version: 66.07.10.p01
glider: 573
mission: 4
dive: 157
start: 11 2 112 1 13 13
data:
$ID,573
$MISSION,4
$DIVE,157
$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,-4788.4102
$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,28
$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,136
$GPS1,021112,010529,-4228.475,-744.533,40,1.3,40,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.8
$GPS2,021112,011218,-4228.436,-744.577,18,1.4,19,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.138,0.167
$KALMAN_X,-201510.7,802.1,216.4,387072.8,-4851.7
$KALMAN_Y,-150122.3,-62.9,-657.7,171828.6,6397.0
$MHEAD_RNG_PITCHd_Wd,61.4,62591,-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,-121.6,0.0,0.0,0,81,0.00,0.00,-54.05,0.000,2,0.000,0.000,86,1823,2793,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.0,-1.5,9,121,10.88,2.28,-17.67,0.000,4,0.239,0.073,2781,3219,3360,0,0,0,0,0,0
$GC,205,-0.63,-121.6,14.9,-11.3,29,213,0.10,2.22,0.00,0.000,6,0.142,0.044,2814,1818,3361,0,0,0,0,0,0
$GC,286,-0.58,-121.6,23.3,-10.2,42,293,0.08,0.70,0.00,0.000,4,0.203,0.055,2834,1370,3361,0,0,0,0,0,0
$GC,342,-0.58,-121.6,28.9,-9.6,51,350,0.00,0.68,0.00,0.000,6,0.000,0.048,2831,1813,3361,0,0,0,0,0,0
$GC,419,-0.56,-121.6,36.3,-9.3,64,426,0.00,0.30,0.00,0.000,4,0.000,0.060,2829,2036,3361,0,0,0,0,0,0
$GC,589,-0.54,-121.6,52.5,-9.8,93,595,0.03,0.32,0.00,0.000,6,0.178,0.057,2841,1809,3361,0,0,0,0,0,0
$GC,820,-0.54,-121.6,75.2,-10.0,134,825,0.00,0.50,0.00,0.000,4,0.000,0.053,2839,2140,3362,0,0,0,0,0,0
$GC,995,-0.54,-121.6,91.9,-9.6,165,1001,0.00,0.47,0.00,0.000,6,0.000,0.050,2838,1818,3362,0,0,0,0,0,0
$GC,1330,-0.54,-121.6,123.7,-9.1,196,1334,0.00,1.45,0.00,0.000,4,0.000,0.054,2833,2729,3363,0,0,0,0,0,0
$GC,1436,-0.54,-121.6,133.2,-9.0,202,1441,0.00,1.42,0.00,0.000,6,0.000,0.043,2832,1822,3363,0,0,0,0,0,0
$GC,1764,-0.51,-121.6,161.0,-8.8,223,1769,0.08,1.38,0.00,0.000,4,0.192,0.054,2845,2677,3363,0,0,0,0,0,0
$GC,1869,-0.51,-121.6,169.7,-7.6,229,1874,0.00,1.35,0.00,0.000,6,0.000,0.043,2845,1816,3363,0,0,0,0,0,0
$GC,2195,-0.51,-121.6,194.1,-7.9,250,2198,0.00,1.65,0.00,0.000,4,0.000,0.055,2837,2865,3363,0,0,0,0,0,0
$GC,2300,-0.51,-121.6,202.7,-8.4,256,2306,0.03,1.62,0.00,0.000,6,0.167,0.042,2849,1818,3363,0,0,0,0,0,0
$GC,2628,-0.51,-121.6,231.8,-10.0,277,2631,0.00,0.80,0.00,0.000,4,0.000,0.051,2845,2347,3363,0,0,0,0,0,0
$GC,2712,-0.51,-121.6,240.6,-10.4,282,2716,0.00,0.80,0.00,0.000,6,0.000,0.047,2845,1817,3363,0,0,0,0,0,0
$GC,3036,-0.51,-121.6,275.0,-10.9,299,3039,0.00,1.83,0.00,0.000,4,0.000,0.055,2837,2981,3363,0,0,0,0,0,0
$GC,3153,-0.51,-121.6,287.6,-9.7,304,3158,0.03,1.80,0.00,0.000,6,0.169,0.042,2849,1820,3363,0,0,0,0,0,0
$GC,3480,-0.51,-121.6,315.2,-7.3,320,3484,0.00,1.67,0.00,0.000,4,0.000,0.055,2841,2894,3363,0,0,0,0,0,0
$GC,3597,-0.51,-121.6,323.1,-5.7,325,3602,0.00,1.67,0.00,0.000,6,0.000,0.043,2841,1815,3363,0,0,0,0,0,0
$GC,3927,-0.51,-121.6,342.6,-5.5,341,3931,0.00,1.12,0.00,0.000,4,0.000,0.053,2836,2533,3363,0,0,0,0,0,0
$GC,4027,-0.51,-121.6,348.0,-4.9,345,4032,0.08,1.12,0.00,0.000,6,0.172,0.044,2857,1810,3363,0,0,0,0,0,0
