version: 66.07.10.p01
glider: 573
mission: 4
dive: 206
start: 11 15 112 6 50 38
data:
$ID,573
$MISSION,4
$DIVE,206
$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,-4952.0161
$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,29
$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,185
$GPS1,151112,064153,-4214.217,-732.056,40,1.0,40,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-66.9
$GPS2,151112,064943,-4214.222,-732.162,17,1.0,18,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.216,-0.019
$KALMAN_X,-285043.7,4.3,-382.5,488915.6,-4847.8
$KALMAN_Y,-110479.6,185.1,-307.5,157898.8,1470.3
$MHEAD_RNG_PITCHd_Wd,117.0,118919,-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,-121.6,0.0,0.0,0,88,0.00,0.00,-60.62,0.000,2,0.000,0.000,82,1835,2568,0,0,0,0,0,0
$GC,90,-0.71,-121.6,3.0,-0.7,10,134,11.43,2.25,-25.77,0.000,4,0.251,0.072,2781,3227,3358,0,0,0,0,0,0
$GC,313,-0.61,-121.6,24.7,-7.3,47,321,0.10,2.25,0.00,0.000,6,0.149,0.044,2813,1815,3360,0,0,0,0,0,0
$GC,392,-0.57,-121.6,33.2,-11.1,60,400,0.10,0.45,0.00,0.000,4,0.181,0.057,2839,2115,3360,0,0,0,0,0,0
$GC,471,-0.57,-121.6,39.3,-7.4,73,476,0.00,0.45,0.00,0.000,6,0.000,0.055,2840,1813,3361,0,0,0,0,0,0
$GC,704,-0.57,-121.6,56.0,-7.9,114,711,0.00,1.83,0.00,0.000,4,0.000,0.059,2831,2947,3360,0,0,0,0,0,0
$GC,816,-0.57,-121.6,66.0,-9.8,133,820,0.00,1.75,0.00,0.000,6,0.000,0.044,2831,1825,3360,0,0,0,0,0,0
$GC,1158,-0.57,-121.6,91.1,-7.0,194,1163,0.00,2.25,0.00,0.000,4,0.000,0.060,2821,3224,3361,0,0,0,0,0,0
$GC,1259,-0.57,-121.6,98.3,-7.0,212,1265,0.05,2.20,0.00,0.000,6,0.210,0.044,2834,1812,3361,0,0,0,0,0,0
$GC,1585,-0.57,-121.6,121.3,-7.2,236,1588,0.00,0.43,0.00,0.000,4,0.000,0.057,2832,2103,3361,0,0,0,0,0,0
$GC,1680,-0.57,-121.6,128.2,-7.1,241,1685,0.00,0.45,0.00,0.000,6,0.000,0.054,2833,1803,3361,0,0,0,0,0,0
$GC,1999,-0.57,-121.6,151.8,-7.5,262,2003,0.00,2.28,0.00,0.000,4,0.000,0.058,2822,3230,3362,0,0,0,0,0,0
$GC,2122,-0.57,-121.6,161.0,-7.0,269,2128,0.00,2.20,0.00,0.000,6,0.000,0.041,2822,1821,3362,0,0,0,0,0,0
$GC,2441,-0.57,-121.6,185.6,-7.5,290,2446,0.05,2.25,0.00,0.000,4,0.228,0.058,2823,3226,3362,0,0,0,0,0,0
$GC,2530,-0.57,-121.6,192.4,-7.8,295,2536,0.00,2.20,0.00,0.000,6,0.000,0.042,2823,1816,3362,0,0,0,0,0,0
$GC,2849,-0.57,-121.6,219.1,-8.7,316,2853,0.00,2.25,0.00,0.000,4,0.000,0.058,2812,3230,3362,0,0,0,0,0,0
