version: 66.07.10.p01
glider: 573
mission: 4
dive: 170
start: 11 5 112 15 23 31
data:
$ID,573
$MISSION,4
$DIVE,170
$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,-4831.9131
$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,33
$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,149
$GPS1,051112,151029,-4203.420,-716.397,51,1.2,51,-22.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-71.5
$GPS2,051112,152236,-4203.471,-716.412,18,1.3,19,-22.0
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.061,-0.208
$KALMAN_X,-213985.7,-174.5,-186.3,439288.6,1194.7
$KALMAN_Y,-138433.5,307.0,-74.6,205425.9,-350.8
$MHEAD_RNG_PITCHd_Wd,185.8,115727,-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,-48.20,0.000,2,0.000,0.000,81,1821,2852,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.2,-1.5,8,109,11.23,2.25,-14.00,0.000,4,0.246,0.070,2778,3218,3360,0,0,0,0,0,0
$GC,223,-0.60,-121.6,20.0,-11.6,32,231,0.12,2.22,0.00,0.000,6,0.144,0.045,2818,1828,3362,0,0,0,0,0,0
$GC,304,-0.55,-121.6,28.2,-10.1,45,311,0.10,1.08,0.00,0.000,4,0.186,0.054,2846,1156,3362,0,0,0,0,0,0
$GC,423,-0.55,-121.6,39.2,-8.9,65,428,0.00,1.05,0.00,0.000,6,0.000,0.047,2841,1824,3362,0,0,0,0,0,0
$GC,656,-0.55,-121.6,58.3,-8.1,106,663,0.00,0.47,0.00,0.000,4,0.000,0.057,2838,2156,3362,0,0,0,0,0,0
$GC,747,-0.55,-121.6,65.9,-8.5,122,752,0.00,0.55,0.00,0.000,6,0.000,0.050,2838,1800,3362,0,0,0,0,0,0
$GC,1090,-0.55,-121.6,93.7,-8.3,183,1097,0.00,2.28,0.00,0.000,4,0.000,0.057,2828,3206,3363,0,0,0,0,0,0
$GC,1202,-0.55,-121.6,103.7,-8.7,198,1210,0.00,2.17,0.00,0.000,6,0.000,0.042,2828,1825,3363,0,0,0,0,0,0
$GC,1524,-0.53,-121.6,133.1,-9.2,219,1528,0.08,1.95,0.00,0.000,4,0.203,0.057,2837,3049,3364,0,0,0,0,0,0
$GC,1634,-0.53,-121.6,143.6,-9.6,225,1640,0.00,1.92,0.00,0.000,6,0.000,0.043,2837,1820,3363,0,0,0,0,0,0
$GC,1955,-0.53,-121.6,173.6,-8.7,246,1958,0.00,1.90,0.00,0.000,4,0.000,0.057,2828,3036,3364,0,0,0,0,0,0
$GC,2065,-0.53,-121.6,184.0,-8.9,252,2074,0.05,1.90,0.00,0.000,6,0.152,0.043,2848,1821,3364,0,0,0,0,0,0
$GC,2387,-0.53,-121.6,211.5,-9.3,273,2391,0.00,0.65,0.00,0.000,4,0.000,0.053,2845,2249,3364,0,0,0,0,0,0
$GC,2491,-0.53,-121.6,221.5,-9.3,279,2495,0.00,0.68,0.00,0.000,6,0.000,0.048,2845,1801,3364,0,0,0,0,0,0
$GC,2812,-0.53,-121.6,253.3,-9.8,299,2815,0.00,1.42,0.00,0.000,4,0.000,0.054,2838,2699,3364,0,0,0,0,0,0
$GC,2917,-0.53,-121.6,264.2,-9.7,303,2923,0.00,1.38,0.00,0.000,6,0.000,0.043,2838,1821,3364,0,0,0,0,0,0
