version: 66.07.10.p01
glider: 573
mission: 4
dive: 125
start: 10 24 112 23 53 24
data:
$ID,573
$MISSION,4
$DIVE,125
$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,-4682.5034
$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,34
$R_STBD_OVSHOOT,40
$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,104
$GPS1,241012,234535,-4309.371,-808.096,35,1.2,35,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.8
$GPS2,241012,235230,-4309.360,-808.164,15,1.2,16,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.131,0.173
$KALMAN_X,-121351.4,-20.3,718.5,275117.2,-2807.8
$KALMAN_Y,-191000.2,-130.7,-81.2,136416.0,745.2
$MHEAD_RNG_PITCHd_Wd,58.6,82910,-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,25,-0.71,-121.5,0.0,0.0,0,70,0.00,0.00,-42.55,0.000,2,0.000,0.000,93,1826,2723,0,0,0,0,0,0
$GC,72,-0.71,-121.6,3.0,-1.6,7,110,10.95,1.50,-21.50,0.000,4,0.245,0.072,2778,2783,3359,0,0,0,0,0,0
$GC,206,-0.62,-121.6,14.9,-11.6,29,214,0.12,1.52,0.00,0.000,6,0.141,0.044,2819,1811,3361,0,0,0,0,0,0
$GC,287,-0.58,-121.6,23.5,-10.2,42,294,0.05,0.00,0.00,0.000,6,0.238,0.000,2832,1810,3361,0,0,0,0,0,0
$GC,367,-0.56,-121.6,31.3,-9.8,55,371,0.00,0.57,0.00,0.000,4,0.000,0.050,2830,2196,3360,0,0,0,0,0,0
$GC,471,-0.56,-121.6,41.1,-9.0,73,476,0.00,0.57,0.00,0.000,6,0.000,0.049,2829,1811,3361,0,0,0,0,0,0
$GC,704,-0.53,-121.6,64.3,-9.8,114,712,0.08,0.30,0.00,0.000,4,0.184,0.062,2849,1612,3361,0,0,0,0,0,0
$GC,750,-0.53,-121.6,68.7,-9.3,122,755,0.00,0.32,0.00,0.000,6,0.000,0.057,2848,1830,3360,0,0,0,0,0,0
$GC,1093,-0.53,-121.6,98.3,-8.6,183,1099,0.00,1.88,0.00,0.000,4,0.000,0.056,2839,3017,3361,0,0,0,0,0,0
$GC,1205,-0.53,-121.6,108.4,-8.8,192,1213,0.00,1.85,0.00,0.000,6,0.000,0.041,2839,1827,3361,0,0,0,0,0,0
$GC,1526,-0.53,-121.6,137.7,-9.3,213,1530,0.00,0.50,0.00,0.000,4,0.000,0.053,2837,2172,3361,0,0,0,0,0,0
$GC,1629,-0.53,-121.6,147.5,-9.7,219,1633,0.00,0.52,0.00,0.000,6,0.000,0.050,2837,1813,3361,0,0,0,0,0,0
$GC,1959,-0.53,-121.6,179.7,-9.8,240,1962,0.00,0.77,0.00,0.000,4,0.000,0.052,2833,2320,3361,0,0,0,0,0,0
$GC,2052,-0.53,-121.6,188.9,-9.5,245,2059,0.05,0.77,0.00,0.000,6,0.209,0.044,2847,1811,3361,0,0,0,0,0,0
$GC,2373,-0.53,-121.6,218.4,-9.4,266,2377,0.00,0.82,0.00,0.000,4,0.000,0.051,2843,2359,3362,0,0,0,0,0,0
$GC,2467,-0.53,-121.6,227.3,-9.0,271,2473,0.00,0.82,0.00,0.000,6,0.000,0.044,2843,1820,3361,0,0,0,0,0,0
$GC,2792,-0.53,-121.6,258.4,-9.7,291,2796,0.00,0.60,0.00,0.000,4,0.000,0.052,2841,2227,3362,0,0,0,0,0,0
$GC,2892,-0.53,-121.6,268.8,-10.0,295,2896,0.00,0.62,0.00,0.000,6,0.000,0.047,2841,1813,3362,0,0,0,0,0,0
$GC,3215,-0.53,-121.6,300.6,-10.0,311,3219,0.00,0.77,0.00,0.000,4,0.000,0.050,2837,2323,3362,0,0,0,0,0,0
$GC,3321,-0.53,-121.6,311.5,-10.7,315,3327,0.00,0.77,0.00,0.000,6,0.000,0.044,2837,1814,3361,0,0,0,0,0,0
$GC,3639,-0.53,-121.6,344.0,-10.5,331,3643,0.00,1.05,0.00,0.000,4,0.000,0.051,2832,2492,3362,0,0,0,0,0,0
$GC,3731,-0.53,-121.6,353.3,-10.2,335,3735,0.00,1.02,0.00,0.000,6,0.000,0.044,2832,1819,3362,0,0,0,0,0,0
$GC,4065,-0.53,-121.6,387.5,-10.3,351,4069,0.05,1.33,0.00,0.000,4,0.221,0.054,2838,2653,3362,0,0,0,0,0,0
$GC,4177,-0.53,-121.6,398.8,-9.7,356,4181,0.00,1.27,0.00,0.000,6,0.000,0.043,2838,1821,3362,0,0,0,0,0,0
$GC,4506,-0.53,-121.6,431.6,-10.1,367,4509,0.00,0.25,0.00,0.000,4,0.000,0.062,2836,2009,3362,0,0,0,0,0,0
