version: 66.07.10.p01
glider: 573
mission: 4
dive: 202
start: 11 14 112 2 56 49
data:
$ID,573
$MISSION,4
$DIVE,202
$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,-4938.5439
$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,26
$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,181
$GPS1,141112,024753,-4219.250,-731.425,55,1.0,55,-21.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-71.1
$GPS2,141112,025554,-4219.175,-731.427,18,1.0,19,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.158,0.148
$KALMAN_X,-266762.7,472.8,893.3,469873.1,-9785.6
$KALMAN_Y,-112277.6,-680.6,-321.2,151442.2,3469.2
$MHEAD_RNG_PITCHd_Wd,68.7,124715,-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,25,-0.71,-121.6,0.0,0.0,0,93,0.00,0.00,-66.32,0.000,2,0.000,0.000,89,1821,3001,0,0,0,0,0,0
$GC,96,-0.71,-121.6,3.3,-1.3,11,122,11.38,2.28,-9.65,0.000,4,0.252,0.071,2777,3229,3359,0,0,0,0,0,0
$GC,301,-0.62,-121.6,26.8,-11.4,45,309,0.12,2.25,0.00,0.000,6,0.142,0.045,2817,1821,3362,0,0,0,0,0,0
$GC,379,-0.58,-121.6,34.8,-9.8,58,386,0.08,0.00,0.00,0.000,6,0.198,0.000,2836,1821,3362,0,0,0,0,0,0
$GC,617,-0.58,-121.6,55.5,-8.5,99,622,0.00,1.50,0.00,0.000,4,0.000,0.057,2830,2757,3363,0,0,0,0,0,0
$GC,710,-0.58,-121.6,63.6,-8.6,115,714,0.00,1.50,0.00,0.000,6,0.000,0.046,2830,1807,3362,0,0,0,0,0,0
$GC,1053,-0.58,-121.6,93.7,-8.3,176,1059,0.00,2.28,0.00,0.000,4,0.000,0.059,2819,3241,3362,0,0,0,0,0,0
$GC,1182,-0.58,-121.6,104.6,-8.1,193,1189,0.00,2.22,0.00,0.000,6,0.000,0.042,2819,1824,3363,0,0,0,0,0,0
$GC,1502,-0.55,-121.6,133.4,-9.3,214,1507,0.10,2.25,0.00,0.000,4,0.190,0.059,2835,3240,3363,0,0,0,0,0,0
$GC,1599,-0.55,-121.6,141.7,-8.2,220,1603,0.00,2.22,0.00,0.000,6,0.000,0.042,2835,1803,3363,0,0,0,0,0,0
$GC,1925,-0.59,-121.6,168.0,-8.0,241,1929,0.00,1.17,0.00,0.000,4,0.000,0.052,2835,1055,3364,0,0,0,0,0,0
$GC,1946,-0.62,-121.6,170.1,-8.1,242,1951,0.00,1.23,0.00,0.000,6,0.000,0.043,2830,1838,3363,0,0,0,0,0,0
$GC,2274,-0.65,-121.6,195.8,-8.0,263,2279,0.05,1.67,0.00,0.000,4,0.162,0.056,2784,2885,3364,0,0,0,0,0,0
$GC,2347,-0.59,-121.6,202.9,-9.7,267,2352,0.10,1.65,0.00,0.000,6,0.145,0.042,2818,1824,3364,0,0,0,0,0,0
$GC,2672,-0.57,-121.6,231.5,-8.7,288,2677,0.08,2.15,0.00,0.000,4,0.207,0.058,2826,3171,3363,0,0,0,0,0,0
$GC,2768,-0.57,-121.6,239.4,-7.8,294,2772,0.00,2.10,0.00,0.000,6,0.000,0.042,2826,1809,3363,0,0,0,0,0,0
$GC,3087,-0.60,-121.6,261.9,-7.2,312,3091,0.00,2.20,0.00,0.000,4,0.000,0.054,2826,415,3363,0,0,0,0,0,0