$GC,3235,-0.53,-121.6,295.8,-9.9,319,3239,0.00,1.90,0.00,0.000,4,0.000,0.056,2829,3010,3364,0,0,0,0,0,0
$GC,3341,-0.53,-121.6,306.9,-9.8,323,3348,0.05,1.85,0.00,0.000,6,0.147,0.043,2849,1827,3364,0,0,0,0,0,0
$GC,3659,-0.53,-121.6,334.3,-8.5,339,3663,0.00,1.45,0.00,0.000,4,0.000,0.055,2842,2738,3364,0,0,0,0,0,0
$GC,3776,-0.53,-121.6,344.3,-8.0,344,3781,0.00,1.48,0.00,0.000,6,0.000,0.044,2842,1800,3363,0,0,0,0,0,0
$GC,4104,-0.53,-121.6,370.9,-8.0,360,4108,0.00,2.22,0.00,0.000,4,0.000,0.058,2832,3221,3364,0,0,0,0,0,0
$GC,4221,-0.53,-121.6,380.7,-7.9,365,4227,0.03,2.17,0.00,0.000,6,0.177,0.043,2844,1825,3364,0,0,0,0,0,0
$GC,4542,-0.53,-121.6,406.2,-8.0,380,4546,0.00,0.85,0.00,0.000,4,0.000,0.053,2840,2378,3364,0,0,0,0,0,0
$GC,4636,-0.53,-121.6,413.6,-7.6,382,4642,0.00,0.88,0.00,0.000,6,0.000,0.047,2840,1813,3363,0,0,0,0,0,0
$GC,4949,-0.53,-121.6,438.7,-8.2,393,4953,0.00,2.22,0.00,0.000,4,0.000,0.058,2830,3229,3362,0,0,0,0,0,0
$GC,5059,-0.53,-121.6,448.1,-8.4,396,5064,0.05,2.20,0.00,0.000,6,0.151,0.043,2849,1824,3362,0,0,0,0,0,0
$GC,5383,-0.55,-121.6,473.6,-7.9,407,5387,0.00,1.95,0.00,0.000,4,0.000,0.059,2840,3044,3362,0,0,0,0,0,0
$GC,5505,-0.57,-121.6,484.1,-8.5,410,5509,0.00,1.92,0.00,0.000,6,0.000,0.044,2840,1812,3362,0,0,0,0,0,0
$GC,5823,-0.57,-121.6,513.0,-9.4,421,5827,0.00,1.75,0.00,0.000,4,0.000,0.058,2832,2942,3361,0,0,0,0,0,0
$GC,5928,-0.57,-121.6,523.3,-9.7,424,5933,0.00,1.75,0.00,0.000,6,0.000,0.044,2832,1822,3361,0,0,0,0,0,0
$GC,6264,-0.57,-121.6,556.6,-10.0,435,6267,0.00,1.38,0.00,0.000,4,0.000,0.056,2826,2687,3360,0,0,0,0,0,0
$GC,6374,-0.57,-121.6,567.9,-10.0,438,6379,0.00,1.38,0.00,0.000,6,0.000,0.045,2826,1816,3360,0,0,0,0,0,0
$GC,6704,-0.57,-121.6,600.6,-9.6,449,6708,0.00,1.90,0.00,0.000,4,0.000,0.057,2817,3001,3360,0,0,0,0,0,0
$GC,6820,-0.57,-121.6,612.0,-9.7,452,6825,0.03,1.85,0.00,0.000,6,0.186,0.044,2828,1820,3359,0,0,0,0,0,0
$GC,7143,-0.57,-121.6,641.0,-8.7,463,7147,0.00,0.40,0.00,0.000,4,0.000,0.057,2826,2098,3359,0,0,0,0,0,0
$GC,7237,-0.57,-121.6,649.3,-8.5,465,7243,0.00,0.45,0.00,0.000,6,0.000,0.054,2826,1800,3358,0,0,0,0,0,0
$GC,7549,-0.57,-121.6,675.7,-8.7,476,7553,0.00,1.92,0.00,0.000,4,0.000,0.058,2817,3014,3358,0,0,0,0,0,0
$GC,7677,-0.57,-121.6,687.2,-8.7,479,7684,0.03,1.88,0.00,0.000,6,0.187,0.044,2829,1821,3358,0,0,0,0,0,0
$GC,7990,-0.57,-121.6,714.2,-8.7,490,7993,0.00,2.08,0.00,0.000,4,0.000,0.059,2819,3125,3358,0,0,0,0,0,0
$GC,8117,-0.57,-121.6,725.8,-9.2,493,8124,0.03,2.05,0.00,0.000,6,0.180,0.044,2830,1819,3357,0,0,0,0,0,0
