version: 66.07.10.p01
glider: 573
mission: 4
dive: 124
start: 10 24 112 17 13 32
data:
$ID,573
$MISSION,4
$DIVE,124
$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,-4679.4995
$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,42
$R_STBD_OVSHOOT,42
$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,103
$GPS1,241012,170500,-4312.410,-809.030,39,0.9,39,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-75.3
$GPS2,241012,171237,-4312.407,-809.096,15,1.3,16,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.045,0.212
$KALMAN_X,-120187.2,153.6,-681.9,273911.7,-156.1
$KALMAN_Y,-190966.6,379.7,-511.7,130646.9,1746.8
$MHEAD_RNG_PITCHd_Wd,33.3,88675,-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,-48.62,0.000,2,0.000,0.000,86,1801,2991,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.4,8,104,11.02,2.25,-10.25,0.000,4,0.246,0.069,2778,3214,3358,0,0,0,0,0,0
$GC,276,-0.62,-121.6,25.2,-11.5,41,284,0.10,2.20,0.00,0.000,6,0.142,0.042,2811,1819,3360,0,0,0,0,0,0
$GC,354,-0.58,-121.6,33.6,-10.2,54,361,0.10,0.00,0.00,0.000,6,0.182,0.000,2838,1819,3361,0,0,0,0,0,0
$GC,593,-0.58,-121.6,55.4,-9.0,95,598,0.00,1.42,0.00,0.000,4,0.000,0.054,2832,2720,3360,0,0,0,0,0,0
$GC,689,-0.58,-121.6,64.1,-9.2,112,694,0.00,1.40,0.00,0.000,6,0.000,0.043,2832,1820,3361,0,0,0,0,0,0
$GC,1029,-0.58,-121.6,96.3,-9.7,173,1033,0.00,0.98,0.00,0.000,4,0.000,0.052,2828,2445,3361,0,0,0,0,0,0
$GC,1123,-0.58,-121.6,105.4,-9.3,184,1131,0.00,0.98,0.00,0.000,6,0.000,0.044,2828,1817,3360,0,0,0,0,0,0
$GC,1444,-0.56,-121.6,137.2,-10.0,205,1448,0.00,1.27,0.00,0.000,4,0.000,0.052,2823,2632,3361,0,0,0,0,0,0
$GC,1551,-0.56,-121.6,148.1,-10.2,211,1555,0.05,1.25,0.00,0.000,6,0.145,0.043,2841,1821,3361,0,0,0,0,0,0
$GC,1876,-0.56,-121.6,177.5,-8.8,232,1880,0.00,0.88,0.00,0.000,4,0.000,0.050,2837,2397,3361,0,0,0,0,0,0
$GC,1977,-0.56,-121.6,186.5,-9.0,238,1981,0.00,0.88,0.00,0.000,6,0.000,0.045,2837,1820,3361,0,0,0,0,0,0
$GC,2309,-0.56,-121.6,215.8,-8.9,259,2312,0.00,1.02,0.00,0.000,4,0.000,0.052,2832,2479,3361,0,0,0,0,0,0
$GC,2419,-0.56,-121.6,226.1,-9.1,265,2425,0.00,1.02,0.00,0.000,6,0.000,0.044,2832,1818,3361,0,0,0,0,0,0
$GC,2754,-0.56,-121.6,256.4,-9.1,286,2757,0.00,1.20,0.00,0.000,4,0.000,0.052,2827,2583,3361,0,0,0,0,0,0
$GC,2853,-0.56,-121.6,265.6,-8.8,290,2858,0.00,1.20,0.00,0.000,6,0.000,0.043,2827,1809,3361,0,0,0,0,0,0
$GC,3175,-0.56,-121.6,295.9,-9.3,306,3179,0.00,1.27,0.00,0.000,4,0.000,0.052,2821,2626,3361,0,0,0,0,0,0
