version: 66.07.10.p01
glider: 573
mission: 4
dive: 161
start: 11 3 112 3 13 38
data:
$ID,573
$MISSION,4
$DIVE,161
$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,-4802.0698
$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,32
$R_STBD_OVSHOOT,35
$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,140
$GPS1,031112,030529,-4218.144,-739.911,43,1.0,43,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.0
$GPS2,031112,031243,-4218.142,-739.883,16,0.9,18,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.158,0.148
$KALMAN_X,-212116.8,407.5,98.5,404586.1,-4555.5
$KALMAN_Y,-143091.3,76.1,-536.3,183611.1,3978.0
$MHEAD_RNG_PITCHd_Wd,68.7,43333,-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,-121.6,0.0,0.0,0,86,0.00,0.00,-59.80,0.000,2,0.000,0.000,83,1818,2942,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.1,-1.6,10,114,10.90,0.00,-11.35,0.000,6,0.239,0.000,2787,1819,3360,0,0,0,0,0,0
$GC,187,-0.62,-121.6,14.8,-11.7,26,195,0.12,0.85,0.00,0.000,4,0.168,0.051,2822,1282,3362,0,0,0,0,0,0
$GC,256,-0.57,-121.6,21.7,-11.4,37,264,0.03,0.82,0.00,0.000,6,0.177,0.046,2829,1818,3362,0,0,0,0,0,0
$GC,337,-0.55,-121.6,28.2,-7.7,50,344,0.00,0.28,0.00,0.000,4,0.000,0.060,2829,1625,3362,0,0,0,0,0,0
$GC,427,-0.52,-121.6,36.3,-9.2,65,433,0.05,0.28,0.00,0.000,6,0.149,0.062,2848,1816,3362,0,0,0,0,0,0
$GC,662,-0.52,-121.6,56.3,-8.7,106,669,0.00,1.52,0.00,0.000,4,0.000,0.055,2842,2770,3363,0,0,0,0,0,0
$GC,770,-0.52,-121.6,65.9,-8.7,125,774,0.00,1.50,0.00,0.000,6,0.000,0.043,2842,1814,3362,0,0,0,0,0,0
$GC,1110,-0.52,-121.6,96.7,-8.9,186,1118,0.00,1.50,0.00,0.000,4,0.000,0.053,2835,2761,3363,0,0,0,0,0,0
$GC,1206,-0.52,-121.6,105.2,-8.9,196,1215,0.03,1.48,0.00,0.000,6,0.165,0.043,2847,1816,3364,0,0,0,0,0,0
$GC,1528,-0.52,-121.6,133.6,-9.2,217,1531,0.00,1.58,0.00,0.000,4,0.000,0.054,2840,2805,3364,0,0,0,0,0,0
$GC,1634,-0.52,-121.6,144.3,-10.5,223,1638,0.00,1.55,0.00,0.000,6,0.000,0.044,2840,1813,3364,0,0,0,0,0,0
$GC,1960,-0.52,-121.6,176.6,-9.8,244,1964,0.00,2.20,0.00,0.000,4,0.000,0.057,2829,3215,3364,0,0,0,0,0,0
$GC,2076,-0.52,-121.6,188.0,-9.8,251,2080,0.08,2.15,0.00,0.000,6,0.177,0.042,2850,1820,3364,0,0,0,0,0,0
$GC,2401,-0.52,-121.6,215.5,-7.9,272,2404,0.00,1.95,0.00,0.000,4,0.000,0.057,2840,3058,3364,0,0,0,0,0,0
$GC,2512,-0.52,-121.6,224.3,-7.3,278,2520,0.00,1.92,0.00,0.000,6,0.000,0.042,2841,1822,3364,0,0,0,0,0,0
