version: 66.07.10.p01
glider: 573
mission: 4
dive: 229
start: 11 21 112 0 57 24
data:
$ID,573
$MISSION,4
$DIVE,229
$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,333
$T_MISSION,348
$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,-5029.5522
$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,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,208
$GPS1,211112,004459,-4205.355,-655.970,43,1.3,43,-22.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.4
$GPS2,211112,005629,-4205.451,-655.886,58,1.1,59,-22.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.058,0.232
$KALMAN_X,-333423.8,245.2,-378.0,586448.9,1052.2
$KALMAN_Y,-143641.5,-56.8,134.2,207120.9,-3024.6
$MHEAD_RNG_PITCHd_Wd,36.0,112528,-20.1,-10.010
$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,-0.92,-121.6,0.0,0.0,0,87,0.00,0.00,-60.30,0.000,2,0.000,0.000,81,1825,2557,0,0,0,0,0,0
$GC,89,-0.92,-121.6,3.1,-1.3,10,139,10.77,2.20,-29.23,0.000,4,0.238,0.067,2721,495,3360,0,0,0,0,0,0
$GC,189,-0.81,-121.6,12.8,-13.6,26,196,0.12,2.12,0.00,0.000,6,0.150,0.042,2750,1820,3361,0,0,0,0,0,0
$GC,268,-0.77,-121.6,20.5,-8.9,39,275,0.08,0.00,0.00,0.000,6,0.202,0.000,2769,1821,3361,0,0,0,0,0,0
$GC,348,-0.77,-121.6,27.9,-9.5,52,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1821,3361,0,0,0,0,0,0
$GC,427,-0.74,-121.6,34.8,-9.5,65,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1822,3361,0,0,0,0,0,0
$GC,661,-0.74,-121.6,61.6,-9.6,106,666,0.00,2.22,0.00,0.000,4,0.000,0.057,2760,3223,3362,0,0,0,0,0,0
$GC,807,-0.74,-121.6,75.7,-9.3,132,815,0.05,2.20,0.00,0.000,6,0.165,0.043,2776,1829,3362,0,0,0,0,0,0
$GC,1151,-0.74,-121.6,108.0,-9.9,184,1155,0.00,2.22,0.00,0.000,4,0.000,0.057,2767,3224,3362,0,0,0,0,0,0
$GC,1246,-0.74,-121.6,118.2,-10.7,190,1251,0.05,2.17,0.00,0.000,6,0.216,0.043,2778,1812,3362,0,0,0,0,0,0
$GC,1578,-0.74,-121.6,153.0,-10.0,211,1582,0.00,2.25,0.00,0.000,4,0.000,0.057,2769,3224,3362,0,0,0,0,0,0
$GC,1695,-0.74,-121.6,165.3,-10.1,218,1700,0.00,2.20,0.00,0.000,6,0.000,0.042,2769,1822,3362,0,0,0,0,0,0
$GC,2022,-0.74,-121.6,197.1,-10.0,239,2026,0.00,1.62,0.00,0.000,4,0.000,0.054,2761,2844,3362,0,0,0,0,0,0
$GC,2107,-0.74,-121.6,205.8,-10.4,244,2111,0.05,1.60,0.00,0.000,6,0.155,0.044,2787,1821,3362,0,0,0,0,0,0
$GC,2439,-0.77,-121.6,239.2,-10.8,265,2443,0.00,2.22,0.00,0.000,4,0.000,0.057,2778,3224,3362,0,0,0,0,0,0
$GC,2557,-0.79,-121.6,252.6,-10.8,272,2561,0.00,2.20,0.00,0.000,6,0.000,0.042,2778,1817,3362,0,0,0,0,0,0
