version: 66.07.10.p01
glider: 573
mission: 4
dive: 436
start: 1 6 113 12 53 29
data:
$ID,573
$MISSION,4
$DIVE,436
$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,-5704.7036
$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,27
$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,415
$GPS1,060113,124423,-4221.184,-430.859,41,1.6,41,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-64.5
$GPS2,060113,125235,-4221.166,-430.757,46,0.8,46,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.211,0.174
$KALMAN_X,-99119.8,11.6,-72.3,223635.0,-3331.3
$KALMAN_Y,-88718.1,-244.0,538.6,40310.4,-1520.6
$MHEAD_RNG_PITCHd_Wd,72.8,2395,-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,25,begin dive
$GC,27,-0.94,-165.4,0.0,0.0,0,70,0.00,0.00,-40.92,0.000,2,0.000,0.000,81,1880,1709,0,0,0,0,0,0
$GC,73,-0.94,-165.4,3.1,-0.6,7,176,10.93,2.38,-82.60,0.000,4,0.228,0.073,2743,476,3537,0,0,0,0,0,0
$GC,267,-0.94,-165.4,15.8,-13.7,39,274,0.00,2.30,0.00,0.000,6,0.000,0.049,2733,1886,3539,0,0,0,0,0,0
$GC,348,-0.94,-165.4,26.1,-12.0,52,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1886,3539,0,0,0,0,0,0
$GC,426,-0.97,-165.4,34.3,-10.0,65,431,0.00,0.62,0.00,0.000,4,0.000,0.060,2730,2294,3539,0,0,0,0,0,0
$GC,474,-0.97,-165.4,39.0,-9.8,73,479,0.00,0.65,0.00,0.000,6,0.000,0.054,2731,1878,3540,0,0,0,0,0,0
$GC,715,-0.99,-165.4,62.7,-10.4,113,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1878,3540,0,0,0,0,0,0
$GC,1035,-1.02,-165.4,93.9,-9.7,143,1039,0.00,0.80,0.00,0.000,4,0.000,0.060,2727,2381,3540,0,0,0,0,0,0
$GC,1124,-1.05,-165.4,103.5,-10.8,150,1128,0.00,0.77,0.00,0.000,6,0.000,0.054,2727,1884,3540,0,0,0,0,0,0
$GC,1452,-1.08,-165.4,138.2,-11.2,171,1457,0.08,2.05,0.00,0.000,4,0.122,0.062,2668,3142,3540,0,0,0,0,0,0
$GC,1522,-1.02,-165.4,146.4,-11.5,175,1527,0.17,1.98,0.00,0.000,6,0.145,0.050,2719,1890,3540,0,0,0,0,0,0
$GC,1847,-1.02,-165.4,179.7,-9.5,196,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1890,3541,0,0,0,0,0,0
$GC,2163,-1.02,-165.4,206.8,-8.1,215,2167,0.00,1.65,0.00,0.000,4,0.000,0.060,2711,2896,3541,0,0,0,0,0,0
$GC,2211,-1.02,-165.4,210.4,-7.5,217,2215,0.00,1.60,0.00,0.000,6,0.000,0.050,2712,1893,3541,0,0,0,0,0,0
$GC,2544,-1.02,-165.4,238.0,-8.7,233,2547,0.00,1.62,0.00,0.000,4,0.000,0.060,2704,2887,3541,0,0,0,0,0,0
$GC,2605,-1.02,-165.4,243.7,-9.0,235,2611,0.03,1.60,0.00,0.000,6,0.161,0.048,2715,1882,3541,0,0,0,0,0,0
$GC,2921,-1.02,-165.4,272.9,-9.4,251,2925,0.00,1.85,0.00,0.000,4,0.000,0.060,2706,3009,3541,0,0,0,0,0,0
