version: 66.07.10.p01
glider: 573
mission: 4
dive: 236
start: 11 22 112 16 8 7
data:
$ID,573
$MISSION,4
$DIVE,236
$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,-5053.4424
$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,33
$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,215
$GPS1,221112,160023,-4200.809,-640.401,39,0.9,39,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-67.7
$GPS2,221112,160712,-4200.801,-640.351,16,1.9,17,-22.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.066,0.230
$KALMAN_X,-318166.9,130.4,-486.3,592577.6,3352.0
$KALMAN_Y,-166747.4,230.0,-35.5,238713.5,-2909.5
$MHEAD_RNG_PITCHd_Wd,5.9,90175,-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,-121.6,0.0,0.0,0,70,0.00,0.00,-43.00,0.000,2,0.000,0.000,85,1831,2491,0,0,0,0,0,0
$GC,72,-0.92,-121.6,3.1,-1.2,7,122,10.55,2.22,-32.55,0.000,4,0.230,0.067,2713,3223,3357,0,0,0,0,0,0
$GC,131,-0.85,-121.6,5.8,-9.8,16,139,0.10,2.25,0.00,0.000,6,0.149,0.044,2746,1813,3358,0,0,0,0,0,0
$GC,212,-0.79,-121.6,15.7,-12.6,29,219,0.08,2.30,0.00,0.000,4,0.219,0.056,2762,419,3359,0,0,0,0,0,0
$GC,393,-0.76,-121.6,39.2,-13.7,60,401,0.05,2.25,0.00,0.000,6,0.167,0.044,2768,1819,3359,0,0,0,0,0,0
$GC,629,-0.76,-121.6,65.7,-10.2,101,633,0.00,0.82,0.00,0.000,4,0.000,0.053,2765,2368,3359,0,0,0,0,0,0
$GC,696,-0.76,-121.6,72.9,-10.8,113,701,0.00,0.85,0.00,0.000,6,0.000,0.047,2765,1817,3359,0,0,0,0,0,0
$GC,1036,-0.76,-121.6,106.2,-8.9,166,1040,0.00,2.25,0.00,0.000,4,0.000,0.057,2755,3226,3360,0,0,0,0,0,0
$GC,1119,-0.76,-121.6,114.3,-9.5,171,1124,0.08,2.22,0.00,0.000,6,0.184,0.042,2772,1813,3360,0,0,0,0,0,0
$GC,1446,-0.76,-121.6,143.9,-9.5,192,1450,0.00,2.15,0.00,0.000,4,0.000,0.056,2763,3164,3360,0,0,0,0,0,0
$GC,1529,-0.76,-121.6,152.3,-9.7,197,1533,0.00,2.10,0.00,0.000,6,0.000,0.042,2763,1825,3360,0,0,0,0,0,0
$GC,1855,-0.76,-121.6,183.0,-9.6,218,1859,0.00,1.65,0.00,0.000,4,0.000,0.054,2756,2862,3361,0,0,0,0,0,0
$GC,1944,-0.76,-121.6,191.4,-9.8,223,1948,0.08,1.62,0.00,0.000,6,0.190,0.042,2773,1819,3361,0,0,0,0,0,0
$GC,2274,-0.76,-121.6,221.6,-9.0,244,2277,0.00,1.80,0.00,0.000,4,0.000,0.055,2766,2983,3361,0,0,0,0,0,0
$GC,2363,-0.76,-121.6,230.5,-9.8,249,2368,0.00,1.83,0.00,0.000,6,0.000,0.042,2765,1810,3361,0,0,0,0,0,0
$GC,2687,-0.76,-121.6,262.1,-9.8,268,2691,0.00,0.93,0.00,0.000,4,0.000,0.051,2761,2411,3362,0,0,0,0,0,0
$GC,2770,-0.76,-121.6,270.6,-10.3,271,2776,0.05,0.93,0.00,0.000,6,0.213,0.043,2772,1810,3361,0,0,0,0,0,0
