version: 66.07.10.p01
glider: 573
mission: 4
dive: 50
start: 10 6 112 14 43 57
data:
$ID,573
$MISSION,4
$DIVE,50
$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,-4121.814
$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,29
$R_STBD_OVSHOOT,41
$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,29
$GPS1,061012,143630,-4254.283,-927.515,78,1.1,78,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-73.6
$GPS2,061012,144303,-4254.281,-927.574,15,1.1,16,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.115
$KALMAN_X,-37710.0,148.5,126.2,83755.7,-3735.5
$KALMAN_Y,-56006.0,300.9,681.2,28137.7,-8845.7
$MHEAD_RNG_PITCHd_Wd,79.3,17583,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,76,0.00,0.00,-49.25,0.000,2,0.000,0.000,94,1886,3034,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.3,-1.8,8,104,11.43,2.17,-8.23,0.000,4,0.266,0.072,2778,3259,3359,0,0,0,0,0,0
$GC,361,-0.61,-121.6,39.9,-12.2,56,368,0.12,2.20,0.00,0.000,6,0.149,0.044,2818,1853,3361,0,0,0,0,0,0
$GC,599,-0.55,-121.6,65.8,-10.7,97,605,0.10,0.40,0.00,0.000,4,0.200,0.057,2843,2122,3361,0,0,0,0,0,0
$GC,771,-0.55,-121.6,82.6,-9.7,127,777,0.00,0.40,0.00,0.000,6,0.000,0.056,2843,1849,3361,0,0,0,0,0,0
$GC,1113,-0.55,-121.6,116.3,-9.8,174,1117,0.00,1.25,0.00,0.000,4,0.000,0.053,2837,2650,3362,0,0,0,0,0,0
$GC,1264,-0.55,-121.6,132.0,-10.6,187,1270,0.00,1.25,0.00,0.000,6,0.000,0.045,2837,1849,3361,0,0,0,0,0,0
$GC,1589,-0.55,-121.6,164.3,-9.5,218,1593,0.00,0.28,0.00,0.000,4,0.000,0.059,2836,2053,3362,0,0,0,0,0,0
$GC,1702,-0.53,-121.6,175.1,-9.4,228,1706,0.00,0.28,0.00,0.000,6,0.000,0.062,2836,1853,3362,0,0,0,0,0,0
$GC,2034,-0.51,-121.6,206.6,-9.1,259,2036,0.08,0.00,0.00,0.000,6,0.199,0.000,2854,1852,3362,0,0,0,0,0,0
$GC,2352,-0.51,-121.6,232.9,-8.4,289,2355,0.00,0.40,0.00,0.000,4,0.000,0.056,2852,2132,3362,0,0,0,0,0,0
$GC,2434,-0.51,-121.6,240.6,-9.2,296,2437,0.00,0.40,0.00,0.000,6,0.000,0.055,2852,1863,3362,0,0,0,0,0,0
$GC,2749,-0.51,-121.6,271.4,-9.8,316,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1863,3362,0,0,0,0,0,0
$GC,3060,-0.51,-121.6,301.0,-9.4,331,3064,0.00,0.50,0.00,0.000,4,0.000,0.055,2850,2205,3363,0,0,0,0,0,0
$GC,3173,-0.51,-121.6,311.9,-9.6,336,3176,0.00,0.50,0.00,0.000,6,0.000,0.052,2850,1862,3363,0,0,0,0,0,0
$GC,3505,-0.51,-121.6,345.8,-9.3,352,3508,0.00,0.32,0.00,0.000,4,0.000,0.062,2850,1626,3363,0,0,0,0,0,0
$GC,3686,-0.55,-121.6,361.3,-8.8,360,3689,0.00,0.35,0.00,0.000,6,0.000,0.070,2850,1852,3363,0,0,0,0,0,0
