version: 66.07.10.p01
glider: 573
mission: 4
dive: 56
start: 10 8 112 6 0 0
data:
$ID,573
$MISSION,4
$DIVE,56
$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,-4141.0088
$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,32
$R_STBD_OVSHOOT,37
$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,35
$GPS1,081012,055223,-4254.623,-924.494,45,0.9,45,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-70.5
$GPS2,081012,055906,-4254.701,-924.514,14,2.0,14,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.156,0.151
$KALMAN_X,-48292.1,188.7,295.0,98290.5,-3219.2
$KALMAN_Y,-83625.1,348.5,1155.0,54456.8,-10644.8
$MHEAD_RNG_PITCHd_Wd,67.3,13849,-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,25,-0.71,-121.6,0.0,0.0,0,88,0.00,0.00,-60.88,0.000,2,0.000,0.000,81,1870,3061,0,0,0,0,0,0
$GC,90,-0.71,-121.6,3.4,-2.0,10,116,11.38,2.30,-7.07,0.000,4,0.262,0.067,2786,461,3356,0,0,0,0,0,0
$GC,326,-0.58,-121.6,40.7,-14.1,50,334,0.17,2.22,0.00,0.000,6,0.148,0.045,2833,1854,3358,0,0,0,0,0,0
$GC,564,-0.55,-121.6,65.3,-9.9,91,569,0.00,0.47,0.00,0.000,4,0.000,0.057,2830,2184,3358,0,0,0,0,0,0
$GC,694,-0.51,-121.6,78.3,-9.6,114,702,0.05,0.47,0.00,0.000,6,0.155,0.054,2848,1859,3358,0,0,0,0,0,0
$GC,1035,-0.51,-121.6,109.3,-9.3,166,1039,0.00,0.40,0.00,0.000,4,0.000,0.058,2847,2137,3359,0,0,0,0,0,0
$GC,1161,-0.51,-121.6,120.8,-8.9,177,1165,0.00,0.40,0.00,0.000,6,0.000,0.055,2847,1861,3359,0,0,0,0,0,0
$GC,1491,-0.51,-121.6,151.5,-9.3,208,1495,0.00,0.30,0.00,0.000,4,0.000,0.061,2845,2077,3359,0,0,0,0,0,0
$GC,1695,-0.51,-121.6,170.8,-9.7,226,1698,0.00,0.30,0.00,0.000,6,0.000,0.060,2846,1860,3359,0,0,0,0,0,0
$GC,2026,-0.51,-121.6,202.2,-9.6,257,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1860,3359,0,0,0,0,0,0
$GC,2345,-0.51,-121.6,231.8,-8.9,287,2349,0.00,1.10,0.00,0.000,4,0.000,0.055,2840,2564,3360,0,0,0,0,0,0
$GC,2447,-0.51,-121.6,241.1,-8.3,296,2450,0.00,1.08,0.00,0.000,6,0.000,0.045,2841,1858,3359,0,0,0,0,0,0
$GC,2770,-0.51,-121.6,273.3,-10.3,316,2773,0.00,0.38,0.00,0.000,4,0.000,0.058,2841,1591,3360,0,0,0,0,0,0
$GC,2830,-0.51,-121.6,279.9,-10.7,318,2838,0.05,0.45,0.00,0.000,6,0.227,0.054,2851,1886,3360,0,0,0,0,0,0
$GC,3145,-0.51,-121.6,312.9,-10.4,334,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1887,3360,0,0,0,0,0,0
$GC,3456,-0.51,-121.6,343.2,-9.7,349,3460,0.00,0.75,0.00,0.000,4,0.000,0.052,2851,1392,3360,0,0,0,0,0,0
$GC,3561,-0.51,-121.6,353.5,-9.4,353,3567,0.00,0.73,0.00,0.000,6,0.000,0.048,2848,1862,3360,0,0,0,0,0,0
