version: 66.07.10.p01
glider: 573
mission: 4
dive: 81
start: 10 15 112 2 28 1
data:
$ID,573
$MISSION,4
$DIVE,81
$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,-4220.3999
$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,38
$R_STBD_OVSHOOT,35
$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,60
$GPS1,151012,022036,-4253.219,-859.433,42,1.3,42,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-73.2
$GPS2,151012,022706,-4253.235,-859.426,18,1.4,19,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3e
$TGT_LATLONG,-4252.000,-842.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.202,0.080
$KALMAN_X,-86197.6,284.3,449.3,170104.8,-3436.4
$KALMAN_Y,-187607.8,245.4,1359.0,161050.3,-8460.5
$MHEAD_RNG_PITCHd_Wd,89.8,23764,-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,-48.88,0.000,2,0.000,0.000,83,1854,3015,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.7,8,104,11.15,2.22,-9.00,0.000,4,0.252,0.067,2791,464,3356,0,0,0,0,0,0
$GC,288,-0.59,-121.6,29.6,-13.4,43,296,0.12,2.22,0.00,0.000,6,0.148,0.043,2822,1864,3358,0,0,0,0,0,0
$GC,365,-0.55,-121.6,38.7,-10.7,56,373,0.08,0.40,0.00,0.000,4,0.191,0.058,2841,2145,3359,0,0,0,0,0,0
$GC,512,-0.55,-121.6,51.6,-8.7,81,517,0.00,0.43,0.00,0.000,6,0.000,0.053,2841,1852,3359,0,0,0,0,0,0
$GC,742,-0.55,-121.6,72.8,-9.2,122,748,0.00,0.68,0.00,0.000,4,0.000,0.051,2837,2292,3359,0,0,0,0,0,0
$GC,864,-0.55,-121.6,84.1,-9.3,144,872,0.00,0.65,0.00,0.000,6,0.000,0.047,2838,1863,3359,0,0,0,0,0,0
$GC,1208,-0.55,-121.6,117.2,-9.9,185,1211,0.00,0.75,0.00,0.000,4,0.000,0.052,2834,2362,3359,0,0,0,0,0,0
$GC,1294,-0.55,-121.6,125.6,-9.3,190,1297,0.00,0.75,0.00,0.000,6,0.000,0.046,2834,1860,3359,0,0,0,0,0,0
$GC,1626,-0.52,-121.6,159.3,-10.2,211,1630,0.05,1.40,0.00,0.000,4,0.220,0.054,2840,2738,3360,0,0,0,0,0,0
$GC,1743,-0.52,-121.6,171.0,-9.3,218,1747,0.00,1.33,0.00,0.000,6,0.000,0.044,2840,1870,3360,0,0,0,0,0,0
$GC,2074,-0.52,-121.6,204.3,-10.3,239,2078,0.00,0.50,0.00,0.000,4,0.000,0.051,2838,2212,3360,0,0,0,0,0,0
$GC,2193,-0.52,-121.6,216.3,-9.9,246,2196,0.00,0.50,0.00,0.000,6,0.000,0.050,2838,1864,3360,0,0,0,0,0,0
$GC,2524,-0.52,-121.6,250.0,-11.1,267,2527,0.00,0.77,0.00,0.000,4,0.000,0.051,2835,2378,3360,0,0,0,0,0,0
$GC,2663,-0.52,-121.6,265.2,-10.7,273,2668,0.05,0.77,0.00,0.000,6,0.209,0.045,2848,1864,3360,0,0,0,0,0,0
$GC,2992,-0.52,-121.6,299.4,-10.5,289,2996,0.00,0.98,0.00,0.000,4,0.000,0.053,2843,2495,3360,0,0,0,0,0,0
