version: 66.07.10.p01
glider: 573
mission: 4
dive: 45
start: 10 5 112 5 54 3
data:
$ID,573
$MISSION,4
$DIVE,45
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$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,450
$T_MISSION,520
$T_ABORT,720
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-4106.0537
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1863
$C_ROLL_CLIMB,1664
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,-87.947678
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,20
$GC_LAST_COLLECTION,24
$GPS1,051012,054523,-4249.126,-937.400,54,1.1,54,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-72.0
$GPS2,051012,055308,-4249.139,-937.492,21,1.1,22,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,0.161
$KALMAN_X,-26040.2,33.3,-175.3,58996.3,-2417.0
$KALMAN_Y,-33861.2,207.6,66.1,16228.4,-4606.3
$MHEAD_RNG_PITCHd_Wd,63.5,30987,-15.4,-7.407
$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,-0.71,-121.6,0.0,0.0,0,75,0.00,0.00,-49.15,0.000,2,0.000,0.000,84,1864,3007,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.3,-1.8,8,104,11.55,2.22,-8.82,0.000,4,0.266,0.073,2778,3262,3359,0,0,0,0,0,0
$GC,369,-0.60,-121.6,40.6,-12.9,57,374,0.17,2.15,0.00,0.000,6,0.164,0.044,2826,1863,3361,0,0,0,0,0,0
$GC,603,-0.55,-121.6,66.7,-10.4,98,608,0.05,0.75,0.00,0.000,4,0.237,0.054,2836,2342,3361,0,0,0,0,0,0
$GC,736,-0.52,-121.6,81.2,-10.9,121,741,0.00,0.73,0.00,0.000,6,0.000,0.049,2836,1862,3361,0,0,0,0,0,0
$GC,1073,-0.49,-121.6,117.9,-11.2,167,1077,0.10,0.60,0.00,0.000,4,0.184,0.055,2859,2256,3361,0,0,0,0,0,0
$GC,1211,-0.49,-121.6,131.2,-10.3,179,1214,0.00,0.60,0.00,0.000,6,0.000,0.050,2860,1853,3361,0,0,0,0,0,0
$GC,1540,-0.49,-121.6,165.7,-11.2,210,1544,0.00,1.33,0.00,0.000,4,0.000,0.054,2853,2691,3361,0,0,0,0,0,0
$GC,1653,-0.49,-121.6,178.1,-11.2,220,1657,0.00,1.27,0.00,0.000,6,0.000,0.045,2854,1862,3361,0,0,0,0,0,0
$GC,1985,-0.49,-121.6,215.6,-10.7,251,1988,0.00,0.60,0.00,0.000,4,0.000,0.055,2850,2266,3362,0,0,0,0,0,0
$GC,2244,-0.49,-121.6,241.8,-9.5,274,2248,0.00,0.60,0.00,0.000,6,0.000,0.051,2851,1863,3362,0,0,0,0,0,0
$GC,2567,-0.49,-121.6,270.9,-9.4,294,2571,0.00,0.62,0.00,0.000,4,0.000,0.054,2847,2280,3362,0,0,0,0,0,0
$GC,2706,-0.49,-121.6,284.3,-9.7,300,2710,0.00,0.65,0.00,0.000,6,0.000,0.049,2848,1851,3362,0,0,0,0,0,0
$GC,3033,-0.49,-121.6,313.7,-8.9,316,3036,0.00,0.43,0.00,0.000,4,0.000,0.056,2846,2146,3362,0,0,0,0,0,0
$GC,3291,-0.49,-121.6,338.1,-9.2,327,3294,0.05,0.43,0.00,0.000,6,0.214,0.054,2859,1861,3362,0,0,0,0,0,0