$GC,8431,-0.57,-121.6,754.0,-9.3,504,8434,0.00,0.38,0.00,0.000,4,0.000,0.060,2829,2079,3357,0,0,0,0,0,0
$GC,8638,-0.57,-121.6,773.8,-9.3,510,8642,0.00,0.40,0.00,0.000,6,0.000,0.057,2829,1806,3357,0,0,0,0,0,0
$GC,8972,-0.57,-121.6,805.6,-9.7,521,8976,0.00,1.02,0.00,0.000,4,0.000,0.056,2824,2455,3356,0,0,0,0,0,0
$GC,9073,-0.57,-121.6,815.2,-9.5,524,9077,0.00,0.98,0.00,0.000,6,0.000,0.048,2824,1825,3356,0,0,0,0,0,0
$GC,9413,-0.57,-121.6,845.3,-8.4,535,9417,0.00,1.25,0.00,0.000,4,0.000,0.055,2819,2612,3355,0,0,0,0,0,0
$GC,9524,-0.57,-121.6,854.6,-8.6,538,9529,0.05,1.25,0.00,0.000,6,0.213,0.046,2832,1818,3355,0,0,0,0,0,0
$GC,9854,-0.57,-121.6,880.8,-8.2,549,9857,0.00,1.67,0.00,0.000,4,0.000,0.058,2824,2881,3355,0,0,0,0,0,0
$GC,9976,-0.57,-121.6,890.7,-8.3,552,9981,0.00,1.65,0.00,0.000,6,0.000,0.045,2824,1827,3354,0,0,0,0,0,0
$GC,10294,-0.57,-121.6,917.0,-8.5,563,10298,0.00,1.02,0.00,0.000,4,0.000,0.054,2820,2476,3354,0,0,0,0,0,0
$GC,10405,-0.57,-121.6,926.8,-8.1,566,10410,0.05,1.05,0.00,0.000,6,0.208,0.046,2833,1808,3354,0,0,0,0,0,0
$GC,10734,-0.57,-121.6,956.2,-9.0,577,10738,0.00,1.48,0.00,0.000,4,0.000,0.057,2826,2729,3354,0,0,0,0,0,0
$GC,10863,-0.60,-121.6,967.7,-9.2,580,10868,0.00,1.42,0.00,0.000,6,0.000,0.046,2826,1820,3353,0,0,0,0,0,0
$GC,11175,-0.60,-121.6,995.2,-8.7,591,11178,0.00,0.88,0.00,0.000,4,0.000,0.055,2823,2381,3353,0,0,0,0,0,0
$STATE,11228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11228,begin apogee
$GC,11233,-0.23,0.0,1000.1,8.5,592,11336,0.35,0.00,100.50,1.307,6,0.131,0.000,2939,1643,2862,0,0,0,0,0,0
$STATE,11337,end apogee,CONTROL_FINISHED_OK
$STATE,11337,begin climb
$GC,11338,0.71,121.6,1005.0,0.0,596,11449,0.93,1.17,103.88,1.269,4,0.095,0.052,3250,972,2365,0,0,0,0,0,0
$GC,11499,0.71,180.8,1001.3,5.0,601,11557,0.00,1.15,53.33,1.241,6,0.000,0.043,3250,1646,2124,0,0,0,0,0,0
$GC,11892,0.71,225.9,979.6,5.6,614,11936,0.00,1.10,40.33,1.242,4,0.000,0.050,3251,2332,1940,0,0,0,0,0,0
$GC,12014,0.74,257.9,972.0,6.1,617,12051,0.00,1.12,29.77,1.217,6,0.000,0.050,3255,1651,1809,0,0,0,0,0,0
$GC,12358,0.80,257.9,947.7,7.4,629,12360,0.08,0.00,0.00,0.000,6,0.118,0.000,3302,1651,1803,0,0,0,0,0,0
$GC,12663,0.80,257.9,915.9,10.9,639,12668,0.10,0.52,0.00,0.000,4,0.158,0.060,3277,1304,1802,0,0,0,0,0,0
$GC,12723,0.82,257.9,909.8,11.1,640,12729,0.00,0.55,0.00,0.000,6,0.000,0.050,3277,1651,1802,0,0,0,0,0,0
