version: 66.07.10.p01
glider: 573
mission: 4
dive: 148
start: 10 31 112 0 16 38
data:
$ID,573
$MISSION,4
$DIVE,148
$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,-4758.3604
$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,37
$R_STBD_OVSHOOT,37
$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,127
$GPS1,311012,000905,-4242.968,-749.980,32,1.5,32,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-73.6
$GPS2,311012,001543,-4242.901,-750.095,20,1.6,21,-21.6
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.144,-0.162
$KALMAN_X,-181204.0,1697.1,30.2,358500.7,-9656.2
$KALMAN_Y,-156820.7,-218.0,123.3,151117.2,3518.5
$MHEAD_RNG_PITCHd_Wd,160.1,7592,-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,-121.6,0.0,0.0,0,81,0.00,0.00,-54.55,0.000,2,0.000,0.000,83,1808,3028,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.4,-1.7,9,109,10.90,2.28,-8.43,0.000,4,0.241,0.067,2786,418,3359,0,0,0,0,0,0
$GC,269,-0.59,-121.6,27.5,-12.7,40,277,0.15,2.22,0.00,0.000,6,0.142,0.043,2826,1816,3361,0,0,0,0,0,0
$GC,349,-0.56,-121.6,35.6,-9.9,53,354,0.00,0.43,0.00,0.000,4,0.000,0.054,2824,2119,3361,0,0,0,0,0,0
$GC,408,-0.54,-121.6,41.2,-9.4,63,413,0.05,0.45,0.00,0.000,6,0.138,0.052,2844,1814,3361,0,0,0,0,0,0
$GC,641,-0.54,-121.6,62.7,-8.9,104,647,0.00,0.60,0.00,0.000,4,0.000,0.051,2842,2208,3361,0,0,0,0,0,0
$GC,739,-0.54,-121.6,70.5,-8.0,121,743,0.00,0.57,0.00,0.000,6,0.000,0.047,2842,1819,3361,0,0,0,0,0,0
$GC,1080,-0.54,-121.6,99.7,-8.8,182,1085,0.00,0.88,0.00,0.000,4,0.000,0.051,2838,2380,3361,0,0,0,0,0,0
$GC,1170,-0.54,-121.6,107.5,-9.0,188,1173,0.00,0.85,0.00,0.000,6,0.000,0.046,2838,1821,3361,0,0,0,0,0,0
$GC,1495,-0.54,-121.6,136.4,-9.0,209,1499,0.00,0.45,0.00,0.000,4,0.000,0.053,2836,2135,3361,0,0,0,0,0,0
$GC,1600,-0.54,-121.6,146.3,-9.2,215,1605,0.00,0.47,0.00,0.000,6,0.000,0.050,2836,1816,3361,0,0,0,0,0,0
$GC,1925,-0.54,-121.6,176.8,-9.8,236,1928,0.00,0.82,0.00,0.000,4,0.000,0.051,2832,2364,3362,0,0,0,0,0,0
$GC,2013,-0.54,-121.6,185.4,-9.6,241,2017,0.00,0.82,0.00,0.000,6,0.000,0.044,2832,1819,3361,0,0,0,0,0,0
$GC,2337,-0.54,-121.6,216.8,-9.8,262,2341,0.00,0.95,0.00,0.000,4,0.000,0.051,2828,2434,3361,0,0,0,0,0,0
$GC,2439,-0.54,-121.6,226.8,-10.1,268,2443,0.03,0.93,0.00,0.000,6,0.174,0.044,2839,1822,3362,0,0,0,0,0,0
$GC,2773,-0.54,-121.6,258.3,-9.7,288,2776,0.00,0.60,0.00,0.000,4,0.000,0.050,2837,2228,3362,0,0,0,0,0,0
$GC,2872,-0.54,-121.6,268.3,-9.7,292,2877,0.00,0.62,0.00,0.000,6,0.000,0.046,2837,1814,3362,0,0,0,0,0,0
