version: 66.07.10.p01
glider: 573
mission: 4
dive: 428
start: 1 4 113 14 28 59
data:
$ID,573
$MISSION,4
$DIVE,428
$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,-5683.3188
$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,26
$R_STBD_OVSHOOT,23
$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,407
$GPS1,040113,142035,-4215.795,-439.526,40,0.9,40,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-69.5
$GPS2,040113,142805,-4215.803,-439.525,35,0.9,35,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.212,-0.172
$KALMAN_X,-69106.7,-138.9,-289.8,181905.6,-2383.5
$KALMAN_Y,-88989.4,94.5,-915.1,51619.1,2359.9
$MHEAD_RNG_PITCHd_Wd,151.2,15182,-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,-36.70,0.000,2,0.000,0.000,77,1886,1939,0,0,0,0,0,0
$GC,67,-0.94,-165.4,3.1,-0.6,6,152,10.85,2.35,-68.88,0.000,4,0.224,0.079,2730,3300,3536,0,0,0,0,0,0
$GC,262,-0.94,-165.4,14.3,-9.4,38,270,0.03,2.30,0.00,0.000,6,0.155,0.053,2741,1886,3538,0,0,0,0,0,0
$GC,343,-0.94,-165.4,22.1,-10.6,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1886,3538,0,0,0,0,0,0
$GC,422,-0.94,-165.4,30.3,-10.5,64,429,0.00,1.05,0.00,0.000,4,0.000,0.063,2737,2531,3539,0,0,0,0,0,0
$GC,482,-0.97,-165.4,36.7,-10.2,74,489,0.00,1.02,0.00,0.000,6,0.000,0.055,2737,1898,3539,0,0,0,0,0,0
$GC,722,-0.99,-165.4,62.8,-11.0,114,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1897,3539,0,0,0,0,0,0
$GC,1041,-0.99,-165.4,97.6,-10.5,144,1044,0.00,1.08,0.00,0.000,4,0.000,0.062,2732,2568,3539,0,0,0,0,0,0
$GC,1096,-0.99,-165.4,103.3,-9.8,148,1101,0.00,1.10,0.00,0.000,6,0.000,0.054,2732,1886,3539,0,0,0,0,0,0
$GC,1425,-1.02,-165.4,133.3,-8.8,169,1429,0.00,0.85,0.00,0.000,4,0.000,0.062,2728,2418,3540,0,0,0,0,0,0
$GC,1503,-1.05,-165.4,140.1,-8.1,173,1508,0.00,0.82,0.00,0.000,6,0.000,0.055,2728,1893,3540,0,0,0,0,0,0
$GC,1825,-1.08,-165.4,163.8,-7.3,194,1829,0.08,1.92,0.00,0.000,4,0.122,0.061,2673,3075,3540,0,0,0,0,0,0
$GC,1893,-1.03,-165.4,169.5,-7.7,198,1898,0.15,1.88,0.00,0.000,6,0.151,0.050,2717,1887,3540,0,0,0,0,0,0
$GC,2226,-1.03,-165.4,195.7,-8.4,219,2230,0.00,1.98,0.00,0.000,4,0.000,0.062,2708,3107,3540,0,0,0,0,0,0
$GC,2310,-1.03,-165.4,203.6,-8.9,223,2315,0.00,1.95,0.00,0.000,6,0.000,0.050,2708,1892,3540,0,0,0,0,0,0
$GC,2627,-1.03,-165.4,234.9,-10.6,239,2631,0.00,1.25,0.00,0.000,4,0.000,0.059,2703,2670,3541,0,0,0,0,0,0
