version: 66.07.10.p01
glider: 573
mission: 12
dive: 284
start: 9 26 115 4 39 56
data:
$ID,573
$MISSION,12
$DIVE,284
$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,-21912.768
$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,34
$R_STBD_OVSHOOT,51
$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,283
$GPS1,260915,043133,-4505.094,632.817,35,0.9,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-66.3
$GPS2,260915,043935,-4505.111,632.846,16,1.6,17,-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,304.5,11752,-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,-116.8,0.0,0.0,0,70,0.00,0.00,-43.80,0.000,2,0.000,0.000,62,2070,1336,0,0,0,0,0,0
$GC,73,-0.76,-116.8,3.0,-0.8,7,149,12.00,2.30,-52.83,0.000,4,0.244,0.075,2924,3445,2428,0,0,0,0,0,0
$GC,166,-0.64,-116.8,4.6,-6.0,21,174,0.15,2.22,0.00,0.000,6,0.149,0.044,2970,2073,2429,0,0,0,0,0,0
$GC,225,-0.64,-116.8,11.9,-11.7,30,232,0.00,2.30,0.00,0.000,4,0.000,0.063,2961,3446,2429,0,0,0,0,0,0
$GC,265,-0.64,-116.8,16.3,-10.8,36,272,0.00,2.25,0.00,0.000,6,0.000,0.043,2961,2047,2429,0,0,0,0,0,0
$GC,323,-0.60,-116.8,22.9,-11.7,45,331,0.10,0.00,0.00,0.000,6,0.204,0.000,2984,2047,2429,0,0,0,0,0,0
$GC,479,-0.60,-116.8,41.4,-11.2,70,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2047,2430,0,0,0,0,0,0
$GC,829,-0.60,-116.8,77.4,-9.5,131,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2047,2430,0,0,0,0,0,0
$GC,1146,-0.63,-116.8,111.5,-10.9,150,1150,0.00,2.28,0.00,0.000,4,0.000,0.060,2975,3444,2430,0,0,0,0,0,0
$GC,1185,-0.67,-116.8,116.0,-11.1,151,1190,0.00,2.20,0.00,0.000,6,0.000,0.041,2977,2054,2430,0,0,0,0,0,0
$GC,1503,-0.70,-116.8,148.3,-10.4,167,1508,0.05,2.25,0.00,0.000,4,0.167,0.055,2938,655,2430,0,0,0,0,0,0
$GC,1580,-0.61,-116.8,158.5,-13.9,170,1589,0.15,2.22,0.00,0.000,6,0.151,0.044,2975,2039,2430,0,0,0,0,0,0
$GC,1896,-0.61,-116.8,192.7,-10.4,186,1900,0.00,2.30,0.00,0.000,4,0.000,0.064,2965,3465,2430,0,0,0,0,0,0
$GC,1968,-0.64,-116.8,200.5,-10.1,189,1972,0.00,2.20,0.00,0.000,6,0.000,0.041,2965,2067,2430,0,0,0,0,0,0
$GC,2297,-0.64,-116.8,231.2,-9.0,205,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2067,2430,0,0,0,0,0,0
$GC,2604,-0.64,-116.8,259.4,-9.1,220,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2067,2430,0,0,0,0,0,0
$GC,2916,-0.64,-116.8,287.4,-9.6,235,2920,0.00,2.28,0.00,0.000,4,0.000,0.055,2965,650,2430,0,0,0,0,0,0
$GC,2982,-0.64,-116.8,294.6,-10.2,238,2987,0.03,2.22,0.00,0.000,6,0.168,0.041,2965,2056,2431,0,0,0,0,0,0
$GC,3307,-0.64,-116.8,325.4,-9.5,254,3311,0.00,2.28,0.00,0.000,4,0.000,0.060,2955,3466,2430,0,0,0,0,0,0
$GC,3368,-0.68,-116.8,331.2,-9.6,256,3374,0.00,2.22,0.00,0.000,6,0.000,0.041,2955,2053,2430,0,0,0,0,0,0
$GC,3683,-0.68,-116.8,363.2,-10.5,272,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2053,2430,0,0,0,0,0,0
$GC,3994,-0.68,-116.8,396.5,-10.8,287,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2053,2430,0,0,0,0,0,0
$GC,4302,-0.68,-116.8,430.4,-10.9,302,4305,0.00,2.30,0.00,0.000,4,0.000,0.062,2946,3468,2430,0,0,0,0,0,0
$GC,4356,-0.68,-116.8,436.5,-10.7,304,4362,0.03,2.22,0.00,0.000,6,0.177,0.041,2957,2058,2430,0,0,0,0,0,0
$GC,4677,-0.68,-116.8,469.4,-9.8,320,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2059,2429,0,0,0,0,0,0
$GC,4988,-0.68,-116.8,500.4,-10.1,335,4992,0.00,2.28,0.00,0.000,4,0.000,0.061,2948,3463,2429,0,0,0,0,0,0