$GC,3879,-0.51,-121.6,379.9,-7.8,369,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1862,3360,0,0,0,0,0,0
$GC,4187,-0.51,-121.6,401.8,-6.8,384,4190,0.00,0.45,0.00,0.000,4,0.000,0.055,2848,1557,3360,0,0,0,0,0,0
$GC,4256,-0.51,-121.6,406.3,-6.5,387,4260,0.00,0.45,0.00,0.000,6,0.000,0.054,2846,1862,3360,0,0,0,0,0,0
$GC,4590,-0.51,-121.6,427.6,-6.4,403,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1862,3359,0,0,0,0,0,0
$GC,4897,-0.51,-121.6,449.1,-7.5,418,4901,0.00,0.73,0.00,0.000,4,0.000,0.056,2842,2346,3359,0,0,0,0,0,0
$GC,5019,-0.51,-121.6,458.7,-8.2,423,5024,0.00,0.75,0.00,0.000,6,0.000,0.047,2842,1853,3359,0,0,0,0,0,0
$GC,5343,-0.51,-121.6,486.9,-9.2,439,5346,0.00,0.32,0.00,0.000,4,0.000,0.060,2841,2085,3358,0,0,0,0,0,0
$GC,5459,-0.51,-121.6,498.6,-9.5,444,5461,0.00,0.32,0.00,0.000,6,0.000,0.060,2841,1862,3358,0,0,0,0,0,0
$GC,5770,-0.51,-121.6,529.9,-10.4,455,5774,0.00,0.25,0.00,0.000,4,0.000,0.068,2840,2045,3357,0,0,0,0,0,0
$GC,5875,-0.51,-121.6,540.8,-10.4,458,5879,0.00,0.28,0.00,0.000,6,0.000,0.063,2840,1858,3357,0,0,0,0,0,0
$GC,6210,-0.51,-121.6,573.5,-9.7,469,6213,0.00,0.38,0.00,0.000,4,0.000,0.061,2838,2120,3356,0,0,0,0,0,0
$GC,6387,-0.51,-121.6,591.1,-9.6,474,6390,0.05,0.40,0.00,0.000,6,0.217,0.057,2851,1850,3356,0,0,0,0,0,0
$GC,6714,-0.53,-121.6,620.0,-8.8,485,6717,0.00,0.25,0.00,0.000,4,0.000,0.066,2850,2044,3355,0,0,0,0,0,0
$GC,6903,-0.56,-121.6,636.0,-8.5,490,6907,0.00,0.28,0.00,0.000,6,0.000,0.064,2850,1858,3356,0,0,0,0,0,0
$GC,7221,-0.58,-121.6,660.8,-7.7,501,7225,0.00,0.75,0.00,0.000,4,0.000,0.057,2846,2346,3355,0,0,0,0,0,0
$GC,7396,-0.60,-121.6,673.5,-6.6,506,7400,0.03,0.73,0.00,0.000,6,0.104,0.050,2817,1866,3354,0,0,0,0,0,0
$GC,7730,-0.57,-121.6,702.0,-8.8,517,7732,0.08,0.00,0.00,0.000,6,0.199,0.000,2835,1865,3354,0,0,0,0,0,0
$GC,8036,-0.57,-121.6,726.7,-7.9,527,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1865,3353,0,0,0,0,0,0
$GC,8342,-0.57,-121.6,749.6,-7.3,537,8346,0.00,0.85,0.00,0.000,4,0.000,0.058,2831,2415,3353,0,0,0,0,0,0
$GC,8458,-0.57,-121.6,757.6,-6.2,540,8463,0.00,0.88,0.00,0.000,6,0.000,0.049,2830,1849,3352,0,0,0,0,0,0
$GC,8783,-0.57,-121.6,778.8,-6.5,551,8786,0.00,0.65,0.00,0.000,4,0.000,0.056,2828,2280,3352,0,0,0,0,0,0
$GC,8893,-0.57,-121.6,786.5,-6.9,554,8898,0.00,0.65,0.00,0.000,6,0.000,0.051,2828,1855,3352,0,0,0,0,0,0
$GC,9222,-0.57,-121.6,810.7,-7.9,565,9226,0.00,0.45,0.00,0.000,4,0.000,0.059,2826,2162,3352,0,0,0,0,0,0
