version: 66.07.10.p01
glider: 573
mission: 4
dive: 258
start: 11 27 112 20 46 37
data:
$ID,573
$MISSION,4
$DIVE,258
$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,-5129.625
$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,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,237
$GPS1,271112,203759,-4148.413,-622.981,40,1.0,40,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-70.8
$GPS2,271112,204542,-4148.372,-622.988,19,1.2,20,-22.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.239,-0.005
$KALMAN_X,-320407.4,347.3,-140.2,617913.8,-3513.1
$KALMAN_Y,-216160.5,-256.4,-547.4,312149.6,-149.3
$MHEAD_RNG_PITCHd_Wd,113.3,116229,-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,-37.08,0.000,2,0.000,0.000,84,1829,2432,0,0,0,0,0,0
$GC,66,-0.92,-121.6,3.1,-1.4,6,122,10.45,2.35,-36.80,0.000,4,0.226,0.068,2719,414,3358,0,0,0,0,0,0
$GC,230,-0.80,-121.6,16.5,-12.4,33,237,0.15,2.28,0.00,0.000,6,0.144,0.046,2756,1817,3359,0,0,0,0,0,0
$GC,310,-0.80,-121.6,24.8,-9.6,46,317,0.00,2.05,0.00,0.000,4,0.000,0.058,2747,3075,3360,0,0,0,0,0,0
$GC,389,-0.80,-121.6,33.2,-10.4,59,394,0.00,2.00,0.00,0.000,6,0.000,0.044,2747,1806,3360,0,0,0,0,0,0
$GC,624,-0.78,-121.6,57.3,-10.5,100,631,0.10,1.83,0.00,0.000,4,0.194,0.057,2764,2922,3360,0,0,0,0,0,0
$GC,695,-0.78,-121.6,64.2,-9.3,112,699,0.00,1.73,0.00,0.000,6,0.000,0.046,2763,1819,3360,0,0,0,0,0,0
$GC,1037,-0.78,-121.6,97.3,-9.7,173,1041,0.00,2.25,0.00,0.000,4,0.000,0.058,2754,3226,3361,0,0,0,0,0,0
$GC,1165,-0.78,-121.6,110.1,-10.0,184,1174,0.05,2.22,0.00,0.000,6,0.150,0.044,2771,1819,3361,0,0,0,0,0,0
$GC,1488,-0.81,-121.6,138.3,-8.6,205,1492,0.00,2.25,0.00,0.000,4,0.000,0.056,2772,412,3361,0,0,0,0,0,0
$GC,1540,-0.79,-121.6,143.5,-9.4,208,1544,0.00,2.22,0.00,0.000,6,0.000,0.043,2761,1833,3361,0,0,0,0,0,0
$GC,1867,-0.81,-121.6,172.3,-9.0,229,1871,0.00,2.30,0.00,0.000,4,0.000,0.055,2761,400,3361,0,0,0,0,0,0
$GC,1937,-0.77,-121.6,179.2,-9.6,233,1942,0.08,2.22,0.00,0.000,6,0.190,0.043,2768,1819,3361,0,0,0,0,0,0
$GC,2262,-0.81,-121.6,207.6,-8.6,254,2266,0.00,0.52,0.00,0.000,4,0.000,0.054,2766,2182,3362,0,0,0,0,0,0
$GC,2365,-0.84,-121.6,216.9,-9.3,260,2369,0.00,0.55,0.00,0.000,6,0.000,0.052,2766,1815,3362,0,0,0,0,0,0
$GC,2698,-0.87,-121.6,246.8,-9.2,281,2703,0.08,2.25,0.00,0.000,4,0.122,0.056,2721,414,3362,0,0,0,0,0,0
$GC,2759,-0.77,-121.6,254.1,-11.3,284,2767,0.17,2.22,0.00,0.000,6,0.139,0.042,2767,1822,3362,0,0,0,0,0,0
