version: 66.07.10.p01
glider: 573
mission: 4
dive: 107
start: 10 20 112 0 13 43
data:
$ID,573
$MISSION,4
$DIVE,107
$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,-4623.1104
$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,33
$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,86
$GPS1,201012,000553,-4319.174,-827.649,76,1.2,76,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-72.3
$GPS2,201012,001248,-4319.225,-827.647,19,2.0,19,-21.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.088,-0.198
$KALMAN_X,-105793.4,-382.6,-326.2,234436.3,-996.4
$KALMAN_Y,-195996.2,-30.8,-203.9,123151.1,262.0
$MHEAD_RNG_PITCHd_Wd,177.4,39816,-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,-121.6,0.0,0.0,0,69,0.00,0.00,-42.55,0.000,2,0.000,0.000,81,1825,2846,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.0,-1.7,7,103,11.27,2.28,-14.73,0.000,4,0.255,0.067,2789,406,3358,0,0,0,0,0,0
$GC,345,-0.59,-121.6,36.4,-13.1,53,351,0.17,2.20,0.00,0.000,6,0.162,0.042,2829,1816,3359,0,0,0,0,0,0
$GC,580,-0.56,-121.6,63.1,-10.9,94,585,0.00,1.27,0.00,0.000,4,0.000,0.053,2823,2633,3359,0,0,0,0,0,0
$GC,699,-0.53,-121.6,75.4,-10.5,115,704,0.05,1.27,0.00,0.000,6,0.151,0.044,2843,1809,3360,0,0,0,0,0,0
$GC,1048,-0.53,-121.6,109.2,-9.7,166,1052,0.00,1.15,0.00,0.000,4,0.000,0.053,2837,2542,3360,0,0,0,0,0,0
$GC,1170,-0.53,-121.6,121.3,-9.8,173,1173,0.00,1.12,0.00,0.000,6,0.000,0.044,2838,1809,3360,0,0,0,0,0,0
$GC,1501,-0.51,-121.6,155.0,-10.1,194,1505,0.08,0.90,0.00,0.000,4,0.196,0.052,2852,2385,3361,0,0,0,0,0,0
$GC,1628,-0.51,-121.6,167.0,-9.4,201,1634,0.00,0.88,0.00,0.000,6,0.000,0.044,2851,1816,3360,0,0,0,0,0,0
$GC,1949,-0.51,-121.6,194.7,-8.4,222,1952,0.00,0.75,0.00,0.000,4,0.000,0.050,2848,2315,3360,0,0,0,0,0,0
$GC,2069,-0.51,-121.6,204.3,-7.7,229,2073,0.00,0.75,0.00,0.000,6,0.000,0.047,2849,1814,3360,0,0,0,0,0,0
$GC,2400,-0.51,-121.6,232.0,-8.1,250,2403,0.00,0.77,0.00,0.000,4,0.000,0.050,2845,2328,3360,0,0,0,0,0,0
$GC,2544,-0.51,-121.6,244.3,-8.7,258,2552,0.00,0.77,0.00,0.000,6,0.000,0.046,2845,1820,3361,0,0,0,0,0,0
$GC,2876,-0.51,-121.6,272.6,-8.6,276,2880,0.00,0.55,0.00,0.000,4,0.000,0.051,2842,2197,3360,0,0,0,0,0,0
$GC,2959,-0.51,-121.6,280.0,-8.9,279,2965,0.00,0.57,0.00,0.000,6,0.000,0.048,2842,1815,3360,0,0,0,0,0,0
$GC,3277,-0.51,-121.6,308.8,-9.0,295,3280,0.00,0.75,0.00,0.000,4,0.000,0.050,2839,2314,3360,0,0,0,0,0,0
$GC,3376,-0.51,-121.6,318.1,-9.5,299,3381,0.05,0.75,0.00,0.000,6,0.210,0.045,2852,1821,3360,0,0,0,0,0,0
