version: 66.07.10.p01
glider: 573
mission: 4
dive: 87
start: 10 16 112 17 30 39
data:
$ID,573
$MISSION,4
$DIVE,87
$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,-4239.2568
$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,30
$R_STBD_OVSHOOT,38
$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,66
$GPS1,161012,172229,-4247.640,-842.758,71,1.1,71,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-70.7
$GPS2,161012,172944,-4247.612,-842.729,24,1.1,25,-21.5
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.090,-0.197
$KALMAN_X,-89031.7,122.7,-18.6,196314.7,-670.5
$KALMAN_Y,-190894.9,157.6,-75.8,176275.6,-183.7
$MHEAD_RNG_PITCHd_Wd,177.0,101688,-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,-121.6,0.0,0.0,0,80,0.00,0.00,-54.20,0.000,2,0.000,0.000,82,1865,2906,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.0,-1.5,9,115,11.02,2.30,-13.62,0.000,4,0.248,0.066,2787,452,3358,0,0,0,0,0,0
$GC,357,-0.58,-121.6,35.4,-12.2,55,363,0.20,2.20,0.00,0.000,6,0.158,0.042,2835,1861,3360,0,0,0,0,0,0
$GC,592,-0.56,-121.6,58.0,-9.4,96,599,0.00,0.73,0.00,0.000,4,0.000,0.051,2831,2343,3361,0,0,0,0,0,0
$GC,719,-0.54,-121.6,69.7,-9.2,118,724,0.00,0.75,0.00,0.000,6,0.000,0.046,2832,1847,3360,0,0,0,0,0,0
$GC,1072,-0.51,-121.6,101.9,-9.1,179,1076,0.10,0.90,0.00,0.000,4,0.176,0.051,2855,2428,3361,0,0,0,0,0,0
$GC,1183,-0.51,-121.6,110.8,-7.8,185,1189,0.00,0.88,0.00,0.000,6,0.000,0.045,2855,1859,3361,0,0,0,0,0,0
$GC,1501,-0.51,-121.6,136.5,-8.4,206,1505,0.00,0.75,0.00,0.000,4,0.000,0.052,2852,2349,3361,0,0,0,0,0,0
$GC,1630,-0.51,-121.6,147.6,-9.0,213,1636,0.00,0.75,0.00,0.000,6,0.000,0.047,2852,1857,3361,0,0,0,0,0,0
$GC,1949,-0.51,-121.6,175.8,-9.0,234,1952,0.00,0.62,0.00,0.000,4,0.000,0.051,2849,2276,3361,0,0,0,0,0,0
$GC,2077,-0.51,-121.6,188.2,-9.6,241,2083,0.00,0.62,0.00,0.000,6,0.000,0.047,2849,1859,3361,0,0,0,0,0,0
$GC,2398,-0.51,-121.6,219.2,-10.0,262,2401,0.00,0.68,0.00,0.000,4,0.000,0.051,2845,2306,3361,0,0,0,0,0,0
$GC,2521,-0.51,-121.6,231.4,-9.3,269,2525,0.00,0.65,0.00,0.000,6,0.000,0.047,2846,1866,3361,0,0,0,0,0,0
$GC,2843,-0.51,-121.6,262.8,-9.9,288,2847,0.00,0.73,0.00,0.000,4,0.000,0.052,2842,2344,3361,0,0,0,0,0,0
$GC,2972,-0.51,-121.6,276.1,-10.3,293,2978,0.05,0.75,0.00,0.000,6,0.214,0.045,2855,1849,3362,0,0,0,0,0,0
$GC,3289,-0.51,-121.6,307.9,-10.0,309,3293,0.00,0.68,0.00,0.000,4,0.000,0.051,2852,2303,3361,0,0,0,0,0,0
$GC,3427,-0.51,-121.6,321.5,-9.7,315,3430,0.00,0.65,0.00,0.000,6,0.000,0.048,2852,1862,3361,0,0,0,0,0,0
