version: 66.07.10.p01
glider: 573
mission: 4
dive: 251
start: 11 26 112 5 13 0
data:
$ID,573
$MISSION,4
$DIVE,251
$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,-5105.5977
$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,39
$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,230
$GPS1,261112,045953,-4147.122,-627.627,42,0.9,42,-22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-71.0
$GPS2,261112,051205,-4147.119,-627.565,71,1.3,71,-22.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-5000.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.181,0.157
$KALMAN_X,-312735.2,479.5,576.7,603135.8,-2281.9
$KALMAN_Y,-206053.2,218.0,330.7,303005.8,-3181.8
$MHEAD_RNG_PITCHd_Wd,333.3,3595584,-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,-121.6,0.0,0.0,0,76,0.00,0.00,-48.72,0.000,2,0.000,0.000,81,1806,2561,0,0,0,0,0,0
$GC,78,-0.92,-121.6,3.0,-1.7,8,122,10.80,1.05,-27.08,0.000,4,0.237,0.081,2713,2477,3358,0,0,0,0,0,0
$GC,161,-0.83,-121.6,10.2,-14.3,21,168,0.10,1.05,0.00,0.000,6,0.147,0.047,2746,1816,3360,0,0,0,0,0,0
$GC,241,-0.79,-121.6,21.8,-13.6,34,249,0.08,0.93,0.00,0.000,4,0.206,0.056,2761,2394,3360,0,0,0,0,0,0
$GC,322,-0.79,-121.6,30.1,-9.4,47,327,0.00,0.90,0.00,0.000,6,0.000,0.047,2761,1815,3360,0,0,0,0,0,0
$GC,555,-0.77,-121.6,55.2,-10.1,88,562,0.00,0.95,0.00,0.000,4,0.000,0.054,2757,2418,3360,0,0,0,0,0,0
$GC,631,-0.74,-121.6,63.1,-10.6,101,636,0.05,0.93,0.00,0.000,6,0.161,0.048,2774,1824,3360,0,0,0,0,0,0
$GC,972,-0.78,-121.6,93.0,-8.0,162,979,0.00,2.25,0.00,0.000,4,0.000,0.058,2764,3217,3360,0,0,0,0,0,0
$GC,1060,-0.78,-121.6,100.8,-9.2,177,1064,0.00,2.20,0.00,0.000,6,0.000,0.044,2765,1807,3360,0,0,0,0,0,0
$GC,1384,-0.81,-121.6,132.1,-9.6,198,1388,0.00,1.12,0.00,0.000,4,0.000,0.053,2760,2525,3361,0,0,0,0,0,0
$GC,1474,-0.83,-121.6,140.8,-9.6,203,1478,0.00,1.10,0.00,0.000,6,0.000,0.047,2760,1821,3361,0,0,0,0,0,0
$GC,1798,-0.83,-121.6,172.5,-10.3,224,1802,0.00,0.47,0.00,0.000,4,0.000,0.053,2758,2149,3361,0,0,0,0,0,0
$GC,1876,-0.83,-121.6,180.7,-10.0,228,1883,0.00,0.52,0.00,0.000,6,0.000,0.052,2758,1803,3361,0,0,0,0,0,0
$GC,2196,-0.83,-121.6,213.7,-10.4,249,2200,0.00,2.20,0.00,0.000,4,0.000,0.054,2758,414,3361,0,0,0,0,0,0
$GC,2314,-0.79,-121.6,227.2,-10.8,256,2318,0.08,2.17,0.00,0.000,6,0.204,0.041,2764,1826,3361,0,0,0,0,0,0
$GC,2644,-0.82,-121.6,258.8,-9.5,276,2648,0.00,2.20,0.00,0.000,4,0.000,0.055,2755,3229,3361,0,0,0,0,0,0
