version: 66.07.10.p01
glider: 573
mission: 4
dive: 248
start: 11 25 112 11 55 20
data:
$ID,573
$MISSION,4
$DIVE,248
$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,-5094.4238
$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,34
$R_STBD_OVSHOOT,35
$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,227
$GPS1,251112,114723,-4148.693,-627.954,41,1.1,41,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-70.3
$GPS2,251112,115425,-4148.725,-627.969,15,1.5,16,-22.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.133,0.199
$KALMAN_X,-310275.1,-257.2,-55.4,601511.0,-462.7
$KALMAN_Y,-198152.1,-113.2,90.6,292707.0,-2509.8
$MHEAD_RNG_PITCHd_Wd,55.8,63058,-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,-121.6,0.0,0.0,0,64,0.00,0.00,-37.25,0.000,2,0.000,0.000,82,1830,2301,0,0,0,0,0,0
$GC,67,-0.92,-121.6,3.0,-1.4,6,128,10.65,2.35,-41.83,0.000,4,0.233,0.068,2727,413,3359,0,0,0,0,0,0
$GC,190,-0.82,-121.6,12.7,-11.5,26,198,0.12,2.28,0.00,0.000,6,0.151,0.044,2755,1822,3361,0,0,0,0,0,0
$GC,270,-0.79,-121.6,21.6,-11.0,39,277,0.00,0.43,0.00,0.000,4,0.000,0.057,2754,2117,3361,0,0,0,0,0,0
$GC,360,-0.76,-121.6,31.4,-10.5,54,368,0.05,0.45,0.00,0.000,6,0.154,0.055,2770,1818,3361,0,0,0,0,0,0
$GC,600,-0.76,-121.6,55.2,-9.9,95,605,0.00,2.25,0.00,0.000,4,0.000,0.058,2761,3227,3362,0,0,0,0,0,0
$GC,691,-0.76,-121.6,64.6,-9.7,111,697,0.00,2.22,0.00,0.000,6,0.000,0.045,2761,1822,3362,0,0,0,0,0,0
$GC,1035,-0.76,-121.6,98.7,-9.4,172,1040,0.05,1.95,0.00,0.000,4,0.228,0.056,2763,3039,3362,0,0,0,0,0,0
$GC,1105,-0.76,-121.6,105.0,-9.5,178,1108,0.00,1.90,0.00,0.000,6,0.000,0.044,2763,1818,3362,0,0,0,0,0,0
$GC,1436,-0.76,-121.6,134.8,-9.2,199,1440,0.00,1.23,0.00,0.000,4,0.000,0.054,2757,2589,3362,0,0,0,0,0,0
$GC,1540,-0.76,-121.6,144.3,-8.9,205,1545,0.05,1.20,0.00,0.000,6,0.147,0.046,2775,1818,3363,0,0,0,0,0,0
$GC,1872,-0.80,-121.6,171.7,-8.6,226,1876,0.00,2.28,0.00,0.000,4,0.000,0.055,2775,401,3363,0,0,0,0,0,0
$GC,1920,-0.80,-121.6,176.1,-9.6,229,1925,0.00,2.22,0.00,0.000,6,0.000,0.043,2765,1826,3363,0,0,0,0,0,0
$GC,2247,-0.83,-121.6,207.0,-10.1,250,2251,0.00,2.28,0.00,0.000,4,0.000,0.055,2766,412,3363,0,0,0,0,0,0
$GC,2352,-0.80,-121.6,219.6,-11.6,256,2360,0.00,2.22,0.00,0.000,6,0.000,0.041,2755,1820,3363,0,0,0,0,0,0
$GC,2683,-0.80,-121.6,254.5,-10.8,277,2687,0.00,2.28,0.00,0.000,4,0.000,0.054,2755,403,3363,0,0,0,0,0,0
$GC,2791,-0.76,-121.6,267.4,-11.6,282,2796,0.12,2.22,0.00,0.000,6,0.168,0.041,2777,1833,3363,0,0,0,0,0,0
