version: 66.07.10.p01
glider: 573
mission: 4
dive: 399
start: 12 28 112 18 49 6
data:
$ID,573
$MISSION,4
$DIVE,399
$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,170
$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,220
$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,-5600.4971
$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,19
$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,1870
$C_ROLL_CLIMB,1580
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,22
$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,378
$GPS1,281212,184029,-4209.564,-517.936,64,0.8,64,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-62.9
$GPS2,281212,184812,-4209.597,-517.834,31,0.9,31,-22.1
$SPEED_LIMITS,0.192,0.285
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.125,0.256
$KALMAN_X,-18771.4,297.3,-189.9,78241.2,-255.6
$KALMAN_Y,-54839.6,-273.5,-312.9,28743.5,-3157.6
$MHEAD_RNG_PITCHd_Wd,48.2,30305,-18.7,-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,-0.99,-165.4,0.0,0.0,0,105,0.00,0.00,-77.28,0.000,2,0.000,0.000,81,1877,2552,0,0,0,0,0,0
$GC,108,-0.99,-165.4,3.0,-0.8,13,164,11.35,2.38,-37.47,0.000,4,0.244,0.075,2728,455,3538,0,0,0,0,0,0
$GC,255,-0.99,-165.4,15.4,-12.6,37,262,0.00,2.33,0.00,0.000,6,0.000,0.050,2717,1869,3539,0,0,0,0,0,0
$GC,335,-1.06,-165.4,26.6,-14.0,50,342,0.00,0.80,0.00,0.000,4,0.000,0.063,2714,2383,3540,0,0,0,0,0,0
$GC,351,-1.09,-165.4,28.2,-11.1,52,359,0.00,0.82,0.00,0.000,6,0.000,0.057,2714,1865,3540,0,0,0,0,0,0
$GC,431,-1.05,-165.4,33.2,-4.6,65,436,0.00,1.62,0.00,0.000,4,0.000,0.063,2714,887,3540,0,0,0,0,0,0
$GC,490,-0.99,-165.4,39.8,-13.4,75,496,0.10,1.62,0.00,0.000,6,0.191,0.051,2730,1880,3540,0,0,0,0,0,0
$GC,724,-0.99,-165.4,63.1,-8.7,116,729,0.00,1.33,0.00,0.000,4,0.000,0.062,2725,2701,3540,0,0,0,0,0,0
$GC,758,-1.01,-165.4,66.1,-8.8,122,763,0.00,1.35,0.00,0.000,6,0.000,0.054,2725,1860,3541,0,0,0,0,0,0
$GC,1112,-1.06,-165.4,101.7,-10.8,183,1116,0.00,1.20,0.00,0.000,4,0.000,0.063,2719,2606,3541,0,0,0,0,0,0
$GC,1202,-1.10,-165.4,111.6,-10.6,188,1206,0.03,1.17,0.00,0.000,6,0.098,0.054,2688,1870,3541,0,0,0,0,0,0
$GC,1529,-1.10,-165.4,144.7,-10.4,209,1533,0.00,2.28,0.00,0.000,4,0.000,0.064,2678,3278,3542,0,0,0,0,0,0
$GC,1584,-1.06,-165.4,151.0,-10.1,212,1589,0.10,2.22,0.00,0.000,6,0.172,0.050,2704,1867,3542,0,0,0,0,0,0
$GC,1904,-1.06,-165.4,182.4,-10.0,232,1908,0.00,0.90,0.00,0.000,4,0.000,0.060,2700,2436,3542,0,0,0,0,0,0