$GC,2993,-1.02,-165.4,280.3,-10.1,254,2998,0.00,1.77,0.00,0.000,6,0.000,0.048,2707,1893,3540,0,0,0,0,0,0
$GC,3320,-1.02,-165.4,314.8,-10.9,268,3324,0.05,0.60,0.00,0.000,4,0.221,0.060,2716,2274,3540,0,0,0,0,0,0
$GC,3380,-1.02,-165.4,321.4,-11.1,269,3385,0.00,0.62,0.00,0.000,6,0.000,0.054,2716,1875,3540,0,0,0,0,0,0
$GC,3693,-1.02,-165.4,355.1,-10.8,280,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1875,3540,0,0,0,0,0,0
$GC,3999,-1.04,-165.4,386.6,-10.1,290,4003,0.00,0.57,0.00,0.000,4,0.000,0.058,2716,1488,3540,0,0,0,0,0,0
$GC,4043,-1.04,-165.4,391.3,-10.0,291,4047,0.00,0.65,0.00,0.000,6,0.000,0.054,2713,1899,3540,0,0,0,0,0,0
$GC,4374,-1.06,-165.4,422.2,-9.2,302,4377,0.00,1.25,0.00,0.000,4,0.000,0.060,2707,2689,3540,0,0,0,0,0,0
$GC,4434,-1.06,-165.4,428.2,-9.5,303,4440,0.00,1.27,0.00,0.000,6,0.000,0.050,2707,1887,3540,0,0,0,0,0,0
$GC,4748,-1.06,-165.4,457.3,-9.2,314,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1887,3539,0,0,0,0,0,0
$GC,5054,-1.06,-165.4,487.4,-10.0,324,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1887,3539,0,0,0,0,0,0
$GC,5360,-1.06,-165.4,517.1,-9.6,334,5364,0.00,0.40,0.00,0.000,4,0.000,0.063,2708,1615,3538,0,0,0,0,0,0
$GC,5454,-1.06,-165.4,526.4,-9.6,336,5459,0.00,0.45,0.00,0.000,6,0.000,0.058,2705,1899,3538,0,0,0,0,0,0
$GC,5767,-1.06,-165.4,555.8,-9.5,347,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1899,3538,0,0,0,0,0,0
$GC,6073,-1.09,-165.4,585.7,-9.8,357,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1899,3537,0,0,0,0,0,0
$GC,6379,-1.09,-165.4,617.1,-10.5,367,6383,0.00,0.60,0.00,0.000,4,0.000,0.060,2702,2301,3537,0,0,0,0,0,0
$GC,6440,-1.09,-165.4,623.8,-10.7,368,6445,0.00,0.65,0.00,0.000,6,0.000,0.054,2703,1889,3536,0,0,0,0,0,0
$GC,6753,-1.09,-165.4,657.6,-10.6,379,6756,0.00,0.98,0.00,0.000,4,0.000,0.060,2698,2498,3536,0,0,0,0,0,0
$GC,6808,-1.09,-165.4,663.4,-10.2,380,6812,0.00,1.00,0.00,0.000,6,0.000,0.052,2698,1878,3536,0,0,0,0,0,0
$GC,7127,-1.09,-165.4,694.9,-9.8,391,7131,0.00,2.33,0.00,0.000,4,0.000,0.064,2688,3295,3535,0,0,0,0,0,0
$GC,7198,-1.09,-165.4,702.4,-9.7,393,7202,0.00,2.22,0.00,0.000,6,0.000,0.050,2688,1888,3535,0,0,0,0,0,0
$GC,7534,-1.09,-165.4,735.3,-10.2,404,7537,0.00,1.15,0.00,0.000,4,0.000,0.061,2683,2594,3534,0,0,0,0,0,0
$GC,7588,-1.09,-165.4,741.0,-10.1,405,7593,0.03,1.12,0.00,0.000,6,0.171,0.052,2694,1888,3534,0,0,0,0,0,0
$GC,7907,-1.09,-165.4,773.8,-10.5,416,7911,0.00,0.50,0.00,0.000,4,0.000,0.062,2692,2215,3533,0,0,0,0,0,0