$GC,4757,-0.53,-121.6,455.9,-9.3,374,4761,0.00,0.30,0.00,0.000,6,0.000,0.058,2837,1802,3362,0,0,0,0,0,0
$GC,5080,-0.53,-121.6,484.3,-8.2,385,5084,0.00,0.50,0.00,0.000,4,0.000,0.050,2834,2149,3362,0,0,0,0,0,0
$GC,5231,-0.53,-121.6,495.8,-7.2,389,5235,0.00,0.50,0.00,0.000,6,0.000,0.049,2834,1814,3362,0,0,0,0,0,0
$GC,5555,-0.53,-121.6,519.0,-7.6,400,5558,0.00,0.82,0.00,0.000,4,0.000,0.051,2831,2358,3362,0,0,0,0,0,0
$GC,5632,-0.53,-121.6,525.0,-7.4,402,5637,0.08,0.82,0.00,0.000,6,0.174,0.045,2851,1819,3362,0,0,0,0,0,0
$GC,5962,-0.56,-121.6,548.9,-7.5,413,5965,0.00,0.32,0.00,0.000,4,0.000,0.058,2850,2053,3362,0,0,0,0,0,0
$GC,6029,-0.59,-121.6,554.0,-7.6,415,6033,0.00,0.32,0.00,0.000,6,0.000,0.057,2850,1818,3362,0,0,0,0,0,0
$GC,6370,-0.61,-121.6,582.5,-8.7,426,6371,0.08,0.00,0.00,0.000,6,0.122,0.000,2802,1818,3362,0,0,0,0,0,0
$GC,6676,-0.56,-121.6,614.5,-10.4,436,6680,0.12,0.73,0.00,0.000,4,0.159,0.052,2835,2286,3361,0,0,0,0,0,0
$GC,6776,-0.56,-121.6,623.8,-8.1,439,6780,0.00,0.70,0.00,0.000,6,0.000,0.048,2835,1819,3361,0,0,0,0,0,0
$GC,7116,-0.56,-121.6,654.9,-9.2,450,7120,0.00,0.60,0.00,0.000,4,0.000,0.054,2832,2222,3361,0,0,0,0,0,0
$GC,7198,-0.56,-121.6,662.5,-8.8,452,7203,0.00,0.62,0.00,0.000,6,0.000,0.049,2832,1809,3361,0,0,0,0,0,0
$GC,7522,-0.56,-121.6,691.6,-9.0,463,7526,0.00,1.00,0.00,0.000,4,0.000,0.052,2827,2450,3360,0,0,0,0,0,0
$GC,7610,-0.56,-121.6,699.7,-8.8,465,7615,0.00,0.98,0.00,0.000,6,0.000,0.045,2828,1821,3360,0,0,0,0,0,0
$GC,7928,-0.56,-121.6,728.7,-9.2,476,7932,0.00,0.77,0.00,0.000,4,0.000,0.053,2824,2329,3359,0,0,0,0,0,0
$GC,8005,-0.56,-121.6,736.0,-9.4,478,8010,0.05,0.80,0.00,0.000,6,0.214,0.047,2837,1806,3359,0,0,0,0,0,0
$GC,8334,-0.56,-121.6,763.3,-8.1,489,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1806,3358,0,0,0,0,0,0
$GC,8640,-0.56,-121.6,787.8,-8.0,499,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1806,3358,0,0,0,0,0,0
$GC,8946,-0.56,-121.6,812.8,-7.9,509,8950,0.00,0.57,0.00,0.000,4,0.000,0.053,2835,2196,3357,0,0,0,0,0,0
$GC,9023,-0.56,-121.6,818.9,-7.1,511,9028,0.00,0.57,0.00,0.000,6,0.000,0.050,2835,1819,3357,0,0,0,0,0,0
$GC,9353,-0.56,-121.6,846.1,-8.4,522,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1819,3356,0,0,0,0,0,0
$GC,9659,-0.56,-121.6,870.4,-7.9,532,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1819,3356,0,0,0,0,0,0
$GC,9965,-0.56,-121.6,894.9,-7.9,542,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1819,3355,0,0,0,0,0,0
$GC,10271,-0.56,-121.6,918.0,-7.6,552,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1819,3355,0,0,0,0,0,0
$GC,10578,-0.56,-121.6,941.8,-8.1,562,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1819,3354,0,0,0,0,0,0
$GC,10884,-0.56,-121.6,967.0,-8.4,572,10887,0.00,0.28,0.00,0.000,4,0.000,0.065,2834,2021,3353,0,0,0,0,0,0
$GC,11011,-0.56,-121.6,978.0,-8.2,575,11013,0.00,0.30,0.00,0.000,6,0.000,0.061,2833,1818,3353,0,0,0,0,0,0
$STATE,11287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11287,begin apogee
$GC,11292,-0.23,0.0,1001.9,8.7,584,11394,0.35,0.00,99.70,1.309,6,0.124,0.000,2948,1649,2862,0,0,0,0,0,0
$STATE,11395,end apogee,CONTROL_FINISHED_OK
$STATE,11395,begin climb
$GC,11396,0.71,121.6,1006.6,0.0,587,11504,0.88,0.00,102.72,1.269,6,0.093,0.000,3241,1649,2365,0,0,0,0,0,0
$GC,11794,0.71,191.3,993.4,4.5,600,11859,0.00,1.48,60.45,1.257,4,0.000,0.051,3241,2531,2080,0,0,0,0,0,0