$GC,5033,-0.68,-116.8,505.1,-10.5,337,5037,0.05,2.17,0.00,0.000,6,0.209,0.041,2960,2053,2429,0,0,0,0,0,0
$GC,5364,-0.68,-116.8,538.2,-9.6,353,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2053,2429,0,0,0,0,0,0
$GC,5672,-0.68,-116.8,569.1,-10.1,368,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2053,2429,0,0,0,0,0,0
$GC,5983,-0.71,-116.8,599.5,-9.9,383,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2053,2429,0,0,0,0,0,0
$GC,6291,-0.74,-116.8,629.2,-9.3,398,6295,0.00,2.33,0.00,0.000,4,0.000,0.063,2950,3470,2429,0,0,0,0,0,0
$GC,6324,-0.77,-116.8,632.2,-9.5,399,6329,0.00,2.22,0.00,0.000,6,0.000,0.044,2950,2066,2429,0,0,0,0,0,0
$GC,6640,-0.77,-116.8,662.1,-9.4,415,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2066,2429,0,0,0,0,0,0
$GC,6948,-0.77,-116.8,691.7,-9.5,430,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2066,2429,0,0,0,0,0,0
$GC,7259,-0.77,-116.8,720.9,-9.5,445,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2066,2428,0,0,0,0,0,0
$GC,7566,-0.77,-116.8,750.9,-9.6,460,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2066,2428,0,0,0,0,0,0
$GC,7877,-0.77,-116.8,781.2,-9.7,475,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2064,2428,0,0,0,0,0,0
$GC,8185,-0.77,-116.8,811.5,-9.5,490,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2064,2428,0,0,0,0,0,0
$GC,8496,-0.80,-116.8,840.0,-9.2,505,8498,0.08,0.00,0.00,0.000,6,0.125,0.000,2909,2064,2428,0,0,0,0,0,0
$GC,8804,-0.74,-116.8,873.0,-10.5,520,8809,0.12,2.28,0.00,0.000,4,0.171,0.059,2932,3465,2428,0,0,0,0,0,0
$GC,8847,-0.74,-116.8,877.3,-9.1,522,8852,0.00,2.22,0.00,0.000,6,0.000,0.041,2933,2053,2428,0,0,0,0,0,0
$GC,9174,-0.74,-116.8,905.8,-8.4,538,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2053,2428,0,0,0,0,0,0
$GC,9484,-0.74,-116.8,932.3,-8.6,553,9488,0.00,2.25,0.00,0.000,4,0.000,0.060,2934,655,2428,0,0,0,0,0,0
$GC,9511,-0.74,-116.8,935.2,-10.1,554,9516,0.05,2.25,0.00,0.000,6,0.158,0.044,2942,2058,2428,0,0,0,0,0,0
$GC,9837,-0.74,-116.8,963.5,-8.8,570,9841,0.00,2.30,0.00,0.000,4,0.000,0.064,2932,3474,2427,0,0,0,0,0,0
$GC,9881,-0.74,-116.8,967.5,-9.8,572,9885,0.00,2.22,0.00,0.000,6,0.000,0.044,2932,2056,2428,0,0,0,0,0,0
$GC,10212,-0.74,-116.8,999.8,-10.0,588,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2056,2428,0,0,0,0,0,0
$STATE,10234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10234,begin apogee
$GC,10240,-0.19,0.0,1001.8,9.9,589,10349,0.62,0.00,106.50,1.290,6,0.145,0.000,3120,1588,1949,0,0,0,0,0,0
$STATE,10350,end apogee,CONTROL_FINISHED_OK
$STATE,10350,begin climb
$GC,10352,0.76,116.8,1005.9,0.0,594,10474,0.90,2.58,111.57,1.251,4,0.086,0.057,3431,200,1474,0,0,0,0,0,0
$GC,10524,0.70,123.2,998.6,8.2,602,10540,0.08,2.40,7.30,0.986,6,0.172,0.037,3414,1620,1447,0,0,0,0,0,0
$GC,10849,0.70,123.2,970.9,8.7,618,10853,0.00,2.28,0.00,0.000,4,0.000,0.054,3414,2996,1444,0,0,0,0,0,0
$GC,10914,0.66,123.2,964.8,8.6,621,10920,0.05,2.28,0.00,0.000,6,0.153,0.036,3405,1593,1444,0,0,0,0,0,0
$GC,11241,0.68,153.8,940.2,7.0,637,11276,0.00,2.40,29.20,1.193,4,0.000,0.058,3415,199,1322,0,0,0,0,0,0
$GC,11314,0.68,153.8,934.3,8.7,640,11319,0.00,2.30,0.00,0.000,6,0.000,0.037,3415,1608,1322,0,0,0,0,0,0
$GC,11635,0.68,153.8,906.7,8.8,656,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1608,1320,0,0,0,0,0,0
