version: 66.07.10.p01
glider: 573
mission: 4
dive: 106
start: 10 19 112 17 29 7
data:
$ID,573
$MISSION,4
$DIVE,106
$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,-4619.9878
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,39
$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,85
$GPS1,191012,171805,-4316.763,-828.488,48,0.9,48,-21.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-71.4
$GPS2,191012,172812,-4316.728,-828.490,14,1.5,15,-21.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.155,-0.151
$KALMAN_X,-103803.6,51.0,318.0,230219.0,-2528.4
$KALMAN_Y,-196443.6,375.6,299.6,127319.5,-2109.8
$MHEAD_RNG_PITCHd_Wd,155.6,44575,-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,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,75,0.00,0.00,-48.50,0.000,2,0.000,0.000,82,1820,2834,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.2,-1.7,8,109,11.23,2.28,-15.12,0.000,4,0.250,0.064,2791,410,3357,0,0,0,0,0,0
$GC,337,-0.58,-121.6,38.2,-14.0,52,345,0.15,2.22,0.00,0.000,6,0.140,0.042,2831,1809,3359,0,0,0,0,0,0
$GC,577,-0.55,-121.6,60.3,-8.7,93,583,0.00,1.58,0.00,0.000,4,0.000,0.054,2824,2807,3359,0,0,0,0,0,0
$GC,704,-0.52,-121.6,72.3,-9.8,115,709,0.08,1.55,0.00,0.000,6,0.140,0.044,2850,1815,3360,0,0,0,0,0,0
$GC,1053,-0.52,-121.6,104.6,-9.2,172,1056,0.00,0.80,0.00,0.000,4,0.000,0.051,2847,2341,3360,0,0,0,0,0,0
$GC,1174,-0.52,-121.6,115.6,-8.7,179,1178,0.00,0.80,0.00,0.000,6,0.000,0.046,2847,1809,3360,0,0,0,0,0,0
$GC,1504,-0.52,-121.6,146.1,-9.1,200,1508,0.00,0.98,0.00,0.000,4,0.000,0.051,2842,2441,3360,0,0,0,0,0,0
$GC,1632,-0.52,-121.6,157.6,-8.4,207,1638,0.00,0.98,0.00,0.000,6,0.000,0.044,2842,1810,3360,0,0,0,0,0,0
$GC,1953,-0.52,-121.6,185.8,-9.0,228,1956,0.00,1.05,0.00,0.000,4,0.000,0.052,2838,2486,3360,0,0,0,0,0,0
$GC,2074,-0.52,-121.6,196.2,-8.6,235,2078,0.00,1.02,0.00,0.000,6,0.000,0.045,2838,1813,3360,0,0,0,0,0,0
$GC,2405,-0.52,-121.6,226.5,-9.3,256,2409,0.03,1.00,0.00,0.000,4,0.264,0.053,2843,2449,3360,0,0,0,0,0,0
$GC,2532,-0.52,-121.6,238.0,-9.1,263,2538,0.00,0.98,0.00,0.000,6,0.000,0.044,2843,1816,3360,0,0,0,0,0,0
$GC,2865,-0.52,-121.6,268.8,-9.4,282,2868,0.00,0.82,0.00,0.000,4,0.000,0.050,2839,2363,3360,0,0,0,0,0,0
$GC,2970,-0.52,-121.6,278.9,-9.7,286,2979,0.00,0.85,0.00,0.000,6,0.000,0.044,2839,1806,3359,0,0,0,0,0,0
$GC,3286,-0.52,-121.6,308.7,-9.7,302,3290,0.00,0.68,0.00,0.000,4,0.000,0.050,2836,2260,3360,0,0,0,0,0,0
