version: 66.07.10.p01
glider: 573
mission: 4
dive: 243
start: 11 24 112 7 37 19
data:
$ID,573
$MISSION,4
$DIVE,243
$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,-5077.2563
$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,30
$R_STBD_OVSHOOT,40
$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,222
$GPS1,241112,072935,-4153.244,-633.027,33,1.2,33,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-73.4
$GPS2,241112,073624,-4153.243,-633.000,20,1.1,20,-22.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.098,0.218
$KALMAN_X,-306560.2,-114.7,-601.8,591355.3,2316.9
$KALMAN_Y,-184401.4,-90.4,-457.9,271124.0,-1214.6
$MHEAD_RNG_PITCHd_Wd,46.3,73554,-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,-121.5,0.0,0.0,0,70,0.00,0.00,-42.65,0.000,2,0.000,0.000,82,1824,2355,0,0,0,0,0,0
$GC,72,-0.92,-121.6,3.0,-1.3,7,134,10.62,0.68,-43.50,0.000,4,0.231,0.097,2722,1401,3357,0,0,0,0,0,0
$GC,189,-0.81,-121.6,9.3,-11.8,26,196,0.10,0.65,0.00,0.000,6,0.152,0.050,2751,1817,3359,0,0,0,0,0,0
$GC,269,-0.77,-121.6,18.2,-11.0,39,277,0.08,0.98,0.00,0.000,4,0.200,0.054,2766,2432,3360,0,0,0,0,0,0
$GC,355,-0.77,-121.6,27.3,-11.1,53,362,0.00,0.98,0.00,0.000,6,0.000,0.047,2766,1807,3359,0,0,0,0,0,0
$GC,432,-0.77,-121.6,35.9,-11.3,66,439,0.00,0.60,0.00,0.000,4,0.000,0.054,2763,2201,3359,0,0,0,0,0,0
$GC,570,-0.77,-121.6,51.2,-11.1,90,577,0.00,0.57,0.00,0.000,6,0.000,0.052,2763,1824,3359,0,0,0,0,0,0
$GC,804,-0.77,-121.6,78.1,-10.9,131,808,0.00,1.48,0.00,0.000,4,0.000,0.055,2757,2743,3360,0,0,0,0,0,0
$GC,886,-0.75,-121.6,87.7,-11.8,146,892,0.03,1.45,0.00,0.000,6,0.188,0.046,2765,1822,3360,0,0,0,0,0,0
$GC,1226,-0.75,-121.6,121.9,-10.0,181,1229,0.00,2.10,0.00,0.000,4,0.000,0.056,2757,3140,3360,0,0,0,0,0,0
$GC,1295,-0.75,-121.6,129.7,-11.2,185,1300,0.10,2.05,0.00,0.000,6,0.174,0.044,2782,1818,3360,0,0,0,0,0,0
$GC,1627,-0.80,-121.6,164.6,-9.6,206,1631,0.00,2.22,0.00,0.000,4,0.000,0.056,2772,3227,3361,0,0,0,0,0,0
$GC,1717,-0.82,-121.6,173.5,-9.2,211,1722,0.00,2.20,0.00,0.000,6,0.000,0.044,2772,1809,3361,0,0,0,0,0,0
$GC,2038,-0.85,-121.6,203.4,-9.8,232,2043,0.08,2.22,0.00,0.000,4,0.122,0.055,2713,3224,3361,0,0,0,0,0,0
$GC,2161,-0.79,-121.6,218.3,-12.2,239,2167,0.17,2.17,0.00,0.000,6,0.154,0.043,2762,1821,3361,0,0,0,0,0,0
$GC,2480,-0.79,-121.6,250.7,-9.7,260,2484,0.00,1.45,0.00,0.000,4,0.000,0.054,2757,2735,3361,0,0,0,0,0,0
$GC,2536,-0.79,-121.6,256.4,-9.8,262,2540,0.00,1.42,0.00,0.000,6,0.000,0.044,2757,1822,3361,0,0,0,0,0,0