$GC,2762,-0.82,-121.6,270.2,-9.3,281,2766,0.00,2.20,0.00,0.000,6,0.000,0.042,2755,1824,3361,0,0,0,0,0,0
$GC,3086,-0.82,-121.6,299.9,-9.5,297,3090,0.00,1.40,0.00,0.000,4,0.000,0.053,2748,2711,3361,0,0,0,0,0,0
$GC,3135,-0.82,-121.6,305.2,-10.2,299,3140,0.00,1.42,0.00,0.000,6,0.000,0.044,2748,1799,3361,0,0,0,0,0,0
$GC,3465,-0.82,-121.6,336.8,-9.8,315,3469,0.00,2.22,0.00,0.000,4,0.000,0.056,2738,3218,3361,0,0,0,0,0,0
$GC,3582,-0.82,-121.6,348.5,-9.9,320,3587,0.05,2.20,0.00,0.000,6,0.148,0.044,2756,1818,3361,0,0,0,0,0,0
$GC,3910,-0.84,-121.6,378.0,-8.9,336,3914,0.00,2.20,0.00,0.000,4,0.000,0.057,2746,3218,3361,0,0,0,0,0,0
$GC,3989,-0.84,-121.6,385.6,-9.2,339,3994,0.00,2.20,0.00,0.000,6,0.000,0.043,2746,1810,3361,0,0,0,0,0,0
$GC,4314,-0.84,-121.6,416.5,-9.7,353,4318,0.00,2.25,0.00,0.000,4,0.000,0.056,2736,3227,3361,0,0,0,0,0,0
$GC,4436,-0.84,-121.6,429.1,-9.3,356,4442,0.00,2.20,0.00,0.000,6,0.000,0.042,2736,1820,3361,0,0,0,0,0,0
$GC,4749,-0.84,-121.6,460.7,-10.1,367,4753,0.00,2.10,0.00,0.000,4,0.000,0.055,2726,3147,3361,0,0,0,0,0,0
$GC,4826,-0.81,-121.6,469.1,-10.8,369,4831,0.08,2.08,0.00,0.000,6,0.142,0.044,2753,1826,3360,0,0,0,0,0,0
$GC,5156,-0.84,-121.6,502.8,-10.4,380,5159,0.00,2.20,0.00,0.000,4,0.000,0.057,2743,3216,3360,0,0,0,0,0,0
$GC,5255,-0.84,-121.6,514.0,-10.9,383,5260,0.00,2.20,0.00,0.000,6,0.000,0.043,2743,1812,3360,0,0,0,0,0,0
$GC,5591,-0.84,-121.6,550.1,-10.6,394,5595,0.00,2.25,0.00,0.000,4,0.000,0.056,2743,406,3360,0,0,0,0,0,0
$GC,5713,-0.79,-121.6,564.2,-10.9,397,5718,0.08,2.22,0.00,0.000,6,0.146,0.041,2759,1822,3359,0,0,0,0,0,0
$GC,6032,-0.82,-121.6,593.7,-9.2,408,6036,0.00,2.28,0.00,0.000,4,0.000,0.055,2759,403,3359,0,0,0,0,0,0
$GC,6131,-0.79,-121.6,603.8,-9.3,411,6136,0.05,2.20,0.00,0.000,6,0.230,0.042,2760,1827,3359,0,0,0,0,0,0
$GC,6466,-0.84,-121.6,632.8,-8.7,422,6471,0.00,2.28,0.00,0.000,4,0.000,0.055,2760,414,3359,0,0,0,0,0,0
$GC,6572,-0.82,-121.6,643.0,-9.0,425,6576,0.00,2.17,0.00,0.000,6,0.000,0.042,2751,1819,3358,0,0,0,0,0,0
$GC,6902,-0.84,-121.6,672.1,-8.7,436,6906,0.00,2.22,0.00,0.000,4,0.000,0.055,2751,416,3357,0,0,0,0,0,0
$GC,6985,-0.81,-121.6,681.0,-11.0,438,6990,0.03,2.22,0.00,0.000,6,0.190,0.042,2750,1822,3357,0,0,0,0,0,0
$GC,7304,-0.84,-121.6,712.8,-10.5,449,7308,0.00,2.25,0.00,0.000,4,0.000,0.056,2750,407,3357,0,0,0,0,0,0
$GC,7420,-0.82,-121.6,726.6,-12.0,452,7425,0.03,2.22,0.00,0.000,6,0.185,0.042,2750,1813,3357,0,0,0,0,0,0