$GC,3447,-0.52,-121.6,324.1,-9.8,309,3451,0.03,0.65,0.00,0.000,6,0.166,0.048,2847,1820,3360,0,0,0,0,0,0
$GC,3781,-0.52,-121.6,356.5,-9.9,325,3785,0.00,0.62,0.00,0.000,4,0.000,0.050,2845,2245,3360,0,0,0,0,0,0
$GC,3898,-0.52,-121.6,368.1,-9.1,330,3902,0.00,0.65,0.00,0.000,6,0.000,0.047,2845,1813,3360,0,0,0,0,0,0
$GC,4225,-0.52,-121.6,399.2,-9.5,346,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1813,3360,0,0,0,0,0,0
$GC,4551,-0.52,-121.6,429.1,-9.1,357,4555,0.00,0.82,0.00,0.000,4,0.000,0.050,2841,2361,3360,0,0,0,0,0,0
$GC,4668,-0.52,-121.6,440.3,-10.1,360,4672,0.00,0.82,0.00,0.000,6,0.000,0.045,2841,1818,3360,0,0,0,0,0,0
$GC,4992,-0.52,-121.6,469.9,-9.2,371,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1818,3361,0,0,0,0,0,0
$GC,5298,-0.52,-121.6,497.6,-8.8,381,5301,0.00,1.35,0.00,0.000,4,0.000,0.053,2834,2678,3360,0,0,0,0,0,0
$GC,5414,-0.52,-121.6,508.2,-8.9,384,5419,0.08,1.33,0.00,0.000,6,0.177,0.040,2854,1818,3360,0,0,0,0,0,0
$GC,5739,-0.54,-121.6,534.2,-8.1,395,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1818,3360,0,0,0,0,0,0
$GC,6045,-0.57,-121.6,557.5,-7.5,405,6048,0.00,0.73,0.00,0.000,4,0.000,0.051,2851,2302,3360,0,0,0,0,0,0
$GC,6223,-0.60,-121.6,571.0,-7.3,410,6228,0.08,0.75,0.00,0.000,6,0.122,0.046,2807,1808,3360,0,0,0,0,0,0
$GC,6553,-0.55,-121.6,605.1,-10.8,421,6555,0.12,0.00,0.00,0.000,6,0.167,0.000,2842,1808,3360,0,0,0,0,0,0
$GC,6859,-0.55,-121.6,634.0,-9.3,431,6863,0.00,0.40,0.00,0.000,4,0.000,0.054,2841,2098,3359,0,0,0,0,0,0
$GC,7031,-0.55,-121.6,650.5,-9.4,436,7035,0.00,0.43,0.00,0.000,6,0.000,0.054,2841,1813,3359,0,0,0,0,0,0
$GC,7366,-0.55,-121.6,682.2,-9.8,447,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1813,3358,0,0,0,0,0,0
$GC,7672,-0.55,-121.6,710.6,-8.9,457,7675,0.00,0.28,0.00,0.000,4,0.000,0.063,2839,2017,3358,0,0,0,0,0,0
$GC,7928,-0.55,-121.6,733.2,-9.2,464,7930,0.00,0.30,0.00,0.000,6,0.000,0.061,2840,1812,3357,0,0,0,0,0,0
$GC,8242,-0.55,-121.6,759.9,-8.4,475,8246,0.00,0.52,0.00,0.000,4,0.000,0.054,2837,2168,3357,0,0,0,0,0,0
$GC,8404,-0.55,-121.6,773.1,-8.1,479,8409,0.00,0.52,0.00,0.000,6,0.000,0.052,2837,1822,3356,0,0,0,0,0,0
$GC,8716,-0.55,-121.6,799.3,-8.7,490,8720,0.00,0.30,0.00,0.000,4,0.000,0.060,2836,2045,3356,0,0,0,0,0,0
$GC,8972,-0.55,-121.6,821.2,-8.3,497,8974,0.00,0.35,0.00,0.000,6,0.000,0.057,2836,1807,3355,0,0,0,0,0,0
