version: 66.07.10.p01
glider: 573
mission: 4
dive: 234
start: 11 22 112 5 2 55
data:
$ID,573
$MISSION,4
$DIVE,234
$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,-5046.6079
$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,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,213
$GPS1,221112,045505,-4203.132,-643.098,27,0.7,27,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-71.1
$GPS2,221112,050200,-4203.176,-642.979,14,1.8,15,-22.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.069,0.229
$KALMAN_X,-323847.5,65.6,-40.3,594286.4,2224.3
$KALMAN_Y,-161666.0,69.7,10.5,229358.9,-3858.5
$MHEAD_RNG_PITCHd_Wd,5.2,95788,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.92,-121.5,0.0,0.0,0,64,0.00,0.00,-37.45,0.000,2,0.000,0.000,82,1835,2355,0,0,0,0,0,0
$GC,66,-0.92,-121.6,3.1,-0.9,6,128,10.45,2.15,-41.83,0.000,4,0.227,0.070,2721,536,3359,0,0,0,0,0,0
$GC,178,-0.83,-121.6,11.8,-16.5,24,186,0.12,2.05,0.00,0.000,6,0.151,0.043,2750,1817,3360,0,0,0,0,0,0
$GC,258,-0.78,-121.6,21.8,-12.4,37,266,0.08,0.62,0.00,0.000,4,0.197,0.053,2766,2234,3361,0,0,0,0,0,0
$GC,304,-0.75,-121.6,26.2,-8.3,44,311,0.00,0.62,0.00,0.000,6,0.000,0.048,2766,1821,3361,0,0,0,0,0,0
$GC,383,-0.75,-121.6,34.3,-9.8,57,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1821,3361,0,0,0,0,0,0
$GC,615,-0.73,-121.6,61.4,-11.2,98,620,0.08,1.85,0.00,0.000,4,0.190,0.056,2776,2986,3361,0,0,0,0,0,0
$GC,688,-0.73,-121.6,69.3,-11.0,111,695,0.00,1.85,0.00,0.000,6,0.000,0.044,2776,1815,3361,0,0,0,0,0,0
$GC,1037,-0.73,-121.6,105.2,-9.9,167,1041,0.00,2.25,0.00,0.000,4,0.000,0.057,2765,3222,3362,0,0,0,0,0,0
$GC,1150,-0.73,-121.6,116.9,-10.1,174,1155,0.08,2.17,0.00,0.000,6,0.183,0.043,2782,1806,3362,0,0,0,0,0,0
$GC,1477,-0.77,-121.6,147.7,-9.3,195,1481,0.00,2.22,0.00,0.000,4,0.000,0.055,2773,3223,3362,0,0,0,0,0,0
$GC,1557,-0.77,-121.6,155.8,-9.9,200,1560,0.00,2.17,0.00,0.000,6,0.000,0.042,2773,1819,3362,0,0,0,0,0,0
$GC,1883,-0.77,-121.6,187.8,-9.9,221,1887,0.00,2.12,0.00,0.000,4,0.000,0.057,2763,3160,3363,0,0,0,0,0,0
$GC,1971,-0.77,-121.6,196.7,-9.7,226,1979,0.00,2.10,0.00,0.000,6,0.000,0.041,2763,1816,3362,0,0,0,0,0,0
$GC,2293,-0.77,-121.6,228.9,-10.7,247,2296,0.00,1.58,0.00,0.000,4,0.000,0.054,2756,2811,3362,0,0,0,0,0,0
$GC,2353,-0.77,-121.6,235.9,-10.2,250,2361,0.03,1.55,0.00,0.000,6,0.191,0.043,2766,1818,3363,0,0,0,0,0,0
$GC,2690,-0.79,-121.6,269.0,-10.0,269,2694,0.00,2.20,0.00,0.000,4,0.000,0.056,2757,3226,3363,0,0,0,0,0,0