$GC,2857,-0.79,-121.6,289.4,-10.6,278,2861,0.00,0.52,0.00,0.000,4,0.000,0.056,2757,1467,3361,0,0,0,0,0,0
$GC,2882,-0.79,-121.6,291.9,-10.6,279,2886,0.00,0.52,0.00,0.000,6,0.000,0.050,2755,1820,3361,0,0,0,0,0,0
$GC,3216,-0.79,-121.6,329.0,-11.1,295,3220,0.00,2.25,0.00,0.000,4,0.000,0.054,2755,412,3361,0,0,0,0,0,0
$GC,3333,-0.74,-121.6,343.6,-12.4,300,3338,0.10,2.22,0.00,0.000,6,0.143,0.041,2777,1827,3361,0,0,0,0,0,0
$GC,3661,-0.79,-121.6,377.2,-10.0,316,3665,0.00,2.20,0.00,0.000,4,0.000,0.055,2767,3230,3361,0,0,0,0,0,0
$GC,3671,-0.84,-121.6,378.5,-10.4,316,3679,0.00,2.20,0.00,0.000,6,0.000,0.043,2767,1823,3361,0,0,0,0,0,0
$GC,3997,-0.87,-121.6,411.3,-10.1,331,4001,0.08,1.58,0.00,0.000,4,0.121,0.054,2719,850,3361,0,0,0,0,0,0
$GC,4057,-0.80,-121.6,418.8,-12.6,332,4063,0.15,1.52,0.00,0.000,6,0.140,0.043,2760,1824,3361,0,0,0,0,0,0
$GC,4370,-0.82,-121.6,451.7,-10.5,343,4374,0.00,2.28,0.00,0.000,4,0.000,0.054,2760,403,3361,0,0,0,0,0,0
$GC,4476,-0.79,-121.6,464.1,-11.6,346,4480,0.00,2.22,0.00,0.000,6,0.000,0.041,2750,1819,3361,0,0,0,0,0,0
$GC,4805,-0.79,-121.6,500.5,-11.2,357,4810,0.03,2.22,0.00,0.000,4,0.284,0.056,2751,3227,3361,0,0,0,0,0,0
$GC,4933,-0.79,-121.6,515.1,-11.0,360,4939,0.00,2.17,0.00,0.000,6,0.000,0.043,2751,1816,3361,0,0,0,0,0,0
$GC,5245,-0.79,-121.6,548.4,-10.5,371,5249,0.00,2.22,0.00,0.000,4,0.000,0.057,2741,3222,3360,0,0,0,0,0,0
$GC,5362,-0.79,-121.6,561.3,-11.1,374,5367,0.05,2.20,0.00,0.000,6,0.152,0.044,2759,1819,3360,0,0,0,0,0,0
$GC,5681,-0.82,-121.6,592.9,-9.9,385,5685,0.00,2.20,0.00,0.000,4,0.000,0.057,2749,3222,3359,0,0,0,0,0,0
$GC,5780,-0.82,-121.6,603.5,-10.3,388,5785,0.00,2.20,0.00,0.000,6,0.000,0.044,2750,1822,3359,0,0,0,0,0,0
$GC,6115,-0.82,-121.6,637.3,-10.1,399,6119,0.00,2.22,0.00,0.000,4,0.000,0.057,2739,3225,3359,0,0,0,0,0,0
$GC,6254,-0.82,-121.6,652.3,-10.6,403,6260,0.03,2.20,0.00,0.000,6,0.173,0.044,2750,1822,3359,0,0,0,0,0,0
$GC,6585,-0.82,-121.6,684.9,-9.9,414,6589,0.00,2.22,0.00,0.000,4,0.000,0.057,2740,3226,3358,0,0,0,0,0,0
$GC,6685,-0.82,-121.6,695.2,-9.7,417,6690,0.03,2.20,0.00,0.000,6,0.177,0.044,2750,1827,3357,0,0,0,0,0,0
$GC,7020,-0.82,-121.6,727.7,-9.7,428,7024,0.00,2.05,0.00,0.000,4,0.000,0.057,2741,3122,3356,0,0,0,0,0,0
$GC,7092,-0.82,-121.6,735.0,-9.6,430,7096,0.00,2.05,0.00,0.000,6,0.000,0.044,2741,1819,3356,0,0,0,0,0,0
$GC,7428,-0.82,-121.6,766.7,-9.4,441,7432,0.03,2.25,0.00,0.000,4,0.270,0.059,2740,3230,3356,0,0,0,0,0,0