$GC,3151,-0.57,-121.6,266.9,-8.0,315,3156,0.08,2.17,0.00,0.000,6,0.192,0.041,2834,1820,3364,0,0,0,0,0,0
$GC,3480,-0.61,-121.6,290.0,-7.0,331,3484,0.00,0.93,0.00,0.000,4,0.000,0.053,2830,2427,3363,0,0,0,0,0,0
$GC,3536,-0.66,-121.6,294.2,-7.4,333,3540,0.03,0.93,0.00,0.000,6,0.096,0.045,2801,1822,3363,0,0,0,0,0,0
$GC,3859,-0.61,-121.6,321.7,-9.1,349,3863,0.08,2.25,0.00,0.000,4,0.194,0.059,2808,3229,3364,0,0,0,0,0,0
$GC,3999,-0.59,-121.6,334.9,-9.5,355,4004,0.10,2.17,0.00,0.000,6,0.164,0.042,2836,1818,3364,0,0,0,0,0,0
$GC,4322,-0.64,-121.6,362.7,-9.1,371,4326,0.08,0.98,0.00,0.000,4,0.121,0.053,2791,1196,3363,0,0,0,0,0,0
$GC,4343,-0.64,-121.6,364.9,-9.1,372,4348,0.05,0.95,0.00,0.000,6,0.164,0.045,2805,1815,3363,0,0,0,0,0,0
$GC,4676,-0.64,-121.6,397.5,-9.8,388,4680,0.00,2.25,0.00,0.000,4,0.000,0.053,2809,404,3363,0,0,0,0,0,0
$GC,4792,-0.59,-121.6,410.1,-10.9,392,4797,0.08,2.22,0.00,0.000,6,0.151,0.041,2825,1821,3363,0,0,0,0,0,0
$GC,5111,-0.63,-121.6,438.7,-8.7,403,5115,0.00,2.25,0.00,0.000,4,0.000,0.053,2825,408,3363,0,0,0,0,0,0
$GC,5173,-0.59,-121.6,444.4,-9.3,405,5178,0.00,2.17,0.00,0.000,6,0.000,0.042,2814,1825,3363,0,0,0,0,0,0
$GC,5508,-0.59,-121.6,474.2,-8.8,416,5512,0.00,2.20,0.00,0.000,4,0.000,0.060,2804,3217,3362,0,0,0,0,0,0
$GC,5680,-0.57,-121.6,489.3,-8.5,421,5685,0.08,2.20,0.00,0.000,6,0.140,0.043,2830,1814,3362,0,0,0,0,0,0
$GC,6010,-0.62,-121.6,515.0,-7.8,432,6014,0.00,2.25,0.00,0.000,4,0.000,0.055,2831,405,3361,0,0,0,0,0,0
$GC,6064,-0.62,-121.6,519.9,-9.2,433,6071,0.00,2.22,0.00,0.000,6,0.000,0.042,2821,1818,3361,0,0,0,0,0,0
$GC,6377,-0.62,-121.6,543.3,-7.7,444,6381,0.00,2.20,0.00,0.000,4,0.000,0.059,2810,3222,3360,0,0,0,0,0,0
$GC,6473,-0.62,-121.6,552.1,-9.0,447,6477,0.00,2.17,0.00,0.000,6,0.000,0.044,2810,1816,3360,0,0,0,0,0,0
$GC,6808,-0.60,-121.6,583.7,-9.1,458,6812,0.08,2.22,0.00,0.000,4,0.204,0.060,2817,3218,3359,0,0,0,0,0,0
$GC,6918,-0.60,-121.6,594.0,-9.4,461,6922,0.00,2.20,0.00,0.000,6,0.000,0.044,2817,1814,3360,0,0,0,0,0,0
$GC,7242,-0.60,-121.6,623.6,-8.9,472,7246,0.00,2.25,0.00,0.000,4,0.000,0.060,2807,3221,3359,0,0,0,0,0,0
$GC,7352,-0.60,-121.6,634.0,-9.8,475,7358,0.05,2.20,0.00,0.000,6,0.148,0.044,2825,1818,3359,0,0,0,0,0,0
$GC,7676,-0.60,-121.6,661.9,-8.6,486,7680,0.00,1.95,0.00,0.000,4,0.000,0.059,2817,3043,3358,0,0,0,0,0,0
$GC,7781,-0.60,-121.6,671.3,-8.2,489,7786,0.00,1.92,0.00,0.000,6,0.000,0.043,2817,1816,3358,0,0,0,0,0,0