$GC,2946,-0.57,-121.6,227.7,-8.5,322,2951,0.10,2.17,0.00,0.000,6,0.160,0.042,2840,1817,3362,0,0,0,0,0,0
$GC,3283,-0.63,-121.6,253.2,-7.0,343,3287,0.05,0.47,0.00,0.000,4,0.164,0.057,2800,2134,3362,0,0,0,0,0,0
$GC,3519,-0.63,-121.6,270.9,-7.1,353,3524,0.08,0.50,0.00,0.000,6,0.174,0.050,2820,1802,3362,0,0,0,0,0,0
$GC,3844,-0.65,-121.6,291.9,-6.7,369,3847,0.00,1.70,0.00,0.000,4,0.000,0.056,2812,2869,3362,0,0,0,0,0,0
$GC,3912,-0.65,-121.6,296.7,-6.8,372,3915,0.00,1.62,0.00,0.000,6,0.000,0.044,2812,1824,3362,0,0,0,0,0,0
$GC,4244,-0.65,-121.6,320.3,-7.4,388,4247,0.00,1.95,0.00,0.000,4,0.000,0.052,2812,582,3362,0,0,0,0,0,0
$GC,4290,-0.60,-121.6,324.1,-8.6,390,4294,0.08,1.92,0.00,0.000,6,0.194,0.042,2822,1827,3362,0,0,0,0,0,0
$GC,4622,-0.64,-121.6,351.4,-8.5,406,4625,0.00,1.58,0.00,0.000,4,0.000,0.057,2815,2825,3362,0,0,0,0,0,0
$GC,4692,-0.64,-121.6,357.4,-9.0,409,4695,0.00,1.55,0.00,0.000,6,0.000,0.044,2815,1825,3361,0,0,0,0,0,0
$GC,5026,-0.67,-121.6,389.5,-9.8,425,5030,0.00,2.25,0.00,0.000,4,0.000,0.054,2815,407,3361,0,0,0,0,0,0
$GC,5098,-0.62,-121.6,398.1,-11.1,428,5103,0.03,2.22,0.00,0.000,6,0.191,0.042,2814,1822,3361,0,0,0,0,0,0
$GC,5413,-0.64,-121.6,430.8,-10.7,439,5417,0.00,2.25,0.00,0.000,4,0.000,0.054,2815,408,3361,0,0,0,0,0,0
$GC,5484,-0.59,-121.6,439.1,-11.5,441,5489,0.05,2.22,0.00,0.000,6,0.164,0.041,2823,1821,3361,0,0,0,0,0,0
$GC,5813,-0.59,-121.6,472.3,-10.1,452,5817,0.00,2.22,0.00,0.000,4,0.000,0.059,2813,3227,3361,0,0,0,0,0,0
$GC,5900,-0.59,-121.6,482.0,-10.5,454,5907,0.03,2.20,0.00,0.000,6,0.172,0.042,2823,1819,3360,0,0,0,0,0,0
$GC,6214,-0.63,-121.6,513.1,-10.0,465,6218,0.00,1.48,0.00,0.000,4,0.000,0.054,2824,892,3360,0,0,0,0,0,0
$GC,6248,-0.63,-121.6,516.6,-9.7,466,6251,0.00,1.45,0.00,0.000,6,0.000,0.044,2817,1813,3360,0,0,0,0,0,0
$GC,6588,-0.66,-121.6,547.5,-8.6,477,6592,0.00,1.12,0.00,0.000,4,0.000,0.056,2812,2535,3359,0,0,0,0,0,0
$GC,6660,-0.68,-121.6,553.6,-8.1,479,6664,0.00,1.12,0.00,0.000,6,0.000,0.046,2812,1808,3359,0,0,0,0,0,0
$GC,6995,-0.70,-121.6,579.6,-7.5,490,6999,0.00,0.32,0.00,0.000,4,0.000,0.061,2812,1576,3359,0,0,0,0,0,0
$GC,7005,-0.70,-121.6,580.5,-7.7,490,7009,0.00,0.40,0.00,0.000,6,0.000,0.056,2810,1835,3359,0,0,0,0,0,0
$GC,7335,-0.72,-121.6,604.3,-7.2,501,7339,0.05,1.90,0.00,0.000,4,0.168,0.059,2765,3032,3358,0,0,0,0,0,0
$GC,7412,-0.65,-121.6,611.1,-8.6,503,7417,0.12,1.90,0.00,0.000,6,0.140,0.044,2805,1824,3358,0,0,0,0,0,0
