version: 66.07.10.p01
glider: 573
mission: 4
dive: 203
start: 11 14 112 10 1 43
data:
$ID,573
$MISSION,4
$DIVE,203
$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,-4941.9253
$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,34
$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,182
$GPS1,141112,095332,-4217.040,-731.561,57,1.3,57,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.3
$GPS2,141112,100048,-4217.022,-731.549,18,1.2,19,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.161,0.145
$KALMAN_X,-271254.8,517.9,1006.5,474035.7,-9969.3
$KALMAN_Y,-112475.3,-364.9,-532.8,155516.4,2866.2
$MHEAD_RNG_PITCHd_Wd,70.0,121952,-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,-121.6,0.0,0.0,0,99,0.00,0.00,-72.43,0.000,2,0.000,0.000,87,1832,2867,0,0,0,0,0,0
$GC,102,-0.71,-121.6,3.2,-1.5,12,134,11.27,2.33,-14.12,0.000,4,0.247,0.068,2788,416,3358,0,0,0,0,0,0
$GC,283,-0.61,-121.6,25.1,-12.7,42,291,0.12,2.25,0.00,0.000,6,0.151,0.044,2818,1818,3359,0,0,0,0,0,0
$GC,363,-0.58,-121.6,33.4,-9.2,55,369,0.05,0.82,0.00,0.000,4,0.229,0.054,2828,2343,3359,0,0,0,0,0,0
$GC,495,-0.58,-121.6,44.8,-7.6,78,502,0.00,0.80,0.00,0.000,6,0.000,0.047,2828,1824,3360,0,0,0,0,0,0
$GC,729,-0.56,-121.6,64.2,-9.4,119,733,0.00,1.77,0.00,0.000,4,0.000,0.057,2820,2935,3360,0,0,0,0,0,0
$GC,834,-0.56,-121.6,75.0,-9.5,138,842,0.05,1.75,0.00,0.000,6,0.142,0.043,2839,1824,3360,0,0,0,0,0,0
$GC,1189,-0.56,-121.6,105.6,-9.0,193,1193,0.00,2.22,0.00,0.000,4,0.000,0.059,2829,3227,3360,0,0,0,0,0,0
$GC,1311,-0.56,-121.6,117.0,-9.4,200,1319,0.00,2.22,0.00,0.000,6,0.000,0.042,2829,1814,3360,0,0,0,0,0,0
$GC,1632,-0.53,-121.6,145.5,-9.1,221,1637,0.08,1.62,0.00,0.000,4,0.206,0.057,2839,2849,3360,0,0,0,0,0,0
$GC,1702,-0.53,-121.6,151.7,-8.6,225,1706,0.00,1.62,0.00,0.000,6,0.000,0.044,2839,1813,3360,0,0,0,0,0,0
$GC,2033,-0.57,-121.6,179.7,-9.0,246,2037,0.00,2.22,0.00,0.000,4,0.000,0.058,2829,3229,3360,0,0,0,0,0,0
$GC,2116,-0.57,-121.6,187.7,-9.7,251,2121,0.00,2.20,0.00,0.000,6,0.000,0.041,2828,1821,3361,0,0,0,0,0,0
$GC,2444,-0.60,-121.6,218.0,-9.3,272,2447,0.00,2.00,0.00,0.000,4,0.000,0.053,2829,552,3361,0,0,0,0,0,0
$GC,2482,-0.57,-121.6,222.2,-10.3,274,2487,0.03,2.00,0.00,0.000,6,0.181,0.041,2830,1827,3361,0,0,0,0,0,0
$GC,2809,-0.61,-121.6,251.1,-8.3,295,2813,0.00,0.85,0.00,0.000,4,0.000,0.052,2830,1282,3361,0,0,0,0,0,0
$GC,2825,-0.64,-121.6,252.9,-8.6,295,2831,0.00,0.85,0.00,0.000,6,0.000,0.045,2826,1828,3361,0,0,0,0,0,0