$GC,3700,-0.51,-121.6,344.9,-8.7,315,3704,0.00,0.82,0.00,0.000,4,0.000,0.050,2848,2366,3361,0,0,0,0,0,0
$GC,3868,-0.51,-121.6,358.8,-7.4,322,3872,0.00,0.85,0.00,0.000,6,0.000,0.044,2848,1807,3361,0,0,0,0,0,0
$GC,4189,-0.51,-121.6,386.6,-8.8,338,4193,0.00,0.45,0.00,0.000,4,0.000,0.052,2846,2124,3361,0,0,0,0,0,0
$GC,4419,-0.51,-121.6,407.8,-9.5,347,4424,0.00,0.45,0.00,0.000,6,0.000,0.051,2846,1819,3361,0,0,0,0,0,0
$GC,4731,-0.51,-121.6,436.9,-9.3,358,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1819,3361,0,0,0,0,0,0
$GC,5037,-0.51,-121.6,464.5,-9.0,368,5041,0.00,0.30,0.00,0.000,4,0.000,0.060,2845,2041,3361,0,0,0,0,0,0
$GC,5277,-0.51,-121.6,487.2,-9.4,375,5279,0.00,0.32,0.00,0.000,6,0.000,0.057,2845,1817,3361,0,0,0,0,0,0
$GC,5608,-0.51,-121.6,518.4,-9.4,386,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1816,3361,0,0,0,0,0,0
$GC,5914,-0.51,-121.6,547.3,-9.4,396,5918,0.00,0.90,0.00,0.000,4,0.000,0.052,2840,2406,3361,0,0,0,0,0,0
$GC,6015,-0.51,-121.6,556.7,-8.9,399,6019,0.00,0.88,0.00,0.000,6,0.000,0.046,2841,1826,3360,0,0,0,0,0,0
$GC,6355,-0.51,-121.6,589.5,-9.8,410,6359,0.03,0.80,0.00,0.000,4,0.266,0.051,2846,2344,3360,0,0,0,0,0,0
$GC,6585,-0.53,-121.6,610.1,-9.4,416,6590,0.00,0.80,0.00,0.000,6,0.000,0.047,2846,1812,3360,0,0,0,0,0,0
$GC,6896,-0.53,-121.6,637.3,-8.8,427,6900,0.00,1.17,0.00,0.000,4,0.000,0.054,2841,2567,3359,0,0,0,0,0,0
$GC,7036,-0.55,-121.6,649.4,-8.5,431,7040,0.00,1.15,0.00,0.000,6,0.000,0.044,2841,1818,3359,0,0,0,0,0,0
$GC,7371,-0.55,-121.6,679.1,-9.1,442,7374,0.00,0.95,0.00,0.000,4,0.000,0.054,2836,2436,3359,0,0,0,0,0,0
$GC,7515,-0.55,-121.6,692.4,-9.3,446,7519,0.00,0.95,0.00,0.000,6,0.000,0.045,2837,1819,3359,0,0,0,0,0,0
$GC,7844,-0.55,-121.6,722.3,-8.9,457,7848,0.00,1.05,0.00,0.000,4,0.000,0.054,2832,2495,3358,0,0,0,0,0,0
$GC,7988,-0.55,-121.6,734.8,-8.5,461,7993,0.00,1.05,0.00,0.000,6,0.000,0.044,2832,1818,3358,0,0,0,0,0,0
$GC,8318,-0.55,-121.6,762.9,-8.6,472,8322,0.00,1.00,0.00,0.000,4,0.000,0.054,2827,2461,3357,0,0,0,0,0,0
$GC,8461,-0.55,-121.6,775.2,-8.0,476,8466,0.00,1.00,0.00,0.000,6,0.000,0.046,2827,1816,3356,0,0,0,0,0,0
$GC,8791,-0.55,-121.6,802.6,-8.3,487,8795,0.00,0.62,0.00,0.000,4,0.000,0.054,2824,2238,3356,0,0,0,0,0,0
$GC,8941,-0.55,-121.6,815.3,-8.7,491,8947,0.08,0.65,0.00,0.000,6,0.187,0.050,2843,1810,3356,0,0,0,0,0,0
$GC,9266,-0.58,-121.6,840.1,-7.4,502,9269,0.00,0.70,0.00,0.000,4,0.000,0.054,2840,2274,3355,0,0,0,0,0,0