$GC,8117,-0.60,-121.6,701.1,-8.9,500,8121,0.00,2.25,0.00,0.000,4,0.000,0.060,2807,3225,3357,0,0,0,0,0,0
$GC,8238,-0.60,-121.6,712.6,-9.7,503,8244,0.05,2.20,0.00,0.000,6,0.148,0.044,2825,1827,3357,0,0,0,0,0,0
$GC,8557,-0.60,-121.6,741.1,-9.2,514,8561,0.00,1.80,0.00,0.000,4,0.000,0.059,2817,2961,3357,0,0,0,0,0,0
$GC,8658,-0.60,-121.6,750.6,-9.3,517,8662,0.00,1.77,0.00,0.000,6,0.000,0.044,2817,1813,3357,0,0,0,0,0,0
$GC,8998,-0.60,-121.6,781.3,-9.1,528,9002,0.00,2.25,0.00,0.000,4,0.000,0.060,2807,3218,3356,0,0,0,0,0,0
$GC,9137,-0.60,-121.6,793.8,-9.2,532,9142,0.05,2.20,0.00,0.000,6,0.148,0.044,2825,1824,3356,0,0,0,0,0,0
$GC,9466,-0.60,-121.6,819.3,-7.4,543,9469,0.00,1.65,0.00,0.000,4,0.000,0.059,2818,2876,3356,0,0,0,0,0,0
$GC,9571,-0.60,-121.6,827.2,-7.1,546,9576,0.00,1.65,0.00,0.000,6,0.000,0.045,2818,1824,3355,0,0,0,0,0,0
$GC,9907,-0.60,-121.6,850.5,-6.9,557,9911,0.00,2.22,0.00,0.000,4,0.000,0.060,2808,3226,3356,0,0,0,0,0,0
$GC,10023,-0.60,-121.6,859.0,-6.9,560,10028,0.05,2.22,0.00,0.000,6,0.151,0.044,2826,1810,3355,0,0,0,0,0,0
$GC,10341,-0.60,-121.6,880.6,-6.8,571,10345,0.00,1.70,0.00,0.000,4,0.000,0.060,2819,2896,3354,0,0,0,0,0,0
$GC,10452,-0.60,-121.6,888.3,-6.5,574,10456,0.00,1.70,0.00,0.000,6,0.000,0.044,2819,1813,3354,0,0,0,0,0,0
$GC,10782,-0.60,-121.6,911.6,-7.2,585,10786,0.00,1.40,0.00,0.000,4,0.000,0.058,2812,2690,3354,0,0,0,0,0,0
$GC,10887,-0.60,-121.6,919.5,-7.4,588,10892,0.05,1.38,0.00,0.000,6,0.215,0.045,2825,1819,3354,0,0,0,0,0,0
$GC,11223,-0.60,-121.6,942.8,-6.9,599,11227,0.00,1.35,0.00,0.000,4,0.000,0.057,2819,2664,3354,0,0,0,0,0,0
$GC,11339,-0.60,-121.6,951.2,-7.5,602,11344,0.00,1.35,0.00,0.000,6,0.000,0.045,2819,1813,3354,0,0,0,0,0,0
$GC,11664,-0.60,-121.6,974.4,-7.0,613,11668,0.00,1.62,0.00,0.000,4,0.000,0.059,2811,2822,3353,0,0,0,0,0,0
$GC,11775,-0.60,-121.6,982.6,-6.8,616,11780,0.03,1.58,0.00,0.000,6,0.173,0.045,2822,1819,3353,0,0,0,0,0,0
$STATE,12041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12041,begin apogee
$GC,12046,-0.23,0.0,1001.9,7.4,625,12150,0.40,0.00,100.85,1.304,6,0.129,0.000,2950,1636,2862,0,0,0,0,0,0
$STATE,12150,end apogee,CONTROL_FINISHED_OK
$STATE,12151,begin climb
$GC,12152,0.71,121.6,1005.3,0.0,628,12263,0.88,0.90,104.18,1.269,4,0.090,0.054,3246,1094,2366,0,0,0,0,0,0
$GC,12301,0.71,156.6,1001.3,6.0,632,12338,0.00,0.95,32.22,1.219,6,0.000,0.044,3247,1646,2223,0,0,0,0,0,0