$GC,4351,-0.55,-121.6,361.2,-4.2,361,4355,0.00,1.27,0.00,0.000,4,0.000,0.054,2851,2623,3363,0,0,0,0,0,0
$GC,4444,-0.58,-121.6,365.1,-4.6,365,4447,0.00,1.23,0.00,0.000,6,0.000,0.044,2851,1827,3363,0,0,0,0,0,0
$GC,4779,-0.60,-121.6,384.2,-6.3,381,4783,0.08,0.65,0.00,0.000,4,0.122,0.051,2806,2258,3363,0,0,0,0,0,0
$GC,4856,-0.56,-121.6,391.1,-9.2,384,4861,0.12,0.68,0.00,0.000,6,0.153,0.047,2843,1815,3363,0,0,0,0,0,0
$GC,5185,-0.56,-121.6,419.4,-9.3,397,5189,0.00,1.42,0.00,0.000,4,0.000,0.054,2837,2724,3363,0,0,0,0,0,0
$GC,5279,-0.56,-121.6,429.0,-10.1,399,5285,0.00,1.42,0.00,0.000,6,0.000,0.043,2837,1811,3363,0,0,0,0,0,0
$GC,5592,-0.56,-121.6,463.4,-11.3,410,5595,0.00,1.48,0.00,0.000,4,0.000,0.055,2830,2745,3362,0,0,0,0,0,0
$GC,5697,-0.56,-121.6,475.0,-10.4,413,5702,0.00,1.45,0.00,0.000,6,0.000,0.043,2830,1818,3362,0,0,0,0,0,0
$GC,6032,-0.56,-121.6,510.5,-10.1,424,6036,0.00,1.40,0.00,0.000,4,0.000,0.055,2824,2704,3362,0,0,0,0,0,0
$GC,6137,-0.56,-121.6,520.1,-9.1,427,6143,0.05,1.40,0.00,0.000,6,0.213,0.044,2836,1810,3362,0,0,0,0,0,0
$GC,6472,-0.56,-121.6,546.2,-7.5,438,6476,0.00,1.17,0.00,0.000,4,0.000,0.054,2831,2561,3361,0,0,0,0,0,0
$GC,6566,-0.56,-121.6,553.2,-7.5,440,6572,0.00,1.17,0.00,0.000,6,0.000,0.044,2831,1808,3361,0,0,0,0,0,0
$GC,6879,-0.56,-121.6,577.1,-8.1,451,6883,0.00,1.62,0.00,0.000,4,0.000,0.056,2824,2829,3361,0,0,0,0,0,0
$GC,6984,-0.56,-121.6,586.0,-8.5,454,6989,0.00,1.60,0.00,0.000,6,0.000,0.044,2824,1811,3360,0,0,0,0,0,0
$GC,7319,-0.56,-121.6,615.3,-9.1,465,7324,0.05,1.10,0.00,0.000,4,0.230,0.054,2830,2506,3360,0,0,0,0,0,0
$GC,7420,-0.56,-121.6,624.5,-9.0,468,7424,0.00,1.05,0.00,0.000,6,0.000,0.047,2830,1825,3360,0,0,0,0,0,0
$GC,7760,-0.56,-121.6,658.0,-10.1,479,7764,0.00,1.48,0.00,0.000,4,0.000,0.055,2823,2755,3359,0,0,0,0,0,0
$GC,7861,-0.56,-121.6,668.7,-10.4,482,7865,0.03,1.45,0.00,0.000,6,0.174,0.045,2834,1822,3359,0,0,0,0,0,0
$GC,8200,-0.56,-121.6,703.3,-9.9,493,8204,0.00,0.75,0.00,0.000,4,0.000,0.052,2831,2313,3359,0,0,0,0,0,0
$GC,8301,-0.56,-121.6,712.1,-8.3,496,8305,0.00,0.75,0.00,0.000,6,0.000,0.048,2831,1817,3358,0,0,0,0,0,0
$GC,8641,-0.56,-121.6,740.0,-7.8,507,8645,0.00,0.60,0.00,0.000,4,0.000,0.053,2828,2217,3358,0,0,0,0,0,0
$GC,8746,-0.56,-121.6,748.1,-7.8,510,8751,0.00,0.62,0.00,0.000,6,0.000,0.050,2828,1809,3357,0,0,0,0,0,0
$GC,9081,-0.56,-121.6,777.1,-9.2,521,9085,0.00,1.10,0.00,0.000,4,0.000,0.054,2823,2507,3357,0,0,0,0,0,0
$GC,9197,-0.56,-121.6,788.0,-9.4,524,9203,0.05,1.08,0.00,0.000,6,0.209,0.046,2837,1823,3356,0,0,0,0,0,0
$GC,9522,-0.56,-121.6,818.5,-9.2,535,9525,0.00,1.42,0.00,0.000,4,0.000,0.056,2830,2717,3356,0,0,0,0,0,0
$GC,9626,-0.56,-121.6,828.1,-8.4,538,9631,0.00,1.42,0.00,0.000,6,0.000,0.045,2830,1813,3356,0,0,0,0,0,0
$GC,9962,-0.56,-121.6,858.2,-8.9,549,9966,0.00,0.47,0.00,0.000,4,0.000,0.055,2828,2141,3356,0,0,0,0,0,0
$GC,10151,-0.56,-121.6,875.3,-8.9,554,10155,0.00,0.50,0.00,0.000,6,0.000,0.051,2828,1809,3355,0,0,0,0,0,0
$GC,10469,-0.56,-121.6,902.7,-8.2,565,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1809,3355,0,0,0,0,0,0
$GC,10775,-0.56,-121.6,926.7,-7.7,575,10779,0.00,0.32,0.00,0.000,4,0.000,0.059,2827,2047,3355,0,0,0,0,0,0