$GC,3143,-0.67,-121.6,279.2,-8.1,311,3148,0.08,0.98,0.00,0.000,4,0.121,0.053,2779,2450,3360,0,0,0,0,0,0
$GC,3289,-0.60,-121.6,292.7,-9.1,317,3293,0.12,0.98,0.00,0.000,6,0.136,0.045,2821,1813,3361,0,0,0,0,0,0
$GC,3612,-0.60,-121.6,317.6,-7.7,333,3616,0.00,2.22,0.00,0.000,4,0.000,0.058,2811,3219,3361,0,0,0,0,0,0
$GC,3751,-0.60,-121.6,329.4,-7.8,339,3756,0.00,2.17,0.00,0.000,6,0.000,0.042,2811,1827,3361,0,0,0,0,0,0
$GC,4081,-0.58,-121.6,356.4,-8.2,355,4086,0.10,1.70,0.00,0.000,4,0.193,0.057,2830,2880,3360,0,0,0,0,0,0
$GC,4163,-0.58,-121.6,363.2,-7.5,358,4172,0.00,1.65,0.00,0.000,6,0.000,0.043,2830,1817,3360,0,0,0,0,0,0
$GC,4480,-0.62,-121.6,387.9,-7.9,374,4484,0.00,1.65,0.00,0.000,4,0.000,0.054,2830,753,3360,0,0,0,0,0,0
$GC,4512,-0.62,-121.6,390.9,-8.7,375,4517,0.00,1.67,0.00,0.000,6,0.000,0.042,2822,1818,3360,0,0,0,0,0,0
$GC,4844,-0.66,-121.6,418.8,-8.5,388,4848,0.00,2.20,0.00,0.000,4,0.000,0.059,2812,3223,3360,0,0,0,0,0,0
$GC,4927,-0.66,-121.6,426.7,-9.6,390,4932,0.00,2.20,0.00,0.000,6,0.000,0.043,2812,1816,3360,0,0,0,0,0,0
$GC,5246,-0.66,-121.6,454.4,-8.7,401,5250,0.00,2.25,0.00,0.000,4,0.000,0.055,2812,405,3360,0,0,0,0,0,0
$GC,5323,-0.61,-121.6,461.8,-9.0,403,5328,0.05,2.22,0.00,0.000,6,0.161,0.043,2819,1817,3359,0,0,0,0,0,0
$GC,5646,-0.61,-121.6,489.3,-8.3,414,5650,0.00,2.20,0.00,0.000,4,0.000,0.059,2809,3221,3358,0,0,0,0,0,0
$GC,5751,-0.61,-121.6,498.3,-7.8,417,5756,0.00,2.20,0.00,0.000,6,0.000,0.044,2809,1813,3359,0,0,0,0,0,0
$GC,6082,-0.58,-121.6,525.3,-8.3,428,6086,0.10,1.98,0.00,0.000,4,0.191,0.059,2827,3057,3358,0,0,0,0,0,0
$GC,6183,-0.58,-121.6,533.1,-7.3,431,6186,0.00,1.92,0.00,0.000,6,0.000,0.044,2827,1813,3358,0,0,0,0,0,0
$GC,6523,-0.62,-121.6,558.2,-7.2,442,6527,0.00,0.57,0.00,0.000,4,0.000,0.056,2827,1431,3357,0,0,0,0,0,0
$GC,6539,-0.66,-121.6,559.5,-7.3,442,6543,0.00,0.62,0.00,0.000,6,0.000,0.050,2824,1833,3357,0,0,0,0,0,0
$GC,6863,-0.70,-121.6,583.3,-7.4,453,6868,0.10,2.17,0.00,0.000,4,0.099,0.060,2762,3216,3357,0,0,0,0,0,0
$GC,6997,-0.62,-121.6,595.7,-9.8,457,7002,0.20,2.17,0.00,0.000,6,0.155,0.044,2818,1811,3356,0,0,0,0,0,0
$GC,7325,-0.62,-121.6,621.2,-7.6,468,7329,0.00,2.25,0.00,0.000,4,0.000,0.060,2809,3216,3356,0,0,0,0,0,0
$GC,7441,-0.62,-121.6,630.5,-7.8,471,7446,0.00,2.20,0.00,0.000,6,0.000,0.044,2809,1818,3355,0,0,0,0,0,0
$GC,7761,-0.59,-121.6,655.5,-8.0,482,7765,0.08,2.25,0.00,0.000,4,0.204,0.060,2816,3216,3354,0,0,0,0,0,0
$GC,7865,-0.59,-121.6,663.9,-7.6,485,7870,0.00,2.20,0.00,0.000,6,0.000,0.044,2816,1820,3354,0,0,0,0,0,0
