version: 66.07.10.p01
glider: 573
mission: 4
dive: 158
start: 11 2 112 7 56 20
data:
$ID,573
$MISSION,4
$DIVE,158
$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,-4791.7949
$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,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,137
$GPS1,021112,074835,-4224.719,-744.149,40,1.0,40,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-74.5
$GPS2,021112,075525,-4224.697,-744.198,21,1.0,21,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.156,0.150
$KALMAN_X,-205399.3,356.5,1361.0,390782.8,-10247.3
$KALMAN_Y,-148244.9,92.3,-324.2,176396.3,4219.9
$MHEAD_RNG_PITCHd_Wd,67.9,56579,-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,-121.6,0.0,0.0,0,75,0.00,0.00,-48.35,0.000,2,0.000,0.000,82,1824,2867,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.2,-1.5,8,109,10.98,1.50,-14.48,0.000,4,0.241,0.074,2780,2750,3358,0,0,0,0,0,0
$GC,199,-0.61,-121.6,16.5,-11.2,28,207,0.10,1.48,0.00,0.000,6,0.140,0.045,2814,1819,3360,0,0,0,0,0,0
$GC,280,-0.56,-121.6,25.4,-10.6,41,287,0.10,0.47,0.00,0.000,4,0.179,0.057,2840,2134,3361,0,0,0,0,0,0
$GC,380,-0.56,-121.6,35.4,-9.3,58,387,0.00,0.47,0.00,0.000,6,0.000,0.053,2840,1817,3361,0,0,0,0,0,0
$GC,618,-0.56,-121.6,58.3,-10.0,99,623,0.00,1.12,0.00,0.000,4,0.000,0.053,2835,2532,3361,0,0,0,0,0,0
$GC,709,-0.56,-121.6,67.3,-9.8,115,714,0.00,1.12,0.00,0.000,6,0.000,0.046,2835,1813,3361,0,0,0,0,0,0
$GC,1060,-0.56,-121.6,102.2,-10.2,175,1063,0.00,1.67,0.00,0.000,4,0.000,0.056,2827,2878,3362,0,0,0,0,0,0
$GC,1148,-0.56,-121.6,111.3,-10.0,180,1153,0.00,1.67,0.00,0.000,6,0.000,0.044,2827,1811,3362,0,0,0,0,0,0
$GC,1476,-0.54,-121.6,143.3,-9.4,201,1481,0.08,0.88,0.00,0.000,4,0.199,0.052,2842,2371,3362,0,0,0,0,0,0
$GC,1553,-0.54,-121.6,150.1,-8.0,205,1559,0.00,0.88,0.00,0.000,6,0.000,0.046,2842,1807,3362,0,0,0,0,0,0
$GC,1872,-0.54,-121.6,175.3,-7.7,226,1875,0.00,1.27,0.00,0.000,4,0.000,0.053,2836,2614,3362,0,0,0,0,0,0
$GC,1966,-0.54,-121.6,182.8,-7.5,231,1973,0.00,1.25,0.00,0.000,6,0.000,0.043,2836,1816,3362,0,0,0,0,0,0
$GC,2286,-0.54,-121.6,208.8,-8.8,252,2289,0.00,0.88,0.00,0.000,4,0.000,0.051,2832,2385,3363,0,0,0,0,0,0
$GC,2375,-0.54,-121.6,216.7,-9.0,257,2380,0.05,0.88,0.00,0.000,6,0.206,0.044,2846,1818,3363,0,0,0,0,0,0
$GC,2700,-0.54,-121.6,244.6,-8.9,278,2703,0.00,1.62,0.00,0.000,4,0.000,0.055,2838,2839,3363,0,0,0,0,0,0