$GC,7741,-0.65,-121.6,636.4,-7.7,514,7745,0.00,2.25,0.00,0.000,4,0.000,0.055,2806,407,3357,0,0,0,0,0,0
$GC,7819,-0.60,-121.6,643.4,-9.5,516,7823,0.08,2.22,0.00,0.000,6,0.154,0.043,2822,1818,3357,0,0,0,0,0,0
$GC,8149,-0.64,-121.6,669.0,-7.8,527,8152,0.00,0.35,0.00,0.000,4,0.000,0.059,2822,1578,3356,0,0,0,0,0,0
$GC,8158,-0.68,-121.6,670.2,-8.0,527,8162,0.00,0.38,0.00,0.000,6,0.000,0.056,2821,1821,3356,0,0,0,0,0,0
$GC,8488,-0.72,-121.6,696.7,-8.2,538,8493,0.10,2.22,0.00,0.000,4,0.101,0.060,2758,3221,3356,0,0,0,0,0,0
$GC,8690,-0.63,-121.6,717.3,-10.6,544,8695,0.20,2.17,0.00,0.000,6,0.157,0.044,2814,1803,3356,0,0,0,0,0,0
$GC,9024,-0.63,-121.6,747.0,-8.9,555,9028,0.00,1.48,0.00,0.000,4,0.000,0.057,2808,2728,3355,0,0,0,0,0,0
$GC,9113,-0.63,-121.6,755.1,-9.2,557,9117,0.00,1.42,0.00,0.000,6,0.000,0.044,2808,1809,3355,0,0,0,0,0,0
$GC,9431,-0.63,-121.6,782.2,-8.4,568,9435,0.00,2.25,0.00,0.000,4,0.000,0.060,2798,3217,3355,0,0,0,0,0,0
$GC,9514,-0.63,-121.6,789.3,-8.3,570,9519,0.03,2.20,0.00,0.000,6,0.175,0.044,2808,1817,3355,0,0,0,0,0,0
$GC,9832,-0.63,-121.6,813.8,-7.6,581,9836,0.00,2.25,0.00,0.000,4,0.000,0.060,2798,3222,3354,0,0,0,0,0,0
$GC,9977,-0.61,-121.6,824.7,-7.5,585,9981,0.10,2.15,0.00,0.000,6,0.168,0.044,2826,1819,3353,0,0,0,0,0,0
$GC,10295,-0.66,-121.6,844.7,-6.1,596,10299,0.00,2.12,0.00,0.000,4,0.000,0.056,2826,487,3353,0,0,0,0,0,0
$GC,10338,-0.64,-121.6,847.7,-6.5,597,10343,0.00,2.10,0.00,0.000,6,0.000,0.044,2816,1835,3353,0,0,0,0,0,0
$GC,10663,-0.68,-121.6,869.0,-6.8,608,10667,0.00,1.92,0.00,0.000,4,0.000,0.055,2816,633,3353,0,0,0,0,0,0
$GC,10706,-0.65,-121.6,872.5,-8.0,609,10711,0.00,1.88,0.00,0.000,6,0.000,0.044,2807,1822,3352,0,0,0,0,0,0
$GC,11036,-0.65,-121.6,897.6,-7.7,620,11040,0.00,2.22,0.00,0.000,4,0.000,0.061,2797,3222,3352,0,0,0,0,0,0
$GC,11160,-0.63,-121.6,907.7,-8.3,623,11166,0.08,2.17,0.00,0.000,6,0.181,0.045,2815,1820,3352,0,0,0,0,0,0
$GC,11472,-0.63,-121.6,931.9,-7.8,634,11475,0.00,1.12,0.00,0.000,4,0.000,0.057,2811,2529,3352,0,0,0,0,0,0
$GC,11573,-0.63,-121.6,940.2,-8.8,637,11576,0.00,1.10,0.00,0.000,6,0.000,0.047,2811,1821,3351,0,0,0,0,0,0
$GC,11913,-0.63,-121.6,968.6,-8.5,648,11917,0.00,2.25,0.00,0.000,4,0.000,0.060,2800,3227,3351,0,0,0,0,0,0
$GC,12040,-0.63,-121.6,980.1,-9.1,651,12047,0.03,2.22,0.00,0.000,6,0.175,0.044,2811,1810,3351,0,0,0,0,0,0
