version: 66.07.10.p01
glider: 573
mission: 4
dive: 140
start: 10 29 112 3 1 33
data:
$ID,573
$MISSION,4
$DIVE,140
$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,-4732.0508
$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,33
$R_STBD_OVSHOOT,41
$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,119
$GPS1,291012,025329,-4233.324,-753.835,40,1.2,40,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.7
$GPS2,291012,030038,-4233.333,-753.893,23,1.2,24,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.080,-0.202
$KALMAN_X,-154440.9,-149.6,-761.5,329255.0,-417.3
$KALMAN_Y,-171209.9,48.3,1245.2,181825.8,-2934.3
$MHEAD_RNG_PITCHd_Wd,179.9,25859,-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,24,-0.71,-121.6,0.0,0.0,0,69,0.00,0.00,-42.33,0.000,2,0.000,0.000,83,1822,2802,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.2,-1.3,7,109,11.18,2.28,-17.08,0.000,4,0.250,0.072,2777,3215,3359,0,0,0,0,0,0
$GC,280,-0.62,-121.6,26.7,-11.2,42,288,0.12,2.20,0.00,0.000,6,0.142,0.044,2817,1821,3360,0,0,0,0,0,0
$GC,360,-0.57,-121.6,35.5,-10.7,55,365,0.08,0.00,0.00,0.000,6,0.210,0.000,2836,1821,3361,0,0,0,0,0,0
$GC,594,-0.57,-121.6,57.8,-9.1,96,601,0.00,0.62,0.00,0.000,4,0.000,0.052,2833,2238,3361,0,0,0,0,0,0
$GC,715,-0.57,-121.6,68.0,-8.3,117,722,0.00,0.65,0.00,0.000,6,0.000,0.048,2833,1807,3361,0,0,0,0,0,0
$GC,1060,-0.57,-121.6,98.8,-9.2,178,1065,0.00,0.47,0.00,0.000,4,0.000,0.052,2831,2132,3361,0,0,0,0,0,0
$GC,1195,-0.57,-121.6,111.3,-8.9,188,1198,0.00,0.45,0.00,0.000,6,0.000,0.051,2831,1822,3361,0,0,0,0,0,0
$GC,1526,-0.57,-121.6,142.0,-9.6,209,1529,0.00,1.20,0.00,0.000,4,0.000,0.051,2826,2585,3361,0,0,0,0,0,0
$GC,1631,-0.57,-121.6,151.9,-9.4,215,1636,0.00,1.20,0.00,0.000,6,0.000,0.042,2826,1814,3362,0,0,0,0,0,0
$GC,1957,-0.55,-121.6,181.7,-9.5,236,1961,0.08,1.35,0.00,0.000,4,0.198,0.051,2838,2666,3362,0,0,0,0,0,0
$GC,2076,-0.55,-121.6,192.0,-8.7,243,2080,0.00,1.30,0.00,0.000,6,0.000,0.043,2838,1821,3362,0,0,0,0,0,0
$GC,2406,-0.55,-121.6,221.3,-8.5,264,2409,0.00,1.38,0.00,0.000,4,0.000,0.051,2832,2696,3362,0,0,0,0,0,0
$GC,2526,-0.55,-121.6,231.2,-7.8,271,2529,0.00,1.35,0.00,0.000,6,0.000,0.042,2832,1819,3362,0,0,0,0,0,0
$GC,2844,-0.55,-121.6,256.5,-7.7,290,2847,0.00,1.05,0.00,0.000,4,0.000,0.050,2827,2497,3362,0,0,0,0,0,0
$GC,2949,-0.55,-121.6,264.7,-7.7,294,2958,0.08,1.05,0.00,0.000,6,0.182,0.042,2846,1816,3362,0,0,0,0,0,0