$GC,3118,-0.81,-121.6,301.2,-10.6,298,3122,0.00,2.28,0.00,0.000,4,0.000,0.054,2778,412,3363,0,0,0,0,0,0
$GC,3190,-0.81,-121.6,309.9,-11.8,301,3194,0.00,2.20,0.00,0.000,6,0.000,0.041,2768,1814,3363,0,0,0,0,0,0
$GC,3514,-0.85,-121.6,342.0,-9.1,317,3519,0.05,0.43,0.00,0.000,4,0.163,0.056,2725,2113,3364,0,0,0,0,0,0
$GC,3773,-0.81,-121.6,369.0,-10.6,328,3778,0.12,0.45,0.00,0.000,6,0.158,0.052,2759,1811,3363,0,0,0,0,0,0
$GC,4095,-0.85,-121.6,395.7,-7.8,344,4099,0.00,2.22,0.00,0.000,4,0.000,0.054,2759,417,3363,0,0,0,0,0,0
$GC,4193,-0.82,-121.6,404.1,-8.8,348,4197,0.00,2.17,0.00,0.000,6,0.000,0.042,2750,1828,3363,0,0,1,0,0,0
$GC,4528,-0.79,-121.6,432.7,-9.1,359,4532,0.05,2.20,0.00,0.000,4,0.241,0.056,2750,3228,3363,0,0,0,0,0,0
$GC,4623,-0.79,-121.6,442.0,-9.6,362,4628,0.05,2.17,0.00,0.000,6,0.208,0.044,2762,1821,3363,0,0,0,0,0,0
$GC,4958,-0.83,-121.6,474.5,-10.1,373,4962,0.00,2.22,0.00,0.000,4,0.000,0.057,2753,3221,3363,0,0,0,0,0,0
$GC,5064,-0.83,-121.6,486.1,-10.7,376,5068,0.00,2.17,0.00,0.000,6,0.000,0.044,2753,1818,3363,0,0,0,0,0,0
$GC,5394,-0.87,-121.6,520.6,-10.5,387,5398,0.00,2.20,0.00,0.000,4,0.000,0.057,2742,3218,3363,0,0,0,0,0,0
$GC,5482,-0.87,-121.6,530.6,-10.8,389,5488,0.00,2.20,0.00,0.000,6,0.000,0.044,2742,1817,3363,0,0,0,0,0,0
$GC,5795,-0.87,-121.6,565.0,-11.4,400,5799,0.00,1.50,0.00,0.000,4,0.000,0.055,2736,2767,3362,0,0,0,0,0,0
$GC,5878,-0.87,-121.6,574.6,-11.2,402,5882,0.00,1.48,0.00,0.000,6,0.000,0.044,2736,1825,3362,0,0,0,0,0,0
$GC,6202,-0.87,-121.6,611.5,-11.3,413,6206,0.00,2.22,0.00,0.000,4,0.000,0.057,2725,3224,3362,0,0,0,0,0,0
$GC,6285,-0.84,-121.6,621.5,-11.9,415,6290,0.05,2.22,0.00,0.000,6,0.155,0.043,2743,1808,3361,0,0,0,0,0,0
$GC,6603,-0.84,-121.6,655.0,-10.3,426,6607,0.00,2.25,0.00,0.000,4,0.000,0.057,2733,3221,3360,0,0,0,0,0,0
$GC,6726,-0.84,-121.6,667.6,-10.6,429,6731,0.05,2.17,0.00,0.000,6,0.216,0.044,2745,1819,3360,0,0,0,0,0,0
$GC,7039,-0.86,-121.6,695.1,-8.3,440,7043,0.00,2.22,0.00,0.000,4,0.000,0.058,2735,3221,3359,0,0,0,0,0,0
$GC,7118,-0.86,-121.6,702.2,-8.5,442,7122,0.00,2.20,0.00,0.000,6,0.000,0.044,2735,1806,3359,0,0,0,0,0,0
$GC,7435,-0.86,-121.6,728.7,-8.2,453,7440,0.00,2.25,0.00,0.000,4,0.000,0.057,2725,3217,3359,0,0,0,0,0,0
$GC,7570,-0.84,-121.6,740.3,-8.1,457,7575,0.10,2.17,0.00,0.000,6,0.172,0.044,2751,1819,3358,0,0,0,0,0,0
$GC,7899,-0.87,-121.6,766.8,-8.2,468,7903,0.00,2.25,0.00,0.000,4,0.000,0.058,2741,3227,3357,0,0,0,0,0,0
$GC,8023,-0.87,-121.6,778.1,-9.3,471,8028,0.00,2.20,0.00,0.000,6,0.000,0.044,2741,1812,3356,0,0,0,0,0,0
