version: 66.07.10.p01
glider: 573
mission: 4
dive: 385
start: 12 25 112 16 12 47
data:
$ID,573
$MISSION,4
$DIVE,385
$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,150
$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,0
$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,-5555.0015
$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,20
$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,1700
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,31
$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,364
$GPS1,251212,160325,-4159.132,-551.924,40,2.6,59,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-63.4
$GPS2,251212,161151,-4159.162,-551.788,16,12.6,35,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.269,0.008
$KALMAN_X,-9414.8,231.0,-213.7,22185.1,-1741.3
$KALMAN_Y,-4740.3,-236.1,-570.3,-1818.2,-207.1
$MHEAD_RNG_PITCHd_Wd,110.5,71293,-19.9,-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,22,begin dive
$GC,25,-1.00,-145.9,0.0,0.0,0,81,0.00,0.00,-53.70,0.000,2,0.000,0.000,81,1698,2245,0,0,0,0,0,0
$GC,83,-1.00,-145.9,3.1,-1.9,9,139,11.10,2.38,-38.42,0.000,4,0.236,0.077,2729,284,3457,0,0,0,0,0,0
$GC,190,-0.96,-145.9,14.7,-13.8,26,197,0.05,2.30,0.00,0.000,6,0.155,0.047,2736,1689,3459,0,0,0,0,0,0
$GC,270,-0.96,-145.9,24.1,-14.4,39,277,0.00,2.33,0.00,0.000,4,0.000,0.060,2726,3103,3459,0,0,0,0,0,0
$GC,335,-0.96,-145.9,35.2,-15.7,50,343,0.03,2.28,0.00,0.000,6,0.194,0.053,2735,1707,3459,0,0,0,0,0,0
$GC,575,-0.99,-145.9,62.8,-8.5,91,579,0.00,2.33,0.00,0.000,4,0.000,0.062,2735,288,3460,0,0,0,0,0,0
$GC,644,-0.99,-145.9,69.7,-10.5,103,649,0.00,2.28,0.00,0.000,6,0.000,0.047,2725,1704,3460,0,0,0,0,0,0
$GC,992,-1.02,-145.9,103.3,-9.4,161,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1704,3461,0,0,0,0,0,0
$GC,1304,-1.07,-145.9,132.5,-8.8,181,1308,0.00,2.22,0.00,0.000,4,0.000,0.057,2715,3106,3461,0,0,0,0,0,0
$GC,1389,-1.09,-145.9,139.8,-8.3,186,1393,0.00,2.25,0.00,0.000,6,0.000,0.050,2715,1691,3461,0,0,0,0,0,0
$GC,1709,-1.14,-145.9,166.4,-8.9,206,1713,0.10,1.00,0.00,0.000,4,0.097,0.055,2651,2313,3461,0,0,0,0,0,0
$GC,1770,-1.07,-145.9,172.9,-10.3,209,1776,0.15,0.98,0.00,0.000,6,0.139,0.054,2701,1695,3461,0,0,0,0,0,0
$GC,2090,-1.07,-145.9,205.0,-10.6,230,2094,0.00,0.38,0.00,0.000,4,0.000,0.064,2701,1436,3462,0,0,0,0,0,0
$GC,2100,-1.07,-145.9,206.4,-10.5,230,2108,0.00,0.43,0.00,0.000,6,0.000,0.057,2700,1706,3462,0,0,0,0,0,0
$GC,2422,-1.07,-145.9,239.8,-10.6,251,2426,0.00,1.75,0.00,0.000,4,0.000,0.057,2692,2800,3462,0,0,0,0,0,0
$GC,2494,-1.07,-145.9,248.0,-11.4,255,2498,0.00,1.75,0.00,0.000,6,0.000,0.048,2692,1703,3462,0,0,0,0,0,0
