version: 66.07.10.p01
glider: 573
mission: 4
dive: 415
start: 1 1 113 11 19 1
data:
$ID,573
$MISSION,4
$DIVE,415
$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,340
$T_MISSION,355
$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,200
$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,-5649.0278
$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,18
$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,1890
$C_ROLL_CLIMB,1572
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,27
$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,394
$GPS1,010113,110435,-4209.812,-453.005,75,0.9,75,-22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-68.3
$GPS2,010113,111806,-4209.779,-453.102,53,0.9,53,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.223,-0.158
$KALMAN_X,-21704.5,-254.5,-707.8,116322.3,-1449.4
$KALMAN_Y,-101908.6,207.0,-872.3,75540.3,1385.8
$MHEAD_RNG_PITCHd_Wd,147.6,36860,-16.8,-9.804
$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,-0.94,-165.4,0.0,0.0,0,64,0.00,0.00,-36.50,0.000,2,0.000,0.000,81,1889,1849,0,0,0,0,0,0
$GC,67,-0.94,-165.4,3.0,-0.7,6,158,10.85,2.30,-72.80,0.000,4,0.226,0.073,2733,3300,3538,0,0,0,0,0,0
$GC,243,-0.91,-165.4,17.6,-15.4,35,251,0.05,2.30,0.00,0.000,6,0.146,0.051,2751,1882,3540,0,0,0,0,0,0
$GC,324,-0.94,-165.4,27.7,-12.6,48,331,0.00,2.33,0.00,0.000,4,0.000,0.062,2751,483,3540,0,0,0,0,0,0
$GC,403,-0.94,-165.4,37.1,-11.4,61,408,0.00,2.25,0.00,0.000,6,0.000,0.049,2741,1898,3540,0,0,0,0,0,0
$GC,637,-0.97,-165.4,61.5,-10.3,101,641,0.00,2.33,0.00,0.000,4,0.000,0.060,2741,480,3540,0,0,0,0,0,0
$GC,735,-0.97,-165.4,71.1,-9.9,109,739,0.00,2.22,0.00,0.000,6,0.000,0.047,2731,1890,3540,0,0,0,0,0,0
$GC,1061,-0.97,-165.4,104.0,-10.0,138,1065,0.00,2.28,0.00,0.000,4,0.000,0.062,2720,3305,3540,0,0,0,0,0,0
$GC,1133,-0.97,-165.4,111.7,-9.8,142,1142,0.03,2.25,0.00,0.000,6,0.165,0.050,2731,1895,3541,0,0,0,0,0,0
$GC,1454,-0.97,-165.4,142.6,-10.0,163,1458,0.00,2.03,0.00,0.000,4,0.000,0.060,2722,3160,3541,0,0,0,0,0,0
$GC,1515,-0.97,-165.4,149.0,-10.1,166,1523,0.00,2.03,0.00,0.000,6,0.000,0.048,2722,1885,3541,0,0,0,0,0,0
$GC,1837,-0.97,-165.4,179.5,-9.6,187,1841,0.05,0.93,0.00,0.000,4,0.220,0.059,2729,2461,3541,0,0,0,0,0,0
$GC,1910,-1.01,-165.4,186.7,-9.3,191,1913,0.00,0.90,0.00,0.000,6,0.000,0.054,2729,1892,3541,0,0,0,0,0,0
$GC,2228,-1.03,-165.4,215.9,-9.4,209,2232,0.00,1.92,0.00,0.000,4,0.000,0.060,2721,3092,3541,0,0,0,0,0,0
$GC,2283,-1.03,-165.4,221.3,-9.5,211,2287,0.00,1.92,0.00,0.000,6,0.000,0.048,2721,1880,3541,0,0,0,0,0,0