$GC,2699,-1.03,-165.4,243.0,-10.9,242,2704,0.03,1.25,0.00,0.000,6,0.167,0.051,2714,1882,3541,0,0,0,0,0,0
$GC,3026,-1.03,-165.4,278.1,-10.9,258,3030,0.00,1.85,0.00,0.000,4,0.000,0.061,2705,3025,3540,0,0,0,0,0,0
$GC,3095,-1.03,-165.4,285.5,-10.8,261,3099,0.00,1.80,0.00,0.000,6,0.000,0.050,2705,1895,3541,0,0,0,0,0,0
$GC,3425,-1.03,-165.4,322.2,-11.3,274,3429,0.00,0.43,0.00,0.000,4,0.000,0.060,2703,2180,3541,0,0,0,0,0,0
$GC,3564,-1.03,-165.4,337.8,-11.1,278,3568,0.05,0.47,0.00,0.000,6,0.207,0.059,2716,1876,3541,0,0,0,0,0,0
$GC,3899,-1.03,-165.4,373.7,-10.5,289,3903,0.00,1.60,0.00,0.000,4,0.000,0.060,2709,2861,3540,0,0,0,0,0,0
$GC,3967,-1.03,-165.4,380.7,-9.8,291,3971,0.00,1.55,0.00,0.000,6,0.000,0.050,2709,1889,3540,0,0,0,0,0,0
$GC,4308,-1.03,-165.4,414.2,-9.5,302,4312,0.00,0.73,0.00,0.000,4,0.000,0.059,2705,2351,3540,0,0,0,0,0,0
$GC,4363,-1.03,-165.4,419.3,-8.9,303,4367,0.00,0.73,0.00,0.000,6,0.000,0.055,2706,1886,3540,0,0,0,0,0,0
$GC,4682,-1.03,-165.4,448.5,-9.3,314,4686,0.00,0.57,0.00,0.000,4,0.000,0.061,2704,2260,3540,0,0,0,0,0,0
$GC,4754,-1.03,-165.4,455.3,-8.9,316,4758,0.05,0.60,0.00,0.000,6,0.206,0.056,2716,1877,3540,0,0,0,0,0,0
$GC,5089,-1.05,-165.4,485.8,-9.2,327,5093,0.00,0.62,0.00,0.000,4,0.000,0.060,2714,2290,3539,0,0,0,0,0,0
$GC,5145,-1.05,-165.4,491.2,-9.7,328,5149,0.00,0.62,0.00,0.000,6,0.000,0.057,2714,1886,3539,0,0,0,0,0,0
$GC,5463,-1.05,-165.4,521.2,-9.6,339,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1886,3539,0,0,0,0,0,0
$GC,5770,-1.05,-165.4,551.2,-9.6,349,5773,0.00,1.98,0.00,0.000,4,0.000,0.063,2705,3104,3538,0,0,0,0,0,0
$GC,5830,-1.05,-165.4,557.3,-9.9,350,5836,0.00,1.95,0.00,0.000,6,0.000,0.051,2705,1892,3538,0,0,0,0,0,0
$GC,6144,-1.05,-165.4,586.9,-9.3,361,6148,0.00,0.75,0.00,0.000,4,0.000,0.061,2701,2371,3537,0,0,0,0,0,0
$GC,6205,-1.05,-165.4,592.6,-8.9,362,6210,0.00,0.75,0.00,0.000,6,0.000,0.056,2701,1887,3537,0,0,0,0,0,0
$GC,6518,-1.05,-165.4,619.9,-8.6,373,6521,0.00,0.43,0.00,0.000,4,0.000,0.064,2700,2169,3537,0,0,0,0,0,0
$GC,6573,-1.05,-165.4,625.1,-9.0,374,6577,0.00,0.45,0.00,0.000,6,0.000,0.060,2700,1878,3537,0,0,0,0,0,0
$GC,6892,-1.05,-165.4,654.4,-9.3,385,6896,0.00,2.28,0.00,0.000,4,0.000,0.065,2690,3273,3536,0,0,0,0,0,0
$GC,6954,-1.05,-165.4,660.4,-9.5,387,6959,0.10,2.17,0.00,0.000,6,0.159,0.050,2717,1897,3536,0,0,0,0,0,0
$GC,7295,-1.09,-165.4,693.7,-10.3,398,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1896,3535,0,0,0,0,0,0
