version: 66.07.10.p01
glider: 573
mission: 4
dive: 127
start: 10 25 112 13 15 37
data:
$ID,573
$MISSION,4
$DIVE,127
$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,-4689.0791
$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,30
$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,106
$GPS1,251012,130723,-4302.702,-807.341,55,2.0,55,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-73.0
$GPS2,251012,131442,-4302.734,-807.449,22,1.9,22,-21.5
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,0.209
$KALMAN_X,-124388.0,-101.9,-273.7,280205.9,-439.3
$KALMAN_Y,-189164.7,366.3,-415.6,146680.2,1792.2
$MHEAD_RNG_PITCHd_Wd,36.5,70621,-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,-48.50,0.000,2,0.000,0.000,81,1824,2831,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.5,8,109,11.12,1.02,-16.17,0.000,4,0.249,0.079,2781,2494,3358,0,0,0,0,0,0
$GC,234,-0.61,-121.6,23.0,-13.5,34,242,0.10,1.08,0.00,0.000,6,0.148,0.047,2814,1813,3360,0,0,0,0,0,0
$GC,314,-0.56,-121.6,33.4,-11.7,47,319,0.10,0.00,0.00,0.000,6,0.182,0.000,2842,1813,3360,0,0,0,0,0,0
$GC,548,-0.56,-121.6,58.2,-7.1,88,555,0.00,0.62,0.00,0.000,4,0.000,0.053,2839,2234,3360,0,0,0,0,0,0
$GC,605,-0.56,-121.6,62.9,-8.2,98,611,0.00,0.65,0.00,0.000,6,0.000,0.048,2839,1809,3360,0,0,0,0,0,0
$GC,947,-0.56,-121.6,90.7,-8.5,159,953,0.00,0.40,0.00,0.000,4,0.000,0.054,2838,2096,3360,0,0,0,0,0,0
$GC,1068,-0.56,-121.6,101.3,-8.9,179,1072,0.00,0.40,0.00,0.000,6,0.000,0.054,2838,1819,3360,0,0,0,0,0,0
$GC,1399,-0.56,-121.6,132.7,-9.7,200,1402,0.00,0.68,0.00,0.000,4,0.000,0.051,2835,2270,3360,0,0,0,0,0,0
$GC,1504,-0.56,-121.6,143.0,-9.7,206,1508,0.00,0.70,0.00,0.000,6,0.000,0.047,2835,1813,3360,0,0,0,0,0,0
$GC,1830,-0.56,-121.6,173.9,-9.4,227,1834,0.00,0.68,0.00,0.000,4,0.000,0.051,2832,2266,3360,0,0,0,0,0,0
$GC,1935,-0.56,-121.6,183.7,-9.4,233,1938,0.00,0.68,0.00,0.000,6,0.000,0.048,2832,1814,3360,0,0,0,0,0,0
$GC,2266,-0.56,-121.6,217.5,-10.3,254,2269,0.00,0.90,0.00,0.000,4,0.000,0.050,2828,2402,3360,0,0,0,0,0,0
$GC,2367,-0.56,-121.6,228.0,-10.0,260,2370,0.00,0.88,0.00,0.000,6,0.000,0.046,2828,1822,3361,0,0,0,0,0,0
$GC,2692,-0.54,-121.6,260.8,-9.9,279,2697,0.08,0.93,0.00,0.000,4,0.194,0.051,2842,2422,3361,0,0,0,0,0,0
$GC,2792,-0.54,-121.6,270.2,-8.9,283,2797,0.00,0.95,0.00,0.000,6,0.000,0.044,2843,1806,3361,0,0,0,0,0,0