$GC,4017,-0.55,-121.6,386.8,-8.3,376,4021,0.00,1.48,0.00,0.000,4,0.000,0.056,2843,2806,3363,0,0,0,0,0,0
$GC,4157,-0.55,-121.6,398.6,-8.4,382,4162,0.00,1.48,0.00,0.000,6,0.000,0.044,2843,1856,3362,0,0,0,0,0,0
$GC,4484,-0.55,-121.6,426.6,-8.7,398,4488,0.00,0.32,0.00,0.000,4,0.000,0.060,2841,2092,3362,0,0,0,0,0,0
$GC,4578,-0.55,-121.6,435.0,-8.9,402,4580,0.00,0.35,0.00,0.000,6,0.000,0.058,2841,1853,3362,0,0,0,0,0,0
$GC,4901,-0.55,-121.6,462.7,-8.8,418,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1852,3362,0,0,0,0,0,0
$GC,5212,-0.55,-121.6,489.3,-8.7,433,5216,0.00,0.90,0.00,0.000,4,0.000,0.054,2837,2437,3361,0,0,0,0,0,0
$GC,5351,-0.55,-121.6,501.8,-8.1,439,5356,0.00,0.88,0.00,0.000,6,0.000,0.047,2837,1866,3360,0,0,0,0,0,0
$GC,5687,-0.55,-121.6,532.7,-9.5,450,5690,0.00,0.93,0.00,0.000,4,0.000,0.056,2833,2460,3360,0,0,0,0,0,0
$GC,5821,-0.55,-121.6,545.4,-9.1,454,5825,0.00,0.90,0.00,0.000,6,0.000,0.049,2833,1867,3360,0,0,0,0,0,0
$GC,6161,-0.55,-121.6,576.5,-8.8,465,6164,0.00,0.95,0.00,0.000,4,0.000,0.056,2829,2478,3359,0,0,0,0,0,0
$GC,6305,-0.55,-121.6,588.8,-8.2,469,6310,0.05,0.95,0.00,0.000,6,0.217,0.047,2841,1861,3359,0,0,0,0,0,0
$GC,6634,-0.55,-121.6,612.0,-6.8,480,6638,0.00,1.20,0.00,0.000,4,0.000,0.057,2836,2628,3359,0,0,0,0,0,0
$GC,6768,-0.55,-121.6,621.3,-6.7,484,6772,0.00,1.17,0.00,0.000,6,0.000,0.048,2836,1865,3358,0,0,0,0,0,0
$GC,7109,-0.55,-121.6,644.6,-6.6,495,7112,0.00,0.90,0.00,0.000,4,0.000,0.057,2832,2445,3358,0,0,0,0,0,0
$GC,7219,-0.55,-121.6,652.1,-7.7,498,7223,0.00,0.90,0.00,0.000,6,0.000,0.049,2832,1861,3357,0,0,0,0,0,0
$GC,7548,-0.55,-121.6,677.1,-8.1,509,7552,0.00,0.65,0.00,0.000,4,0.000,0.057,2829,2294,3357,0,0,0,0,0,0
$GC,7664,-0.55,-121.6,686.9,-8.4,512,7669,0.05,0.68,0.00,0.000,6,0.221,0.051,2841,1855,3357,0,0,0,0,0,0
$GC,7987,-0.55,-121.6,715.3,-9.1,523,7991,0.00,0.47,0.00,0.000,4,0.000,0.058,2839,2178,3357,0,0,0,0,0,0
$GC,8176,-0.55,-121.6,733.4,-10.0,528,8178,0.00,0.47,0.00,0.000,6,0.000,0.056,2839,1861,3357,0,0,0,0,0,0
$GC,8490,-0.55,-121.6,763.2,-9.4,539,8494,0.00,0.55,0.00,0.000,4,0.000,0.057,2837,2232,3356,0,0,0,0,0,0
$GC,8578,-0.55,-121.6,771.9,-9.6,541,8582,0.00,0.57,0.00,0.000,6,0.000,0.053,2837,1853,3356,0,0,0,0,0,0
$GC,8896,-0.55,-121.6,802.0,-9.5,552,8900,0.00,0.38,0.00,0.000,4,0.000,0.060,2835,2114,3355,0,0,0,0,0,0
$GC,9025,-0.55,-121.6,813.9,-8.5,555,9030,0.00,0.35,0.00,0.000,6,0.000,0.060,2834,1868,3355,0,0,0,0,0,0
