version: 66.07.10.p01
glider: 573
mission: 4
dive: 211
start: 11 16 112 17 12 14
data:
$ID,573
$MISSION,4
$DIVE,211
$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,-4968.8003
$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,32
$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,190
$GPS1,161112,170405,-4208.719,-730.689,40,1.1,40,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-73.7
$GPS2,161112,171118,-4208.768,-730.704,18,1.1,19,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.215,0.024
$KALMAN_X,-309066.9,273.7,454.8,513804.8,-6663.8
$KALMAN_Y,-112651.2,413.5,33.6,169609.4,-1099.9
$MHEAD_RNG_PITCHd_Wd,105.5,157054,-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,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,69,0.00,0.00,-42.65,0.000,2,0.000,0.000,86,1824,2546,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.1,-1.1,7,121,11.32,0.85,-30.30,0.000,4,0.249,0.085,2788,1295,3359,0,0,0,0,0,0
$GC,223,-0.62,-121.6,15.2,-11.0,32,231,0.10,0.82,0.00,0.000,6,0.145,0.049,2817,1815,3360,0,0,0,0,0,0
$GC,304,-0.58,-121.6,22.9,-9.1,45,312,0.05,0.77,0.00,0.000,4,0.232,0.055,2827,2308,3360,0,0,0,0,0,0
$GC,391,-0.56,-121.6,30.5,-8.7,59,396,0.00,0.75,0.00,0.000,6,0.000,0.047,2827,1819,3361,0,0,0,0,0,0
$GC,625,-0.56,-121.6,52.1,-9.1,100,633,0.00,1.67,0.00,0.000,4,0.000,0.058,2820,2855,3361,0,0,0,0,0,0
$GC,725,-0.54,-121.6,61.0,-9.1,117,731,0.08,1.65,0.00,0.000,6,0.135,0.045,2847,1813,3361,0,0,0,0,0,0
$GC,1069,-0.59,-121.6,88.1,-7.5,178,1074,0.00,1.20,0.00,0.000,4,0.000,0.054,2847,1060,3361,0,0,0,0,0,0
$GC,1097,-0.63,-121.6,90.3,-7.7,183,1104,0.03,1.20,0.00,0.000,6,0.097,0.045,2806,1827,3361,0,0,0,0,0,0
$GC,1435,-0.58,-121.6,119.7,-8.4,218,1440,0.10,2.22,0.00,0.000,4,0.179,0.060,2822,3218,3361,0,0,0,0,0,0
$GC,1619,-0.58,-121.6,134.6,-7.9,229,1623,0.00,2.17,0.00,0.000,6,0.000,0.044,2822,1817,3362,0,0,0,0,0,0
$GC,1942,-0.58,-121.6,161.4,-8.3,250,1946,0.00,2.25,0.00,0.000,4,0.000,0.059,2811,3227,3362,0,0,0,0,0,0
$GC,2023,-0.58,-121.6,168.1,-8.5,255,2028,0.08,2.17,0.00,0.000,6,0.178,0.043,2831,1818,3362,0,0,0,0,0,0
$GC,2347,-0.62,-121.6,195.0,-8.2,276,2351,0.00,1.23,0.00,0.000,4,0.000,0.054,2831,1044,3362,0,0,0,0,0,0
$GC,2374,-0.62,-121.6,197.5,-8.7,277,2380,0.00,1.23,0.00,0.000,6,0.000,0.044,2826,1819,3362,0,0,0,0,0,0
$GC,2694,-0.65,-121.6,223.0,-7.9,298,2697,0.00,1.55,0.00,0.000,4,0.000,0.056,2818,2804,3362,0,0,0,0,0,0