$GC,3115,-0.54,-121.6,297.9,-8.4,299,3119,0.00,1.05,0.00,0.000,4,0.000,0.050,2838,2484,3361,0,0,0,0,0,0
$GC,3221,-0.54,-121.6,307.4,-8.5,303,3226,0.00,1.02,0.00,0.000,6,0.000,0.044,2838,1820,3360,0,0,0,0,0,0
$GC,3539,-0.54,-121.6,335.0,-8.7,319,3542,0.00,1.20,0.00,0.000,4,0.000,0.052,2832,2586,3361,0,0,0,0,0,0
$GC,3661,-0.54,-121.6,346.2,-8.9,324,3666,0.00,1.20,0.00,0.000,6,0.000,0.043,2833,1811,3361,0,0,0,0,0,0
$GC,3983,-0.54,-121.6,375.6,-8.9,340,3986,0.00,1.88,0.00,0.000,4,0.000,0.055,2824,3027,3361,0,0,0,0,0,0
$GC,4111,-0.54,-121.6,386.9,-8.7,345,4118,0.05,1.85,0.00,0.000,6,0.142,0.041,2843,1828,3361,0,0,0,0,0,0
$GC,4436,-0.54,-121.6,414.4,-8.5,359,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1828,3361,0,0,0,0,0,0
$GC,4742,-0.54,-121.6,442.0,-9.3,369,4746,0.00,0.55,0.00,0.000,4,0.000,0.051,2841,2203,3361,0,0,0,0,0,0
$GC,4802,-0.54,-121.6,447.6,-8.7,370,4808,0.00,0.60,0.00,0.000,6,0.000,0.047,2841,1805,3361,0,0,0,0,0,0
$GC,5115,-0.54,-121.6,476.5,-9.3,381,5118,0.00,0.95,0.00,0.000,4,0.000,0.050,2837,2426,3361,0,0,0,0,0,0
$GC,5216,-0.54,-121.6,486.0,-9.3,384,5219,0.00,0.93,0.00,0.000,6,0.000,0.045,2837,1816,3361,0,0,0,0,0,0
$GC,5555,-0.54,-121.6,518.8,-9.5,395,5559,0.00,0.80,0.00,0.000,4,0.000,0.051,2833,2344,3361,0,0,0,0,0,0
$GC,5671,-0.54,-121.6,529.9,-8.8,398,5676,0.00,0.80,0.00,0.000,6,0.000,0.045,2833,1816,3361,0,0,0,0,0,0
$GC,5995,-0.54,-121.6,559.2,-8.9,409,5999,0.00,0.60,0.00,0.000,4,0.000,0.052,2830,2222,3361,0,0,0,0,0,0
$GC,6100,-0.54,-121.6,568.8,-9.2,412,6105,0.05,0.62,0.00,0.000,6,0.210,0.049,2844,1809,3360,0,0,0,0,0,0
$GC,6435,-0.54,-121.6,595.4,-7.7,423,6438,0.00,0.32,0.00,0.000,4,0.000,0.057,2842,2046,3361,0,0,0,0,0,0
$GC,6573,-0.54,-121.6,606.3,-8.0,427,6577,0.00,0.35,0.00,0.000,6,0.000,0.056,2842,1807,3360,0,0,0,0,0,0
$GC,6908,-0.54,-121.6,632.1,-7.8,438,6911,0.00,0.90,0.00,0.000,4,0.000,0.052,2838,2391,3360,0,0,0,0,0,0
$GC,7002,-0.56,-121.6,639.5,-7.5,440,7008,0.00,0.88,0.00,0.000,6,0.000,0.046,2839,1823,3360,0,0,0,0,0,0
$GC,7314,-0.56,-121.6,663.9,-7.9,451,7318,0.00,0.45,0.00,0.000,4,0.000,0.053,2837,2135,3359,0,0,0,0,0,0
$GC,7543,-0.56,-121.6,682.5,-7.5,457,7548,0.00,0.47,0.00,0.000,6,0.000,0.051,2836,1816,3359,0,0,0,0,0,0
$GC,7855,-0.56,-121.6,708.2,-8.2,468,7859,0.00,0.77,0.00,0.000,4,0.000,0.052,2833,2326,3359,0,0,0,0,0,0
$GC,7960,-0.56,-121.6,717.1,-8.2,471,7965,0.00,0.77,0.00,0.000,6,0.000,0.047,2833,1821,3358,0,0,0,0,0,0
