version: 66.07.10.p01
glider: 573
mission: 4
dive: 131
start: 10 26 112 15 15 55
data:
$ID,573
$MISSION,4
$DIVE,131
$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,-4702.4971
$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,35
$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,110
$GPS1,261012,150805,-4247.888,-807.302,30,0.9,30,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-71.3
$GPS2,261012,151500,-4247.854,-807.323,19,1.2,20,-21.6
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.152,0.154
$KALMAN_X,-133304.4,459.6,-273.3,288714.4,-2638.7
$KALMAN_Y,-182002.2,-212.9,294.7,166948.6,2052.2
$MHEAD_RNG_PITCHd_Wd,66.2,43493,-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,-121.6,0.0,0.0,0,80,0.00,0.00,-54.08,0.000,2,0.000,0.000,79,1821,2842,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.0,-1.4,9,115,11.18,1.10,-16.20,0.000,4,0.251,0.077,2786,1104,3357,0,0,0,0,0,0
$GC,270,-0.61,-121.6,23.4,-12.4,40,278,0.12,1.12,0.00,0.000,6,0.143,0.046,2823,1820,3359,0,0,0,0,0,0
$GC,350,-0.57,-121.6,32.0,-10.2,53,356,0.00,0.47,0.00,0.000,4,0.000,0.054,2821,2148,3359,0,0,0,0,0,0
$GC,547,-0.54,-121.6,51.6,-10.1,87,553,0.05,0.50,0.00,0.000,6,0.148,0.051,2841,1812,3359,0,0,0,0,0,0
$GC,778,-0.54,-121.6,73.1,-9.4,128,784,0.00,0.57,0.00,0.000,4,0.000,0.053,2839,2189,3359,0,0,0,0,0,0
$GC,885,-0.54,-121.6,82.6,-9.1,147,891,0.00,0.55,0.00,0.000,6,0.000,0.050,2838,1818,3359,0,0,0,0,0,0
$GC,1217,-0.54,-121.6,113.6,-9.5,190,1220,0.00,0.38,0.00,0.000,4,0.000,0.056,2837,2084,3360,0,0,0,0,0,0
$GC,1318,-0.54,-121.6,122.7,-9.2,196,1322,0.00,0.38,0.00,0.000,6,0.000,0.054,2837,1822,3360,0,0,0,0,0,0
$GC,1649,-0.54,-121.6,152.0,-8.7,217,1653,0.00,0.65,0.00,0.000,4,0.000,0.050,2834,2257,3360,0,0,0,0,0,0
$GC,1738,-0.54,-121.6,160.0,-8.9,222,1742,0.00,0.68,0.00,0.000,6,0.000,0.047,2834,1813,3359,0,0,0,0,0,0
$GC,2064,-0.54,-121.6,187.2,-8.4,243,2068,0.00,0.60,0.00,0.000,4,0.000,0.053,2831,2220,3360,0,0,0,0,0,0
$GC,2158,-0.54,-121.6,195.2,-8.0,248,2166,0.05,0.62,0.00,0.000,6,0.213,0.048,2845,1807,3360,0,0,0,0,0,0
$GC,2479,-0.54,-121.6,220.7,-8.1,269,2482,0.00,0.85,0.00,0.000,4,0.000,0.051,2841,2367,3360,0,0,0,0,0,0
$GC,2582,-0.54,-121.6,229.1,-7.8,275,2586,0.00,0.82,0.00,0.000,6,0.000,0.046,2841,1819,3360,0,0,0,0,0,0
$GC,2918,-0.54,-121.6,257.0,-8.2,295,2921,0.00,0.82,0.00,0.000,4,0.000,0.051,2837,2364,3360,0,0,0,0,0,0
$GC,3012,-0.54,-121.6,264.7,-8.0,299,3016,0.00,0.85,0.00,0.000,6,0.000,0.045,2837,1809,3360,0,0,0,0,0,0
