version: 66.07.10.p01
glider: 573
mission: 4
dive: 160
start: 11 2 112 21 6 49
data:
$ID,573
$MISSION,4
$DIVE,160
$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,-4798.6943
$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,30
$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,139
$GPS1,021112,205905,-4218.518,-742.124,41,0.9,41,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-71.7
$GPS2,021112,210554,-4218.511,-742.226,17,1.2,18,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,-0.042
$KALMAN_X,-209033.4,-79.0,24.3,398870.6,-3736.7
$KALMAN_Y,-144949.3,-272.1,-116.9,184715.2,3408.0
$MHEAD_RNG_PITCHd_Wd,123.0,45946,-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,-42.20,0.000,2,0.000,0.000,83,1825,2535,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.0,-1.4,7,121,10.77,1.83,-32.47,0.000,4,0.234,0.067,2792,693,3357,0,0,0,0,0,0
$GC,205,-0.61,-121.6,12.9,-11.4,29,212,0.10,1.80,0.00,0.000,6,0.146,0.044,2818,1815,3359,0,0,0,0,0,0
$GC,285,-0.57,-121.6,21.1,-9.9,42,292,0.08,0.28,0.00,0.000,4,0.187,0.064,2837,2019,3359,0,0,0,0,0,0
$GC,427,-0.57,-121.6,34.3,-8.9,66,434,0.00,0.30,0.00,0.000,6,0.000,0.059,2836,1810,3359,0,0,0,0,0,0
$GC,666,-0.57,-121.6,55.5,-9.0,107,670,0.00,1.52,0.00,0.000,4,0.000,0.055,2829,2762,3360,0,0,0,0,0,0
$GC,780,-0.57,-121.6,65.4,-8.5,127,784,0.00,1.48,0.00,0.000,6,0.000,0.044,2830,1823,3360,0,0,0,0,0,0
$GC,1124,-0.54,-121.6,95.8,-8.9,188,1129,0.03,0.00,0.00,0.000,6,0.267,0.000,2840,1822,3360,0,0,0,0,0,0
$GC,1457,-0.54,-121.6,122.8,-8.1,215,1461,0.00,1.90,0.00,0.000,4,0.000,0.057,2832,3035,3361,0,0,0,0,0,0
$GC,1568,-0.54,-121.6,132.2,-8.1,221,1574,0.00,1.90,0.00,0.000,6,0.000,0.043,2832,1819,3361,0,0,0,0,0,0
$GC,1889,-0.54,-121.6,158.6,-8.3,242,1893,0.00,1.80,0.00,0.000,4,0.000,0.057,2823,2973,3361,0,0,0,0,0,0
$GC,2011,-0.54,-121.6,169.7,-9.3,249,2016,0.05,1.80,0.00,0.000,6,0.140,0.042,2843,1818,3361,0,0,0,0,0,0
$GC,2338,-0.54,-121.6,198.8,-9.8,270,2342,0.00,0.32,0.00,0.000,4,0.000,0.057,2842,2052,3361,0,0,0,0,0,0
$GC,2415,-0.54,-121.6,206.3,-9.3,274,2423,0.00,0.35,0.00,0.000,6,0.000,0.055,2842,1812,3361,0,0,0,0,0,0
$GC,2736,-0.54,-121.6,237.1,-9.8,295,2739,0.00,1.40,0.00,0.000,4,0.000,0.054,2835,2702,3362,0,0,0,0,0,0
$GC,2824,-0.54,-121.6,246.3,-10.1,300,2829,0.00,1.38,0.00,0.000,6,0.000,0.043,2836,1816,3361,0,0,0,0,0,0
$GC,3159,-0.54,-121.6,279.9,-10.1,317,3162,0.00,1.73,0.00,0.000,4,0.000,0.056,2828,2930,3361,0,0,0,0,0,0
$GC,3275,-0.54,-121.6,292.1,-9.8,322,3281,0.05,1.73,0.00,0.000,6,0.147,0.042,2847,1822,3361,0,0,0,0,0,0
$GC,3603,-0.54,-121.6,323.0,-9.2,338,3606,0.00,2.03,0.00,0.000,4,0.000,0.057,2838,3125,3361,0,0,0,0,0,0
$GC,3718,-0.54,-121.6,333.8,-9.1,343,3722,0.00,2.00,0.00,0.000,6,0.000,0.043,2837,1809,3361,0,0,0,0,0,0
$GC,4052,-0.54,-121.6,365.7,-9.3,359,4056,0.00,1.00,0.00,0.000,4,0.000,0.053,2833,2449,3361,0,0,0,0,0,0
$GC,4146,-0.54,-121.6,375.1,-8.9,363,4151,0.00,1.00,0.00,0.000,6,0.000,0.044,2833,1805,3361,0,0,0,0,0,0
$GC,4473,-0.54,-121.6,406.6,-9.3,378,4476,0.00,1.20,0.00,0.000,4,0.000,0.054,2828,2569,3361,0,0,0,0,0,0
$GC,4600,-0.54,-121.6,419.4,-10.7,381,4607,0.08,1.17,0.00,0.000,6,0.179,0.044,2848,1818,3361,0,0,0,0,0,0
