version: 66.07.10.p01
glider: 573
mission: 4
dive: 121
start: 10 23 112 20 59 8
data:
$ID,573
$MISSION,4
$DIVE,121
$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,-4669.6465
$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,100
$GPS1,231012,204735,-4322.166,-810.045,43,1.1,43,-21.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-70.8
$GPS2,231012,205813,-4322.116,-810.069,21,1.1,22,-21.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.080,0.201
$KALMAN_X,-117008.8,127.2,256.1,268499.7,-1663.7
$KALMAN_Y,-193326.9,184.5,563.4,114149.6,-1673.4
$MHEAD_RNG_PITCHd_Wd,42.9,106671,-15.5,-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,-120.3,0.0,0.0,0,81,0.00,0.00,-54.67,0.000,2,0.000,0.000,82,1825,2901,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.1,-1.6,9,115,11.10,2.33,-13.10,0.000,4,0.247,0.067,2785,411,3357,0,0,0,0,0,0
$GC,288,-0.59,-121.6,28.5,-13.9,43,296,0.15,2.22,0.00,0.000,6,0.145,0.042,2824,1809,3359,0,0,0,0,0,0
$GC,365,-0.55,-121.6,37.7,-11.2,56,373,0.08,0.52,0.00,0.000,4,0.199,0.054,2841,2164,3359,0,0,0,0,0,0
$GC,478,-0.55,-121.6,48.5,-9.5,75,483,0.00,0.52,0.00,0.000,6,0.000,0.050,2841,1811,3359,0,0,0,0,0,0
$GC,709,-0.55,-121.6,71.1,-9.7,116,714,0.00,0.38,0.00,0.000,4,0.000,0.054,2839,2066,3359,0,0,0,0,0,0
$GC,797,-0.55,-121.6,79.7,-9.7,132,805,0.00,0.38,0.00,0.000,6,0.000,0.054,2839,1815,3359,0,0,0,0,0,0
$GC,1136,-0.55,-121.6,112.3,-9.3,178,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1815,3359,0,0,0,0,0,0
$GC,1449,-0.55,-121.6,141.2,-9.7,198,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1815,3359,0,0,0,0,0,0
$GC,1763,-0.55,-121.6,171.0,-9.4,218,1767,0.00,0.43,0.00,0.000,4,0.000,0.055,2837,2118,3359,0,0,0,0,0,0
$GC,1851,-0.55,-121.6,179.3,-9.3,223,1854,0.00,0.43,0.00,0.000,6,0.000,0.052,2837,1821,3359,0,0,0,0,0,0
$GC,2182,-0.55,-121.6,211.9,-10.0,244,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1820,3359,0,0,0,0,0,0
$GC,2492,-0.55,-121.6,241.2,-9.2,264,2496,0.00,0.52,0.00,0.000,4,0.000,0.051,2835,2180,3359,0,0,0,0,0,0
$GC,2580,-0.55,-121.6,249.7,-9.5,269,2585,0.00,0.55,0.00,0.000,6,0.000,0.049,2835,1814,3359,0,0,0,0,0,0
$GC,2904,-0.55,-121.6,279.6,-9.3,285,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1814,3359,0,0,0,0,0,0
$GC,3211,-0.55,-121.6,307.9,-9.2,300,3215,0.00,0.57,0.00,0.000,4,0.000,0.051,2833,2207,3359,0,0,0,0,0,0
$GC,3339,-0.55,-121.6,320.2,-9.5,305,3345,0.00,0.60,0.00,0.000,6,0.000,0.047,2833,1807,3359,0,0,0,0,0,0
$GC,3657,-0.55,-121.6,349.4,-9.5,321,3661,0.00,0.80,0.00,0.000,4,0.000,0.050,2829,2335,3359,0,0,0,0,0,0
$GC,3785,-0.55,-121.6,361.7,-9.6,326,3793,0.00,0.80,0.00,0.000,6,0.000,0.046,2829,1811,3360,0,0,0,0,0,0
$GC,4101,-0.55,-121.6,391.2,-8.9,342,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1811,3360,0,0,0,0,0,0
$GC,4418,-0.55,-121.6,420.0,-8.8,354,4422,0.00,0.30,0.00,0.000,4,0.000,0.057,2827,2034,3360,0,0,0,0,0,0
$GC,4635,-0.55,-121.6,440.2,-9.1,360,4640,0.05,0.32,0.00,0.000,6,0.219,0.057,2840,1810,3360,0,0,0,0,0,0
$GC,4958,-0.55,-121.6,467.3,-8.4,371,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1810,3360,0,0,0,0,0,0
$GC,5264,-0.55,-121.6,493.9,-8.8,381,5268,0.00,0.65,0.00,0.000,4,0.000,0.052,2838,2248,3360,0,0,0,0,0,0
$GC,5352,-0.55,-121.6,501.6,-8.9,383,5357,0.00,0.65,0.00,0.000,6,0.000,0.047,2837,1820,3360,0,0,0,0,0,0