$GC,3120,-0.52,-121.6,313.5,-9.8,294,3129,0.00,0.98,0.00,0.000,6,0.000,0.044,2843,1858,3360,0,0,0,0,0,0
$GC,3437,-0.52,-121.6,344.0,-10.0,310,3440,0.00,0.75,0.00,0.000,4,0.000,0.052,2840,2353,3359,0,0,0,0,0,0
$GC,3565,-0.52,-121.6,356.3,-9.2,315,3570,0.00,0.75,0.00,0.000,6,0.000,0.045,2840,1856,3360,0,0,0,0,0,0
$GC,3883,-0.52,-121.6,384.9,-9.1,331,3886,0.00,1.23,0.00,0.000,4,0.000,0.054,2834,2639,3360,0,0,0,0,0,0
$GC,3965,-0.52,-121.6,393.0,-9.3,334,3974,0.08,1.20,0.00,0.000,6,0.174,0.043,2854,1860,3360,0,0,0,0,0,0
$GC,4282,-0.55,-121.6,420.2,-8.2,350,4286,0.00,0.73,0.00,0.000,4,0.000,0.052,2851,2338,3360,0,0,0,0,0,0
$GC,4388,-0.57,-121.6,428.8,-7.9,354,4396,0.00,0.73,0.00,0.000,6,0.000,0.047,2852,1858,3360,0,0,0,0,0,0
$GC,4704,-0.57,-121.6,453.8,-7.9,370,4707,0.00,0.43,0.00,0.000,4,0.000,0.055,2849,2158,3360,0,0,0,0,0,0
$GC,4809,-0.59,-121.6,462.8,-8.7,374,4818,0.05,0.45,0.00,0.000,6,0.167,0.052,2815,1854,3360,0,0,0,0,0,0
$GC,5125,-0.56,-121.6,496.1,-11.1,390,5130,0.10,0.40,0.00,0.000,4,0.177,0.057,2841,2132,3360,0,0,0,0,0,0
$GC,5377,-0.56,-121.6,521.2,-10.0,398,5381,0.00,0.40,0.00,0.000,6,0.000,0.054,2840,1862,3359,0,0,0,0,0,0
$GC,5700,-0.56,-121.6,552.8,-9.6,409,5704,0.00,0.28,0.00,0.000,4,0.000,0.060,2839,2064,3359,0,0,0,0,0,0
$GC,5956,-0.56,-121.6,576.1,-8.7,416,5959,0.00,0.30,0.00,0.000,6,0.000,0.060,2839,1857,3359,0,0,0,0,0,0
$GC,6271,-0.56,-121.6,603.9,-9.2,427,6274,0.00,1.02,0.00,0.000,4,0.000,0.053,2835,2513,3359,0,0,0,0,0,0
$GC,6375,-0.56,-121.6,614.1,-9.4,430,6380,0.00,1.00,0.00,0.000,6,0.000,0.046,2835,1866,3358,0,0,0,0,0,0
$GC,6711,-0.56,-121.6,645.4,-9.3,441,6715,0.00,0.57,0.00,0.000,4,0.000,0.055,2832,2251,3357,0,0,0,0,0,0
$GC,6815,-0.56,-121.6,655.5,-9.1,444,6820,0.00,0.60,0.00,0.000,6,0.000,0.050,2832,1853,3357,0,0,0,0,0,0
$GC,7150,-0.56,-121.6,687.3,-9.4,455,7154,0.00,0.95,0.00,0.000,4,0.000,0.054,2828,2464,3357,0,0,0,0,0,0
$GC,7294,-0.56,-121.6,700.7,-8.5,459,7299,0.00,0.93,0.00,0.000,6,0.000,0.046,2828,1864,3356,0,0,0,0,0,0
$GC,7624,-0.56,-121.6,732.7,-9.8,470,7628,0.00,0.88,0.00,0.000,4,0.000,0.054,2824,2434,3356,0,0,0,0,0,0
$GC,7768,-0.56,-121.6,746.8,-10.1,474,7773,0.08,0.88,0.00,0.000,6,0.184,0.046,2843,1861,3355,0,0,0,0,0,0
$GC,8097,-0.56,-121.6,775.6,-8.9,485,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1862,3355,0,0,0,0,0,0
$GC,8404,-0.58,-121.6,803.7,-9.3,495,8407,0.00,0.40,0.00,0.000,4,0.000,0.059,2842,2140,3354,0,0,0,0,0,0
$GC,8471,-0.60,-121.6,809.9,-8.8,497,8475,0.00,0.40,0.00,0.000,6,0.000,0.055,2842,1860,3354,0,0,0,0,0,0
