version: 66.07.10.p01
glider: 573
mission: 4
dive: 195
start: 11 12 112 2 48 20
data:
$ID,573
$MISSION,4
$DIVE,195
$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,-4914.8403
$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,35
$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,174
$GPS1,121112,023935,-4219.825,-721.799,69,1.6,69,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-72.0
$GPS2,121112,024725,-4219.785,-721.878,39,1.6,40,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.080,-0.202
$KALMAN_X,-222683.5,-494.8,-129.0,440821.6,-1716.9
$KALMAN_Y,-126879.3,183.5,239.3,163467.5,2108.3
$MHEAD_RNG_PITCHd_Wd,180.2,19091,-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,-0.70,-121.6,0.0,0.0,0,75,0.00,0.00,-48.15,0.000,2,0.000,0.000,82,1819,2745,0,0,0,0,0,0
$GC,77,-0.70,-121.6,3.1,-1.2,8,115,11.60,2.28,-19.73,0.000,4,0.257,0.070,2779,3227,3357,0,0,0,0,0,0
$GC,294,-0.61,-121.6,24.9,-13.9,44,302,0.12,2.25,0.00,0.000,6,0.142,0.044,2820,1819,3358,0,0,0,0,0,0
$GC,374,-0.58,-121.6,33.7,-8.8,57,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1819,3359,0,0,0,0,0,0
$GC,609,-0.54,-121.6,60.3,-13.4,98,614,0.10,1.08,0.00,0.000,4,0.190,0.055,2843,2487,3359,0,0,0,0,0,0
$GC,710,-0.54,-121.6,70.7,-10.0,116,715,0.00,1.05,0.00,0.000,6,0.000,0.047,2842,1816,3359,0,0,0,0,0,0
$GC,1053,-0.54,-121.6,101.1,-8.2,175,1056,0.00,0.47,0.00,0.000,4,0.000,0.056,2840,2139,3359,0,0,0,0,0,0
$GC,1089,-0.54,-121.6,103.8,-7.2,177,1092,0.00,0.47,0.00,0.000,6,0.000,0.054,2841,1818,3359,0,0,0,0,0,0
$GC,1420,-0.54,-121.6,131.2,-8.0,198,1424,0.00,2.20,0.00,0.000,4,0.000,0.058,2830,3198,3360,0,0,0,0,0,0
$GC,1515,-0.54,-121.6,139.4,-8.3,204,1520,0.05,2.15,0.00,0.000,6,0.213,0.043,2843,1809,3360,0,0,0,0,0,0
$GC,1841,-0.54,-121.6,165.2,-7.9,225,1845,0.00,2.25,0.00,0.000,4,0.000,0.058,2833,3221,3360,0,0,0,0,0,0
$GC,1945,-0.54,-121.6,173.4,-7.1,231,1949,0.00,2.15,0.00,0.000,6,0.000,0.042,2833,1817,3360,0,0,0,0,0,0
$GC,2268,-0.54,-121.6,198.7,-7.8,252,2272,0.00,1.15,0.00,0.000,4,0.000,0.055,2828,2544,3361,0,0,0,0,0,0
$GC,2380,-0.54,-121.6,208.1,-8.1,258,2389,0.08,1.15,0.00,0.000,6,0.186,0.044,2847,1809,3361,0,0,0,0,0,0
$GC,2702,-0.54,-121.6,232.9,-8.0,279,2706,0.00,2.25,0.00,0.000,4,0.000,0.059,2836,3219,3361,0,0,0,0,0,0
$GC,2813,-0.54,-121.6,242.8,-8.9,285,2820,0.00,2.17,0.00,0.000,6,0.000,0.041,2836,1827,3361,0,0,0,0,0,0