$GC,7601,-1.11,-165.4,726.0,-10.7,408,7603,0.08,0.00,0.00,0.000,6,0.123,0.000,2673,1896,3534,0,0,0,0,0,0
$GC,7907,-1.08,-165.4,761.7,-11.7,418,7912,0.10,2.33,0.00,0.000,4,0.171,0.065,2690,3301,3533,0,0,0,0,0,0
$GC,7984,-1.08,-165.4,770.5,-11.7,420,7988,0.00,2.28,0.00,0.000,6,0.000,0.050,2689,1883,3533,0,0,0,0,0,0
$GC,8308,-1.08,-165.4,804.4,-10.3,431,8312,0.00,1.15,0.00,0.000,4,0.000,0.062,2684,2590,3533,0,0,0,0,0,0
$GC,8363,-1.08,-165.4,810.1,-9.9,432,8368,0.03,1.12,0.00,0.000,6,0.171,0.053,2695,1882,3532,0,0,0,0,0,0
$GC,8682,-1.08,-165.4,838.9,-8.8,443,8685,0.00,1.33,0.00,0.000,4,0.000,0.063,2689,2695,3531,0,0,0,0,0,0
$GC,8737,-1.08,-165.4,843.9,-9.7,444,8741,0.00,1.30,0.00,0.000,6,0.000,0.054,2689,1883,3531,0,0,0,0,0,0
$GC,9056,-1.08,-165.4,870.4,-8.4,455,9059,0.00,1.10,0.00,0.000,4,0.000,0.062,2683,2562,3531,0,0,0,0,0,0
$GC,9111,-1.08,-165.4,875.4,-8.7,456,9115,0.03,1.08,0.00,0.000,6,0.174,0.054,2695,1888,3531,0,0,0,0,0,0
$GC,9430,-1.08,-165.4,902.3,-8.6,467,9433,0.00,0.62,0.00,0.000,4,0.000,0.063,2692,2289,3531,0,0,0,0,0,0
$GC,9507,-1.08,-165.4,909.2,-9.0,469,9511,0.00,0.65,0.00,0.000,6,0.000,0.057,2692,1883,3530,0,0,0,0,0,0
$GC,9837,-1.08,-165.4,938.2,-8.7,480,9841,0.00,2.30,0.00,0.000,4,0.000,0.067,2682,3300,3530,0,0,0,0,0,0
$GC,9921,-1.06,-165.4,945.6,-8.7,482,9926,0.10,2.25,0.00,0.000,6,0.162,0.051,2709,1886,3529,0,0,0,0,0,0
$GC,10234,-1.09,-165.4,973.0,-8.9,492,10238,0.00,0.62,0.00,0.000,4,0.000,0.064,2706,2289,3529,0,0,0,0,0,0
$GC,10453,-1.12,-165.4,992.3,-9.0,498,10457,0.00,0.62,0.00,0.000,6,0.000,0.059,2706,1888,3529,0,0,0,0,0,0
$STATE,10560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10561,begin apogee
$GC,10566,-0.28,0.0,1002.1,9.0,502,10712,0.77,0.00,142.88,1.264,6,0.112,0.000,2957,1575,2862,0,0,0,0,0,0
$STATE,10713,end apogee,CONTROL_FINISHED_OK
$STATE,10713,begin climb
$GC,10715,0.94,165.4,1012.1,0.0,507,10872,1.15,2.55,149.18,1.227,4,0.063,0.059,3355,2982,2187,0,0,0,0,0,0
$GC,11041,0.79,264.4,1003.2,5.9,517,11138,0.20,2.33,89.32,1.216,6,0.163,0.051,3313,1574,1784,0,0,0,0,0,0
$GC,11462,0.80,292.8,968.7,8.7,531,11493,0.00,0.57,26.02,1.180,4,0.000,0.054,3313,1957,1667,0,0,0,0,0,0
$GC,11520,0.80,316.4,963.5,8.9,532,11547,0.00,0.65,23.08,1.158,6,0.000,0.062,3315,1571,1571,0,0,0,0,0,0
$GC,11861,0.84,328.4,931.6,9.3,544,11875,0.00,0.00,11.52,1.093,6,0.000,0.000,3315,1571,1523,0,0,0,0,0,0
