version: 66.07.10.p01
glider: 573
mission: 4
dive: 162
start: 11 3 112 9 46 33
data:
$ID,573
$MISSION,4
$DIVE,162
$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,-4805.3364
$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,36
$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,141
$GPS1,031112,093859,-4215.450,-738.212,43,1.7,43,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-73.4
$GPS2,031112,094538,-4215.418,-738.252,14,1.6,16,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.180,0.120
$KALMAN_X,-215059.2,277.2,1180.8,408794.4,-9839.2
$KALMAN_Y,-141729.2,-151.2,-701.2,187688.6,5350.3
$MHEAD_RNG_PITCHd_Wd,78.1,38032,-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,-59.80,0.000,2,0.000,0.000,78,1822,2880,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.0,-1.5,10,121,10.88,1.20,-13.93,0.000,4,0.238,0.076,2786,1081,3358,0,0,0,0,0,0
$GC,187,-0.60,-121.6,14.5,-12.5,26,195,0.10,1.17,0.00,0.000,6,0.141,0.045,2816,1824,3360,0,0,0,0,0,0
$GC,268,-0.56,-121.6,23.8,-11.2,39,275,0.10,1.08,0.00,0.000,4,0.171,0.054,2839,2503,3360,0,0,0,0,0,0
$GC,411,-0.56,-121.6,37.9,-9.4,63,416,0.00,1.08,0.00,0.000,6,0.000,0.047,2839,1818,3360,0,0,0,0,0,0
$GC,645,-0.56,-121.6,60.1,-9.9,104,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1818,3361,0,0,0,0,0,0
$GC,988,-0.56,-121.6,93.9,-10.4,165,994,0.00,2.03,0.00,0.000,4,0.000,0.057,2830,3073,3361,0,0,0,0,0,0
$GC,1082,-0.56,-121.6,104.4,-10.8,177,1088,0.00,1.98,0.00,0.000,6,0.000,0.043,2830,1814,3361,0,0,0,0,0,0
$GC,1403,-0.56,-121.6,139.6,-11.0,198,1407,0.00,1.17,0.00,0.000,4,0.000,0.054,2825,2561,3361,0,0,0,0,0,0
$GC,1497,-0.56,-121.6,150.6,-11.3,203,1504,0.05,1.17,0.00,0.000,6,0.209,0.044,2838,1812,3362,0,0,0,0,0,0
$GC,1818,-0.56,-121.6,185.2,-10.9,224,1822,0.00,1.77,0.00,0.000,4,0.000,0.056,2830,2940,3361,0,0,0,0,0,0
$GC,1940,-0.56,-121.6,198.0,-10.1,231,1944,0.00,1.70,0.00,0.000,6,0.000,0.044,2830,1820,3362,0,0,0,0,0,0
$GC,2269,-0.56,-121.6,228.8,-8.3,252,2273,0.00,0.65,0.00,0.000,4,0.000,0.052,2827,2255,3362,0,0,0,0,0,0
$GC,2357,-0.56,-121.6,235.6,-7.9,257,2360,0.00,0.65,0.00,0.000,6,0.000,0.049,2827,1820,3362,0,0,0,0,0,0
$GC,2685,-0.56,-121.6,257.8,-5.8,276,2689,0.03,1.30,0.00,0.000,4,0.265,0.054,2831,2637,3362,0,0,0,0,0,0
$GC,2790,-0.56,-121.6,263.6,-5.0,280,2798,0.00,1.25,0.00,0.000,6,0.000,0.044,2831,1826,3362,0,0,0,0,0,0
$GC,3106,-0.56,-121.6,282.0,-6.3,296,3110,0.00,1.00,0.00,0.000,4,0.000,0.051,2827,2469,3362,0,0,0,0,0,0
$GC,3222,-0.56,-121.6,289.5,-6.9,301,3225,0.00,1.00,0.00,0.000,6,0.000,0.045,2827,1818,3362,0,0,0,0,0,0
$GC,3556,-0.56,-121.6,317.8,-8.5,317,3560,0.03,2.22,0.00,0.000,4,0.267,0.057,2826,3220,3362,0,0,0,0,0,0
$GC,3672,-0.56,-121.6,328.0,-8.6,322,3677,0.00,2.17,0.00,0.000,6,0.000,0.042,2826,1824,3362,0,0,0,0,0,0
$GC,3999,-0.56,-121.6,357.7,-9.2,338,4004,0.05,0.32,0.00,0.000,4,0.220,0.060,2836,2052,3362,0,0,0,0,0,0
$GC,4122,-0.56,-121.6,368.4,-8.7,343,4126,0.00,0.38,0.00,0.000,6,0.000,0.054,2836,1800,3362,0,0,0,0,0,0
$GC,4445,-0.56,-121.6,394.7,-8.0,359,4449,0.00,0.55,0.00,0.000,4,0.000,0.052,2834,2172,3362,0,0,0,0,0,0
$GC,4589,-0.56,-121.6,406.2,-7.5,365,4594,0.00,0.55,0.00,0.000,6,0.000,0.050,2834,1811,3361,0,0,0,0,0,0