$GC,8295,-0.56,-121.6,745.2,-8.4,482,8299,0.00,0.70,0.00,0.000,4,0.000,0.054,2830,2286,3357,0,0,0,0,0,0
$GC,8422,-0.56,-121.6,755.9,-8.9,485,8427,0.00,0.73,0.00,0.000,6,0.000,0.048,2830,1815,3357,0,0,0,0,0,0
$GC,8734,-0.56,-121.6,782.5,-8.8,496,8738,0.00,0.32,0.00,0.000,4,0.000,0.058,2829,2046,3356,0,0,0,0,0,0
$GC,8991,-0.56,-121.6,805.1,-8.9,503,8995,0.00,0.35,0.00,0.000,6,0.000,0.057,2829,1809,3356,0,0,0,0,0,0
$GC,9309,-0.56,-121.6,834.0,-9.2,514,9312,0.00,0.35,0.00,0.000,4,0.000,0.059,2828,2057,3355,0,0,0,0,0,0
$GC,9470,-0.56,-121.6,848.6,-8.8,518,9476,0.00,0.35,0.00,0.000,6,0.000,0.057,2827,1822,3355,0,0,0,0,0,0
$GC,9783,-0.56,-121.6,877.2,-9.2,529,9786,0.00,0.45,0.00,0.000,4,0.000,0.054,2825,2135,3354,0,0,0,0,0,0
$GC,9904,-0.56,-121.6,888.6,-10.0,532,9908,0.00,0.47,0.00,0.000,6,0.000,0.052,2825,1818,3354,0,0,0,0,0,0
$GC,10222,-0.56,-121.6,914.9,-8.1,543,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1818,3353,0,0,0,0,0,0
$GC,10529,-0.56,-121.6,937.0,-6.9,553,10532,0.00,0.47,0.00,0.000,4,0.000,0.057,2823,2143,3353,0,0,0,0,0,0
$GC,10664,-0.56,-121.6,946.7,-6.8,557,10668,0.03,0.47,0.00,0.000,6,0.165,0.054,2834,1820,3353,0,0,0,0,0,0
$GC,11005,-0.58,-121.6,969.8,-6.9,568,11009,0.00,0.62,0.00,0.000,4,0.000,0.055,2832,2245,3352,0,0,0,0,0,0
$GC,11155,-0.61,-121.6,980.7,-7.9,572,11159,0.00,0.65,0.00,0.000,6,0.000,0.050,2832,1820,3352,0,0,0,0,0,0
$STATE,11416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11416,begin apogee
$GC,11420,-0.23,0.0,1001.0,8.0,581,11523,0.35,0.00,99.62,1.309,6,0.122,0.000,2947,1650,2862,0,0,0,0,0,0
$STATE,11524,end apogee,CONTROL_FINISHED_OK
$STATE,11524,begin climb
$GC,11525,0.71,121.6,1005.2,0.0,584,11636,0.88,1.38,102.65,1.271,4,0.092,0.056,3246,867,2365,0,0,0,0,0,0
$GC,11685,0.71,195.0,1001.9,4.4,589,11756,0.00,1.33,65.10,1.248,6,0.000,0.044,3246,1646,2066,0,0,0,0,0,0
$GC,12081,0.74,229.6,978.4,6.0,602,12115,0.00,0.68,30.67,1.229,4,0.000,0.048,3246,2102,1925,0,0,0,0,0,0
$GC,12194,0.79,242.0,971.3,6.9,605,12210,0.05,0.73,12.05,1.135,6,0.071,0.052,3286,1652,1875,0,0,0,0,0,0
$GC,12516,0.79,242.0,943.2,9.2,616,12520,0.00,0.55,0.00,0.000,4,0.000,0.054,3286,2010,1871,0,0,0,0,0,0
$GC,12587,0.79,242.0,936.6,9.1,618,12591,0.00,0.60,0.00,0.000,6,0.000,0.054,3289,1639,1871,0,0,0,0,0,0
$GC,12922,0.79,242.0,903.7,10.0,629,12926,0.00,0.32,0.00,0.000,4,0.000,0.067,3290,1417,1869,0,0,0,0,0,0
