version: 66.07.10.p01
glider: 573
mission: 4
dive: 369
start: 12 22 112 3 4 55
data:
$ID,573
$MISSION,4
$DIVE,369
$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,1
$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,-5503.6514
$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,26
$R_STBD_OVSHOOT,29
$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,348
$GPS1,221212,025405,-4147.668,-612.511,32,1.2,32,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-70.0
$GPS2,221212,030435,-4147.597,-612.558,43,0.8,43,-22.2
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4147.597,-558.074
$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,112.2,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.00,-121.6,0.0,0.0,0,104,0.00,0.00,-77.05,0.000,2,0.000,0.000,88,1999,2248,0,0,0,0,0,0
$GC,107,-1.00,-121.6,3.0,-0.9,13,169,10.90,2.33,-43.83,0.000,4,0.235,0.074,2711,3409,3357,0,0,0,0,0,0
$GC,224,-1.00,-121.6,10.2,-10.4,32,232,0.03,2.30,0.00,0.000,6,0.179,0.050,2721,1990,3358,0,0,0,0,0,0
$GC,305,-1.00,-121.6,17.2,-8.8,45,312,0.00,2.33,0.00,0.000,4,0.000,0.060,2721,590,3358,0,0,0,0,0,0
$GC,397,-1.00,-121.6,26.2,-9.8,60,404,0.03,2.30,0.00,0.000,6,0.199,0.048,2720,2005,3358,0,0,0,0,0,0
$GC,476,-1.03,-121.6,33.8,-10.3,73,481,0.00,1.70,0.00,0.000,4,0.000,0.060,2713,3085,3358,0,0,0,0,0,0
$GC,513,-1.03,-121.6,37.7,-10.9,79,518,0.00,1.73,0.00,0.000,6,0.000,0.049,2713,1998,3358,0,0,0,0,0,0
$GC,747,-1.03,-121.6,60.9,-8.9,120,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1998,3359,0,0,0,0,0,0
$GC,1094,-1.05,-121.6,92.9,-9.9,181,1098,0.00,2.28,0.00,0.000,4,0.000,0.058,2713,587,3359,0,0,0,0,0,0
$GC,1171,-1.05,-121.6,101.2,-10.4,193,1176,0.00,2.25,0.00,0.000,6,0.000,0.047,2702,2010,3359,0,0,0,0,0,0
$GC,1490,-1.05,-121.6,132.1,-9.7,214,1494,0.00,2.22,0.00,0.000,4,0.000,0.060,2692,3404,3360,0,0,0,0,0,0
$GC,1563,-1.05,-121.6,139.6,-9.9,218,1571,0.05,2.25,0.00,0.000,6,0.157,0.048,2709,1993,3360,0,0,0,0,0,0
$GC,1885,-1.08,-121.6,169.9,-9.1,239,1889,0.00,2.28,0.00,0.000,4,0.000,0.057,2710,582,3360,0,0,0,0,0,0
$GC,1987,-1.08,-121.6,179.9,-9.2,245,1991,0.00,2.25,0.00,0.000,6,0.000,0.047,2699,2005,3360,0,0,0,0,0,0
$GC,2308,-1.08,-121.6,207.7,-8.8,265,2312,0.00,1.38,0.00,0.000,4,0.000,0.057,2693,2873,3360,0,0,0,0,0,0
$GC,2335,-1.08,-121.6,210.6,-9.1,266,2343,0.00,1.38,0.00,0.000,6,0.000,0.047,2693,2001,3360,0,0,0,0,0,0
$GC,2657,-1.08,-121.6,239.0,-8.9,287,2661,0.00,2.28,0.00,0.000,4,0.000,0.057,2693,585,3360,0,0,0,0,0,0