$GC,4919,-0.56,-121.6,432.0,-8.0,376,4922,0.00,1.65,0.00,0.000,4,0.000,0.057,2827,2848,3361,0,0,0,0,0,0
$GC,5029,-0.56,-121.6,441.0,-7.9,379,5035,0.03,1.62,0.00,0.000,6,0.171,0.044,2837,1817,3361,0,0,0,0,0,0
$GC,5359,-0.56,-121.6,468.5,-8.9,390,5362,0.00,1.58,0.00,0.000,4,0.000,0.056,2831,2804,3361,0,0,0,0,0,0
$GC,5469,-0.56,-121.6,478.4,-9.4,393,5474,0.00,1.55,0.00,0.000,6,0.000,0.044,2830,1819,3361,0,0,0,0,0,0
$GC,5799,-0.56,-121.6,509.7,-9.7,404,5803,0.00,0.32,0.00,0.000,4,0.000,0.060,2829,2050,3361,0,0,0,0,0,0
$GC,5984,-0.56,-121.6,527.6,-10.0,409,5988,0.00,0.35,0.00,0.000,6,0.000,0.056,2829,1806,3360,0,0,0,0,0,0
$GC,6307,-0.56,-121.6,559.7,-9.8,420,6311,0.00,1.98,0.00,0.000,4,0.000,0.057,2820,3053,3360,0,0,0,0,0,0
$GC,6418,-0.56,-121.6,570.8,-10.3,423,6423,0.05,1.90,0.00,0.000,6,0.142,0.043,2840,1833,3359,0,0,0,0,0,0
$GC,6747,-0.56,-121.6,599.0,-8.3,434,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1832,3359,0,0,0,0,0,0
$GC,7053,-0.56,-121.6,623.1,-7.6,444,7057,0.00,0.62,0.00,0.000,4,0.000,0.054,2838,2248,3359,0,0,0,0,0,0
$GC,7192,-0.56,-121.6,633.8,-7.7,448,7196,0.00,0.68,0.00,0.000,6,0.000,0.049,2837,1808,3359,0,0,0,0,0,0
$GC,7527,-0.56,-121.6,660.9,-8.3,459,7531,0.00,1.48,0.00,0.000,4,0.000,0.056,2831,2736,3358,0,0,0,0,0,0
$GC,7637,-0.56,-121.6,670.7,-8.4,462,7643,0.00,1.45,0.00,0.000,6,0.000,0.045,2831,1818,3358,0,0,0,0,0,0
$GC,7968,-0.56,-121.6,701.5,-9.8,473,7971,0.00,0.98,0.00,0.000,4,0.000,0.054,2825,2440,3357,0,0,0,0,0,0
$GC,8056,-0.56,-121.6,710.6,-9.9,475,8061,0.05,0.98,0.00,0.000,6,0.208,0.047,2840,1818,3357,0,0,0,0,0,0
$GC,8374,-0.56,-121.6,742.9,-10.1,486,8378,0.00,1.15,0.00,0.000,4,0.000,0.055,2835,2548,3357,0,0,0,0,0,0
$GC,8485,-0.58,-121.6,754.3,-10.1,489,8489,0.00,1.15,0.00,0.000,6,0.000,0.046,2835,1818,3357,0,0,0,0,0,0
$GC,8815,-0.58,-121.6,785.8,-9.2,500,8818,0.00,0.60,0.00,0.000,4,0.000,0.054,2832,2218,3356,0,0,0,0,0,0
$GC,8874,-0.58,-121.6,791.3,-8.4,501,8880,0.00,0.62,0.00,0.000,6,0.000,0.051,2832,1812,3356,0,0,0,0,0,0
$GC,9187,-0.58,-121.6,816.8,-7.9,512,9191,0.00,0.90,0.00,0.000,4,0.000,0.054,2828,2393,3355,0,0,0,0,0,0
$GC,9269,-0.58,-121.6,823.3,-8.0,514,9273,0.00,0.90,0.00,0.000,6,0.000,0.047,2828,1814,3355,0,0,0,0,0,0
$GC,9593,-0.58,-121.6,846.9,-7.3,525,9597,0.00,1.27,0.00,0.000,4,0.000,0.055,2822,2620,3354,0,0,0,0,0,0
$GC,9687,-0.58,-121.6,853.9,-7.6,527,9693,0.00,1.27,0.00,0.000,6,0.000,0.046,2822,1811,3354,0,0,0,0,0,0
$GC,10000,-0.58,-121.6,876.8,-7.3,538,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1811,3355,0,0,0,0,0,0
$GC,10307,-0.58,-121.6,898.5,-7.1,548,10311,0.00,0.85,0.00,0.000,4,0.000,0.054,2818,2365,3354,0,0,0,0,0,0
$GC,10429,-0.58,-121.6,907.3,-6.6,551,10434,0.05,0.85,0.00,0.000,6,0.211,0.047,2831,1818,3353,0,0,0,0,0,0
$GC,10747,-0.58,-121.6,928.0,-6.5,562,10751,0.00,0.93,0.00,0.000,4,0.000,0.054,2828,2414,3353,0,0,0,0,0,0
$GC,10852,-0.58,-121.6,935.3,-6.1,565,10857,0.00,0.93,0.00,0.000,6,0.000,0.047,2827,1819,3353,0,0,0,0,0,0
$GC,11188,-0.58,-121.6,959.3,-7.4,576,11192,0.00,0.65,0.00,0.000,4,0.000,0.054,2825,2252,3353,0,0,0,0,0,0