$GC,3076,-0.81,-121.6,283.7,-9.5,300,3079,0.00,2.03,0.00,0.000,4,0.000,0.054,2767,561,3362,0,0,0,0,0,0
$GC,3114,-0.81,-121.6,287.9,-10.6,301,3120,0.00,1.98,0.00,0.000,6,0.000,0.043,2758,1812,3362,0,0,0,0,0,0
$GC,3432,-0.83,-121.6,318.8,-10.3,317,3436,0.00,0.25,0.00,0.000,4,0.000,0.063,2757,2009,3362,0,0,0,0,0,0
$GC,3669,-0.86,-121.6,343.1,-10.2,327,3673,0.00,0.30,0.00,0.000,6,0.000,0.060,2757,1803,3362,0,0,0,0,0,0
$GC,3992,-0.89,-121.6,376.7,-10.6,343,3997,0.08,2.22,0.00,0.000,4,0.120,0.054,2716,412,3362,0,0,0,0,0,0
$GC,4085,-0.80,-121.6,388.0,-12.4,347,4090,0.20,2.20,0.00,0.000,6,0.158,0.042,2761,1825,3361,0,0,0,0,0,0
$GC,4422,-0.82,-121.6,421.8,-9.7,360,4426,0.00,2.12,0.00,0.000,4,0.000,0.057,2752,3177,3362,0,0,0,0,0,0
$GC,4505,-0.82,-121.6,430.5,-10.2,362,4510,0.00,2.12,0.00,0.000,6,0.000,0.044,2752,1827,3362,0,0,0,0,0,0
$GC,4824,-0.82,-121.6,460.9,-9.4,373,4828,0.00,2.28,0.00,0.000,4,0.000,0.055,2751,406,3362,0,0,0,0,0,0
$GC,4890,-0.78,-121.6,468.0,-10.8,375,4895,0.05,2.22,0.00,0.000,6,0.157,0.042,2775,1813,3362,0,0,0,0,0,0
$GC,5226,-0.84,-121.6,496.7,-8.5,386,5230,0.08,2.22,0.00,0.000,4,0.119,0.056,2719,3220,3361,0,0,0,0,0,0
$GC,5349,-0.81,-121.6,509.0,-10.0,389,5354,0.15,2.17,0.00,0.000,6,0.154,0.044,2762,1813,3361,0,0,0,0,0,0
$GC,5661,-0.85,-121.6,536.3,-8.6,400,5665,0.00,2.22,0.00,0.000,4,0.000,0.057,2762,427,3361,0,0,0,0,0,0
$GC,5705,-0.82,-121.6,540.5,-8.7,401,5710,0.00,2.20,0.00,0.000,6,0.000,0.043,2752,1819,3361,0,0,0,0,0,0
$GC,6035,-0.85,-121.6,567.7,-8.3,412,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1819,3360,0,0,0,0,0,0
$GC,6341,-0.85,-121.6,592.4,-8.0,422,6345,0.00,0.43,0.00,0.000,4,0.000,0.058,2752,1531,3360,0,0,0,0,0,0
$GC,6357,-0.85,-121.6,593.8,-7.9,422,6361,0.00,0.45,0.00,0.000,6,0.000,0.054,2750,1824,3360,0,0,0,0,0,0
$GC,6681,-0.88,-121.6,620.0,-8.3,433,6685,0.00,0.52,0.00,0.000,4,0.000,0.057,2750,1479,3359,0,0,0,0,0,0
$GC,6697,-0.90,-121.6,621.5,-8.4,433,6701,0.00,0.52,0.00,0.000,6,0.000,0.053,2748,1817,3359,0,0,0,0,0,0
$GC,7022,-0.92,-121.6,649.2,-8.8,444,7026,0.08,0.25,0.00,0.000,4,0.121,0.067,2703,2000,3358,0,0,0,0,0,0
$GC,7278,-0.88,-121.6,676.3,-11.3,451,7283,0.12,0.28,0.00,0.000,6,0.164,0.065,2737,1813,3358,0,0,0,0,0,0
$GC,7596,-0.88,-121.6,709.3,-10.4,462,7599,0.00,1.25,0.00,0.000,4,0.000,0.056,2732,2609,3357,0,0,0,0,0,0