$GC,7975,-1.09,-165.4,781.1,-10.7,418,7979,0.00,0.50,0.00,0.000,6,0.000,0.059,2692,1887,3533,0,0,0,0,0,0
$GC,8315,-1.09,-165.4,816.9,-10.3,429,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1887,3532,0,0,0,0,0,0
$GC,8621,-1.09,-165.4,847.9,-10.2,439,8625,0.00,0.98,0.00,0.000,4,0.000,0.062,2688,2489,3532,0,0,0,0,0,0
$GC,8676,-1.09,-165.4,853.8,-10.1,440,8680,0.00,0.98,0.00,0.000,6,0.000,0.054,2688,1887,3531,0,0,0,0,0,0
$GC,8995,-1.09,-165.4,886.3,-10.2,451,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1887,3530,0,0,0,0,0,0
$GC,9301,-1.09,-165.4,916.8,-9.9,461,9305,0.00,2.03,0.00,0.000,4,0.000,0.065,2679,3116,3530,0,0,0,0,0,0
$GC,9361,-1.09,-165.4,923.0,-10.6,462,9368,0.05,1.98,0.00,0.000,6,0.147,0.051,2697,1886,3530,0,0,0,0,0,0
$GC,9675,-1.09,-165.4,952.8,-9.5,473,9679,0.00,0.55,0.00,0.000,4,0.000,0.062,2697,1527,3529,0,0,0,0,0,0
$GC,9709,-1.09,-165.4,956.1,-8.9,474,9713,0.00,0.57,0.00,0.000,6,0.000,0.059,2695,1893,3529,0,0,0,0,0,0
$GC,10051,-1.11,-165.4,988.5,-9.5,485,10054,0.00,2.10,0.00,0.000,4,0.000,0.065,2685,3180,3529,0,0,0,0,0,0
$GC,10119,-1.11,-165.4,995.0,-9.2,487,10123,0.00,2.05,0.00,0.000,6,0.000,0.051,2685,1888,3529,0,0,0,0,0,0
$STATE,10182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10182,begin apogee
$GC,10187,-0.28,0.0,1001.1,9.3,489,10334,0.88,0.00,143.15,1.255,6,0.117,0.000,2963,1575,2862,0,0,0,0,0,0
$STATE,10335,end apogee,CONTROL_FINISHED_OK
$STATE,10335,begin climb
$GC,10337,0.94,165.4,1010.9,0.0,494,10497,1.12,2.58,149.70,1.220,4,0.058,0.060,3369,169,2188,0,0,0,0,0,0
$GC,10615,0.77,267.9,1005.7,5.7,502,10717,0.25,2.35,93.97,1.205,6,0.158,0.045,3303,1573,1769,0,0,0,0,0,0
$GC,11047,0.78,336.5,975.7,7.1,517,11116,0.00,2.30,62.65,1.200,4,0.000,0.067,3313,284,1488,0,0,0,0,0,0
$GC,11185,0.84,393.6,965.1,7.5,521,11244,0.00,2.12,53.53,1.182,6,0.000,0.050,3313,1569,1257,0,0,0,0,0,0
$GC,11575,0.95,417.1,931.2,8.9,534,11606,0.12,2.45,21.92,1.147,4,0.084,0.067,3391,168,1160,0,0,0,0,0,0
$GC,11677,0.95,417.1,920.2,11.3,537,11683,0.08,2.33,0.00,0.000,6,0.135,0.049,3364,1578,1156,0,0,0,0,0,0
$GC,12014,1.00,417.1,886.6,9.9,548,12018,0.00,0.65,0.00,0.000,4,0.000,0.065,3367,1178,1154,0,0,0,0,0,0
$GC,12086,1.04,417.1,879.5,9.8,550,12090,0.00,0.62,0.00,0.000,6,0.000,0.056,3367,1571,1154,0,0,0,0,0,0
$GC,12422,1.09,418.9,846.6,9.7,561,12426,0.10,1.70,0.00,0.000,4,0.099,0.067,3426,573,1153,0,0,0,0,0,0
$GC,12482,1.03,418.9,840.1,10.8,562,12488,0.10,1.62,0.00,0.000,6,0.140,0.050,3392,1572,1153,0,0,0,0,0,0