$GC,2813,-1.07,-145.9,281.3,-10.5,271,2818,0.05,2.28,0.00,0.000,4,0.233,0.058,2692,3106,3462,0,0,0,0,0,0
$GC,2897,-1.07,-145.9,290.4,-10.5,274,2905,0.03,2.25,0.00,0.000,6,0.180,0.049,2701,1700,3462,0,0,0,0,0,0
$GC,3213,-1.07,-145.9,322.8,-10.3,290,3217,0.00,1.60,0.00,0.000,4,0.000,0.056,2694,2692,3461,0,0,0,0,0,0
$GC,3292,-1.07,-145.9,331.2,-9.9,293,3296,0.00,1.58,0.00,0.000,6,0.000,0.050,2694,1703,3462,0,0,0,0,0,0
$GC,3616,-1.07,-145.9,365.4,-10.6,309,3620,0.00,2.25,0.00,0.000,4,0.000,0.058,2685,3106,3462,0,0,0,0,0,0
$GC,3722,-1.07,-145.9,376.5,-10.3,313,3728,0.10,2.22,0.00,0.000,6,0.176,0.048,2710,1697,3462,0,0,0,0,0,0
$GC,4038,-1.10,-145.9,406.4,-9.6,328,4042,0.00,2.25,0.00,0.000,4,0.000,0.057,2699,3104,3462,0,0,0,0,0,0
$GC,4150,-1.10,-145.9,417.7,-10.3,331,4154,0.00,2.22,0.00,0.000,6,0.000,0.048,2700,1696,3462,0,0,0,0,0,0
$GC,4474,-1.10,-145.9,448.5,-9.6,342,4478,0.00,2.25,0.00,0.000,4,0.000,0.057,2690,3108,3461,0,0,0,0,0,0
$GC,4500,-1.10,-145.9,451.2,-9.7,342,4506,0.00,2.22,0.00,0.000,6,0.000,0.047,2690,1700,3462,0,0,0,0,0,0
$GC,4814,-1.10,-145.9,481.2,-9.7,353,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1700,3461,0,0,0,0,0,0
$GC,5120,-1.10,-145.9,510.5,-9.7,363,5124,0.00,0.43,0.00,0.000,4,0.000,0.058,2688,1984,3460,0,0,0,0,0,0
$GC,5350,-1.10,-145.9,532.6,-9.6,369,5355,0.00,0.45,0.00,0.000,6,0.000,0.059,2688,1692,3460,0,0,0,0,0,0
$GC,5663,-1.10,-145.9,561.5,-9.3,380,5667,0.00,2.28,0.00,0.000,4,0.000,0.057,2678,3109,3460,0,0,0,0,0,0
$GC,5684,-1.10,-145.9,563.6,-9.0,380,5690,0.08,2.22,0.00,0.000,6,0.190,0.048,2696,1701,3459,0,0,0,0,0,0
$GC,5997,-1.10,-145.9,592.4,-9.4,391,6001,0.00,0.90,0.00,0.000,4,0.000,0.055,2692,2276,3458,0,0,0,0,0,0
$GC,6092,-1.10,-145.9,601.5,-9.7,393,6097,0.00,0.90,0.00,0.000,6,0.000,0.051,2692,1698,3459,0,0,0,0,0,0
$GC,6405,-1.10,-145.9,631.1,-9.6,404,6409,0.00,2.30,0.00,0.000,4,0.000,0.060,2692,289,3459,0,0,0,0,0,0
$GC,6471,-1.07,-145.9,638.2,-10.3,406,6476,0.10,2.25,0.00,0.000,6,0.182,0.045,2707,1703,3459,0,0,0,0,0,0
$GC,6801,-1.10,-145.9,671.1,-10.5,417,6805,0.00,2.20,0.00,0.000,4,0.000,0.057,2697,3081,3458,0,0,0,0,0,0
$GC,6873,-1.12,-145.9,679.2,-11.0,419,6877,0.00,2.20,0.00,0.000,6,0.000,0.049,2696,1696,3458,0,0,0,0,0,0
$GC,7197,-1.12,-145.9,715.8,-11.5,430,7201,0.00,2.28,0.00,0.000,4,0.000,0.060,2697,287,3457,0,0,0,0,0,0
$GC,7263,-1.09,-145.9,723.9,-11.8,432,7267,0.00,2.25,0.00,0.000,6,0.000,0.046,2686,1704,3457,0,0,0,0,0,0
$GC,7598,-1.09,-145.9,761.1,-11.1,443,7602,0.00,2.25,0.00,0.000,4,0.000,0.057,2675,3107,3456,0,0,0,0,0,0
$GC,7695,-1.09,-145.9,771.6,-10.8,446,7700,0.10,2.25,0.00,0.000,6,0.173,0.050,2701,1694,3456,0,0,0,0,0,0