$GC,7738,-0.85,-121.6,760.5,-10.5,463,7742,0.00,2.25,0.00,0.000,4,0.000,0.056,2750,412,3355,0,0,0,0,0,0
$GC,7850,-0.82,-121.6,773.5,-12.3,466,7855,0.05,2.22,0.00,0.000,6,0.230,0.042,2752,1834,3355,0,0,0,0,0,0
$GC,8180,-0.85,-121.6,807.4,-10.3,477,8184,0.00,2.30,0.00,0.000,4,0.000,0.056,2752,405,3355,0,0,0,0,0,0
$GC,8257,-0.82,-121.6,816.4,-11.6,479,8261,0.00,2.25,0.00,0.000,6,0.000,0.043,2742,1823,3354,0,0,0,0,0,0
$GC,8581,-0.85,-121.6,851.3,-10.6,490,8585,0.00,2.22,0.00,0.000,4,0.000,0.058,2731,3226,3354,0,0,0,0,0,0
$GC,8765,-0.85,-121.6,872.0,-11.8,495,8770,0.03,2.22,0.00,0.000,6,0.180,0.044,2742,1816,3353,0,0,0,0,0,0
$GC,9083,-0.85,-121.6,904.2,-10.0,506,9087,0.00,2.22,0.00,0.000,4,0.000,0.059,2732,3221,3353,0,0,0,0,0,0
$GC,9189,-0.85,-121.6,915.1,-9.8,509,9194,0.03,2.22,0.00,0.000,6,0.181,0.045,2742,1816,3353,0,0,0,0,0,0
$GC,9518,-0.85,-121.6,947.0,-9.5,520,9522,0.00,2.25,0.00,0.000,4,0.000,0.060,2732,3227,3352,0,0,0,0,0,0
$GC,9648,-0.85,-121.6,959.0,-9.0,524,9653,0.05,2.20,0.00,0.000,6,0.217,0.046,2744,1819,3352,0,0,0,0,0,0
$GC,9982,-0.85,-121.6,986.6,-8.2,535,9986,0.00,2.25,0.00,0.000,4,0.000,0.060,2734,3221,3351,0,0,0,0,0,0
$GC,10105,-0.85,-121.6,997.3,-8.6,538,10110,0.00,2.22,0.00,0.000,6,0.000,0.046,2734,1812,3351,0,0,0,0,0,0
$STATE,10140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10140,begin apogee
$GC,10145,-0.23,0.0,1000.3,8.5,540,10249,0.68,0.00,100.85,1.282,6,0.129,0.000,2946,1647,2862,0,0,0,0,0,0
$STATE,10250,end apogee,CONTROL_FINISHED_OK
$STATE,10250,begin climb
$GC,10251,0.92,121.6,1003.6,0.0,543,10364,1.08,2.50,104.03,1.245,4,0.082,0.057,3323,241,2368,0,0,0,0,0,0
$GC,10516,0.87,156.0,990.6,8.1,551,10553,0.08,2.33,31.08,1.201,6,0.187,0.041,3307,1649,2225,0,0,0,0,0,0
$GC,10871,0.87,197.0,963.1,7.7,563,10912,0.00,1.15,36.55,1.211,4,0.000,0.050,3307,2338,2058,0,0,0,0,0,0
$GC,11001,0.87,220.2,951.7,8.7,567,11028,0.00,1.15,21.60,1.172,6,0.000,0.050,3310,1647,1964,0,0,0,0,0,0
$GC,11335,0.90,232.6,921.1,9.3,578,11349,0.00,0.00,11.98,1.114,6,0.000,0.000,3310,1647,1913,0,0,0,0,0,0
$GC,11641,0.94,241.9,891.9,9.5,588,11655,0.00,0.50,9.65,1.047,4,0.000,0.062,3313,1327,1875,0,0,0,0,0,0
$GC,11734,0.99,246.0,882.8,9.8,590,11744,0.05,0.50,4.85,0.811,6,0.070,0.053,3348,1650,1859,0,0,0,0,0,0
$GC,12080,0.99,246.0,844.8,11.0,602,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1650,1858,0,0,0,0,0,0
$GC,12385,0.99,247.0,813.2,10.0,612,12389,0.00,0.47,0.00,0.000,4,0.000,0.061,3350,1344,1857,0,0,0,0,0,0