$GC,3760,-0.51,-121.6,353.0,-8.9,331,3764,0.00,0.62,0.00,0.000,4,0.000,0.052,2849,2284,3361,0,0,0,0,0,0
$GC,3873,-0.51,-121.6,363.6,-9.4,336,3877,0.00,0.62,0.00,0.000,6,0.000,0.048,2849,1861,3361,0,0,0,0,0,0
$GC,4205,-0.51,-121.6,392.4,-8.3,352,4209,0.00,0.55,0.00,0.000,4,0.000,0.053,2846,2235,3361,0,0,0,0,0,0
$GC,4386,-0.51,-121.6,406.9,-8.8,360,4389,0.00,0.55,0.00,0.000,6,0.000,0.050,2847,1859,3361,0,0,0,0,0,0
$GC,4717,-0.51,-121.6,433.1,-8.0,376,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1859,3361,0,0,0,0,0,0
$GC,5029,-0.51,-121.6,458.1,-8.0,391,5032,0.00,0.38,0.00,0.000,4,0.000,0.056,2845,2125,3361,0,0,0,0,0,0
$GC,5259,-0.51,-121.6,476.3,-7.4,401,5263,0.00,0.40,0.00,0.000,6,0.000,0.054,2845,1853,3361,0,0,0,0,0,0
$GC,5596,-0.51,-121.6,503.2,-8.4,417,5599,0.00,0.25,0.00,0.000,4,0.000,0.065,2845,1667,3361,0,0,0,0,0,0
$GC,5667,-0.51,-121.6,509.5,-8.4,419,5669,0.00,0.30,0.00,0.000,6,0.000,0.058,2844,1867,3361,0,0,0,0,0,0
$GC,5998,-0.51,-121.6,537.6,-8.8,430,6001,0.00,0.68,0.00,0.000,4,0.000,0.053,2840,2322,3361,0,0,0,0,0,0
$GC,6093,-0.51,-121.6,546.2,-9.3,432,6098,0.03,0.68,0.00,0.000,6,0.174,0.047,2851,1864,3360,0,0,0,0,0,0
$GC,6405,-0.53,-121.6,572.7,-8.4,443,6408,0.00,1.00,0.00,0.000,4,0.000,0.053,2847,2515,3360,0,0,0,0,0,0
$GC,6516,-0.56,-121.6,581.7,-8.1,446,6520,0.00,1.02,0.00,0.000,6,0.000,0.045,2847,1851,3360,0,0,0,0,0,0
$GC,6845,-0.56,-121.6,606.9,-7.6,457,6849,0.00,0.77,0.00,0.000,4,0.000,0.053,2843,2362,3359,0,0,0,0,0,0
$GC,6932,-0.56,-121.6,613.7,-7.8,459,6937,0.00,0.77,0.00,0.000,6,0.000,0.047,2843,1853,3359,0,0,0,0,0,0
$GC,7250,-0.56,-121.6,638.0,-7.6,470,7254,0.00,0.73,0.00,0.000,4,0.000,0.053,2840,2338,3359,0,0,0,0,0,0
$GC,7378,-0.56,-121.6,647.6,-7.9,473,7383,0.00,0.73,0.00,0.000,6,0.000,0.048,2840,1861,3359,0,0,0,0,0,0
$GC,7690,-0.56,-121.6,669.6,-6.8,484,7694,0.00,0.73,0.00,0.000,4,0.000,0.054,2836,2338,3359,0,0,0,0,0,0
$GC,7830,-0.56,-121.6,678.6,-6.2,488,7834,0.00,0.70,0.00,0.000,6,0.000,0.048,2836,1869,3359,0,0,0,0,0,0
$GC,8165,-0.56,-121.6,700.2,-6.3,499,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1869,3358,0,0,0,0,0,0
$GC,8471,-0.56,-121.6,719.2,-6.3,509,8475,0.00,0.93,0.00,0.000,4,0.000,0.054,2832,2468,3357,0,0,0,0,0,0
$GC,8587,-0.56,-121.6,726.9,-6.5,512,8592,0.00,0.95,0.00,0.000,6,0.000,0.047,2832,1853,3357,0,0,0,0,0,0
$GC,8912,-0.56,-121.6,751.5,-7.7,523,8915,0.00,0.62,0.00,0.000,4,0.000,0.054,2829,2272,3357,0,0,0,0,0,0
$GC,9089,-0.56,-121.6,766.3,-8.7,528,9094,0.00,0.62,0.00,0.000,6,0.000,0.050,2829,1858,3356,0,0,0,0,0,0