$GC,3611,-0.49,-121.6,364.9,-8.4,343,3615,0.00,0.95,0.00,0.000,4,0.000,0.055,2854,2474,3362,0,0,0,0,0,0
$GC,3748,-0.51,-121.6,376.1,-8.0,349,3752,0.00,0.93,0.00,0.000,6,0.000,0.047,2854,1867,3362,0,0,0,0,0,0
$GC,4082,-0.51,-121.6,403.6,-8.2,365,4085,0.00,0.38,0.00,0.000,4,0.000,0.060,2853,2129,3362,0,0,0,0,0,0
$GC,4295,-0.51,-121.6,421.5,-8.4,374,4297,0.00,0.40,0.00,0.000,6,0.000,0.056,2853,1860,3361,0,0,0,0,0,0
$GC,4612,-0.51,-121.6,447.0,-7.9,390,4616,0.00,0.45,0.00,0.000,4,0.000,0.057,2851,2167,3362,0,0,0,0,0,0
$GC,4870,-0.51,-121.6,467.6,-8.0,401,4873,0.00,0.45,0.00,0.000,6,0.000,0.054,2851,1864,3361,0,0,0,0,0,0
$GC,5190,-0.51,-121.6,491.8,-7.5,417,5193,0.00,0.95,0.00,0.000,4,0.000,0.057,2846,2473,3360,0,0,0,0,0,0
$GC,5317,-0.51,-121.6,501.5,-7.4,422,5323,0.00,0.95,0.00,0.000,6,0.000,0.048,2846,1860,3360,0,0,0,0,0,0
$GC,5630,-0.51,-121.6,525.9,-8.2,433,5634,0.00,0.62,0.00,0.000,4,0.000,0.056,2843,2278,3359,0,0,0,0,0,0
$GC,5858,-0.51,-121.6,544.9,-8.7,439,5864,0.00,0.65,0.00,0.000,6,0.000,0.050,2844,1850,3359,0,0,0,0,0,0
$GC,6171,-0.51,-121.6,571.8,-8.7,450,6174,0.00,0.95,0.00,0.000,4,0.000,0.057,2839,2464,3358,0,0,0,0,0,0
$GC,6281,-0.51,-121.6,581.8,-9.0,453,6286,0.05,0.93,0.00,0.000,6,0.213,0.048,2852,1864,3358,0,0,0,0,0,0
$GC,6610,-0.51,-121.6,610.0,-8.6,464,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1864,3358,0,0,0,0,0,0
$GC,6916,-0.51,-121.6,636.7,-8.8,474,6920,0.00,0.47,0.00,0.000,4,0.000,0.060,2851,2186,3358,0,0,0,0,0,0
$GC,7032,-0.53,-121.6,647.2,-8.9,477,7037,0.00,0.50,0.00,0.000,6,0.000,0.053,2850,1852,3357,0,0,0,0,0,0
$GC,7356,-0.53,-121.6,675.8,-8.9,488,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1852,3357,0,0,0,0,0,0
$GC,7662,-0.53,-121.6,703.0,-9.0,498,7666,0.00,0.75,0.00,0.000,4,0.000,0.056,2847,2354,3357,0,0,0,0,0,0
$GC,7778,-0.53,-121.6,713.4,-8.7,501,7782,0.00,0.75,0.00,0.000,6,0.000,0.050,2846,1865,3356,0,0,0,0,0,0
$GC,8102,-0.53,-121.6,741.6,-8.6,512,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1865,3356,0,0,0,0,0,0
$GC,8408,-0.53,-121.6,767.7,-8.4,522,8411,0.00,0.45,0.00,0.000,4,0.000,0.060,2844,2170,3355,0,0,0,0,0,0
$GC,8580,-0.53,-121.6,782.1,-8.0,527,8584,0.00,0.47,0.00,0.000,6,0.000,0.056,2844,1855,3355,0,0,0,0,0,0
$GC,8915,-0.53,-121.6,809.6,-8.1,538,8918,0.00,0.57,0.00,0.000,4,0.000,0.057,2842,2241,3355,0,0,0,0,0,0
$GC,9066,-0.53,-121.6,821.5,-8.4,542,9070,0.00,0.57,0.00,0.000,6,0.000,0.054,2842,1856,3355,0,0,0,0,0,0
$GC,9389,-0.53,-121.6,845.8,-7.6,553,9392,0.00,1.05,0.00,0.000,4,0.000,0.057,2837,2525,3354,0,0,0,0,0,0
$GC,9490,-0.53,-121.6,853.2,-6.9,556,9494,0.00,1.02,0.00,0.000,6,0.000,0.049,2837,1856,3354,0,0,0,0,0,0