$GC,7539,-0.82,-121.6,777.2,-9.5,444,7544,0.05,2.20,0.00,0.000,6,0.213,0.044,2752,1813,3356,0,0,0,0,0,0
$GC,7856,-0.82,-121.6,805.9,-9.1,455,7860,0.00,2.22,0.00,0.000,4,0.000,0.058,2742,3223,3355,0,0,0,0,0,0
$GC,7956,-0.82,-121.6,815.4,-8.9,458,7961,0.00,2.20,0.00,0.000,6,0.000,0.044,2742,1826,3355,0,0,0,0,0,0
$GC,8291,-0.82,-121.6,848.8,-10.2,469,8295,0.00,2.22,0.00,0.000,4,0.000,0.058,2732,3220,3354,0,0,0,0,0,0
$GC,8403,-0.80,-121.6,860.7,-10.2,472,8408,0.08,2.22,0.00,0.000,6,0.145,0.045,2757,1811,3354,0,0,0,0,0,0
$GC,8727,-0.80,-121.6,893.6,-10.3,483,8730,0.00,1.70,0.00,0.000,4,0.000,0.057,2750,2883,3354,0,0,0,0,0,0
$GC,8820,-0.80,-121.6,903.6,-10.8,485,8826,0.00,1.67,0.00,0.000,6,0.000,0.045,2750,1819,3353,0,0,0,0,0,0
$GC,9134,-0.80,-121.6,936.7,-10.4,496,9137,0.00,2.00,0.00,0.000,4,0.000,0.058,2741,3067,3352,0,0,0,0,0,0
$GC,9239,-0.80,-121.6,948.0,-10.4,499,9244,0.05,1.98,0.00,0.000,6,0.152,0.044,2758,1820,3352,0,0,0,0,0,0
$GC,9574,-0.82,-121.6,980.8,-9.5,510,9578,0.00,2.22,0.00,0.000,4,0.000,0.059,2749,3221,3351,0,0,0,0,0,0
$GC,9686,-0.84,-121.6,991.8,-10.2,513,9690,0.00,2.20,0.00,0.000,6,0.000,0.045,2749,1816,3351,0,0,0,0,0,0
$STATE,9799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9799,begin apogee
$GC,9804,-0.23,0.0,1002.3,9.3,517,9908,0.62,0.00,101.22,1.282,6,0.128,0.000,2947,1634,2862,0,0,0,0,0,0
$STATE,9909,end apogee,CONTROL_FINISHED_OK
$STATE,9909,begin climb
$GC,9911,0.92,121.6,1006.5,0.0,520,10024,1.08,2.47,104.60,1.246,4,0.083,0.059,3322,245,2365,0,0,0,0,0,0
$GC,10136,0.87,167.8,997.6,7.5,527,10183,0.03,2.35,41.62,1.212,6,0.138,0.043,3304,1640,2177,0,0,0,0,0,0
$GC,10496,0.91,210.3,969.1,7.7,539,10541,0.00,2.40,37.78,1.212,4,0.000,0.056,3305,3044,2003,0,0,0,0,0,0
$GC,10626,0.91,218.8,957.8,9.5,543,10641,0.00,2.28,8.75,1.050,6,0.000,0.047,3314,1652,1969,0,0,0,0,0,0
$GC,10967,0.94,250.7,928.2,8.2,554,11001,0.00,0.65,29.35,1.184,4,0.000,0.053,3314,2050,1838,0,0,0,0,0,0
$GC,11066,0.98,272.6,919.9,8.8,557,11091,0.03,0.65,20.90,1.158,6,0.096,0.054,3342,1648,1749,0,0,0,0,0,0
$GC,11404,0.98,290.8,888.7,9.0,568,11424,0.00,0.80,16.85,1.140,4,0.000,0.059,3345,1170,1676,0,0,0,0,0,0
$GC,11499,1.00,290.8,879.6,10.1,571,11503,0.00,0.75,0.00,0.000,6,0.000,0.047,3345,1644,1672,0,0,0,0,0,0
$GC,11839,1.02,290.8,845.5,10.1,582,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1644,1670,0,0,0,0,0,0
$GC,12146,1.05,290.8,812.3,11.4,592,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1644,1670,0,0,0,0,0,0