$GC,4913,-0.57,-121.6,449.3,-9.8,392,4917,0.00,1.65,0.00,0.000,4,0.000,0.057,2840,2883,3361,0,0,0,0,0,0
$GC,5015,-0.59,-121.6,458.9,-8.8,395,5019,0.00,1.65,0.00,0.000,6,0.000,0.044,2840,1821,3361,0,0,0,0,0,0
$GC,5355,-0.59,-121.6,493.1,-10.2,406,5358,0.00,0.40,0.00,0.000,4,0.000,0.056,2839,2103,3361,0,0,0,0,0,0
$GC,5437,-0.59,-121.6,501.6,-10.5,408,5441,0.00,0.45,0.00,0.000,6,0.000,0.053,2839,1801,3361,0,0,0,0,0,0
$GC,5761,-0.59,-121.6,532.5,-9.3,419,5764,0.00,1.38,0.00,0.000,4,0.000,0.054,2833,2671,3360,0,0,0,0,0,0
$GC,5866,-0.59,-121.6,542.4,-8.9,422,5871,0.00,1.33,0.00,0.000,6,0.000,0.044,2833,1825,3360,0,0,0,0,0,0
$GC,6201,-0.59,-121.6,573.7,-9.2,433,6205,0.00,1.75,0.00,0.000,4,0.000,0.057,2824,2961,3359,0,0,0,0,0,0
$GC,6323,-0.59,-121.6,585.5,-9.6,436,6328,0.00,1.77,0.00,0.000,6,0.000,0.044,2824,1824,3360,0,0,0,0,0,0
$GC,6642,-0.59,-121.6,616.6,-9.9,447,6646,0.00,0.57,0.00,0.000,4,0.000,0.053,2821,2213,3359,0,0,0,0,0,0
$GC,6747,-0.59,-121.6,627.5,-9.6,450,6751,0.00,0.62,0.00,0.000,6,0.000,0.050,2822,1805,3358,0,0,0,0,0,0
$GC,7082,-0.59,-121.6,662.2,-10.6,461,7085,0.00,1.10,0.00,0.000,4,0.000,0.054,2816,2505,3358,0,0,0,0,0,0
$GC,7175,-0.59,-121.6,672.5,-10.7,463,7182,0.05,1.08,0.00,0.000,6,0.213,0.046,2829,1820,3358,0,0,0,0,0,0
$GC,7488,-0.59,-121.6,705.3,-10.5,474,7492,0.00,0.55,0.00,0.000,4,0.000,0.054,2827,2192,3357,0,0,0,0,0,0
$GC,7623,-0.59,-121.6,719.3,-9.9,478,7627,0.00,0.55,0.00,0.000,6,0.000,0.051,2827,1819,3356,0,0,0,0,0,0
$GC,7963,-0.59,-121.6,754.8,-10.4,489,7967,0.00,0.80,0.00,0.000,4,0.000,0.053,2824,2341,3356,0,0,0,0,0,0
$GC,8051,-0.59,-121.6,764.1,-10.7,491,8055,0.00,0.80,0.00,0.000,6,0.000,0.047,2824,1820,3356,0,0,0,0,0,0
$GC,8369,-0.59,-121.6,797.1,-10.6,502,8373,0.00,1.02,0.00,0.000,4,0.000,0.054,2819,2476,3355,0,0,0,0,0,0
$GC,8480,-0.59,-121.6,809.0,-10.5,505,8484,0.00,1.02,0.00,0.000,6,0.000,0.045,2819,1820,3355,0,0,0,0,0,0
$GC,8810,-0.59,-121.6,842.7,-10.1,516,8813,0.00,0.80,0.00,0.000,4,0.000,0.053,2815,2341,3355,0,0,0,0,0,0
$GC,8944,-0.59,-121.6,856.0,-9.4,520,8949,0.03,0.80,0.00,0.000,6,0.179,0.047,2827,1814,3355,0,0,0,0,0,0
$GC,9284,-0.59,-121.6,886.0,-8.4,531,9288,0.00,0.65,0.00,0.000,4,0.000,0.053,2824,2248,3354,0,0,0,0,0,0
$GC,9385,-0.59,-121.6,894.1,-7.4,534,9389,0.00,0.65,0.00,0.000,6,0.000,0.050,2824,1816,3355,0,0,0,0,0,0
$GC,9725,-0.59,-121.6,921.2,-7.8,545,9729,0.00,0.75,0.00,0.000,4,0.000,0.052,2820,2308,3354,0,0,0,0,0,0
$GC,9847,-0.59,-121.6,930.9,-7.8,548,9852,0.00,0.77,0.00,0.000,6,0.000,0.048,2820,1806,3354,0,0,0,0,0,0
$GC,10165,-0.59,-121.6,956.3,-8.0,559,10169,0.00,0.60,0.00,0.000,4,0.000,0.054,2818,2206,3352,0,0,0,0,0,0
$GC,10316,-0.59,-121.6,968.6,-8.4,563,10320,0.00,0.60,0.00,0.000,6,0.000,0.049,2818,1813,3353,0,0,0,0,0,0
$GC,10639,-0.59,-121.6,997.6,-9.3,574,10643,0.00,0.77,0.00,0.000,4,0.000,0.052,2814,2318,3352,0,0,0,0,0,0
$STATE,10664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10665,begin apogee
$GC,10669,-0.23,0.0,1000.2,9.3,574,10773,0.38,0.00,100.28,1.299,6,0.126,0.000,2941,1649,2862,0,0,0,0,0,0
