version: 66.07.10.p01
glider: 573
mission: 4
dive: 424
start: 1 3 113 15 7 24
data:
$ID,573
$MISSION,4
$DIVE,424
$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,-5674.0015
$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,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,30
$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,403
$GPS1,030113,145935,-4213.271,-443.267,76,0.9,76,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-64.9
$GPS2,030113,150630,-4213.232,-443.242,16,0.9,16,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.209,-0.177
$KALMAN_X,-55315.7,44.6,87.8,162430.2,-3815.2
$KALMAN_Y,-92011.4,-12.1,-938.9,59529.7,3303.6
$MHEAD_RNG_PITCHd_Wd,152.5,22040,-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,-165.4,0.0,0.0,0,58,0.00,0.00,-30.67,0.000,2,0.000,0.000,81,1884,1752,0,0,0,0,0,0
$GC,61,-0.94,-165.4,3.1,-0.6,5,164,10.93,2.35,-80.55,0.000,4,0.226,0.078,2732,3297,3538,0,0,0,0,0,0
$GC,267,-0.91,-165.4,16.2,-10.0,39,275,0.05,2.30,0.00,0.000,6,0.142,0.053,2751,1883,3539,0,0,0,0,0,0
$GC,349,-0.96,-165.4,23.9,-9.8,52,356,0.00,0.68,0.00,0.000,4,0.000,0.063,2752,1459,3540,0,0,0,0,0,0
$GC,388,-0.96,-165.4,27.6,-9.5,58,395,0.00,0.68,0.00,0.000,6,0.000,0.057,2749,1885,3539,0,0,0,0,0,0
$GC,467,-0.96,-165.4,35.1,-9.9,71,472,0.00,0.52,0.00,0.000,4,0.000,0.061,2747,2232,3540,0,0,0,0,0,0
$GC,630,-0.96,-165.4,50.5,-8.7,99,635,0.00,0.55,0.00,0.000,6,0.000,0.060,2747,1878,3540,0,0,0,0,0,0
$GC,863,-0.98,-165.4,71.2,-8.5,129,866,0.00,1.33,0.00,0.000,4,0.000,0.060,2741,2691,3540,0,0,0,0,0,0
$GC,913,-1.01,-165.4,75.9,-8.8,133,917,0.00,1.27,0.00,0.000,6,0.000,0.052,2741,1895,3540,0,0,0,0,0,0
$GC,1245,-1.04,-165.4,104.2,-9.1,163,1249,0.08,1.38,0.00,0.000,4,0.121,0.060,2698,1055,3540,0,0,0,0,0,0
$GC,1290,-0.99,-165.4,109.5,-10.7,165,1295,0.10,1.35,0.00,0.000,6,0.131,0.050,2727,1896,3540,0,0,0,0,0,0
$GC,1610,-1.01,-165.4,142.2,-10.4,186,1614,0.00,1.30,0.00,0.000,4,0.000,0.060,2721,2709,3541,0,0,0,0,0,0
$GC,1671,-1.01,-165.4,148.8,-10.3,189,1677,0.00,1.30,0.00,0.000,6,0.000,0.051,2721,1893,3541,0,0,0,0,0,0
$GC,1991,-1.01,-165.4,180.8,-10.0,210,1994,0.00,1.20,0.00,0.000,4,0.000,0.060,2716,2638,3541,0,0,0,0,0,0
$GC,2045,-1.01,-165.4,185.8,-9.8,213,2048,0.00,1.20,0.00,0.000,6,0.000,0.052,2716,1883,3541,0,0,0,0,0,0
$GC,2373,-1.01,-165.4,219.0,-10.0,231,2377,0.00,1.55,0.00,0.000,4,0.000,0.060,2709,2838,3541,0,0,0,0,0,0