$GC,2834,-0.52,-121.6,247.1,-7.2,299,2837,0.00,0.52,0.00,0.000,4,0.000,0.053,2838,2178,3364,0,0,0,0,0,0
$GC,2911,-0.52,-121.6,253.0,-7.4,303,2916,0.00,0.57,0.00,0.000,6,0.000,0.050,2838,1800,3364,0,0,0,0,0,0
$GC,3235,-0.52,-121.6,275.7,-7.2,319,3239,0.00,2.22,0.00,0.000,4,0.000,0.057,2828,3224,3364,0,0,0,0,0,0
$GC,3357,-0.52,-121.6,285.5,-8.2,324,3366,0.05,2.17,0.00,0.000,6,0.145,0.041,2848,1827,3364,0,0,0,0,0,0
$GC,3673,-0.52,-121.6,310.5,-8.6,340,3677,0.00,1.17,0.00,0.000,4,0.000,0.053,2843,2574,3364,0,0,0,0,0,0
$GC,3764,-0.52,-121.6,318.5,-8.8,344,3767,0.00,1.17,0.00,0.000,6,0.000,0.045,2843,1815,3364,0,0,0,0,0,0
$GC,4095,-0.52,-121.6,348.5,-9.1,360,4099,0.00,1.85,0.00,0.000,4,0.000,0.056,2834,3005,3364,0,0,0,0,0,0
$GC,4211,-0.52,-121.6,358.8,-9.1,365,4215,0.08,1.83,0.00,0.000,6,0.171,0.043,2855,1818,3364,0,0,0,0,0,0
$GC,4544,-0.55,-121.6,385.8,-7.7,381,4548,0.00,2.17,0.00,0.000,4,0.000,0.057,2845,3203,3364,0,0,0,0,0,0
$GC,4658,-0.58,-121.6,394.4,-7.2,386,4662,0.00,2.12,0.00,0.000,6,0.000,0.042,2845,1821,3363,0,0,0,0,0,0
$GC,4982,-0.58,-121.6,418.4,-7.4,398,4985,0.00,0.45,0.00,0.000,4,0.000,0.054,2843,2132,3363,0,0,0,0,0,0
$GC,5083,-0.58,-121.6,425.9,-7.1,401,5087,0.00,0.47,0.00,0.000,6,0.000,0.054,2843,1807,3363,0,0,0,0,0,0
$GC,5423,-0.58,-121.6,452.3,-8.0,412,5427,0.00,0.88,0.00,0.000,4,0.000,0.052,2839,2374,3363,0,0,0,0,0,0
$GC,5505,-0.58,-121.6,459.1,-8.0,414,5510,0.00,0.85,0.00,0.000,6,0.000,0.047,2839,1822,3362,0,0,0,0,0,0
$GC,5829,-0.58,-121.6,487.4,-9.0,425,5833,0.00,1.10,0.00,0.000,4,0.000,0.053,2834,2529,3362,0,0,0,0,0,0
$GC,5930,-0.58,-121.6,496.5,-8.5,428,5934,0.00,1.10,0.00,0.000,6,0.000,0.046,2834,1819,3362,0,0,0,0,0,0
$GC,6270,-0.58,-121.6,526.4,-8.7,439,6274,0.00,1.67,0.00,0.000,4,0.000,0.056,2826,2879,3361,0,0,0,0,0,0
$GC,6375,-0.58,-121.6,535.6,-8.2,442,6380,0.00,1.65,0.00,0.000,6,0.000,0.044,2827,1822,3361,0,0,0,0,0,0
$GC,6711,-0.58,-121.6,564.0,-8.3,453,6714,0.00,1.20,0.00,0.000,4,0.000,0.054,2821,2583,3360,0,0,0,0,0,0
$GC,6804,-0.58,-121.6,571.9,-8.1,455,6811,0.00,1.20,0.00,0.000,6,0.000,0.044,2821,1815,3360,0,0,0,0,0,0
$GC,7117,-0.58,-121.6,599.8,-9.3,466,7121,0.00,1.83,0.00,0.000,4,0.000,0.057,2812,2973,3360,0,0,0,0,0,0
$GC,7245,-0.58,-121.6,612.7,-10.1,469,7252,0.05,1.80,0.00,0.000,6,0.144,0.043,2832,1817,3359,0,0,0,0,0,0