$GC,11954,0.73,204.7,983.5,6.9,605,11971,0.00,1.45,12.60,1.144,6,0.000,0.047,3247,1656,2027,0,0,0,0,0,0
$GC,12284,0.77,223.8,962.2,6.6,616,12305,0.08,0.35,17.77,1.177,4,0.122,0.064,3293,1441,1949,0,0,0,0,0,0
$GC,12383,0.74,223.8,953.3,9.2,619,12388,0.12,0.32,0.00,0.000,6,0.152,0.059,3259,1645,1947,0,0,0,0,0,0
$GC,12718,0.77,223.8,924.6,9.0,630,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1645,1945,0,0,0,0,0,0
$GC,13024,0.80,223.8,897.0,8.9,640,13026,0.05,0.00,0.00,0.000,6,0.166,0.000,3290,1645,1944,0,0,0,0,0,0
$GC,13330,0.80,223.8,867.7,9.1,650,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1645,1943,0,0,0,0,0,0
$GC,13636,0.80,223.8,841.9,8.1,660,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1645,1943,0,0,0,0,0,0
$GC,13942,0.80,223.8,817.4,7.9,670,13946,0.00,0.52,0.00,0.000,4,0.000,0.054,3290,2000,1942,0,0,0,0,0,0
$GC,14048,0.78,230.5,809.2,7.1,673,14059,0.08,0.57,6.12,0.921,6,0.184,0.054,3274,1636,1923,0,0,0,0,0,0
$GC,14383,0.78,231.9,784.6,7.3,684,14384,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1636,1922,0,0,0,0,0,0
$GC,14689,0.78,235.1,762.0,7.3,694,14696,0.00,0.00,5.80,0.892,6,0.000,0.000,3274,1637,1903,0,0,0,0,0,0
$GC,14994,0.78,235.1,739.3,7.4,704,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1636,1903,0,0,0,0,0,0
$GC,15301,0.78,235.1,715.2,8.1,714,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1636,1902,0,0,0,0,0,0
$GC,15607,0.78,235.1,690.4,8.1,724,15611,0.00,0.40,0.00,0.000,4,0.000,0.057,3274,1912,1902,0,0,0,0,0,0
$GC,15707,0.78,235.1,682.4,8.1,727,15711,0.00,0.40,0.00,0.000,6,0.000,0.059,3275,1647,1902,0,0,0,0,0,0
$GC,16047,0.78,235.1,654.0,8.4,738,16051,0.00,0.50,0.00,0.000,4,0.000,0.062,3279,1308,1902,0,0,0,0,0,0
$GC,16148,0.78,235.1,645.5,8.4,741,16152,0.00,0.50,0.00,0.000,6,0.000,0.053,3278,1643,1902,0,0,0,0,0,0
$GC,16488,0.78,235.1,617.4,8.3,752,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1643,1902,0,0,0,0,0,0
$GC,16794,0.78,235.1,593.7,7.4,762,16798,0.00,0.47,0.00,0.000,4,0.000,0.056,3278,1974,1902,0,0,0,0,0,0
$GC,16929,0.78,249.4,583.7,6.8,766,16948,0.00,0.50,13.80,0.990,6,0.000,0.058,3280,1646,1845,0,0,0,0,0,0
$GC,17267,0.78,250.0,559.0,7.4,777,17268,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1646,1843,0,0,0,0,0,0
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$STATE,23562,end climb,SURFACE_DEPTH_REACHED
$STATE,23562,begin surface coast
$FINISH,1.8,1.026844
$STATE,23592,end surface coast,CONTROL_FINISHED_OK
$STATE,23592,begin surface
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$SM_GC,2.55,8.25,0.00,0.00,0.031,0.000,0.000,85,1818,1764,-9.10,0.00,269.58
$IRIDIUM_FIX,-4256.74,-808.64,241012,171728
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,9.12811
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.7,22.068
$10V_AH,10.3,21.028
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.600,50.250,335.825,0.000,0.000,24.851,38.036,236.632,0.000,0.000,18.293,3039.297,16789.340,417.064,3681.330,147.881,33.362,1806.868,0.000,3323.496,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.921,1303.770,779.340,96.271,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353768
$DATA_FILE_SIZE,70266,1209
$CAP_FILE_SIZE,189635,0
$CFSIZE,2097086464,2077884416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251012,062905,-4306.303,-807.169,42,0.9,42,-21.4