version: 66.07.10.p01
glider: 573
mission: 4
dive: 117
start: 10 22 112 18 27 33
data:
$ID,573
$MISSION,4
$DIVE,117
$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,-4656.5068
$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,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,96
$GPS1,221012,181923,-4334.978,-811.667,38,1.8,38,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-73.4
$GPS2,221012,182638,-4334.966,-811.671,30,1.8,32,-21.2
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.137,0.168
$KALMAN_X,-115609.6,122.4,760.5,264409.4,-2633.8
$KALMAN_Y,-194327.5,136.8,-220.1,92185.7,186.7
$MHEAD_RNG_PITCHd_Wd,60.5,132922,-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,-48.28,0.000,2,0.000,0.000,84,1825,3003,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.3,8,103,11.40,0.93,-9.52,0.000,4,0.257,0.082,2785,1214,3358,0,0,0,0,0,0
$GC,158,-0.60,-121.6,13.4,-12.5,21,166,0.12,0.95,0.00,0.000,6,0.148,0.046,2823,1823,3360,0,0,0,0,0,0
$GC,239,-0.56,-121.6,22.2,-10.7,34,246,0.05,0.00,0.00,0.000,6,0.232,0.000,2837,1824,3360,0,0,0,0,0,0
$GC,318,-0.56,-121.6,30.1,-9.6,47,323,0.00,0.38,0.00,0.000,4,0.000,0.055,2835,2093,3361,0,0,0,0,0,0
$GC,434,-0.56,-121.6,41.2,-9.3,67,439,0.00,0.40,0.00,0.000,6,0.000,0.054,2835,1818,3360,0,0,0,0,0,0
$GC,666,-0.56,-121.6,64.1,-10.0,108,673,0.00,0.55,0.00,0.000,4,0.000,0.051,2833,2182,3361,0,0,0,0,0,0
$GC,792,-0.56,-121.6,76.1,-9.9,130,797,0.00,0.55,0.00,0.000,6,0.000,0.050,2833,1811,3361,0,0,0,0,0,0
$GC,1129,-0.54,-121.6,109.7,-10.0,179,1132,0.00,0.32,0.00,0.000,4,0.000,0.056,2831,2050,3361,0,0,0,0,0,0
$GC,1240,-0.54,-121.6,121.4,-10.1,185,1246,0.05,0.35,0.00,0.000,6,0.213,0.055,2844,1809,3361,0,0,0,0,0,0
$GC,1560,-0.54,-121.6,152.0,-9.7,206,1564,0.00,0.32,0.00,0.000,4,0.000,0.057,2843,2045,3361,0,0,0,0,0,0
$GC,1665,-0.54,-121.6,162.1,-9.3,212,1668,0.00,0.32,0.00,0.000,6,0.000,0.057,2843,1821,3361,0,0,0,0,0,0
$GC,1988,-0.54,-121.6,190.8,-8.8,233,1991,0.00,0.30,0.00,0.000,4,0.000,0.058,2841,2044,3361,0,0,0,0,0,0
$GC,2115,-0.54,-121.6,202.5,-8.9,240,2123,0.00,0.32,0.00,0.000,6,0.000,0.057,2842,1819,3361,0,0,0,0,0,0
$GC,2436,-0.54,-121.6,229.5,-8.6,261,2439,0.00,0.35,0.00,0.000,4,0.000,0.056,2840,2075,3361,0,0,0,0,0,0
$GC,2546,-0.54,-121.6,239.4,-8.9,267,2548,0.00,0.38,0.00,0.000,6,0.000,0.054,2840,1820,3361,0,0,0,0,0,0
$GC,2859,-0.54,-121.6,266.6,-8.8,284,2862,0.00,0.32,0.00,0.000,4,0.000,0.057,2839,2059,3361,0,0,0,0,0,0
$GC,2974,-0.54,-121.6,276.5,-8.9,289,2978,0.00,0.32,0.00,0.000,6,0.000,0.057,2839,1822,3361,0,0,0,0,0,0
$GC,3308,-0.54,-121.6,306.7,-8.9,305,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1822,3361,0,0,0,0,0,0
$GC,3615,-0.54,-121.6,333.5,-8.0,320,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1822,3361,0,0,0,0,0,0
$GC,3927,-0.54,-121.6,359.7,-8.8,335,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1822,3361,0,0,0,0,0,0
$GC,4234,-0.54,-121.6,387.9,-9.2,350,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1822,3361,0,0,0,0,0,0
$GC,4562,-0.54,-121.6,417.1,-8.6,363,4566,0.00,0.93,0.00,0.000,4,0.000,0.050,2835,2428,3362,0,0,0,0,0,0
$GC,4644,-0.54,-121.6,424.3,-8.5,365,4649,0.00,0.95,0.00,0.000,6,0.000,0.044,2835,1809,3361,0,0,0,0,0,0
