version: 66.07.10.p01
glider: 573
mission: 4
dive: 246
start: 11 25 112 0 34 20
data:
$ID,573
$MISSION,4
$DIVE,246
$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,-5087.5332
$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,31
$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,225
$GPS1,251112,002559,-4150.297,-629.511,71,0.9,71,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-67.6
$GPS2,251112,003325,-4150.355,-629.461,16,1.1,17,-22.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.103,0.216
$KALMAN_X,-308039.6,-13.4,-142.7,597088.7,287.4
$KALMAN_Y,-192863.6,114.3,26.5,284239.1,-2665.8
$MHEAD_RNG_PITCHd_Wd,47.7,66462,-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,-42.78,0.000,2,0.000,0.000,82,1829,2474,0,0,0,0,0,0
$GC,72,-0.92,-121.6,3.1,-1.4,7,122,10.65,2.33,-32.58,0.000,4,0.233,0.069,2726,411,3359,0,0,0,0,0,0
$GC,207,-0.80,-121.6,18.5,-17.7,29,215,0.12,2.28,0.00,0.000,6,0.146,0.043,2755,1824,3361,0,0,0,0,0,0
$GC,288,-0.76,-121.6,28.0,-10.7,42,294,0.08,0.00,0.00,0.000,6,0.203,0.000,2773,1825,3361,0,0,0,0,0,0
$GC,366,-0.76,-121.6,36.3,-11.2,55,371,0.00,0.68,0.00,0.000,4,0.000,0.055,2771,2270,3361,0,0,0,0,0,0
$GC,413,-0.76,-121.6,42.1,-12.4,63,418,0.00,0.70,0.00,0.000,6,0.000,0.050,2771,1814,3361,0,0,0,0,0,0
$GC,645,-0.76,-121.6,67.6,-11.2,104,650,0.00,0.43,0.00,0.000,4,0.000,0.056,2769,2104,3361,0,0,0,0,0,0
$GC,767,-0.76,-121.6,80.2,-10.2,126,775,0.00,0.45,0.00,0.000,6,0.000,0.053,2770,1806,3362,0,0,0,0,0,0
$GC,1114,-0.76,-121.6,114.4,-9.8,171,1118,0.00,2.25,0.00,0.000,4,0.000,0.057,2759,3223,3362,0,0,0,0,0,0
$GC,1214,-0.76,-121.6,124.7,-9.9,177,1219,0.03,2.20,0.00,0.000,6,0.184,0.044,2767,1830,3362,0,0,0,0,0,0
$GC,1539,-0.76,-121.6,154.7,-9.0,198,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1830,3363,0,0,0,0,0,0
$GC,1851,-0.79,-121.6,182.6,-9.2,218,1855,0.00,2.20,0.00,0.000,4,0.000,0.057,2758,3224,3363,0,0,0,0,0,0
$GC,1868,-0.81,-121.6,184.3,-9.2,219,1872,0.00,2.20,0.00,0.000,6,0.000,0.044,2758,1804,3363,0,0,0,0,0,0
$GC,2192,-0.81,-121.6,215.2,-9.8,240,2196,0.00,0.85,0.00,0.000,4,0.000,0.052,2758,1249,3362,0,0,0,0,0,0
$GC,2227,-0.81,-121.6,218.5,-9.7,242,2231,0.00,0.88,0.00,0.000,6,0.000,0.045,2754,1818,3363,0,0,0,0,0,0
$GC,2558,-0.81,-121.6,251.5,-10.1,263,2562,0.00,2.22,0.00,0.000,4,0.000,0.056,2744,3228,3363,0,0,0,0,0,0
$GC,2653,-0.81,-121.6,261.6,-10.4,267,2658,0.03,2.20,0.00,0.000,6,0.187,0.042,2754,1818,3362,0,0,0,0,0,0
