version: 66.07.10.p01
glider: 573
mission: 12
dive: 206
start: 9 8 115 7 52 35
data:
$ID,573
$MISSION,12
$DIVE,206
$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,-21650.023
$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,47
$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,205
$GPS1,080915,074134,-4500.993,626.718,80,2.0,80,-24.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-67.5
$GPS2,080915,075214,-4501.101,626.966,20,2.0,21,-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,2.0,10215,-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,-116.8,0.0,0.0,0,46,0.00,0.00,-20.48,0.000,2,0.000,0.000,61,2066,1531,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.0,-2.9,3,100,11.60,2.28,-34.58,0.000,4,0.233,0.073,2924,3445,2426,0,0,0,0,0,0
$GC,116,-0.71,-116.8,7.5,-10.8,13,123,0.08,2.22,0.00,0.000,6,0.174,0.044,2946,2069,2427,0,0,0,0,0,0
$GC,175,-0.62,-116.8,15.6,-13.9,22,183,0.12,2.35,0.00,0.000,4,0.179,0.056,2978,646,2428,0,0,0,0,0,0
$GC,228,-0.56,-116.8,22.7,-13.7,30,236,0.08,2.25,0.00,0.000,6,0.160,0.041,2993,2034,2428,0,0,0,0,0,0
$GC,385,-0.56,-116.8,39.6,-11.0,55,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2034,2429,0,0,0,0,0,0
$GC,529,-0.59,-116.8,56.0,-7.6,80,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2034,2429,0,0,0,0,0,0
$GC,878,-0.59,-116.8,86.5,-10.2,141,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2034,2428,0,0,0,0,0,0
$GC,1213,-0.59,-116.8,118.3,-8.8,184,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2034,2429,0,0,0,0,0,0
$GC,1532,-0.63,-116.8,145.1,-8.8,214,1536,0.00,2.33,0.00,0.000,4,0.000,0.062,2983,3479,2429,0,0,0,0,0,0
$GC,1577,-0.67,-116.8,149.4,-9.1,217,1583,0.00,2.20,0.00,0.000,6,0.000,0.038,2983,2049,2429,0,0,0,0,0,0
$GC,1902,-0.67,-116.8,178.4,-8.6,248,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2049,2429,0,0,0,0,0,0
$GC,2222,-0.70,-116.8,204.7,-7.4,278,2227,0.08,2.20,0.00,0.000,4,0.127,0.052,2938,658,2429,0,0,0,0,0,0
$GC,2309,-0.60,-116.8,213.6,-10.8,285,2314,0.20,2.20,0.00,0.000,6,0.162,0.041,2983,2078,2430,0,0,0,0,0,0
$GC,2634,-0.63,-116.8,242.4,-8.8,315,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2079,2429,0,0,0,0,0,0
$GC,2955,-0.67,-116.8,269.9,-8.6,345,2959,0.00,2.22,0.00,0.000,4,0.000,0.061,2972,3472,2430,0,0,0,0,0,0
$GC,3021,-0.70,-116.8,276.3,-8.8,350,3027,0.00,2.20,0.00,0.000,6,0.000,0.040,2973,2057,2429,0,0,0,0,0,0
$GC,3349,-0.70,-116.8,305.0,-8.7,381,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2058,2430,0,0,0,0,0,0
$GC,3666,-0.70,-116.8,333.6,-9.1,411,3669,0.00,2.20,0.00,0.000,4,0.000,0.055,2973,652,2430,0,0,0,0,0,0
$GC,3686,-0.70,-116.8,336.0,-10.3,412,3694,0.00,2.22,0.00,0.000,6,0.000,0.043,2965,2058,2429,0,0,0,0,0,0
$GC,4012,-0.70,-116.8,366.9,-9.5,443,4016,0.00,2.25,0.00,0.000,4,0.000,0.063,2954,3474,2430,0,0,0,0,0,0
$GC,4051,-0.70,-116.8,370.6,-9.6,446,4055,0.00,2.17,0.00,0.000,6,0.000,0.041,2954,2064,2430,0,0,0,0,0,0
$GC,4385,-0.70,-116.8,402.0,-9.0,476,4389,0.00,2.20,0.00,0.000,4,0.000,0.054,2954,657,2430,0,0,0,0,0,0
$GC,4429,-0.66,-116.8,406.6,-10.1,478,4434,0.05,2.22,0.00,0.000,6,0.157,0.042,2962,2064,2429,0,0,0,0,0,0
$GC,4756,-0.66,-116.8,435.8,-8.7,494,4760,0.00,2.22,0.00,0.000,4,0.000,0.064,2952,3462,2429,0,0,0,0,0,0
$GC,4804,-0.66,-116.8,440.5,-9.9,496,4809,0.03,2.17,0.00,0.000,6,0.190,0.040,2961,2062,2429,0,0,0,0,0,0