$GC,2434,-1.01,-165.4,225.5,-10.3,233,2439,0.00,1.52,0.00,0.000,6,0.000,0.050,2709,1881,3541,0,0,0,0,0,0
$GC,2750,-1.01,-165.4,258.5,-10.7,249,2752,0.05,0.00,0.00,0.000,6,0.218,0.000,2721,1881,3541,0,0,0,0,0,0
$GC,3059,-1.01,-165.4,291.4,-10.6,264,3063,0.00,2.00,0.00,0.000,4,0.000,0.062,2712,3114,3541,0,0,0,0,0,0
$GC,3120,-1.01,-165.4,298.2,-11.3,266,3126,0.00,1.95,0.00,0.000,6,0.000,0.048,2712,1894,3541,0,0,0,0,0,0
$GC,3454,-1.01,-165.4,334.5,-11.2,278,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1893,3541,0,0,0,0,0,0
$GC,3760,-1.01,-165.4,369.2,-11.5,288,3764,0.00,1.73,0.00,0.000,4,0.000,0.060,2704,2968,3541,0,0,0,0,0,0
$GC,3828,-1.01,-165.4,376.9,-11.2,290,3832,0.08,1.70,0.00,0.000,6,0.171,0.050,2723,1886,3541,0,0,0,0,0,0
$GC,4168,-1.04,-165.4,413.9,-10.7,301,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1886,3541,0,0,0,0,0,0
$GC,4475,-1.07,-165.4,444.2,-9.7,311,4478,0.00,2.10,0.00,0.000,4,0.000,0.062,2714,3183,3541,0,0,0,0,0,0
$GC,4543,-1.07,-165.4,450.9,-9.8,313,4547,0.00,2.05,0.00,0.000,6,0.000,0.048,2714,1878,3540,0,0,0,0,0,0
$GC,4883,-1.07,-165.4,486.1,-10.9,324,4887,0.00,0.93,0.00,0.000,4,0.000,0.057,2710,2460,3540,0,0,0,0,0,0
$GC,4951,-1.09,-165.4,493.5,-10.7,326,4955,0.00,0.90,0.00,0.000,6,0.000,0.053,2710,1887,3540,0,0,0,0,0,0
$GC,5292,-1.09,-165.4,530.3,-10.6,337,5295,0.00,1.52,0.00,0.000,4,0.000,0.060,2703,2824,3540,0,0,0,0,0,0
$GC,5352,-1.09,-165.4,536.8,-10.2,338,5358,0.00,1.50,0.00,0.000,6,0.000,0.050,2703,1885,3539,0,0,0,0,0,0
$GC,5666,-1.09,-165.4,567.4,-9.5,349,5670,0.00,1.20,0.00,0.000,4,0.000,0.060,2698,2633,3539,0,0,0,0,0,0
$GC,5727,-1.09,-165.4,573.3,-9.3,350,5732,0.00,1.17,0.00,0.000,6,0.000,0.052,2698,1898,3538,0,0,0,0,0,0
$GC,6040,-1.09,-165.4,600.7,-8.6,361,6043,0.00,1.58,0.00,0.000,4,0.000,0.061,2691,2863,3538,0,0,0,0,0,0
$GC,6101,-1.09,-165.4,606.1,-9.6,362,6106,0.00,1.55,0.00,0.000,6,0.000,0.050,2690,1892,3538,0,0,0,0,0,0
$GC,6414,-1.09,-165.4,633.7,-9.0,373,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1892,3537,0,0,0,0,0,0
$GC,6720,-1.09,-165.4,663.3,-10.0,383,6723,0.00,2.03,0.00,0.000,4,0.000,0.063,2681,3143,3537,0,0,0,0,0,0
$GC,6780,-1.06,-165.4,669.8,-11.3,384,6786,0.10,1.98,0.00,0.000,6,0.163,0.050,2709,1890,3537,0,0,0,0,0,0
$GC,7093,-1.06,-165.4,700.8,-10.2,395,7097,0.00,0.43,0.00,0.000,4,0.000,0.063,2707,2173,3536,0,0,0,0,0,0
$GC,7251,-1.08,-165.4,717.2,-10.9,399,7254,0.00,0.43,0.00,0.000,6,0.000,0.060,2707,1893,3536,0,0,0,0,0,0
