2970,3462,2430,0,0,0,0,0,0
$GC,3083,-0.69,-116.8,276.8,-8.0,358,3089,0.00,2.17,0.00,0.000,6,0.000,0.038,2970,2052,2430,0,0,0,0,0,0
$GC,3411,-0.69,-116.8,303.2,-8.4,389,3415,0.00,2.17,0.00,0.000,4,0.000,0.052,2970,655,2430,0,0,0,0,0,0
$GC,3431,-0.69,-116.8,305.5,-8.8,390,3437,0.00,2.20,0.00,0.000,6,0.000,0.040,2962,2058,2430,0,0,0,0,0,0
$GC,3759,-0.69,-116.8,333.9,-8.7,421,3763,0.00,2.22,0.00,0.000,4,0.000,0.060,2951,3469,2430,0,0,0,0,0,0
$GC,3801,-0.69,-116.8,338.1,-9.0,424,3810,0.00,2.17,0.00,0.000,6,0.000,0.038,2950,2066,2430,0,0,0,0,0,0
$GC,4127,-0.69,-116.8,366.4,-8.6,455,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2066,2430,0,0,0,0,0,0
$GC,4449,-0.69,-116.8,393.3,-8.4,485,4453,0.00,2.22,0.00,0.000,4,0.000,0.053,2951,649,2430,0,0,0,0,0,0
$GC,4511,-0.64,-116.8,399.1,-9.3,490,4516,0.12,2.20,0.00,0.000,6,0.170,0.038,2975,2073,2430,0,0,0,0,0,0
$GC,4837,-0.64,-116.8,424.1,-7.7,506,4841,0.00,2.17,0.00,0.000,4,0.000,0.058,2964,3465,2430,0,0,0,0,0,0
$GC,4876,-0.64,-116.8,427.3,-8.5,508,4880,0.00,2.15,0.00,0.000,6,0.000,0.038,2964,2055,2430,0,0,0,0,0,0
$GC,5202,-0.64,-116.8,455.3,-8.7,524,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2055,2430,0,0,0,0,0,0
$GC,5511,-0.64,-116.8,482.6,-8.7,539,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2055,2430,0,0,0,0,0,0
$GC,5821,-0.64,-116.8,509.5,-8.8,554,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2055,2430,0,0,0,0,0,0
$GC,6130,-0.64,-116.8,535.7,-8.8,569,6134,0.00,2.17,0.00,0.000,4,0.000,0.054,2964,655,2430,0,0,0,0,0,0
$GC,6215,-0.64,-116.8,543.5,-9.4,573,6220,0.08,2.17,0.00,0.000,6,0.191,0.041,2973,2070,2430,0,0,0,0,0,0
$GC,6542,-0.67,-116.8,570.6,-8.1,589,6546,0.00,2.20,0.00,0.000,4,0.000,0.060,2962,3463,2429,0,0,0,0,0,0
$GC,6597,-0.71,-116.8,575.6,-8.8,591,6603,0.00,2.15,0.00,0.000,6,0.000,0.038,2963,2067,2429,0,0,0,0,0,0
$GC,6914,-0.71,-116.8,602.0,-8.3,607,6918,0.00,2.22,0.00,0.000,4,0.000,0.053,2962,652,2429,0,0,0,0,0,0
$GC,6976,-0.71,-116.8,607.5,-8.8,610,6980,0.00,2.17,0.00,0.000,6,0.000,0.041,2953,2068,2429,0,0,0,0,0,0
$GC,7304,-0.71,-116.8,635.4,-8.4,626,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2069,2428,0,0,0,0,0,0
$GC,7613,-0.71,-116.8,661.5,-8.4,641,7617,0.00,2.20,0.00,0.000,4,0.000,0.060,2944,3474,2428,0,0,0,0,0,0
$GC,7674,-0.71,-116.8,667.0,-9.2,644,7678,0.00,2.15,0.00,0.000,6,0.000,0.041,2943,2057,2428,0,0,0,0,0,0
$GC,8002,-0.71,-116.8,694.2,-8.0,660,8006,0.00,2.20,0.00,0.000,4,0.000,0.055,2944,648,2428,0,0,0,0,0,0
$GC,8034,-0.66,-116.8,697.0,-8.3,661,8041,0.10,2.22,0.00,0.000,6,0.149,0.042,2977,2060,2428,0,0,0,0,0,0
$GC,8351,-0.72,-116.8,717.2,-6.2,677,8353,0.08,0.00,0.00,0.000,6,0.122,0.000,2931,2061,2428,0,0,0,0,0,0
$GC,8660,-0.68,-116.8,739.8,-7.3,692,8665,0.12,2.25,0.00,0.000,4,0.172,0.063,2954,3469,2427,0,0,0,0,0,0
$GC,8693,-0.68,-116.8,742.2,-7.4,693,8699,0.00,2.17,0.00,0.000,6,0.000,0.041,2954,2049,2427,0,0,0,0,0,0
$GC,9009,-0.68,-116.8,763.2,-6.9,709,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2049,2427,0,0,0,0,0,0
$GC,9318,-0.68,-116.8,784.9,-7.0,724,9322,0.00,2.17,0.00,0.000,4,0.000,0.054,2954,653,2426,0,0,0,0,0,0
$GC,9358,-0.68,-116.8,787.9,-7.6,726,9363,0.08,2.17,0.00,0.000,6,0.190,0.042,2963,2067,2427,0,0,0,0,0,0
$GC,9685,-0.71,-116.8,811.8,-7.8,742,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2068,2426,0,0,0,0,0,0
$GC,9994,-0.74,-116.8,837.3,-8.4,757,9998,0.00,2.22,0.00,0.000,4,0.000,0.061,2952,3471,2426,0,0,0,0,0,0
$GC,10088,-0.77,-116.8,845.9,-8.9,761,10092,0.00,2.20,0.00,0.000,6,0.000,0.041,2952,2053,2426,0,0,0,0,0,0