$GC,2773,-0.79,-121.6,278.0,-10.3,272,2781,0.00,2.20,0.00,0.000,6,0.000,0.042,2756,1817,3363,0,0,0,0,0,0
$GC,3089,-0.79,-121.6,310.4,-10.2,288,3093,0.00,2.22,0.00,0.000,4,0.000,0.057,2746,3224,3363,0,0,0,0,0,0
$GC,3184,-0.79,-121.6,320.0,-9.7,292,3189,0.05,2.20,0.00,0.000,6,0.161,0.042,2763,1815,3363,0,0,0,0,0,0
$GC,3505,-0.79,-121.6,348.5,-9.1,308,3509,0.00,2.20,0.00,0.000,4,0.000,0.057,2754,3217,3363,0,0,0,0,0,0
$GC,3591,-0.79,-121.6,356.8,-9.1,312,3595,0.00,2.15,0.00,0.000,6,0.000,0.042,2754,1821,3363,0,0,0,0,0,0
$GC,3917,-0.79,-121.6,388.3,-9.6,328,3921,0.00,2.12,0.00,0.000,4,0.000,0.056,2744,3177,3363,0,0,0,0,0,0
$GC,4003,-0.77,-121.6,396.8,-10.2,332,4007,0.10,2.08,0.00,0.000,6,0.169,0.042,2770,1817,3363,0,0,0,0,0,0
$GC,4316,-0.79,-121.6,424.6,-9.0,343,4320,0.00,2.22,0.00,0.000,4,0.000,0.057,2760,3222,3363,0,0,0,0,0,0
$GC,4446,-0.79,-121.6,436.7,-9.0,347,4450,0.00,2.17,0.00,0.000,6,0.000,0.043,2760,1811,3363,0,0,0,0,0,0
$GC,4781,-0.79,-121.6,468.1,-9.4,358,4785,0.00,2.25,0.00,0.000,4,0.000,0.057,2750,3233,3363,0,0,0,0,0,0
$GC,4911,-0.79,-121.6,481.0,-9.4,362,4916,0.05,2.20,0.00,0.000,6,0.216,0.042,2761,1806,3362,0,0,0,0,0,0
$GC,5245,-0.79,-121.6,512.9,-9.7,373,5249,0.00,2.25,0.00,0.000,4,0.000,0.056,2752,3225,3362,0,0,0,0,0,0
$GC,5344,-0.79,-121.6,523.1,-10.9,376,5349,0.00,2.20,0.00,0.000,6,0.000,0.042,2752,1818,3362,0,0,0,0,0,0
$GC,5680,-0.79,-121.6,556.7,-10.1,387,5683,0.00,1.85,0.00,0.000,4,0.000,0.056,2743,3002,3361,0,0,0,0,0,0
$GC,5764,-0.79,-121.6,565.7,-10.5,389,5768,0.08,1.83,0.00,0.000,6,0.189,0.042,2761,1817,3361,0,0,0,0,0,0
$GC,6087,-0.79,-121.6,596.1,-9.3,400,6091,0.00,2.22,0.00,0.000,4,0.000,0.057,2751,3223,3361,0,0,0,0,0,0
$GC,6221,-0.79,-121.6,609.1,-9.3,404,6225,0.00,2.15,0.00,0.000,6,0.000,0.044,2751,1818,3360,0,0,0,0,0,0
$GC,6555,-0.79,-121.6,642.4,-10.2,415,6559,0.00,1.73,0.00,0.000,4,0.000,0.055,2744,2899,3360,0,0,0,0,0,0
$GC,6638,-0.79,-121.6,651.3,-10.8,417,6643,0.05,1.67,0.00,0.000,6,0.161,0.044,2761,1828,3359,0,0,0,0,0,0
$GC,6962,-0.79,-121.6,684.7,-10.4,428,6966,0.00,2.22,0.00,0.000,4,0.000,0.057,2751,3228,3359,0,0,0,0,0,0
$GC,7092,-0.79,-121.6,697.7,-9.8,432,7096,0.00,2.20,0.00,0.000,6,0.000,0.042,2751,1805,3358,0,0,0,0,0,0
$GC,7427,-0.79,-121.6,730.8,-9.8,443,7431,0.00,2.25,0.00,0.000,4,0.000,0.057,2741,3223,3357,0,0,0,0,0,0
$GC,7533,-0.79,-121.6,741.2,-9.3,446,7538,0.05,2.20,0.00,0.000,6,0.158,0.044,2759,1821,3357,0,0,0,0,0,0