$GC,7558,-0.58,-121.6,644.1,-10.4,480,7562,0.00,0.95,0.00,0.000,4,0.000,0.053,2828,2432,3359,0,0,0,0,0,0
$GC,7659,-0.58,-121.6,654.3,-10.2,483,7663,0.00,0.95,0.00,0.000,6,0.000,0.046,2828,1812,3359,0,0,0,0,0,0
$GC,7999,-0.58,-121.6,687.3,-9.5,494,8003,0.00,1.52,0.00,0.000,4,0.000,0.056,2821,2770,3358,0,0,0,0,0,0
$GC,8101,-0.58,-121.6,696.8,-9.2,497,8104,0.00,1.48,0.00,0.000,6,0.000,0.045,2821,1823,3358,0,0,0,0,0,0
$GC,8441,-0.58,-121.6,727.6,-8.9,508,8444,0.00,0.93,0.00,0.000,4,0.000,0.053,2817,2420,3358,0,0,0,0,0,0
$GC,8529,-0.58,-121.6,735.2,-8.7,510,8534,0.05,0.95,0.00,0.000,6,0.210,0.047,2830,1812,3357,0,0,0,0,0,0
$GC,8847,-0.58,-121.6,760.4,-7.9,521,8850,0.00,1.70,0.00,0.000,4,0.000,0.057,2823,2893,3357,0,0,0,0,0,0
$GC,8974,-0.58,-121.6,771.0,-8.3,524,8980,0.00,1.67,0.00,0.000,6,0.000,0.044,2823,1825,3357,0,0,0,0,0,0
$GC,9287,-0.58,-121.6,796.8,-8.3,535,9291,0.00,0.77,0.00,0.000,4,0.000,0.053,2819,2329,3356,0,0,0,0,0,0
$GC,9443,-0.58,-121.6,809.7,-8.1,539,9448,0.00,0.80,0.00,0.000,6,0.000,0.048,2819,1815,3356,0,0,0,0,0,0
$GC,9761,-0.58,-121.6,835.0,-7.9,550,9765,0.00,1.35,0.00,0.000,4,0.000,0.055,2813,2665,3355,0,0,0,0,0,0
$GC,9866,-0.58,-121.6,843.2,-7.5,553,9872,0.08,1.35,0.00,0.000,6,0.181,0.045,2833,1809,3355,0,0,0,0,0,0
$GC,10202,-0.58,-121.6,868.1,-7.6,564,10205,0.00,1.40,0.00,0.000,4,0.000,0.057,2827,2689,3354,0,0,0,0,0,0
$GC,10306,-0.58,-121.6,876.4,-7.5,567,10311,0.00,1.38,0.00,0.000,6,0.000,0.045,2827,1819,3354,0,0,0,0,0,0
$GC,10642,-0.58,-121.6,904.1,-8.3,578,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1819,3354,0,0,0,0,0,0
$GC,10948,-0.58,-121.6,929.8,-8.5,588,10952,0.00,1.20,0.00,0.000,4,0.000,0.056,2822,2577,3354,0,0,0,0,0,0
$GC,11070,-0.58,-121.6,940.1,-8.3,591,11075,0.00,1.20,0.00,0.000,6,0.000,0.046,2822,1819,3354,0,0,0,0,0,0
$GC,11389,-0.58,-121.6,966.5,-8.3,602,11393,0.00,0.65,0.00,0.000,4,0.000,0.055,2819,2251,3354,0,0,0,0,0,0
$GC,11493,-0.58,-121.6,975.6,-8.3,605,11499,0.03,0.68,0.00,0.000,6,0.257,0.049,2830,1814,3353,0,0,0,0,0,0
$STATE,11827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11827,begin apogee
$GC,11831,-0.23,0.0,1001.1,7.7,616,11935,0.35,0.00,100.57,1.304,6,0.121,0.000,2945,1646,2862,0,0,0,0,0,0
$STATE,11936,end apogee,CONTROL_FINISHED_OK
$STATE,11936,begin climb
$GC,11937,0.71,121.6,1004.4,0.0,619,12048,0.90,1.35,103.20,1.268,4,0.091,0.056,3250,886,2366,0,0,0,0,0,0