$GC,2604,-1.03,-165.4,252.4,-10.3,227,2608,0.00,1.92,0.00,0.000,4,0.000,0.058,2721,667,3541,0,0,0,0,0,0
$GC,2654,-1.00,-165.4,258.0,-10.8,229,2658,0.00,1.95,0.00,0.000,6,0.000,0.047,2712,1890,3541,0,0,0,0,0,0
$GC,2981,-1.00,-165.4,294.1,-11.3,245,2986,0.05,2.22,0.00,0.000,4,0.226,0.060,2713,3277,3541,0,0,0,0,0,0
$GC,3042,-1.00,-165.4,301.0,-11.1,247,3047,0.00,2.20,0.00,0.000,6,0.000,0.047,2714,1890,3541,0,0,0,0,0,0
$GC,3355,-1.00,-165.4,335.8,-11.0,258,3358,0.00,1.12,0.00,0.000,4,0.000,0.059,2708,2590,3541,0,0,0,0,0,0
$GC,3404,-1.00,-165.4,341.4,-11.2,259,3409,0.03,1.10,0.00,0.000,6,0.155,0.050,2719,1893,3541,0,0,0,0,0,0
$GC,3728,-1.00,-165.4,373.9,-9.9,270,3731,0.00,0.43,0.00,0.000,4,0.000,0.061,2719,1606,3541,0,0,0,0,0,0
$GC,3766,-1.00,-165.4,377.9,-9.5,271,3770,0.00,0.45,0.00,0.000,6,0.000,0.057,2718,1893,3541,0,0,0,0,0,0
$GC,4102,-1.00,-165.4,408.8,-9.1,282,4106,0.00,2.25,0.00,0.000,4,0.000,0.061,2707,3296,3541,0,0,0,0,0,0
$GC,4198,-1.00,-165.4,417.6,-8.7,285,4203,0.08,2.22,0.00,0.000,6,0.174,0.047,2726,1878,3540,0,0,0,0,0,0
$GC,4534,-1.03,-165.4,448.9,-9.4,296,4538,0.00,1.52,0.00,0.000,4,0.000,0.059,2720,2822,3540,0,0,0,0,0,0
$GC,4590,-1.06,-165.4,454.8,-10.4,297,4594,0.00,1.48,0.00,0.000,6,0.000,0.050,2720,1894,3540,0,0,0,0,0,0
$GC,4908,-1.06,-165.4,486.4,-10.0,308,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1894,3539,0,0,0,0,0,0
$GC,5215,-1.09,-165.4,516.5,-9.9,318,5219,0.05,2.28,0.00,0.000,4,0.164,0.061,2671,3293,3539,0,0,0,0,0,0
$GC,5269,-1.02,-165.4,522.4,-10.0,319,5275,0.12,2.22,0.00,0.000,6,0.134,0.048,2713,1892,3539,0,0,0,0,0,0
$GC,5582,-1.02,-165.4,556.0,-11.3,330,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1892,3539,0,0,0,0,0,0
$GC,5888,-1.02,-165.4,592.4,-12.0,340,5892,0.00,2.28,0.00,0.000,4,0.000,0.062,2703,3298,3538,0,0,0,0,0,0
$GC,5954,-1.02,-165.4,600.6,-12.1,342,5959,0.03,2.25,0.00,0.000,6,0.158,0.048,2714,1881,3538,0,0,0,0,0,0
$GC,6289,-1.02,-165.4,637.2,-10.5,353,6293,0.00,0.73,0.00,0.000,4,0.000,0.058,2711,2348,3537,0,0,0,0,0,0
$GC,6367,-1.05,-165.4,645.0,-10.2,355,6371,0.00,0.70,0.00,0.000,6,0.000,0.053,2711,1895,3537,0,0,0,0,0,0
$GC,6697,-1.05,-165.4,676.4,-9.3,366,6701,0.00,1.40,0.00,0.000,4,0.000,0.060,2705,2761,3536,0,0,0,0,0,0
$GC,6752,-1.05,-165.4,681.8,-8.7,367,6756,0.00,1.40,0.00,0.000,6,0.000,0.050,2705,1884,3536,0,0,0,0,0,0
$GC,7071,-1.05,-165.4,710.2,-8.8,378,7075,0.00,2.22,0.00,0.000,4,0.000,0.063,2694,3245,3535,0,0,0,0,0,0