$GC,5127,-0.74,-116.8,467.2,-7.4,512,5131,0.00,2.22,0.00,0.000,4,0.000,0.054,2962,651,2430,0,0,0,0,0,0
$GC,5228,-0.77,-116.8,475.5,-7.9,516,5233,0.00,2.22,0.00,0.000,6,0.000,0.042,2952,2080,2429,0,0,0,0,0,0
$GC,5544,-0.84,-116.8,499.6,-7.9,532,5549,0.12,2.28,0.00,0.000,4,0.081,0.052,2888,654,2429,0,0,0,0,0,0
$GC,5700,-0.69,-116.8,514.4,-9.0,539,5705,0.25,2.22,0.00,0.000,6,0.152,0.044,2957,2053,2429,0,0,0,0,0,0
$GC,6027,-0.69,-116.8,539.4,-7.7,555,6031,0.00,2.25,0.00,0.000,4,0.000,0.060,2947,3469,2429,0,0,0,0,0,0
$GC,6114,-0.69,-116.8,547.0,-9.0,559,6119,0.00,2.20,0.00,0.000,6,0.000,0.041,2947,2055,2428,0,0,0,0,0,0
$GC,6443,-0.69,-116.8,572.0,-7.5,575,6447,0.00,2.20,0.00,0.000,4,0.000,0.056,2947,654,2429,0,0,0,0,0,0
$GC,6498,-0.64,-116.8,576.7,-8.3,577,6504,0.15,2.20,0.00,0.000,6,0.171,0.045,2977,2064,2429,0,0,0,0,0,0
$GC,6815,-0.69,-116.8,598.2,-7.0,593,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2064,2428,0,0,0,0,0,0
$GC,7124,-0.75,-116.8,620.8,-7.4,608,7128,0.10,2.25,0.00,0.000,4,0.102,0.065,2911,3474,2428,0,0,0,0,0,0
$GC,7178,-0.68,-116.8,626.0,-9.2,610,7184,0.15,2.20,0.00,0.000,6,0.144,0.042,2959,2069,2428,0,0,0,0,0,0
$GC,7494,-0.68,-116.8,651.1,-8.1,626,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2069,2428,0,0,0,0,0,0
$GC,7804,-0.71,-116.8,676.0,-7.9,641,7808,0.00,2.22,0.00,0.000,4,0.000,0.054,2961,644,2427,0,0,0,0,0,0
$GC,7848,-0.71,-116.8,679.9,-8.5,643,7852,0.00,2.22,0.00,0.000,6,0.000,0.039,2951,2064,2427,0,0,0,0,0,0
$GC,8176,-0.71,-116.8,706.6,-8.4,659,8180,0.00,2.22,0.00,0.000,4,0.000,0.064,2941,3466,2427,0,0,0,0,0,0
$GC,8208,-0.71,-116.8,709.3,-8.7,660,8214,0.00,2.20,0.00,0.000,6,0.000,0.039,2940,2050,2427,0,0,0,0,0,0
$GC,8524,-0.71,-116.8,735.3,-7.9,676,8528,0.00,2.28,0.00,0.000,4,0.000,0.061,2931,3463,2427,0,0,0,0,0,0
$GC,8551,-0.71,-116.8,737.7,-8.2,677,8556,0.05,2.17,0.00,0.000,6,0.160,0.039,2949,2060,2427,0,0,0,0,0,0
$GC,8872,-0.71,-116.8,762.9,-8.1,693,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2060,2426,0,0,0,0,0,0
$GC,9182,-0.71,-116.8,788.2,-8.2,708,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2060,2426,0,0,0,0,0,0
$GC,9491,-0.71,-116.8,812.6,-7.9,723,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2060,2427,0,0,0,0,0,0
$GC,9800,-0.71,-116.8,837.6,-8.2,738,9804,0.00,2.25,0.00,0.000,4,0.000,0.061,2939,3461,2426,0,0,0,0,0,0
$GC,9844,-0.71,-116.8,841.4,-8.2,740,9849,0.03,2.17,0.00,0.000,6,0.181,0.039,2948,2062,2426,0,0,0,0,0,0
$GC,10171,-0.71,-116.8,866.0,-7.3,756,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2062,2426,0,0,0,0,0,0
$GC,10481,-0.71,-116.8,888.9,-7.6,771,10485,0.00,2.25,0.00,0.000,4,0.000,0.060,2938,3462,2426,0,0,0,0,0,0
$GC,10529,-0.71,-116.8,892.9,-8.3,773,10534,0.03,2.17,0.00,0.000,6,0.181,0.040,2948,2058,2426,0,0,0,0,0,0
$GC,10851,-0.71,-116.8,918.1,-7.7,789,10852,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2058,2426,0,0,0,0,0,0
$GC,11160,-0.71,-116.8,941.0,-7.2,804,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2058,2426,0,0,0,0,0,0
$GC,11469,-0.71,-116.8,963.8,-7.5,819,11473,0.00,2.22,0.00,0.000,4,0.000,0.056,2949,652,2426,0,0,0,0,0,0
$GC,11513,-0.71,-116.8,967.6,-8.2,821,11517,0.00,2.22,0.00,0.000,6,0.000,0.044,2940,2057,2426,0,0,0,0,0,0