$GC,9830,-0.53,-121.6,879.4,-7.8,567,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1856,3354,0,0,0,0,0,0
$GC,10136,-0.53,-121.6,902.6,-7.4,577,10140,0.00,1.00,0.00,0.000,4,0.000,0.057,2833,2498,3353,0,0,0,0,0,0
$GC,10271,-0.53,-121.6,912.4,-6.8,581,10276,0.03,0.98,0.00,0.000,6,0.174,0.049,2844,1857,3353,0,0,0,0,0,0
$GC,10611,-0.53,-121.6,938.6,-7.7,592,10615,0.00,0.30,0.00,0.000,4,0.000,0.065,2841,2073,3353,0,0,0,0,0,0
$GC,10834,-0.53,-121.6,955.3,-7.6,598,10836,0.00,0.32,0.00,0.000,6,0.000,0.061,2842,1852,3353,0,0,0,0,0,0
$GC,11148,-0.53,-121.6,977.2,-7.0,609,11152,0.00,0.32,0.00,0.000,4,0.000,0.062,2841,2083,3352,0,0,0,0,0,0
$GC,11406,-0.55,-121.6,995.9,-7.2,616,11409,0.00,0.32,0.00,0.000,6,0.000,0.063,2841,1863,3352,0,0,0,0,0,0
$STATE,11477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11477,begin apogee
$GC,11481,-0.23,0.0,1001.1,7.4,619,11584,0.32,0.00,100.43,1.334,6,0.136,0.000,2944,1662,2862,0,0,0,0,0,0
$STATE,11585,end apogee,CONTROL_FINISHED_OK
$STATE,11585,begin climb
$GC,11586,0.71,121.6,1004.8,0.0,622,11697,0.93,0.77,103.90,1.296,4,0.103,0.056,3246,1205,2366,0,0,0,0,0,0
$GC,11752,0.71,166.7,999.5,5.6,627,11798,0.00,0.77,40.83,1.259,6,0.000,0.050,3246,1665,2182,0,0,0,0,0,0
$GC,12111,0.73,178.1,975.2,6.9,639,12125,0.00,0.50,10.20,1.137,4,0.000,0.050,3246,1990,2136,0,0,0,0,0,0
$GC,12212,0.76,182.6,967.9,7.2,642,12221,0.00,0.50,5.70,0.924,6,0.000,0.058,3248,1673,2116,0,0,0,0,0,0
$GC,12551,0.78,184.5,943.2,7.3,653,12556,0.08,0.57,0.00,0.000,4,0.129,0.063,3288,1313,2115,0,0,0,0,0,0
$GC,12713,0.75,184.5,928.6,9.4,657,12719,0.10,0.57,0.00,0.000,6,0.164,0.054,3261,1671,2114,0,0,0,0,0,0
$GC,13025,0.75,184.5,903.4,8.2,668,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1671,2114,0,0,0,0,0,0
$GC,13331,0.75,184.5,878.4,8.1,678,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1671,2113,0,0,0,0,0,0
$GC,13637,0.75,184.5,853.9,7.9,688,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1670,2113,0,0,0,0,0,0
$GC,13944,0.75,186.9,830.7,7.3,698,13953,0.00,0.90,4.68,0.835,4,0.000,0.061,3264,1115,2099,0,0,0,0,0,0
$GC,14031,0.75,226.4,824.6,5.8,700,14073,0.00,0.88,36.50,1.204,6,0.000,0.050,3264,1660,1937,0,0,0,0,0,0
$GC,14380,0.78,231.5,799.8,7.2,712,14389,0.00,0.35,4.75,0.868,4,0.000,0.067,3265,1443,1918,0,0,0,0,0,0
$GC,14518,0.82,235.9,789.4,7.2,716,14529,0.05,0.35,5.80,0.900,6,0.170,0.060,3292,1666,1899,0,0,0,0,0,0
$GC,14852,0.82,235.9,761.1,8.4,727,14855,0.00,0.40,0.00,0.000,4,0.000,0.066,3293,1405,1897,0,0,0,0,0,0
