version: 66.07.10.p01
glider: 573
mission: 4
dive: 302
start: 12 7 112 10 16 21
data:
$ID,573
$MISSION,4
$DIVE,302
$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,300
$T_MISSION,325
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-5278.5796
$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,3052
$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,2000
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,33
$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,281
$GPS1,071212,100853,-4139.149,-542.386,61,1.4,61,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.4
$GPS2,071212,101601,-4139.127,-542.469,15,1.3,15,-22.3
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4139.127,-528.016
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.247,0.010
$KALMAN_X,-377392.6,44.8,179.0,704612.1,-3258.3
$KALMAN_Y,-227005.3,-227.1,759.8,319635.8,-463.6
$MHEAD_RNG_PITCHd_Wd,112.3,20000,-21.8,-11.111
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.00,-121.6,0.0,0.0,0,71,0.00,0.00,-43.22,0.000,2,0.000,0.000,81,2005,2388,0,0,0,0,0,0
$GC,74,-1.00,-121.6,3.0,-1.4,7,130,11.02,2.30,-39.15,0.000,4,0.242,0.076,2711,3408,3358,0,0,0,0,0,0
$GC,239,-0.95,-121.6,14.6,-9.9,34,247,0.10,2.28,0.00,0.000,6,0.151,0.050,2743,2002,3360,0,0,0,0,0,0
$GC,319,-0.97,-121.6,23.3,-9.7,47,326,0.00,0.45,0.00,0.000,4,0.000,0.061,2743,1697,3360,0,0,0,0,0,0
$GC,353,-1.00,-121.6,26.4,-8.8,52,360,0.00,0.47,0.00,0.000,6,0.000,0.059,2742,2001,3360,0,0,0,0,0,0
$GC,433,-1.02,-121.6,33.6,-9.3,65,438,0.00,0.57,0.00,0.000,4,0.000,0.060,2739,2372,3360,0,0,0,0,0,0
$GC,470,-1.02,-121.6,36.9,-9.3,71,474,0.00,0.60,0.00,0.000,6,0.000,0.054,2739,1989,3361,0,0,0,0,0,0
$GC,704,-1.04,-121.6,58.9,-9.6,112,712,0.08,2.30,0.00,0.000,4,0.124,0.057,2700,596,3361,0,0,0,0,0,0
$GC,793,-0.97,-121.6,68.6,-11.4,127,799,0.17,2.25,0.00,0.000,6,0.173,0.047,2737,2009,3361,0,0,0,0,0,0
$GC,1146,-1.00,-121.6,102.9,-9.4,186,1150,0.00,2.25,0.00,0.000,4,0.000,0.060,2727,3407,3362,0,0,0,0,0,0
$GC,1235,-1.00,-121.6,112.1,-9.7,191,1241,0.00,2.22,0.00,0.000,6,0.000,0.048,2727,2007,3362,0,0,0,0,0,0
$GC,1555,-1.00,-121.6,143.3,-9.9,212,1558,0.00,1.17,0.00,0.000,4,0.000,0.056,2727,1260,3362,0,0,0,0,0,0
$GC,1616,-1.00,-121.6,149.6,-10.2,215,1622,0.00,1.17,0.00,0.000,6,0.000,0.049,2722,2005,3362,0,0,0,0,0,0
$GC,1936,-1.00,-121.6,181.4,-10.1,236,1940,0.00,2.25,0.00,0.000,4,0.000,0.060,2711,3409,3362,0,0,0,0,0,0
$GC,2008,-1.00,-121.6,189.3,-10.6,240,2016,0.03,2.22,0.00,0.000,6,0.182,0.046,2721,2001,3362,0,0,0,0,0,0