$GC,12167,0.90,359.4,904.4,8.6,554,12202,0.08,1.45,30.35,1.166,4,0.120,0.058,3359,2452,1395,0,0,0,0,0,0
$GC,12247,0.90,359.4,896.5,10.3,556,12251,0.05,1.48,0.00,0.000,6,0.149,0.058,3347,1571,1392,0,0,0,0,0,0
$GC,12571,0.94,362.1,865.6,9.7,567,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1571,1388,0,0,0,0,0,0
$GC,12877,0.97,369.2,836.1,9.5,577,12888,0.00,0.00,9.07,1.035,6,0.000,0.000,3347,1571,1356,0,0,0,0,0,0
$GC,13183,1.01,374.2,806.1,9.6,587,13192,0.10,0.00,6.05,0.881,6,0.101,0.000,3395,1571,1336,0,0,0,0,0,0
$GC,13489,0.98,374.2,774.1,10.5,597,13494,0.10,0.73,0.00,0.000,4,0.171,0.067,3373,1131,1334,0,0,0,0,0,0
$GC,13532,0.98,374.2,769.5,9.9,598,13536,0.00,0.75,0.00,0.000,6,0.000,0.055,3373,1588,1334,0,0,0,0,0,0
$GC,13862,0.98,374.2,736.8,9.9,609,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1588,1334,0,0,0,0,0,0
$GC,14169,0.98,387.2,707.8,9.3,619,14188,0.00,1.27,13.75,1.024,4,0.000,0.059,3372,2367,1283,0,0,0,0,0,0
$GC,14234,0.98,394.4,701.6,9.5,621,14248,0.00,1.30,8.23,0.920,6,0.000,0.057,3378,1570,1254,0,0,0,0,0,0
$GC,14573,0.98,401.2,669.7,9.5,632,14586,0.00,1.27,7.57,0.894,4,0.000,0.067,3384,824,1225,0,0,0,0,0,0
$GC,14626,0.98,415.1,664.6,9.3,633,14647,0.03,1.23,15.40,0.998,6,0.176,0.052,3373,1569,1168,0,0,0,0,0,0
$GC,14978,1.03,418.7,631.3,9.7,645,14982,0.00,0.68,0.00,0.000,4,0.000,0.057,3373,2006,1162,0,0,0,0,0,0
$GC,15017,1.06,421.8,627.2,9.7,646,15027,0.00,0.70,6.72,0.841,6,0.000,0.064,3376,1574,1142,0,0,0,0,0,0
$GC,15345,1.11,421.8,593.9,10.5,657,15347,0.10,0.00,0.00,0.000,6,0.099,0.000,3429,1574,1139,0,0,0,0,0,0
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$STATE,20913,end climb,SURFACE_DEPTH_REACHED
$STATE,20913,begin surface coast
$FINISH,2.1,1.026389
$STATE,20950,end surface coast,CONTROL_FINISHED_OK
$STATE,20951,begin surface
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$IRIDIUM_FIX,-4158.28,-442.44,040113,080848
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$HUMID,47.99
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$TCM_TEMP,15.30
$XPDR_PINGS,2
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$10V_AH,9.9,58.128
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354528
$DATA_FILE_SIZE,60324,987
$CAP_FILE_SIZE,187693,0
$CFSIZE,2097086464,2037776384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040113,202035,-4216.582,-438.769,33,1.2,33,-22.2