$GC,3143,-0.58,-121.6,269.6,-8.4,303,3147,0.00,2.20,0.00,0.000,4,0.000,0.057,2826,3221,3361,0,0,0,0,0,0
$GC,3232,-0.58,-121.6,277.2,-7.8,307,3237,0.00,2.20,0.00,0.000,6,0.000,0.041,2826,1813,3360,0,0,0,0,0,0
$GC,3562,-0.62,-121.6,302.9,-7.7,323,3566,0.00,2.20,0.00,0.000,4,0.000,0.054,2826,416,3361,0,0,0,0,0,0
$GC,3639,-0.58,-121.6,309.8,-8.8,326,3644,0.03,2.20,0.00,0.000,6,0.191,0.043,2826,1812,3361,0,0,0,0,0,0
$GC,3960,-0.58,-121.6,335.2,-8.2,342,3964,0.00,2.20,0.00,0.000,4,0.000,0.058,2815,3224,3361,0,0,0,0,0,0
$GC,4091,-0.58,-121.6,345.9,-8.1,348,4095,0.08,2.15,0.00,0.000,6,0.184,0.042,2835,1816,3361,0,0,0,0,0,0
$GC,4416,-0.58,-121.6,370.6,-7.5,364,4420,0.00,1.95,0.00,0.000,4,0.000,0.057,2826,3054,3361,0,0,0,0,0,0
$GC,4522,-0.58,-121.6,379.1,-8.0,368,4531,0.00,1.92,0.00,0.000,6,0.000,0.042,2826,1821,3360,0,0,0,0,0,0
$GC,4858,-0.58,-121.6,407.0,-8.6,384,4862,0.00,2.22,0.00,0.000,4,0.000,0.059,2815,3222,3360,0,0,0,0,0,0
$GC,4991,-0.58,-121.6,419.2,-9.0,388,4997,0.03,2.20,0.00,0.000,6,0.187,0.043,2826,1815,3360,0,0,0,0,0,0
$GC,5327,-0.58,-121.6,448.8,-9.1,399,5331,0.00,2.22,0.00,0.000,4,0.000,0.059,2816,3225,3360,0,0,0,0,0,0
$GC,5437,-0.58,-121.6,459.2,-9.4,402,5443,0.03,2.20,0.00,0.000,6,0.182,0.043,2827,1819,3360,0,0,0,0,0,0
$GC,5767,-0.58,-121.6,488.7,-9.0,413,5771,0.00,1.48,0.00,0.000,4,0.000,0.057,2821,2745,3359,0,0,0,0,0,0
$GC,5872,-0.58,-121.6,498.1,-8.4,416,5877,0.00,1.48,0.00,0.000,6,0.000,0.044,2821,1807,3359,0,0,0,0,0,0
$GC,6208,-0.58,-121.6,526.2,-8.1,427,6212,0.00,1.85,0.00,0.000,4,0.000,0.057,2812,2975,3358,0,0,0,0,0,0
$GC,6310,-0.56,-121.6,534.5,-8.5,430,6314,0.10,1.77,0.00,0.000,6,0.165,0.043,2840,1822,3358,0,0,0,0,0,0
$GC,6649,-0.56,-121.6,558.6,-7.3,441,6653,0.00,2.20,0.00,0.000,4,0.000,0.060,2830,3221,3358,0,0,0,0,0,0
$GC,6760,-0.56,-121.6,567.0,-7.7,444,6765,0.00,2.20,0.00,0.000,6,0.000,0.044,2830,1819,3358,0,0,0,0,0,0
$GC,7085,-0.56,-121.6,589.9,-7.0,455,7089,0.00,2.22,0.00,0.000,4,0.000,0.060,2820,3227,3357,0,0,0,0,0,0
$GC,7213,-0.56,-121.6,599.5,-7.0,458,7219,0.05,2.20,0.00,0.000,6,0.152,0.043,2838,1825,3356,0,0,0,0,0,0
$GC,7526,-0.56,-121.6,620.7,-7.0,469,7530,0.00,1.75,0.00,0.000,4,0.000,0.058,2830,2930,3356,0,0,0,0,0,0
$GC,7627,-0.56,-121.6,628.1,-7.2,472,7631,0.00,1.70,0.00,0.000,6,0.000,0.044,2830,1810,3356,0,0,0,0,0,0
$GC,7967,-0.56,-121.6,655.0,-8.0,483,7971,0.00,1.30,0.00,0.000,4,0.000,0.057,2824,2627,3355,0,0,0,0,0,0
$GC,8061,-0.56,-121.6,663.3,-8.4,485,8068,0.05,1.27,0.00,0.000,6,0.216,0.045,2837,1820,3355,0,0,0,0,0,0