$GC,2752,-1.06,-121.6,248.5,-9.2,292,2760,0.08,2.25,0.00,0.000,6,0.155,0.046,2707,1995,3360,0,0,0,0,0,0
$GC,3087,-1.09,-121.6,277.5,-8.7,309,3091,0.00,2.28,0.00,0.000,4,0.000,0.057,2707,590,3360,0,0,0,0,0,0
$GC,3195,-1.09,-121.6,288.1,-9.1,314,3199,0.00,2.22,0.00,0.000,6,0.000,0.046,2697,2003,3360,0,0,0,0,0,0
$GC,3522,-1.09,-121.6,318.2,-9.3,330,3526,0.00,1.75,0.00,0.000,4,0.000,0.057,2689,3124,3360,0,0,0,0,0,0
$GC,3561,-1.09,-121.6,322.0,-9.7,331,3566,0.00,1.80,0.00,0.000,6,0.000,0.047,2689,1991,3360,0,0,0,0,0,0
$GC,3879,-1.09,-121.6,352.0,-9.8,347,3883,0.00,2.20,0.00,0.000,4,0.000,0.057,2689,618,3360,0,0,0,0,0,0
$GC,3951,-1.07,-121.6,360.0,-11.1,350,3956,0.10,2.17,0.00,0.000,6,0.189,0.046,2704,2001,3360,0,0,0,0,0,0
$GC,4274,-1.09,-121.6,392.8,-10.4,366,4278,0.00,2.22,0.00,0.000,4,0.000,0.058,2693,3404,3360,0,0,0,0,0,0
$GC,4353,-1.09,-121.6,401.7,-10.9,369,4358,0.00,2.20,0.00,0.000,6,0.000,0.047,2693,1997,3360,0,0,0,0,0,0
$GC,4666,-1.09,-121.6,434.3,-10.4,380,4670,0.00,2.17,0.00,0.000,4,0.000,0.057,2693,641,3359,0,0,0,0,0,0
$GC,4737,-1.09,-121.6,442.1,-10.7,382,4742,0.03,2.15,0.00,0.000,6,0.194,0.046,2691,1992,3359,0,0,0,0,0,0
$GC,5067,-1.09,-121.6,473.8,-9.6,393,5071,0.00,2.22,0.00,0.000,4,0.000,0.059,2681,3406,3358,0,0,0,0,0,0
$GC,5122,-1.09,-121.6,479.4,-10.0,394,5128,0.05,2.20,0.00,0.000,6,0.219,0.048,2694,1999,3359,0,0,0,0,0,0
$GC,5435,-1.09,-121.6,508.1,-9.1,405,5439,0.00,2.20,0.00,0.000,4,0.000,0.058,2694,632,3358,0,0,0,0,0,0
$GC,5512,-1.09,-121.6,515.7,-9.9,407,5516,0.00,2.17,0.00,0.000,6,0.000,0.047,2683,1992,3358,0,0,0,0,0,0
$GC,5842,-1.09,-121.6,547.0,-9.7,418,5847,0.03,2.17,0.00,0.000,4,0.283,0.059,2683,3347,3358,0,0,0,0,0,0
$GC,5885,-1.09,-121.6,551.4,-10.2,419,5890,0.03,2.15,0.00,0.000,6,0.182,0.047,2692,1992,3358,0,0,0,0,0,0
$GC,6209,-1.09,-121.6,583.1,-9.9,430,6213,0.00,1.70,0.00,0.000,4,0.000,0.056,2692,925,3357,0,0,0,0,0,0
$GC,6281,-1.09,-121.6,591.0,-11.0,432,6285,0.00,1.73,0.00,0.000,6,0.000,0.048,2684,1999,3356,0,0,0,0,0,0
$GC,6617,-1.09,-121.6,626.3,-10.6,443,6621,0.00,1.92,0.00,0.000,4,0.000,0.057,2684,823,3356,0,0,0,0,0,0
$GC,6689,-1.09,-121.6,634.4,-10.9,445,6693,0.05,1.90,0.00,0.000,6,0.168,0.048,2692,2007,3355,0,0,0,0,0,0
$GC,7025,-1.12,-121.6,667.9,-10.0,456,7028,0.00,2.03,0.00,0.000,4,0.000,0.060,2683,3294,3355,0,0,0,0,0,0
$GC,7093,-1.12,-121.6,675.1,-10.7,458,7097,0.00,2.05,0.00,0.000,6,0.000,0.048,2682,1991,3355,0,0,0,0,0,0
$GC,7428,-1.12,-121.6,709.0,-10.2,469,7432,0.00,2.30,0.00,0.000,4,0.000,0.062,2673,3414,3354,0,0,0,0,0,0