$GC,10870,-0.56,-121.6,934.2,-7.6,577,10875,0.00,0.32,0.00,0.000,6,0.000,0.058,2827,1816,3355,0,0,0,0,0,0
$GC,11182,-0.56,-121.6,957.5,-7.3,588,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1816,3354,0,0,0,0,0,0
$GC,11489,-0.56,-121.6,978.7,-6.7,598,11492,0.00,1.70,0.00,0.000,4,0.000,0.057,2819,2898,3354,0,0,0,0,0,0
$GC,11616,-0.56,-121.6,987.7,-7.0,601,11623,0.05,1.67,0.00,0.000,6,0.147,0.044,2838,1828,3353,0,0,0,0,0,0
$STATE,11805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11805,begin apogee
$GC,11810,-0.23,0.0,1000.5,6.8,608,11913,0.32,0.00,100.50,1.301,6,0.123,0.000,2944,1641,2862,0,0,0,0,0,0
$STATE,11914,end apogee,CONTROL_FINISHED_OK
$STATE,11914,begin climb
$GC,11915,0.71,121.6,1003.9,0.0,611,12026,0.90,0.55,102.95,1.267,4,0.093,0.057,3245,1320,2366,0,0,0,0,0,0
$GC,12053,0.71,185.2,1000.6,4.8,615,12114,0.00,0.55,57.42,1.236,6,0.000,0.047,3246,1649,2106,0,0,0,0,0,0
$GC,12433,0.74,205.0,976.1,6.6,628,12454,0.00,0.62,17.73,1.188,4,0.000,0.052,3246,2035,2026,0,0,0,0,0,0
$GC,12549,0.77,231.6,968.4,6.3,631,12579,0.03,0.62,25.15,1.196,6,0.098,0.053,3276,1647,1917,0,0,0,0,0,0
$GC,12897,0.78,242.3,943.4,7.0,643,12909,0.00,0.00,10.07,1.084,6,0.000,0.000,3276,1647,1874,0,0,0,0,0,0
$GC,13203,0.78,242.3,920.9,7.5,653,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1647,1872,0,0,0,0,0,0
$GC,13510,0.78,242.3,895.1,8.8,663,13511,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1647,1871,0,0,0,0,0,0
$GC,13816,0.78,242.3,865.5,10.0,673,13820,0.00,0.40,0.00,0.000,4,0.000,0.063,3278,1375,1870,0,0,0,0,0,0
$GC,13872,0.78,242.3,859.8,9.9,674,13875,0.00,0.40,0.00,0.000,6,0.000,0.054,3278,1642,1870,0,0,0,0,0,0
$GC,14189,0.78,242.3,826.2,10.7,685,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1642,1870,0,0,0,0,0,0
$GC,14495,0.78,242.3,795.3,9.9,695,14499,0.00,0.45,0.00,0.000,4,0.000,0.061,3280,1348,1869,0,0,0,0,0,0
$GC,14583,0.78,242.3,786.8,8.7,697,14588,0.00,0.47,0.00,0.000,6,0.000,0.051,3280,1654,1869,0,0,0,0,0,0
$GC,14901,0.78,242.3,760.2,8.2,708,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1654,1868,0,0,0,0,0,0
$GC,15208,0.78,242.4,736.3,7.4,718,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1654,1869,0,0,0,0,0,0
$GC,15514,0.78,242.4,713.5,7.7,728,15517,0.00,0.68,0.00,0.000,4,0.000,0.059,3283,1223,1868,0,0,0,0,0,0
$GC,15585,0.78,242.4,707.6,8.0,730,15589,0.00,0.68,0.00,0.000,6,0.000,0.047,3283,1654,1868,0,0,0,0,0,0
$GC,15920,0.78,242.4,681.5,8.0,741,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1654,1868,0,0,0,0,0,0
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$STATE,23537,end climb,SURFACE_DEPTH_REACHED
$STATE,23537,begin surface coast
$FINISH,1.6,1.008886
$STATE,23574,end surface coast,CONTROL_FINISHED_OK
$STATE,23574,begin surface
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$HUMID,43.26
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$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.3,26.736
$10V_AH,10.2,25.188
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,70280,1217
$CAP_FILE_SIZE,200432,0
$CFSIZE,2097086464,2073657344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021112,074835,-4224.719,-744.149,40,1.0,40,-21.8