$GC,7569,-1.08,-165.4,752.0,-11.2,410,7572,0.00,0.57,0.00,0.000,4,0.000,0.060,2704,2273,3535,0,0,0,0,0,0
$GC,7606,-1.08,-165.4,756.5,-11.0,411,7611,0.00,0.62,0.00,0.000,6,0.000,0.057,2705,1878,3535,0,0,0,0,0,0
$GC,7942,-1.08,-165.4,795.1,-11.6,422,7946,0.00,0.77,0.00,0.000,4,0.000,0.061,2702,2369,3534,0,0,0,0,0,0
$GC,7991,-1.08,-165.4,801.0,-12.2,423,7996,0.00,0.77,0.00,0.000,6,0.000,0.055,2702,1884,3533,0,0,0,0,0,0
$GC,8316,-1.08,-165.4,837.8,-11.4,434,8319,0.00,0.82,0.00,0.000,4,0.000,0.060,2698,2405,3533,0,0,0,0,0,0
$GC,8404,-1.08,-165.4,848.0,-12.0,436,8409,0.00,0.82,0.00,0.000,6,0.000,0.055,2698,1892,3533,0,0,0,0,0,0
$GC,8723,-1.08,-165.4,882.9,-11.0,447,8727,0.00,1.50,0.00,0.000,4,0.000,0.063,2691,2806,3532,0,0,0,0,0,0
$GC,8791,-1.08,-165.4,890.2,-10.9,449,8795,0.00,1.48,0.00,0.000,6,0.000,0.054,2691,1890,3532,0,0,0,0,0,0
$GC,9131,-1.08,-165.4,926.5,-10.5,460,9135,0.00,0.47,0.00,0.000,4,0.000,0.062,2689,2204,3531,0,0,0,0,0,0
$GC,9233,-1.08,-165.4,937.0,-10.4,463,9237,0.03,0.47,0.00,0.000,6,0.174,0.060,2700,1894,3531,0,0,0,0,0,0
$GC,9573,-1.08,-165.4,971.5,-10.4,474,9576,0.00,1.60,0.00,0.000,4,0.000,0.063,2692,2867,3530,0,0,0,0,0,0
$GC,9628,-1.08,-165.4,977.2,-9.7,475,9632,0.00,1.58,0.00,0.000,6,0.000,0.052,2693,1888,3531,0,0,0,0,0,0
$STATE,9853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9853,begin apogee
$GC,9858,-0.28,0.0,1000.4,10.5,483,10004,0.82,0.00,142.95,1.267,6,0.114,0.000,2958,1572,2862,0,0,0,0,0,0
$STATE,10005,end apogee,CONTROL_FINISHED_OK
$STATE,10005,begin climb
$GC,10007,0.94,165.4,1011.4,0.0,488,10164,1.15,2.58,148.73,1.230,4,0.064,0.062,3368,166,2187,0,0,0,0,0,0
$GC,10265,0.78,258.1,1008.4,6.1,496,10358,0.22,2.38,84.72,1.213,6,0.161,0.045,3309,1578,1809,0,0,0,0,0,0
$GC,10682,0.78,313.7,978.3,7.6,510,10738,0.00,2.38,50.28,1.209,4,0.000,0.067,3319,222,1582,0,0,0,0,0,0
$GC,10799,0.78,345.6,968.3,8.5,512,10836,0.05,2.25,30.12,1.175,6,0.205,0.048,3307,1582,1453,0,0,0,0,0,0
$GC,11144,0.86,366.3,937.9,9.0,524,11169,0.08,2.30,19.67,1.153,4,0.121,0.060,3346,2981,1368,0,0,0,0,0,0
$GC,11247,0.86,369.1,927.3,9.7,526,11252,0.10,2.30,0.00,0.000,6,0.165,0.052,3332,1567,1364,0,0,0,0,0,0
$GC,11577,0.92,371.8,895.7,9.7,537,11587,0.00,2.20,5.50,0.864,4,0.000,0.066,3341,251,1346,0,0,0,0,0,0
$GC,11632,0.95,371.8,890.0,9.9,538,11637,0.00,2.15,0.00,0.000,6,0.000,0.050,3341,1581,1345,0,0,0,0,0,0