$GC,9323,-0.57,-121.6,818.8,-8.5,568,9327,0.00,0.43,0.00,0.000,6,0.000,0.057,2826,1868,3352,0,0,0,0,0,0
$GC,9663,-0.57,-121.6,848.2,-8.9,579,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1868,3351,0,0,0,0,0,0
$GC,9969,-0.57,-121.6,875.2,-8.7,589,9973,0.00,0.57,0.00,0.000,4,0.000,0.059,2823,2251,3351,0,0,0,0,0,0
$GC,10104,-0.57,-121.6,886.5,-8.0,593,10107,0.00,0.57,0.00,0.000,6,0.000,0.055,2823,1864,3351,0,0,0,0,0,0
$GC,10443,-0.57,-121.6,915.1,-8.4,604,10447,0.00,0.55,0.00,0.000,4,0.000,0.060,2821,2232,3350,0,0,0,0,0,0
$GC,10595,-0.57,-121.6,927.6,-7.7,608,10599,0.03,0.55,0.00,0.000,6,0.174,0.054,2830,1861,3350,0,0,0,0,0,0
$GC,10917,-0.57,-121.6,953.0,-7.9,619,10921,0.00,0.43,0.00,0.000,4,0.000,0.060,2829,2156,3349,0,0,0,0,0,0
$GC,11100,-0.57,-121.6,968.1,-9.5,624,11103,0.00,0.45,0.00,0.000,6,0.000,0.057,2829,1858,3349,0,0,0,0,0,0
$GC,11420,-0.57,-121.6,995.7,-8.9,635,11424,0.00,1.05,0.00,0.000,4,0.000,0.059,2824,2527,3349,0,0,0,0,0,0
$STATE,11468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11468,begin apogee
$GC,11473,-0.23,0.0,1000.1,8.7,636,11578,0.35,0.00,99.38,1.324,6,0.140,0.000,2942,1670,2862,0,0,0,0,0,0
$STATE,11579,end apogee,CONTROL_FINISHED_OK
$STATE,11579,begin climb
$GC,11580,0.71,121.6,1004.9,0.0,640,11691,0.93,1.40,103.53,1.289,4,0.101,0.057,3249,875,2366,0,0,0,0,0,0
$GC,11763,0.71,148.3,998.2,6.3,645,11793,0.00,1.33,24.33,1.227,6,0.000,0.046,3249,1658,2257,0,0,0,0,0,0
$GC,12106,0.71,159.4,974.9,7.0,657,12120,0.00,0.85,9.98,1.131,4,0.000,0.056,3249,2185,2212,0,0,0,0,0,0
$GC,12210,0.71,159.4,967.4,7.9,660,12214,0.00,0.85,0.00,0.000,6,0.000,0.052,3253,1664,2211,0,0,0,0,0,0
$GC,12545,0.71,159.4,942.5,7.6,671,12548,0.00,0.52,0.00,0.000,4,0.000,0.059,3253,2002,2209,0,0,0,0,0,0
$GC,12615,0.71,159.4,936.9,8.1,673,12620,0.00,0.55,0.00,0.000,6,0.000,0.057,3255,1660,2209,0,0,0,0,0,0
$GC,12950,0.71,159.4,909.5,8.2,684,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1660,2209,0,0,0,0,0,0
$GC,13257,0.71,161.3,886.2,7.3,694,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1660,2208,0,0,0,0,0,0
$GC,13563,0.71,180.8,865.5,6.6,704,13587,0.00,0.57,19.33,1.190,4,0.000,0.058,3255,2013,2125,0,0,0,0,0,0
$GC,13695,0.71,200.6,856.8,6.6,708,13719,0.00,0.55,18.73,1.186,6,0.000,0.057,3257,1662,2044,0,0,0,0,0,0
$GC,14033,0.74,232.9,835.1,6.1,719,14067,0.00,0.52,29.40,1.200,4,0.000,0.063,3260,1337,1912,0,0,0,0,0,0