$GC,9336,-0.55,-121.6,841.9,-8.7,566,9340,0.00,0.75,0.00,0.000,4,0.000,0.058,2832,2359,3354,0,0,0,0,0,0
$GC,9544,-0.55,-121.6,859.7,-8.1,572,9547,0.00,0.75,0.00,0.000,6,0.000,0.052,2832,1861,3354,0,0,0,0,0,0
$GC,9878,-0.55,-121.6,886.0,-7.6,583,9881,0.00,0.50,0.00,0.000,4,0.000,0.058,2830,2199,3353,0,0,0,0,0,0
$GC,9994,-0.55,-121.6,895.1,-7.7,586,9998,0.00,0.52,0.00,0.000,6,0.000,0.054,2829,1852,3354,0,0,0,0,0,0
$GC,10317,-0.55,-121.6,920.1,-7.5,597,10319,0.05,0.00,0.00,0.000,6,0.230,0.000,2841,1852,3353,0,0,0,0,0,0
$GC,10624,-0.55,-121.6,941.4,-6.7,607,10627,0.00,0.77,0.00,0.000,4,0.000,0.056,2837,2359,3353,0,0,0,0,0,0
$GC,10793,-0.57,-121.6,951.9,-6.0,612,10796,0.00,0.75,0.00,0.000,6,0.000,0.052,2837,1864,3353,0,0,0,0,0,0
$GC,11133,-0.57,-121.6,973.8,-6.7,623,11137,0.00,0.52,0.00,0.000,4,0.000,0.059,2835,2225,3352,0,0,0,0,0,0
$GC,11303,-0.57,-121.6,984.9,-6.4,628,11307,0.00,0.52,0.00,0.000,6,0.000,0.056,2835,1870,3353,0,0,0,0,0,0
$STATE,11519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11520,begin apogee
$GC,11523,-0.23,0.0,1000.1,6.9,635,11627,0.35,0.00,100.53,1.327,6,0.136,0.000,2947,1665,2862,0,0,0,0,0,0
$STATE,11627,end apogee,CONTROL_FINISHED_OK
$STATE,11627,begin climb
$GC,11629,0.71,121.6,1002.9,0.0,638,11739,0.90,1.02,104.05,1.289,4,0.102,0.056,3244,1072,2366,0,0,0,0,0,0
$GC,11785,0.71,145.3,996.6,6.4,643,11811,0.00,1.00,22.12,1.219,6,0.000,0.048,3244,1669,2269,0,0,0,0,0,0
$GC,12117,0.71,161.7,974.7,6.7,653,12136,0.00,0.60,14.93,1.193,4,0.000,0.057,3244,2050,2201,0,0,0,0,0,0
$GC,12219,0.71,161.7,967.3,7.7,656,12223,0.00,0.62,0.00,0.000,6,0.000,0.055,3246,1668,2199,0,0,0,0,0,0
$GC,12554,0.71,167.4,943.4,7.2,667,12562,0.00,0.00,5.93,0.953,6,0.000,0.000,3246,1669,2179,0,0,0,0,0,0
$GC,12861,0.73,170.6,921.4,7.3,677,12870,0.00,0.68,4.30,0.795,4,0.000,0.055,3246,2086,2166,0,0,0,0,0,0
$GC,13015,0.73,189.8,909.7,6.6,681,13037,0.00,0.68,18.58,1.196,6,0.000,0.055,3249,1664,2087,0,0,0,0,0,0
$GC,13361,0.76,189.8,883.4,7.6,693,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1664,2084,0,0,0,0,0,0
$GC,13667,0.79,189.8,860.1,7.6,703,13671,0.08,0.68,0.00,0.000,4,0.132,0.063,3290,1233,2083,0,0,0,0,0,0
$GC,13783,0.77,189.8,849.5,8.7,706,13788,0.08,0.70,0.00,0.000,6,0.181,0.054,3271,1669,2083,0,0,0,0,0,0
$GC,14106,0.77,189.8,822.6,8.3,717,14110,0.00,0.70,0.00,0.000,4,0.000,0.055,3271,2129,2084,0,0,0,0,0,0
$GC,14228,0.77,189.8,812.3,8.8,720,14232,0.00,0.75,0.00,0.000,6,0.000,0.055,3274,1659,2083,0,0,0,0,0,0
