version: 66.07.10.p01
glider: 573
mission: 4
dive: 134
start: 10 27 112 11 20 1
data:
$ID,573
$MISSION,4
$DIVE,134
$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,-4712.3213
$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,31
$R_STBD_OVSHOOT,38
$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,113
$GPS1,271012,111135,-4239.846,-801.981,48,1.2,48,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-62.3
$GPS2,271012,111906,-4239.807,-802.019,15,1.4,16,-21.6
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.110,0.188
$KALMAN_X,-140693.6,216.6,-331.2,303636.8,-2290.1
$KALMAN_Y,-175754.6,-48.4,367.3,175373.1,1656.1
$MHEAD_RNG_PITCHd_Wd,51.9,27560,-15.3,-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,-0.70,-121.6,0.0,0.0,0,92,0.00,0.00,-65.85,0.000,2,0.000,0.000,81,1827,2897,0,0,0,0,0,0
$GC,94,-0.70,-121.6,3.1,-1.5,11,127,11.10,2.33,-13.48,0.000,4,0.249,0.067,2785,412,3359,0,0,0,0,0,0
$GC,299,-0.58,-121.6,27.2,-12.4,45,307,0.15,2.22,0.00,0.000,6,0.144,0.043,2826,1809,3360,0,0,0,0,0,0
$GC,377,-0.54,-121.6,34.1,-8.3,58,385,0.08,1.23,0.00,0.000,4,0.193,0.053,2840,2583,3361,0,0,0,0,0,0
$GC,490,-0.54,-121.6,42.0,-7.6,77,495,0.00,1.20,0.00,0.000,6,0.000,0.044,2840,1813,3361,0,0,0,0,0,0
$GC,725,-0.54,-121.6,65.7,-9.4,118,730,0.00,0.60,0.00,0.000,4,0.000,0.051,2837,2213,3361,0,0,0,0,0,0
$GC,870,-0.54,-121.6,79.6,-9.8,144,877,0.00,0.60,0.00,0.000,6,0.000,0.048,2837,1816,3361,0,0,0,0,0,0
$GC,1207,-0.54,-121.6,114.1,-11.4,189,1211,0.00,0.55,0.00,0.000,4,0.000,0.051,2835,2193,3361,0,0,0,0,0,0
$GC,1277,-0.54,-121.6,121.8,-11.2,193,1280,0.00,0.55,0.00,0.000,6,0.000,0.050,2835,1820,3361,0,0,0,0,0,0
$GC,1606,-0.54,-121.6,155.9,-9.6,214,1610,0.00,0.85,0.00,0.000,4,0.000,0.050,2831,2378,3361,0,0,0,0,0,0
$GC,1701,-0.54,-121.6,164.9,-9.4,219,1707,0.00,0.88,0.00,0.000,6,0.000,0.044,2831,1808,3361,0,0,0,0,0,0
$GC,2020,-0.54,-121.6,194.9,-9.3,240,2023,0.00,1.05,0.00,0.000,4,0.000,0.050,2826,2486,3361,0,0,0,0,0,0
$GC,2122,-0.54,-121.6,203.6,-8.2,246,2126,0.03,1.02,0.00,0.000,6,0.178,0.044,2837,1816,3362,0,0,0,0,0,0
$GC,2453,-0.54,-121.6,230.0,-7.8,267,2457,0.00,1.00,0.00,0.000,4,0.000,0.050,2832,2460,3361,0,0,0,0,0,0
$GC,2557,-0.54,-121.6,238.2,-8.2,273,2561,0.00,0.98,0.00,0.000,6,0.000,0.044,2833,1819,3361,0,0,0,0,0,0
$GC,2887,-0.54,-121.6,265.7,-8.2,291,2890,0.00,0.80,0.00,0.000,4,0.000,0.050,2829,2347,3362,0,0,0,0,0,0
$GC,3025,-0.54,-121.6,276.9,-9.0,297,3029,0.03,0.80,0.00,0.000,6,0.182,0.046,2839,1814,3362,0,0,0,0,0,0