$GC,2976,-0.81,-121.6,293.2,-9.9,283,2980,0.00,0.57,0.00,0.000,4,0.000,0.054,2754,1435,3362,0,0,0,0,0,0
$GC,3024,-0.81,-121.6,297.9,-9.6,285,3028,0.00,0.57,0.00,0.000,6,0.000,0.050,2751,1821,3363,0,0,0,0,0,0
$GC,3358,-0.81,-121.6,327.8,-8.8,301,3362,0.00,2.20,0.00,0.000,4,0.000,0.057,2741,3222,3363,0,0,0,0,0,0
$GC,3452,-0.81,-121.6,336.0,-8.8,305,3456,0.08,2.17,0.00,0.000,6,0.183,0.043,2759,1815,3363,0,0,0,0,0,0
$GC,3781,-0.83,-121.6,361.8,-7.7,321,3785,0.00,0.43,0.00,0.000,4,0.000,0.055,2758,2119,3363,0,0,0,0,0,0
$GC,3898,-0.83,-121.6,372.0,-7.8,326,3902,0.00,0.47,0.00,0.000,6,0.000,0.053,2758,1802,3363,0,0,0,0,0,0
$GC,4226,-0.85,-121.6,399.9,-8.7,342,4229,0.00,1.33,0.00,0.000,4,0.000,0.052,2752,2643,3363,0,0,0,0,0,0
$GC,4303,-0.85,-121.6,407.2,-9.6,345,4307,0.00,1.27,0.00,0.000,6,0.000,0.044,2752,1819,3363,0,0,0,0,0,0
$GC,4633,-0.85,-121.6,438.9,-10.2,356,4637,0.00,2.22,0.00,0.000,4,0.000,0.056,2742,3221,3362,0,0,0,0,0,0
$GC,4749,-0.85,-121.6,451.5,-10.7,359,4754,0.00,2.17,0.00,0.000,6,0.000,0.043,2742,1831,3363,0,0,0,0,0,0
$GC,5067,-0.85,-121.6,485.9,-10.8,370,5071,0.00,2.20,0.00,0.000,4,0.000,0.057,2731,3219,3363,0,0,0,0,0,0
$GC,5150,-0.85,-121.6,495.3,-11.8,372,5155,0.00,2.20,0.00,0.000,6,0.000,0.044,2732,1818,3362,0,0,0,0,0,0
$GC,5469,-0.85,-121.6,531.4,-11.6,383,5472,0.00,1.00,0.00,0.000,4,0.000,0.053,2727,2455,3362,0,0,0,0,0,0
$GC,5546,-0.83,-121.6,540.3,-11.0,385,5551,0.05,1.00,0.00,0.000,6,0.154,0.047,2747,1806,3362,0,0,0,0,0,0
$GC,5876,-0.83,-121.6,572.8,-9.7,396,5880,0.00,2.25,0.00,0.000,4,0.000,0.057,2736,3218,3362,0,0,0,0,0,0
$GC,5998,-0.83,-121.6,585.3,-9.4,399,6004,0.03,2.20,0.00,0.000,6,0.181,0.044,2746,1819,3361,0,0,0,0,0,0
$GC,6311,-0.83,-121.6,616.1,-9.9,410,6315,0.00,2.20,0.00,0.000,4,0.000,0.057,2736,3219,3361,0,0,0,0,0,0
$GC,6416,-0.83,-121.6,627.3,-10.1,413,6421,0.03,2.20,0.00,0.000,6,0.184,0.044,2747,1819,3360,0,0,0,0,0,0
$GC,6746,-0.83,-121.6,660.2,-10.1,424,6750,0.00,2.22,0.00,0.000,4,0.000,0.058,2737,3221,3360,0,0,0,0,0,0
$GC,6839,-0.83,-121.6,670.8,-11.6,426,6845,0.00,2.20,0.00,0.000,6,0.000,0.044,2737,1822,3360,0,0,0,0,0,0
$GC,7153,-0.83,-121.6,705.1,-11.4,437,7157,0.05,1.15,0.00,0.000,4,0.228,0.055,2743,2538,3359,0,0,0,0,0,0
$GC,7246,-0.83,-121.6,715.8,-11.2,439,7252,0.00,1.15,0.00,0.000,6,0.000,0.047,2743,1809,3359,0,0,0,0,0,0
$GC,7559,-0.83,-121.6,749.5,-10.5,450,7563,0.00,2.25,0.00,0.000,4,0.000,0.057,2732,3218,3358,0,0,0,0,0,0
