version: 66.07.10.p01
glider: 573
mission: 4
dive: 305
start: 12 8 112 1 58 26
data:
$ID,573
$MISSION,4
$DIVE,305
$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,-5288.9702
$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,29
$R_STBD_OVSHOOT,30
$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,284
$GPS1,081212,014759,-4138.260,-542.695,40,1.2,40,-22.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-74.8
$GPS2,081212,015805,-4138.269,-542.713,38,1.0,38,-22.3
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4138.269,-528.263
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.00,-121.6,0.0,0.0,0,76,0.00,0.00,-48.85,0.000,2,0.000,0.000,81,2001,2414,0,0,0,0,0,0
$GC,79,-1.00,-121.6,3.2,-1.6,8,134,11.12,2.38,-36.42,0.000,4,0.243,0.072,2729,592,3359,0,0,0,0,0,0
$GC,243,-0.96,-121.6,16.2,-11.2,35,251,0.05,2.30,0.00,0.000,6,0.174,0.047,2736,2004,3361,0,0,0,0,0,0
$GC,324,-0.96,-121.6,24.6,-10.9,48,331,0.00,1.48,0.00,0.000,4,0.000,0.060,2730,2907,3361,0,0,0,0,0,0
$GC,369,-0.96,-121.6,29.1,-10.7,55,376,0.00,1.48,0.00,0.000,6,0.000,0.050,2730,1996,3361,0,0,0,0,0,0
$GC,446,-0.96,-121.6,36.9,-9.9,68,453,0.00,2.30,0.00,0.000,4,0.000,0.059,2730,604,3361,0,0,0,0,0,0
$GC,513,-0.92,-121.6,43.6,-10.4,79,519,0.12,2.25,0.00,0.000,6,0.179,0.047,2751,2010,3361,0,0,0,0,0,0
$GC,747,-0.96,-121.6,65.9,-8.9,120,753,0.00,2.28,0.00,0.000,4,0.000,0.062,2741,3398,3362,0,0,0,0,0,0
$GC,827,-0.99,-121.6,73.4,-9.3,134,832,0.00,2.22,0.00,0.000,6,0.000,0.048,2741,1993,3362,0,0,0,0,0,0
$GC,1168,-1.03,-121.6,104.4,-8.7,189,1173,0.08,2.28,0.00,0.000,4,0.125,0.057,2704,595,3362,0,0,0,0,0,0
$GC,1263,-0.97,-121.6,114.9,-10.6,194,1271,0.12,2.25,0.00,0.000,6,0.155,0.045,2732,1998,3362,0,0,0,0,0,0
$GC,1585,-0.99,-121.6,143.4,-9.0,215,1589,0.00,0.62,0.00,0.000,4,0.000,0.058,2730,2413,3363,0,0,0,0,0,0
$GC,1607,-0.99,-121.6,145.9,-9.4,216,1611,0.00,0.68,0.00,0.000,6,0.000,0.051,2731,1987,3363,0,0,0,0,0,0
$GC,1935,-1.01,-121.6,176.2,-9.5,237,1939,0.00,1.88,0.00,0.000,4,0.000,0.060,2722,3139,3363,0,0,0,0,0,0
$GC,1973,-1.01,-121.6,180.5,-9.7,239,1977,0.00,1.80,0.00,0.000,6,0.000,0.047,2722,2005,3363,0,0,0,0,0,0
$GC,2298,-1.01,-121.6,213.6,-10.5,260,2302,0.00,0.60,0.00,0.000,4,0.000,0.059,2719,2389,3363,0,0,0,0,0,0
$GC,2318,-1.01,-121.6,215.6,-10.5,261,2321,0.00,0.60,0.00,0.000,6,0.000,0.053,2719,1999,3363,0,0,0,0,0,0
$GC,2648,-1.01,-121.6,251.3,-10.8,282,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1998,3363,0,0,0,0,0,0