$GC,12795,1.03,418.9,807.9,10.4,573,12799,0.00,2.28,0.00,0.000,4,0.000,0.062,3392,2978,1152,0,0,0,0,0,0
$GC,12866,1.03,418.9,800.3,9.9,575,12871,0.08,2.25,0.00,0.000,6,0.197,0.053,3385,1574,1152,0,0,0,0,0,0
$GC,13195,1.03,418.9,766.2,10.4,586,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1574,1151,0,0,0,0,0,0
$GC,13502,1.05,418.9,733.4,10.8,596,13506,0.00,0.57,0.00,0.000,4,0.000,0.059,3385,1943,1151,0,0,0,0,0,0
$GC,13570,1.05,418.9,725.6,10.8,598,13574,0.00,0.60,0.00,0.000,6,0.000,0.064,3387,1567,1151,0,0,0,0,0,0
$GC,13911,1.05,418.9,687.2,11.3,609,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1567,1150,0,0,0,0,0,0
$GC,14217,1.05,418.9,651.6,11.7,619,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1567,1150,0,0,0,0,0,0
$GC,14523,1.07,418.9,615.5,11.9,629,14527,0.00,0.70,0.00,0.000,4,0.000,0.066,3390,1130,1150,0,0,0,0,0,0
$GC,14595,1.07,418.9,606.6,12.2,631,14599,0.00,0.73,0.00,0.000,6,0.000,0.054,3390,1574,1150,0,0,0,0,0,0
$GC,14931,1.07,418.9,567.7,11.7,642,14934,0.00,1.00,0.00,0.000,4,0.000,0.060,3390,2210,1150,0,0,0,0,0,0
$GC,15036,1.07,418.9,555.4,11.2,645,15041,0.00,1.02,0.00,0.000,6,0.000,0.059,3395,1569,1150,0,0,0,0,0,0
$GC,15372,1.07,418.9,518.6,10.7,656,15376,0.00,0.80,0.00,0.000,4,0.000,0.060,3395,2082,1150,0,0,0,0,0,0
$GC,15421,1.07,418.9,513.0,10.9,657,15426,0.00,0.85,0.00,0.000,6,0.000,0.060,3399,1563,1149,0,0,0,0,0,0
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$STATE,20257,end climb,SURFACE_DEPTH_REACHED
$STATE,20257,begin surface coast
$FINISH,2.2,1.015003
$STATE,20282,end surface coast,CONTROL_FINISHED_OK
$STATE,20282,begin surface
$SM_CCo,20361,0.00,0.000,0,0,862,490.35
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$IRIDIUM_FIX,-4204.08,-433.97,060113,060632
$TT8_MAMPS,0.026215
$HUMID,48.18
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,14.70
$XPDR_PINGS,1
$24V_AH,22.3,72.898
$10V_AH,9.9,58.991
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.125,98.850,594.700,0.000,0.000,26.096,39.117,255.163,0.250,0.000,48.977,2429.454,14494.500,632.346,3040.505,250.512,33.366,1919.013,0.000,2644.696,0.000,1.009,0.000
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$SENSOR_SECS,636.533,875.998,650.403,73.782,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354584
$DATA_FILE_SIZE,56991,952
$CAP_FILE_SIZE,174940,0
$CFSIZE,2097086464,2036727808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060113,183423,-4221.083,-430.003,58,0.8,58,-22.2