$GC,3266,-0.55,-121.6,285.4,-7.0,310,3270,0.00,1.05,0.00,0.000,4,0.000,0.050,2842,2502,3363,0,0,0,0,0,0
$GC,3357,-0.55,-121.6,291.6,-6.6,314,3360,0.00,1.02,0.00,0.000,6,0.000,0.044,2842,1827,3362,0,0,0,0,0,0
$GC,3688,-0.55,-121.6,315.2,-7.5,330,3692,0.00,1.48,0.00,0.000,4,0.000,0.052,2834,2767,3363,0,0,0,0,0,0
$GC,3794,-0.55,-121.6,323.8,-8.3,334,3803,0.00,1.48,0.00,0.000,6,0.000,0.041,2835,1818,3363,0,0,0,0,0,0
$GC,4110,-0.55,-121.6,351.3,-8.9,350,4114,0.00,0.50,0.00,0.000,4,0.000,0.051,2832,2164,3363,0,0,0,0,0,0
$GC,4216,-0.55,-121.6,361.3,-9.2,354,4224,0.00,0.52,0.00,0.000,6,0.000,0.047,2832,1812,3363,0,0,0,0,0,0
$GC,4531,-0.55,-121.6,390.0,-9.4,370,4535,0.00,1.85,0.00,0.000,4,0.000,0.054,2824,2996,3363,0,0,0,0,0,0
$GC,4646,-0.55,-121.6,400.7,-8.8,375,4651,0.08,1.77,0.00,0.000,6,0.185,0.041,2844,1818,3362,0,0,0,0,0,0
$GC,4975,-0.55,-121.6,429.3,-8.4,386,4979,0.00,0.28,0.00,0.000,4,0.000,0.061,2843,2024,3363,0,0,0,0,0,0
$GC,5231,-0.55,-121.6,449.6,-7.5,393,5233,0.00,0.30,0.00,0.000,6,0.000,0.057,2843,1811,3362,0,0,0,0,0,0
$GC,5546,-0.55,-121.6,471.3,-7.0,404,5549,0.00,1.33,0.00,0.000,4,0.000,0.054,2837,2656,3362,0,0,0,0,0,0
$GC,5803,-0.57,-121.6,488.8,-6.3,411,5807,0.00,1.27,0.00,0.000,6,0.000,0.042,2837,1823,3362,0,0,0,0,0,0
$GC,6122,-0.62,-121.6,511.5,-7.2,422,6125,0.00,0.77,0.00,0.000,4,0.000,0.051,2836,1306,3361,0,0,0,0,0,0
$GC,6143,-0.65,-121.6,513.3,-7.5,422,6148,0.05,0.80,0.00,0.000,6,0.159,0.045,2797,1828,3361,0,0,0,0,0,0
$GC,6462,-0.59,-121.6,544.6,-10.5,433,6466,0.12,1.60,0.00,0.000,4,0.165,0.054,2824,2861,3361,0,0,0,0,0,0
$GC,6571,-0.59,-121.6,555.2,-8.8,436,6576,0.00,1.62,0.00,0.000,6,0.000,0.042,2825,1818,3361,0,0,0,0,0,0
$GC,6901,-0.59,-121.6,585.3,-9.0,447,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1818,3360,0,0,0,0,0,0
$GC,7208,-0.59,-121.6,611.6,-8.5,457,7212,0.00,1.42,0.00,0.000,4,0.000,0.054,2818,2718,3360,0,0,0,0,0,0
$GC,7324,-0.59,-121.6,621.2,-8.1,460,7329,0.00,1.40,0.00,0.000,6,0.000,0.043,2818,1819,3360,0,0,0,0,0,0
$GC,7649,-0.57,-121.6,647.7,-8.0,471,7653,0.08,1.12,0.00,0.000,4,0.207,0.054,2830,2533,3359,0,0,0,0,0,0
$GC,7753,-0.57,-121.6,654.7,-6.7,474,7758,0.00,1.12,0.00,0.000,6,0.000,0.045,2829,1810,3358,0,0,0,0,0,0
$GC,8088,-0.57,-121.6,677.2,-7.1,485,8092,0.00,0.82,0.00,0.000,4,0.000,0.052,2826,2352,3358,0,0,0,0,0,0