$GC,7133,-1.05,-165.4,715.5,-8.5,380,7137,0.08,2.12,0.00,0.000,6,0.175,0.050,2713,1890,3535,0,0,0,0,0,0
$GC,7473,-1.05,-165.4,744.6,-8.6,391,7477,0.00,0.90,0.00,0.000,4,0.000,0.060,2709,2452,3534,0,0,0,0,0,0
$GC,7523,-1.05,-165.4,749.1,-9.4,392,7527,0.00,0.88,0.00,0.000,6,0.000,0.054,2710,1893,3534,0,0,0,0,0,0
$GC,7847,-1.05,-165.4,778.2,-9.2,403,7851,0.00,0.88,0.00,0.000,4,0.000,0.060,2706,2440,3533,0,0,0,0,0,0
$GC,7907,-1.05,-165.4,784.1,-10.0,404,7913,0.00,0.90,0.00,0.000,6,0.000,0.054,2706,1879,3533,0,0,0,0,0,0
$GC,8221,-1.05,-165.4,815.2,-10.2,415,8225,0.00,2.30,0.00,0.000,4,0.000,0.064,2695,3290,3532,0,0,0,0,0,0
$GC,8293,-1.05,-165.4,823.0,-10.3,417,8297,0.08,2.22,0.00,0.000,6,0.174,0.051,2714,1890,3531,0,0,0,0,0,0
$GC,8622,-1.07,-165.4,856.7,-10.5,428,8626,0.00,1.85,0.00,0.000,4,0.000,0.063,2706,3034,3531,0,0,0,0,0,0
$GC,8683,-1.07,-165.4,863.0,-9.7,429,8688,0.00,1.85,0.00,0.000,6,0.000,0.052,2706,1888,3530,0,0,0,0,0,0
$GC,8996,-1.07,-165.4,893.0,-9.3,440,9000,0.00,1.83,0.00,0.000,4,0.000,0.063,2698,3013,3530,0,0,0,0,0,0
$GC,9068,-1.07,-165.4,899.9,-8.8,442,9072,0.00,1.80,0.00,0.000,6,0.000,0.052,2698,1895,3530,0,0,0,0,0,0
$GC,9404,-1.07,-165.4,930.4,-9.1,453,9408,0.00,2.25,0.00,0.000,4,0.000,0.064,2687,3289,3529,0,0,0,0,0,0
$GC,9509,-1.05,-165.4,940.4,-9.2,456,9514,0.10,2.22,0.00,0.000,6,0.167,0.052,2714,1890,3529,0,0,0,0,0,0
$GC,9833,-1.08,-165.4,970.4,-9.5,467,9837,0.00,2.30,0.00,0.000,4,0.000,0.064,2704,3296,3528,0,0,0,0,0,0
$GC,9901,-1.08,-165.4,977.0,-9.2,469,9905,0.00,2.25,0.00,0.000,6,0.000,0.051,2704,1883,3528,0,0,0,0,0,0
$STATE,10142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10143,begin apogee
$GC,10148,-0.28,0.0,1001.6,10.3,477,10294,0.80,0.00,143.05,1.258,6,0.118,0.000,2959,1572,2862,0,0,0,0,0,0
$STATE,10295,end apogee,CONTROL_FINISHED_OK
$STATE,10295,begin climb
$GC,10297,0.94,165.4,1012.3,0.0,482,10454,1.12,0.00,150.93,1.221,6,0.062,0.000,3349,1571,2187,0,0,0,0,0,0
$GC,10756,0.82,281.3,1000.9,5.2,497,10867,0.12,1.17,103.60,1.219,4,0.181,0.062,3323,914,1714,0,0,0,0,0,0
$GC,10895,0.80,356.6,992.5,6.8,501,10972,0.00,1.10,71.57,1.191,6,0.000,0.049,3322,1559,1408,0,0,0,0,0,0
$GC,11279,0.87,401.8,962.4,8.0,514,11328,0.00,2.45,42.15,1.182,4,0.000,0.060,3323,2979,1222,0,0,0,0,0,0
$GC,11401,0.94,431.6,951.9,8.6,517,11438,0.08,2.30,28.95,1.157,6,0.121,0.055,3371,1573,1101,0,0,0,0,0,0
$GC,11744,0.99,431.6,917.8,10.3,529,11748,0.00,2.38,0.00,0.000,4,0.000,0.070,3382,160,1092,0,0,0,0,0,0
$GC,11794,0.99,433.3,912.5,9.7,530,11798,0.00,2.30,0.00,0.000,6,0.000,0.048,3382,1581,1092,0,0,0,0,0,0