$GC,8811,-0.60,-121.6,843.4,-9.8,508,8815,0.00,0.43,0.00,0.000,4,0.000,0.057,2840,2156,3353,0,0,0,0,0,0
$GC,8916,-0.63,-121.6,854.0,-10.3,511,8921,0.05,0.45,0.00,0.000,6,0.168,0.054,2807,1858,3354,0,0,0,0,0,0
$GC,9251,-0.59,-121.6,891.4,-11.3,522,9255,0.08,0.90,0.00,0.000,4,0.190,0.055,2822,2430,3352,0,0,0,0,0,0
$GC,9400,-0.59,-121.6,908.2,-11.2,526,9405,0.00,0.88,0.00,0.000,6,0.000,0.047,2822,1862,3352,0,0,0,0,0,0
$GC,9724,-0.59,-121.6,943.6,-10.9,537,9727,0.00,0.32,0.00,0.000,4,0.000,0.060,2820,2093,3352,0,0,0,0,0,0
$GC,9840,-0.59,-121.6,955.7,-10.2,540,9842,0.00,0.35,0.00,0.000,6,0.000,0.058,2821,1855,3352,0,0,0,0,0,0
$GC,10159,-0.59,-121.6,986.7,-9.7,551,10163,0.00,0.82,0.00,0.000,4,0.000,0.055,2817,2391,3351,0,0,0,0,0,0
$STATE,10297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10297,begin apogee
$GC,10302,-0.23,0.0,1000.2,10.0,555,10404,0.38,0.00,99.07,1.310,6,0.133,0.000,2943,1671,2862,0,0,0,0,0,0
$STATE,10405,end apogee,CONTROL_FINISHED_OK
$STATE,10405,begin climb
$GC,10406,0.71,121.6,1004.7,0.0,558,10517,0.90,0.85,102.95,1.279,4,0.098,0.055,3245,1167,2365,0,0,0,0,0,0
$GC,10566,0.71,189.2,1000.9,4.6,563,10632,0.00,0.85,59.97,1.253,6,0.000,0.047,3245,1676,2089,0,0,0,0,0,0
$GC,10962,0.74,197.1,974.4,7.1,576,10972,0.00,0.50,7.00,1.028,4,0.000,0.056,3245,1991,2058,0,0,0,0,0,0
$GC,11061,0.77,197.1,967.0,7.5,579,11066,0.08,0.52,0.00,0.000,6,0.127,0.056,3283,1665,2057,0,0,0,0,0,0
$GC,11396,0.75,197.1,939.4,8.3,590,11400,0.08,0.52,0.00,0.000,4,0.179,0.063,3266,1330,2056,0,0,0,0,0,0
$GC,11489,0.75,197.1,931.8,8.3,592,11494,0.00,0.55,0.00,0.000,6,0.000,0.052,3266,1677,2055,0,0,0,0,0,0
$GC,11801,0.75,197.1,907.0,8.0,603,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1677,2055,0,0,0,0,0,0
$GC,12107,0.75,197.1,882.7,7.9,613,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1677,2054,0,0,0,0,0,0
$GC,12413,0.75,197.1,857.7,8.1,623,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1676,2053,0,0,0,0,0,0
$GC,12720,0.75,197.1,832.7,8.1,633,12723,0.00,0.25,0.00,0.000,4,0.000,0.067,3265,1859,2053,0,0,0,0,0,0
$GC,12787,0.75,197.1,827.2,9.2,635,12790,0.00,0.30,0.00,0.000,6,0.000,0.067,3267,1660,2053,0,0,0,0,0,0
$GC,13127,0.75,197.1,799.8,8.1,646,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1659,2052,0,0,0,0,0,0
$GC,13433,0.75,197.1,775.9,8.0,656,13436,0.00,0.30,0.00,0.000,4,0.000,0.063,3267,1866,2052,0,0,0,0,0,0
$GC,13509,0.75,197.1,769.9,7.5,658,13512,0.00,0.32,0.00,0.000,6,0.000,0.063,3268,1658,2052,0,0,0,0,0,0