$GC,3359,-0.54,-121.6,305.5,-8.3,313,3363,0.00,0.68,0.00,0.000,4,0.000,0.050,2836,2270,3362,0,0,0,0,0,0
$GC,3435,-0.54,-121.6,311.9,-7.8,316,3440,0.00,0.70,0.00,0.000,6,0.000,0.045,2836,1808,3362,0,0,0,0,0,0
$GC,3757,-0.54,-121.6,335.9,-6.5,332,3761,0.00,0.73,0.00,0.000,4,0.000,0.050,2833,2294,3361,0,0,0,0,0,0
$GC,3852,-0.54,-121.6,342.1,-5.8,336,3856,0.00,0.73,0.00,0.000,6,0.000,0.044,2833,1816,3362,0,0,0,0,0,0
$GC,4179,-0.54,-121.6,363.5,-7.0,352,4183,0.00,1.45,0.00,0.000,4,0.000,0.052,2826,2738,3362,0,0,0,0,0,0
$GC,4295,-0.54,-121.6,371.9,-7.1,357,4299,0.03,1.42,0.00,0.000,6,0.177,0.042,2837,1811,3362,0,0,0,0,0,0
$GC,4628,-0.54,-121.6,395.9,-7.3,373,4632,0.00,0.32,0.00,0.000,4,0.000,0.057,2835,2051,3362,0,0,0,0,0,0
$GC,4689,-0.54,-121.6,400.2,-6.4,375,4694,0.00,0.35,0.00,0.000,6,0.000,0.054,2835,1809,3362,0,0,0,0,0,0
$GC,5001,-0.54,-121.6,420.3,-6.7,386,5005,0.00,0.35,0.00,0.000,4,0.000,0.055,2834,2058,3362,0,0,0,0,0,0
$GC,5140,-0.54,-121.6,430.0,-7.0,390,5144,0.00,0.35,0.00,0.000,6,0.000,0.054,2834,1818,3361,0,0,0,0,0,0
$GC,5475,-0.54,-121.6,454.7,-7.9,401,5479,0.00,1.05,0.00,0.000,4,0.000,0.051,2829,2494,3361,0,0,0,0,0,0
$GC,5580,-0.54,-121.6,463.9,-8.8,404,5585,0.05,1.05,0.00,0.000,6,0.216,0.043,2842,1815,3361,0,0,0,0,0,0
$GC,5915,-0.54,-121.6,493.9,-9.0,415,5919,0.00,1.10,0.00,0.000,4,0.000,0.052,2837,2520,3361,0,0,0,0,0,0
$GC,6020,-0.54,-121.6,503.2,-8.4,418,6025,0.00,1.10,0.00,0.000,6,0.000,0.043,2837,1809,3361,0,0,0,0,0,0
$GC,6356,-0.54,-121.6,534.0,-9.4,429,6359,0.00,0.82,0.00,0.000,4,0.000,0.051,2834,2356,3360,0,0,0,0,0,0
$GC,6478,-0.54,-121.6,545.9,-9.9,432,6482,0.00,0.82,0.00,0.000,6,0.000,0.045,2834,1818,3360,0,0,0,0,0,0
$GC,6796,-0.54,-121.6,577.7,-9.9,443,6799,0.00,1.10,0.00,0.000,4,0.000,0.052,2829,2524,3360,0,0,0,0,0,0
$GC,6901,-0.54,-121.6,587.6,-9.3,446,6906,0.05,1.10,0.00,0.000,6,0.217,0.044,2842,1815,3360,0,0,0,0,0,0
$GC,7236,-0.54,-121.6,616.7,-8.5,457,7239,0.00,0.75,0.00,0.000,4,0.000,0.051,2838,2310,3359,0,0,0,0,0,0
$GC,7346,-0.54,-121.6,625.1,-6.4,460,7351,0.00,0.75,0.00,0.000,6,0.000,0.046,2838,1819,3359,0,0,0,0,0,0
$GC,7676,-0.54,-121.6,647.9,-7.3,471,7680,0.00,0.40,0.00,0.000,4,0.000,0.057,2836,2101,3358,0,0,0,0,0,0
$GC,7758,-0.54,-121.6,654.4,-7.5,473,7763,0.00,0.43,0.00,0.000,6,0.000,0.053,2836,1815,3358,0,0,0,0,0,0
$GC,8082,-0.54,-121.6,680.2,-8.2,484,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1815,3358,0,0,0,0,0,0
