version: 66.07.10.p01
glider: 573
mission: 12
dive: 143
start: 8 26 115 12 11 39
data:
$ID,573
$MISSION,12
$DIVE,143
$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,-21450.18
$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,42
$R_STBD_OVSHOOT,41
$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,142
$GPS1,260815,120158,-4506.415,626.102,42,0.9,42,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-64.8
$GPS2,260815,121119,-4506.494,626.186,20,1.1,20,-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,352.6,5432,-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,-26.52,0.000,2,0.000,0.000,64,2072,1660,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.2,-4.3,4,105,11.68,0.00,-31.77,0.000,6,0.243,0.000,2930,2071,2424,0,0,0,0,0,0
$GC,157,-0.65,-116.8,7.5,-8.0,20,164,0.15,0.00,0.00,0.000,6,0.180,0.000,2969,2071,2426,0,0,0,0,0,0
$GC,216,-0.65,-116.8,12.7,-8.2,29,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2071,2427,0,0,0,0,0,0
$GC,273,-0.61,-116.8,18.2,-9.8,38,280,0.05,0.00,0.00,0.000,6,0.244,0.000,2980,2071,2426,0,0,0,0,0,0
$GC,332,-0.61,-116.8,23.1,-8.5,47,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2071,2426,0,0,0,0,0,0
$GC,486,-0.61,-116.8,38.5,-10.0,72,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2071,2426,0,0,0,0,0,0
$GC,632,-0.61,-116.8,51.9,-8.9,97,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2071,2426,0,0,0,0,0,0
$GC,981,-0.61,-116.8,84.8,-8.7,158,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2071,2426,0,0,0,0,0,0
$GC,1321,-0.61,-116.8,115.6,-8.8,204,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2071,2426,0,0,0,0,0,0
$GC,1640,-0.61,-116.8,144.6,-9.6,234,1644,0.00,2.22,0.00,0.000,4,0.000,0.062,2969,3463,2427,0,0,0,0,0,0
$GC,1656,-0.61,-116.8,146.2,-9.8,235,1660,0.00,2.15,0.00,0.000,6,0.000,0.038,2970,2057,2426,0,0,0,0,0,0
$GC,1985,-0.61,-116.8,175.0,-8.7,266,1990,0.05,2.28,0.00,0.000,4,0.231,0.060,2971,3460,2426,0,0,0,0,0,0
$GC,2028,-0.61,-116.8,178.9,-8.8,269,2034,0.00,2.17,0.00,0.000,6,0.000,0.037,2971,2057,2427,0,0,0,0,0,0
$GC,2354,-0.61,-116.8,206.7,-8.9,300,2358,0.00,2.20,0.00,0.000,4,0.000,0.053,2971,662,2426,0,0,0,0,0,0
$GC,2420,-0.61,-116.8,213.1,-9.4,305,2426,0.05,2.17,0.00,0.000,6,0.168,0.038,2979,2051,2426,0,0,0,0,0,0
$GC,2745,-0.61,-116.8,240.6,-8.3,336,2749,0.00,2.20,0.00,0.000,4,0.000,0.057,2969,3464,2427,0,0,0,0,0,0
$GC,2796,-0.61,-116.8,245.0,-8.9,340,2801,0.05,2.12,0.00,0.000,6,0.220,0.037,2980,2061,2427,0,0,0,0,0,0
$GC,3121,-0.65,-116.8,271.6,-8.4,370,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2061,2427,0,0,0,0,0,0
$GC,3440,-0.68,-116.8,297.8,-8.0,400,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2061,2427,0,0,0,0,0,0
$GC,3759,-0.71,-116.8,323.1,-7.9,430,3764,0.08,2.20,0.00,0.000,4,0.129,0.052,2936,661,2427,0,0,0,0,0,0
$GC,3836,-0.62,-116.8,331.0,-10.3,436,3845,0.15,2.17,0.00,0.000,6,0.145,0.039,2975,2054,2427,0,0,0,0,0,0
$GC,4161,-0.62,-116.8,357.8,-8.2,467,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2054,2427,0,0,0,0,0,0
$GC,4483,-0.62,-116.8,383.1,-7.7,497,4487,0.00,2.20,0.00,0.000,4,0.000,0.057,2965,3468,2426,0,0,0,0,0,0
$GC,4548,-0.62,-116.8,388.9,-7.7,502,4555,0.03,2.17,0.00,0.000,6,0.176,0.037,2974,2063,2427,0,0,0,0,0,0