$GC,13038,0.79,242.0,891.8,10.2,632,13043,0.05,0.38,0.00,0.000,6,0.204,0.056,3277,1660,1869,0,0,0,0,0,0
$GC,13361,0.79,242.0,861.3,9.3,643,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1659,1869,0,0,0,0,0,0
$GC,13667,0.79,242.0,834.1,8.6,653,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1660,1869,0,0,0,0,0,0
$GC,13973,0.79,242.0,809.6,7.8,663,13977,0.00,0.68,0.00,0.000,4,0.000,0.058,3281,1222,1868,0,0,0,0,0,0
$GC,14056,0.79,242.0,803.4,7.8,665,14060,0.00,0.68,0.00,0.000,6,0.000,0.048,3280,1651,1868,0,0,0,0,0,0
$GC,14380,0.79,259.7,781.4,6.7,676,14400,0.00,0.60,16.27,1.121,4,0.000,0.055,3283,1249,1802,0,0,0,0,0,0
$GC,14489,0.81,259.7,773.7,7.4,679,14493,0.00,0.65,0.00,0.000,6,0.000,0.049,3283,1658,1800,0,0,0,0,0,0
$GC,14819,0.83,260.1,750.4,7.4,690,14823,0.00,0.35,0.00,0.000,4,0.000,0.059,3284,1907,1798,0,0,0,0,0,0
$GC,14902,0.83,275.2,744.2,6.8,692,14921,0.00,0.43,14.68,1.085,6,0.000,0.058,3285,1639,1739,0,0,0,0,0,0
$GC,15257,0.85,275.2,713.7,9.1,704,15261,0.00,0.68,0.00,0.000,4,0.000,0.059,3288,1202,1736,0,0,0,0,0,0
$GC,15362,0.88,275.2,703.9,9.7,707,15367,0.00,0.73,0.00,0.000,6,0.000,0.049,3289,1657,1736,0,0,0,0,0,0
$GC,15698,0.90,275.2,672.4,9.5,718,15700,0.08,0.00,0.00,0.000,6,0.123,0.000,3329,1657,1735,0,0,0,0,0,0
$GC,16004,0.86,275.2,637.1,11.7,728,16006,0.10,0.00,0.00,0.000,6,0.166,0.000,3302,1657,1735,0,0,0,0,0,0
$GC,16310,0.86,275.2,606.5,9.7,738,16314,0.00,0.38,0.00,0.000,4,0.000,0.063,3304,1405,1735,0,0,0,0,0,0
$GC,16347,0.86,275.2,602.8,9.8,739,16351,0.00,0.38,0.00,0.000,6,0.000,0.057,3304,1651,1734,0,0,0,0,0,0
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$STATE,22341,end climb,SURFACE_DEPTH_REACHED
$STATE,22341,begin surface coast
$FINISH,1.6,1.026367
$STATE,22366,end surface coast,CONTROL_FINISHED_OK
$STATE,22366,begin surface
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$HUMID,42.75
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.6,22.343
$10V_AH,10.2,21.296
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.425,60.075,341.050,0.000,0.000,27.684,41.971,239.070,0.000,0.000,24.933,2925.677,15568.393,426.648,3801.094,151.471,33.356,1898.140,0.000,3408.821,0.000,1.008,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,66941,1129
$CAP_FILE_SIZE,194795,0
$CFSIZE,2097086464,2077622272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251012,193159,-4259.435,-807.323,109,1.0,109,-21.5