version: 66.07.10.p01
glider: 573
mission: 4
dive: 115
start: 10 22 112 4 51 44
data:
$ID,573
$MISSION,4
$DIVE,115
$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,-4649.9907
$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,31
$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,94
$GPS1,221012,044405,-4339.727,-818.326,37,0.9,37,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-74.1
$GPS2,221012,045049,-4339.757,-818.302,17,1.5,18,-21.2
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.188,0.107
$KALMAN_X,-116933.4,-118.7,804.2,256900.4,-4270.4
$KALMAN_Y,-194919.1,-240.4,13.1,84056.7,23.6
$MHEAD_RNG_PITCHd_Wd,81.5,143756,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,76,0.00,0.00,-49.17,0.000,2,0.000,0.000,91,1824,2955,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.1,-1.5,8,110,11.18,2.33,-11.15,0.000,4,0.252,0.069,2786,411,3361,0,0,0,0,0,0
$GC,259,-0.59,-121.6,26.6,-13.3,38,267,0.15,2.22,0.00,0.000,6,0.145,0.043,2825,1812,3362,0,0,0,0,0,0
$GC,339,-0.55,-121.6,35.3,-10.4,51,344,0.08,0.50,0.00,0.000,4,0.194,0.055,2843,2153,3362,0,0,0,0,0,0
$GC,459,-0.55,-121.6,47.1,-9.5,72,466,0.00,0.50,0.00,0.000,6,0.000,0.051,2843,1818,3362,0,0,0,0,0,0
$GC,693,-0.55,-121.6,69.0,-9.5,113,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1818,3362,0,0,0,0,0,0
$GC,1044,-0.55,-121.6,103.2,-9.5,172,1047,0.00,0.52,0.00,0.000,4,0.000,0.053,2841,2172,3362,0,0,0,0,0,0
$GC,1165,-0.55,-121.6,114.5,-9.0,179,1168,0.00,0.52,0.00,0.000,6,0.000,0.050,2840,1818,3362,0,0,0,0,0,0
$GC,1496,-0.55,-121.6,144.4,-8.8,200,1499,0.00,0.77,0.00,0.000,4,0.000,0.052,2837,2328,3363,0,0,0,0,0,0
$GC,1606,-0.55,-121.6,154.4,-8.2,206,1614,0.00,0.80,0.00,0.000,6,0.000,0.046,2837,1808,3362,0,0,0,0,0,0
$GC,1927,-0.55,-121.6,181.6,-8.5,227,1931,0.00,0.65,0.00,0.000,4,0.000,0.051,2834,2243,3363,0,0,0,0,0,0
$GC,2030,-0.55,-121.6,190.5,-9.0,233,2034,0.00,0.62,0.00,0.000,6,0.000,0.049,2834,1820,3363,0,0,0,0,0,0
$GC,2359,-0.55,-121.6,219.7,-8.6,254,2363,0.00,0.35,0.00,0.000,4,0.000,0.056,2832,2072,3362,0,0,0,0,0,0
$GC,2504,-0.55,-121.6,232.5,-8.6,262,2512,0.00,0.38,0.00,0.000,6,0.000,0.054,2832,1817,3362,0,0,0,0,0,0
$GC,2837,-0.55,-121.6,261.6,-8.9,282,2840,0.00,0.52,0.00,0.000,4,0.000,0.052,2830,2176,3363,0,0,0,0,0,0
$GC,2952,-0.55,-121.6,271.4,-9.1,287,2955,0.00,0.52,0.00,0.000,6,0.000,0.050,2830,1818,3363,0,0,0,0,0,0
$GC,3286,-0.55,-121.6,299.5,-8.2,303,3290,0.00,0.47,0.00,0.000,4,0.000,0.053,2828,2148,3363,0,0,0,0,0,0
$GC,3386,-0.55,-121.6,308.0,-7.8,307,3390,0.05,0.50,0.00,0.000,6,0.216,0.050,2841,1814,3363,0,0,0,0,0,0
$GC,3709,-0.55,-121.6,332.2,-7.4,323,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1813,3363,0,0,0,0,0,0
$GC,4016,-0.55,-121.6,355.4,-7.6,338,4020,0.00,0.52,0.00,0.000,4,0.000,0.053,2839,2174,3362,0,0,0,0,0,0
$GC,4151,-0.55,-121.6,366.1,-8.1,344,4155,0.00,0.52,0.00,0.000,6,0.000,0.051,2838,1814,3362,0,0,0,0,0,0
$GC,4483,-0.55,-121.6,396.0,-9.4,360,4487,0.00,0.68,0.00,0.000,4,0.000,0.051,2835,2269,3363,0,0,0,0,0,0
$GC,4605,-0.55,-121.6,407.5,-8.9,364,4610,0.00,0.70,0.00,0.000,6,0.000,0.047,2836,1807,3363,0,0,0,0,0,0
$GC,4923,-0.55,-121.6,437.6,-9.7,375,4927,0.00,0.75,0.00,0.000,4,0.000,0.050,2832,2306,3363,0,0,0,0,0,0