$GC,3088,-0.76,-121.6,302.0,-10.4,287,3092,0.00,2.25,0.00,0.000,4,0.000,0.056,2763,3237,3361,0,0,0,0,0,0
$GC,3187,-0.76,-121.6,313.2,-10.6,291,3193,0.03,2.20,0.00,0.000,6,0.180,0.041,2771,1829,3361,0,0,0,0,0,0
$GC,3511,-0.80,-121.6,346.4,-10.1,307,3515,0.00,2.20,0.00,0.000,4,0.000,0.056,2762,3233,3361,0,0,0,0,0,0
$GC,3651,-0.80,-121.6,361.5,-10.2,313,3656,0.00,2.20,0.00,0.000,6,0.000,0.041,2762,1817,3361,0,0,0,0,0,0
$GC,3981,-0.80,-121.6,392.9,-9.6,329,3985,0.00,2.22,0.00,0.000,4,0.000,0.056,2752,3226,3362,0,0,0,0,0,0
$GC,4087,-0.80,-121.6,404.1,-9.5,333,4092,0.00,2.20,0.00,0.000,6,0.000,0.042,2752,1816,3361,0,0,0,0,0,0
$GC,4423,-0.80,-121.6,436.5,-9.9,344,4427,0.00,2.22,0.00,0.000,4,0.000,0.056,2742,3225,3361,0,0,0,0,0,0
$GC,4528,-0.78,-121.6,447.7,-10.4,347,4533,0.08,2.20,0.00,0.000,6,0.147,0.042,2766,1820,3361,0,0,0,0,0,0
$GC,4864,-0.80,-121.6,480.4,-9.9,358,4868,0.00,2.22,0.00,0.000,4,0.000,0.057,2757,3230,3361,0,0,0,0,0,0
$GC,5030,-0.80,-121.6,497.9,-10.3,363,5035,0.00,2.20,0.00,0.000,6,0.000,0.041,2757,1819,3361,0,0,0,0,0,0
$GC,5366,-0.80,-121.6,531.6,-10.1,374,5370,0.00,2.25,0.00,0.000,4,0.000,0.056,2747,3236,3361,0,0,0,0,0,0
$GC,5501,-0.80,-121.6,545.2,-9.9,378,5506,0.05,2.20,0.00,0.000,6,0.220,0.042,2758,1815,3360,0,0,0,0,0,0
$GC,5830,-0.80,-121.6,576.5,-9.5,389,5834,0.00,2.25,0.00,0.000,4,0.000,0.057,2749,3233,3360,0,0,0,0,0,0
$GC,5959,-0.80,-121.6,588.7,-9.7,393,5964,0.03,2.20,0.00,0.000,6,0.255,0.043,2758,1808,3359,0,0,0,0,0,0
$GC,6294,-0.80,-121.6,619.6,-9.1,404,6298,0.00,2.25,0.00,0.000,4,0.000,0.057,2749,3225,3359,0,0,0,0,0,0
$GC,6417,-0.80,-121.6,631.0,-9.5,407,6423,0.00,2.17,0.00,0.000,6,0.000,0.042,2749,1821,3359,0,0,0,0,0,0
$GC,6729,-0.80,-121.6,661.6,-10.1,418,6734,0.03,2.22,0.00,0.000,4,0.267,0.057,2748,3226,3358,0,0,0,0,0,0
$GC,6824,-0.80,-121.6,671.6,-10.1,421,6829,0.05,2.17,0.00,0.000,6,0.216,0.043,2759,1809,3358,0,0,0,0,0,0
$GC,7159,-0.80,-121.6,704.7,-9.8,432,7163,0.00,2.25,0.00,0.000,4,0.000,0.057,2749,3226,3358,0,0,0,0,0,0
$GC,7264,-0.80,-121.6,715.4,-9.5,435,7269,0.00,2.20,0.00,0.000,6,0.000,0.043,2750,1823,3357,0,0,0,0,0,0
$GC,7599,-0.80,-121.6,749.1,-10.2,446,7602,0.00,1.27,0.00,0.000,4,0.000,0.054,2744,2631,3356,0,0,0,0,0,0
$GC,7700,-0.80,-121.6,759.4,-10.3,449,7704,0.03,1.27,0.00,0.000,6,0.180,0.045,2754,1813,3356,0,0,0,0,0,0
$GC,8040,-0.80,-121.6,794.0,-10.1,460,8043,0.00,2.12,0.00,0.000,4,0.000,0.057,2744,3162,3355,0,0,0,0,0,0