$GC,11946,0.68,153.8,879.7,9.1,671,11950,0.00,2.33,0.00,0.000,4,0.000,0.055,3425,202,1320,0,0,0,0,0,0
$GC,12030,0.68,153.8,871.9,9.8,675,12034,0.08,2.20,0.00,0.000,6,0.178,0.037,3406,1600,1319,0,0,0,0,0,0
$GC,12363,0.72,153.8,842.2,8.7,691,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1600,1319,0,0,0,0,0,0
$GC,12670,0.76,153.8,815.4,8.6,706,12671,0.08,0.00,0.00,0.000,6,0.119,0.000,3450,1600,1319,0,0,0,0,0,0
$GC,12980,0.71,153.8,785.0,9.8,721,12985,0.12,2.30,0.00,0.000,4,0.154,0.057,3425,199,1319,0,0,0,0,0,0
$GC,13034,0.71,153.8,779.8,9.2,723,13040,0.03,2.22,0.00,0.000,6,0.168,0.037,3415,1608,1319,0,0,0,0,0,0
$GC,13357,0.71,168.7,754.0,7.8,739,13376,0.00,2.33,14.18,1.043,4,0.000,0.057,3425,198,1262,0,0,0,0,0,0
$GC,13445,0.71,168.7,746.4,9.2,743,13449,0.00,2.20,0.00,0.000,6,0.000,0.037,3424,1601,1262,0,0,0,0,0,0
$GC,13771,0.71,168.7,717.5,8.9,759,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1601,1262,0,0,0,0,0,0
$GC,14079,0.72,176.1,691.1,8.2,774,14089,0.00,0.00,8.27,0.890,6,0.000,0.000,3424,1601,1231,0,0,0,0,0,0
$GC,14390,0.72,178.5,665.2,8.4,789,14399,0.00,2.33,4.07,0.713,4,0.000,0.056,3434,201,1222,0,0,0,0,0,0
$GC,14438,0.72,178.5,660.6,9.7,791,14443,0.03,2.20,0.00,0.000,6,0.161,0.036,3423,1595,1223,0,0,0,0,0,0
$GC,14765,0.75,178.5,630.8,9.3,807,14769,0.00,2.30,0.00,0.000,4,0.000,0.055,3432,195,1223,0,0,0,0,0,0
$GC,14831,0.75,178.5,623.9,9.7,810,14836,0.00,2.22,0.00,0.000,6,0.000,0.036,3432,1605,1223,0,0,0,0,0,0
$GC,15158,0.75,178.5,591.5,10.2,826,15162,0.00,2.30,0.00,0.000,4,0.000,0.056,3442,199,1223,0,0,0,0,0,0
$GC,15212,0.75,178.5,585.6,10.4,828,15219,0.03,2.20,0.00,0.000,6,0.172,0.037,3431,1596,1223,0,0,0,0,0,0
$GC,15527,0.75,178.5,554.0,9.9,844,15528,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1596,1223,0,0,0,0,0,0
$GC,15838,0.75,178.5,524.4,9.3,859,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1596,1223,0,0,0,0,0,0
$GC,16146,0.76,181.1,497.5,8.4,874,16155,0.00,2.28,4.45,0.613,4,0.000,0.056,3441,201,1210,0,0,0,0,0,0
$GC,16194,0.76,181.1,492.9,9.2,876,16199,0.03,2.20,0.00,0.000,6,0.164,0.037,3430,1598,1210,0,0,0,0,0,0
$GC,16521,0.79,190.4,465.8,8.1,892,16536,0.00,2.30,10.32,0.889,4,0.000,0.054,3439,192,1172,0,0,0,0,0,0
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$STATE,21597,end climb,SURFACE_DEPTH_REACHED
$STATE,21597,begin surface coast
$FINISH,1.9,1.023416
$STATE,21604,end surface coast,CONTROL_FINISHED_OK
$STATE,21605,begin surface
$SM_CCo,21684,0.00,0.000,0,0,1122,203.11
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$TT8_MAMPS,0.026964
$HUMID,63.27
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$TCM_TEMP,11.80
$XPDR_PINGS,0
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$10V_AH,9.8,37.552
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.875,150.525,306.050,0.000,0.000,25.977,39.828,278.275,0.000,0.000,19.022,2656.892,15513.963,432.233,3336.184,218.663,0.000,1728.436,0.000,2847.855,0.000,0.539,0.000
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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,353240
$DATA_FILE_SIZE,90445,1239
$CAP_FILE_SIZE,181901,0
$CFSIZE,2097086464,2054815744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260915,104233,-4505.717,629.463,40,0.8,40,-24.4