$GC,5067,-0.55,-121.6,451.1,-9.6,379,5071,0.00,0.75,0.00,0.000,6,0.000,0.046,2832,1814,3363,0,0,0,0,0,0
$GC,5397,-0.55,-121.6,480.9,-9.1,390,5400,0.00,0.90,0.00,0.000,4,0.000,0.051,2828,2403,3362,0,0,0,0,0,0
$GC,5547,-0.55,-121.6,494.1,-8.9,394,5553,0.05,0.90,0.00,0.000,6,0.218,0.045,2841,1818,3362,0,0,0,0,0,0
$GC,5870,-0.55,-121.6,520.5,-8.1,405,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1818,3362,0,0,0,0,0,0
$GC,6177,-0.55,-121.6,547.3,-9.1,415,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1818,3363,0,0,0,0,0,0
$GC,6483,-0.55,-121.6,575.5,-9.2,425,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1818,3362,0,0,0,0,0,0
$GC,6789,-0.55,-121.6,604.7,-9.6,435,6793,0.00,0.38,0.00,0.000,4,0.000,0.057,2839,2085,3362,0,0,0,0,0,0
$GC,6905,-0.55,-121.6,616.2,-9.9,438,6909,0.00,0.40,0.00,0.000,6,0.000,0.055,2839,1819,3362,0,0,0,0,0,0
$GC,7229,-0.55,-121.6,647.1,-9.4,449,7232,0.00,0.38,0.00,0.000,4,0.000,0.057,2837,2087,3361,0,0,0,0,0,0
$GC,7339,-0.55,-121.6,657.6,-9.6,452,7343,0.00,0.40,0.00,0.000,6,0.000,0.054,2837,1819,3361,0,0,0,0,0,0
$GC,7668,-0.55,-121.6,687.0,-8.8,463,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1819,3361,0,0,0,0,0,0
$GC,7975,-0.55,-121.6,713.5,-8.7,473,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1819,3359,0,0,0,0,0,0
$GC,8281,-0.55,-121.6,739.6,-8.5,483,8284,0.00,0.38,0.00,0.000,4,0.000,0.058,2835,2083,3359,0,0,0,0,0,0
$GC,8397,-0.55,-121.6,750.1,-9.0,486,8401,0.00,0.40,0.00,0.000,6,0.000,0.057,2836,1817,3358,0,0,0,0,0,0
$GC,8720,-0.55,-121.6,779.8,-9.4,497,8724,0.00,0.40,0.00,0.000,4,0.000,0.057,2834,2098,3358,0,0,0,0,0,0
$GC,8905,-0.55,-121.6,797.3,-8.8,502,8909,0.00,0.40,0.00,0.000,6,0.000,0.056,2834,1820,3358,0,0,0,0,0,0
$GC,9228,-0.55,-121.6,826.3,-8.8,513,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1820,3357,0,0,0,0,0,0
$GC,9535,-0.55,-121.6,852.1,-8.3,523,9538,0.00,0.43,0.00,0.000,4,0.000,0.056,2832,2117,3356,0,0,0,0,0,0
$GC,9791,-0.55,-121.6,872.7,-7.1,530,9796,0.00,0.45,0.00,0.000,6,0.000,0.054,2832,1816,3355,0,0,0,0,0,0
$GC,10109,-0.55,-121.6,896.9,-7.7,541,10113,0.00,0.55,0.00,0.000,4,0.000,0.055,2830,2184,3356,0,0,0,0,0,0
$GC,10298,-0.55,-121.6,911.4,-7.6,546,10303,0.00,0.55,0.00,0.000,6,0.000,0.051,2830,1821,3355,0,0,0,0,0,0
$GC,10617,-0.55,-121.6,935.2,-7.6,557,10620,0.00,0.35,0.00,0.000,4,0.000,0.058,2828,2070,3354,0,0,0,0,0,0
$GC,10772,-0.55,-121.6,947.8,-7.8,561,10777,0.05,0.38,0.00,0.000,6,0.221,0.057,2840,1818,3355,0,0,0,0,0,0
$GC,11090,-0.57,-121.6,971.9,-7.5,572,11094,0.00,0.32,0.00,0.000,4,0.000,0.060,2839,2060,3354,0,0,0,0,0,0
$GC,11347,-0.60,-121.6,991.8,-7.6,579,11351,0.00,0.38,0.00,0.000,6,0.000,0.058,2839,1808,3354,0,0,0,0,0,0
$STATE,11480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11480,begin apogee
$GC,11484,-0.23,0.0,1001.8,7.7,584,11587,0.32,0.00,100.05,1.305,6,0.126,0.000,2945,1643,2862,0,0,0,0,0,0
$STATE,11588,end apogee,CONTROL_FINISHED_OK
$STATE,11588,begin climb
$GC,11590,0.71,121.6,1005.3,0.0,587,11700,0.90,1.27,103.05,1.270,4,0.093,0.056,3250,914,2365,0,0,0,0,0,0
$GC,11761,0.71,156.6,998.9,6.0,592,11796,0.00,1.23,31.42,1.222,6,0.000,0.046,3249,1651,2223,0,0,0,0,0,0
$GC,12116,0.71,156.6,972.6,7.6,604,12119,0.00,0.65,0.00,0.000,4,0.000,0.053,3250,2079,2216,0,0,0,0,0,0