$GC,3341,-0.54,-121.6,292.8,-9.2,315,3345,0.00,1.05,0.00,0.000,4,0.000,0.051,2832,2488,3360,0,0,0,0,0,0
$GC,3435,-0.54,-121.6,301.9,-9.0,319,3439,0.00,1.05,0.00,0.000,6,0.000,0.044,2832,1810,3360,0,0,0,0,0,0
$GC,3764,-0.54,-121.6,336.8,-11.5,335,3768,0.00,0.93,0.00,0.000,4,0.000,0.051,2827,2415,3360,0,0,0,0,0,0
$GC,3864,-0.54,-121.6,348.8,-11.3,339,3869,0.08,0.93,0.00,0.000,6,0.186,0.045,2847,1813,3360,0,0,0,0,0,0
$GC,4187,-0.54,-121.6,381.2,-9.6,355,4191,0.00,1.40,0.00,0.000,4,0.000,0.053,2841,2711,3360,0,0,0,0,0,0
$GC,4280,-0.56,-121.6,389.7,-9.1,359,4283,0.00,1.38,0.00,0.000,6,0.000,0.044,2841,1818,3360,0,0,0,0,0,0
$GC,4621,-0.56,-121.6,420.1,-8.6,372,4625,0.00,2.20,0.00,0.000,4,0.000,0.057,2830,3226,3360,0,0,0,0,0,0
$GC,4765,-0.56,-121.6,432.9,-8.9,376,4770,0.00,2.17,0.00,0.000,6,0.000,0.041,2830,1816,3360,0,0,0,0,0,0
$GC,5089,-0.56,-121.6,460.3,-8.3,387,5093,0.00,0.70,0.00,0.000,4,0.000,0.052,2828,2282,3360,0,0,0,0,0,0
$GC,5183,-0.56,-121.6,468.4,-8.6,389,5188,0.00,0.73,0.00,0.000,6,0.000,0.047,2827,1808,3360,0,0,0,0,0,0
$GC,5495,-0.56,-121.6,496.8,-9.1,400,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1808,3360,0,0,0,0,0,0
$GC,5801,-0.56,-121.6,524.9,-9.3,410,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1808,3360,0,0,0,0,0,0
$GC,6108,-0.56,-121.6,554.7,-10.0,420,6111,0.00,1.15,0.00,0.000,4,0.000,0.054,2822,2545,3360,0,0,0,0,0,0
$GC,6190,-0.56,-121.6,563.7,-10.7,422,6195,0.08,1.12,0.00,0.000,6,0.181,0.044,2842,1821,3360,0,0,0,0,0,0
$GC,6514,-0.56,-121.6,595.3,-9.8,433,6518,0.00,0.82,0.00,0.000,4,0.000,0.052,2838,2371,3359,0,0,0,0,0,0
$GC,6630,-0.56,-121.6,606.4,-9.8,436,6635,0.00,0.85,0.00,0.000,6,0.000,0.047,2838,1819,3359,0,0,0,0,0,0
$GC,6954,-0.56,-121.6,636.3,-9.3,447,6958,0.00,0.40,0.00,0.000,4,0.000,0.057,2836,2106,3358,0,0,0,0,0,0
$GC,7014,-0.56,-121.6,641.8,-8.9,448,7019,0.00,0.43,0.00,0.000,6,0.000,0.054,2836,1818,3358,0,0,0,0,0,0
$GC,7326,-0.56,-121.6,667.5,-8.0,459,7330,0.00,0.35,0.00,0.000,4,0.000,0.058,2835,2066,3358,0,0,0,0,0,0
$GC,7515,-0.56,-121.6,682.3,-7.9,464,7517,0.00,0.38,0.00,0.000,6,0.000,0.057,2835,1814,3357,0,0,0,0,0,0
$GC,7830,-0.56,-121.6,703.6,-6.5,475,7833,0.00,0.88,0.00,0.000,4,0.000,0.053,2830,2385,3357,0,0,0,0,0,0
$GC,7946,-0.56,-121.6,711.1,-6.7,478,7951,0.00,0.88,0.00,0.000,6,0.000,0.047,2831,1818,3357,0,0,0,0,0,0
$GC,8270,-0.56,-121.6,729.4,-5.5,489,8274,0.00,0.75,0.00,0.000,4,0.000,0.054,2828,2313,3356,0,0,0,0,0,0