$GC,7863,-0.79,-121.6,770.6,-8.8,457,7867,0.00,2.20,0.00,0.000,4,0.000,0.057,2749,3203,3357,0,0,0,0,0,0
$GC,7962,-0.79,-121.6,779.8,-9.2,460,7967,0.03,2.17,0.00,0.000,6,0.188,0.043,2758,1816,3356,0,0,0,0,0,0
$GC,8298,-0.79,-121.6,809.3,-9.1,471,8302,0.00,1.55,0.00,0.000,4,0.000,0.056,2752,2784,3356,0,0,0,0,0,0
$GC,8399,-0.79,-121.6,818.9,-9.3,474,8403,0.00,1.52,0.00,0.000,6,0.000,0.046,2752,1812,3356,0,0,0,0,0,0
$GC,8739,-0.79,-121.6,852.9,-10.2,485,8743,0.00,2.25,0.00,0.000,4,0.000,0.058,2742,3222,3355,0,0,0,0,0,0
$GC,8868,-0.79,-121.6,866.5,-10.0,489,8873,0.10,2.17,0.00,0.000,6,0.173,0.044,2767,1818,3355,0,0,0,0,0,0
$GC,9209,-0.81,-121.6,901.3,-10.1,500,9212,0.00,1.65,0.00,0.000,4,0.000,0.057,2760,2846,3355,0,0,0,0,0,0
$GC,9297,-0.84,-121.6,910.5,-10.1,502,9302,0.00,1.60,0.00,0.000,6,0.000,0.044,2760,1826,3355,0,0,0,0,0,0
$GC,9616,-0.84,-121.6,944.0,-10.7,513,9619,0.00,1.27,0.00,0.000,4,0.000,0.055,2755,2628,3354,0,0,0,0,0,0
$GC,9698,-0.84,-121.6,953.0,-10.7,515,9703,0.00,1.30,0.00,0.000,6,0.000,0.045,2755,1804,3354,0,0,0,0,0,0
$GC,10023,-0.84,-121.6,987.4,-10.7,526,10026,0.00,1.08,0.00,0.000,4,0.000,0.053,2750,2495,3354,0,0,0,0,0,0
$STATE,10138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10138,begin apogee
$GC,10143,-0.23,0.0,1000.3,10.7,529,10249,0.60,0.00,101.07,1.293,6,0.133,0.000,2943,1648,2862,0,0,0,0,0,0
$STATE,10250,end apogee,CONTROL_FINISHED_OK
$STATE,10250,begin climb
$GC,10251,0.92,121.6,1006.0,0.0,533,10364,1.10,1.98,104.55,1.258,4,0.086,0.054,3319,519,2366,0,0,0,0,0,0
$GC,10442,0.88,182.0,1001.0,6.7,539,10502,0.00,1.88,54.25,1.229,6,0.000,0.040,3319,1640,2120,0,0,0,0,0,0
$GC,10838,0.88,221.7,969.7,7.8,552,10875,0.00,0.00,35.88,1.218,6,0.000,0.000,3319,1640,1958,0,0,0,0,0,0
$GC,11174,0.88,243.4,940.4,8.8,563,11198,0.00,0.70,20.00,1.180,4,0.000,0.044,3319,2094,1869,0,0,0,0,0,0
$GC,11274,0.91,244.6,931.2,9.9,566,11277,0.00,0.70,0.00,0.000,6,0.000,0.050,3322,1650,1866,0,0,0,0,0,0
$GC,11614,0.93,249.5,897.6,9.7,577,11624,0.00,0.43,6.50,0.949,4,0.000,0.052,3322,1915,1844,0,0,0,0,0,0
$GC,11703,0.97,260.5,888.4,9.4,579,11717,0.00,0.45,11.60,1.085,6,0.000,0.057,3324,1636,1799,0,0,0,0,0,0
$GC,12055,1.00,268.0,853.4,9.6,591,12068,0.00,1.02,7.82,0.993,4,0.000,0.050,3324,2262,1769,0,0,0,0,0,0
$GC,12147,1.03,278.7,844.4,9.4,593,12163,0.03,0.98,11.45,1.065,6,0.093,0.050,3354,1652,1724,0,0,0,0,0,0
$GC,12487,1.03,278.7,810.5,10.1,605,12491,0.00,1.50,0.00,0.000,4,0.000,0.056,3361,735,1721,0,0,0,0,0,0