$GC,14156,0.79,276.8,827.4,5.6,722,14202,0.00,0.55,40.53,1.183,6,0.000,0.054,3259,1673,1731,0,0,0,0,0,0
$GC,14532,0.85,285.2,801.6,7.1,735,14543,0.10,1.38,7.18,0.962,4,0.106,0.060,3314,869,1699,0,0,0,0,0,0
$GC,14648,0.85,285.2,789.8,10.6,738,14654,0.08,1.33,0.00,0.000,6,0.177,0.048,3295,1674,1697,0,0,0,0,0,0
$GC,14967,0.85,285.2,758.1,10.1,749,14970,0.00,1.02,0.00,0.000,4,0.000,0.060,3300,1039,1695,0,0,0,0,0,0
$GC,15060,0.85,285.2,748.3,9.7,751,15066,0.00,1.02,0.00,0.000,6,0.000,0.048,3300,1674,1695,0,0,0,0,0,0
$GC,15373,0.85,285.2,716.4,10.3,762,15376,0.00,0.52,0.00,0.000,4,0.000,0.063,3302,1339,1694,0,0,0,0,0,0
$GC,15545,0.85,285.2,698.5,10.7,767,15549,0.00,0.52,0.00,0.000,6,0.000,0.055,3302,1668,1694,0,0,0,0,0,0
$GC,15880,0.85,285.2,664.1,10.0,778,15883,0.00,1.05,0.00,0.000,4,0.000,0.060,3306,1021,1694,0,0,0,0,0,0
$GC,15962,0.85,285.2,655.8,9.2,780,15966,0.00,1.05,0.00,0.000,6,0.000,0.048,3307,1675,1694,0,0,0,0,0,0
$GC,16286,0.85,285.2,625.0,9.6,791,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1675,1694,0,0,0,0,0,0
$GC,16592,0.85,285.2,597.0,8.9,801,16595,0.00,0.75,0.00,0.000,4,0.000,0.061,3310,1201,1693,0,0,0,0,0,0
$GC,16674,0.85,285.2,589.5,9.2,803,16679,0.03,0.75,0.00,0.000,6,0.262,0.052,3298,1674,1694,0,0,0,0,0,0
$GC,16997,0.85,285.2,561.2,9.0,814,17001,0.00,1.02,0.00,0.000,4,0.000,0.060,3303,1035,1693,0,0,0,0,0,0
$GC,17102,0.85,285.2,551.1,9.6,817,17106,0.00,1.02,0.00,0.000,6,0.000,0.050,3303,1676,1694,0,0,0,0,0,0
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$STATE,22741,end climb,SURFACE_DEPTH_REACHED
$STATE,22742,begin surface coast
$FINISH,1.5,1.026439
$STATE,22749,end surface coast,CONTROL_FINISHED_OK
$STATE,22749,begin surface
$SM_CCo,22824,0.00,0.000,0,0,1692,286.75
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$IRIDIUM_FIX,-4242.04,-924.35,071012,232328
$TT8_MAMPS,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.7,13.197
$10V_AH,10.3,12.115
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.750,67.875,352.350,0.000,0.000,25.433,37.021,233.406,0.000,0.000,17.547,3342.525,15111.128,428.053,4209.213,128.463,33.352,1996.440,0.000,3848.555,0.000,1.007,0.000
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$SENSOR_SECS,903.086,1520.677,830.932,113.886,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,73530,1268
$CAP_FILE_SIZE,203422,0
$CFSIZE,2097086464,2086600704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081012,122204,-4255.337,-922.666,57,1.0,68,-21.4