$GC,12103,0.71,143.5,998.0,6.5,624,12129,0.00,1.27,20.83,1.189,6,0.000,0.042,3250,1639,2276,0,0,0,0,0,0
$GC,12465,0.71,148.1,972.2,7.2,636,12471,0.00,0.00,4.45,0.854,6,0.000,0.000,3250,1639,2258,0,0,0,0,0,0
$GC,12770,0.71,148.1,948.9,7.5,646,12772,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1639,2256,0,0,0,0,0,0
$GC,13077,0.71,148.2,926.4,7.4,656,13081,0.00,0.65,0.00,0.000,4,0.000,0.051,3250,2081,2256,0,0,0,0,0,0
$GC,13204,0.71,148.2,916.6,7.5,659,13209,0.00,0.70,0.00,0.000,6,0.000,0.052,3253,1644,2256,0,0,0,0,0,0
$GC,13516,0.71,148.2,891.9,7.9,670,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1644,2255,0,0,0,0,0,0
$GC,13822,0.71,148.2,867.9,7.8,680,13824,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1644,2255,0,0,0,0,0,0
$GC,14129,0.71,148.2,843.9,7.8,690,14132,0.00,0.95,0.00,0.000,4,0.000,0.051,3253,2250,2255,0,0,0,0,0,0
$GC,14279,0.71,162.3,832.5,6.8,694,14296,0.00,0.95,13.20,1.118,6,0.000,0.049,3258,1645,2200,0,0,0,0,0,0
$GC,14632,0.71,173.8,807.2,6.9,706,14646,0.00,0.60,11.25,1.077,4,0.000,0.047,3258,2061,2153,0,0,0,0,0,0
$GC,14735,0.71,189.6,800.2,6.8,709,14755,0.00,0.68,15.62,1.108,6,0.000,0.054,3261,1643,2087,0,0,0,0,0,0
$GC,15069,0.71,213.3,778.4,6.4,720,15094,0.00,0.52,21.58,1.125,4,0.000,0.052,3261,1965,1991,0,0,0,0,0,0
$GC,15188,0.73,239.2,770.5,6.3,722,15217,0.00,0.52,23.95,1.114,6,0.000,0.056,3263,1646,1885,0,0,0,0,0,0
$GC,15532,0.77,269.6,748.9,6.2,734,15563,0.00,0.43,27.35,1.112,4,0.000,0.056,3263,1906,1761,0,0,0,0,0,0
$GC,15632,0.82,296.1,743.2,6.3,737,15663,0.03,0.43,24.88,1.092,6,0.098,0.059,3294,1643,1654,0,0,0,0,0,0
$GC,15970,0.85,307.7,719.6,6.9,748,15984,0.00,0.65,10.65,1.001,4,0.000,0.054,3297,1231,1607,0,0,0,0,0,0
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$STATE,22932,end climb,SURFACE_DEPTH_REACHED
$STATE,22932,begin surface coast
$FINISH,1.5,1.026498
$STATE,22969,end surface coast,CONTROL_FINISHED_OK
$STATE,22969,begin surface
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$HUMID,43.69
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$TCM_TEMP,14.90
$XPDR_PINGS,0
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$10V_AH,10.2,25.732
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354068
$DATA_FILE_SIZE,70243,1169
$CAP_FILE_SIZE,208646,0
$CFSIZE,2097086464,2073133056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031112,093859,-4215.450,-738.212,43,1.7,43,-21.9