$GC,3193,-0.54,-121.6,298.3,-9.3,308,3197,0.00,0.93,0.00,0.000,4,0.000,0.050,2833,2419,3362,0,0,0,0,0,0
$GC,3293,-0.54,-121.6,307.9,-9.0,312,3298,0.00,0.93,0.00,0.000,6,0.000,0.044,2833,1818,3362,0,0,0,0,0,0
$GC,3615,-0.54,-121.6,337.4,-9.4,328,3618,0.00,1.58,0.00,0.000,4,0.000,0.054,2825,2819,3362,0,0,0,0,0,0
$GC,3732,-0.54,-121.6,348.5,-8.5,333,3738,0.08,1.55,0.00,0.000,6,0.173,0.041,2852,1821,3362,0,0,0,0,0,0
$GC,4062,-0.56,-121.6,374.4,-8.0,349,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1821,3362,0,0,0,0,0,0
$GC,4369,-0.59,-121.6,397.8,-7.5,364,4373,0.08,1.10,0.00,0.000,4,0.119,0.053,2801,2522,3362,0,0,0,0,0,0
$GC,4465,-0.55,-121.6,406.1,-8.2,367,4470,0.10,1.08,0.00,0.000,6,0.132,0.044,2839,1820,3362,0,0,0,0,0,0
$GC,4777,-0.55,-121.6,431.9,-8.8,378,4780,0.00,1.20,0.00,0.000,4,0.000,0.051,2833,2586,3362,0,0,0,0,0,0
$GC,4865,-0.55,-121.6,440.3,-10.6,380,4869,0.00,1.20,0.00,0.000,6,0.000,0.042,2833,1812,3363,0,0,0,0,0,0
$GC,5183,-0.55,-121.6,471.1,-9.4,391,5187,0.00,1.50,0.00,0.000,4,0.000,0.054,2826,2765,3362,0,0,0,0,0,0
$GC,5305,-0.55,-121.6,481.4,-8.2,394,5311,0.05,1.48,0.00,0.000,6,0.210,0.042,2841,1818,3362,0,0,0,0,0,0
$GC,5624,-0.55,-121.6,507.2,-7.9,405,5627,0.00,0.95,0.00,0.000,4,0.000,0.052,2836,2435,3362,0,0,0,0,0,0
$GC,5717,-0.55,-121.6,515.0,-8.1,407,5723,0.00,0.95,0.00,0.000,6,0.000,0.044,2836,1818,3362,0,0,0,0,0,0
$GC,6030,-0.55,-121.6,541.2,-8.3,418,6034,0.00,0.85,0.00,0.000,4,0.000,0.052,2836,1259,3361,0,0,0,0,0,0
$GC,6101,-0.55,-121.6,547.2,-7.8,420,6106,0.00,0.88,0.00,0.000,6,0.000,0.045,2832,1827,3361,0,0,0,0,0,0
$GC,6437,-0.55,-121.6,575.1,-8.6,431,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1827,3361,0,0,0,0,0,0
$GC,6743,-0.55,-121.6,602.3,-8.8,441,6746,0.00,0.93,0.00,0.000,4,0.000,0.053,2828,2436,3360,0,0,0,0,0,0
$GC,6831,-0.55,-121.6,610.1,-10.0,443,6836,0.05,0.95,0.00,0.000,6,0.210,0.044,2841,1818,3360,0,0,0,0,0,0
$GC,7149,-0.57,-121.6,637.9,-9.6,454,7153,0.00,0.38,0.00,0.000,4,0.000,0.056,2840,2096,3360,0,0,0,0,0,0
$GC,7265,-0.57,-121.6,649.8,-10.5,457,7269,0.00,0.43,0.00,0.000,6,0.000,0.052,2840,1809,3360,0,0,0,0,0,0
$GC,7589,-0.57,-121.6,684.2,-10.7,468,7592,0.00,0.60,0.00,0.000,4,0.000,0.053,2837,2218,3359,0,0,0,0,0,0
$GC,7660,-0.57,-121.6,692.3,-12.0,470,7664,0.00,0.60,0.00,0.000,6,0.000,0.049,2837,1822,3359,0,0,0,0,0,0
$GC,7995,-0.57,-121.6,733.1,-12.2,481,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1822,3359,0,0,0,0,0,0