$GC,11841,-0.71,-116.8,993.9,-8.3,837,11845,0.00,2.28,0.00,0.000,4,0.000,0.063,2929,3475,2426,0,0,0,0,0,0
$STATE,11910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11910,begin apogee
$GC,11918,-0.19,0.0,1000.3,8.7,840,12028,0.60,0.00,106.65,1.289,6,0.146,0.000,3117,1605,1950,0,0,0,0,0,0
$STATE,12029,end apogee,CONTROL_FINISHED_OK
$STATE,12029,begin climb
$GC,12031,0.76,116.8,1004.0,0.0,846,12154,0.93,2.55,111.47,1.248,4,0.092,0.054,3433,203,1473,0,0,0,0,0,0
$GC,12200,0.73,122.7,994.4,8.3,854,12214,0.03,2.38,6.72,0.969,6,0.239,0.037,3423,1619,1449,0,0,0,0,0,0
$GC,12530,0.73,132.0,967.0,8.1,870,12545,0.00,2.30,9.98,1.056,4,0.000,0.057,3422,3000,1411,0,0,0,0,0,0
$GC,12600,0.73,132.0,960.5,9.3,872,12605,0.00,2.28,0.00,0.000,6,0.000,0.035,3430,1600,1410,0,0,0,0,0,0
$GC,12922,0.73,132.0,930.6,9.4,888,12926,0.00,2.33,0.00,0.000,4,0.000,0.055,3442,187,1408,0,0,0,0,0,0
$GC,13010,0.69,132.0,921.6,10.2,892,13015,0.10,2.28,0.00,0.000,6,0.132,0.036,3408,1607,1408,0,0,0,0,0,0
$GC,13338,0.74,149.0,895.5,7.7,908,13362,0.00,2.33,17.48,1.138,4,0.000,0.053,3408,3001,1342,0,0,0,0,0,0
$GC,13449,0.74,149.0,886.0,9.0,913,13453,0.00,2.20,0.00,0.000,6,0.000,0.036,3417,1598,1340,0,0,0,0,0,0
$GC,13776,0.77,154.0,858.7,8.3,929,13786,0.00,2.28,5.60,0.867,4,0.000,0.054,3427,194,1322,0,0,0,0,0,0
$GC,13860,0.77,154.0,851.2,9.2,933,13864,0.00,2.20,0.00,0.000,6,0.000,0.035,3427,1602,1322,0,0,0,0,0,0
$GC,14186,0.77,154.0,821.7,9.3,949,14187,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1602,1321,0,0,0,0,0,0
$GC,14495,0.77,154.0,792.7,9.5,964,14496,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1602,1321,0,0,0,0,0,0
$GC,14804,0.77,154.0,763.8,9.5,979,14808,0.00,2.20,0.00,0.000,4,0.000,0.054,3427,2997,1320,0,0,0,0,0,0
$GC,14876,0.77,154.0,756.6,9.8,982,14880,0.00,2.20,0.00,0.000,6,0.000,0.035,3437,1595,1320,0,0,0,0,0,0
$GC,15198,0.77,154.0,724.4,10.3,998,15202,0.00,2.25,0.00,0.000,4,0.000,0.056,3447,198,1320,0,0,0,0,0,0
$GC,15260,0.77,154.0,717.6,10.5,1001,15264,0.00,2.17,0.00,0.000,6,0.000,0.037,3447,1611,1319,0,0,0,0,0,0
$GC,15586,0.77,154.0,681.6,11.2,1017,15587,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1611,1320,0,0,0,0,0,0
$GC,15895,0.77,154.0,646.1,11.5,1032,15896,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1611,1320,0,0,0,0,0,0
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$STATE,22336,end climb,SURFACE_DEPTH_REACHED
$STATE,22336,begin surface coast
$FINISH,1.5,1.014620
$STATE,22356,end surface coast,CONTROL_FINISHED_OK
$STATE,22356,begin surface
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$SM_GC,2.24,9.48,0.00,0.00,0.046,0.000,0.000,90,2070,483,-9.60,0.28,359.85
$IRIDIUM_FIX,-4441.36,624.45,040708,141424
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.216
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.9,27.071
$10V_AH,10.0,28.372
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.200,171.025,411.475,0.000,0.000,32.413,22.992,436.506,0.000,0.000,23.544,3901.740,14264.299,477.760,4184.793,227.786,0.000,2029.793,0.000,3462.752,0.000,0.540,0.000
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$MEM,353288
$DATA_FILE_SIZE,110577,1590
$CAP_FILE_SIZE,212191,1
$CFSIZE,2097086464,2065006592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,080915,140834,-4459.981,626.527,92,0.9,92,-24.4