$GC,8170,-0.57,-121.6,683.7,-7.7,487,8175,0.00,0.82,0.00,0.000,6,0.000,0.047,2826,1817,3358,0,0,0,0,0,0
$GC,8494,-0.57,-121.6,708.4,-7.7,498,8498,0.00,0.43,0.00,0.000,4,0.000,0.055,2824,2116,3358,0,0,0,0,0,0
$GC,8634,-0.57,-121.6,718.9,-7.2,502,8638,0.00,0.45,0.00,0.000,6,0.000,0.051,2824,1815,3357,0,0,0,0,0,0
$GC,8969,-0.57,-121.6,742.9,-6.9,513,8973,0.00,0.45,0.00,0.000,4,0.000,0.054,2822,2128,3357,0,0,0,0,0,0
$GC,9141,-0.57,-121.6,755.2,-7.7,518,9145,0.05,0.47,0.00,0.000,6,0.209,0.052,2835,1810,3356,0,0,0,0,0,0
$GC,9476,-0.57,-121.6,778.7,-7.3,529,9480,0.00,0.50,0.00,0.000,4,0.000,0.054,2833,2154,3356,0,0,0,0,0,0
$GC,9586,-0.57,-121.6,787.3,-7.6,532,9590,0.00,0.50,0.00,0.000,6,0.000,0.051,2832,1820,3355,0,0,0,0,0,0
$GC,9915,-0.57,-121.6,814.9,-8.5,543,9919,0.00,0.40,0.00,0.000,4,0.000,0.056,2831,2101,3355,0,0,0,0,0,0
$GC,10050,-0.57,-121.6,826.1,-7.8,547,10054,0.00,0.40,0.00,0.000,6,0.000,0.054,2831,1821,3354,0,0,0,0,0,0
$GC,10390,-0.57,-121.6,852.2,-7.6,558,10393,0.00,0.82,0.00,0.000,4,0.000,0.052,2827,2364,3354,0,0,0,0,0,0
$GC,10506,-0.57,-121.6,861.5,-7.9,561,10510,0.00,0.85,0.00,0.000,6,0.000,0.045,2828,1810,3354,0,0,0,0,0,0
$GC,10830,-0.57,-121.6,889.7,-8.6,572,10834,0.00,0.77,0.00,0.000,4,0.000,0.053,2824,2318,3353,0,0,0,0,0,0
$GC,10940,-0.57,-121.6,898.9,-7.9,575,10944,0.00,0.77,0.00,0.000,6,0.000,0.047,2824,1812,3353,0,0,0,0,0,0
$GC,11269,-0.57,-121.6,925.2,-8.1,586,11273,0.00,0.88,0.00,0.000,4,0.000,0.053,2820,2382,3353,0,0,0,0,0,0
$GC,11380,-0.57,-121.6,934.9,-9.2,589,11385,0.08,0.88,0.00,0.000,6,0.177,0.046,2840,1816,3353,0,0,0,0,0,0
$GC,11709,-0.59,-121.6,960.2,-7.6,600,11713,0.00,0.62,0.00,0.000,4,0.000,0.053,2837,2237,3352,0,0,0,0,0,0
$GC,11838,-0.62,-121.6,969.1,-6.7,603,11843,0.00,0.62,0.00,0.000,6,0.000,0.050,2837,1818,3352,0,0,0,0,0,0
$GC,12150,-0.65,-121.6,991.5,-7.7,614,12154,0.08,0.32,0.00,0.000,4,0.125,0.060,2797,2048,3352,0,0,0,0,0,0
$STATE,12242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12242,begin apogee
$GC,12246,-0.23,0.0,1000.5,9.5,616,12349,0.43,0.00,100.05,1.303,6,0.133,0.000,2938,1642,2862,0,0,0,0,0,0
$STATE,12350,end apogee,CONTROL_FINISHED_OK
$STATE,12350,begin climb
$GC,12351,0.71,121.6,1005.3,0.0,620,12460,0.93,0.00,103.30,1.270,6,0.097,0.000,3243,1642,2366,0,0,0,0,0,0
$GC,12749,0.71,196.6,991.7,4.3,633,12818,0.00,0.38,66.12,1.258,4,0.000,0.054,3243,1861,2060,0,0,0,0,0,0