$GC,8301,-0.57,-121.6,761.0,-8.4,491,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1822,3358,0,0,0,0,0,0
$GC,8608,-0.57,-121.6,787.4,-8.2,501,8611,0.00,0.25,0.00,0.000,4,0.000,0.062,2836,2008,3357,0,0,0,0,0,0
$GC,8668,-0.57,-121.6,791.9,-7.3,502,8673,0.00,0.28,0.00,0.000,6,0.000,0.061,2836,1818,3357,0,0,0,0,0,0
$GC,8980,-0.57,-121.6,819.8,-9.5,513,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1817,3357,0,0,0,0,0,0
$GC,9286,-0.57,-121.6,847.3,-9.0,523,9290,0.00,0.65,0.00,0.000,4,0.000,0.054,2833,2250,3356,0,0,0,0,0,0
$GC,9420,-0.57,-121.6,860.0,-9.0,527,9424,0.00,0.65,0.00,0.000,6,0.000,0.050,2833,1817,3355,0,0,0,0,0,0
$GC,9760,-0.57,-121.6,896.0,-11.8,538,9764,0.00,1.08,0.00,0.000,4,0.000,0.054,2828,2503,3355,0,0,0,0,0,0
$GC,9876,-0.57,-121.6,908.5,-9.2,541,9881,0.00,1.08,0.00,0.000,6,0.000,0.045,2828,1815,3354,0,0,0,0,0,0
$GC,10201,-0.57,-121.6,939.3,-9.9,552,10204,0.00,0.73,0.00,0.000,4,0.000,0.054,2825,2295,3354,0,0,0,0,0,0
$GC,10305,-0.57,-121.6,950.5,-10.4,555,10310,0.00,0.75,0.00,0.000,6,0.000,0.047,2825,1806,3354,0,0,0,0,0,0
$GC,10641,-0.57,-121.6,983.4,-9.5,566,10644,0.00,0.55,0.00,0.000,4,0.000,0.054,2823,2178,3353,0,0,0,0,0,0
$GC,10751,-0.57,-121.6,994.0,-9.1,569,10756,0.03,0.55,0.00,0.000,6,0.260,0.050,2834,1817,3353,0,0,0,0,0,0
$STATE,10833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10834,begin apogee
$GC,10838,-0.23,0.0,1002.3,10.2,572,10941,0.35,0.00,100.38,1.297,6,0.122,0.000,2950,1647,2862,0,0,0,0,0,0
$STATE,10942,end apogee,CONTROL_FINISHED_OK
$STATE,10942,begin climb
$GC,10943,0.71,121.6,1007.2,0.0,575,11054,0.88,0.82,103.32,1.264,4,0.093,0.055,3245,1166,2365,0,0,0,0,0,0
$GC,11087,0.71,198.5,1005.8,4.3,579,11160,0.00,0.80,68.55,1.240,6,0.000,0.045,3245,1645,2052,0,0,0,0,0,0
$GC,11495,0.74,198.5,977.5,7.7,593,11499,0.00,0.32,0.00,0.000,4,0.000,0.060,3245,1869,2044,0,0,0,0,0,0
$GC,11617,0.77,198.5,966.6,9.3,596,11622,0.08,0.35,0.00,0.000,6,0.127,0.061,3283,1649,2043,0,0,0,0,0,0
$GC,11935,0.77,199.2,939.3,7.4,607,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1649,2042,0,0,0,0,0,0
$GC,12241,0.77,201.2,914.6,7.3,617,12245,0.00,1.40,0.00,0.000,4,0.000,0.054,3284,2517,2041,0,0,0,0,0,0
$GC,12358,0.74,201.2,903.7,10.0,620,12363,0.08,1.38,0.00,0.000,6,0.138,0.046,3264,1655,2040,0,0,0,0,0,0
$GC,12681,0.74,201.2,877.6,8.1,631,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1655,2040,0,0,0,0,0,0