$GC,3275,-0.56,-121.6,305.1,-8.8,310,3280,0.08,1.25,0.00,0.000,6,0.181,0.043,2841,1822,3361,0,0,0,0,0,0
$GC,3597,-0.56,-121.6,331.8,-8.0,326,3600,0.00,0.77,0.00,0.000,4,0.000,0.050,2837,2334,3361,0,0,0,0,0,0
$GC,3688,-0.56,-121.6,339.1,-8.0,330,3691,0.00,0.77,0.00,0.000,6,0.000,0.046,2837,1816,3361,0,0,0,0,0,0
$GC,4019,-0.56,-121.6,365.1,-7.7,346,4023,0.00,0.65,0.00,0.000,4,0.000,0.052,2834,2254,3362,0,0,0,0,0,0
$GC,4114,-0.56,-121.6,372.1,-7.2,350,4118,0.00,0.68,0.00,0.000,6,0.000,0.046,2834,1805,3361,0,0,0,0,0,0
$GC,4441,-0.56,-121.6,397.3,-8.1,366,4445,0.00,2.22,0.00,0.000,4,0.000,0.056,2824,3224,3362,0,0,0,0,0,0
$GC,4557,-0.56,-121.6,406.9,-7.7,370,4563,0.03,2.15,0.00,0.000,6,0.177,0.040,2835,1827,3361,0,0,0,0,0,0
$GC,4875,-0.56,-121.6,432.0,-8.1,381,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1827,3361,0,0,0,0,0,0
$GC,5182,-0.56,-121.6,456.8,-8.0,391,5185,0.00,1.42,0.00,0.000,4,0.000,0.054,2829,2735,3362,0,0,0,0,0,0
$GC,5283,-0.56,-121.6,464.2,-6.4,394,5287,0.00,1.40,0.00,0.000,6,0.000,0.044,2829,1822,3362,0,0,0,0,0,0
$GC,5623,-0.56,-121.6,492.3,-8.9,405,5627,0.00,1.35,0.00,0.000,4,0.000,0.053,2822,2682,3361,0,0,0,0,0,0
$GC,5733,-0.56,-121.6,502.5,-9.0,408,5739,0.08,1.35,0.00,0.000,6,0.181,0.043,2842,1813,3361,0,0,0,0,0,0
$GC,6063,-0.56,-121.6,533.1,-9.4,419,6066,0.00,1.50,0.00,0.000,4,0.000,0.054,2835,2774,3361,0,0,0,0,0,0
$GC,6173,-0.56,-121.6,543.5,-9.0,422,6178,0.00,1.50,0.00,0.000,6,0.000,0.043,2836,1810,3361,0,0,0,0,0,0
$GC,6503,-0.56,-121.6,574.5,-9.2,433,6507,0.00,0.88,0.00,0.000,4,0.000,0.053,2832,2379,3360,0,0,0,0,0,0
$GC,6604,-0.56,-121.6,583.6,-8.8,436,6608,0.00,0.85,0.00,0.000,6,0.000,0.047,2831,1818,3360,0,0,0,0,0,0
$GC,6944,-0.56,-121.6,615.3,-9.2,447,6948,0.00,1.02,0.00,0.000,4,0.000,0.054,2827,2474,3360,0,0,0,0,0,0
$GC,7045,-0.56,-121.6,624.1,-8.6,450,7048,0.00,1.00,0.00,0.000,6,0.000,0.045,2827,1819,3360,0,0,0,0,0,0
$GC,7385,-0.56,-121.6,652.9,-8.3,461,7389,0.00,1.10,0.00,0.000,4,0.000,0.054,2822,2521,3360,0,0,0,0,0,0
$GC,7486,-0.56,-121.6,661.3,-7.8,464,7490,0.05,1.08,0.00,0.000,6,0.148,0.045,2841,1819,3359,0,0,0,0,0,0
$GC,7825,-0.56,-121.6,688.0,-7.8,475,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1819,3359,0,0,0,0,0,0
$GC,8131,-0.56,-121.6,711.9,-7.9,485,8135,0.00,1.42,0.00,0.000,4,0.000,0.055,2834,2726,3358,0,0,0,0,0,0
$GC,8248,-0.58,-121.6,721.2,-8.1,488,8252,0.00,1.40,0.00,0.000,6,0.000,0.044,2835,1819,3358,0,0,0,0,0,0
