version: 66.07.10.p01
glider: 573
mission: 4
dive: 109
start: 10 20 112 13 25 6
data:
$ID,573
$MISSION,4
$DIVE,109
$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,-4630.0415
$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,28
$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,88
$GPS1,201012,131337,-4324.581,-826.800,33,1.4,33,-21.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-70.3
$GPS2,201012,132411,-4324.668,-826.695,43,1.2,44,-21.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.180,-0.121
$KALMAN_X,-111709.0,272.6,191.1,240475.2,-4168.3
$KALMAN_Y,-195784.3,70.8,-578.0,113138.4,1147.2
$MHEAD_RNG_PITCHd_Wd,145.3,29777,-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,-48.62,0.000,2,0.000,0.000,82,1816,2918,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.2,-1.8,8,109,11.38,2.08,-11.77,0.000,4,0.256,0.072,2791,561,3360,0,0,0,0,0,0
$GC,194,-0.60,-121.6,19.3,-13.0,27,201,0.12,2.00,0.00,0.000,6,0.150,0.043,2823,1816,3361,0,0,0,0,0,0
$GC,274,-0.55,-121.6,28.0,-11.0,40,281,0.08,0.28,0.00,0.000,4,0.200,0.062,2840,2022,3361,0,0,0,0,0,0
$GC,540,-0.55,-121.6,54.9,-10.0,86,547,0.00,0.30,0.00,0.000,6,0.000,0.060,2840,1809,3361,0,0,0,0,0,0
$GC,774,-0.55,-121.6,78.3,-9.4,127,778,0.00,1.58,0.00,0.000,4,0.000,0.055,2833,2795,3361,0,0,0,0,0,0
$GC,910,-0.55,-121.6,91.0,-9.1,151,914,0.00,1.52,0.00,0.000,6,0.000,0.044,2833,1817,3361,0,0,0,0,0,0
$GC,1242,-0.52,-121.6,123.9,-10.2,183,1246,0.08,0.85,0.00,0.000,4,0.206,0.051,2847,2370,3361,0,0,0,0,0,0
$GC,1363,-0.52,-121.6,135.2,-8.7,190,1368,0.00,0.85,0.00,0.000,6,0.000,0.045,2847,1814,3361,0,0,0,0,0,0
$GC,1690,-0.52,-121.6,164.3,-9.2,211,1693,0.00,0.88,0.00,0.000,4,0.000,0.050,2843,2384,3362,0,0,0,0,0,0
$GC,1844,-0.52,-121.6,177.9,-8.4,220,1847,0.00,0.85,0.00,0.000,6,0.000,0.046,2843,1820,3362,0,0,0,0,0,0
$GC,2175,-0.52,-121.6,206.9,-8.6,241,2179,0.00,0.32,0.00,0.000,4,0.000,0.055,2841,2057,3362,0,0,0,0,0,0
$GC,2433,-0.52,-121.6,230.4,-9.2,256,2437,0.00,0.35,0.00,0.000,6,0.000,0.055,2841,1816,3362,0,0,0,0,0,0
$GC,2766,-0.52,-121.6,260.5,-9.2,276,2770,0.00,1.10,0.00,0.000,4,0.000,0.050,2836,2525,3362,0,0,0,0,0,0
$GC,2883,-0.52,-121.6,271.1,-9.1,281,2888,0.05,1.10,0.00,0.000,6,0.212,0.044,2850,1814,3362,0,0,0,0,0,0
$GC,3212,-0.52,-121.6,299.6,-8.8,297,3216,0.00,0.88,0.00,0.000,4,0.000,0.050,2845,2387,3362,0,0,0,0,0,0
$GC,3350,-0.52,-121.6,311.8,-9.2,303,3354,0.00,0.85,0.00,0.000,6,0.000,0.045,2845,1820,3362,0,0,0,0,0,0