$GC,2959,-1.01,-121.6,283.5,-10.1,297,2963,0.00,1.02,0.00,0.000,4,0.000,0.058,2715,2634,3363,0,0,0,0,0,0
$GC,2982,-1.01,-121.6,286.1,-10.4,298,2986,0.00,1.00,0.00,0.000,6,0.000,0.049,2715,2000,3363,0,0,0,0,0,0
$GC,3315,-1.01,-121.6,316.7,-8.6,314,3318,0.00,0.75,0.00,0.000,4,0.000,0.055,2716,1508,3363,0,0,0,0,0,0
$GC,3410,-1.01,-121.6,325.1,-8.4,318,3414,0.00,0.77,0.00,0.000,6,0.000,0.050,2712,2004,3363,0,0,0,0,0,0
$GC,3737,-1.01,-121.6,350.9,-7.9,334,3741,0.00,1.85,0.00,0.000,4,0.000,0.059,2704,3167,3363,0,0,0,0,0,0
$GC,3783,-1.01,-121.6,354.9,-8.9,336,3787,0.08,1.83,0.00,0.000,6,0.187,0.047,2721,1999,3363,0,0,0,0,0,0
$GC,4117,-1.03,-121.6,384.1,-9.2,352,4121,0.00,2.22,0.00,0.000,4,0.000,0.057,2722,594,3363,0,0,0,0,0,0
$GC,4202,-1.03,-121.6,392.9,-10.6,356,4206,0.00,2.22,0.00,0.000,6,0.000,0.044,2711,2010,3363,0,0,0,0,0,0
$GC,4526,-1.03,-121.6,427.0,-11.0,368,4530,0.00,2.20,0.00,0.000,4,0.000,0.060,2701,3402,3363,0,0,0,0,0,0
$GC,4594,-1.01,-121.6,434.8,-11.5,370,4598,0.08,2.20,0.00,0.000,6,0.187,0.047,2720,1998,3363,0,0,0,0,0,0
$GC,4928,-1.01,-121.6,471.8,-10.9,381,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1998,3363,0,0,0,0,0,0
$GC,5235,-1.03,-121.6,504.9,-10.8,391,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1998,3362,0,0,0,0,0,0
$GC,5540,-1.03,-121.6,537.3,-10.5,401,5544,0.00,0.62,0.00,0.000,4,0.000,0.055,2719,1574,3362,0,0,0,0,0,0
$GC,5635,-1.06,-121.6,547.4,-10.2,403,5640,0.00,0.65,0.00,0.000,6,0.000,0.053,2717,1999,3362,0,0,0,0,0,0
$GC,5948,-1.06,-121.6,579.9,-10.5,414,5952,0.00,2.25,0.00,0.000,4,0.000,0.056,2717,597,3361,0,0,0,0,0,0
$GC,6049,-1.06,-121.6,591.5,-11.7,417,6053,0.00,2.20,0.00,0.000,6,0.000,0.046,2706,2002,3361,0,0,0,0,0,0
$GC,6389,-1.06,-121.6,628.2,-10.6,428,6393,0.00,2.28,0.00,0.000,4,0.000,0.057,2707,586,3360,0,0,0,0,0,0
$GC,6404,-1.06,-121.6,629.9,-10.5,428,6408,0.00,2.25,0.00,0.000,6,0.000,0.045,2696,1998,3360,0,0,0,0,0,0
$GC,6723,-1.06,-121.6,663.1,-10.4,439,6726,0.00,0.43,0.00,0.000,4,0.000,0.060,2694,2291,3359,0,0,0,0,0,0
$GC,6738,-1.06,-121.6,664.9,-10.3,439,6744,0.05,0.47,0.00,0.000,6,0.222,0.056,2706,1989,3359,0,0,0,0,0,0
$GC,7062,-1.06,-121.6,697.4,-10.1,450,7066,0.00,1.33,0.00,0.000,4,0.000,0.060,2700,2803,3359,0,0,0,0,0,0
$GC,7100,-1.06,-121.6,701.6,-10.4,451,7105,0.00,1.27,0.00,0.000,6,0.000,0.050,2700,1999,3358,0,0,0,0,0,0
$GC,7436,-1.06,-121.6,734.9,-9.7,462,7440,0.00,2.28,0.00,0.000,4,0.000,0.062,2690,3405,3358,0,0,0,0,0,0