$GC,7652,-0.83,-121.6,759.7,-10.9,452,7659,0.05,2.20,0.00,0.000,6,0.155,0.044,2750,1819,3357,0,0,0,0,0,0
$GC,7966,-0.86,-121.6,791.8,-10.4,463,7970,0.00,1.77,0.00,0.000,4,0.000,0.057,2743,2927,3356,0,0,0,0,0,0
$GC,8037,-0.86,-121.6,799.6,-10.9,465,8042,0.00,1.75,0.00,0.000,6,0.000,0.045,2743,1815,3357,0,0,0,0,0,0
$GC,8373,-0.86,-121.6,835.2,-10.3,476,8377,0.00,2.22,0.00,0.000,4,0.000,0.058,2732,3216,3356,0,0,0,0,0,0
$GC,8472,-0.86,-121.6,846.1,-10.4,479,8476,0.00,2.20,0.00,0.000,6,0.000,0.044,2733,1822,3356,0,0,0,0,0,0
$GC,8808,-0.83,-121.6,880.7,-9.8,490,8813,0.08,0.68,0.00,0.000,4,0.203,0.055,2747,2252,3356,0,0,0,0,0,0
$GC,8897,-0.83,-121.6,889.5,-9.8,492,8901,0.00,0.70,0.00,0.000,6,0.000,0.049,2747,1801,3355,0,0,0,0,0,0
$GC,9216,-0.83,-121.6,918.7,-9.1,503,9220,0.00,2.28,0.00,0.000,4,0.000,0.059,2737,3221,3354,0,0,0,0,0,0
$GC,9378,-0.83,-121.6,934.0,-8.9,507,9384,0.05,2.20,0.00,0.000,6,0.216,0.045,2748,1815,3354,0,0,0,0,0,0
$GC,9691,-0.83,-121.6,961.6,-9.0,518,9694,0.00,1.27,0.00,0.000,4,0.000,0.057,2743,2613,3354,0,0,0,0,0,0
$GC,9785,-0.83,-121.6,970.1,-8.9,520,9790,0.00,1.25,0.00,0.000,6,0.000,0.046,2744,1816,3353,0,0,0,0,0,0
$GC,10098,-0.83,-121.6,997.0,-8.5,531,10102,0.00,1.85,0.00,0.000,4,0.000,0.057,2735,2974,3353,0,0,0,0,0,0
$STATE,10134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10134,begin apogee
$GC,10140,-0.23,0.0,1000.5,8.9,532,10245,0.65,0.00,101.40,1.281,6,0.131,0.000,2944,1648,2862,0,0,0,0,0,0
$STATE,10246,end apogee,CONTROL_FINISHED_OK
$STATE,10246,begin climb
$GC,10248,0.92,121.6,1003.4,0.0,535,10361,1.10,2.50,104.53,1.245,4,0.083,0.056,3325,238,2365,0,0,0,0,0,0
$GC,10504,0.87,159.5,990.6,7.9,543,10544,0.10,2.33,33.88,1.205,6,0.174,0.040,3302,1647,2210,0,0,0,0,0,0
$GC,10873,0.87,215.7,963.3,6.9,555,10928,0.00,2.10,49.70,1.221,4,0.000,0.055,3302,2903,1982,0,0,0,0,0,0
$GC,11006,0.90,246.7,952.5,8.3,559,11041,0.00,2.08,28.27,1.183,6,0.000,0.047,3309,1652,1856,0,0,0,0,0,0
$GC,11371,0.94,279.0,922.5,8.2,571,11406,0.00,0.88,29.80,1.187,4,0.000,0.052,3310,2183,1723,0,0,0,0,0,0
$GC,11457,1.00,299.9,915.0,8.9,573,11482,0.05,0.88,20.10,1.148,6,0.070,0.051,3348,1646,1639,0,0,0,0,0,0
$GC,11806,1.00,299.9,878.6,10.7,585,11810,0.00,0.60,0.00,0.000,4,0.000,0.053,3348,2032,1631,0,0,0,0,0,0
$GC,11867,1.02,299.9,871.7,11.7,586,11872,0.00,0.62,0.00,0.000,6,0.000,0.053,3351,1641,1631,0,0,0,0,0,0