$GC,9286,-0.55,-121.6,847.9,-8.8,508,9290,0.00,0.73,0.00,0.000,4,0.000,0.054,2833,2288,3354,0,0,0,0,0,0
$GC,9425,-0.55,-121.6,859.7,-8.6,512,9429,0.00,0.73,0.00,0.000,6,0.000,0.049,2833,1815,3354,0,0,0,0,0,0
$GC,9760,-0.55,-121.6,889.5,-8.9,523,9763,0.00,0.32,0.00,0.000,4,0.000,0.059,2832,2048,3353,0,0,0,0,0,0
$GC,10016,-0.55,-121.6,910.7,-7.4,530,10021,0.00,0.35,0.00,0.000,6,0.000,0.057,2832,1808,3353,0,0,0,0,0,0
$GC,10334,-0.55,-121.6,935.3,-7.8,541,10338,0.00,0.82,0.00,0.000,4,0.000,0.054,2828,2349,3352,0,0,0,0,0,0
$GC,10484,-0.55,-121.6,947.3,-7.6,545,10489,0.00,0.82,0.00,0.000,6,0.000,0.048,2828,1813,3352,0,0,0,0,0,0
$GC,10808,-0.55,-121.6,972.4,-7.6,556,10812,0.00,0.80,0.00,0.000,4,0.000,0.054,2824,2334,3352,0,0,0,0,0,0
$GC,10948,-0.55,-121.6,983.0,-7.1,560,10953,0.08,0.80,0.00,0.000,6,0.184,0.049,2844,1815,3351,0,0,0,0,0,0
$STATE,11189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11190,begin apogee
$GC,11194,-0.23,0.0,1000.2,7.2,568,11296,0.32,0.00,99.78,1.308,6,0.128,0.000,2949,1646,2862,0,0,0,0,0,0
$STATE,11297,end apogee,CONTROL_FINISHED_OK
$STATE,11297,begin climb
$GC,11299,0.71,121.6,1003.5,0.0,571,11409,0.90,0.80,102.88,1.275,4,0.096,0.056,3250,1175,2366,0,0,0,0,0,0
$GC,11447,0.71,150.8,998.4,6.2,575,11478,0.00,0.80,26.80,1.217,6,0.000,0.047,3250,1654,2247,0,0,0,0,0,0
$GC,11791,0.71,161.6,974.7,7.0,587,11803,0.00,0.00,9.77,1.110,6,0.000,0.000,3251,1654,2203,0,0,0,0,0,0
$GC,12097,0.71,170.2,952.7,7.1,597,12108,0.00,0.00,9.00,1.068,6,0.000,0.000,3251,1654,2167,0,0,0,0,0,0
$GC,12403,0.71,181.6,931.2,6.9,607,12417,0.00,0.00,11.45,1.122,6,0.000,0.000,3250,1654,2121,0,0,0,0,0,0
$GC,12709,0.71,196.8,910.1,6.8,617,12729,0.00,0.43,14.75,1.154,4,0.000,0.066,3252,1393,2059,0,0,0,0,0,0
$GC,12790,0.74,196.8,904.2,7.6,619,12794,0.00,0.40,0.00,0.000,6,0.000,0.055,3252,1649,2057,0,0,0,0,0,0
$GC,13114,0.76,201.9,881.1,7.2,630,13122,0.00,0.00,5.53,0.903,6,0.000,0.000,3252,1649,2039,0,0,0,0,0,0
$GC,13420,0.79,214.2,859.5,6.9,640,13437,0.08,0.50,12.62,1.119,4,0.127,0.063,3295,1348,1988,0,0,0,0,0,0
$GC,13504,0.77,214.2,852.6,8.4,642,13508,0.10,0.47,0.00,0.000,6,0.164,0.054,3269,1648,1986,0,0,0,0,0,0
$GC,13822,0.77,214.2,828.5,7.9,653,13825,0.00,0.47,0.00,0.000,4,0.000,0.063,3271,1333,1985,0,0,0,0,0,0
$GC,13898,0.77,214.2,822.4,8.5,655,13903,0.00,0.50,0.00,0.000,6,0.000,0.054,3271,1651,1985,0,0,0,0,0,0
$GC,14227,0.77,214.2,796.6,7.8,666,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1651,1984,0,0,0,0,0,0