$GC,8388,-0.54,-121.6,706.8,-8.8,494,8392,0.00,1.05,0.00,0.000,4,0.000,0.052,2832,2490,3357,0,0,0,0,0,0
$GC,8493,-0.54,-121.6,716.7,-9.8,497,8498,0.00,1.05,0.00,0.000,6,0.000,0.044,2832,1814,3357,0,0,0,0,0,0
$GC,8828,-0.54,-121.6,748.5,-9.3,508,8832,0.00,0.88,0.00,0.000,4,0.000,0.051,2828,2385,3357,0,0,0,0,0,0
$GC,8922,-0.54,-121.6,758.0,-9.7,510,8928,0.05,0.88,0.00,0.000,6,0.216,0.045,2840,1815,3357,0,0,0,0,0,0
$GC,9235,-0.54,-121.6,785.1,-8.4,521,9238,0.00,0.25,0.00,0.000,4,0.000,0.063,2839,2003,3356,0,0,0,0,0,0
$GC,9369,-0.54,-121.6,796.5,-8.2,525,9373,0.00,0.25,0.00,0.000,6,0.000,0.063,2839,1819,3356,0,0,0,0,0,0
$GC,9709,-0.54,-121.6,825.3,-8.4,536,9713,0.00,0.68,0.00,0.000,4,0.000,0.052,2836,2270,3355,0,0,0,0,0,0
$GC,9831,-0.54,-121.6,835.5,-7.9,539,9836,0.00,0.70,0.00,0.000,6,0.000,0.047,2836,1810,3355,0,0,0,0,0,0
$GC,10149,-0.54,-121.6,858.8,-6.8,550,10153,0.00,0.62,0.00,0.000,4,0.000,0.054,2833,2231,3354,0,0,0,0,0,0
$GC,10277,-0.54,-121.6,867.1,-6.0,553,10283,0.00,0.62,0.00,0.000,6,0.000,0.047,2834,1819,3354,0,0,0,0,0,0
$GC,10590,-0.54,-121.6,888.8,-7.2,564,10594,0.00,0.68,0.00,0.000,4,0.000,0.054,2831,2269,3353,0,0,0,0,0,0
$GC,10726,-0.54,-121.6,897.4,-6.1,568,10729,0.00,0.68,0.00,0.000,6,0.000,0.048,2830,1818,3353,0,0,0,0,0,0
$GC,11066,-0.54,-121.6,918.9,-6.5,579,11070,0.00,0.95,0.00,0.000,4,0.000,0.053,2826,2433,3353,0,0,0,0,0,0
$GC,11167,-0.54,-121.6,925.8,-6.8,582,11171,0.03,0.93,0.00,0.000,6,0.174,0.045,2837,1822,3353,0,0,0,0,0,0
$GC,11506,-0.54,-121.6,952.2,-8.4,593,11510,0.00,0.43,0.00,0.000,4,0.000,0.054,2835,2121,3352,0,0,0,0,0,0
$GC,11589,-0.57,-121.6,959.8,-9.0,595,11593,0.00,0.47,0.00,0.000,6,0.000,0.052,2835,1804,3353,0,0,0,0,0,0
$GC,11913,-0.59,-121.6,988.9,-8.9,606,11916,0.00,0.82,0.00,0.000,4,0.000,0.052,2831,2350,3352,0,0,0,0,0,0
$GC,12029,-0.61,-121.6,999.1,-8.0,609,12034,0.00,0.82,0.00,0.000,6,0.000,0.046,2831,1815,3352,0,0,0,0,0,0
$STATE,12046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12046,begin apogee
$GC,12050,-0.23,0.0,1000.3,7.9,610,12153,0.35,0.00,100.18,1.297,6,0.126,0.000,2945,1644,2862,0,0,0,0,0,0
$STATE,12154,end apogee,CONTROL_FINISHED_OK
$STATE,12154,begin climb
$GC,12155,0.70,121.6,1004.5,0.0,613,12263,0.90,0.00,103.05,1.266,6,0.097,0.000,3242,1645,2366,0,0,0,0,0,0
$GC,12553,0.71,156.8,985.7,6.0,626,12587,0.00,0.90,30.73,1.230,4,0.000,0.047,3242,2214,2222,0,0,0,0,0,0
$GC,12717,0.71,165.6,975.1,7.0,631,12731,0.00,0.90,8.90,1.082,6,0.000,0.048,3246,1652,2186,0,0,0,0,0,0