$GC,10411,-0.77,-116.8,873.3,-8.4,777,10415,0.00,2.17,0.00,0.000,4,0.000,0.054,2952,658,2426,0,0,0,0,0,0
$GC,10450,-0.77,-116.8,876.9,-9.3,779,10454,0.00,2.17,0.00,0.000,6,0.000,0.041,2943,2072,2426,0,0,0,0,0,0
$GC,10776,-0.77,-116.8,904.2,-8.3,795,10780,0.00,2.17,0.00,0.000,4,0.000,0.060,2933,3463,2425,0,0,0,0,0,0
$GC,10842,-0.77,-116.8,909.7,-7.6,798,10846,0.00,2.17,0.00,0.000,6,0.000,0.040,2933,2060,2425,0,0,0,0,0,0
$GC,11169,-0.77,-116.8,934.9,-7.7,814,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2060,2425,0,0,0,0,0,0
$GC,11478,-0.77,-116.8,959.0,-7.9,829,11482,0.00,2.17,0.00,0.000,4,0.000,0.054,2933,658,2425,0,0,0,0,0,0
$GC,11500,-0.73,-116.8,960.9,-9.0,830,11504,0.05,2.20,0.00,0.000,6,0.162,0.041,2941,2056,2425,0,0,0,0,0,0
$GC,11827,-0.73,-116.8,986.0,-7.3,846,11831,0.00,2.20,0.00,0.000,4,0.000,0.059,2931,3464,2425,0,0,0,0,0,0
$GC,11875,-0.73,-116.8,990.0,-7.0,848,11880,0.00,2.17,0.00,0.000,6,0.000,0.038,2931,2059,2425,0,0,0,0,0,0
$STATE,12010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12010,begin apogee
$GC,12015,-0.19,0.0,1000.2,7.5,855,12125,0.60,0.00,106.50,1.293,6,0.146,0.000,3117,1592,1950,0,0,0,0,0,0
$STATE,12126,end apogee,CONTROL_FINISHED_OK
$STATE,12126,begin climb
$GC,12127,0.76,116.8,1002.7,0.0,860,12243,0.93,0.00,112.18,1.255,6,0.093,0.000,3422,1592,1474,0,0,0,0,0,0
$GC,12542,0.76,116.8,966.4,9.9,881,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1593,1465,0,0,0,0,0,0
$GC,12852,0.76,116.8,936.3,9.3,896,12856,0.00,2.30,0.00,0.000,4,0.000,0.054,3433,193,1463,0,0,0,0,0,0
$GC,12901,0.73,116.8,931.1,10.4,898,12906,0.03,2.28,0.00,0.000,6,0.163,0.035,3423,1616,1462,0,0,0,0,0,0
$GC,13222,0.73,116.8,899.8,9.8,914,13226,0.00,2.22,0.00,0.000,4,0.000,0.054,3423,2995,1462,0,0,0,0,0,0
$GC,13309,0.73,116.8,890.4,11.2,918,13314,0.00,2.20,0.00,0.000,6,0.000,0.034,3431,1601,1461,0,0,0,0,0,0
$GC,13637,0.73,116.8,856.9,10.2,934,13641,0.00,2.28,0.00,0.000,4,0.000,0.052,3442,190,1461,0,0,0,0,0,0
$GC,13685,0.68,116.8,851.5,11.1,936,13691,0.10,2.22,0.00,0.000,6,0.133,0.035,3407,1605,1461,0,0,0,0,0,0
$GC,14007,0.71,116.8,822.3,8.9,952,14011,0.00,2.20,0.00,0.000,4,0.000,0.050,3407,2997,1460,0,0,0,0,0,0
$GC,14092,0.71,116.8,814.1,9.4,956,14096,0.00,2.17,0.00,0.000,6,0.000,0.035,3415,1591,1460,0,0,0,0,0,0
$GC,14418,0.71,116.8,784.7,9.0,972,14422,0.00,2.22,0.00,0.000,4,0.000,0.053,3426,195,1460,0,0,0,0,0,0
$GC,14510,0.71,116.8,775.8,9.3,976,14515,0.00,2.20,0.00,0.000,6,0.000,0.036,3426,1600,1459,0,0,0,0,0,0
$GC,14834,0.71,116.8,747.9,8.6,992,14838,0.00,2.20,0.00,0.000,4,0.000,0.053,3426,2992,1459,0,0,0,0,0,0
$GC,14904,0.68,116.8,741.4,9.0,995,14909,0.08,2.15,0.00,0.000,6,0.146,0.034,3409,1605,1459,0,0,0,0,0,0
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$STATE,22910,end climb,SURFACE_DEPTH_REACHED
$STATE,22910,begin surface coast
$FINISH,1.6,1.023367
$STATE,22936,end surface coast,CONTROL_FINISHED_OK
$STATE,22936,begin surface
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$HUMID,62.56
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$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.2,20.756
$10V_AH,10.1,20.355
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.900,164.175,285.325,8.100,0.000,24.650,46.484,322.655,0.000,0.000,19.484,4063.979,14652.825,450.179,4109.771,196.642,0.000,1921.813,0.000,3484.149,0.000,0.540,0.000
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$MEM,353268
$DATA_FILE_SIZE,114029,1645
$CAP_FILE_SIZE,210566,0
$CFSIZE,2097086464,2073395200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260815,120158,-4506.415,626.102,42,0.9,42,-24.4