$GC,1966,-1.09,-165.4,189.0,-10.1,235,1971,0.00,0.90,0.00,0.000,6,0.000,0.054,2700,1865,3542,0,0,0,0,0,0
$GC,2285,-1.09,-165.4,222.4,-10.6,256,2289,0.00,2.28,0.00,0.000,4,0.000,0.063,2689,3282,3542,0,0,0,0,0,0
$GC,2352,-1.09,-165.4,229.7,-10.6,260,2356,0.00,2.22,0.00,0.000,6,0.000,0.049,2689,1866,3542,0,0,0,0,0,0
$GC,2670,-1.09,-165.4,264.0,-11.0,278,2673,0.00,0.62,0.00,0.000,4,0.000,0.060,2686,2273,3542,0,0,0,0,0,0
$GC,2742,-1.09,-165.4,272.4,-11.5,281,2746,0.00,0.65,0.00,0.000,6,0.000,0.056,2686,1859,3542,0,0,0,0,0,0
$GC,3071,-1.09,-165.4,309.1,-11.3,297,3073,0.05,0.00,0.00,0.000,6,0.226,0.000,2697,1859,3542,0,0,0,0,0,0
$GC,3379,-1.09,-165.4,342.1,-10.4,312,3383,0.00,2.28,0.00,0.000,4,0.000,0.063,2687,3280,3542,0,0,0,0,0,0
$GC,3457,-1.09,-165.4,350.3,-10.1,315,3463,0.00,2.20,0.00,0.000,6,0.000,0.049,2687,1869,3542,0,0,0,0,0,0
$GC,3775,-1.09,-165.4,382.6,-10.3,331,3780,0.03,1.27,0.00,0.000,4,0.269,0.059,2696,1082,3542,0,0,0,0,0,0
$GC,3813,-1.09,-165.4,386.9,-10.4,332,3821,0.00,1.25,0.00,0.000,6,0.000,0.050,2690,1867,3542,0,0,0,0,0,0
$GC,4127,-1.09,-165.4,419.4,-10.5,345,4132,0.00,2.28,0.00,0.000,4,0.000,0.063,2680,3284,3542,0,0,0,0,0,0
$GC,4194,-1.06,-165.4,426.7,-9.9,347,4199,0.10,2.22,0.00,0.000,6,0.162,0.050,2707,1869,3541,0,0,0,0,0,0
$GC,4524,-1.10,-165.4,461.1,-10.7,358,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1869,3541,0,0,0,0,0,0
$GC,4830,-1.13,-165.4,491.4,-9.6,368,4834,0.00,2.30,0.00,0.000,4,0.000,0.063,2696,3283,3541,0,0,0,0,0,0
$GC,4892,-1.13,-165.4,497.4,-9.8,370,4896,0.00,2.22,0.00,0.000,6,0.000,0.049,2696,1866,3541,0,0,0,0,0,0
$GC,5227,-1.15,-165.4,526.7,-8.5,381,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1866,3541,0,0,0,0,0,0
$GC,5533,-1.15,-165.4,552.5,-8.2,391,5537,0.00,2.28,0.00,0.000,4,0.000,0.064,2686,3278,3540,0,0,0,0,0,0
$GC,5604,-1.15,-165.4,558.9,-8.6,393,5608,0.00,2.22,0.00,0.000,6,0.000,0.050,2686,1867,3540,0,0,0,0,0,0
$GC,5934,-1.15,-165.4,592.0,-10.7,404,5938,0.00,0.60,0.00,0.000,4,0.000,0.061,2683,2260,3539,0,0,0,0,0,0
$GC,6037,-1.15,-165.4,602.7,-10.2,407,6040,0.00,0.60,0.00,0.000,6,0.000,0.058,2683,1869,3539,0,0,0,0,0,0
$GC,6377,-1.15,-165.4,640.1,-11.0,418,6381,0.00,2.28,0.00,0.000,4,0.000,0.064,2674,3272,3538,0,0,0,0,0,0
$GC,6474,-1.12,-165.4,650.9,-10.9,421,6479,0.05,2.20,0.00,0.000,6,0.207,0.051,2686,1863,3538,0,0,0,0,0,0
$GC,6809,-1.12,-165.4,687.2,-10.7,432,6813,0.00,2.30,0.00,0.000,4,0.000,0.065,2676,3274,3537,0,0,0,0,0,0