$GC,12180,1.04,299.9,834.8,12.3,597,12184,0.00,0.30,0.00,0.000,4,0.000,0.067,3353,1432,1630,0,0,0,0,0,0
$GC,12240,1.04,299.9,827.1,12.9,598,12245,0.00,0.35,0.00,0.000,6,0.000,0.057,3353,1655,1630,0,0,0,0,0,0
$GC,12553,1.04,299.9,787.7,12.6,609,12556,0.00,0.60,0.00,0.000,4,0.000,0.054,3353,2054,1629,0,0,0,0,0,0
$GC,12613,1.04,299.9,780.0,12.1,610,12618,0.00,0.65,0.00,0.000,6,0.000,0.052,3356,1646,1629,0,0,0,0,0,0
$GC,12926,1.04,299.9,742.6,11.5,621,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1646,1628,0,0,0,0,0,0
$GC,13232,1.04,299.9,710.0,10.7,631,13235,0.00,1.23,0.00,0.000,4,0.000,0.053,3355,2416,1628,0,0,0,0,0,0
$GC,13303,1.04,299.9,702.1,11.0,633,13308,0.00,1.23,0.00,0.000,6,0.000,0.048,3361,1649,1628,0,0,0,0,0,0
$GC,13639,1.04,299.9,666.2,10.9,644,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1649,1628,0,0,0,0,0,0
$GC,13945,1.04,299.9,633.7,10.3,654,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1649,1628,0,0,0,0,0,0
$GC,14252,1.04,301.8,603.2,9.9,664,14255,0.00,1.38,0.00,0.000,4,0.000,0.054,3361,2511,1628,0,0,0,0,0,0
$GC,14336,1.04,301.8,594.5,10.6,666,14339,0.00,1.38,0.00,0.000,6,0.000,0.048,3367,1650,1627,0,0,0,0,0,0
$GC,14659,1.04,301.8,559.1,11.3,677,14662,0.00,0.52,0.00,0.000,4,0.000,0.051,3367,2000,1627,0,0,0,0,0,0
$GC,14730,1.04,301.8,550.9,11.5,679,14735,0.00,0.57,0.00,0.000,6,0.000,0.054,3369,1636,1627,0,0,0,0,0,0
$GC,15065,1.04,301.8,512.8,11.5,690,15069,0.00,0.65,0.00,0.000,4,0.000,0.052,3369,2062,1627,0,0,0,0,0,0
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$STATE,19554,end climb,SURFACE_DEPTH_REACHED
$STATE,19554,begin surface coast
$FINISH,1.8,1.013362
$STATE,19579,end surface coast,CONTROL_FINISHED_OK
$STATE,19579,begin surface
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$TT8_MAMPS,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.2,39.280
$10V_AH,10.1,36.958
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.075,121.025,389.650,0.000,0.000,25.931,44.050,253.135,0.000,0.000,19.152,2631.749,13420.637,472.904,3386.086,185.926,33.378,1796.180,0.000,3011.905,0.000,1.007,0.000
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$SENSOR_SECS,676.888,1129.113,661.239,81.642,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,60321,1024
$CAP_FILE_SIZE,183601,0
$CFSIZE,2097086464,2061631488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251112,060305,-4149.682,-628.911,36,1.4,36,-22.1