version: 66.07.10.p01
glider: 573
mission: 4
dive: 420
start: 1 2 113 16 15 8
data:
$ID,573
$MISSION,4
$DIVE,420
$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,-5662.96
$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,20
$R_STBD_OVSHOOT,32
$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,399
$GPS1,020113,160652,-4211.300,-446.905,29,1.4,46,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-64.4
$GPS2,020113,161414,-4211.176,-446.757,24,1.4,24,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.252,-0.106
$KALMAN_X,-39525.3,-194.5,314.9,141805.9,-3429.4
$KALMAN_Y,-97182.8,59.1,133.4,67362.0,946.7
$MHEAD_RNG_PITCHd_Wd,135.0,28166,-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,-165.4,0.0,0.0,0,82,0.00,0.00,-53.97,0.000,2,0.000,0.000,81,1905,2144,0,0,0,0,0,0
$GC,85,-0.94,-165.4,3.1,-0.4,9,164,11.00,2.42,-57.78,0.000,4,0.231,0.077,2740,481,3539,0,0,0,0,0,0
$GC,238,-0.87,-165.4,14.4,-15.0,34,246,0.08,2.30,0.00,0.000,6,0.134,0.052,2757,1882,3540,0,0,0,0,0,0
$GC,319,-0.93,-165.4,24.1,-12.1,47,326,0.00,2.35,0.00,0.000,4,0.000,0.066,2747,3300,3540,0,0,0,0,0,0
$GC,394,-0.98,-165.4,31.2,-9.1,59,399,0.00,2.28,0.00,0.000,6,0.000,0.051,2747,1877,3540,0,0,0,0,0,0
$GC,629,-1.01,-165.4,56.9,-11.1,100,637,0.05,2.22,0.00,0.000,4,0.164,0.065,2700,3208,3540,0,0,0,0,0,0
$GC,702,-0.96,-165.4,65.2,-11.9,109,707,0.15,2.10,0.00,0.000,6,0.146,0.050,2742,1887,3541,0,0,0,0,0,0
$GC,1030,-1.01,-165.4,100.6,-10.8,139,1033,0.00,0.55,0.00,0.000,4,0.000,0.061,2740,2246,3540,0,0,0,0,0,0
$GC,1138,-1.05,-165.4,111.6,-9.5,145,1142,0.05,0.55,0.00,0.000,6,0.066,0.058,2698,1892,3541,0,0,0,0,0,0
$GC,1465,-1.03,-165.4,145.5,-10.1,166,1469,0.08,1.48,0.00,0.000,4,0.179,0.061,2711,2786,3541,0,0,0,0,0,0
$GC,1519,-1.03,-165.4,151.4,-10.3,169,1524,0.00,1.42,0.00,0.000,6,0.000,0.052,2711,1895,3541,0,0,0,0,0,0
$GC,1846,-1.03,-165.4,182.8,-10.1,190,1849,0.00,1.58,0.00,0.000,4,0.000,0.060,2704,2862,3541,0,0,0,0,0,0
$GC,1901,-1.03,-165.4,188.3,-9.4,193,1905,0.00,1.55,0.00,0.000,6,0.000,0.050,2704,1887,3541,0,0,0,0,0,0
$GC,2231,-1.03,-165.4,221.0,-10.3,211,2235,0.05,1.30,0.00,0.000,4,0.220,0.060,2710,2682,3541,0,0,0,0,0,0
$GC,2285,-1.03,-165.4,227.0,-10.0,213,2290,0.00,1.25,0.00,0.000,6,0.000,0.050,2710,1895,3541,0,0,0,0,0,0
$GC,2609,-1.03,-165.4,259.5,-10.1,229,2613,0.00,1.27,0.00,0.000,4,0.000,0.059,2704,2687,3542,0,0,0,0,0,0
$GC,2664,-1.01,-165.4,265.4,-10.3,231,2668,0.05,1.27,0.00,0.000,6,0.144,0.050,2723,1879,3541,0,0,0,0,0,0