$GC,7505,-1.12,-121.6,717.5,-10.3,471,7510,0.08,2.22,0.00,0.000,6,0.191,0.047,2690,2001,3354,0,0,0,0,0,0
$GC,7829,-1.12,-121.6,749.5,-9.9,482,7833,0.00,2.28,0.00,0.000,4,0.000,0.059,2690,591,3353,0,0,0,0,0,0
$GC,7928,-1.12,-121.6,759.6,-10.0,485,7933,0.00,2.22,0.00,0.000,6,0.000,0.047,2680,2001,3353,0,0,0,0,0,0
$GC,8264,-1.12,-121.6,791.7,-9.5,496,8268,0.00,2.25,0.00,0.000,4,0.000,0.061,2670,3407,3352,0,0,0,0,0,0
$GC,8315,-1.12,-121.6,796.8,-10.1,497,8320,0.08,2.22,0.00,0.000,6,0.190,0.050,2686,1997,3352,0,0,0,0,0,0
$GC,8633,-1.12,-121.6,826.1,-9.4,508,8637,0.00,2.28,0.00,0.000,4,0.000,0.060,2687,596,3351,0,0,0,0,0,0
$GC,8729,-1.10,-121.6,835.8,-9.9,511,8734,0.08,2.25,0.00,0.000,6,0.204,0.049,2693,2011,3351,0,0,0,0,0,0
$GC,9064,-1.14,-121.6,868.2,-9.6,522,9068,0.00,1.42,0.00,0.000,4,0.000,0.060,2686,2898,3350,0,0,0,0,0,0
$GC,9132,-1.14,-121.6,874.7,-9.3,524,9136,0.00,1.42,0.00,0.000,6,0.000,0.052,2687,2004,3350,0,0,0,0,0,0
$GC,9473,-1.14,-121.6,906.4,-9.2,535,9477,0.00,2.28,0.00,0.000,4,0.000,0.064,2676,3405,3350,0,0,0,0,0,0
$GC,9539,-1.14,-121.6,912.9,-9.6,537,9543,0.00,2.22,0.00,0.000,6,0.000,0.050,2676,2001,3350,0,0,0,0,0,0
$STATE,9780,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9781,begin apogee
$GC,9786,-0.23,0.0,937.0,10.3,545,9892,0.98,0.00,102.35,1.219,6,0.132,0.000,2977,1624,2862,0,0,0,0,0,0
$STATE,9892,end apogee,CONTROL_FINISHED_OK
$STATE,9892,begin climb
$GC,9894,1.00,121.6,942.6,0.0,548,10008,1.15,0.68,106.30,1.191,4,0.063,0.055,3381,1217,2367,0,0,0,0,0,0
$GC,10109,0.92,227.5,942.5,4.6,555,10210,0.10,0.68,96.18,1.174,6,0.166,0.049,3353,1631,1934,0,0,0,0,0,0
$GC,10524,0.95,257.1,907.7,9.3,569,10555,0.00,2.42,26.42,1.134,4,0.000,0.062,3364,222,1814,0,0,0,0,0,0
$GC,10644,0.95,267.2,895.6,10.5,572,10660,0.00,2.33,10.50,1.034,6,0.000,0.046,3363,1626,1772,0,0,0,0,0,0
$GC,10991,0.99,292.2,861.7,9.6,584,11017,0.00,0.00,23.45,1.114,6,0.000,0.000,3364,1625,1669,0,0,0,0,0,0
$GC,11324,1.06,318.7,829.4,9.5,594,11356,0.08,2.40,24.55,1.105,4,0.124,0.066,3409,223,1562,0,0,0,0,0,0
$GC,11439,1.03,318.7,816.3,12.4,597,11443,0.10,2.30,0.00,0.000,6,0.189,0.047,3385,1634,1557,0,0,0,0,0,0
$GC,11763,1.07,332.6,783.0,10.3,608,11783,0.00,2.30,13.15,1.030,4,0.000,0.058,3385,3025,1506,0,0,0,0,0,0
$GC,11851,1.10,334.5,772.9,11.0,610,11855,0.00,2.28,0.00,0.000,6,0.000,0.050,3395,1622,1504,0,0,0,0,0,0
$GC,12164,1.16,334.5,737.1,11.7,620,12169,0.10,2.33,0.00,0.000,4,0.099,0.060,3441,3039,1502,0,0,0,0,0,0