$GC,13835,0.75,197.1,743.8,8.2,669,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1658,2052,0,0,0,0,0,0
$GC,14141,0.75,197.1,717.0,9.0,679,14145,0.00,0.98,0.00,0.000,4,0.000,0.055,3268,2284,2052,0,0,0,0,0,0
$GC,14245,0.75,197.1,707.1,8.7,682,14250,0.00,0.98,0.00,0.000,6,0.000,0.050,3273,1669,2051,0,0,0,0,0,0
$GC,14580,0.75,197.1,676.9,9.0,693,14584,0.00,0.52,0.00,0.000,4,0.000,0.054,3273,2022,2052,0,0,0,0,0,0
$GC,14657,0.75,197.1,669.9,8.5,695,14661,0.00,0.57,0.00,0.000,6,0.000,0.055,3275,1653,2051,0,0,0,0,0,0
$GC,14986,0.75,197.1,641.3,8.8,706,14987,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1653,2051,0,0,0,0,0,0
$GC,15292,0.75,197.1,613.9,8.8,716,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1653,2051,0,0,0,0,0,0
$GC,15598,0.75,197.1,587.7,8.3,726,15600,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1653,2051,0,0,0,0,0,0
$GC,15905,0.75,207.9,565.0,7.0,736,15919,0.00,0.50,9.57,0.938,4,0.000,0.056,3275,1980,2014,0,0,0,0,0,0
$GC,16025,0.75,224.3,556.9,6.7,739,16046,0.00,0.50,15.90,0.985,6,0.000,0.056,3277,1664,1947,0,0,0,0,0,0
$GC,16376,0.75,232.7,532.4,7.1,751,16387,0.00,0.32,8.27,0.877,4,0.000,0.067,3279,1453,1913,0,0,0,0,0,0
$GC,16476,0.75,232.7,525.0,8.3,754,16478,0.05,0.32,0.00,0.000,6,0.213,0.060,3266,1662,1912,0,0,0,0,0,0
$GC,16808,0.78,234.1,501.3,7.4,765,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1662,1911,0,0,0,0,0,0
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$STATE,22489,end climb,SURFACE_DEPTH_REACHED
$STATE,22489,begin surface coast
$FINISH,1.3,1.013545
$STATE,22526,end surface coast,CONTROL_FINISHED_OK
$STATE,22527,begin surface
$SM_CCo,22541,7.25,0.500,0,0,1841,250.20
$SM_GC,3.61,0.00,0.00,7.25,0.000,0.000,0.500,88,1863,1841,-9.17,0.00,250.20
$IRIDIUM_FIX,-4239.11,-900.19,141012,191932
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,9.1574
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.7,16.628
$10V_AH,10.3,15.723
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.875,50.725,302.750,7.250,0.000,28.873,36.763,214.191,0.000,0.000,20.851,3071.185,15372.606,392.251,3957.255,142.053,33.359,1856.288,0.000,3617.601,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.662,1448.099,778.095,96.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354344
$DATA_FILE_SIZE,70233,1204
$CAP_FILE_SIZE,192627,1
$CFSIZE,2097086464,2083356672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1
$GPS,151012,084505,-4253.456,-856.334,41,1.0,41,-21.4