$GC,12266,0.71,165.8,961.0,7.0,608,12278,0.00,0.70,8.65,1.087,6,0.000,0.054,3252,1646,2185,0,0,0,0,0,0
$GC,12584,0.71,165.8,936.0,7.9,618,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1646,2183,0,0,0,0,0,0
$GC,12890,0.71,180.1,914.1,6.8,628,12909,0.00,0.45,13.50,1.144,4,0.000,0.055,3252,1928,2127,0,0,0,0,0,0
$GC,13010,0.71,214.7,906.0,6.0,631,13045,0.00,0.45,31.23,1.209,6,0.000,0.058,3254,1646,1987,0,0,0,0,0,0
$GC,13359,0.75,225.9,881.5,7.0,643,13372,0.00,0.00,10.98,1.115,6,0.000,0.000,3254,1645,1941,0,0,0,0,0,0
$GC,13665,0.79,236.1,859.8,7.0,653,13679,0.05,0.32,10.52,1.075,4,0.167,0.055,3291,1425,1899,0,0,0,0,0,0
$GC,13740,0.79,236.1,853.3,8.2,655,13745,0.05,0.38,0.00,0.000,6,0.204,0.057,3279,1663,1897,0,0,0,0,0,0
$GC,14069,0.79,236.1,826.2,8.2,666,14073,0.00,0.28,0.00,0.000,4,0.000,0.062,3278,1861,1896,0,0,0,0,0,0
$GC,14136,0.79,236.1,820.8,7.7,668,14140,0.00,0.32,0.00,0.000,6,0.000,0.063,3279,1647,1896,0,0,0,0,0,0
$GC,14476,0.79,236.1,793.7,8.1,679,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1647,1895,0,0,0,0,0,0
$GC,14782,0.79,236.1,768.4,8.3,689,14786,0.00,0.68,0.00,0.000,4,0.000,0.053,3279,2093,1894,0,0,0,0,0,0
$GC,14883,0.79,236.1,759.7,9.4,692,14887,0.00,0.70,0.00,0.000,6,0.000,0.053,3282,1640,1895,0,0,0,0,0,0
$GC,15223,0.79,236.1,730.0,8.7,703,15227,0.00,0.30,0.00,0.000,4,0.000,0.067,3284,1428,1894,0,0,0,0,0,0
$GC,15305,0.79,236.1,722.8,8.0,705,15307,0.00,0.35,0.00,0.000,6,0.000,0.058,3284,1658,1894,0,0,0,0,0,0
$GC,15625,0.79,236.1,696.3,8.2,716,15629,0.00,0.52,0.00,0.000,4,0.000,0.060,3286,1313,1894,0,0,0,0,0,0
$GC,15708,0.79,236.1,689.5,7.7,718,15712,0.00,0.52,0.00,0.000,6,0.000,0.053,3286,1649,1895,0,0,0,0,0,0
$GC,16031,0.79,236.1,663.3,8.0,729,16032,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1649,1894,0,0,0,0,0,0
$GC,16338,0.79,236.1,638.8,8.0,739,16339,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1649,1894,0,0,0,0,0,0
$GC,16644,0.79,236.1,613.8,8.3,749,16645,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1649,1894,0,0,0,0,0,0
$GC,16950,0.79,236.1,589.2,8.0,759,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1649,1894,0,0,0,0,0,0
$GC,17256,0.79,236.1,564.4,8.1,769,17260,0.00,0.30,0.00,0.000,4,0.000,0.062,3286,1868,1893,0,0,0,0,0,0
$GC,17333,0.79,237.8,557.7,7.3,771,17337,0.00,0.35,0.00,0.000,6,0.000,0.064,3288,1645,1894,0,0,0,0,0,0
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$STATE,23956,end climb,SURFACE_DEPTH_REACHED
$STATE,23957,begin surface coast
$FINISH,1.7,1.025809
$STATE,23999,end surface coast,CONTROL_FINISHED_OK
$STATE,23999,begin surface
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$HUMID,42.28
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$TCM_TEMP,16.00
$XPDR_PINGS,0
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$10V_AH,10.2,19.664
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.350,43.750,315.150,3.250,0.000,31.461,36.507,220.135,0.000,0.000,20.175,3157.417,16734.590,399.627,3964.758,160.172,33.357,1895.093,0.000,3618.726,0.000,1.009,0.000
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$MEM,354244
$DATA_FILE_SIZE,73591,1233
$CAP_FILE_SIZE,196902,0
$CFSIZE,2097086464,2079162368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221012,113329,-4337.696,-814.188,53,1.1,53,-21.2