$GC,5670,-0.55,-121.6,528.3,-8.3,394,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1819,3359,0,0,0,0,0,0
$GC,5976,-0.55,-121.6,553.7,-8.3,404,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1819,3359,0,0,0,0,0,0
$GC,6283,-0.55,-121.6,579.4,-8.6,414,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1820,3359,0,0,0,0,0,0
$GC,6589,-0.55,-121.6,605.9,-8.7,424,6593,0.00,0.32,0.00,0.000,4,0.000,0.060,2837,1586,3359,0,0,0,0,0,0
$GC,6677,-0.55,-121.6,613.9,-9.3,426,6681,0.00,0.38,0.00,0.000,6,0.000,0.055,2836,1834,3358,0,0,0,0,0,0
$GC,6995,-0.55,-121.6,642.0,-9.1,437,6998,0.00,0.35,0.00,0.000,4,0.000,0.059,2834,2094,3358,0,0,0,0,0,0
$GC,7096,-0.55,-121.6,651.6,-10.3,440,7099,0.00,0.40,0.00,0.000,6,0.000,0.055,2834,1814,3358,0,0,0,0,0,0
$GC,7435,-0.55,-121.6,683.4,-9.0,451,7439,0.00,0.70,0.00,0.000,4,0.000,0.054,2831,2281,3358,0,0,0,0,0,0
$GC,7546,-0.55,-121.6,693.8,-9.4,454,7550,0.00,0.70,0.00,0.000,6,0.000,0.048,2831,1820,3357,0,0,0,0,0,0
$GC,7875,-0.55,-121.6,722.1,-8.3,465,7879,0.00,0.40,0.00,0.000,4,0.000,0.059,2831,1538,3356,0,0,0,0,0,0
$GC,7991,-0.55,-121.6,731.8,-8.3,468,7995,0.00,0.43,0.00,0.000,6,0.000,0.054,2829,1818,3356,0,0,0,0,0,0
$GC,8315,-0.55,-121.6,758.0,-8.0,479,8319,0.00,0.70,0.00,0.000,4,0.000,0.054,2826,2292,3355,0,0,0,0,0,0
$GC,8398,-0.55,-121.6,764.6,-7.7,481,8403,0.05,0.73,0.00,0.000,6,0.213,0.047,2838,1820,3355,0,0,0,0,0,0
$GC,8721,-0.55,-121.6,789.1,-7.7,492,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1820,3355,0,0,0,0,0,0
$GC,9028,-0.55,-121.6,814.0,-8.4,502,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1820,3354,0,0,0,0,0,0
$GC,9334,-0.55,-121.6,840.9,-8.8,512,9337,0.00,0.28,0.00,0.000,4,0.000,0.063,2837,2024,3353,0,0,0,0,0,0
$GC,9574,-0.55,-121.6,863.0,-9.2,519,9576,0.00,0.30,0.00,0.000,6,0.000,0.060,2837,1818,3353,0,0,0,0,0,0
$GC,9905,-0.57,-121.6,891.8,-8.6,530,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1818,3352,0,0,0,0,0,0
$GC,10211,-0.57,-121.6,916.9,-8.1,540,10214,0.00,0.32,0.00,0.000,4,0.000,0.060,2836,2057,3352,0,0,0,0,0,0
$GC,10293,-0.60,-121.6,923.7,-8.0,542,10297,0.00,0.35,0.00,0.000,6,0.000,0.057,2836,1819,3352,0,0,0,0,0,0
$GC,10617,-0.62,-121.6,949.1,-7.9,553,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1819,3351,0,0,0,0,0,0
$GC,10923,-0.64,-121.6,972.8,-7.8,563,10928,0.05,0.77,0.00,0.000,4,0.168,0.056,2796,2318,3351,0,0,0,0,0,0
$GC,11068,-0.61,-121.6,986.3,-8.9,567,11073,0.08,0.77,0.00,0.000,6,0.146,0.048,2823,1815,3351,0,0,0,0,0,0
$STATE,11243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11243,begin apogee
$GC,11247,-0.23,0.0,1001.7,8.9,573,11349,0.38,0.00,99.22,1.309,6,0.129,0.000,2944,1647,2861,0,0,0,0,0,0
$STATE,11350,end apogee,CONTROL_FINISHED_OK
$STATE,11350,begin climb
$GC,11351,0.71,121.6,1006.1,0.0,576,11462,0.90,0.93,102.72,1.273,4,0.096,0.055,3248,1107,2365,0,0,0,0,0,0
$GC,11517,0.71,179.6,1002.6,5.0,581,11573,0.00,0.90,51.58,1.245,6,0.000,0.046,3248,1643,2129,0,0,0,0,0,0
$GC,11908,0.74,188.4,977.0,7.0,594,11922,0.00,0.75,8.07,1.067,4,0.000,0.053,3247,2109,2093,0,0,0,0,0,0
$GC,12018,0.76,188.4,968.7,7.6,597,12022,0.00,0.75,0.00,0.000,6,0.000,0.052,3251,1648,2092,0,0,0,0,0,0
$GC,12347,0.78,188.4,942.7,8.0,608,12351,0.08,1.02,0.00,0.000,4,0.125,0.054,3291,2281,2091,0,0,0,0,0,0
$GC,12470,0.75,188.4,931.2,9.5,611,12474,0.10,1.00,0.00,0.000,6,0.137,0.050,3262,1649,2090,0,0,0,0,0,0