$GC,2330,-1.00,-121.6,221.9,-10.5,261,2334,0.00,0.57,0.00,0.000,4,0.000,0.058,2719,2373,3362,0,0,0,0,0,0
$GC,2351,-1.00,-121.6,224.5,-10.0,262,2356,0.00,0.60,0.00,0.000,6,0.000,0.052,2719,1991,3362,0,0,0,0,0,0
$GC,2676,-1.00,-121.6,256.9,-9.8,282,2680,0.00,2.28,0.00,0.000,4,0.000,0.060,2708,3406,3363,0,0,0,0,0,0
$GC,2731,-1.00,-121.6,262.7,-10.4,284,2739,0.05,2.22,0.00,0.000,6,0.158,0.046,2726,2004,3363,0,0,0,0,0,0
$GC,3048,-1.02,-121.6,293.0,-9.6,300,3052,0.00,1.42,0.00,0.000,4,0.000,0.058,2719,2894,3363,0,0,0,0,0,0
$GC,3081,-1.02,-121.6,296.5,-9.3,301,3086,0.00,1.42,0.00,0.000,6,0.000,0.047,2719,1990,3363,0,0,0,0,0,0
$GC,3405,-1.02,-121.6,328.0,-9.8,317,3409,0.00,0.60,0.00,0.000,4,0.000,0.055,2719,1590,3363,0,0,0,0,0,0
$GC,3483,-1.04,-121.6,336.5,-10.2,320,3487,0.00,0.62,0.00,0.000,6,0.000,0.054,2717,1996,3362,0,0,0,0,0,0
$GC,3805,-1.07,-121.6,369.6,-10.2,336,3808,0.00,0.62,0.00,0.000,4,0.000,0.055,2717,1589,3363,0,0,0,0,0,0
$GC,3875,-1.07,-121.6,376.5,-10.2,339,3879,0.00,0.62,0.00,0.000,6,0.000,0.054,2714,1998,3363,0,0,0,0,0,0
$GC,4217,-1.07,-121.6,408.5,-8.9,354,4221,0.00,2.28,0.00,0.000,4,0.000,0.057,2714,588,3363,0,0,0,0,0,0
$GC,4308,-1.03,-121.6,417.3,-9.0,356,4313,0.05,2.22,0.00,0.000,6,0.238,0.045,2714,2001,3363,0,0,0,0,0,0
$GC,4620,-1.03,-121.6,444.5,-8.8,367,4624,0.00,2.25,0.00,0.000,4,0.000,0.058,2704,3415,3363,0,0,0,0,0,0
$GC,4716,-1.03,-121.6,453.4,-9.4,370,4721,0.05,2.22,0.00,0.000,6,0.211,0.046,2716,1992,3362,0,0,0,0,0,0
$GC,5051,-1.03,-121.6,484.4,-9.4,381,5055,0.00,1.88,0.00,0.000,4,0.000,0.055,2716,833,3362,0,0,0,0,0,0
$GC,5111,-1.03,-121.6,490.7,-10.6,382,5117,0.00,1.88,0.00,0.000,6,0.000,0.046,2708,2006,3362,0,0,0,0,0,0
$GC,5425,-1.03,-121.6,521.9,-10.1,393,5428,0.00,1.90,0.00,0.000,4,0.000,0.059,2698,3213,3362,0,0,0,0,0,0
$GC,5463,-1.03,-121.6,526.0,-9.6,394,5468,0.05,1.92,0.00,0.000,6,0.156,0.046,2716,1999,3362,0,0,0,0,0,0
$GC,5798,-1.03,-121.6,558.5,-9.8,405,5802,0.00,1.42,0.00,0.000,4,0.000,0.056,2716,1108,3361,0,0,0,0,0,0
$GC,5853,-1.03,-121.6,564.2,-10.1,406,5858,0.00,1.42,0.00,0.000,6,0.000,0.047,2710,2013,3361,0,0,0,0,0,0
$GC,6172,-1.03,-121.6,595.4,-9.8,417,6176,0.00,2.28,0.00,0.000,4,0.000,0.057,2710,594,3361,0,0,0,0,0,0
$GC,6193,-1.03,-121.6,597.8,-10.2,417,6199,0.05,2.22,0.00,0.000,6,0.168,0.045,2716,1992,3361,0,0,0,0,0,0
$GC,6506,-1.03,-121.6,628.3,-9.9,428,6509,0.00,0.50,0.00,0.000,4,0.000,0.057,2716,1662,3360,0,0,0,0,0,0
$GC,6590,-1.06,-121.6,636.7,-9.8,430,6593,0.00,0.52,0.00,0.000,6,0.000,0.057,2714,2002,3360,0,0,0,0,0,0