$GC,12236,1.11,334.5,727.4,13.4,622,12241,0.15,2.28,0.00,0.000,6,0.178,0.050,3413,1623,1502,0,0,0,0,0,0
$GC,12559,1.13,334.5,687.8,12.1,633,12563,0.00,0.73,0.00,0.000,4,0.000,0.055,3413,2092,1501,0,0,0,0,0,0
$GC,12581,1.13,334.5,685.1,11.9,633,12585,0.00,0.75,0.00,0.000,6,0.000,0.058,3416,1629,1501,0,0,0,0,0,0
$GC,12900,1.16,334.5,647.8,11.6,644,12903,0.00,1.48,0.00,0.000,4,0.000,0.058,3416,2538,1501,0,0,0,0,0,0
$GC,12934,1.16,334.5,643.8,11.7,645,12937,0.00,1.48,0.00,0.000,6,0.000,0.054,3422,1630,1500,0,0,0,0,0,0
$GC,13275,1.18,335.3,605.3,11.1,656,13279,0.00,2.28,0.00,0.000,4,0.000,0.061,3422,3031,1500,0,0,0,0,0,0
$GC,13352,1.18,335.3,596.3,11.2,658,13356,0.00,2.28,0.00,0.000,6,0.000,0.053,3433,1629,1500,0,0,0,0,0,0
$GC,13682,1.18,340.0,560.6,10.8,669,13696,0.00,2.38,7.40,0.843,4,0.000,0.065,3444,221,1475,0,0,0,0,0,0
$GC,13775,1.14,340.0,549.8,11.6,671,13781,0.10,2.25,0.00,0.000,6,0.190,0.047,3419,1631,1474,0,0,0,0,0,0
$GC,14088,1.17,340.0,514.8,11.5,682,14092,0.00,2.25,0.00,0.000,4,0.000,0.060,3419,3031,1474,0,0,0,0,0,0
$GC,14154,1.17,340.0,506.6,12.4,684,14158,0.00,2.28,0.00,0.000,6,0.000,0.052,3429,1629,1474,0,0,0,0,0,0
$GC,14489,1.17,340.0,465.7,12.5,695,14493,0.00,0.75,0.00,0.000,4,0.000,0.060,3433,1145,1474,0,0,0,0,0,0
$GC,14523,1.17,340.0,461.4,12.0,696,14527,0.00,0.77,0.00,0.000,6,0.000,0.052,3433,1635,1474,0,0,0,0,0,0
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$STATE,18460,end climb,SURFACE_DEPTH_REACHED
$STATE,18460,begin surface coast
$FINISH,2.0,1.002987
$STATE,18491,end surface coast,CONTROL_FINISHED_OK
$STATE,18491,begin surface
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$SM_GC,2.97,8.93,0.00,0.00,0.033,0.000,0.000,83,2000,1154,-9.20,0.00,418.72
$IRIDIUM_FIX,-4132.26,-613.08,211212,212104
$TT8_MAMPS,0.026964
$HUMID,47.63
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,22.6,59.252
$10V_AH,10.0,51.371
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.575,178.775,471.000,0.000,0.000,28.750,36.118,403.867,0.500,0.000,45.446,2549.034,12390.213,554.638,3469.684,227.789,0.000,1888.412,0.000,2931.272,0.000,1.008,0.000
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$SENSOR_SECS,651.977,1191.913,659.885,87.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354500
$DATA_FILE_SIZE,60234,1007
$CAP_FILE_SIZE,190669,0
$CFSIZE,2097086464,2045509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221212,081535,-4148.255,-612.047,36,1.2,36,-22.2