$GC,9418,-0.56,-121.6,794.8,-8.6,539,9422,0.00,0.60,0.00,0.000,4,0.000,0.056,2827,2257,3355,0,0,0,0,0,0
$GC,9574,-0.56,-121.6,808.5,-8.3,543,9578,0.00,0.60,0.00,0.000,6,0.000,0.051,2826,1862,3355,0,0,0,0,0,0
$GC,9892,-0.56,-121.6,835.6,-8.5,554,9896,0.00,0.50,0.00,0.000,4,0.000,0.057,2824,2201,3355,0,0,0,0,0,0
$GC,10055,-0.56,-121.6,849.3,-8.4,558,10061,0.03,0.50,0.00,0.000,6,0.178,0.054,2835,1861,3355,0,0,0,0,0,0
$GC,10367,-0.56,-121.6,874.8,-8.5,569,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1861,3354,0,0,0,0,0,0
$GC,10673,-0.56,-121.6,902.3,-9.0,579,10676,0.00,0.50,0.00,0.000,4,0.000,0.057,2833,2201,3353,0,0,0,0,0,0
$GC,10778,-0.56,-121.6,911.4,-8.3,582,10782,0.00,0.52,0.00,0.000,6,0.000,0.054,2834,1855,3353,0,0,0,0,0,0
$GC,11112,-0.56,-121.6,938.6,-7.7,593,11116,0.00,0.28,0.00,0.000,4,0.000,0.063,2832,2052,3353,0,0,0,0,0,0
$GC,11369,-0.56,-121.6,959.0,-8.4,600,11371,0.00,0.30,0.00,0.000,6,0.000,0.062,2832,1849,3353,0,0,0,0,0,0
$GC,11683,-0.56,-121.6,981.6,-7.0,611,11687,0.00,0.38,0.00,0.000,4,0.000,0.057,2830,2113,3352,0,0,0,0,0,0
$STATE,11933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11933,begin apogee
$GC,11938,-0.23,0.0,1000.3,6.7,618,12043,0.32,0.00,99.70,1.310,6,0.131,0.000,2941,1662,2862,0,0,0,0,0,0
$STATE,12044,end apogee,CONTROL_FINISHED_OK
$STATE,12044,begin climb
$GC,12045,0.71,121.6,1004.3,0.0,622,12156,0.90,0.57,103.03,1.279,4,0.096,0.060,3242,1318,2366,0,0,0,0,0,0
$GC,12189,0.71,188.9,999.8,4.6,626,12255,0.00,0.57,60.30,1.251,6,0.000,0.050,3242,1661,2091,0,0,0,0,0,0
$GC,12568,0.75,225.2,977.1,5.9,639,12605,0.05,1.42,32.33,1.232,4,0.163,0.053,3272,2501,1943,0,0,0,0,0,0
$GC,12711,0.75,225.2,966.1,7.6,643,12716,0.05,1.38,0.00,0.000,6,0.216,0.048,3266,1673,1938,0,0,0,0,0,0
$GC,13035,0.77,225.2,942.3,7.6,654,13038,0.00,0.30,0.00,0.000,4,0.000,0.066,3268,1458,1936,0,0,0,0,0,0
$GC,13123,0.79,225.2,935.5,7.7,656,13127,0.00,0.35,0.00,0.000,6,0.000,0.058,3267,1679,1936,0,0,0,0,0,0
$GC,13441,0.81,225.2,909.5,8.3,667,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1679,1935,0,0,0,0,0,0
$GC,13747,0.84,225.2,883.8,8.4,677,13752,0.08,0.35,0.00,0.000,4,0.126,0.066,3309,1444,1934,0,0,0,0,0,0
$GC,13781,0.80,225.2,880.6,9.5,678,13785,0.08,0.32,0.00,0.000,6,0.143,0.059,3283,1664,1934,0,0,0,0,0,0
$GC,14121,0.80,225.2,850.4,8.8,689,14125,0.00,0.38,0.00,0.000,4,0.000,0.065,3284,1418,1934,0,0,0,0,0,0
$GC,14192,0.80,225.2,843.8,9.2,691,14196,0.00,0.40,0.00,0.000,6,0.000,0.056,3285,1676,1934,0,0,0,0,0,0