$GC,2884,-0.79,-121.6,287.8,-10.8,288,2888,0.00,2.22,0.00,0.000,4,0.000,0.057,2768,3232,3362,0,0,0,0,0,0
$GC,3001,-0.79,-121.6,301.2,-11.1,293,3005,0.00,2.22,0.00,0.000,6,0.000,0.041,2768,1808,3362,0,0,0,0,0,0
$GC,3325,-0.79,-121.6,336.8,-10.7,309,3328,0.00,0.52,0.00,0.000,4,0.000,0.052,2766,2174,3362,0,0,0,0,0,0
$GC,3392,-0.79,-121.6,344.0,-10.3,312,3396,0.00,0.52,0.00,0.000,6,0.000,0.050,2765,1819,3362,0,0,0,0,0,0
$GC,3725,-0.79,-121.6,376.7,-9.4,328,3729,0.00,2.22,0.00,0.000,4,0.000,0.057,2755,3226,3362,0,0,0,0,0,0
$GC,3842,-0.79,-121.6,388.7,-9.7,333,3847,0.00,2.20,0.00,0.000,6,0.000,0.042,2756,1824,3362,0,0,0,0,0,0
$GC,4174,-0.79,-121.6,422.8,-10.4,346,4178,0.00,2.22,0.00,0.000,4,0.000,0.056,2745,3227,3362,0,0,0,0,0,0
$GC,4308,-0.77,-121.6,437.3,-10.5,350,4313,0.10,2.17,0.00,0.000,6,0.176,0.041,2770,1813,3362,0,0,0,0,0,0
$GC,4637,-0.77,-121.6,468.1,-9.3,361,4641,0.00,2.25,0.00,0.000,4,0.000,0.057,2761,3230,3362,0,0,0,0,0,0
$GC,4748,-0.77,-121.6,479.0,-9.9,364,4752,0.00,2.20,0.00,0.000,6,0.000,0.042,2761,1826,3361,0,0,0,0,0,0
$GC,5072,-0.77,-121.6,509.8,-9.6,375,5076,0.00,2.22,0.00,0.000,4,0.000,0.057,2751,3226,3361,0,0,0,0,0,0
$GC,5207,-0.77,-121.6,522.9,-9.2,379,5212,0.08,2.20,0.00,0.000,6,0.185,0.043,2769,1803,3361,0,0,0,0,0,0
$GC,5541,-0.77,-121.6,554.4,-9.5,390,5545,0.00,2.25,0.00,0.000,4,0.000,0.057,2760,3223,3360,0,0,0,0,0,0
$GC,5641,-0.77,-121.6,564.6,-9.3,393,5646,0.00,2.20,0.00,0.000,6,0.000,0.043,2760,1818,3360,0,0,0,0,0,0
$GC,5976,-0.77,-121.6,599.7,-10.6,404,5980,0.00,2.25,0.00,0.000,4,0.000,0.057,2749,3232,3359,0,0,0,0,0,0
$GC,6076,-0.77,-121.6,611.4,-11.0,407,6081,0.05,2.22,0.00,0.000,6,0.162,0.042,2766,1809,3359,0,0,0,0,0,0
$GC,6411,-0.77,-121.6,647.1,-10.7,418,6415,0.00,2.22,0.00,0.000,4,0.000,0.057,2757,3222,3359,0,0,0,0,0,0
$GC,6555,-0.77,-121.6,662.3,-10.9,422,6560,0.05,2.17,0.00,0.000,6,0.217,0.044,2769,1818,3358,0,0,0,0,0,0
$GC,6879,-0.77,-121.6,694.6,-9.9,433,6883,0.00,2.25,0.00,0.000,4,0.000,0.058,2760,3227,3358,0,0,0,0,0,0
$GC,7008,-0.77,-121.6,707.1,-9.0,437,7012,0.00,2.20,0.00,0.000,6,0.000,0.044,2760,1807,3358,0,0,0,0,0,0
$GC,7343,-0.77,-121.6,738.8,-9.6,448,7347,0.00,2.25,0.00,0.000,4,0.000,0.057,2749,3222,3357,0,0,0,0,0,0
$GC,7482,-0.77,-121.6,751.7,-9.3,452,7487,0.10,2.17,0.00,0.000,6,0.176,0.044,2774,1818,3357,0,0,0,0,0,0
$GC,7806,-0.80,-121.6,778.9,-8.5,463,7810,0.00,2.25,0.00,0.000,4,0.000,0.059,2765,3227,3356,0,0,0,0,0,0
$GC,7942,-0.82,-121.6,790.6,-8.5,467,7946,0.00,2.20,0.00,0.000,6,0.000,0.044,2765,1807,3356,0,0,0,0,0,0