$GC,7678,-0.88,-121.6,718.4,-11.1,464,7683,0.00,1.25,0.00,0.000,6,0.000,0.047,2732,1819,3357,0,0,0,0,0,0
$GC,8003,-0.88,-121.6,753.2,-10.9,475,8007,0.00,2.28,0.00,0.000,4,0.000,0.057,2732,407,3356,0,0,0,0,0,0
$GC,8113,-0.82,-121.6,766.5,-12.0,478,8118,0.10,2.22,0.00,0.000,6,0.147,0.044,2754,1810,3356,0,0,0,0,0,0
$GC,8438,-0.82,-121.6,799.0,-9.8,489,8442,0.00,2.25,0.00,0.000,4,0.000,0.057,2744,3225,3355,0,0,0,0,0,0
$GC,8600,-0.82,-121.6,814.7,-9.1,493,8605,0.00,2.20,0.00,0.000,6,0.000,0.047,2744,1818,3355,0,0,0,0,0,0
$GC,8912,-0.82,-121.6,843.1,-9.0,504,8916,0.00,2.25,0.00,0.000,4,0.000,0.059,2734,3221,3354,0,0,0,0,0,0
$GC,9076,-0.82,-121.6,857.7,-9.5,509,9081,0.08,2.20,0.00,0.000,6,0.193,0.046,2751,1812,3354,0,0,0,0,0,0
$GC,9411,-0.82,-121.6,886.1,-8.2,520,9415,0.00,2.28,0.00,0.000,4,0.000,0.060,2742,3225,3353,0,0,0,0,0,0
$GC,9589,-0.82,-121.6,902.2,-9.6,525,9593,0.00,2.22,0.00,0.000,6,0.000,0.046,2742,1819,3353,0,0,0,0,0,0
$GC,9919,-0.82,-121.6,931.5,-8.9,536,9923,0.00,2.25,0.00,0.000,4,0.000,0.060,2732,3220,3352,0,0,0,0,0,0
$GC,10081,-0.82,-121.6,947.3,-9.6,540,10087,0.10,2.20,0.00,0.000,6,0.170,0.047,2757,1819,3352,0,0,0,0,0,0
$GC,10394,-0.82,-121.6,975.7,-9.2,551,10398,0.00,2.25,0.00,0.000,4,0.000,0.060,2748,3221,3351,0,0,0,0,0,0
$STATE,10446,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10446,begin apogee
$GC,10453,-0.23,0.0,981.2,9.5,552,10557,0.60,0.00,100.85,1.273,6,0.125,0.000,2943,1648,2862,0,0,0,0,0,0
$STATE,10558,end apogee,CONTROL_FINISHED_OK
$STATE,10558,begin climb
$GC,10560,0.92,121.6,986.1,0.0,556,10673,1.10,2.47,104.40,1.239,4,0.080,0.054,3316,3048,2365,0,0,0,0,0,0
$GC,10863,0.87,178.8,974.0,6.9,565,10920,0.10,2.30,50.62,1.216,6,0.178,0.045,3303,1644,2132,0,0,0,0,0,0
$GC,11244,0.87,229.0,947.0,7.2,578,11293,0.00,0.82,44.40,1.213,4,0.000,0.052,3303,2141,1927,0,0,0,0,0,0
$GC,11360,0.92,260.8,937.5,8.3,581,11395,0.00,0.80,29.48,1.180,6,0.000,0.051,3306,1650,1798,0,0,0,0,0,0
$GC,11709,0.98,266.4,904.8,9.7,593,11719,0.10,0.32,5.32,0.903,4,0.101,0.048,3352,1863,1775,0,0,0,0,0,0
$GC,11780,0.98,266.4,896.5,11.8,595,11785,0.05,0.38,0.00,0.000,6,0.232,0.060,3343,1634,1775,0,0,0,0,0,0
$GC,12115,0.98,266.4,860.8,10.5,606,12119,0.00,0.32,0.00,0.000,4,0.000,0.059,3343,1854,1774,0,0,0,0,0,0
$GC,12164,0.98,269.8,855.8,9.8,607,12173,0.00,0.35,4.55,0.780,6,0.000,0.063,3343,1641,1762,0,0,0,0,0,0