$GC,8374,-0.56,-121.6,689.7,-8.4,496,8378,0.00,1.80,0.00,0.000,4,0.000,0.058,2829,2970,3355,0,0,0,0,0,0
$GC,8485,-0.56,-121.6,698.6,-7.5,499,8490,0.00,1.80,0.00,0.000,6,0.000,0.044,2829,1824,3355,0,0,0,0,0,0
$GC,8815,-0.56,-121.6,723.5,-7.6,510,8818,0.00,1.38,0.00,0.000,4,0.000,0.056,2823,2687,3354,0,0,0,0,0,0
$GC,8926,-0.56,-121.6,732.2,-7.0,513,8931,0.03,1.35,0.00,0.000,6,0.181,0.044,2833,1822,3354,0,0,0,0,0,0
$GC,9255,-0.56,-121.6,754.7,-6.7,524,9259,0.00,2.12,0.00,0.000,4,0.000,0.060,2824,3167,3354,0,0,0,0,0,0
$GC,9355,-0.56,-121.6,761.8,-6.7,527,9360,0.03,2.10,0.00,0.000,6,0.186,0.043,2834,1824,3354,0,0,0,0,0,0
$GC,9690,-0.59,-121.6,784.0,-6.6,538,9694,0.00,2.10,0.00,0.000,4,0.000,0.059,2825,3147,3354,0,0,0,0,0,0
$GC,9757,-0.62,-121.6,788.7,-7.0,540,9761,0.00,2.08,0.00,0.000,6,0.000,0.044,2825,1824,3353,0,0,0,0,0,0
$GC,10092,-0.67,-121.6,811.5,-6.7,551,10097,0.05,1.55,0.00,0.000,4,0.167,0.055,2789,863,3353,0,0,0,0,0,0
$GC,10136,-0.61,-121.6,815.3,-8.9,552,10141,0.12,1.50,0.00,0.000,6,0.151,0.044,2822,1814,3353,0,0,0,0,0,0
$GC,10465,-0.61,-121.6,839.5,-7.5,563,10469,0.00,2.05,0.00,0.000,4,0.000,0.059,2813,3112,3352,0,0,0,0,0,0
$GC,10569,-0.61,-121.6,847.6,-7.5,566,10575,0.00,2.03,0.00,0.000,6,0.000,0.044,2812,1821,3352,0,0,0,0,0,0
$GC,10905,-0.61,-121.6,874.7,-8.3,577,10909,0.00,0.32,0.00,0.000,4,0.000,0.061,2811,2051,3352,0,0,0,0,0,0
$GC,11094,-0.61,-121.6,892.0,-9.8,582,11099,0.00,0.38,0.00,0.000,6,0.000,0.057,2811,1797,3352,0,0,0,0,0,0
$GC,11412,-0.61,-121.6,922.9,-9.8,593,11416,0.00,0.62,0.00,0.000,4,0.000,0.055,2809,2211,3352,0,0,0,0,0,0
$GC,11534,-0.61,-121.6,934.9,-9.9,596,11539,0.05,0.60,0.00,0.000,6,0.219,0.050,2821,1822,3351,0,0,0,0,0,0
$GC,11852,-0.61,-121.6,965.1,-9.6,607,11855,0.00,0.43,0.00,0.000,4,0.000,0.059,2819,2114,3351,0,0,0,0,0,0
$GC,12013,-0.61,-121.6,980.8,-9.5,611,12019,0.00,0.45,0.00,0.000,6,0.000,0.054,2819,1818,3351,0,0,0,0,0,0
$STATE,12233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12233,begin apogee
$GC,12237,-0.23,0.0,1001.1,9.3,619,12341,0.40,0.00,100.93,1.303,6,0.132,0.000,2946,1647,2861,0,0,0,0,0,0
$STATE,12341,end apogee,CONTROL_FINISHED_OK
$STATE,12342,begin climb
$GC,12343,0.70,121.6,1006.0,0.0,622,12455,0.90,1.73,104.72,1.268,4,0.095,0.054,3250,669,2365,0,0,0,0,0,0
$GC,12516,0.68,216.8,1002.9,3.5,627,12609,0.00,1.65,86.50,1.246,6,0.000,0.043,3250,1637,1978,0,0,0,0,0,0