$GC,2987,-1.01,-165.4,295.8,-9.2,247,2991,0.00,0.45,0.00,0.000,4,0.000,0.060,2721,2182,3541,0,0,0,0,0,0
$GC,3076,-1.01,-165.4,304.5,-9.7,250,3080,0.00,0.45,0.00,0.000,6,0.000,0.058,2721,1891,3542,0,0,0,0,0,0
$GC,3395,-1.01,-165.4,334.9,-9.8,261,3398,0.00,1.38,0.00,0.000,4,0.000,0.060,2715,2738,3541,0,0,0,0,0,0
$GC,3455,-1.01,-165.4,341.3,-10.3,262,3461,0.00,1.35,0.00,0.000,6,0.000,0.050,2715,1888,3542,0,0,0,0,0,0
$GC,3768,-1.01,-165.4,374.2,-10.7,273,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1888,3541,0,0,0,0,0,0
$GC,4074,-1.01,-165.4,405.2,-9.9,283,4078,0.00,1.65,0.00,0.000,4,0.000,0.060,2708,2903,3541,0,0,0,0,0,0
$GC,4129,-1.01,-165.4,410.8,-10.2,284,4134,0.05,1.62,0.00,0.000,6,0.144,0.049,2726,1881,3541,0,0,0,0,0,0
$GC,4448,-1.04,-165.4,438.9,-8.6,295,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1881,3541,0,0,0,0,0,0
$GC,4754,-1.08,-165.4,463.9,-8.0,305,4759,0.08,2.03,0.00,0.000,4,0.122,0.063,2673,3116,3541,0,0,0,0,0,0
$GC,4816,-1.02,-165.4,469.4,-9.1,306,4821,0.17,1.92,0.00,0.000,6,0.142,0.049,2724,1892,3540,0,0,0,0,0,0
$GC,5129,-1.06,-165.4,495.2,-8.4,317,5132,0.00,1.35,0.00,0.000,4,0.000,0.057,2725,1056,3540,0,0,0,0,0,0
$GC,5178,-1.06,-165.4,499.6,-8.8,318,5182,0.00,1.33,0.00,0.000,6,0.000,0.049,2718,1891,3540,0,0,0,0,0,0
$GC,5503,-1.09,-165.4,528.4,-9.1,329,5507,0.00,1.38,0.00,0.000,4,0.000,0.060,2712,2747,3540,0,0,0,0,0,0
$GC,5564,-1.09,-165.4,534.2,-9.3,330,5569,0.00,1.35,0.00,0.000,6,0.000,0.050,2712,1893,3540,0,0,0,0,0,0
$GC,5877,-1.09,-165.4,564.7,-10.3,341,5880,0.00,1.12,0.00,0.000,4,0.000,0.059,2707,2594,3539,0,0,0,0,0,0
$GC,5937,-1.09,-165.4,571.1,-10.1,342,5943,0.00,1.12,0.00,0.000,6,0.000,0.051,2707,1888,3539,0,0,0,0,0,0
$GC,6250,-1.09,-165.4,603.9,-10.5,353,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1888,3539,0,0,0,0,0,0
$GC,6557,-1.09,-165.4,635.5,-10.3,363,6560,0.00,2.28,0.00,0.000,4,0.000,0.064,2697,3295,3538,0,0,0,0,0,0
$GC,6625,-1.09,-165.4,642.5,-9.8,365,6629,0.00,2.22,0.00,0.000,6,0.000,0.050,2697,1885,3538,0,0,0,0,0,0
$GC,6960,-1.09,-165.4,677.2,-10.4,376,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1885,3537,0,0,0,0,0,0
$GC,7266,-1.09,-165.4,708.6,-10.3,386,7270,0.00,1.02,0.00,0.000,4,0.000,0.060,2693,2523,3536,0,0,0,0,0,0
$GC,7326,-1.09,-165.4,715.1,-10.4,387,7332,0.00,1.00,0.00,0.000,6,0.000,0.051,2692,1891,3536,0,0,0,0,0,0
$GC,7639,-1.09,-165.4,746.1,-10.0,398,7643,0.00,1.90,0.00,0.000,4,0.000,0.063,2684,3064,3536,0,0,0,0,0,0