$GC,9401,-0.60,-121.6,850.7,-7.7,506,9405,0.00,0.68,0.00,0.000,6,0.000,0.049,2839,1821,3354,0,0,0,0,0,0
$GC,9740,-0.60,-121.6,878.0,-8.0,517,9744,0.00,0.77,0.00,0.000,4,0.000,0.052,2836,2332,3354,0,0,0,0,0,0
$GC,9942,-0.60,-121.6,893.4,-8.1,523,9946,0.00,0.77,0.00,0.000,6,0.000,0.049,2836,1819,3354,0,0,0,0,0,0
$GC,10282,-0.60,-121.6,920.1,-7.8,534,10286,0.00,0.80,0.00,0.000,4,0.000,0.054,2832,2341,3353,0,0,0,0,0,0
$GC,10505,-0.60,-121.6,937.8,-7.5,540,10510,0.00,0.82,0.00,0.000,6,0.000,0.047,2833,1803,3353,0,0,0,0,0,0
$GC,10823,-0.60,-121.6,964.3,-8.4,551,10826,0.00,0.90,0.00,0.000,4,0.000,0.054,2829,2394,3352,0,0,0,0,0,0
$GC,10984,-0.60,-121.6,977.5,-8.1,555,10990,0.00,0.90,0.00,0.000,6,0.000,0.047,2829,1813,3352,0,0,0,0,0,0
$STATE,11296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11296,begin apogee
$GC,11300,-0.23,0.0,1002.2,7.8,566,11403,0.38,0.00,100.00,1.310,6,0.133,0.000,2949,1644,2862,0,0,0,0,0,0
$STATE,11404,end apogee,CONTROL_FINISHED_OK
$STATE,11404,begin climb
$GC,11405,0.71,121.6,1005.9,0.0,569,11516,0.90,1.10,103.18,1.270,4,0.097,0.056,3250,1013,2366,0,0,0,0,0,0
$GC,11565,0.71,163.6,1001.0,5.7,574,11607,0.00,1.08,38.17,1.231,6,0.000,0.044,3250,1651,2193,0,0,0,0,0,0
$GC,11925,0.71,163.6,975.1,7.4,586,11929,0.00,0.35,0.00,0.000,4,0.000,0.057,3250,1901,2187,0,0,0,0,0,0
$GC,12030,0.71,168.4,967.2,7.2,589,12038,0.00,0.43,4.25,0.828,6,0.000,0.059,3252,1639,2175,0,0,0,0,0,0
$GC,12361,0.71,168.4,941.3,7.8,600,12364,0.00,0.28,0.00,0.000,4,0.000,0.064,3252,1832,2174,0,0,0,0,0,0
$GC,12511,0.71,177.2,929.6,7.0,604,12523,0.00,0.30,9.05,1.071,6,0.000,0.065,3253,1645,2139,0,0,0,0,0,0
$GC,12829,0.71,177.2,904.7,7.8,614,12830,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1645,2137,0,0,0,0,0,0
$GC,13135,0.71,186.9,882.3,7.0,624,13150,0.00,0.47,10.00,1.086,4,0.000,0.057,3253,1953,2099,0,0,0,0,0,0
$GC,13217,0.71,198.1,876.5,7.0,626,13233,0.00,0.50,11.32,1.095,6,0.000,0.057,3255,1643,2054,0,0,0,0,0,0
$GC,13540,0.74,204.9,853.5,7.1,637,13550,0.00,0.00,7.40,0.994,6,0.000,0.000,3255,1643,2026,0,0,0,0,0,0
$GC,13847,0.77,232.8,833.1,6.3,647,13876,0.00,0.00,26.40,1.167,6,0.000,0.000,3255,1643,1911,0,0,0,0,0,0
$GC,14183,0.81,252.1,811.5,6.6,658,14203,0.08,0.00,17.90,1.121,6,0.123,0.000,3298,1643,1833,0,0,0,0,0,0
$GC,14488,0.81,252.1,783.0,9.5,668,14493,0.03,0.52,0.00,0.000,4,0.252,0.062,3289,1304,1829,0,0,0,0,0,0
$GC,14548,0.81,252.1,777.3,9.6,669,14553,0.00,0.55,0.00,0.000,6,0.000,0.050,3289,1652,1829,0,0,0,0,0,0