$GC,7508,-1.03,-121.6,742.1,-9.1,464,7512,0.10,2.22,0.00,0.000,6,0.179,0.049,2715,1999,3357,0,0,0,0,0,0
$GC,7837,-1.06,-121.6,771.2,-8.9,475,7841,0.00,0.80,0.00,0.000,4,0.000,0.057,2716,1472,3357,0,0,0,0,0,0
$GC,7909,-1.08,-121.6,778.2,-9.1,477,7913,0.00,0.82,0.00,0.000,6,0.000,0.053,2712,2001,3356,0,0,0,0,0,0
$GC,8245,-1.10,-121.6,809.4,-9.5,488,8249,0.00,2.28,0.00,0.000,4,0.000,0.057,2713,594,3356,0,0,0,0,0,0
$GC,8334,-1.08,-121.6,818.7,-10.7,490,8337,0.00,2.22,0.00,0.000,6,0.000,0.046,2702,2000,3356,0,0,0,0,0,0
$GC,8652,-1.08,-121.6,849.5,-10.0,501,8655,0.00,2.05,0.00,0.000,4,0.000,0.057,2703,736,3355,0,0,0,0,0,0
$GC,8713,-1.05,-121.6,856.0,-10.9,502,8719,0.08,2.00,0.00,0.000,6,0.211,0.047,2711,2001,3356,0,0,0,0,0,0
$GC,9026,-1.08,-121.6,887.2,-10.0,513,9030,0.00,0.77,0.00,0.000,4,0.000,0.056,2710,1496,3355,0,0,0,0,0,0
$GC,9070,-1.10,-121.6,892.1,-10.2,514,9074,0.00,0.77,0.00,0.000,6,0.000,0.053,2707,1999,3354,0,0,0,0,0,0
$GC,9400,-1.10,-121.6,925.5,-10.0,525,9404,0.00,2.28,0.00,0.000,4,0.000,0.057,2707,587,3354,0,0,0,0,0,0
$GC,9499,-1.07,-121.6,937.3,-11.8,528,9504,0.00,2.28,0.00,0.000,6,0.000,0.047,2697,2017,3354,0,0,0,0,0,0
$STATE,9772,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9772,begin apogee
$GC,9777,-0.23,0.0,966.7,10.5,537,9883,0.90,0.00,102.68,1.258,6,0.133,0.000,2973,1628,2862,0,0,0,0,0,0
$STATE,9883,end apogee,CONTROL_FINISHED_OK
$STATE,9884,begin climb
$GC,9885,1.00,121.6,971.9,0.0,540,9998,1.15,1.15,105.28,1.218,4,0.071,0.056,3377,997,2366,0,0,0,0,0,0
$GC,10055,0.92,186.5,970.3,7.1,545,10120,0.08,1.08,59.60,1.190,6,0.161,0.044,3354,1631,2100,0,0,0,0,0,0
$GC,10439,0.92,224.0,937.2,8.8,558,10478,0.00,2.38,33.35,1.178,4,0.000,0.057,3354,3025,1947,0,0,0,0,0,0
$GC,10585,0.90,235.3,922.5,10.4,562,10602,0.05,2.30,11.18,1.073,6,0.171,0.049,3348,1637,1903,0,0,0,0,0,0
$GC,10909,0.94,254.0,889.9,10.0,573,10932,0.00,0.88,17.88,1.117,4,0.000,0.053,3348,2163,1825,0,0,0,0,0,0
$GC,10982,0.99,268.4,882.0,10.2,575,11004,0.03,0.88,14.35,1.098,6,0.101,0.053,3375,1626,1767,0,0,0,0,0,0
$GC,11311,0.99,268.4,843.1,12.0,586,11315,0.00,0.73,0.00,0.000,4,0.000,0.053,3375,2089,1763,0,0,0,0,0,0
$GC,11371,0.99,268.4,835.7,11.6,587,11377,0.00,0.75,0.00,0.000,6,0.000,0.054,3378,1627,1763,0,0,0,0,0,0
$GC,11684,1.03,268.4,799.9,11.1,598,11688,0.00,2.28,0.00,0.000,4,0.000,0.060,3378,3033,1762,0,0,0,0,0,0