$GC,6913,-1.06,-121.6,667.8,-9.7,441,6917,0.00,2.25,0.00,0.000,4,0.000,0.061,2703,3409,3359,0,0,0,0,0,0
$GC,6991,-1.06,-121.6,675.8,-9.8,443,6995,0.00,2.25,0.00,0.000,6,0.000,0.047,2704,1997,3360,0,0,0,0,0,0
$GC,7315,-1.06,-121.6,707.4,-9.8,454,7319,0.00,1.12,0.00,0.000,4,0.000,0.059,2699,2695,3358,0,0,0,0,0,0
$GC,7349,-1.06,-121.6,710.8,-10.0,455,7353,0.00,1.10,0.00,0.000,6,0.000,0.050,2700,2001,3359,0,0,0,0,0,0
$GC,7690,-1.06,-121.6,744.5,-10.1,466,7694,0.00,1.25,0.00,0.000,4,0.000,0.060,2695,2769,3358,0,0,0,0,0,0
$GC,7734,-1.06,-121.6,749.1,-9.4,467,7738,0.00,1.23,0.00,0.000,6,0.000,0.049,2695,1999,3358,0,0,0,0,0,0
$GC,8064,-1.06,-121.6,784.2,-10.9,478,8068,0.00,2.28,0.00,0.000,4,0.000,0.063,2685,3402,3357,0,0,0,0,0,0
$GC,8147,-1.06,-121.6,793.6,-10.9,480,8152,0.05,2.25,0.00,0.000,6,0.164,0.047,2702,1992,3357,0,0,0,0,0,0
$GC,8466,-1.06,-121.6,826.7,-10.3,491,8470,0.00,2.30,0.00,0.000,4,0.000,0.063,2692,3407,3356,0,0,0,0,0,0
$GC,8562,-1.06,-121.6,837.2,-11.1,494,8566,0.08,2.22,0.00,0.000,6,0.190,0.049,2708,2001,3356,0,0,0,0,0,0
$GC,8897,-1.09,-121.6,869.9,-9.5,505,8902,0.00,2.30,0.00,0.000,4,0.000,0.063,2698,3412,3356,0,0,0,0,0,0
$GC,8997,-1.09,-121.6,880.2,-10.4,508,9002,0.00,2.25,0.00,0.000,6,0.000,0.048,2699,2003,3355,0,0,0,0,0,0
$GC,9333,-1.09,-121.6,913.0,-9.9,519,9337,0.00,2.30,0.00,0.000,4,0.000,0.059,2699,585,3355,0,0,0,0,0,0
$GC,9410,-1.05,-121.6,921.7,-11.1,521,9415,0.10,2.25,0.00,0.000,6,0.198,0.047,2712,2000,3355,0,0,0,0,0,0
$GC,9734,-1.08,-121.6,954.1,-10.2,532,9738,0.00,1.73,0.00,0.000,4,0.000,0.057,2713,949,3354,0,0,0,0,0,0
$STATE,9753,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9753,begin apogee
$GC,9758,-0.23,0.0,956.6,10.9,532,9864,0.85,0.00,102.32,1.246,6,0.135,0.000,2972,1641,2862,0,0,0,0,0,0
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9867,1.00,121.6,962.5,0.0,536,9982,1.15,2.20,105.22,1.210,4,0.073,0.059,3378,448,2365,0,0,0,0,0,0
$GC,10077,0.91,203.0,958.4,6.1,542,10159,0.12,2.00,73.62,1.189,6,0.177,0.044,3349,1632,2034,0,0,0,0,0,0
$GC,10488,0.91,243.5,924.8,8.6,556,10532,0.00,2.42,36.42,1.174,4,0.000,0.056,3349,3041,1867,0,0,0,0,0,0
$GC,10655,0.91,252.3,908.3,10.6,561,10671,0.03,2.33,8.75,1.024,6,0.187,0.048,3350,1632,1833,0,0,0,0,0,0
$GC,10991,0.98,272.3,875.4,9.9,572,11015,0.00,2.35,19.33,1.121,4,0.000,0.059,3350,3025,1751,0,0,0,0,0,0
$GC,11083,1.01,276.6,865.4,10.8,574,11093,0.00,2.28,5.07,0.858,6,0.000,0.050,3360,1631,1734,0,0,0,0,0,0