$GC,2813,-0.54,-121.6,254.7,-8.9,284,2817,0.00,1.58,0.00,0.000,6,0.000,0.044,2839,1825,3363,0,0,0,0,0,0
$GC,3145,-0.54,-121.6,284.9,-9.0,300,3149,0.00,1.77,0.00,0.000,4,0.000,0.056,2830,2956,3363,0,0,0,0,0,0
$GC,3262,-0.54,-121.6,295.8,-8.4,305,3268,0.03,1.77,0.00,0.000,6,0.174,0.042,2842,1813,3363,0,0,0,0,0,0
$GC,3592,-0.54,-121.6,320.3,-6.8,321,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1813,3363,0,0,0,0,0,0
$GC,3899,-0.54,-121.6,345.3,-8.8,336,3903,0.00,2.20,0.00,0.000,4,0.000,0.058,2832,3221,3363,0,0,0,0,0,0
$GC,4015,-0.54,-121.6,355.9,-8.7,341,4020,0.00,2.17,0.00,0.000,6,0.000,0.042,2832,1821,3363,0,0,0,0,0,0
$GC,4339,-0.54,-121.6,386.7,-9.6,357,4344,0.05,0.90,0.00,0.000,4,0.224,0.053,2840,2393,3363,0,0,0,0,0,0
$GC,4431,-0.54,-121.6,394.8,-8.8,361,4435,0.00,0.88,0.00,0.000,6,0.000,0.046,2840,1817,3363,0,0,0,0,0,0
$GC,4770,-0.54,-121.6,422.7,-7.7,373,4774,0.00,1.12,0.00,0.000,4,0.000,0.053,2835,2533,3363,0,0,0,0,0,0
$GC,4858,-0.54,-121.6,429.5,-7.5,375,4863,0.00,1.12,0.00,0.000,6,0.000,0.045,2834,1813,3363,0,0,0,0,0,0
$GC,5177,-0.54,-121.6,452.1,-6.9,386,5181,0.00,0.85,0.00,0.000,4,0.000,0.051,2830,2370,3363,0,0,0,0,0,0
$GC,5266,-0.54,-121.6,458.6,-6.4,388,5271,0.05,0.85,0.00,0.000,6,0.207,0.046,2845,1818,3362,0,0,0,0,0,0
$GC,5584,-0.54,-121.6,481.9,-7.7,399,5587,0.00,0.98,0.00,0.000,4,0.000,0.052,2840,2446,3362,0,0,0,0,0,0
$GC,5678,-0.54,-121.6,489.2,-7.2,401,5683,0.00,0.98,0.00,0.000,6,0.000,0.045,2840,1819,3362,0,0,0,0,0,0
$GC,5991,-0.54,-121.6,513.0,-7.3,412,5994,0.00,0.73,0.00,0.000,4,0.000,0.052,2837,2297,3362,0,0,0,0,0,0
$GC,6079,-0.54,-121.6,519.5,-7.0,414,6084,0.00,0.75,0.00,0.000,6,0.000,0.047,2837,1809,3361,0,0,0,0,0,0
$GC,6398,-0.54,-121.6,540.1,-6.2,425,6401,0.00,1.45,0.00,0.000,4,0.000,0.055,2830,2721,3361,0,0,0,0,0,0
$GC,6492,-0.54,-121.6,546.0,-6.2,427,6498,0.03,1.40,0.00,0.000,6,0.172,0.044,2842,1822,3361,0,0,0,0,0,0
$GC,6805,-0.54,-121.6,565.3,-6.5,438,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1821,3361,0,0,0,0,0,0
$GC,7111,-0.54,-121.6,586.1,-6.8,448,7115,0.00,1.12,0.00,0.000,4,0.000,0.053,2837,2538,3360,0,0,0,0,0,0
$GC,7217,-0.54,-121.6,593.5,-6.7,451,7221,0.00,1.12,0.00,0.000,6,0.000,0.044,2837,1816,3360,0,0,0,0,0,0
$GC,7552,-0.54,-121.6,619.8,-8.2,462,7555,0.00,1.35,0.00,0.000,4,0.000,0.055,2831,2674,3359,0,0,0,0,0,0