$STATE,10773,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10775,0.71,121.6,1005.2,0.0,578,10886,0.90,1.50,103.15,1.262,4,0.093,0.057,3248,810,2366,0,0,0,0,0,0
$GC,10941,0.71,200.5,1002.4,4.2,583,11017,0.00,1.42,70.97,1.241,6,0.000,0.043,3248,1654,2044,0,0,0,0,0,0
$GC,11330,0.75,253.6,982.5,5.2,596,11380,0.00,0.00,47.80,1.237,6,0.000,0.000,3248,1654,1827,0,0,0,0,0,0
$GC,11667,0.81,294.0,963.8,5.8,607,11707,0.10,0.00,37.40,1.226,6,0.100,0.000,3295,1654,1662,0,0,0,0,0,0
$GC,12002,0.81,294.0,933.9,9.5,618,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1654,1655,0,0,0,0,0,0
$GC,12308,0.81,294.0,900.3,11.1,628,12312,0.00,0.52,0.00,0.000,4,0.000,0.060,3297,1318,1653,0,0,0,0,0,0
$GC,12391,0.81,294.0,890.5,10.6,630,12395,0.05,0.52,0.00,0.000,6,0.203,0.050,3284,1652,1652,0,0,0,0,0,0
$GC,12715,0.84,294.0,855.8,10.3,641,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1652,1652,0,0,0,0,0,0
$GC,13021,0.87,294.0,826.3,9.2,651,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1652,1652,0,0,0,0,0,0
$GC,13327,0.90,294.0,798.1,9.2,661,13332,0.08,0.68,0.00,0.000,4,0.121,0.058,3327,1221,1651,0,0,0,0,0,0
$GC,13398,0.87,294.0,790.5,10.6,663,13403,0.10,0.68,0.00,0.000,6,0.161,0.048,3301,1650,1651,0,0,0,0,0,0
$GC,13733,0.87,294.0,758.9,9.5,674,13737,0.00,0.40,0.00,0.000,4,0.000,0.063,3302,1385,1651,0,0,0,0,0,0
$GC,13800,0.87,294.0,752.8,9.3,676,13804,0.00,0.40,0.00,0.000,6,0.000,0.054,3302,1652,1651,0,0,0,0,0,0
$GC,14140,0.87,294.0,717.7,10.9,687,14144,0.00,1.12,0.00,0.000,4,0.000,0.059,3307,960,1651,0,0,0,0,0,0
$GC,14223,0.87,294.0,708.7,10.2,689,14227,0.00,1.10,0.00,0.000,6,0.000,0.046,3307,1648,1651,0,0,0,0,0,0
$GC,14547,0.87,294.0,672.7,11.3,700,14551,0.00,0.47,0.00,0.000,4,0.000,0.063,3309,1337,1651,0,0,0,0,0,0
$GC,14614,0.87,294.0,665.0,11.9,702,14617,0.00,0.45,0.00,0.000,6,0.000,0.054,3309,1639,1651,0,0,0,0,0,0
$GC,14954,0.87,294.0,627.0,11.0,713,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1639,1651,0,0,0,0,0,0
$GC,15260,0.87,294.0,595.2,10.5,723,15261,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1639,1650,0,0,0,0,0,0
$GC,15566,0.87,294.0,565.1,9.7,733,15570,0.00,0.88,0.00,0.000,4,0.000,0.059,3313,1089,1650,0,0,0,0,0,0
$GC,15636,0.87,294.0,558.1,9.0,735,15641,0.00,0.90,0.00,0.000,6,0.000,0.047,3313,1655,1650,0,0,0,0,0,0
$GC,15972,0.87,294.0,526.2,9.5,746,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1655,1650,0,0,0,0,0,0
$GC,16278,0.87,294.0,496.4,10.1,756,16282,0.00,0.88,0.00,0.000,4,0.000,0.058,3317,1107,1650,0,0,0,0,0,0
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$STATE,21337,end climb,SURFACE_DEPTH_REACHED
$STATE,21337,begin surface coast
$FINISH,1.5,1.013977
$STATE,21368,end surface coast,CONTROL_FINISHED_OK
$STATE,21368,begin surface
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$HUMID,43.69
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$TCM_TEMP,15.20
$XPDR_PINGS,0
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$10V_AH,10.2,25.594
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353980
$DATA_FILE_SIZE,66949,1131
$CAP_FILE_SIZE,187713,0
$CFSIZE,2097086464,2073296896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031112,030529,-4218.144,-739.911,43,1.0,43,-21.8