$GC,11424,1.08,279.0,828.2,11.0,586,11429,0.10,2.30,0.00,0.000,4,0.104,0.060,3407,3040,1731,0,0,0,0,0,0
$GC,11490,1.03,279.0,819.5,13.0,588,11495,0.12,2.30,0.00,0.000,6,0.191,0.049,3387,1628,1730,0,0,0,0,0,0
$GC,11825,1.03,279.0,779.0,12.1,599,11829,0.00,2.25,0.00,0.000,4,0.000,0.060,3387,3010,1730,0,0,0,0,0,0
$GC,11891,1.00,279.0,770.3,12.7,601,11896,0.08,2.22,0.00,0.000,6,0.212,0.050,3380,1632,1729,0,0,0,0,0,0
$GC,12226,1.02,279.0,729.5,12.0,612,12230,0.00,2.25,0.00,0.000,4,0.000,0.060,3381,3034,1729,0,0,0,0,0,0
$GC,12288,1.02,279.0,721.8,12.0,614,12292,0.00,2.25,0.00,0.000,6,0.000,0.052,3390,1632,1729,0,0,0,0,0,0
$GC,12623,1.02,279.0,682.6,11.4,625,12626,0.00,1.35,0.00,0.000,4,0.000,0.057,3390,2461,1729,0,0,0,0,0,0
$GC,12683,1.02,279.0,675.4,11.5,626,12689,0.03,1.35,0.00,0.000,6,0.210,0.054,3388,1627,1729,0,0,0,0,0,0
$GC,12996,1.03,295.6,642.3,10.1,637,13021,0.00,2.35,17.80,1.023,4,0.000,0.061,3388,3036,1656,0,0,0,0,0,0
$GC,13100,1.03,306.3,631.2,10.5,640,13117,0.05,2.28,10.82,0.946,6,0.243,0.052,3388,1629,1613,0,0,0,0,0,0
$GC,13431,1.07,321.5,597.7,10.2,651,13451,0.00,2.33,15.20,0.973,4,0.000,0.060,3387,3037,1550,0,0,0,0,0,0
$GC,13535,1.07,321.5,586.0,11.3,654,13539,0.00,2.28,0.00,0.000,6,0.000,0.052,3398,1631,1547,0,0,0,0,0,0
$GC,13864,1.13,321.5,549.9,11.2,665,13869,0.00,2.30,0.00,0.000,4,0.000,0.062,3397,3031,1545,0,0,0,0,0,0
$GC,13919,1.13,321.5,543.1,12.3,666,13925,0.00,2.28,0.00,0.000,6,0.000,0.051,3408,1631,1545,0,0,0,0,0,0
$GC,14233,1.17,321.5,505.8,11.9,677,14237,0.05,1.98,0.00,0.000,4,0.164,0.059,3437,2841,1545,0,0,0,0,0,0
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$STATE,18514,end climb,SURFACE_DEPTH_REACHED
$STATE,18514,begin surface coast
$FINISH,1.9,1.026080
$STATE,18539,end surface coast,CONTROL_FINISHED_OK
$STATE,18540,begin surface
$SM_CCo,18616,0.00,0.000,0,0,1301,382.66
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$TT8_MAMPS,0.026964
$HUMID,45.62
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.9,48.011
$10V_AH,10.0,43.478
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.000,176.300,450.000,0.000,0.000,25.992,41.637,235.834,0.000,0.000,17.535,2568.099,12456.587,534.772,3271.429,206.547,0.000,1856.504,0.000,2922.670,0.000,1.008,0.000
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$SENSOR_SECS,649.180,1142.889,645.827,84.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,60295,991
$CAP_FILE_SIZE,193402,0
$CFSIZE,2097086464,2054291456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071212,152830,-4138.648,-542.840,80,0.8,80,-22.3