$GC,8145,-0.80,-121.6,805.2,-10.2,463,8150,0.03,2.10,0.00,0.000,6,0.174,0.043,2754,1821,3356,0,0,0,0,0,0
$GC,8474,-0.80,-121.6,837.9,-9.8,474,8478,0.00,1.27,0.00,0.000,4,0.000,0.054,2749,2626,3355,0,0,0,0,0,0
$GC,8568,-0.80,-121.6,847.2,-9.5,476,8574,0.00,1.27,0.00,0.000,6,0.000,0.046,2749,1809,3355,0,0,0,0,0,0
$GC,8882,-0.80,-121.6,876.8,-9.4,487,8886,0.00,2.25,0.00,0.000,4,0.000,0.057,2738,3224,3354,0,0,0,0,0,0
$GC,9017,-0.80,-121.6,889.6,-8.9,491,9022,0.10,2.20,0.00,0.000,6,0.172,0.044,2764,1810,3354,0,0,0,0,0,0
$GC,9351,-0.80,-121.6,920.1,-9.4,502,9355,0.00,2.10,0.00,0.000,4,0.000,0.057,2755,3132,3353,0,0,0,0,0,0
$GC,9451,-0.80,-121.6,930.3,-9.4,505,9455,0.00,2.05,0.00,0.000,6,0.000,0.044,2755,1831,3353,0,0,0,0,0,0
$GC,9787,-0.80,-121.6,962.1,-9.5,516,9791,0.00,1.50,0.00,0.000,4,0.000,0.055,2749,2768,3352,0,0,0,0,0,0
$GC,9875,-0.80,-121.6,970.7,-10.2,518,9880,0.00,1.50,0.00,0.000,6,0.000,0.044,2749,1808,3352,0,0,0,0,0,0
$STATE,10192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10192,begin apogee
$GC,10197,-0.23,0.0,1000.5,9.4,529,10301,0.62,0.00,101.10,1.291,6,0.131,0.000,2945,1643,2862,0,0,0,0,0,0
$STATE,10302,end apogee,CONTROL_FINISHED_OK
$STATE,10302,begin climb
$GC,10304,0.92,121.6,1004.7,0.0,532,10416,1.08,2.47,104.12,1.256,4,0.084,0.055,3319,244,2365,0,0,0,0,0,0
$GC,10601,0.88,182.3,992.2,6.7,541,10661,0.00,2.30,53.80,1.233,6,0.000,0.042,3319,1654,2118,0,0,0,0,0,0
$GC,10991,0.88,224.7,962.5,7.7,554,11035,0.00,1.08,37.75,1.220,4,0.000,0.049,3318,2298,1944,0,0,0,0,0,0
$GC,11113,0.88,242.9,952.0,9.0,557,11135,0.08,1.08,17.33,1.158,6,0.189,0.047,3307,1652,1871,0,0,0,0,0,0
$GC,11455,0.93,274.8,924.1,8.2,569,11489,0.00,0.80,29.45,1.189,4,0.000,0.057,3309,1169,1740,0,0,0,0,0,0
$GC,11540,1.00,308.5,916.4,8.2,571,11576,0.05,0.77,31.52,1.184,6,0.071,0.046,3344,1654,1603,0,0,0,0,0,0
$GC,11882,1.03,308.5,880.4,10.3,582,11886,0.00,0.45,0.00,0.000,4,0.000,0.053,3344,1963,1596,0,0,0,0,0,0
$GC,11954,1.06,316.6,873.1,9.6,584,11965,0.00,0.52,7.55,1.013,6,0.000,0.054,3347,1637,1570,0,0,0,0,0,0
$GC,12283,1.10,316.6,839.5,10.3,595,12285,0.08,0.00,0.00,0.000,6,0.125,0.000,3381,1637,1568,0,0,0,0,0,0
$GC,12589,1.10,316.6,805.3,11.2,605,12593,0.00,0.62,0.00,0.000,4,0.000,0.057,3384,1236,1567,0,0,0,0,0,0
$GC,12661,1.10,316.6,797.2,11.5,607,12665,0.00,0.65,0.00,0.000,6,0.000,0.047,3384,1646,1566,0,0,0,0,0,0
$GC,12996,1.10,316.6,759.1,11.5,618,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1646,1565,0,0,0,0,0,0