$GC,12788,0.75,188.4,906.2,7.8,622,12791,0.00,0.60,0.00,0.000,4,0.000,0.059,3264,1258,2090,0,0,0,0,0,0
$GC,12870,0.75,188.4,899.7,8.0,624,12874,0.00,0.62,0.00,0.000,6,0.000,0.050,3264,1654,2089,0,0,0,0,0,0
$GC,13194,0.75,198.7,876.5,7.0,635,13208,0.00,0.68,9.80,1.086,4,0.000,0.054,3264,2094,2051,0,0,0,0,0,0
$GC,13309,0.75,199.5,868.4,7.4,638,13313,0.00,0.73,0.00,0.000,6,0.000,0.051,3268,1639,2050,0,0,0,0,0,0
$GC,13633,0.75,212.1,845.9,6.9,649,13648,0.00,0.00,13.15,1.121,6,0.000,0.000,3268,1639,1997,0,0,0,0,0,0
$GC,13939,0.75,216.6,824.0,7.2,659,13948,0.00,0.45,5.25,0.866,4,0.000,0.049,3268,1937,1979,0,0,0,0,0,0
$GC,14049,0.75,218.4,815.8,7.3,662,14053,0.00,0.47,0.00,0.000,6,0.000,0.057,3269,1640,1978,0,0,0,0,0,0
$GC,14378,0.75,218.4,790.4,7.8,673,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1640,1978,0,0,0,0,0,0
$GC,14684,0.75,218.4,764.9,8.5,683,14688,0.00,0.60,0.00,0.000,4,0.000,0.055,3270,2034,1978,0,0,0,0,0,0
$GC,14786,0.75,218.4,756.0,8.9,686,14792,0.00,0.60,3.25,0.565,6,0.000,0.056,3272,1645,1970,0,0,0,0,0,0
$GC,15121,0.75,218.4,725.6,9.1,697,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1646,1970,0,0,0,0,0,0
$GC,15427,0.75,218.4,697.7,9.1,707,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1646,1970,0,0,0,0,0,0
$GC,15733,0.75,218.4,671.3,8.5,717,15737,0.00,0.52,0.00,0.000,4,0.000,0.053,3273,1997,1970,0,0,0,0,0,0
$GC,15816,0.75,218.4,664.2,8.6,719,15820,0.00,0.55,0.00,0.000,6,0.000,0.056,3275,1644,1970,0,0,0,0,0,0
$GC,16139,0.75,218.4,638.8,7.8,730,16140,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1644,1970,0,0,0,0,0,0
$GC,16445,0.75,218.4,615.1,7.7,740,16447,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1644,1970,0,0,0,0,0,0
$GC,16752,0.75,218.4,590.6,8.1,750,16753,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1644,1970,0,0,0,0,0,0
$GC,17058,0.75,218.4,564.8,8.7,760,17059,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1644,1971,0,0,0,0,0,0
$GC,17364,0.75,218.4,538.1,8.6,770,17368,0.00,0.28,0.00,0.000,4,0.000,0.061,3275,1838,1970,0,0,0,0,0,0
$GC,17446,0.75,218.4,531.1,9.4,772,17449,0.00,0.30,0.00,0.000,6,0.000,0.065,3276,1644,1970,0,0,0,0,0,0
$GC,17766,0.75,218.4,505.4,8.0,783,17767,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1644,1970,0,0,0,0,0,0
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$STATE,23347,end climb,SURFACE_DEPTH_REACHED
$STATE,23347,begin surface coast
$FINISH,1.5,1.026701
$STATE,23390,end surface coast,CONTROL_FINISHED_OK
$STATE,23390,begin surface
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$SM_GC,2.22,8.30,0.00,0.00,0.035,0.000,0.000,85,1837,1777,-9.10,0.51,265.90
$IRIDIUM_FIX,-4308.55,-801.52,231012,202010
$TT8_MAMPS,0.026215
$HUMID,42.28
$INTERNAL_PRESSURE,9.12811
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.7,21.544
$10V_AH,10.2,20.485
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.475,43.925,336.400,0.000,0.000,55.927,79.155,309.917,0.000,0.000,23.755,3001.570,16715.777,412.583,3818.880,148.428,33.355,1795.183,0.000,3298.660,0.000,1.009,0.000
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$SENSOR_SECS,793.541,1250.493,763.136,92.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353880
$DATA_FILE_SIZE,70157,1185
$CAP_FILE_SIZE,189392,0
$CFSIZE,2097086464,2078408704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,241012,033123,-4319.448,-809.940,38,1.5,38,-21.3