$GC,8372,-0.56,-121.6,735.1,-5.6,492,8376,0.00,0.75,0.00,0.000,6,0.000,0.049,2828,1817,3356,0,0,0,0,0,0
$GC,8712,-0.56,-121.6,756.2,-6.6,503,8716,0.00,0.60,0.00,0.000,4,0.000,0.054,2825,2216,3355,0,0,0,0,0,0
$GC,8835,-0.56,-121.6,764.7,-7.0,506,8840,0.05,0.62,0.00,0.000,6,0.214,0.050,2838,1807,3355,0,0,0,0,0,0
$GC,9153,-0.56,-121.6,787.3,-7.5,517,9156,0.00,0.80,0.00,0.000,4,0.000,0.054,2835,2326,3354,0,0,0,0,0,0
$GC,9291,-0.56,-121.6,798.3,-7.6,521,9296,0.00,0.77,0.00,0.000,6,0.000,0.049,2835,1821,3353,0,0,0,0,0,0
$GC,9626,-0.56,-121.6,824.8,-7.7,532,9630,0.00,0.57,0.00,0.000,4,0.000,0.054,2832,2208,3353,0,0,0,0,0,0
$GC,9737,-0.56,-121.6,832.9,-7.8,535,9741,0.00,0.60,0.00,0.000,6,0.000,0.050,2832,1813,3353,0,0,0,0,0,0
$GC,10066,-0.56,-121.6,855.2,-6.8,546,10070,0.00,0.52,0.00,0.000,4,0.000,0.056,2830,2166,3353,0,0,0,0,0,0
$GC,10206,-0.56,-121.6,864.5,-6.5,550,10210,0.00,0.52,0.00,0.000,6,0.000,0.053,2830,1820,3352,0,0,0,0,0,0
$GC,10541,-0.56,-121.6,887.5,-6.9,561,10545,0.00,0.60,0.00,0.000,4,0.000,0.055,2827,2223,3352,0,0,0,0,0,0
$GC,10663,-0.56,-121.6,896.7,-8.2,564,10667,0.00,0.62,0.00,0.000,6,0.000,0.051,2827,1814,3352,0,0,0,0,0,0
$GC,10981,-0.56,-121.6,923.4,-8.7,575,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1814,3352,0,0,0,0,0,0
$GC,11287,-0.56,-121.6,950.4,-8.7,585,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1814,3351,0,0,0,0,0,0
$GC,11594,-0.56,-121.6,975.8,-8.0,595,11598,0.00,0.82,0.00,0.000,4,0.000,0.054,2824,2353,3351,0,0,0,0,0,0
$GC,11704,-0.56,-121.6,984.4,-6.9,598,11710,0.05,0.82,0.00,0.000,6,0.214,0.049,2836,1821,3350,0,0,0,0,0,0
$STATE,11940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11940,begin apogee
$GC,11944,-0.23,0.0,1001.0,6.8,606,12047,0.35,0.00,99.60,1.304,6,0.123,0.000,2951,1637,2862,0,0,0,0,0,0
$STATE,12048,end apogee,CONTROL_FINISHED_OK
$STATE,12048,begin climb
$GC,12049,0.71,121.6,1003.5,0.0,609,12160,0.88,0.98,103.28,1.270,4,0.092,0.057,3248,1077,2365,0,0,0,0,0,0
$GC,12205,0.71,136.2,997.3,6.8,614,12225,0.00,0.95,13.65,1.147,6,0.000,0.047,3248,1648,2306,0,0,0,0,0,0
$GC,12544,0.71,141.1,972.7,7.2,625,12553,0.00,1.35,5.35,0.936,4,0.000,0.052,3248,2502,2287,0,0,0,0,0,0
$GC,12704,0.71,158.5,960.9,6.7,629,12725,0.00,1.40,16.83,1.171,6,0.000,0.047,3254,1649,2215,0,0,0,0,0,0
$GC,13044,0.71,182.7,937.9,6.4,641,13069,0.00,0.93,22.02,1.195,4,0.000,0.052,3254,2204,2117,0,0,0,0,0,0
$GC,13171,0.71,210.9,929.4,6.3,644,13202,0.00,0.90,25.98,1.208,6,0.000,0.050,3258,1644,2002,0,0,0,0,0,0