$GC,13302,1.10,316.6,723.9,11.6,628,13306,0.00,1.45,0.00,0.000,4,0.000,0.058,3390,762,1565,0,0,0,0,0,0
$GC,13374,1.07,316.6,715.3,11.3,630,13379,0.05,1.45,0.00,0.000,6,0.166,0.044,3373,1673,1565,0,0,0,0,0,0
$GC,13709,1.07,316.6,678.8,10.8,641,13713,0.00,0.62,0.00,0.000,4,0.000,0.057,3376,1275,1565,0,0,0,0,0,0
$GC,13769,1.07,316.6,671.8,10.8,642,13775,0.00,0.60,0.00,0.000,6,0.000,0.049,3376,1654,1565,0,0,0,0,0,0
$GC,14082,1.07,316.6,636.0,11.7,653,14085,0.00,0.65,0.00,0.000,4,0.000,0.057,3379,1243,1565,0,0,0,0,0,0
$GC,14142,1.07,316.6,628.6,11.4,654,14147,0.00,0.65,0.00,0.000,6,0.000,0.047,3379,1656,1564,0,0,0,0,0,0
$GC,14454,1.07,316.6,591.3,11.9,665,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1656,1564,0,0,0,0,0,0
$GC,14760,1.07,316.6,554.7,12.1,675,14764,0.00,0.40,0.00,0.000,4,0.000,0.060,3381,1392,1564,0,0,0,0,0,0
$GC,14821,1.07,316.6,547.0,12.5,676,14827,0.05,0.40,0.00,0.000,6,0.226,0.053,3369,1651,1564,0,0,0,0,0,0
$GC,15133,1.07,316.6,509.3,12.2,687,15137,0.00,0.28,0.00,0.000,4,0.000,0.064,3370,1461,1564,0,0,0,0,0,0
$GC,15290,1.07,316.6,490.4,11.4,691,15294,0.00,0.28,0.00,0.000,6,0.000,0.058,3370,1648,1564,0,0,0,0,0,0
$GC,15608,1.07,316.6,452.4,12.0,702,15611,0.00,0.47,0.00,0.000,4,0.000,0.061,3372,1337,1564,0,0,0,0,0,0
$GC,15645,1.07,316.6,447.9,11.8,703,15649,0.00,0.47,0.00,0.000,6,0.000,0.051,3372,1644,1564,0,0,0,0,0,0
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$STATE,19448,end climb,SURFACE_DEPTH_REACHED
$STATE,19448,begin surface coast
$FINISH,1.8,1.017815
$STATE,19468,end surface coast,CONTROL_FINISHED_OK
$STATE,19468,begin surface
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$SM_GC,2.66,8.65,0.00,0.00,0.037,0.000,0.000,84,1833,1562,-9.09,0.40,318.88
$IRIDIUM_FIX,-4146.69,-640.90,221112,101010
$TT8_MAMPS,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.09881
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.2,37.752
$10V_AH,10.1,35.736
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,131.675,382.625,0.000,0.000,27.989,40.733,214.907,0.000,0.000,19.241,2618.991,13304.838,461.527,3389.684,174.183,33.385,1797.350,0.000,3041.712,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.269,1082.542,645.591,78.774,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354360
$DATA_FILE_SIZE,60379,1001
$CAP_FILE_SIZE,183026,0
$CFSIZE,2097086464,2062942208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221112,213531,-4200.059,-638.992,66,1.0,66,-22.1