$GC,6871,-1.12,-165.4,694.0,-10.8,434,6875,0.00,2.22,0.00,0.000,6,0.000,0.051,2676,1865,3536,0,0,0,0,0,0
$GC,7206,-1.12,-165.4,727.7,-9.7,445,7210,0.00,2.28,0.00,0.000,4,0.000,0.065,2666,3273,3536,0,0,0,0,0,0
$GC,7284,-1.09,-165.4,735.6,-10.0,447,7288,0.12,2.20,0.00,0.000,6,0.160,0.051,2699,1868,3535,0,0,0,0,0,0
$GC,7602,-1.12,-165.4,765.5,-9.7,458,7606,0.00,0.90,0.00,0.000,4,0.000,0.061,2696,2429,3535,0,0,0,0,0,0
$GC,7652,-1.16,-165.4,770.6,-10.0,459,7656,0.03,0.88,0.00,0.000,6,0.096,0.056,2666,1876,3535,0,0,0,0,0,0
$GC,7976,-1.14,-165.4,804.4,-10.6,470,7980,0.08,2.17,0.00,0.000,4,0.200,0.065,2672,3202,3534,0,0,0,0,0,0
$GC,8025,-1.14,-165.4,809.8,-10.6,471,8029,0.00,2.15,0.00,0.000,6,0.000,0.051,2672,1844,3534,0,0,0,0,0,0
$GC,8344,-1.14,-165.4,842.9,-10.5,482,8348,0.00,2.33,0.00,0.000,4,0.000,0.065,2662,3277,3533,0,0,0,0,0,0
$GC,8416,-1.10,-165.4,850.9,-11.2,484,8420,0.12,2.25,0.00,0.000,6,0.161,0.050,2695,1858,3533,0,0,0,0,0,0
$GC,8746,-1.12,-165.4,885.9,-10.8,495,8750,0.00,2.33,0.00,0.000,4,0.000,0.066,2685,3280,3532,0,0,0,0,0,0
$GC,8818,-1.12,-165.4,894.2,-10.9,497,8822,0.00,2.25,0.00,0.000,6,0.000,0.050,2685,1861,3532,0,0,0,0,0,0
$GC,9148,-1.12,-165.4,930.6,-11.0,508,9152,0.00,2.30,0.00,0.000,4,0.000,0.066,2675,3277,3531,0,0,0,0,0,0
$GC,9224,-1.12,-165.4,939.3,-11.3,510,9229,0.00,2.25,0.00,0.000,6,0.000,0.052,2675,1875,3531,0,0,0,0,0,0
$GC,9549,-1.12,-165.4,974.1,-10.6,521,9554,0.05,2.35,0.00,0.000,4,0.226,0.063,2685,455,3530,0,0,0,0,0,0
$GC,9626,-1.08,-165.4,982.9,-11.1,523,9631,0.10,2.28,0.00,0.000,6,0.177,0.050,2701,1873,3530,0,0,0,0,0,0
$STATE,9764,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9764,begin apogee
$GC,9770,-0.26,0.0,996.5,9.8,528,9916,0.82,0.00,142.50,1.261,6,0.125,0.000,2960,1580,2862,0,0,0,0,0,0
$STATE,9917,end apogee,CONTROL_FINISHED_OK
$STATE,9917,begin climb
$GC,9919,0.99,165.4,1006.0,0.0,533,10076,1.20,2.60,148.65,1.226,4,0.070,0.063,3379,170,2187,0,0,0,0,0,0
$GC,10221,0.85,257.1,996.6,7.0,542,10313,0.20,2.35,82.93,1.210,6,0.167,0.047,3329,1578,1812,0,0,0,0,0,0
$GC,10632,0.86,315.1,962.2,8.5,556,10692,0.00,2.53,51.85,1.203,4,0.000,0.069,3339,175,1576,0,0,0,0,0,0
$GC,10787,0.88,353.9,947.9,9.4,560,10828,0.00,2.33,35.90,1.176,6,0.000,0.050,3339,1586,1419,0,0,0,0,0,0
$GC,11158,0.97,403.7,913.9,8.9,573,11210,0.08,2.35,45.40,1.183,4,0.122,0.060,3377,2987,1216,0,0,0,0,0,0
$GC,11265,0.97,435.1,903.3,9.7,576,11302,0.08,2.33,30.48,1.148,6,0.187,0.054,3371,1582,1088,0,0,0,0,0,0