$GC,13036,0.84,257.9,879.4,9.7,651,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1651,1802,0,0,0,0,0,0
$GC,13342,0.84,257.9,849.5,9.9,661,13345,0.00,0.62,0.00,0.000,4,0.000,0.060,3279,1255,1801,0,0,0,0,0,0
$GC,13409,0.84,257.9,842.9,9.6,663,13413,0.00,0.60,0.00,0.000,6,0.000,0.050,3280,1646,1801,0,0,0,0,0,0
$GC,13749,0.84,257.9,810.2,9.3,674,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1646,1800,0,0,0,0,0,0
$GC,14055,0.84,257.9,781.9,9.2,684,14059,0.00,0.62,0.00,0.000,4,0.000,0.059,3283,1247,1800,0,0,0,0,0,0
$GC,14132,0.84,257.9,774.7,8.7,686,14136,0.00,0.65,0.00,0.000,6,0.000,0.049,3283,1660,1800,0,0,0,0,0,0
$GC,14461,0.84,257.9,744.3,9.2,697,14465,0.00,0.30,0.00,0.000,4,0.000,0.067,3284,1456,1800,0,0,0,0,0,0
$GC,14510,0.84,257.9,739.8,8.3,698,14514,0.00,0.30,0.00,0.000,6,0.000,0.059,3284,1654,1800,0,0,0,0,0,0
$GC,14834,0.84,257.9,710.8,9.0,709,14837,0.00,0.40,0.00,0.000,4,0.000,0.059,3283,1937,1799,0,0,0,0,0,0
$GC,14911,0.84,257.9,703.9,8.2,711,14915,0.00,0.47,0.00,0.000,6,0.000,0.057,3286,1636,1799,0,0,0,0,0,0
$GC,15240,0.84,257.9,676.1,8.4,722,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1636,1799,0,0,0,0,0,0
$GC,15546,0.84,257.9,651.3,8.0,732,15547,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1636,1799,0,0,0,0,0,0
$GC,15852,0.84,257.9,627.1,7.9,742,15856,0.00,0.28,0.00,0.000,4,0.000,0.070,3287,1439,1799,0,0,0,0,0,0
$GC,15912,0.84,257.9,622.3,8.1,743,15917,0.00,0.32,0.00,0.000,6,0.000,0.057,3287,1652,1799,0,0,0,0,0,0
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$STATE,23156,end climb,SURFACE_DEPTH_REACHED
$STATE,23156,begin surface coast
$FINISH,1.7,1.005561
$STATE,23205,end surface coast,CONTROL_FINISHED_OK
$STATE,23205,begin surface
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$HUMID,43.26
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$TCM_TEMP,15.00
$XPDR_PINGS,0
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$10V_AH,10.2,26.997
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.725,103.475,329.125,0.000,0.000,69.713,92.511,347.007,0.000,0.000,21.576,3126.881,16038.470,449.172,4199.706,184.643,33.365,1967.915,0.000,3596.560,0.000,1.563,0.000
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$SENSOR_SECS,813.708,1382.787,787.103,107.986,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353984
$DATA_FILE_SIZE,73522,1233
$CAP_FILE_SIZE,207100,0
$CFSIZE,2097086464,2071953408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051112,215305,-4205.791,-715.635,60,0.9,60,-22.0