$GC,4870,-0.62,-116.8,413.0,-7.5,525,4874,0.00,2.20,0.00,0.000,4,0.000,0.052,2974,648,2427,0,0,0,0,0,0
$GC,4901,-0.62,-116.8,416.0,-9.0,526,4909,0.03,2.20,0.00,0.000,6,0.184,0.037,2975,2061,2427,0,0,0,0,0,0
$GC,5218,-0.62,-116.8,439.7,-7.5,542,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2061,2427,0,0,0,0,0,0
$GC,5528,-0.65,-116.8,462.6,-7.3,557,5532,0.00,2.20,0.00,0.000,4,0.000,0.061,2965,3468,2427,0,0,0,0,0,0
$GC,5593,-0.65,-116.8,467.9,-7.9,560,5598,0.00,2.17,0.00,0.000,6,0.000,0.039,2965,2066,2427,0,0,0,0,0,0
$GC,5921,-0.65,-116.8,492.4,-7.5,576,5925,0.00,2.22,0.00,0.000,4,0.000,0.053,2965,646,2426,0,0,0,0,0,0
$GC,5975,-0.65,-116.8,496.9,-7.6,578,5982,0.03,2.20,0.00,0.000,6,0.181,0.037,2965,2060,2426,0,0,0,0,0,0
$GC,6292,-0.65,-116.8,520.7,-7.9,594,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2060,2426,0,0,0,0,0,0
$GC,6601,-0.65,-116.8,545.3,-8.2,609,6605,0.00,2.20,0.00,0.000,4,0.000,0.061,2955,3463,2426,0,0,0,0,0,0
$GC,6627,-0.65,-116.8,547.6,-8.3,610,6633,0.03,2.17,0.00,0.000,6,0.187,0.039,2965,2053,2425,0,0,0,0,0,0
$GC,6948,-0.65,-116.8,574.3,-8.5,626,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2053,2425,0,0,0,0,0,0
$GC,7257,-0.65,-116.8,601.2,-8.7,641,7261,0.00,2.17,0.00,0.000,4,0.000,0.054,2965,659,2425,0,0,0,0,0,0
$GC,7289,-0.65,-116.8,604.4,-9.6,642,7296,0.03,2.20,0.00,0.000,6,0.180,0.039,2965,2063,2425,0,0,0,0,0,0
$GC,7606,-0.65,-116.8,630.7,-8.4,658,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2063,2425,0,0,0,0,0,0
$GC,7915,-0.65,-116.8,656.0,-8.2,673,7919,0.00,2.20,0.00,0.000,4,0.000,0.063,2955,3463,2425,0,0,0,0,0,0
$GC,7947,-0.65,-116.8,658.8,-8.3,674,7954,0.03,2.17,0.00,0.000,6,0.183,0.039,2964,2062,2425,0,0,0,0,0,0
$GC,8264,-0.65,-116.8,682.6,-7.3,690,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2062,2425,0,0,0,0,0,0
$GC,8573,-0.65,-116.8,706.2,-7.8,705,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2062,2425,0,0,0,0,0,0
$GC,8883,-0.65,-116.8,730.5,-7.8,720,8887,0.00,2.20,0.00,0.000,4,0.000,0.054,2965,651,2424,0,0,0,0,0,0
$GC,8903,-0.65,-116.8,732.4,-8.7,721,8909,0.03,2.20,0.00,0.000,6,0.177,0.039,2965,2058,2424,0,0,0,0,0,0
$GC,9232,-0.68,-116.8,758.0,-7.9,737,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2057,2423,0,0,0,0,0,0
$GC,9541,-0.72,-116.8,781.9,-7.9,752,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2057,2424,0,0,0,0,0,0
$GC,9850,-0.76,-116.8,804.9,-7.3,767,9855,0.08,2.20,0.00,0.000,4,0.124,0.060,2911,3460,2423,0,0,0,0,0,0
$GC,9882,-0.68,-116.8,807.7,-9.1,768,9888,0.12,2.17,0.00,0.000,6,0.142,0.040,2953,2059,2423,0,0,0,0,0,0
$GC,10198,-0.68,-116.8,830.2,-6.9,784,10202,0.00,2.20,0.00,0.000,4,0.000,0.054,2953,657,2423,0,0,0,0,0,0
$GC,10264,-0.68,-116.8,835.3,-7.7,787,10269,0.03,2.20,0.00,0.000,6,0.168,0.042,2954,2055,2423,0,0,0,0,0,0
$GC,10592,-0.68,-116.8,856.8,-6.5,803,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2055,2423,0,0,0,0,0,0
$GC,10901,-0.68,-116.8,878.6,-7.4,818,10905,0.00,2.20,0.00,0.000,4,0.000,0.060,2944,3463,2422,0,0,0,0,0,0
$GC,10933,-0.68,-116.8,881.2,-7.6,819,10941,0.03,2.17,0.00,0.000,6,0.182,0.039,2953,2057,2422,0,0,0,0,0,0
$GC,11250,-0.68,-116.8,904.1,-7.3,835,11254,0.00,2.20,0.00,0.000,4,0.000,0.055,2954,660,2422,0,0,0,0,0,0