$GC,7708,-1.06,-165.4,752.6,-8.9,400,7712,0.10,1.88,0.00,0.000,6,0.164,0.050,2711,1878,3535,0,0,0,0,0,0
$GC,8048,-1.06,-165.4,784.3,-9.2,411,8052,0.00,1.17,0.00,0.000,4,0.000,0.061,2706,2604,3534,0,0,0,0,0,0
$GC,8109,-1.06,-165.4,790.2,-9.8,412,8114,0.00,1.12,0.00,0.000,6,0.000,0.054,2706,1899,3534,0,0,0,0,0,0
$GC,8422,-1.06,-165.4,819.2,-9.5,423,8426,0.00,0.47,0.00,0.000,4,0.000,0.063,2704,2213,3533,0,0,0,0,0,0
$GC,8534,-1.08,-165.4,829.7,-9.8,426,8538,0.00,0.50,0.00,0.000,6,0.000,0.059,2704,1886,3533,0,0,0,0,0,0
$GC,8863,-1.08,-165.4,861.0,-9.7,437,8867,0.00,2.28,0.00,0.000,4,0.000,0.066,2693,3288,3532,0,0,0,0,0,0
$GC,8941,-1.08,-165.4,868.6,-10.0,439,8945,0.00,2.22,0.00,0.000,6,0.000,0.051,2693,1892,3532,0,0,0,0,0,0
$GC,9259,-1.08,-165.4,900.9,-10.4,450,9263,0.00,0.70,0.00,0.000,4,0.000,0.060,2690,2337,3531,0,0,0,0,0,0
$GC,9337,-1.08,-165.4,909.1,-10.2,452,9341,0.00,0.73,0.00,0.000,6,0.000,0.056,2690,1884,3531,0,0,0,0,0,0
$GC,9667,-1.08,-165.4,944.6,-11.1,463,9670,0.00,1.45,0.00,0.000,4,0.000,0.063,2684,2764,3530,0,0,0,0,0,0
$GC,9721,-1.08,-165.4,951.1,-12.2,464,9726,0.03,1.40,0.00,0.000,6,0.175,0.054,2695,1893,3531,0,0,0,0,0,0
$GC,10040,-1.08,-165.4,986.4,-11.2,475,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1893,3530,0,0,0,0,0,0
$STATE,10162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10162,begin apogee
$GC,10168,-0.28,0.0,1000.1,11.2,479,10314,0.82,0.00,142.98,1.265,6,0.118,0.000,2958,1563,2862,0,0,0,0,0,0
$STATE,10315,end apogee,CONTROL_FINISHED_OK
$STATE,10315,begin climb
$GC,10317,0.94,165.4,1012.1,0.0,484,10473,1.15,0.93,149.00,1.229,4,0.066,0.057,3358,1052,2188,0,0,0,0,0,0
$GC,10530,0.81,271.1,1012.8,5.6,490,10637,0.12,0.88,98.85,1.210,6,0.146,0.049,3321,1560,1755,0,0,0,0,0,0
$GC,10966,0.81,298.8,978.3,8.7,505,10995,0.00,0.00,25.25,1.179,6,0.000,0.000,3321,1560,1643,0,0,0,0,0,0
$GC,11303,0.84,304.5,946.3,9.6,516,11312,0.00,1.45,5.45,0.910,4,0.000,0.065,3327,682,1621,0,0,0,0,0,0
$GC,11363,0.84,314.4,940.4,9.4,517,11379,0.00,1.45,11.50,1.073,6,0.000,0.050,3328,1567,1580,0,0,0,0,0,0
$GC,11704,0.88,317.5,907.5,9.7,529,11713,0.00,0.75,3.70,0.727,4,0.000,0.067,3331,1131,1567,0,0,0,0,0,0
$GC,11806,0.91,336.0,897.8,9.1,532,11831,0.00,0.70,19.25,1.138,6,0.000,0.054,3331,1567,1491,0,0,0,0,0,0
$GC,12146,0.96,345.9,865.1,9.4,543,12161,0.08,1.50,10.25,1.039,4,0.123,0.065,3378,668,1450,0,0,0,0,0,0