$GC,2762,-0.65,-121.6,228.3,-7.5,302,2766,0.00,1.55,0.00,0.000,6,0.000,0.044,2818,1809,3362,0,0,0,0,0,0
$GC,3081,-0.65,-121.6,252.3,-7.4,322,3085,0.00,2.20,0.00,0.000,4,0.000,0.054,2819,414,3363,0,0,0,0,0,0
$GC,3137,-0.61,-121.6,256.8,-8.2,324,3145,0.03,2.20,0.00,0.000,6,0.188,0.042,2818,1815,3363,0,0,0,0,0,0
$GC,3453,-0.61,-121.6,279.0,-7.0,340,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1815,3363,0,0,0,0,0,0
$GC,3764,-0.64,-121.6,302.3,-8.0,355,3768,0.00,2.12,0.00,0.000,4,0.000,0.057,2808,3171,3362,0,0,0,0,0,0
$GC,3842,-0.62,-121.6,309.2,-9.1,358,3850,0.00,2.10,0.00,0.000,6,0.000,0.043,2808,1825,3363,0,0,0,0,0,0
$GC,4158,-0.62,-121.6,337.7,-9.2,374,4162,0.00,2.22,0.00,0.000,4,0.000,0.058,2798,3225,3362,0,0,0,0,0,0
$GC,4252,-0.60,-121.6,346.7,-9.3,378,4257,0.08,2.20,0.00,0.000,6,0.137,0.043,2825,1818,3362,0,0,0,0,0,0
$GC,4573,-0.64,-121.6,372.1,-7.8,394,4577,0.00,2.22,0.00,0.000,4,0.000,0.054,2825,407,3363,0,0,0,0,0,0
$GC,4629,-0.62,-121.6,377.2,-9.0,396,4637,0.00,2.22,0.00,0.000,6,0.000,0.042,2815,1820,3362,0,0,0,0,0,0
$GC,4965,-0.64,-121.6,405.5,-8.6,412,4968,0.00,0.55,0.00,0.000,4,0.000,0.053,2815,1447,3362,0,0,0,0,0,0
$GC,4981,-0.66,-121.6,406.9,-8.5,412,4985,0.00,0.60,0.00,0.000,6,0.000,0.050,2812,1835,3362,0,0,0,0,0,0
$GC,5304,-0.66,-121.6,435.0,-8.9,423,5308,0.00,0.75,0.00,0.000,4,0.000,0.054,2809,2341,3362,0,0,0,0,0,0
$GC,5376,-0.66,-121.6,441.6,-9.0,425,5380,0.00,0.82,0.00,0.000,6,0.000,0.047,2809,1804,3362,0,0,0,0,0,0
$GC,5711,-0.66,-121.6,472.0,-9.2,436,5715,0.00,2.20,0.00,0.000,4,0.000,0.054,2809,418,3361,0,0,0,0,0,0
$GC,5816,-0.61,-121.6,482.5,-10.1,439,5821,0.08,2.20,0.00,0.000,6,0.149,0.043,2825,1816,3361,0,0,0,0,0,0
$GC,6145,-0.65,-121.6,509.5,-8.2,450,6149,0.00,0.93,0.00,0.000,4,0.000,0.051,2825,1225,3361,0,0,0,0,0,0
$GC,6166,-0.68,-121.6,511.3,-7.9,450,6171,0.00,0.95,0.00,0.000,6,0.000,0.046,2820,1831,3361,0,0,0,0,0,0
$GC,6485,-0.71,-121.6,536.0,-7.7,461,6490,0.10,2.20,0.00,0.000,4,0.097,0.060,2755,3220,3360,0,0,0,0,0,0
$GC,6597,-0.62,-121.6,546.7,-10.2,464,6602,0.22,2.17,0.00,0.000,6,0.150,0.044,2820,1818,3360,0,0,0,0,0,0
$GC,6920,-0.66,-121.6,570.7,-7.2,475,6924,0.00,1.48,0.00,0.000,4,0.000,0.054,2820,898,3360,0,0,0,0,0,0
$GC,6954,-0.66,-121.6,573.4,-7.7,476,6958,0.00,1.45,0.00,0.000,6,0.000,0.045,2814,1817,3360,0,0,0,0,0,0
$GC,7295,-0.68,-121.6,597.1,-6.8,487,7299,0.00,2.22,0.00,0.000,4,0.000,0.061,2803,3219,3359,0,0,0,0,0,0