$GC,11281,-0.68,-116.8,906.7,-8.3,836,11288,0.03,2.20,0.00,0.000,6,0.175,0.040,2955,2062,2422,0,0,0,0,0,0
$GC,11598,-0.68,-116.8,929.8,-7.4,852,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2063,2422,0,0,0,0,0,0
$GC,11907,-0.68,-116.8,953.8,-7.9,867,11911,0.00,2.22,0.00,0.000,4,0.000,0.054,2955,649,2422,0,0,0,0,0,0
$GC,11933,-0.68,-116.8,956.1,-8.5,868,11938,0.00,2.20,0.00,0.000,6,0.000,0.041,2946,2054,2421,0,0,0,0,0,0
$GC,12255,-0.68,-116.8,983.8,-8.7,884,12257,0.05,0.00,0.00,0.000,6,0.228,0.000,2956,2054,2422,0,0,0,0,0,0
$STATE,12460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12460,begin apogee
$GC,12464,-0.19,0.0,1000.7,8.0,894,12573,0.52,0.00,105.68,1.292,6,0.141,0.000,3122,1598,1949,0,0,0,0,0,0
$STATE,12574,end apogee,CONTROL_FINISHED_OK
$STATE,12574,begin climb
$GC,12576,0.76,116.8,1004.1,0.0,899,12698,0.90,2.53,110.90,1.253,4,0.090,0.053,3433,199,1473,0,0,0,0,0,0
$GC,12737,0.72,116.8,994.7,9.3,906,12743,0.05,2.38,0.00,0.000,6,0.138,0.034,3417,1606,1469,0,0,0,0,0,0
$GC,13053,0.72,116.8,968.0,8.6,922,13057,0.00,2.28,0.00,0.000,4,0.000,0.051,3416,2994,1465,0,0,0,0,0,0
$GC,13114,0.72,116.8,962.2,9.7,925,13118,0.00,2.20,0.00,0.000,6,0.000,0.034,3424,1597,1464,0,0,0,0,0,0
$GC,13440,0.72,116.8,931.3,9.9,941,13445,0.00,2.28,0.00,0.000,4,0.000,0.052,3435,198,1462,0,0,0,0,0,0
$GC,13512,0.68,116.8,924.0,10.2,944,13517,0.08,2.25,0.00,0.000,6,0.134,0.036,3409,1608,1462,0,0,0,0,0,0
$GC,13834,0.71,116.8,895.2,8.8,960,13838,0.00,2.20,0.00,0.000,4,0.000,0.051,3409,2990,1461,0,0,0,0,0,0
$GC,13899,0.71,116.8,888.6,9.7,963,13904,0.00,2.20,0.00,0.000,6,0.000,0.035,3417,1595,1461,0,0,0,0,0,0
$GC,14227,0.71,116.8,857.8,9.3,979,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1595,1461,0,0,0,0,0,0
$GC,14536,0.71,116.8,830.0,8.6,994,14540,0.00,2.22,0.00,0.000,4,0.000,0.052,3428,191,1461,0,0,0,0,0,0
$GC,14607,0.71,116.8,823.3,9.0,997,14612,0.03,2.22,0.00,0.000,6,0.173,0.035,3417,1606,1460,0,0,0,0,0,0
$GC,14928,0.71,124.7,796.7,8.2,1013,14940,0.00,2.25,6.57,0.923,4,0.000,0.050,3417,2993,1440,0,0,0,0,0,0
$GC,15000,0.71,127.4,790.3,8.4,1016,15012,0.00,2.20,4.25,0.714,6,0.000,0.035,3425,1594,1429,0,0,0,0,0,0
$GC,15322,0.72,131.5,763.0,8.3,1032,15330,0.00,0.00,5.47,0.836,6,0.000,0.000,3425,1594,1413,0,0,0,0,0,0
$GC,15631,0.72,138.3,737.3,8.2,1047,15641,0.00,0.00,8.48,0.960,6,0.000,0.000,3426,1594,1385,0,0,0,0,0,0
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$STATE,23616,end climb,SURFACE_DEPTH_REACHED
$STATE,23616,begin surface coast
$FINISH,1.5,1.005390
$STATE,23642,end surface coast,CONTROL_FINISHED_OK
$STATE,23642,begin surface
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$HUMID,62.71
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$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.2,20.874
$10V_AH,10.1,20.521
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.600,156.300,277.025,15.275,0.000,27.593,44.932,344.763,0.000,0.000,23.287,4186.551,15062.688,449.381,4316.621,206.675,0.000,1992.973,0.000,3650.773,0.000,0.539,0.000
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$MEM,353244
$DATA_FILE_SIZE,117290,1703
$CAP_FILE_SIZE,216689,0
$CFSIZE,2097086464,2073264128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260815,184733,-4506.111,626.088,43,0.9,43,-24.4