$GC,8030,-1.12,-145.9,805.5,-9.8,457,8033,0.00,0.82,0.00,0.000,4,0.000,0.060,2702,1171,3455,0,0,0,0,0,0
$GC,8051,-1.12,-145.9,807.8,-9.9,457,8055,0.00,0.82,0.00,0.000,6,0.000,0.050,2698,1692,3456,0,0,0,0,0,0
$GC,8370,-1.15,-145.9,837.4,-9.3,468,8374,0.00,2.28,0.00,0.000,4,0.000,0.060,2687,3104,3455,0,0,0,0,0,0
$GC,8467,-1.15,-145.9,846.2,-8.6,471,8471,0.00,2.22,0.00,0.000,6,0.000,0.051,2687,1696,3454,0,0,0,0,0,0
$GC,8802,-1.15,-145.9,876.7,-9.2,482,8805,0.00,0.77,0.00,0.000,4,0.000,0.060,2687,1197,3453,0,0,0,0,0,0
$GC,8817,-1.15,-145.9,878.3,-9.2,482,8822,0.00,0.80,0.00,0.000,6,0.000,0.051,2684,1702,3453,0,0,0,0,0,0
$GC,9142,-1.15,-145.9,909.9,-10.0,493,9146,0.00,2.25,0.00,0.000,4,0.000,0.059,2673,3107,3453,0,0,0,0,0,0
$GC,9244,-1.12,-145.9,920.7,-10.7,496,9248,0.05,2.25,0.00,0.000,6,0.220,0.050,2684,1696,3452,0,0,0,0,0,0
$GC,9584,-1.12,-145.9,957.1,-10.8,507,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1696,3452,0,0,0,0,0,0
$STATE,9765,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9765,begin apogee
$GC,9771,-0.25,0.0,976.7,10.5,513,9900,0.93,0.00,126.00,1.247,6,0.132,0.000,2970,1628,2862,0,0,0,0,0,0
$STATE,9901,end apogee,CONTROL_FINISHED_OK
$STATE,9901,begin climb
$GC,9903,1.00,145.9,985.1,0.0,517,10040,1.17,1.23,130.23,1.210,4,0.066,0.056,3381,966,2267,0,0,0,0,0,0
$GC,10108,0.89,238.6,983.9,6.4,523,10201,0.12,1.15,85.82,1.190,6,0.155,0.044,3346,1637,1889,0,0,0,0,0,0
$GC,10513,0.89,280.6,949.6,9.0,537,10558,0.00,2.47,38.00,1.177,4,0.000,0.062,3356,229,1717,0,0,0,0,0,0
$GC,10625,0.89,303.4,938.7,9.9,540,10653,0.05,2.33,21.80,1.136,6,0.216,0.044,3345,1632,1625,0,0,0,0,0,0
$GC,10977,0.96,333.7,904.7,9.6,552,11012,0.00,2.45,28.45,1.156,4,0.000,0.065,3355,225,1500,0,0,0,0,0,0
$GC,11086,1.01,354.1,893.9,10.1,555,11112,0.05,2.30,19.77,1.106,6,0.166,0.046,3383,1635,1417,0,0,0,0,0,0
$GC,11442,1.06,373.7,856.9,10.1,567,11467,0.00,2.12,18.65,1.100,4,0.000,0.063,3392,395,1338,0,0,0,0,0,0
$GC,11517,1.09,381.8,849.1,10.7,569,11532,0.00,2.03,8.75,0.970,6,0.000,0.046,3392,1633,1304,0,0,0,0,0,0
$GC,11846,1.15,406.6,816.3,9.8,580,11877,0.08,2.40,24.40,1.105,4,0.122,0.065,3442,224,1203,0,0,0,0,0,0
$GC,11928,1.11,406.6,806.4,11.3,582,11933,0.12,2.30,0.00,0.000,6,0.165,0.046,3409,1640,1199,0,0,0,0,0,0
$GC,12247,1.15,418.2,772.5,10.5,593,12263,0.00,2.28,11.18,1.004,4,0.000,0.057,3409,3036,1157,0,0,0,0,0,0
$GC,12331,1.18,439.7,763.5,10.0,595,12360,0.00,2.28,22.05,1.066,6,0.000,0.051,3419,1628,1068,0,0,0,0,0,0
$GC,12681,1.24,449.5,726.3,10.6,607,12695,0.10,1.75,9.30,0.948,4,0.099,0.057,3467,2687,1029,0,0,0,0,0,0