$GC,14527,0.80,225.2,813.9,9.3,702,14530,0.00,1.02,0.00,0.000,4,0.000,0.059,3290,1039,1933,0,0,0,0,0,0
$GC,14628,0.80,225.2,804.2,10.0,705,14631,0.00,0.98,0.00,0.000,6,0.000,0.047,3290,1660,1933,0,0,0,0,0,0
$GC,14968,0.80,225.2,772.2,9.2,716,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1660,1933,0,0,0,0,0,0
$GC,15274,0.80,225.2,744.9,8.8,726,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1660,1932,0,0,0,0,0,0
$GC,15580,0.80,225.2,716.7,9.4,736,15581,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1660,1932,0,0,0,0,0,0
$GC,15886,0.80,225.2,688.2,9.3,746,15887,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1660,1932,0,0,0,0,0,0
$GC,16192,0.80,225.2,657.0,10.5,756,16196,0.00,0.38,0.00,0.000,4,0.000,0.065,3291,1409,1932,0,0,0,0,0,0
$GC,16269,0.80,225.2,648.7,10.6,758,16271,0.00,0.40,0.00,0.000,6,0.000,0.056,3291,1666,1932,0,0,0,0,0,0
$GC,16594,0.80,225.2,613.5,10.7,769,16596,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1666,1932,0,0,0,0,0,0
$GC,16901,0.80,225.2,583.9,9.4,779,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1666,1932,0,0,0,0,0,0
$GC,17207,0.80,225.2,557.0,8.5,789,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1666,1932,0,0,0,0,0,0
$GC,17513,0.80,225.2,530.6,8.8,799,17514,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1666,1932,0,0,0,0,0,0
$GC,17819,0.80,225.2,503.2,8.9,809,17823,0.00,0.60,0.00,0.000,4,0.000,0.056,3291,2075,1932,0,0,0,0,0,0
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$STATE,23771,end climb,SURFACE_DEPTH_REACHED
$STATE,23771,begin surface coast
$FINISH,1.4,1.026714
$STATE,23803,end surface coast,CONTROL_FINISHED_OK
$STATE,23803,begin surface
$SM_CCo,23878,0.00,0.000,0,0,1292,385.11
$SM_GC,2.25,8.45,0.00,0.00,0.033,0.000,0.000,91,1863,1292,-9.09,0.00,385.11
$IRIDIUM_FIX,-4230.32,-846.78,161012,111132
$TT8_MAMPS,0.026215
$HUMID,42.59
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.6,17.464
$10V_AH,10.3,16.591
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.475,54.575,423.125,0.000,0.000,28.025,44.607,242.988,0.000,0.000,27.396,3169.506,16386.518,461.509,4151.186,137.199,33.360,2015.791,0.000,3759.023,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.385,1487.561,806.057,93.109,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354484
$DATA_FILE_SIZE,73622,1263
$CAP_FILE_SIZE,200828,0
$CFSIZE,2097086464,2082537472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171012,001035,-4250.269,-842.453,86,1.0,86,-21.5