$GC,7377,-0.68,-121.6,603.1,-7.5,489,7382,0.00,2.20,0.00,0.000,6,0.000,0.044,2803,1818,3359,0,0,0,0,0,0
$GC,7702,-0.65,-121.6,628.0,-7.9,500,7705,0.00,1.67,0.00,0.000,4,0.000,0.058,2796,2877,3358,0,0,0,0,0,0
$GC,7807,-0.62,-121.6,636.7,-8.5,503,7812,0.05,1.65,0.00,0.000,6,0.158,0.046,2814,1822,3358,0,0,0,0,0,0
$GC,8142,-0.62,-121.6,661.8,-7.5,514,8146,0.00,2.22,0.00,0.000,4,0.000,0.061,2805,3219,3357,0,0,0,0,0,0
$GC,8252,-0.62,-121.6,670.5,-7.6,517,8257,0.03,2.20,0.00,0.000,6,0.176,0.044,2815,1818,3357,0,0,0,0,0,0
$GC,8583,-0.65,-121.6,693.8,-6.9,528,8586,0.00,1.62,0.00,0.000,4,0.000,0.055,2815,805,3357,0,0,0,0,0,0
$GC,8617,-0.65,-121.6,696.4,-7.5,529,8620,0.00,1.60,0.00,0.000,6,0.000,0.046,2808,1817,3356,0,0,0,0,0,0
$GC,8958,-0.68,-121.6,721.3,-7.4,540,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1818,3356,0,0,0,0,0,0
$GC,9263,-0.71,-121.6,745.2,-8.0,550,9267,0.00,2.25,0.00,0.000,4,0.000,0.060,2798,3230,3356,0,0,0,0,0,0
$GC,9346,-0.71,-121.6,752.4,-8.8,552,9351,0.00,2.22,0.00,0.000,6,0.000,0.043,2798,1813,3355,0,0,0,0,0,0
$GC,9665,-0.71,-121.6,779.0,-8.4,563,9669,0.00,2.25,0.00,0.000,4,0.000,0.057,2798,409,3355,0,0,0,0,0,0
$GC,9781,-0.65,-121.6,790.2,-9.8,566,9786,0.05,2.22,0.00,0.000,6,0.166,0.044,2804,1813,3355,0,0,0,0,0,0
$GC,10100,-0.65,-121.6,816.9,-8.3,577,10104,0.00,2.25,0.00,0.000,4,0.000,0.060,2795,3227,3354,0,0,0,0,0,0
$GC,10235,-0.63,-121.6,828.3,-8.6,581,10240,0.10,2.20,0.00,0.000,6,0.168,0.044,2822,1809,3354,0,0,0,0,0,0
$GC,10569,-0.63,-121.6,853.5,-7.6,592,10573,0.00,2.28,0.00,0.000,4,0.000,0.063,2811,3228,3354,0,0,0,0,0,0
$GC,10668,-0.63,-121.6,861.7,-8.0,595,10673,0.00,2.20,0.00,0.000,6,0.000,0.044,2811,1822,3353,0,0,0,0,0,0
$GC,11004,-0.66,-121.6,890.1,-8.6,606,11008,0.00,2.22,0.00,0.000,4,0.000,0.060,2801,3220,3353,0,0,0,0,0,0
$GC,11108,-0.66,-121.6,899.9,-9.6,609,11114,0.00,2.20,0.00,0.000,6,0.000,0.044,2801,1821,3353,0,0,0,0,0,0
$GC,11444,-0.66,-121.6,931.3,-9.2,620,11448,0.00,2.25,0.00,0.000,4,0.000,0.057,2801,404,3353,0,0,0,0,0,0
$GC,11526,-0.62,-121.6,939.5,-10.0,622,11532,0.08,2.25,0.00,0.000,6,0.151,0.044,2816,1815,3353,0,0,0,0,0,0
$GC,11845,-0.62,-121.6,965.4,-8.0,633,11849,0.00,2.22,0.00,0.000,4,0.000,0.060,2806,3224,3353,0,0,0,0,0,0
$GC,11960,-0.62,-121.6,975.2,-8.2,636,11965,0.00,2.22,0.00,0.000,6,0.000,0.044,2806,1810,3352,0,0,0,0,0,0
$STATE,12278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12278,begin apogee