$GC,8572,-0.58,-121.6,748.2,-8.5,499,8575,0.00,0.57,0.00,0.000,4,0.000,0.054,2832,2208,3358,0,0,0,0,0,0
$GC,8710,-0.58,-121.6,760.7,-8.6,503,8714,0.00,0.60,0.00,0.000,6,0.000,0.049,2832,1810,3357,0,0,0,0,0,0
$GC,9045,-0.58,-121.6,788.0,-7.8,514,9049,0.00,1.85,0.00,0.000,4,0.000,0.058,2823,3000,3357,0,0,0,0,0,0
$GC,9161,-0.58,-121.6,797.2,-7.4,517,9166,0.00,1.83,0.00,0.000,6,0.000,0.043,2824,1824,3357,0,0,0,0,0,0
$GC,9485,-0.58,-121.6,823.7,-8.2,528,9489,0.00,1.58,0.00,0.000,4,0.000,0.056,2816,2818,3356,0,0,0,0,0,0
$GC,9620,-0.58,-121.6,834.1,-7.9,532,9624,0.05,1.55,0.00,0.000,6,0.155,0.044,2835,1818,3356,0,0,0,0,0,0
$GC,9960,-0.58,-121.6,859.0,-7.3,543,9964,0.00,1.33,0.00,0.000,4,0.000,0.056,2829,2661,3355,0,0,0,0,0,0
$GC,10087,-0.58,-121.6,868.4,-7.0,546,10093,0.00,1.33,0.00,0.000,6,0.000,0.045,2829,1805,3354,0,0,0,0,0,0
$GC,10400,-0.58,-121.6,892.0,-7.8,557,10404,0.00,1.75,0.00,0.000,4,0.000,0.057,2821,2934,3354,0,0,0,0,0,0
$GC,10538,-0.58,-121.6,903.1,-7.9,561,10543,0.00,1.73,0.00,0.000,6,0.000,0.044,2821,1824,3354,0,0,0,0,0,0
$GC,10874,-0.58,-121.6,929.3,-7.7,572,10877,0.00,1.30,0.00,0.000,4,0.000,0.054,2815,2647,3353,0,0,0,0,0,0
$GC,11009,-0.58,-121.6,939.4,-7.4,576,11014,0.03,1.30,0.00,0.000,6,0.192,0.046,2825,1808,3353,0,0,0,0,0,0
$GC,11350,-0.58,-121.6,962.4,-6.7,587,11353,0.00,1.10,0.00,0.000,4,0.000,0.055,2821,2508,3352,0,0,0,0,0,0
$GC,11451,-0.58,-121.6,969.5,-7.2,590,11455,0.00,1.05,0.00,0.000,6,0.000,0.047,2821,1824,3352,0,0,0,0,0,0
$GC,11791,-0.58,-121.6,996.2,-8.0,601,11795,0.00,1.17,0.00,0.000,4,0.000,0.055,2816,2571,3352,0,0,0,0,0,0
$STATE,11838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11839,begin apogee
$GC,11844,-0.23,0.0,1000.2,7.7,602,11949,0.38,0.00,99.35,1.297,6,0.131,0.000,2941,1637,2862,0,0,0,0,0,0
$STATE,11950,end apogee,CONTROL_FINISHED_OK
$STATE,11950,begin climb
$GC,11951,0.71,121.6,1004.5,0.0,606,12062,0.90,1.88,102.45,1.265,4,0.093,0.057,3250,576,2365,0,0,0,0,0,0
$GC,12145,0.71,169.7,997.8,5.4,612,12193,0.00,1.77,42.47,1.232,6,0.000,0.044,3250,1639,2170,0,0,0,0,0,0
$GC,12505,0.71,212.6,976.3,5.6,624,12545,0.00,0.00,38.20,1.235,6,0.000,0.000,3250,1639,1995,0,0,0,0,0,0
$GC,12842,0.74,252.8,956.4,5.8,635,12881,0.00,0.30,36.12,1.239,4,0.000,0.057,3251,1420,1831,0,0,0,0,0,0
$GC,12939,0.79,272.8,950.8,6.6,638,12964,0.05,0.35,19.30,1.186,6,0.070,0.057,3288,1652,1749,0,0,0,0,0,0