$GC,14860,0.81,252.1,748.1,9.4,680,14861,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1652,1829,0,0,0,0,0,0
$GC,15166,0.81,252.1,719.8,9.0,690,15167,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1652,1828,0,0,0,0,0,0
$GC,15473,0.81,252.1,692.8,8.7,700,15476,0.00,0.43,0.00,0.000,4,0.000,0.056,3289,1954,1828,0,0,0,0,0,0
$GC,15527,0.81,252.1,687.6,8.5,701,15531,0.00,0.50,0.00,0.000,6,0.000,0.057,3291,1638,1828,0,0,0,0,0,0
$GC,15845,0.81,252.1,658.6,9.3,712,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1637,1828,0,0,0,0,0,0
$GC,16151,0.81,252.1,631.5,8.7,722,16155,0.00,0.50,0.00,0.000,4,0.000,0.054,3291,1974,1827,0,0,0,0,0,0
$GC,16252,0.81,252.1,622.3,9.7,725,16255,0.00,0.50,0.00,0.000,6,0.000,0.058,3293,1646,1828,0,0,0,0,0,0
$GC,16592,0.81,252.1,590.3,9.8,736,16595,0.00,0.32,0.00,0.000,4,0.000,0.058,3293,1877,1827,0,0,0,0,0,0
$GC,16697,0.81,252.1,580.0,9.6,739,16701,0.00,0.38,0.00,0.000,6,0.000,0.061,3294,1641,1827,0,0,0,0,0,0
$GC,17031,0.81,252.1,548.6,9.5,750,17032,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1641,1827,0,0,0,0,0,0
$GC,17337,0.81,252.1,517.8,10.3,760,17341,0.00,0.43,0.00,0.000,4,0.000,0.062,3297,1351,1827,0,0,0,0,0,0
$GC,17408,0.81,252.1,510.1,11.1,762,17413,0.00,0.45,0.00,0.000,6,0.000,0.054,3297,1644,1827,0,0,0,0,0,0
$GC,17743,0.81,252.1,475.5,10.1,773,17747,0.00,0.38,0.00,0.000,4,0.000,0.063,3298,1392,1827,0,0,0,0,0,0
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$STATE,23297,end climb,SURFACE_DEPTH_REACHED
$STATE,23297,begin surface coast
$FINISH,1.5,1.026748
$STATE,23341,end surface coast,CONTROL_FINISHED_OK
$STATE,23341,begin surface
$SM_CCo,23416,0.00,0.000,0,0,1641,299.26
$SM_GC,2.44,8.38,0.00,0.00,0.037,0.000,0.000,99,1829,1641,-9.10,0.28,299.26
$IRIDIUM_FIX,-4302.64,-827.46,191012,171735
$TT8_MAMPS,0.026964
$HUMID,42.00
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.8,19.646
$10V_AH,10.2,18.566
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.725,55.250,352.025,0.000,0.000,25.162,38.640,236.149,0.000,0.000,21.726,3106.066,16145.846,434.855,3994.867,142.434,33.359,1926.824,0.000,3623.262,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.167,1336.271,773.777,99.388,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354340
$DATA_FILE_SIZE,70215,1208
$CAP_FILE_SIZE,196937,0
$CFSIZE,2097086464,2080210944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,201012,064505,-4321.668,-827.669,34,1.1,34,-21.3