$GC,3684,-0.52,-121.6,342.5,-9.1,319,3688,0.00,1.02,0.00,0.000,4,0.000,0.050,2841,2484,3362,0,0,0,0,0,0
$GC,3812,-0.52,-121.6,354.9,-10.0,324,3820,0.00,1.02,0.00,0.000,6,0.000,0.044,2841,1819,3362,0,0,0,0,0,0
$GC,4128,-0.52,-121.6,384.2,-9.4,340,4131,0.00,1.05,0.00,0.000,4,0.000,0.051,2836,2499,3362,0,0,0,0,0,0
$GC,4243,-0.52,-121.6,395.1,-8.9,345,4247,0.03,1.02,0.00,0.000,6,0.174,0.044,2847,1821,3362,0,0,0,0,0,0
$GC,4583,-0.52,-121.6,428.1,-9.8,357,4586,0.00,1.35,0.00,0.000,4,0.000,0.052,2841,2689,3362,0,0,0,0,0,0
$GC,4710,-0.52,-121.6,440.6,-9.2,360,4716,0.00,1.35,0.00,0.000,6,0.000,0.042,2841,1818,3362,0,0,0,0,0,0
$GC,5023,-0.52,-121.6,469.3,-9.0,371,5027,0.00,0.68,0.00,0.000,4,0.000,0.050,2838,2274,3362,0,0,0,0,0,0
$GC,5195,-0.52,-121.6,484.2,-8.1,376,5200,0.00,0.70,0.00,0.000,6,0.000,0.046,2838,1810,3362,0,0,0,0,0,0
$GC,5530,-0.52,-121.6,511.0,-8.1,387,5534,0.00,1.55,0.00,0.000,4,0.000,0.054,2831,2794,3362,0,0,0,0,0,0
$GC,5669,-0.52,-121.6,522.7,-8.0,391,5675,0.08,1.50,0.00,0.000,6,0.183,0.042,2850,1822,3363,0,0,0,0,0,0
$GC,6004,-0.54,-121.6,550.7,-8.3,402,6008,0.00,0.43,0.00,0.000,4,0.000,0.052,2848,2132,3362,0,0,0,0,0,0
$GC,6132,-0.56,-121.6,561.9,-8.7,405,6138,0.00,0.47,0.00,0.000,6,0.000,0.051,2848,1811,3362,0,0,0,0,0,0
$GC,6444,-0.56,-121.6,588.2,-8.6,416,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1811,3361,0,0,0,0,0,0
$GC,6751,-0.58,-121.6,614.3,-8.5,426,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1811,3361,0,0,0,0,0,0
$GC,7058,-0.61,-121.6,638.2,-7.3,436,7062,0.08,0.30,0.00,0.000,4,0.122,0.060,2803,2023,3360,0,0,0,0,0,0
$GC,7260,-0.56,-121.6,656.9,-10.0,442,7264,0.10,0.28,0.00,0.000,6,0.138,0.061,2838,1823,3360,0,0,0,0,0,0
$GC,7599,-0.56,-121.6,685.7,-8.2,453,7603,0.00,0.82,0.00,0.000,4,0.000,0.050,2834,2369,3359,0,0,0,0,0,0
$GC,7760,-0.56,-121.6,699.4,-8.5,457,7766,0.00,0.85,0.00,0.000,6,0.000,0.046,2834,1813,3359,0,0,0,0,0,0
$GC,8073,-0.56,-121.6,727.2,-9.1,468,8077,0.00,0.57,0.00,0.000,4,0.000,0.054,2831,2202,3358,0,0,0,0,0,0
$GC,8195,-0.56,-121.6,738.2,-9.2,471,8199,0.00,0.60,0.00,0.000,6,0.000,0.050,2832,1807,3358,0,0,0,0,0,0
$GC,8513,-0.56,-121.6,766.6,-9.0,482,8516,0.00,0.70,0.00,0.000,4,0.000,0.051,2829,2274,3358,0,0,0,0,0,0
$GC,8651,-0.56,-121.6,779.7,-9.7,486,8655,0.00,0.70,0.00,0.000,6,0.000,0.048,2828,1816,3358,0,0,0,0,0,0
$GC,8986,-0.56,-121.6,810.5,-9.1,497,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1816,3357,0,0,0,0,0,0