$GC,12452,1.07,290.8,776.9,11.8,602,12454,0.05,0.00,0.00,0.000,6,0.168,0.000,3373,1644,1669,0,0,0,0,0,0
$GC,12758,1.07,290.8,737.7,12.7,612,12762,0.00,0.77,0.00,0.000,4,0.000,0.058,3376,1156,1668,0,0,0,0,0,0
$GC,12825,1.07,290.8,729.1,13.1,614,12829,0.00,0.77,0.00,0.000,6,0.000,0.047,3377,1654,1668,0,0,0,0,0,0
$GC,13165,1.07,290.8,687.3,12.0,625,13169,0.00,1.35,0.00,0.000,4,0.000,0.057,3383,829,1668,0,0,0,0,0,0
$GC,13237,1.04,290.8,678.3,11.9,627,13242,0.05,1.30,0.00,0.000,6,0.165,0.044,3365,1649,1668,0,0,0,0,0,0
$GC,13572,1.04,290.8,641.0,11.0,638,13576,0.00,0.25,0.00,0.000,4,0.000,0.063,3365,1834,1668,0,0,0,0,0,0
$GC,13621,1.04,290.8,635.3,11.5,639,13625,0.00,0.32,0.00,0.000,6,0.000,0.064,3366,1630,1668,0,0,0,0,0,0
$GC,13945,1.04,290.8,600.4,10.9,650,13949,0.00,1.33,0.00,0.000,4,0.000,0.058,3372,812,1667,0,0,0,0,0,0
$GC,14012,1.04,290.8,593.0,11.5,652,14017,0.03,1.33,0.00,0.000,6,0.190,0.045,3364,1650,1667,0,0,0,0,0,0
$GC,14352,1.04,290.8,557.6,10.6,663,14356,0.00,1.12,0.00,0.000,4,0.000,0.053,3363,2372,1667,0,0,0,0,0,0
$GC,14424,1.04,290.8,550.0,10.3,665,14429,0.00,1.17,0.00,0.000,6,0.000,0.050,3368,1643,1667,0,0,0,0,0,0
$GC,14759,1.04,290.8,513.8,10.7,676,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1643,1667,0,0,0,0,0,0
$GC,15066,1.04,290.8,480.6,10.9,686,15069,0.00,1.30,0.00,0.000,4,0.000,0.054,3368,2455,1667,0,0,0,0,0,0
$GC,15143,1.04,290.8,471.7,10.9,688,15148,0.05,1.33,0.00,0.000,6,0.234,0.049,3362,1630,1667,0,0,0,0,0,0
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$STATE,19325,end climb,SURFACE_DEPTH_REACHED
$STATE,19326,begin surface coast
$FINISH,1.9,1.010986
$STATE,19357,end surface coast,CONTROL_FINISHED_OK
$STATE,19357,begin surface
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$HUMID,43.93
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$TCM_TEMP,16.00
$XPDR_PINGS,0
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$10V_AH,10.1,36.590
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.350,131.100,361.075,0.000,0.000,25.419,35.128,221.616,0.000,0.000,22.137,2633.724,13212.120,461.045,3345.952,182.519,33.380,1789.375,0.000,3008.918,0.000,1.008,0.000
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$SENSOR_SECS,673.919,1148.977,657.125,85.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,60155,1017
$CAP_FILE_SIZE,184775,0
$CFSIZE,2097086464,2062024704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241112,130223,-4152.239,-631.749,38,1.3,38,-22.1