$GC,13056,0.71,172.0,952.2,7.1,642,13065,0.00,0.00,6.72,0.980,6,0.000,0.000,3246,1652,2160,0,0,0,0,0,0
$GC,13362,0.71,172.0,923.3,9.6,652,13366,0.00,0.28,0.00,0.000,4,0.000,0.060,3246,1841,2159,0,0,0,0,0,0
$GC,13432,0.71,172.0,916.2,9.9,654,13437,0.00,0.32,0.00,0.000,6,0.000,0.061,3248,1637,2158,0,0,0,0,0,0
$GC,13767,0.71,172.0,885.4,8.6,665,13771,0.00,0.43,0.00,0.000,4,0.000,0.054,3248,1927,2158,0,0,0,0,0,0
$GC,13823,0.71,175.3,881.0,7.3,666,13833,0.00,0.43,4.10,0.747,6,0.000,0.057,3249,1648,2147,0,0,0,0,0,0
$GC,14140,0.71,175.3,856.4,7.6,677,14141,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1648,2147,0,0,0,0,0,0
$GC,14446,0.71,222.9,837.6,5.5,687,14495,0.00,1.45,42.58,1.191,4,0.000,0.053,3249,2504,1952,0,0,0,0,0,0
$GC,14584,0.74,281.8,830.8,5.0,691,14644,0.00,1.40,53.00,1.180,6,0.000,0.047,3255,1648,1713,0,0,0,0,0,0
$GC,14974,0.81,289.7,807.6,7.1,704,14985,0.08,0.38,7.00,0.937,4,0.121,0.063,3299,1414,1680,0,0,0,0,0,0
$GC,15113,0.81,289.7,793.6,10.2,708,15117,0.05,0.38,0.00,0.000,6,0.203,0.054,3286,1656,1678,0,0,0,0,0,0
$GC,15442,0.84,289.7,758.9,10.5,719,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1656,1677,0,0,0,0,0,0
$GC,15748,0.86,289.7,727.3,10.0,729,15751,0.00,0.45,0.00,0.000,4,0.000,0.060,3288,1362,1677,0,0,0,0,0,0
$GC,15836,0.88,289.7,719.0,8.6,731,15840,0.00,0.45,0.00,0.000,6,0.000,0.052,3288,1652,1676,0,0,0,0,0,0
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$STATE,22936,end climb,SURFACE_DEPTH_REACHED
$STATE,22937,begin surface coast
$FINISH,1.6,1.019381
$STATE,23009,end surface coast,CONTROL_FINISHED_OK
$STATE,23009,begin surface
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$IRIDIUM_FIX,-4227.40,-747.10,271012,040438
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$HUMID,43.30
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$TCM_TEMP,15.50
$XPDR_PINGS,0
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$10V_AH,10.2,22.244
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.500,71.575,356.250,0.000,0.000,32.076,50.096,254.600,0.000,0.000,18.377,3067.702,15890.540,451.115,3966.970,152.308,33.363,1961.527,0.000,3565.016,0.000,1.009,0.000
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$MEM,353792
$DATA_FILE_SIZE,70147,1179
$CAP_FILE_SIZE,201444,0
$CFSIZE,2097086464,2076672000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271012,174559,-4235.583,-802.372,41,1.2,41,-21.7