$GC,9292,-0.56,-121.6,837.2,-8.7,507,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1816,3356,0,0,0,0,0,0
$GC,9599,-0.56,-121.6,863.1,-8.3,517,9602,0.00,0.73,0.00,0.000,4,0.000,0.053,2825,2298,3355,0,0,0,0,0,0
$GC,9709,-0.56,-121.6,872.4,-8.6,520,9714,0.05,0.75,0.00,0.000,6,0.214,0.047,2837,1807,3355,0,0,0,0,0,0
$GC,10038,-0.56,-121.6,897.4,-7.4,531,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1807,3355,0,0,0,0,0,0
$GC,10344,-0.56,-121.6,919.5,-7.0,541,10348,0.00,0.60,0.00,0.000,4,0.000,0.053,2835,2211,3354,0,0,0,0,0,0
$GC,10562,-0.58,-121.6,933.9,-6.1,547,10567,0.00,0.60,0.00,0.000,6,0.000,0.051,2835,1818,3354,0,0,0,0,0,0
$GC,10886,-0.58,-121.6,954.2,-6.4,558,10890,0.00,0.45,0.00,0.000,4,0.000,0.055,2833,2135,3353,0,0,0,0,0,0
$GC,11143,-0.58,-121.6,971.1,-6.7,565,11147,0.00,0.47,0.00,0.000,6,0.000,0.054,2834,1819,3352,0,0,0,0,0,0
$GC,11462,-0.58,-121.6,993.1,-7.0,576,11465,0.00,0.68,0.00,0.000,4,0.000,0.054,2830,2270,3352,0,0,0,0,0,0
$STATE,11554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11554,begin apogee
$GC,11559,-0.23,0.0,1000.2,7.8,578,11662,0.32,0.00,99.97,1.301,6,0.135,0.000,2939,1646,2861,0,0,0,0,0,0
$STATE,11662,end apogee,CONTROL_FINISHED_OK
$STATE,11663,begin climb
$GC,11664,0.71,121.6,1003.7,0.0,582,11775,0.93,0.38,103.30,1.271,4,0.099,0.063,3245,1409,2366,0,0,0,0,0,0
$GC,11824,0.71,149.3,998.3,6.3,587,11854,0.00,0.40,25.15,1.209,6,0.000,0.054,3244,1655,2253,0,0,0,0,0,0
$GC,12190,0.71,166.1,973.5,6.7,599,12209,0.00,0.43,15.18,1.177,4,0.000,0.047,3245,1941,2185,0,0,0,0,0,0
$GC,12310,0.71,181.4,965.0,6.8,602,12330,0.00,0.47,14.90,1.151,6,0.000,0.057,3247,1648,2122,0,0,0,0,0,0
$GC,12660,0.73,181.4,938.9,7.7,614,12664,0.00,0.50,0.00,0.000,4,0.000,0.052,3247,1975,2118,0,0,0,0,0,0
$GC,12800,0.76,187.5,928.1,7.2,618,12810,0.00,0.52,6.38,0.962,6,0.000,0.057,3249,1641,2097,0,0,0,0,0,0
$GC,13134,0.78,187.5,902.4,7.7,629,13136,0.08,0.00,0.00,0.000,6,0.126,0.000,3290,1641,2096,0,0,0,0,0,0
$GC,13441,0.75,187.5,874.9,9.2,639,13445,0.10,0.65,0.00,0.000,4,0.164,0.053,3264,2055,2095,0,0,0,0,0,0
$GC,13545,0.75,190.6,866.1,7.3,642,13552,0.00,0.65,3.90,0.718,6,0.000,0.054,3266,1645,2085,0,0,0,0,0,0
$GC,13876,0.75,193.0,841.1,7.3,653,13881,0.00,0.00,3.90,0.711,6,0.000,0.000,3266,1644,2075,0,0,0,0,0,0
$GC,14182,0.75,201.2,818.8,7.1,663,14193,0.00,0.00,9.23,1.045,6,0.000,0.000,3266,1644,2041,0,0,0,0,0,0
$GC,14488,0.75,213.8,797.2,6.9,673,14502,0.00,0.00,12.57,1.086,6,0.000,0.000,3266,1644,1990,0,0,0,0,0,0