$GC,11945,1.01,371.8,859.3,9.8,549,11950,0.10,2.40,0.00,0.000,4,0.100,0.071,3400,160,1344,0,0,0,0,0,0
$GC,12022,0.93,371.8,850.6,10.9,551,12027,0.17,2.28,0.00,0.000,6,0.156,0.048,3352,1577,1343,0,0,0,0,0,0
$GC,12346,0.96,371.8,818.1,10.1,562,12350,0.00,2.38,0.00,0.000,4,0.000,0.070,3363,162,1343,0,0,0,0,0,0
$GC,12423,0.96,371.8,810.0,9.9,564,12428,0.00,2.30,0.00,0.000,6,0.000,0.050,3363,1571,1342,0,0,0,0,0,0
$GC,12748,0.96,373.1,777.7,9.8,575,12752,0.00,0.50,0.00,0.000,4,0.000,0.056,3362,1908,1343,0,0,0,0,0,0
$GC,12769,0.96,373.1,775.3,9.9,575,12773,0.00,0.55,0.00,0.000,6,0.000,0.064,3365,1570,1342,0,0,0,0,0,0
$GC,13088,0.98,373.1,743.7,10.0,586,13092,0.00,2.33,0.00,0.000,4,0.000,0.069,3375,166,1342,0,0,0,0,0,0
$GC,13160,0.96,373.1,736.1,10.5,588,13165,0.05,2.28,0.00,0.000,6,0.216,0.050,3363,1584,1341,0,0,0,0,0,0
$GC,13496,0.98,375.3,703.3,9.7,599,13505,0.00,0.65,4.10,0.688,4,0.000,0.067,3366,1203,1332,0,0,0,0,0,0
$GC,13613,1.01,384.3,692.1,9.4,602,13629,0.00,0.57,10.77,0.984,6,0.000,0.056,3366,1565,1294,0,0,0,0,0,0
$GC,13936,1.04,384.3,660.2,9.9,613,13940,0.05,0.82,0.00,0.000,4,0.166,0.068,3403,1075,1292,0,0,0,0,0,0
$GC,13985,1.00,384.3,654.8,11.9,614,13990,0.08,0.80,0.00,0.000,6,0.142,0.053,3378,1571,1291,0,0,0,0,0,0
$GC,14308,1.00,384.3,621.7,10.3,625,14312,0.00,0.77,0.00,0.000,4,0.000,0.064,3381,1096,1291,0,0,0,0,0,0
$GC,14357,1.00,384.3,616.4,10.5,626,14362,0.00,0.80,0.00,0.000,6,0.000,0.052,3381,1585,1291,0,0,0,0,0,0
$GC,14682,1.00,384.3,584.2,9.8,637,14686,0.00,0.98,0.00,0.000,4,0.000,0.066,3385,1000,1290,0,0,0,0,0,0
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$STATE,20211,end climb,SURFACE_DEPTH_REACHED
$STATE,20211,begin surface coast
$FINISH,2.2,1.026307
$STATE,20218,end surface coast,CONTROL_FINISHED_OK
$STATE,20218,begin surface
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$HUMID,47.51
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$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,22.2,70.433
$10V_AH,9.9,57.686
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.375,123.100,545.900,0.000,0.000,28.363,37.855,213.802,0.500,0.000,18.259,2503.948,14278.504,605.241,3070.540,248.924,33.375,1927.704,0.000,2744.708,0.000,1.009,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354584
$DATA_FILE_SIZE,56996,955
$CAP_FILE_SIZE,187730,0
$CFSIZE,2097086464,2038300672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030113,204659,-4213.818,-442.793,42,1.3,42,-22.2