$GC,14534,0.77,214.2,772.8,7.7,676,14537,0.00,0.47,0.00,0.000,4,0.000,0.062,3273,1333,1984,0,0,0,0,0,0
$GC,14610,0.77,214.2,766.7,8.3,678,14614,0.00,0.50,0.00,0.000,6,0.000,0.054,3273,1654,1984,0,0,0,0,0,0
$GC,14939,0.77,214.2,740.5,8.1,689,14943,0.00,0.30,0.00,0.000,4,0.000,0.067,3274,1451,1984,0,0,0,0,0,0
$GC,15006,0.77,214.2,735.1,7.7,691,15010,0.00,0.28,0.00,0.000,6,0.000,0.063,3274,1639,1984,0,0,0,0,0,0
$GC,15346,0.77,214.2,709.3,7.5,702,15347,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1639,1984,0,0,0,0,0,0
$GC,15653,0.77,216.0,686.7,7.3,712,15656,0.00,0.40,0.00,0.000,4,0.000,0.064,3276,1372,1984,0,0,0,0,0,0
$GC,15769,0.77,216.0,678.0,7.4,715,15773,0.00,0.45,0.00,0.000,6,0.000,0.055,3276,1660,1984,0,0,0,0,0,0
$GC,16092,0.77,216.0,652.2,8.1,726,16096,0.00,0.35,0.00,0.000,4,0.000,0.064,3277,1424,1983,0,0,0,0,0,0
$GC,16193,0.77,216.0,643.9,8.7,729,16197,0.00,0.32,0.00,0.000,6,0.000,0.061,3278,1646,1984,0,0,0,0,0,0
$GC,16533,0.77,216.0,616.0,8.4,740,16534,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1646,1983,0,0,0,0,0,0
$GC,16839,0.77,216.0,588.8,8.9,750,16843,0.00,0.47,0.00,0.000,4,0.000,0.063,3280,1333,1983,0,0,0,0,0,0
$GC,16966,0.77,216.0,577.5,9.7,753,16972,0.00,0.50,0.00,0.000,6,0.000,0.054,3280,1655,1983,0,0,0,0,0,0
$GC,17279,0.77,216.0,550.2,8.9,764,17282,0.00,0.28,0.00,0.000,4,0.000,0.069,3281,1461,1983,0,0,0,0,0,0
$GC,17389,0.77,216.0,540.5,8.9,767,17391,0.00,0.28,0.00,0.000,6,0.000,0.063,3281,1648,1983,0,0,0,0,0,0
$GC,17715,0.77,216.0,512.2,8.7,778,17718,0.00,0.25,0.00,0.000,4,0.000,0.066,3281,1835,1983,0,0,0,0,0,0
$GC,17797,0.77,216.0,505.2,8.0,780,17799,0.00,0.30,0.00,0.000,6,0.000,0.066,3282,1643,1983,0,0,0,0,0,0
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$STATE,23591,end climb,SURFACE_DEPTH_REACHED
$STATE,23591,begin surface coast
$FINISH,1.7,1.026759
$STATE,23622,end surface coast,CONTROL_FINISHED_OK
$STATE,23623,begin surface
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$HUMID,42.16
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$TCM_TEMP,15.90
$XPDR_PINGS,0
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$10V_AH,10.2,18.425
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354396
$DATA_FILE_SIZE,70222,1193
$CAP_FILE_SIZE,198301,0
$CFSIZE,2097086464,2080342016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,201012,000553,-4319.174,-827.649,76,1.2,76,-21.3