$GC,7657,-0.54,-121.6,628.4,-7.7,465,7662,0.05,1.35,0.00,0.000,6,0.210,0.044,2845,1812,3359,0,0,0,0,0,0
$GC,7992,-0.54,-121.6,652.0,-6.9,476,7996,0.00,1.12,0.00,0.000,4,0.000,0.054,2839,2526,3359,0,0,0,0,0,0
$GC,8081,-0.56,-121.6,657.9,-7.0,478,8085,0.00,1.10,0.00,0.000,6,0.000,0.045,2839,1818,3358,0,0,0,0,0,0
$GC,8399,-0.56,-121.6,678.7,-6.5,489,8403,0.00,0.40,0.00,0.000,4,0.000,0.056,2837,2099,3358,0,0,0,0,0,0
$GC,8504,-0.56,-121.6,686.2,-7.5,492,8508,0.00,0.43,0.00,0.000,6,0.000,0.055,2838,1815,3358,0,0,0,0,0,0
$GC,8839,-0.56,-121.6,711.8,-8.1,503,8843,0.00,0.43,0.00,0.000,4,0.000,0.055,2836,2115,3357,0,0,0,0,0,0
$GC,8944,-0.56,-121.6,720.8,-8.4,506,8948,0.00,0.45,0.00,0.000,6,0.000,0.053,2835,1816,3357,0,0,0,0,0,0
$GC,9279,-0.56,-121.6,751.8,-9.3,517,9282,0.00,1.38,0.00,0.000,4,0.000,0.056,2829,2683,3356,0,0,0,0,0,0
$GC,9380,-0.56,-121.6,761.5,-9.0,520,9384,0.00,1.35,0.00,0.000,6,0.000,0.046,2830,1815,3357,0,0,0,0,0,0
$GC,9720,-0.56,-121.6,796.1,-10.5,531,9724,0.00,0.57,0.00,0.000,4,0.000,0.053,2827,2202,3356,0,0,0,0,0,0
$GC,9849,-0.56,-121.6,809.7,-10.9,534,9854,0.00,0.57,0.00,0.000,6,0.000,0.050,2827,1818,3356,0,0,0,0,0,0
$GC,10161,-0.56,-121.6,842.6,-10.6,545,10165,0.00,0.47,0.00,0.000,4,0.000,0.054,2825,2143,3355,0,0,0,0,0,0
$GC,10300,-0.56,-121.6,857.5,-10.6,549,10305,0.05,0.50,0.00,0.000,6,0.213,0.052,2838,1813,3355,0,0,0,0,0,0
$GC,10635,-0.58,-121.6,891.2,-10.0,560,10639,0.00,0.60,0.00,0.000,4,0.000,0.053,2835,2226,3355,0,0,0,0,0,0
$GC,10737,-0.60,-121.6,901.6,-10.2,563,10740,0.00,0.60,0.00,0.000,6,0.000,0.050,2835,1823,3355,0,0,0,0,0,0
$GC,11077,-0.60,-121.6,935.5,-9.6,574,11081,0.00,0.35,0.00,0.000,4,0.000,0.057,2834,2070,3354,0,0,0,0,0,0
$GC,11182,-0.62,-121.6,945.3,-8.8,577,11186,0.00,0.38,0.00,0.000,6,0.000,0.054,2834,1817,3354,0,0,0,0,0,0
$GC,11517,-0.62,-121.6,973.9,-8.4,588,11520,0.00,0.47,0.00,0.000,4,0.000,0.054,2832,2143,3353,0,0,0,0,0,0
$GC,11605,-0.64,-121.6,981.1,-8.0,590,11609,0.00,0.50,0.00,0.000,6,0.000,0.052,2832,1813,3353,0,0,0,0,0,0
$STATE,11861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11861,begin apogee
$GC,11865,-0.23,0.0,1000.0,7.4,599,11968,0.35,0.00,100.45,1.302,6,0.123,0.000,2945,1644,2862,0,0,0,0,0,0
$STATE,11969,end apogee,CONTROL_FINISHED_OK
$STATE,11969,begin climb
$GC,11971,0.71,121.6,1003.3,0.0,602,12082,0.90,0.75,103.20,1.263,4,0.092,0.055,3246,1204,2366,0,0,0,0,0,0