$GC,12723,1.19,449.5,720.9,12.6,608,12728,0.10,1.73,0.00,0.000,6,0.151,0.051,3442,1633,1027,0,0,0,0,0,0
$GC,13053,1.23,449.5,680.0,12.9,619,13057,0.00,2.28,0.00,0.000,4,0.000,0.060,3442,3031,1025,0,0,0,0,0,0
$GC,13119,1.23,449.5,670.6,14.8,621,13124,0.00,2.28,0.00,0.000,6,0.000,0.050,3453,1628,1024,0,0,0,0,0,0
$GC,13455,1.23,449.5,624.1,14.1,632,13459,0.00,1.38,0.00,0.000,4,0.000,0.056,3453,2476,1023,0,0,0,0,0,0
$GC,13482,1.23,449.5,619.9,13.8,632,13487,0.00,1.38,0.00,0.000,6,0.000,0.052,3459,1625,1023,0,0,0,0,0,0
$GC,13795,1.23,449.5,575.9,13.9,643,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1625,1023,0,0,0,0,0,0
$GC,14101,1.23,449.5,534.0,13.3,653,14105,0.00,2.28,0.00,0.000,4,0.000,0.061,3459,3029,1022,0,0,0,0,0,0
$GC,14169,1.20,449.5,524.8,13.4,655,14173,0.12,2.25,0.00,0.000,6,0.174,0.052,3436,1623,1022,0,0,0,0,0,0
$GC,14503,1.24,449.5,481.9,12.5,666,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1623,1022,0,0,0,0,0,0
$GC,14809,1.29,449.5,443.6,12.4,676,14814,0.10,2.30,0.00,0.000,4,0.104,0.062,3481,3038,1021,0,0,0,0,0,0
$GC,14864,1.23,449.5,435.9,13.2,677,14869,0.15,2.25,0.00,0.000,6,0.176,0.052,3451,1629,1021,0,0,0,0,0,0
$GC,15188,1.25,449.5,394.3,13.2,688,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1629,1021,0,0,0,0,0,0
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$GC,17571,1.25,457.7,86.0,10.7,836,17586,0.00,2.25,7.43,0.591,6,0.000,0.046,3456,1634,996,0,0,0,0,0,0
$GC,17929,1.25,506.8,51.1,8.6,899,17985,0.00,2.42,45.08,0.656,4,0.000,0.063,3467,222,794,0,0,0,0,0,0
$GC,18056,1.23,545.1,40.6,9.2,921,18095,0.08,2.28,32.70,0.635,6,0.181,0.045,3448,1632,638,0,0,0,0,0,0
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$STATE,18369,end climb,SURFACE_DEPTH_REACHED
$STATE,18369,begin surface coast
$FINISH,1.9,1.014587
$STATE,18389,end surface coast,CONTROL_FINISHED_OK
$STATE,18389,begin surface
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$HUMID,47.55
$INTERNAL_PRESSURE,9.00115
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,22.4,62.340
$10V_AH,9.9,53.256
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.500,161.850,629.600,0.000,0.000,25.929,37.815,286.579,0.250,0.000,38.520,2457.148,12420.589,642.350,3196.441,250.617,33.379,1939.459,0.000,2796.315,0.000,1.008,0.000
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$SENSOR_SECS,630.245,1069.620,631.374,80.392,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354624
$DATA_FILE_SIZE,60306,977
$CAP_FILE_SIZE,183494,0
$CFSIZE,2097086464,2043412480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251212,212141,-4200.160,-550.110,34,1.5,34,-22.1