$GC,12987,0.74,201.2,851.5,8.6,641,12989,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1655,2040,0,0,0,0,0,0
$GC,13294,0.74,201.2,824.0,10.1,651,13297,0.00,0.47,0.00,0.000,4,0.000,0.060,3266,1327,2039,0,0,0,0,0,0
$GC,13389,0.74,201.2,814.9,9.5,653,13394,0.00,0.47,0.00,0.000,6,0.000,0.053,3266,1647,2039,0,0,0,0,0,0
$GC,13701,0.75,232.4,793.7,6.1,664,13731,0.00,0.00,28.25,1.168,6,0.000,0.000,3265,1647,1914,0,0,0,0,0,0
$GC,14038,0.78,259.2,773.1,6.3,675,14069,0.00,0.80,24.12,1.123,4,0.000,0.051,3266,2149,1804,0,0,0,0,0,0
$GC,14125,0.81,297.0,767.5,5.9,677,14166,0.00,0.80,34.53,1.131,6,0.000,0.051,3269,1647,1650,0,0,0,0,0,0
$GC,14474,0.87,337.1,748.1,5.8,689,14512,0.10,0.00,36.08,1.113,6,0.103,0.000,3321,1647,1487,0,0,0,0,0,0
$GC,14809,0.87,337.1,714.1,9.4,700,14813,0.08,0.95,0.00,0.000,4,0.177,0.057,3306,1050,1476,0,0,0,0,0,0
$GC,14896,0.90,337.1,706.6,8.1,702,14901,0.00,0.98,0.00,0.000,6,0.000,0.045,3306,1654,1475,0,0,0,0,0,0
$GC,15215,0.92,337.1,674.9,10.6,713,15219,0.00,1.23,0.00,0.000,4,0.000,0.057,3312,906,1474,0,0,0,0,0,0
$GC,15286,0.92,337.1,666.7,9.6,715,15291,0.00,1.20,0.00,0.000,6,0.000,0.044,3312,1655,1474,0,0,0,0,0,0
$GC,15622,0.92,337.1,628.0,12.4,726,15626,0.00,1.58,0.00,0.000,4,0.000,0.058,3319,694,1473,0,0,0,0,0,0
$GC,15698,0.92,337.1,617.1,14.7,728,15703,0.00,1.52,0.00,0.000,6,0.000,0.044,3319,1645,1472,0,0,0,0,0,0
$GC,16028,0.92,337.1,574.2,13.1,739,16032,0.00,0.73,0.00,0.000,4,0.000,0.059,3323,1188,1472,0,0,0,0,0,0
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$STATE,20964,end climb,SURFACE_DEPTH_REACHED
$STATE,20965,begin surface coast
$FINISH,1.7,1.012326
$STATE,20995,end surface coast,CONTROL_FINISHED_OK
$STATE,20996,begin surface
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$IRIDIUM_FIX,-4227.40,-750.00,301012,191905
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$HUMID,43.54
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.4,25.491
$10V_AH,10.2,24.075
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.625,79.550,395.225,0.000,0.000,25.446,37.214,219.147,0.000,0.000,23.147,2811.466,14491.392,482.101,3533.229,149.006,33.359,1849.496,0.000,3189.207,0.000,1.009,0.000
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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,354064
$DATA_FILE_SIZE,63614,1100
$CAP_FILE_SIZE,187275,0
$CFSIZE,2097086464,2074902528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,311012,060904,-4244.663,-750.362,39,1.2,42,-21.6