$GC,11750,1.01,268.4,791.6,13.0,600,11755,0.00,2.28,0.00,0.000,6,0.000,0.050,3388,1632,1762,0,0,0,0,0,0
$GC,12086,1.01,268.4,753.2,11.7,611,12089,0.00,0.82,0.00,0.000,4,0.000,0.054,3388,2158,1762,0,0,0,0,0,0
$GC,12163,1.01,268.4,744.0,12.8,613,12168,0.05,0.88,0.00,0.000,6,0.234,0.054,3381,1618,1762,0,0,0,0,0,0
$GC,12492,1.01,268.4,705.9,11.6,624,12496,0.00,2.30,0.00,0.000,4,0.000,0.060,3381,3031,1761,0,0,0,0,0,0
$GC,12512,1.01,268.4,703.4,11.2,624,12518,0.00,2.28,0.00,0.000,6,0.000,0.051,3391,1631,1760,0,0,0,0,0,0
$GC,12825,1.01,268.4,666.7,11.8,635,12830,0.00,2.33,0.00,0.000,4,0.000,0.066,3402,222,1760,0,0,0,0,0,0
$GC,12922,0.96,268.4,654.5,12.7,638,12927,0.15,2.25,0.00,0.000,6,0.174,0.047,3363,1631,1760,0,0,0,0,0,0
$GC,13257,1.02,269.0,616.5,11.1,649,13261,0.00,2.35,0.00,0.000,4,0.000,0.064,3373,212,1760,0,0,0,0,0,0
$GC,13311,1.02,277.5,609.9,10.6,650,13326,0.00,2.30,8.35,0.907,6,0.000,0.047,3373,1634,1730,0,0,0,0,0,0
$GC,13657,1.07,277.5,570.5,11.4,662,13662,0.08,2.38,0.00,0.000,4,0.129,0.066,3420,218,1729,0,0,0,0,0,0
$GC,13723,1.01,277.5,561.8,13.6,664,13728,0.15,2.28,0.00,0.000,6,0.176,0.046,3381,1625,1729,0,0,0,0,0,0
$GC,14059,1.05,277.5,524.1,11.1,675,14063,0.00,2.28,0.00,0.000,4,0.000,0.060,3381,3034,1728,0,0,0,0,0,0
$GC,14159,1.05,279.6,512.6,11.0,678,14163,0.00,2.28,0.00,0.000,6,0.000,0.053,3391,1630,1728,0,0,0,0,0,0
$GC,14495,1.08,293.0,477.2,10.3,689,14515,0.00,2.28,15.30,0.917,4,0.000,0.061,3391,3035,1666,0,0,0,0,0,0
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$STATE,18635,end climb,SURFACE_DEPTH_REACHED
$STATE,18635,begin surface coast
$FINISH,1.9,1.003219
$STATE,18660,end surface coast,CONTROL_FINISHED_OK
$STATE,18660,begin surface
$SM_CCo,18737,0.00,0.000,0,0,1239,398.12
$SM_GC,2.70,8.90,0.00,0.00,0.037,0.000,0.000,80,2002,1239,-9.19,0.06,398.12
$IRIDIUM_FIX,-4123.62,-540.34,081212,010152
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.9,48.494
$10V_AH,10.0,43.824
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.750,165.300,463.275,0.000,0.000,65.460,100.182,232.607,0.000,0.000,40.726,2561.360,12676.567,530.069,3353.077,216.812,0.000,1833.365,0.000,2889.735,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.358,1145.796,647.677,82.578,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,63466,994
$CAP_FILE_SIZE,190533,0
$CFSIZE,2097086464,2053898240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081212,071155,-4137.642,-543.408,39,1.8,39,-22.3