$GC,11615,1.08,483.0,871.0,9.0,588,11666,0.10,2.47,44.55,1.161,4,0.099,0.071,3431,164,891,0,0,0,0,0,0
$GC,11706,1.08,483.8,861.1,11.1,591,11711,0.12,2.35,0.00,0.000,6,0.160,0.050,3399,1581,886,0,0,0,0,0,0
$GC,12042,1.18,499.8,826.4,10.4,602,12063,0.10,2.33,15.25,1.069,4,0.099,0.062,3446,2990,823,0,0,0,0,0,0
$GC,12125,1.18,499.8,816.4,11.7,604,12130,0.10,2.33,0.00,0.000,6,0.172,0.057,3432,1573,822,0,0,0,0,0,0
$GC,12437,1.23,499.8,779.7,12.0,614,12442,0.00,2.35,0.00,0.000,4,0.000,0.071,3443,173,818,0,0,0,0,0,0
$GC,12487,1.23,499.8,773.4,11.5,615,12491,0.00,2.30,0.00,0.000,6,0.000,0.051,3443,1575,818,0,0,0,0,0,0
$GC,12806,1.27,499.8,732.8,12.9,626,12810,0.00,2.28,0.00,0.000,4,0.000,0.063,3443,2984,817,0,0,0,0,0,0
$GC,12877,1.27,499.8,722.6,13.7,628,12881,0.00,2.30,0.00,0.000,6,0.000,0.057,3453,1572,816,0,0,0,0,0,0
$GC,13213,1.29,499.8,675.8,14.3,639,13217,0.00,0.77,0.00,0.000,4,0.000,0.060,3453,2062,816,0,0,0,0,0,0
$GC,13253,1.31,499.8,670.1,15.4,640,13257,0.00,0.77,0.00,0.000,6,0.000,0.064,3457,1582,816,0,0,0,0,0,0
$GC,13588,1.31,499.8,623.3,13.7,651,13591,0.00,1.52,0.00,0.000,4,0.000,0.063,3457,2516,816,0,0,0,0,0,0
$GC,13626,1.31,499.8,617.9,13.3,652,13630,0.00,1.52,0.00,0.000,6,0.000,0.059,3464,1581,816,0,0,0,0,0,0
$GC,13961,1.31,499.8,575.6,12.3,663,13965,0.00,0.85,0.00,0.000,4,0.000,0.060,3464,2112,815,0,0,0,0,0,0
$GC,14005,1.31,499.8,570.2,11.8,664,14009,0.00,0.85,0.00,0.000,6,0.000,0.061,3468,1585,815,0,0,0,0,0,0
$GC,14335,1.31,499.8,530.1,12.1,675,14336,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1585,815,0,0,0,0,0,0
$GC,14641,1.31,499.8,491.8,12.7,685,14645,0.00,1.20,0.00,0.000,4,0.000,0.062,3468,2322,815,0,0,0,0,0,0
$GC,14675,1.31,499.8,487.4,13.3,686,14679,0.00,1.20,0.00,0.000,6,0.000,0.060,3473,1580,815,0,0,0,0,0,0
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$STATE,18683,end climb,SURFACE_DEPTH_REACHED
$STATE,18683,begin surface coast
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$STATE,18708,end surface coast,CONTROL_FINISHED_OK
$STATE,18708,begin surface
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$HUMID,47.28
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$TCM_TEMP,15.70
$XPDR_PINGS,1
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$10V_AH,9.9,54.899
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354584
$DATA_FILE_SIZE,60213,998
$CAP_FILE_SIZE,185291,0
$CFSIZE,2097086464,2041577472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291212,000351,-4210.294,-515.392,42,3.7,61,-22.1