$GC,12646,0.73,171.8,978.4,6.8,644,12665,0.00,2.05,13.82,1.161,4,0.000,0.057,3246,2857,2161,0,0,0,0,0,0
$GC,12745,0.73,171.8,971.1,7.8,647,12748,0.00,1.95,0.00,0.000,6,0.000,0.047,3255,1649,2159,0,0,0,0,0,0
$GC,13085,0.73,193.4,947.6,6.5,658,13109,0.00,0.73,20.20,1.193,4,0.000,0.047,3255,2104,2072,0,0,0,0,0,0
$GC,13183,0.73,193.4,940.7,7.6,661,13187,0.00,0.75,0.00,0.000,6,0.000,0.053,3259,1637,2069,0,0,0,0,0,0
$GC,13523,0.73,214.6,918.0,6.5,672,13545,0.00,0.00,19.55,1.184,6,0.000,0.000,3259,1637,1987,0,0,0,0,0,0
$GC,13830,0.74,245.3,898.1,6.1,682,13864,0.00,1.30,28.05,1.197,4,0.000,0.054,3259,2403,1862,0,0,0,0,0,0
$GC,13937,0.76,248.6,890.9,7.3,685,13946,0.00,1.23,4.25,0.751,6,0.000,0.050,3264,1657,1848,0,0,0,0,0,0
$GC,14265,0.78,264.6,868.9,6.8,696,14284,0.00,0.55,15.88,1.136,4,0.000,0.055,3267,1278,1783,0,0,0,0,0,0
$GC,14335,0.81,279.4,863.8,6.8,698,14355,0.00,0.60,14.93,1.115,6,0.000,0.049,3267,1648,1722,0,0,0,0,0,0
$GC,14669,0.85,285.1,839.8,7.2,709,14679,0.08,0.30,5.80,0.899,4,0.122,0.055,3309,1452,1699,0,0,0,0,0,0
$GC,14774,0.85,285.1,830.9,8.5,712,14778,0.00,0.30,0.00,0.000,6,0.000,0.057,3309,1645,1698,0,0,0,0,0,0
$GC,15109,0.85,285.1,801.5,9.0,723,15112,0.00,0.68,0.00,0.000,4,0.000,0.059,3312,1225,1697,0,0,0,0,0,0
$GC,15180,0.83,285.1,794.9,9.2,725,15185,0.10,0.68,0.00,0.000,6,0.162,0.048,3286,1648,1697,0,0,0,0,0,0
$GC,15516,0.83,285.1,767.9,8.1,736,15517,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1648,1696,0,0,0,0,0,0
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$STATE,24806,end climb,SURFACE_DEPTH_REACHED
$STATE,24806,begin surface coast
$FINISH,1.6,1.026194
$STATE,24837,end surface coast,CONTROL_FINISHED_OK
$STATE,24837,begin surface
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$HUMID,43.26
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$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.2,32.626
$10V_AH,10.1,31.377
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.325,151.900,441.675,0.000,0.000,25.541,40.104,268.885,0.000,0.000,21.500,3307.226,17192.109,530.690,4152.217,202.558,33.360,2154.820,0.000,3731.741,0.000,1.009,0.000
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$SENSOR_SECS,852.243,1379.215,827.065,101.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,76997,1280
$CAP_FILE_SIZE,228528,0
$CFSIZE,2097086464,2067628032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141112,095332,-4217.040,-731.561,57,1.3,57,-21.9