$GC,8277,-0.82,-121.6,818.6,-8.1,478,8281,0.00,2.28,0.00,0.000,4,0.000,0.059,2755,3230,3355,0,0,0,0,0,0
$GC,8433,-0.82,-121.6,832.7,-9.2,482,8438,0.00,2.20,0.00,0.000,6,0.000,0.043,2755,1812,3355,0,0,0,0,0,0
$GC,8746,-0.82,-121.6,860.7,-9.1,493,8750,0.00,2.25,0.00,0.000,4,0.000,0.058,2745,3221,3354,0,0,0,0,0,0
$GC,8891,-0.82,-121.6,875.1,-10.5,497,8895,0.00,2.20,0.00,0.000,6,0.000,0.044,2745,1825,3354,0,0,0,0,0,0
$GC,9214,-0.82,-121.6,908.5,-10.6,508,9218,0.00,2.22,0.00,0.000,4,0.000,0.057,2735,3222,3354,0,0,0,0,0,0
$GC,9349,-0.82,-121.6,924.3,-11.3,512,9354,0.08,2.20,0.00,0.000,6,0.193,0.044,2752,1804,3353,0,0,0,0,0,0
$GC,9683,-0.82,-121.6,962.2,-11.3,523,9687,0.00,1.88,0.00,0.000,4,0.000,0.057,2744,2999,3353,0,0,0,0,0,0
$GC,9777,-0.82,-121.6,972.9,-11.2,525,9783,0.00,1.85,0.00,0.000,6,0.000,0.043,2745,1820,3352,0,0,0,0,0,0
$STATE,10028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10028,begin apogee
$GC,10032,-0.23,0.0,1000.2,10.8,534,10136,0.65,0.00,100.82,1.291,6,0.135,0.000,2947,1636,2861,0,0,0,0,0,0
$STATE,10137,end apogee,CONTROL_FINISHED_OK
$STATE,10137,begin climb
$GC,10139,0.92,121.6,1004.7,0.0,537,10251,1.10,2.47,104.47,1.255,4,0.086,0.055,3325,240,2365,0,0,0,0,0,0
$GC,10381,0.87,178.9,995.6,6.8,544,10438,0.10,2.35,50.92,1.226,6,0.175,0.041,3303,1654,2132,0,0,0,0,0,0
$GC,10757,0.89,217.0,966.4,7.9,557,10796,0.00,1.02,33.97,1.214,4,0.000,0.050,3303,2272,1977,0,0,0,0,0,0
$GC,10869,0.93,229.8,956.7,9.3,560,10886,0.00,1.02,12.50,1.121,6,0.000,0.050,3306,1650,1925,0,0,0,0,0,0
$GC,11222,0.98,254.7,925.6,8.6,572,11252,0.10,0.55,23.23,1.174,4,0.101,0.057,3354,1314,1822,0,0,0,0,0,0
$GC,11321,0.98,254.7,915.0,11.5,575,11325,0.03,0.52,0.00,0.000,6,0.183,0.048,3344,1650,1820,0,0,0,0,0,0
$GC,11660,0.98,254.7,879.7,10.3,586,11664,0.00,0.52,0.00,0.000,4,0.000,0.052,3343,2003,1817,0,0,0,0,0,0
$GC,11777,0.98,254.7,866.9,10.5,589,11781,0.00,0.60,0.00,0.000,6,0.000,0.052,3345,1628,1817,0,0,0,0,0,0
$GC,12101,0.98,254.7,833.3,10.1,600,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1628,1817,0,0,0,0,0,0
$GC,12408,0.98,263.6,803.5,9.5,610,12421,0.00,1.00,8.18,0.998,4,0.000,0.050,3345,2244,1787,0,0,0,0,0,0
$GC,12499,0.98,270.2,794.4,9.6,612,12511,0.00,0.98,7.90,0.975,6,0.000,0.049,3350,1643,1760,0,0,0,0,0,0
$GC,12840,0.98,270.2,760.0,10.4,624,12843,0.00,0.35,0.00,0.000,4,0.000,0.063,3352,1402,1757,0,0,0,0,0,0
$GC,12979,0.98,270.2,745.2,10.7,628,12983,0.03,0.40,0.00,0.000,6,0.270,0.053,3342,1659,1757,0,0,0,0,0,0