$GC,14794,0.75,238.7,776.8,6.4,683,14823,0.00,0.00,23.45,1.134,6,0.000,0.000,3266,1644,1888,0,0,0,0,0,0
$GC,15130,0.78,259.4,754.5,6.6,694,15152,0.00,0.00,19.48,1.102,6,0.000,0.000,3266,1644,1803,0,0,0,0,0,0
$GC,15436,0.83,283.8,734.7,6.4,704,15465,0.08,0.00,22.73,1.098,6,0.125,0.000,3307,1644,1705,0,0,0,0,0,0
$GC,15771,0.83,283.8,705.7,8.9,715,15773,0.08,0.00,0.00,0.000,6,0.181,0.000,3289,1644,1699,0,0,0,0,0,0
$GC,16077,0.83,283.8,680.2,8.6,725,16081,0.00,0.43,0.00,0.000,4,0.000,0.054,3289,1940,1698,0,0,0,0,0,0
$GC,16160,0.83,283.8,672.9,9.2,727,16164,0.00,0.47,0.00,0.000,6,0.000,0.057,3291,1643,1698,0,0,0,0,0,0
$GC,16483,0.83,283.8,643.2,9.4,738,16487,0.00,0.30,0.00,0.000,4,0.000,0.060,3291,1850,1697,0,0,0,0,0,0
$GC,16543,0.83,283.8,637.2,9.5,739,16548,0.00,0.32,0.00,0.000,6,0.000,0.064,3291,1645,1697,0,0,0,0,0,0
$GC,16855,0.83,283.8,607.2,9.4,750,16856,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1645,1697,0,0,0,0,0,0
$GC,17161,0.83,283.8,577.6,9.6,760,17164,0.00,0.88,0.00,0.000,4,0.000,0.057,3297,1086,1696,0,0,0,0,0,0
$GC,17254,0.83,283.8,568.2,10.9,762,17260,0.00,0.90,0.00,0.000,6,0.000,0.047,3297,1655,1696,0,0,0,0,0,0
$GC,17567,0.83,283.8,535.3,10.6,773,17571,0.00,0.90,0.00,0.000,4,0.000,0.058,3301,1089,1696,0,0,0,0,0,0
$GC,17661,0.83,283.8,525.0,11.3,775,17666,0.00,0.88,0.00,0.000,6,0.000,0.046,3301,1648,1696,0,0,0,0,0,0
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$STATE,22898,end climb,SURFACE_DEPTH_REACHED
$STATE,22899,begin surface coast
$FINISH,1.5,1.026733
$STATE,22953,end surface coast,CONTROL_FINISHED_OK
$STATE,22954,begin surface
$SM_CCo,23029,0.00,0.000,0,0,1695,286.26
$SM_GC,2.29,8.45,0.00,0.00,0.044,0.000,0.000,92,1816,1695,-9.10,-0.08,286.26
$IRIDIUM_FIX,-4308.55,-825.40,201012,131304
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$HUMID,42.63
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$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.8,19.935
$10V_AH,10.3,18.838
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.275,53.200,360.125,0.000,0.000,54.382,124.786,256.984,0.000,0.000,46.322,2996.780,16103.197,455.146,3961.964,141.288,33.349,1886.769,0.000,3435.212,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.868,1227.234,748.203,91.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,67037,1161
$CAP_FILE_SIZE,192146,0
$CFSIZE,2097086464,2079981568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,201012,195053,-4325.989,-823.244,65,86.6,84,-21.3