$GC,11289,-0.58,-121.6,966.9,-7.8,579,11293,0.00,0.65,0.00,0.000,6,0.000,0.050,2825,1819,3353,0,0,0,0,0,0
$GC,11629,-0.58,-121.6,993.9,-7.9,590,11633,0.00,0.75,0.00,0.000,4,0.000,0.054,2821,2311,3352,0,0,0,0,0,0
$STATE,11705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11705,begin apogee
$GC,11710,-0.23,0.0,1000.0,8.2,592,11813,0.35,0.00,100.70,1.300,6,0.125,0.000,2941,1646,2862,0,0,0,0,0,0
$STATE,11814,end apogee,CONTROL_FINISHED_OK
$STATE,11814,begin climb
$GC,11816,0.71,121.6,1003.3,0.0,595,11924,0.93,0.00,103.55,1.264,6,0.094,0.000,3246,1646,2366,0,0,0,0,0,0
$GC,12213,0.71,152.8,983.7,6.1,608,12247,0.00,1.17,27.80,1.222,4,0.000,0.051,3246,2332,2237,0,0,0,0,0,0
$GC,12353,0.71,170.9,974.7,6.7,612,12375,0.00,1.15,16.73,1.177,6,0.000,0.048,3251,1644,2165,0,0,0,0,0,0
$GC,12681,0.71,186.6,951.7,6.8,623,12700,0.00,0.55,14.80,1.150,4,0.000,0.053,3251,1988,2101,0,0,0,0,0,0
$GC,12768,0.71,198.1,945.5,6.9,625,12783,0.00,0.57,11.60,1.106,6,0.000,0.055,3254,1639,2054,0,0,0,0,0,0
$GC,13119,0.73,227.8,922.6,6.2,637,13149,0.00,0.00,27.60,1.202,6,0.000,0.000,3254,1639,1932,0,0,0,0,0,0
$GC,13455,0.77,246.5,900.1,6.6,648,13475,0.00,0.40,17.30,1.157,4,0.000,0.056,3254,1885,1857,0,0,0,0,0,0
$GC,13559,0.82,258.5,893.0,6.9,651,13575,0.05,0.38,12.18,1.102,6,0.069,0.060,3294,1645,1808,0,0,0,0,0,0
$GC,13881,0.82,258.5,866.5,8.2,661,13885,0.00,0.30,0.00,0.000,4,0.000,0.057,3293,1849,1804,0,0,0,0,0,0
$GC,13964,0.82,258.5,859.8,8.2,663,13968,0.00,0.32,0.00,0.000,6,0.000,0.063,3295,1645,1804,0,0,0,0,0,0
$GC,14287,0.82,258.5,833.7,8.2,674,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1645,1802,0,0,0,0,0,0
$GC,14593,0.82,258.5,806.8,9.0,684,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1645,1802,0,0,0,0,0,0
$GC,14900,0.82,258.5,777.5,9.6,694,14904,0.00,0.40,0.00,0.000,4,0.000,0.061,3297,1371,1802,0,0,0,0,0,0
$GC,14993,0.82,258.5,768.1,9.8,696,14999,0.00,0.43,0.00,0.000,6,0.000,0.052,3297,1646,1802,0,0,0,0,0,0
$GC,15306,0.82,258.5,735.5,10.7,707,15309,0.00,0.68,0.00,0.000,4,0.000,0.058,3299,1218,1802,0,0,0,0,0,0
$GC,15410,0.82,258.5,723.9,11.4,710,15415,0.00,0.68,0.00,0.000,6,0.000,0.048,3300,1648,1802,0,0,0,0,0,0
$GC,15745,0.82,258.5,688.0,10.7,721,15749,0.00,0.30,0.00,0.000,4,0.000,0.066,3302,1443,1802,0,0,0,0,0,0
$GC,15828,0.82,258.5,679.3,9.6,723,15833,0.05,0.32,0.00,0.000,6,0.211,0.057,3289,1655,1802,0,0,0,0,0,0
$GC,16152,0.82,258.5,650.1,8.6,734,16153,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1655,1802,0,0,0,0,0,0
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$STATE,24022,end climb,SURFACE_DEPTH_REACHED
$STATE,24023,begin surface coast
$FINISH,1.3,1.026565
$STATE,24059,end surface coast,CONTROL_FINISHED_OK
$STATE,24060,begin surface
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$HUMID,43.58
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$TCM_TEMP,14.80
$XPDR_PINGS,0
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$10V_AH,10.2,25.873
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353988
$DATA_FILE_SIZE,70294,1211
$CAP_FILE_SIZE,210055,0
$CFSIZE,2097086464,2073001984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031112,162959,-4212.581,-735.448,39,1.0,39,-21.9