$GC,13277,0.79,272.8,921.8,9.1,649,13280,0.00,0.47,0.00,0.000,4,0.000,0.055,3288,1971,1742,0,0,0,0,0,0
$GC,13344,0.79,272.8,915.4,9.1,651,13347,0.00,0.50,0.00,0.000,6,0.000,0.057,3290,1651,1741,0,0,0,0,0,0
$GC,13684,0.79,272.8,882.1,10.1,662,13687,0.00,0.30,0.00,0.000,4,0.000,0.068,3291,1441,1740,0,0,0,0,0,0
$GC,13772,0.79,272.8,872.8,9.7,664,13775,0.03,0.32,0.00,0.000,6,0.255,0.058,3281,1651,1740,0,0,0,0,0,0
$GC,14087,0.81,272.8,841.7,9.8,675,14088,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1651,1740,0,0,0,0,0,0
$GC,14393,0.81,272.8,812.8,9.4,685,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1651,1739,0,0,0,0,0,0
$GC,14699,0.81,272.8,784.5,9.1,695,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1651,1739,0,0,0,0,0,0
$GC,15006,0.83,272.8,757.3,8.8,705,15010,0.00,0.25,0.00,0.000,4,0.000,0.067,3281,1837,1739,0,0,0,0,0,0
$GC,15066,0.86,272.8,751.8,8.5,706,15072,0.00,0.30,0.00,0.000,6,0.000,0.066,3282,1643,1739,0,0,0,0,0,0
$GC,15379,0.88,272.8,724.0,8.8,717,15381,0.08,0.00,0.00,0.000,6,0.122,0.000,3325,1642,1738,0,0,0,0,0,0
$GC,15685,0.84,272.8,691.3,10.9,727,15687,0.12,0.00,0.00,0.000,6,0.159,0.000,3291,1642,1739,0,0,0,0,0,0
$GC,15991,0.84,272.8,662.4,9.2,737,15992,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1642,1738,0,0,0,0,0,0
$GC,16297,0.84,272.8,634.7,8.9,747,16298,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1642,1738,0,0,0,0,0,0
$GC,16603,0.84,272.8,607.4,8.8,757,16607,0.00,0.40,0.00,0.000,4,0.000,0.057,3290,1914,1738,0,0,0,0,0,0
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$STATE,23344,end climb,SURFACE_DEPTH_REACHED
$STATE,23344,begin surface coast
$FINISH,1.7,1.026610
$STATE,23381,end surface coast,CONTROL_FINISHED_OK
$STATE,23381,begin surface
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$HUMID,42.08
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$TCM_TEMP,15.80
$XPDR_PINGS,0
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$10V_AH,10.3,20.893
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.450,83.875,337.900,0.000,0.000,26.151,40.556,277.340,0.000,0.000,18.323,3083.845,16352.735,427.265,3885.392,158.488,33.362,1889.594,0.000,3493.111,0.000,1.008,0.000
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$MEM,353892
$DATA_FILE_SIZE,70282,1208
$CAP_FILE_SIZE,195408,0
$CFSIZE,2097086464,2078015488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,241012,234535,-4309.371,-808.096,35,1.2,35,-21.4