$GC,13314,0.98,270.2,710.3,10.2,639,13317,0.00,0.80,0.00,0.000,4,0.000,0.051,3342,2184,1756,0,0,0,0,0,0
$GC,13368,0.98,270.2,704.7,10.6,640,13373,0.00,0.88,0.00,0.000,6,0.000,0.048,3346,1635,1756,0,0,0,0,0,0
$GC,13687,0.98,270.2,672.7,10.0,651,13688,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1635,1756,0,0,0,0,0,0
$GC,13993,0.98,270.2,641.3,10.2,661,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1635,1756,0,0,0,0,0,0
$GC,14299,1.00,270.2,609.9,10.2,671,14303,0.00,0.52,0.00,0.000,4,0.000,0.052,3345,1980,1756,0,0,0,0,0,0
$GC,14371,1.00,270.2,602.4,10.3,673,14375,0.00,0.55,0.00,0.000,6,0.000,0.053,3348,1631,1756,0,0,0,0,0,0
$GC,14706,1.00,270.2,567.7,10.4,684,14710,0.00,0.62,0.00,0.000,4,0.000,0.051,3349,2042,1756,0,0,0,0,0,0
$GC,14766,1.00,270.2,560.8,11.2,685,14772,0.00,0.62,0.00,0.000,6,0.000,0.051,3351,1646,1755,0,0,0,0,0,0
$GC,15079,1.00,270.2,525.4,11.5,696,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1645,1755,0,0,0,0,0,0
$GC,15385,1.00,270.2,488.4,12.3,706,15389,0.00,0.52,0.00,0.000,4,0.000,0.052,3351,1996,1755,0,0,0,0,0,0
$GC,15456,1.00,270.2,479.6,12.1,708,15460,0.00,0.55,0.00,0.000,6,0.000,0.052,3353,1647,1755,0,0,0,0,0,0
$GC,15791,1.00,270.2,438.0,12.5,719,15795,0.00,0.25,0.00,0.000,4,0.000,0.069,3355,1462,1755,0,0,0,0,0,0
$GC,15834,1.00,270.2,432.4,12.2,720,15838,0.00,0.28,0.00,0.000,6,0.000,0.057,3355,1649,1755,0,0,0,0,0,0
$GC,16155,1.00,270.2,394.2,11.7,731,16159,0.00,0.50,0.00,0.000,4,0.000,0.054,3355,1994,1755,0,0,0,0,0,0
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$STATE,19873,end climb,SURFACE_DEPTH_REACHED
$STATE,19873,begin surface coast
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$STATE,19904,end surface coast,CONTROL_FINISHED_OK
$STATE,19904,begin surface
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$SM_GC,2.72,8.75,0.00,0.00,0.045,0.000,0.000,95,1823,1523,-9.09,0.11,327.96
$IRIDIUM_FIX,-4149.58,-655.98,201112,191913
$TT8_MAMPS,0.027713
$HUMID,44.68
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.2,36.684
$10V_AH,10.1,34.893
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.500,125.900,391.250,0.000,0.000,56.142,85.727,298.208,0.000,0.000,61.245,2688.668,13567.833,481.029,3741.072,188.191,33.379,1862.201,0.000,3178.551,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.932,1164.841,677.025,85.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,60343,1040
$CAP_FILE_SIZE,189234,0
$CFSIZE,2097086464,2063859712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211112,063135,-4205.020,-654.002,36,1.0,36,-22.0