$GC,12542,0.99,253.8,797.8,9.6,616,12553,0.00,0.45,8.43,0.995,6,0.000,0.053,3350,1639,1827,0,0,0,0,0,0
$GC,12888,0.99,253.8,762.8,10.1,628,12892,0.00,0.95,0.00,0.000,4,0.000,0.057,3355,1050,1826,0,0,0,0,0,0
$GC,12956,0.99,253.8,755.7,11.3,630,12960,0.03,0.95,0.00,0.000,6,0.183,0.046,3346,1652,1826,0,0,0,0,0,0
$GC,13296,0.99,253.8,720.6,10.2,641,13299,0.00,0.70,0.00,0.000,4,0.000,0.057,3349,1211,1825,0,0,0,0,0,0
$GC,13373,0.99,253.8,712.3,10.9,643,13377,0.00,0.70,0.00,0.000,6,0.000,0.048,3349,1651,1825,0,0,0,0,0,0
$GC,13702,0.99,253.8,679.1,10.2,654,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1651,1825,0,0,0,0,0,0
$GC,14009,0.99,266.2,649.3,9.3,664,14024,0.00,0.65,12.38,0.998,4,0.000,0.058,3351,1259,1776,0,0,0,0,0,0
$GC,14085,0.99,266.2,641.7,10.3,666,14089,0.00,0.62,0.00,0.000,6,0.000,0.049,3352,1652,1775,0,0,0,0,0,0
$GC,14409,0.99,268.9,609.9,9.9,677,14419,0.00,1.08,3.80,0.621,4,0.000,0.057,3356,1007,1765,0,0,0,0,0,0
$GC,14520,0.99,270.3,598.3,9.9,680,14525,0.03,1.00,0.00,0.000,6,0.186,0.045,3346,1640,1765,0,0,0,0,0,0
$GC,14849,0.99,270.3,564.8,10.0,691,14852,0.00,0.65,0.00,0.000,4,0.000,0.059,3349,1227,1764,0,0,0,0,0,0
$GC,14920,0.99,270.3,557.5,10.1,693,14925,0.00,0.68,0.00,0.000,6,0.000,0.048,3349,1655,1764,0,0,0,0,0,0
$GC,15256,0.99,281.6,525.1,9.4,704,15275,0.00,1.67,13.00,0.934,4,0.000,0.058,3357,657,1712,0,0,0,0,0,0
$GC,15342,0.99,283.3,516.5,9.9,706,15347,0.03,1.58,0.00,0.000,6,0.186,0.043,3347,1643,1711,0,0,0,0,0,0
$GC,15660,1.01,301.0,487.6,9.0,717,15681,0.00,0.00,18.52,0.937,6,0.000,0.000,3347,1643,1633,0,0,0,0,0,0
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$STATE,19947,end climb,SURFACE_DEPTH_REACHED
$STATE,19947,begin surface coast
$FINISH,1.8,1.013908
$STATE,19972,end surface coast,CONTROL_FINISHED_OK
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$HUMID,44.05
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$TCM_TEMP,15.70
$XPDR_PINGS,0
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$10V_AH,10.1,37.576
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.350,145.650,425.425,0.000,0.000,51.505,78.706,341.701,0.000,0.000,74.441,2701.896,13644.049,516.143,3715.271,197.303,33.380,1892.734,0.000,3116.461,0.000,1.007,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,63567,1034
$CAP_FILE_SIZE,197519,0
$CFSIZE,2097086464,2060943360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261112,104823,-4146.176,-628.366,42,0.9,42,-22.2