$STATE,12290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12290,begin apogee
$GC,12295,-0.23,0.0,1001.1,8.3,660,12398,0.43,0.00,100.53,1.301,6,0.130,0.000,2946,1642,2861,0,0,0,0,0,0
$STATE,12399,end apogee,CONTROL_FINISHED_OK
$STATE,12399,begin climb
$GC,12401,0.71,121.6,1005.5,0.0,663,12513,0.90,2.47,103.85,1.266,4,0.092,0.059,3256,250,2367,0,0,0,0,0,0
$GC,12613,0.68,186.6,1000.3,4.7,669,12680,0.05,2.35,58.42,1.241,6,0.208,0.043,3244,1656,2101,0,0,0,0,0,0
$GC,12987,0.74,214.3,977.6,6.3,682,13018,0.00,2.35,24.85,1.213,4,0.000,0.057,3244,3046,1987,0,0,0,0,0,0
$GC,13096,0.74,232.1,970.4,6.7,685,13120,0.00,2.28,17.35,1.178,6,0.000,0.046,3254,1651,1915,0,0,0,0,0,0
$GC,13457,0.82,265.7,948.0,6.0,697,13493,0.10,2.28,30.40,1.213,4,0.102,0.060,3318,302,1780,0,0,0,0,0,0
$GC,13551,0.76,265.7,940.2,9.0,700,13556,0.17,2.20,0.00,0.000,6,0.148,0.043,3270,1654,1776,0,0,0,0,0,0
$GC,13887,0.79,286.0,917.3,6.6,711,13911,0.00,1.25,19.15,1.174,4,0.000,0.053,3270,2416,1696,0,0,0,0,0,0
$GC,13986,0.82,305.8,910.8,6.6,714,14011,0.00,1.25,19.05,1.162,6,0.000,0.049,3275,1649,1616,0,0,0,0,0,0
$GC,14325,0.86,331.8,888.9,6.3,725,14354,0.08,0.40,25.15,1.179,4,0.122,0.063,3320,1402,1508,0,0,0,0,0,0
$GC,14409,0.86,331.8,881.7,8.9,727,14414,0.08,0.40,0.00,0.000,6,0.177,0.054,3303,1649,1505,0,0,0,0,0,0
$GC,14727,0.86,331.8,854.9,8.6,738,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1649,1502,0,0,0,0,0,0
$GC,15033,0.86,331.8,829.3,8.2,748,15036,0.00,0.73,0.00,0.000,4,0.000,0.058,3305,1196,1500,0,0,0,0,0,0
$GC,15100,0.86,331.8,823.6,8.6,750,15104,0.00,0.70,0.00,0.000,6,0.000,0.048,3305,1647,1500,0,0,0,0,0,0
$GC,15440,0.86,331.8,793.6,8.9,761,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1646,1500,0,0,0,0,0,0
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$STATE,23777,end climb,SURFACE_DEPTH_REACHED
$STATE,23777,begin surface coast
$FINISH,1.7,1.011681
$STATE,23796,end surface coast,CONTROL_FINISHED_OK
$STATE,23796,begin surface
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$HUMID,44.25
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$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.2,33.238
$10V_AH,10.1,31.952
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354460
$DATA_FILE_SIZE,73711,1246
$CAP_FILE_SIZE,223731,0
$CFSIZE,2097086464,2067005440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,132935,-4214.433,-731.985,31,1.6,31,-21.9