$GC,12120,0.71,157.9,998.0,5.9,606,12157,0.00,0.75,33.30,1.216,6,0.000,0.046,3246,1649,2218,0,0,0,0,0,0
$GC,12464,0.71,172.5,974.5,6.8,618,12484,0.00,2.05,13.43,1.154,4,0.000,0.055,3246,2865,2158,0,0,0,0,0,0
$GC,12599,0.71,172.5,964.6,7.9,622,12603,0.00,1.92,0.00,0.000,6,0.000,0.045,3254,1650,2155,0,0,0,0,0,0
$GC,12939,0.71,188.0,940.9,6.8,633,12958,0.00,0.62,14.70,1.155,4,0.000,0.052,3254,2046,2095,0,0,0,0,0,0
$GC,13074,0.71,210.4,932.0,6.5,637,13098,0.00,0.62,21.02,1.187,6,0.000,0.053,3257,1647,2003,0,0,0,0,0,0
$GC,13412,0.74,237.3,909.6,6.3,648,13443,0.00,0.50,24.58,1.192,4,0.000,0.052,3257,1964,1894,0,0,0,0,0,0
$GC,13527,0.77,277.5,902.2,5.8,651,13568,0.00,0.50,37.28,1.199,6,0.000,0.056,3260,1646,1729,0,0,0,0,0,0
$GC,13876,0.83,281.4,877.4,7.2,662,13880,0.08,0.62,0.00,0.000,4,0.123,0.051,3302,2046,1722,0,0,0,0,0,0
$GC,13963,0.83,281.4,868.9,9.4,664,13968,0.05,0.65,0.00,0.000,6,0.214,0.052,3293,1643,1721,0,0,0,0,0,0
$GC,14281,0.83,281.4,839.6,9.6,675,14285,0.00,0.38,0.00,0.000,4,0.000,0.054,3293,1900,1719,0,0,0,0,0,0
$GC,14382,0.83,281.4,829.4,10.2,678,14386,0.00,0.40,0.00,0.000,6,0.000,0.058,3294,1641,1719,0,0,0,0,0,0
$GC,14722,0.83,281.4,794.0,10.6,689,14726,0.00,0.45,0.00,0.000,4,0.000,0.053,3293,1946,1719,0,0,0,0,0,0
$GC,14793,0.83,281.4,786.1,11.5,691,14797,0.00,0.47,0.00,0.000,6,0.000,0.055,3295,1646,1718,0,0,0,0,0,0
$GC,15128,0.83,281.4,748.1,11.7,702,15132,0.00,0.57,0.00,0.000,4,0.000,0.050,3296,2029,1718,0,0,0,0,0,0
$GC,15205,0.83,281.4,739.0,11.6,704,15209,0.00,0.62,0.00,0.000,6,0.000,0.054,3298,1635,1718,0,0,0,0,0,0
$GC,15534,0.83,281.4,705.5,9.7,715,15538,0.00,0.73,0.00,0.000,4,0.000,0.050,3298,2112,1718,0,0,0,0,0,0
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$STATE,23478,end climb,SURFACE_DEPTH_REACHED
$STATE,23478,begin surface coast
$FINISH,1.6,1.026099
$STATE,23509,end surface coast,CONTROL_FINISHED_OK
$STATE,23509,begin surface
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$HUMID,43.77
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$TCM_TEMP,15.30
$XPDR_PINGS,0
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$10V_AH,10.2,25.327
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354044
$DATA_FILE_SIZE,70396,1202
$CAP_FILE_SIZE,204708,0
$CFSIZE,2097086464,2073526272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021112,143035,-4221.786,-742.904,36,0.9,36,-21.8