$GC,12874,0.74,220.3,985.3,6.4,637,12900,0.00,0.35,22.38,1.198,6,0.000,0.059,3244,1650,1963,0,0,0,0,0,0
$GC,13207,0.79,256.7,965.8,5.9,648,13243,0.10,0.00,33.03,1.222,6,0.098,0.000,3297,1650,1815,0,0,0,0,0,0
$GC,13542,0.79,256.7,936.0,9.2,659,13544,0.08,0.00,0.00,0.000,6,0.175,0.000,3279,1650,1808,0,0,0,0,0,0
$GC,13849,0.79,256.7,906.8,10.1,669,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1650,1807,0,0,0,0,0,0
$GC,14155,0.79,256.7,875.1,9.9,679,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1650,1806,0,0,0,0,0,0
$GC,14461,0.79,256.7,847.0,9.2,689,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1650,1807,0,0,0,0,0,0
$GC,14767,0.79,256.7,819.5,8.7,699,14771,0.00,0.30,0.00,0.000,4,0.000,0.067,3280,1440,1806,0,0,0,0,0,0
$GC,14827,0.79,256.7,814.1,8.8,700,14833,0.00,0.32,0.00,0.000,6,0.000,0.057,3280,1653,1806,0,0,0,0,0,0
$GC,15140,0.79,256.7,786.9,8.4,711,15143,0.00,0.40,0.00,0.000,4,0.000,0.063,3282,1388,1805,0,0,0,0,0,0
$GC,15199,0.79,256.7,781.8,8.3,712,15205,0.00,0.40,0.00,0.000,6,0.000,0.053,3282,1649,1806,0,0,0,0,0,0
$GC,15512,0.79,256.7,757.3,7.8,723,15515,0.00,0.52,0.00,0.000,4,0.000,0.060,3284,1306,1805,0,0,0,0,0,0
$GC,15594,0.79,256.7,750.6,8.3,725,15598,0.00,0.55,0.00,0.000,6,0.000,0.050,3284,1659,1805,0,0,0,0,0,0
$GC,15918,0.79,257.0,726.1,7.4,736,15922,0.00,0.30,0.00,0.000,4,0.000,0.065,3286,1451,1805,0,0,0,0,0,0
$GC,16053,0.79,257.0,716.0,8.1,740,16056,0.00,0.28,0.00,0.000,6,0.000,0.060,3286,1645,1805,0,0,0,0,0,0
$GC,16393,0.79,257.0,685.8,9.0,751,16396,0.00,0.70,0.00,0.000,4,0.000,0.058,3289,1197,1804,0,0,0,0,0,0
$GC,16481,0.79,257.0,677.5,9.5,753,16485,0.00,0.73,0.00,0.000,6,0.000,0.048,3289,1657,1805,0,0,0,0,0,0
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$STATE,23528,end climb,SURFACE_DEPTH_REACHED
$STATE,23528,begin surface coast
$FINISH,1.7,1.013011
$STATE,23571,end surface coast,CONTROL_FINISHED_OK
$STATE,23571,begin surface
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$HUMID,43.62
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$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.6,24.248
$10V_AH,10.3,23.074
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354056
$DATA_FILE_SIZE,70312,1193
$CAP_FILE_SIZE,204872,0
$CFSIZE,2097086464,2075885568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291012,093653,-4235.472,-754.507,42,0.9,42,-21.7