$GC,8335,-0.87,-121.6,808.2,-10.0,482,8339,0.00,2.22,0.00,0.000,4,0.000,0.057,2731,3224,3356,0,0,0,0,0,0
$GC,8451,-0.87,-121.6,821.2,-11.5,485,8456,0.00,2.20,0.00,0.000,6,0.000,0.044,2731,1828,3356,0,0,0,0,0,0
$GC,8770,-0.87,-121.6,857.2,-11.4,496,8774,0.00,2.00,0.00,0.000,4,0.000,0.057,2722,3098,3356,0,0,0,0,0,0
$GC,8866,-0.85,-121.6,868.7,-12.9,498,8872,0.10,2.00,0.00,0.000,6,0.172,0.044,2748,1815,3356,0,0,0,0,0,0
$GC,9178,-0.87,-121.6,902.3,-10.7,509,9182,0.00,2.10,0.00,0.000,4,0.000,0.058,2739,3128,3355,0,0,0,0,0,0
$GC,9250,-0.87,-121.6,910.4,-10.8,511,9254,0.00,2.08,0.00,0.000,6,0.000,0.045,2739,1815,3355,0,0,0,0,0,0
$GC,9580,-0.87,-121.6,947.3,-11.2,522,9584,0.00,2.22,0.00,0.000,4,0.000,0.059,2729,3199,3354,0,0,0,0,0,0
$GC,9668,-0.87,-121.6,957.2,-10.9,524,9674,0.00,2.17,0.00,0.000,6,0.000,0.045,2729,1825,3354,0,0,0,0,0,0
$GC,9981,-0.85,-121.6,989.9,-10.3,535,9986,0.05,1.65,0.00,0.000,4,0.229,0.057,2734,2853,3353,0,0,0,0,0,0
$STATE,10085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10085,begin apogee
$GC,10091,-0.23,0.0,1000.3,8.5,538,10196,0.65,0.00,101.38,1.282,6,0.132,0.000,2941,1642,2862,0,0,0,0,0,0
$STATE,10197,end apogee,CONTROL_FINISHED_OK
$STATE,10197,begin climb
$GC,10199,0.92,121.6,1004.5,0.0,541,10312,1.10,2.47,104.50,1.248,4,0.084,0.058,3321,251,2366,0,0,0,0,0,0
$GC,10407,0.87,173.1,997.5,7.2,547,10459,0.08,2.33,46.28,1.216,6,0.186,0.042,3306,1644,2155,0,0,0,0,0,0
$GC,10783,0.88,224.9,969.5,7.1,560,10832,0.00,0.32,46.22,1.217,4,0.000,0.047,3306,1877,1943,0,0,0,0,0,0
$GC,10900,0.92,258.2,960.2,8.2,563,10935,0.00,0.40,30.73,1.190,6,0.000,0.060,3306,1639,1808,0,0,0,0,0,0
$GC,11249,0.97,296.3,932.8,7.9,575,11289,0.10,0.57,34.65,1.196,4,0.101,0.061,3354,1288,1653,0,0,0,0,0,0
$GC,11380,0.97,296.3,918.8,11.5,579,11384,0.05,0.57,0.00,0.000,6,0.161,0.049,3338,1651,1648,0,0,0,0,0,0
$GC,11720,1.01,296.3,884.0,10.0,590,11723,0.00,0.85,0.00,0.000,4,0.000,0.060,3341,1128,1646,0,0,0,0,0,0
$GC,11792,1.03,296.3,876.8,10.1,592,11796,0.00,0.85,0.00,0.000,6,0.000,0.045,3341,1656,1645,0,0,0,0,0,0
$GC,12128,1.06,311.1,845.0,9.2,603,12147,0.08,0.98,13.60,1.116,4,0.125,0.057,3382,1073,1593,0,0,0,0,0,0
$GC,12231,1.06,311.1,833.5,11.8,606,12235,0.03,0.93,0.00,0.000,6,0.194,0.045,3372,1653,1590,0,0,0,0,0,0
$GC,12566,1.06,311.1,796.7,11.2,617,12569,0.00,0.47,0.00,0.000,4,0.000,0.060,3374,1349,1589,0,0,0,0,0,0
$GC,12620,1.06,311.1,790.3,11.3,618,12624,0.00,0.47,0.00,0.000,6,0.000,0.052,3374,1650,1589,0,0,0,0,0,0