$GC,12922,0.71,228.9,976.5,6.9,641,12936,0.00,1.00,11.20,1.122,4,0.000,0.048,3250,2283,1929,0,0,0,0,0,0
$GC,13009,0.74,228.9,970.0,7.6,643,13014,0.00,1.02,0.00,0.000,6,0.000,0.050,3254,1657,1928,0,0,0,0,0,0
$GC,13322,0.77,228.9,946.1,7.7,654,13323,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1657,1926,0,0,0,0,0,0
$GC,13628,0.80,229.0,922.9,7.4,664,13630,0.08,0.00,0.00,0.000,6,0.122,0.000,3301,1657,1925,0,0,0,0,0,0
$GC,13934,0.77,229.0,893.2,10.0,674,13939,0.12,0.68,0.00,0.000,4,0.154,0.058,3269,1233,1925,0,0,0,0,0,0
$GC,14011,0.77,229.0,886.4,8.0,676,14016,0.00,0.68,0.00,0.000,6,0.000,0.047,3269,1657,1924,0,0,0,0,0,0
$GC,14341,0.77,229.0,859.8,7.9,687,14344,0.00,0.75,0.00,0.000,4,0.000,0.056,3272,1185,1924,0,0,0,0,0,0
$GC,14412,0.77,229.0,854.0,7.9,689,14417,0.00,0.75,0.00,0.000,6,0.000,0.047,3272,1657,1924,0,0,0,0,0,0
$GC,14748,0.77,233.5,828.7,7.2,700,14757,0.00,0.38,5.10,0.860,4,0.000,0.054,3274,1410,1909,0,0,0,0,0,0
$GC,14807,0.77,246.1,824.1,6.9,701,14822,0.00,0.38,12.68,1.100,6,0.000,0.055,3274,1651,1858,0,0,0,0,0,0
$GC,15147,0.77,248.2,798.8,7.3,713,15150,0.00,0.55,0.00,0.000,4,0.000,0.058,3276,1299,1855,0,0,0,0,0,0
$GC,15224,0.77,248.2,792.9,7.7,715,15228,0.00,0.57,0.00,0.000,6,0.000,0.049,3276,1660,1854,0,0,0,0,0,0
$GC,15553,0.77,258.9,769.8,7.0,726,15569,0.00,0.57,12.70,1.076,4,0.000,0.060,3279,1308,1806,0,0,0,0,0,0
$GC,15636,0.77,262.5,763.5,7.3,728,15646,0.00,0.55,4.78,0.791,6,0.000,0.049,3279,1654,1791,0,0,0,0,0,0
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$STATE,23830,end climb,SURFACE_DEPTH_REACHED
$STATE,23831,begin surface coast
$FINISH,1.9,1.026636
$STATE,23838,end surface coast,CONTROL_FINISHED_OK
$STATE,23838,begin surface
$SM_CCo,23915,0.00,0.000,0,0,1576,315.21
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$IRIDIUM_FIX,-4204.08,-720.86,111112,202007
$TT8_MAMPS,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.9,31.569
$10V_AH,10.1,30.358
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.800,152.225,387.775,0.000,0.000,25.645,45.505,252.067,0.000,0.000,42.285,3181.245,16390.779,500.230,4107.954,195.631,33.366,2116.230,0.000,3695.432,0.000,1.009,0.000
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$MEM,354376
$DATA_FILE_SIZE,73557,1209
$CAP_FILE_SIZE,223247,0
$CFSIZE,2097086464,2068611072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121112,092835,-4221.850,-724.183,67,1.1,67,-21.8