$GC,15046,0.82,235.9,745.3,7.5,732,15049,0.00,0.43,0.00,0.000,6,0.000,0.059,3293,1673,1897,0,0,0,0,0,0
$GC,15355,0.82,235.9,720.8,8.1,742,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1673,1897,0,0,0,0,0,0
$GC,15661,0.82,235.9,695.9,8.2,752,15664,0.00,0.35,0.00,0.000,4,0.000,0.067,3295,1442,1897,0,0,0,0,0,0
$GC,15799,0.82,235.9,684.3,8.8,756,15801,0.00,0.35,0.00,0.000,6,0.000,0.060,3295,1664,1897,0,0,0,0,0,0
$GC,16130,0.82,235.9,657.2,8.1,767,16134,0.00,1.00,0.00,0.000,4,0.000,0.060,3300,1042,1896,0,0,0,0,0,0
$GC,16246,0.82,235.9,647.4,7.9,770,16251,0.03,1.00,0.00,0.000,6,0.258,0.049,3289,1667,1896,0,0,0,0,0,0
$GC,16569,0.82,235.9,622.3,7.9,781,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1668,1896,0,0,0,0,0,0
$GC,16876,0.82,235.9,596.2,8.6,791,16877,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1667,1896,0,0,0,0,0,0
$GC,17182,0.82,235.9,570.7,8.3,801,17183,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1668,1896,0,0,0,0,0,0
$GC,17488,0.82,235.9,545.0,8.6,811,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1668,1896,0,0,0,0,0,0
$GC,17794,0.82,235.9,517.4,9.2,821,17798,0.00,0.80,0.00,0.000,4,0.000,0.062,3293,1160,1896,0,0,0,0,0,0
$GC,17916,0.82,235.9,506.0,8.3,824,17920,0.00,0.80,0.00,0.000,6,0.000,0.051,3293,1666,1896,0,0,0,0,0,0
$GC,18239,0.82,235.9,475.4,10.0,839,18240,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1666,1896,0,0,0,0,0,0
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$GC,23329,0.93,303.6,13.8,12.0,1248,23336,0.08,0.00,0.00,0.000,6,0.195,0.000,3322,1675,1622,0,0,0,0,0,0
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$STATE,23428,end climb,SURFACE_DEPTH_REACHED
$STATE,23428,begin surface coast
$FINISH,1.6,1.004939
$STATE,23453,end surface coast,CONTROL_FINISHED_OK
$STATE,23453,begin surface
$SM_CCo,23529,0.00,0.000,0,0,1616,305.64
$SM_GC,2.67,8.52,0.00,0.00,0.047,0.000,0.000,96,1866,1616,-9.09,0.06,305.64
$IRIDIUM_FIX,-4233.25,-937.87,041012,222238
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.6,11.700
$10V_AH,10.3,10.443
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.225,57.775,375.825,0.000,0.000,24.981,41.790,285.117,0.000,0.000,24.254,3359.339,15737.779,430.722,4323.740,134.465,33.371,2003.076,0.000,3906.454,0.000,1.007,0.000
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$SENSOR_SECS,901.882,1490.919,846.416,105.620,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354148
$DATA_FILE_SIZE,73527,1268
$CAP_FILE_SIZE,204479,0
$CFSIZE,2097086464,2088042496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051012,122745,-4248.911,-935.330,41,2.3,60,-21.4