$GC,12938,1.06,311.1,752.5,12.1,629,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1649,1588,0,0,0,0,0,0
$GC,13245,1.06,311.1,714.0,12.5,639,13248,0.00,1.20,0.00,0.000,4,0.000,0.058,3380,919,1587,0,0,0,0,0,0
$GC,13322,1.06,311.1,704.0,12.2,641,13327,0.03,1.15,0.00,0.000,6,0.191,0.045,3370,1643,1587,0,0,0,0,0,0
$GC,13651,1.06,311.1,665.0,11.7,652,13655,0.00,0.38,0.00,0.000,4,0.000,0.063,3372,1395,1587,0,0,0,0,0,0
$GC,13678,1.06,311.1,661.7,12.0,652,13683,0.00,0.40,0.00,0.000,6,0.000,0.054,3372,1654,1587,0,0,0,0,0,0
$GC,13990,1.06,311.1,625.5,11.4,663,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1654,1587,0,0,0,0,0,0
$GC,14296,1.06,311.1,591.7,11.0,673,14300,0.00,0.68,0.00,0.000,4,0.000,0.057,3375,1224,1586,0,0,0,0,0,0
$GC,14364,1.06,311.1,584.3,12.0,675,14368,0.00,0.65,0.00,0.000,6,0.000,0.049,3375,1646,1586,0,0,0,0,0,0
$GC,14704,1.06,311.1,545.4,11.8,686,14708,0.00,1.45,0.00,0.000,4,0.000,0.058,3382,759,1586,0,0,0,0,0,0
$GC,14771,1.06,311.1,536.9,13.0,688,14776,0.03,1.40,0.00,0.000,6,0.190,0.045,3372,1640,1586,0,0,0,0,0,0
$GC,15112,1.06,311.1,494.9,12.6,699,15113,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1640,1586,0,0,0,0,0,0
$GC,15418,1.06,311.1,456.2,12.6,709,15421,0.00,0.57,0.00,0.000,4,0.000,0.059,3375,1272,1586,0,0,0,0,0,0
$GC,15467,1.06,311.1,449.7,13.2,710,15471,0.00,0.60,0.00,0.000,6,0.000,0.049,3374,1654,1586,0,0,0,0,0,0
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$STATE,19478,end climb,SURFACE_DEPTH_REACHED
$STATE,19478,begin surface coast
$FINISH,1.7,1.013786
$STATE,19504,end surface coast,CONTROL_FINISHED_OK
$STATE,19504,begin surface
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$SM_GC,2.82,8.57,0.00,0.00,0.037,0.000,0.000,94,1834,1556,-9.08,0.42,320.11
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$HUMID,43.97
$INTERNAL_PRESSURE,9.09881
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.2,39.585
$10V_AH,10.1,37.203
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.500,133.450,380.600,0.000,0.000,28.898,37.200,229.587,0.000,0.000,18.729,2672.171,13226.270,467.645,3447.343,182.011,33.378,1810.634,0.000,3092.815,0.000,1.008,0.000
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$SENSOR_SECS,684.196,1181.702,666.323,89.904,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,63428,1038
$CAP_FILE_SIZE,185832,1
$CFSIZE,2097086464,2061369344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1
$GPS,251112,172253,-4148.286,-627.112,40,1.3,40,-22.2