$GC,4968,-0.54,-121.6,454.6,-9.7,376,4972,0.00,0.38,0.00,0.000,4,0.000,0.054,2833,2081,3362,0,0,0,0,0,0
$GC,5073,-0.54,-121.6,465.3,-9.7,379,5077,0.00,0.40,0.00,0.000,6,0.000,0.054,2833,1810,3362,0,0,0,0,0,0
$GC,5408,-0.54,-121.6,498.1,-10.0,390,5411,0.00,0.52,0.00,0.000,4,0.000,0.053,2831,2168,3361,0,0,0,0,0,0
$GC,5664,-0.54,-121.6,523.4,-10.0,397,5669,0.05,0.52,0.00,0.000,6,0.213,0.050,2843,1819,3361,0,0,0,0,0,0
$GC,5982,-0.54,-121.6,551.1,-8.6,408,5985,0.00,0.62,0.00,0.000,4,0.000,0.052,2842,2242,3361,0,0,0,0,0,0
$GC,6083,-0.54,-121.6,559.8,-8.4,411,6086,0.00,0.62,0.00,0.000,6,0.000,0.049,2841,1821,3361,0,0,0,0,0,0
$GC,6423,-0.54,-121.6,590.3,-9.1,422,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1821,3361,0,0,0,0,0,0
$GC,6729,-0.54,-121.6,618.8,-9.3,432,6732,0.00,0.65,0.00,0.000,4,0.000,0.053,2838,2257,3360,0,0,0,0,0,0
$GC,6863,-0.54,-121.6,631.3,-9.0,436,6867,0.00,0.65,0.00,0.000,6,0.000,0.049,2838,1819,3360,0,0,0,0,0,0
$GC,7203,-0.54,-121.6,661.1,-8.5,447,7207,0.00,0.28,0.00,0.000,4,0.000,0.062,2837,2024,3359,0,0,0,0,0,0
$GC,7286,-0.54,-121.6,668.5,-8.2,449,7288,0.00,0.30,0.00,0.000,6,0.000,0.059,2837,1816,3359,0,0,0,0,0,0
$GC,7605,-0.54,-121.6,694.4,-8.2,460,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1816,3359,0,0,0,0,0,0
$GC,7912,-0.54,-121.6,720.1,-8.6,470,7915,0.00,0.80,0.00,0.000,4,0.000,0.053,2833,2337,3358,0,0,0,0,0,0
$GC,8005,-0.54,-121.6,728.1,-7.8,472,8011,0.00,0.80,0.00,0.000,6,0.000,0.047,2833,1818,3358,0,0,0,0,0,0
$GC,8318,-0.54,-121.6,754.7,-8.5,483,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1818,3358,0,0,0,0,0,0
$GC,8624,-0.54,-121.6,781.5,-8.7,493,8628,0.00,0.32,0.00,0.000,4,0.000,0.059,2832,2047,3357,0,0,0,0,0,0
$GC,8807,-0.54,-121.6,798.1,-9.6,498,8810,0.05,0.35,0.00,0.000,6,0.214,0.055,2845,1807,3357,0,0,0,0,0,0
$GC,9128,-0.56,-121.6,825.7,-8.6,509,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1807,3356,0,0,0,0,0,0
$GC,9435,-0.59,-121.6,850.6,-7.7,519,9438,0.00,0.32,0.00,0.000,4,0.000,0.058,2844,2044,3355,0,0,0,0,0,0
$GC,9686,-0.62,-121.6,870.9,-8.1,526,9691,0.08,0.32,0.00,0.000,6,0.124,0.059,2803,1824,3355,0,0,0,0,0,0
$GC,10010,-0.58,-121.6,902.3,-9.7,537,10012,0.10,0.00,0.00,0.000,6,0.174,0.000,2829,1824,3355,0,0,0,0,0,0
$GC,10316,-0.58,-121.6,928.3,-8.6,547,10319,0.00,0.38,0.00,0.000,4,0.000,0.057,2828,2091,3354,0,0,0,0,0,0
$GC,10511,-0.58,-121.6,944.7,-8.0,552,10516,0.00,0.43,0.00,0.000,6,0.000,0.055,2828,1807,3353,0,0,0,0,0,0
$GC,10823,-0.58,-121.6,971.7,-8.8,563,10826,0.00,0.40,0.00,0.000,4,0.000,0.057,2826,2089,3352,0,0,0,0,0,0
$GC,11079,-0.58,-121.6,993.7,-7.9,570,11083,0.00,0.40,0.00,0.000,6,0.000,0.056,2827,1820,3352,0,0,0,0,0,0
$STATE,11182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11182,begin apogee
$GC,11186,-0.23,0.0,1002.4,8.6,574,11288,0.38,0.00,99.72,1.303,6,0.128,0.000,2948,1650,2861,0,0,0,0,0,0
$STATE,11289,end apogee,CONTROL_FINISHED_OK
$STATE,11289,begin climb
$GC,11291,0.71,121.6,1006.1,0.0,577,11402,0.88,0.90,102.90,1.268,4,0.093,0.057,3244,1134,2365,0,0,0,0,0,0
$GC,11440,0.71,171.1,1002.2,5.4,581,11490,0.00,0.85,44.22,1.235,6,0.000,0.046,3244,1642,2164,0,0,0,0,0,0