$GC,13509,0.73,222.6,905.3,6.9,655,13522,0.00,0.00,11.35,1.098,6,0.000,0.000,3258,1644,1954,0,0,0,0,0,0
$GC,13815,0.76,222.6,882.3,7.8,665,13816,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1644,1952,0,0,0,0,0,0
$GC,14121,0.79,222.6,857.0,8.2,675,14125,0.00,0.30,0.00,0.000,4,0.000,0.059,3258,1849,1951,0,0,0,0,0,0
$GC,14203,0.81,229.2,850.6,7.1,677,14214,0.08,0.35,7.00,0.979,6,0.124,0.062,3299,1631,1927,0,0,0,0,0,0
$GC,14527,0.79,229.2,822.5,8.5,688,14531,0.10,0.68,0.00,0.000,4,0.161,0.054,3273,2058,1926,0,0,0,0,0,0
$GC,14615,0.79,247.0,815.9,6.7,690,14635,0.00,0.65,17.25,1.129,6,0.000,0.054,3275,1646,1854,0,0,0,0,0,0
$GC,14965,0.79,247.0,789.6,7.8,702,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1646,1849,0,0,0,0,0,0
$GC,15271,0.79,251.9,766.8,7.2,712,15280,0.00,0.35,5.30,0.848,4,0.000,0.048,3275,1885,1833,0,0,0,0,0,0
$GC,15376,0.81,252.8,759.0,7.4,715,15380,0.00,0.40,0.00,0.000,6,0.000,0.059,3277,1623,1833,0,0,0,0,0,0
$GC,15711,0.83,261.7,734.9,7.0,726,15725,0.00,0.52,10.02,1.021,4,0.000,0.046,3277,1966,1795,0,0,0,0,0,0
$GC,15798,0.86,279.8,728.7,6.7,728,15819,0.00,0.52,18.15,1.082,6,0.000,0.057,3279,1642,1721,0,0,0,0,0,0
$GC,16143,0.89,279.8,701.5,8.3,740,16145,0.10,0.00,0.00,0.000,6,0.100,0.000,3332,1643,1716,0,0,0,0,0,0
$GC,16449,0.84,279.8,666.4,11.8,750,16453,0.15,0.47,0.00,0.000,4,0.152,0.055,3290,1952,1715,0,0,0,0,0,0
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$STATE,23620,end climb,SURFACE_DEPTH_REACHED
$STATE,23620,begin surface coast
$FINISH,1.7,1.026694
$STATE,23646,end surface coast,CONTROL_FINISHED_OK
$STATE,23646,begin surface
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$IRIDIUM_FIX,-4236.17,-809.05,261012,080822
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$HUMID,42.40
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$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,22.912
$10V_AH,10.2,21.831
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.625,61.100,355.775,0.000,0.000,27.220,40.801,232.726,0.000,0.000,22.330,3083.959,16625.053,432.043,3822.634,169.269,33.363,1874.125,0.000,3469.186,0.000,1.009,0.000
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$SENSOR_SECS,814.082,1313.813,790.022,98.456,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353796
$DATA_FILE_SIZE,70345,1215
$CAP_FILE_SIZE,194297,0
$CFSIZE,2097086464,2077097984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261012,215229,-4244.525,-806.165,40,1.1,40,-21.6