$GC,12282,-0.23,0.0,1001.5,8.3,647,12386,0.43,0.00,100.95,1.305,6,0.128,0.000,2942,1645,2862,0,0,0,0,0,0
$STATE,12387,end apogee,CONTROL_FINISHED_OK
$STATE,12387,begin climb
$GC,12389,0.71,121.6,1005.5,0.0,650,12501,0.90,2.53,104.32,1.270,4,0.090,0.058,3253,240,2366,0,0,0,0,0,0
$GC,12630,0.68,192.6,998.4,4.5,657,12701,0.00,2.35,63.58,1.246,6,0.000,0.044,3253,1646,2076,0,0,0,0,0,0
$GC,13008,0.68,221.5,974.9,6.2,670,13039,0.00,0.85,26.15,1.215,4,0.000,0.049,3253,2202,1958,0,0,0,0,0,0
$GC,13128,0.68,238.4,966.7,6.7,673,13149,0.03,0.90,16.15,1.169,6,0.177,0.053,3247,1655,1890,0,0,0,0,0,0
$GC,13479,0.79,256.7,943.5,6.7,685,13504,0.08,2.45,17.35,1.169,4,0.122,0.062,3300,235,1816,0,0,0,0,0,0
$GC,13581,0.76,256.7,935.2,8.2,688,13586,0.08,2.33,0.00,0.000,6,0.135,0.044,3273,1651,1813,0,0,0,0,0,0
$GC,13916,0.76,256.7,910.0,7.5,699,13919,0.00,0.70,0.00,0.000,4,0.000,0.053,3273,2110,1811,0,0,0,0,0,0
$GC,13976,0.76,256.7,905.4,8.0,700,13982,0.00,0.77,0.00,0.000,6,0.000,0.053,3276,1631,1811,0,0,0,0,0,0
$GC,14289,0.76,256.7,881.6,7.6,711,14290,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1631,1810,0,0,0,0,0,0
$GC,14595,0.76,260.4,859.0,7.3,721,14604,0.00,0.98,4.10,0.752,4,0.000,0.054,3276,2237,1799,0,0,0,0,0,0
$GC,14676,0.76,260.4,852.8,7.6,723,14681,0.00,0.95,0.00,0.000,6,0.000,0.050,3280,1646,1799,0,0,0,0,0,0
$GC,15001,0.76,264.7,829.3,7.2,734,15008,0.00,0.00,5.65,0.901,6,0.000,0.000,3281,1646,1782,0,0,0,0,0,0
$GC,15307,0.76,264.7,806.9,7.4,744,15311,0.00,0.95,0.00,0.000,4,0.000,0.054,3280,2247,1781,0,0,0,0,0,0
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$STATE,25052,end climb,SURFACE_DEPTH_REACHED
$STATE,25052,begin surface coast
$FINISH,1.8,1.026563
$STATE,25089,end surface coast,CONTROL_FINISHED_OK
$STATE,25089,begin surface
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$HUMID,44.32
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$TCM_TEMP,14.70
$XPDR_PINGS,0
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$10V_AH,10.2,32.680
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.350,161.275,391.275,0.000,0.000,24.698,40.649,238.179,0.000,0.000,20.923,3354.397,17371.111,518.014,4115.674,228.325,33.364,2149.155,0.000,3759.314,0.000,1.009,0.000
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$MEM,354296
$DATA_FILE_SIZE,76924,1309
$CAP_FILE_SIZE,233276,0
$CFSIZE,2097086464,2066186240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171112,001253,-4209.090,-730.981,41,1.2,41,-21.9