$GC,11815,0.73,180.2,976.6,7.0,594,11828,0.00,0.93,8.40,1.073,4,0.000,0.051,3244,2213,2127,0,0,0,0,0,0
$GC,11941,0.73,180.2,967.1,7.7,597,11947,0.00,0.93,0.00,0.000,6,0.000,0.050,3249,1647,2125,0,0,0,0,0,0
$GC,12254,0.73,197.3,945.7,6.7,608,12272,0.00,0.00,16.33,1.171,6,0.000,0.000,3249,1647,2057,0,0,0,0,0,0
$GC,12560,0.76,222.6,925.6,6.4,618,12590,0.00,0.45,23.42,1.201,4,0.000,0.063,3251,1372,1954,0,0,0,0,0,0
$GC,12659,0.80,242.1,919.1,6.6,621,12683,0.05,0.43,18.52,1.165,6,0.073,0.054,3288,1648,1875,0,0,0,0,0,0
$GC,12996,0.80,242.1,891.4,8.3,632,12999,0.00,0.25,0.00,0.000,4,0.000,0.064,3287,1831,1869,0,0,0,0,0,0
$GC,13067,0.80,242.1,885.4,8.6,634,13069,0.00,0.30,0.00,0.000,6,0.000,0.065,3289,1642,1869,0,0,0,0,0,0
$GC,13398,0.80,242.1,859.5,7.7,645,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1642,1868,0,0,0,0,0,0
$GC,13704,0.80,242.1,835.2,8.0,655,13708,0.00,0.47,0.00,0.000,4,0.000,0.062,3291,1324,1868,0,0,0,0,0,0
$GC,13826,0.80,242.1,825.0,7.8,658,13830,0.00,0.52,0.00,0.000,6,0.000,0.052,3292,1659,1868,0,0,0,0,0,0
$GC,14144,0.80,242.1,795.6,9.7,669,14147,0.00,0.43,0.00,0.000,4,0.000,0.063,3293,1379,1868,0,0,0,0,0,0
$GC,14226,0.80,242.1,787.3,9.6,671,14228,0.00,0.43,0.00,0.000,6,0.000,0.054,3293,1653,1868,0,0,0,0,0,0
$GC,14546,0.80,242.1,754.9,10.4,682,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1653,1868,0,0,0,0,0,0
$GC,14852,0.80,242.1,725.5,9.2,692,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1653,1867,0,0,0,0,0,0
$GC,15158,0.80,242.1,698.8,8.4,702,15162,0.00,0.88,0.00,0.000,4,0.000,0.059,3298,1103,1867,0,0,0,0,0,0
$GC,15246,0.80,242.1,691.0,8.5,704,15251,0.08,0.88,0.00,0.000,6,0.177,0.047,3279,1658,1867,0,0,0,0,0,0
$GC,15564,0.80,242.1,663.8,8.9,715,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1658,1867,0,0,0,0,0,0
$GC,15870,0.80,242.1,635.6,9.3,725,15874,0.00,0.65,0.00,0.000,4,0.000,0.060,3281,1240,1866,0,0,0,0,0,0
$GC,15975,0.80,242.1,625.8,8.9,728,15979,0.00,0.65,0.00,0.000,6,0.000,0.048,3281,1657,1867,0,0,0,0,0,0
$GC,16310,0.80,242.1,595.1,9.0,739,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1657,1867,0,0,0,0,0,0
$GC,16616,0.80,242.1,570.0,8.0,749,16619,0.00,0.55,0.00,0.000,4,0.000,0.060,3284,1296,1866,0,0,0,0,0,0
$GC,16704,0.80,249.2,563.3,7.1,751,16716,0.00,0.55,6.00,0.819,6,0.000,0.051,3284,1649,1846,0,0,0,0,0,0
$GC,17022,0.80,257.6,540.6,7.1,762,17034,0.00,0.00,9.60,0.914,6,0.000,0.000,3284,1650,1810,0,0,0,0,0,0
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$STATE,22987,end climb,SURFACE_DEPTH_REACHED
$STATE,22987,begin surface coast
$FINISH,1.6,1.019697
$STATE,23018,end surface coast,CONTROL_FINISHED_OK
$STATE,23018,begin surface
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$HUMID,43.10
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$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.7,20.992
$10V_AH,10.3,19.942
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353884
$DATA_FILE_SIZE,67053,1167
$CAP_FILE_SIZE,192674,0
$CFSIZE,2097086464,2078932992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231012,005335,-4332.015,-809.267,36,1.2,36,-21.2