$GC,8201,-0.59,-121.6,691.3,-8.5,496,8205,0.00,2.20,0.00,0.000,4,0.000,0.060,2805,3215,3354,0,0,0,0,0,0
$GC,8296,-0.59,-121.6,699.5,-8.5,499,8301,0.10,2.17,0.00,0.000,6,0.162,0.044,2833,1813,3353,0,0,0,0,0,0
$GC,8630,-0.65,-121.6,725.2,-7.6,510,8635,0.05,0.45,0.00,0.000,4,0.167,0.058,2795,2112,3353,0,0,0,0,0,0
$GC,8887,-0.65,-121.6,747.1,-9.3,517,8892,0.05,0.45,0.00,0.000,6,0.213,0.054,2807,1816,3353,0,0,0,0,0,0
$GC,9205,-0.65,-121.6,773.1,-8.3,528,9209,0.00,2.25,0.00,0.000,4,0.000,0.060,2798,3222,3353,0,0,0,0,0,0
$GC,9310,-0.63,-121.6,781.9,-8.0,531,9315,0.05,2.20,0.00,0.000,6,0.148,0.044,2816,1822,3352,0,0,0,0,0,0
$GC,9640,-0.66,-121.6,806.5,-7.3,542,9644,0.00,0.82,0.00,0.000,4,0.000,0.054,2816,1288,3352,0,0,0,0,0,0
$GC,9661,-0.68,-121.6,808.3,-7.5,542,9665,0.00,0.85,0.00,0.000,6,0.000,0.047,2813,1828,3352,0,0,0,0,0,0
$GC,9980,-0.72,-121.6,832.5,-7.9,553,9984,0.08,2.33,0.00,0.000,4,0.125,0.056,2771,399,3351,0,0,0,0,0,0
$GC,10075,-0.62,-121.6,842.1,-10.1,556,10080,0.20,2.22,0.00,0.000,6,0.163,0.044,2816,1819,3351,0,0,0,0,0,0
$GC,10409,-0.62,-121.6,869.2,-7.9,567,10413,0.00,2.20,0.00,0.000,4,0.000,0.060,2806,3219,3351,0,0,0,0,0,0
$GC,10542,-0.62,-121.6,880.3,-7.9,571,10547,0.00,2.20,0.00,0.000,6,0.000,0.044,2806,1819,3350,0,0,0,0,0,0
$GC,10878,-0.62,-121.6,909.1,-9.1,582,10882,0.00,1.65,0.00,0.000,4,0.000,0.059,2799,2846,3350,0,0,0,0,0,0
$GC,10994,-0.62,-121.6,920.2,-9.4,585,11000,0.05,1.60,0.00,0.000,6,0.155,0.044,2817,1822,3350,0,0,0,0,0,0
$GC,11319,-0.62,-121.6,950.3,-9.5,596,11323,0.00,2.17,0.00,0.000,4,0.000,0.060,2807,3179,3350,0,0,0,0,0,0
$GC,11418,-0.62,-121.6,960.4,-9.4,599,11423,0.00,2.15,0.00,0.000,6,0.000,0.044,2807,1810,3350,0,0,0,0,0,0
$GC,11754,-0.62,-121.6,991.9,-9.4,610,11758,0.00,1.27,0.00,0.000,4,0.000,0.058,2802,2609,3349,0,0,0,0,0,0
$STATE,11840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11840,begin apogee
$GC,11846,-0.23,0.0,1000.2,9.9,612,11949,0.43,0.00,100.03,1.301,6,0.133,0.000,2941,1639,2862,0,0,0,0,0,0
$STATE,11950,end apogee,CONTROL_FINISHED_OK
$STATE,11950,begin climb
$GC,11951,0.71,121.6,1005.5,0.0,616,12063,0.90,1.20,104.32,1.265,4,0.094,0.054,3244,937,2365,0,0,0,0,0,0
$GC,12108,0.71,195.9,1002.6,4.4,621,12180,0.00,1.20,67.30,1.239,6,0.000,0.044,3245,1639,2062,0,0,0,0,0,0
$GC,12504,0.78,226.2,978.9,6.2,634,12539,0.08,2.45,27.23,1.214,4,0.119,0.057,3284,3053,1938,0,0,0,0,0,0
$GC,12628,0.74,226.2,969.0,8.8,637,12635,0.10,2.33,0.00,0.000,6,0.138,0.045,3262,1650,1935,0,0,0,0,0,0