$GC,12559,1.03,285.3,803.2,9.6,607,12570,0.00,1.45,6.97,0.946,6,0.000,0.042,3362,1645,1698,0,0,0,0,0,0
$GC,12888,1.03,285.3,768.7,10.6,618,12889,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1645,1696,0,0,0,0,0,0
$GC,13194,1.03,285.3,736.2,10.6,628,13197,0.00,0.88,0.00,0.000,4,0.000,0.050,3361,2220,1696,0,0,0,0,0,0
$GC,13265,1.03,285.3,728.3,10.6,630,13269,0.00,0.93,0.00,0.000,6,0.000,0.049,3365,1644,1696,0,0,0,0,0,0
$GC,13601,1.03,285.3,691.4,11.1,641,13604,0.00,0.45,0.00,0.000,4,0.000,0.059,3367,1339,1696,0,0,0,0,0,0
$GC,13649,1.03,285.3,685.8,11.1,642,13654,0.00,0.50,0.00,0.000,6,0.000,0.050,3367,1660,1696,0,0,0,0,0,0
$GC,13973,1.03,285.3,648.8,11.4,653,13977,0.00,1.62,0.00,0.000,4,0.000,0.055,3375,665,1696,0,0,0,0,0,0
$GC,14050,1.03,285.3,639.6,12.4,655,14055,0.05,1.55,0.00,0.000,6,0.161,0.041,3358,1649,1696,0,0,0,0,0,0
$GC,14380,1.03,285.3,603.1,10.9,666,14381,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1649,1695,0,0,0,0,0,0
$GC,14686,1.03,285.3,569.6,11.0,676,14690,0.00,0.52,0.00,0.000,4,0.000,0.051,3358,2010,1695,0,0,0,0,0,0
$GC,14729,1.03,285.3,564.6,11.4,677,14734,0.00,0.60,0.00,0.000,6,0.000,0.053,3361,1629,1695,0,0,0,0,0,0
$GC,15059,1.03,285.3,526.0,12.2,688,15063,0.00,0.30,0.00,0.000,4,0.000,0.064,3362,1415,1695,0,0,0,0,0,0
$GC,15119,1.03,285.3,518.5,12.1,689,15125,0.00,0.38,0.00,0.000,6,0.000,0.054,3362,1661,1695,0,0,0,0,0,0
$GC,15432,1.03,285.3,479.0,12.6,700,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1661,1695,0,0,0,0,0,0
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$STATE,19652,end climb,SURFACE_DEPTH_REACHED
$STATE,19653,begin surface coast
$FINISH,1.7,1.026498
$STATE,19684,end surface coast,CONTROL_FINISHED_OK
$STATE,19685,begin surface
$SM_CCo,19761,0.00,0.000,0,0,1362,367.70
$SM_GC,2.74,8.80,0.00,0.00,0.044,0.000,0.000,88,1815,1362,-9.11,-0.11,367.70
$IRIDIUM_FIX,-4146.69,-647.00,211112,232346
$TT8_MAMPS,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.2,37.449
$10V_AH,10.2,35.498
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,134.575,430.925,0.000,0.000,28.523,40.107,227.861,0.000,0.000,17.628,2629.590,13456.640,506.821,3402.330,176.144,33.380,1868.228,0.000,3045.356,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.630,1108.677,659.860,77.858,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,60228,1010
$CAP_FILE_SIZE,187131,0
$CFSIZE,2097086464,2063204352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221112,103329,-4201.960,-641.284,40,1.1,40,-22.0