$GC,12214,0.93,349.6,858.6,9.7,545,12224,0.08,1.48,4.53,0.760,6,0.138,0.050,3353,1570,1437,0,0,0,0,0,0
$GC,12556,0.95,375.7,828.0,8.8,556,12586,0.00,1.02,26.00,1.134,4,0.000,0.064,3357,944,1330,0,0,0,0,0,0
$GC,12638,0.99,405.7,820.6,8.6,558,12672,0.00,1.02,28.95,1.118,6,0.000,0.051,3357,1566,1207,0,0,0,0,0,0
$GC,12993,1.06,415.1,787.8,9.4,570,13007,0.10,0.80,9.10,1.006,4,0.099,0.055,3405,2061,1169,0,0,0,0,0,0
$GC,13035,1.04,415.1,783.2,10.6,571,13040,0.05,0.80,0.00,0.000,6,0.149,0.062,3392,1573,1167,0,0,0,0,0,0
$GC,13365,1.04,415.1,749.9,10.2,582,13368,0.00,0.70,0.00,0.000,4,0.000,0.068,3395,1138,1165,0,0,0,0,0,0
$GC,13414,1.04,415.1,744.6,10.3,583,13418,0.00,0.73,0.00,0.000,6,0.000,0.054,3395,1581,1164,0,0,0,0,0,0
$GC,13738,1.04,415.1,710.4,10.8,594,13742,0.00,0.75,0.00,0.000,4,0.000,0.067,3398,1123,1163,0,0,0,0,0,0
$GC,13781,1.04,415.1,705.7,10.7,595,13786,0.00,0.75,0.00,0.000,6,0.000,0.054,3398,1584,1163,0,0,0,0,0,0
$GC,14111,1.04,415.1,669.9,10.8,606,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1584,1162,0,0,0,0,0,0
$GC,14418,1.04,415.1,637.1,10.5,616,14419,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1584,1161,0,0,0,0,0,0
$GC,14724,1.04,415.1,605.7,10.2,626,14728,0.00,0.95,0.00,0.000,4,0.000,0.057,3398,2192,1161,0,0,0,0,0,0
$GC,14767,1.04,415.1,601.1,10.2,627,14772,0.05,1.02,0.00,0.000,6,0.225,0.059,3391,1565,1161,0,0,0,0,0,0
$GC,15097,1.06,415.1,567.5,10.2,638,15101,0.00,0.90,0.00,0.000,4,0.000,0.067,3395,1013,1161,0,0,0,0,0,0
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$STATE,20148,end climb,SURFACE_DEPTH_REACHED
$STATE,20148,begin surface coast
$FINISH,2.2,1.024534
$STATE,20174,end surface coast,CONTROL_FINISHED_OK
$STATE,20174,begin surface
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$IRIDIUM_FIX,-4158.28,-447.99,020113,101059
$TT8_MAMPS,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.50
$XPDR_PINGS,3
$24V_AH,22.3,69.602
$10V_AH,9.9,57.252
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.150,101.175,548.125,0.000,0.000,27.961,42.778,223.612,0.750,0.000,26.295,2450.341,14457.271,600.132,2938.772,239.185,33.367,1848.132,0.000,2589.675,0.000,1.008,0.000
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$SENSOR_SECS,632.220,871.987,640.721,74.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354492
$DATA_FILE_SIZE,56897,943
$CAP_FILE_SIZE,178684,0
$CFSIZE,2097086464,2038824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020113,215358,-4211.647,-446.604,39,1.1,44,-22.2