$GC,12941,0.74,239.9,947.2,6.8,648,12956,0.00,0.00,12.70,1.130,6,0.000,0.000,3262,1649,1884,0,0,0,0,0,0
$GC,13247,0.76,239.9,925.0,7.5,658,13251,0.00,0.75,0.00,0.000,4,0.000,0.051,3262,2130,1881,0,0,0,0,0,0
$GC,13308,0.76,244.5,920.3,7.2,659,13318,0.00,0.80,5.40,0.894,6,0.000,0.051,3264,1638,1865,0,0,0,0,0,0
$GC,13653,0.76,244.5,891.3,8.4,671,13657,0.00,0.52,0.00,0.000,4,0.000,0.060,3267,1294,1865,0,0,0,0,0,0
$GC,13702,0.76,244.5,886.8,8.6,672,13706,0.00,0.57,0.00,0.000,6,0.000,0.050,3267,1653,1864,0,0,0,0,0,0
$GC,14026,0.76,244.5,858.7,8.8,683,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1653,1864,0,0,0,0,0,0
$GC,14332,0.78,244.5,833.3,8.0,693,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1653,1863,0,0,0,0,0,0
$GC,14638,0.78,244.5,810.0,7.6,703,14642,0.00,0.40,0.00,0.000,4,0.000,0.062,3269,1392,1863,0,0,0,0,0,0
$GC,14687,0.78,244.5,806.0,7.8,704,14691,0.00,0.40,0.00,0.000,6,0.000,0.054,3269,1648,1863,0,0,0,0,0,0
$GC,15010,0.78,244.5,780.8,7.8,715,15012,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1648,1863,0,0,0,0,0,0
$GC,15317,0.78,244.5,756.4,8.2,725,15318,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1648,1862,0,0,0,0,0,0
$GC,15623,0.78,244.5,732.2,8.0,735,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1648,1862,0,0,0,0,0,0
$GC,15929,0.80,244.5,708.4,7.9,745,15933,0.00,0.45,0.00,0.000,4,0.000,0.061,3271,1356,1862,0,0,0,0,0,0
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$STATE,24509,end climb,SURFACE_DEPTH_REACHED
$STATE,24509,begin surface coast
$FINISH,1.5,1.026600
$STATE,24534,end surface coast,CONTROL_FINISHED_OK
$STATE,24534,begin surface
$SM_CCo,24610,0.00,0.000,0,0,1460,343.90
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$IRIDIUM_FIX,-4206.99,-732.79,141112,020232
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$HUMID,43.58
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,23.0,32.769
$10V_AH,10.1,31.521
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.400,145.050,380.850,0.000,0.000,25.178,36.864,245.525,0.250,0.000,20.748,3237.211,17102.518,487.640,4004.597,202.665,33.361,2085.162,0.000,3636.168,0.000,1.008,0.000
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$SENSOR_SECS,836.753,1356.355,820.449,94.367,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354512
$DATA_FILE_SIZE,73537,1254
$CAP_FILE_SIZE,223860,0
$CFSIZE,2097086464,2067464192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141112,165335,-4215.048,-731.598,69,0.9,69,-21.9