$GC,12486,0.98,284.3,825.7,9.2,618,12503,0.00,0.00,14.85,1.100,6,0.000,0.000,3344,1641,1703,0,0,0,0,0,0
$GC,12793,0.98,301.5,797.4,9.1,628,12813,0.00,1.27,16.85,1.099,4,0.000,0.054,3344,2404,1632,0,0,0,0,0,0
$GC,12876,1.01,312.0,789.3,9.4,630,12890,0.00,1.23,10.80,1.022,6,0.000,0.051,3348,1653,1589,0,0,0,0,0,0
$GC,13221,1.04,314.4,755.7,9.9,642,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1653,1585,0,0,0,0,0,0
$GC,13526,1.07,314.4,724.0,10.6,652,13530,0.00,0.93,0.00,0.000,4,0.000,0.059,3353,1079,1584,0,0,0,0,0,0
$GC,13575,1.09,314.4,718.6,10.4,653,13580,0.03,0.93,0.00,0.000,6,0.105,0.047,3377,1650,1584,0,0,0,0,0,0
$GC,13900,1.09,314.4,680.7,11.8,664,13903,0.00,0.50,0.00,0.000,4,0.000,0.057,3376,1985,1584,0,0,0,0,0,0
$GC,13956,1.09,314.4,673.8,11.4,665,13961,0.00,0.55,2.78,0.415,6,0.000,0.058,3379,1634,1580,0,0,0,0,0,0
$GC,14268,1.09,314.4,635.4,12.2,675,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1634,1580,0,0,0,0,0,0
$GC,14574,1.09,314.4,597.8,12.3,685,14578,0.00,0.45,0.00,0.000,4,0.000,0.056,3379,1931,1580,0,0,0,0,0,0
$GC,14630,1.09,314.4,590.8,11.9,686,14633,0.00,0.45,0.00,0.000,6,0.000,0.058,3381,1642,1580,0,0,0,0,0,0
$GC,14947,1.09,314.4,549.9,13.1,697,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1642,1580,0,0,0,0,0,0
$GC,15254,1.09,314.4,509.5,13.2,707,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1642,1579,0,0,0,0,0,0
$GC,15560,1.09,314.4,470.2,13.1,717,15563,0.00,0.45,0.00,0.000,4,0.000,0.055,3381,1943,1579,0,0,0,0,0,0
$GC,15594,1.09,314.4,465.9,12.3,718,15597,0.00,0.45,0.00,0.000,6,0.000,0.059,3383,1648,1579,0,0,0,0,0,0
$GC,15934,1.09,314.4,422.7,12.4,729,15938,0.00,0.28,0.00,0.000,4,0.000,0.061,3383,1838,1579,0,0,0,0,0,0
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$STATE,19753,end climb,SURFACE_DEPTH_REACHED
$STATE,19753,begin surface coast
$FINISH,1.9,1.009196
$STATE,19784,end surface coast,CONTROL_FINISHED_OK
$STATE,19784,begin surface
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$HUMID,44.36
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$TCM_TEMP,16.10
$XPDR_PINGS,0
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$10V_AH,10.1,38.433
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354636
$DATA_FILE_SIZE,63641,1033
$CAP_FILE_SIZE,191094,0
$CFSIZE,2097086464,2060058624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281112,021852,-4148.703,-621.808,42,1.3,42,-22.2