$GC,14546,0.77,189.8,786.5,8.0,731,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1659,2082,0,0,0,0,0,0
$GC,14852,0.77,189.8,762.1,8.1,741,14856,0.00,0.38,0.00,0.000,4,0.000,0.067,3276,1402,2082,0,0,0,0,0,0
$GC,14957,0.77,189.8,753.0,8.8,744,14961,0.00,0.43,0.00,0.000,6,0.000,0.058,3276,1673,2082,0,0,0,0,0,0
$GC,15292,0.77,189.8,724.4,8.7,755,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1673,2082,0,0,0,0,0,0
$GC,15598,0.77,189.8,698.3,8.5,765,15601,0.00,0.30,0.00,0.000,4,0.000,0.070,3277,1471,2081,0,0,0,0,0,0
$GC,15753,0.77,189.8,685.1,7.6,769,15757,0.00,0.30,0.00,0.000,6,0.000,0.063,3277,1662,2081,0,0,0,0,0,0
$GC,16071,0.77,189.8,660.6,7.5,780,16074,0.00,0.38,0.00,0.000,4,0.000,0.068,3279,1414,2081,0,0,0,0,0,0
$GC,16176,0.77,192.2,652.8,7.3,783,16180,0.00,0.40,0.00,0.000,6,0.000,0.061,3279,1670,2081,0,0,0,0,0,0
$GC,16511,0.77,213.3,630.2,6.5,794,16533,0.00,0.00,20.88,1.072,6,0.000,0.000,3279,1670,1991,0,0,0,0,0,0
$GC,16817,0.77,225.0,609.1,6.9,804,16831,0.00,0.28,11.20,0.988,4,0.000,0.054,3278,1895,1944,0,0,0,0,0,0
$GC,16920,0.77,230.5,601.8,7.2,807,16930,0.00,0.38,6.05,0.835,6,0.000,0.063,3280,1664,1922,0,0,0,0,0,0
$GC,17255,0.77,233.1,577.5,7.3,818,17256,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1664,1920,0,0,0,0,0,0
$GC,17561,0.77,249.0,556.0,6.8,828,17581,0.00,0.40,17.17,1.008,4,0.000,0.062,3279,1911,1847,0,0,0,0,0,0
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$STATE,23203,end climb,SURFACE_DEPTH_REACHED
$STATE,23203,begin surface coast
$FINISH,1.6,1.014073
$STATE,23234,end surface coast,CONTROL_FINISHED_OK
$STATE,23234,begin surface
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$TT8_MAMPS,0.026964
$HUMID,41.77
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$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.7,12.378
$10V_AH,10.4,11.198
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.925,64.925,351.000,0.000,0.000,28.874,39.371,219.052,0.000,0.000,19.255,3378.847,15501.185,425.934,4265.233,125.638,33.349,2005.733,0.000,3907.131,0.000,1.008,0.000
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$SENSOR_SECS,900.015,1484.474,837.721,112.930,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354148
$DATA_FILE_SIZE,73646,1267
$CAP_FILE_SIZE,206736,0
$CFSIZE,2097086464,2087387136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061012,211335,-4254.952,-925.876,36,0.9,36,-21.4