$GC,12118,1.02,433.3,879.3,10.4,541,12122,0.00,1.20,0.00,0.000,4,0.000,0.054,3382,2340,1090,0,0,0,0,0,0
$GC,12156,1.02,433.3,875.0,10.6,542,12161,0.00,1.25,0.00,0.000,6,0.000,0.057,3387,1571,1090,0,0,0,0,0,0
$GC,12492,1.05,433.3,839.1,10.8,553,12496,0.00,1.90,0.00,0.000,4,0.000,0.068,3396,420,1089,0,0,0,0,0,0
$GC,12541,1.05,433.3,833.5,11.2,554,12546,0.00,1.85,0.00,0.000,6,0.000,0.050,3395,1564,1089,0,0,0,0,0,0
$GC,12866,1.05,433.3,796.4,11.6,565,12870,0.00,2.28,0.00,0.000,4,0.000,0.060,3396,2976,1089,0,0,0,0,0,0
$GC,12928,1.05,433.3,789.3,11.2,567,12932,0.05,2.25,0.00,0.000,6,0.228,0.053,3393,1565,1089,0,0,0,0,0,0
$GC,13267,1.05,433.3,750.9,11.2,578,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1565,1089,0,0,0,0,0,0
$GC,13574,1.07,433.3,717.1,10.8,588,13578,0.00,0.45,0.00,0.000,4,0.000,0.060,3393,1860,1088,0,0,0,0,0,0
$GC,13642,1.07,433.3,709.8,10.8,590,13646,0.00,0.45,0.00,0.000,6,0.000,0.067,3395,1576,1088,0,0,0,0,0,0
$GC,13983,1.07,433.3,672.2,10.8,601,13986,0.00,1.10,0.00,0.000,4,0.000,0.057,3395,2270,1088,0,0,0,0,0,0
$GC,14043,1.07,433.3,665.5,11.8,602,14049,0.00,1.12,0.00,0.000,6,0.000,0.057,3400,1571,1088,0,0,0,0,0,0
$GC,14356,1.07,433.3,630.6,11.5,613,14360,0.00,1.00,0.00,0.000,4,0.000,0.058,3401,2200,1088,0,0,0,0,0,0
$GC,14411,1.07,433.3,623.9,12.1,614,14415,0.00,1.02,0.00,0.000,6,0.000,0.059,3404,1573,1088,0,0,0,0,0,0
$GC,14730,1.07,433.3,588.4,11.1,625,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1573,1088,0,0,0,0,0,0
$GC,15036,1.07,433.3,554.3,11.4,635,15040,0.00,0.50,0.00,0.000,4,0.000,0.060,3405,1897,1088,0,0,0,0,0,0
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$STATE,20043,end climb,SURFACE_DEPTH_REACHED
$STATE,20043,begin surface coast
$FINISH,2.0,1.012405
$STATE,20097,end surface coast,CONTROL_FINISHED_OK
$STATE,20097,begin surface
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$HUMID,47.32
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$TCM_TEMP,15.40
$XPDR_PINGS,3
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$10V_AH,9.9,56.715
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.675,140.925,570.850,0.000,0.000,52.760,78.292,422.226,0.750,0.000,55.241,2462.073,14299.925,642.762,3306.434,268.182,33.369,1939.660,0.000,2674.483,0.000,1.007,0.000
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$MEM,354588
$DATA_FILE_SIZE,57036,944
$CAP_FILE_SIZE,185961,0
$CFSIZE,2097086464,2039480320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010113,165629,-4210.272,-451.556,38,1.5,38,-22.2