version: 66.07.10.p01
glider: 573
mission: 4
dive: 442
start: 1 7 113 23 0 8
data:
$ID,573
$MISSION,4
$DIVE,442
$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,-5721.6055
$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,29
$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,421
$GPS1,070113,225105,-4221.033,-428.462,50,1.7,50,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-67.7
$GPS2,070113,225913,-4221.069,-428.441,31,1.0,32,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.025,0.259
$KALMAN_X,-109267.6,255.9,267.7,236373.9,-1617.0
$KALMAN_Y,-109373.6,-113.0,-99.4,61653.3,-3324.1
$MHEAD_RNG_PITCHd_Wd,16.6,2912,-17.8,-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,24,begin dive
$GC,27,-1.00,-148.7,0.0,0.0,0,35,0.00,0.00,-6.22,0.000,2,0.000,0.000,81,1901,1332,0,0,0,0,0,0
$GC,37,-1.00,-165.4,3.0,-0.0,1,159,10.73,2.30,-102.53,0.000,4,0.225,0.074,2723,519,3536,0,0,0,0,0,0
$GC,225,-0.94,-165.4,16.3,-20.7,32,233,0.10,2.25,0.00,0.000,6,0.146,0.050,2745,1895,3538,0,0,0,0,0,0
$GC,306,-0.99,-165.4,29.2,-12.9,45,313,0.00,1.02,0.00,0.000,4,0.000,0.060,2741,2530,3539,0,0,0,0,0,0
$GC,360,-1.05,-165.4,37.6,-15.7,54,368,0.05,1.02,0.00,0.000,6,0.067,0.054,2700,1893,3539,0,0,0,0,0,0
$GC,602,-1.02,-165.4,63.7,-10.8,93,607,0.08,2.33,0.00,0.000,4,0.187,0.060,2719,481,3539,0,0,0,0,0,0
$GC,655,-1.00,-165.4,69.0,-10.4,97,660,0.08,2.28,0.00,0.000,6,0.194,0.048,2726,1904,3539,0,0,0,0,0,0
$GC,987,-1.04,-165.4,102.5,-10.4,127,991,0.00,2.25,0.00,0.000,4,0.000,0.062,2716,3293,3540,0,0,0,0,0,0
$GC,1058,-1.08,-165.4,109.9,-11.1,131,1062,0.00,2.20,0.00,0.000,6,0.000,0.050,2716,1885,3540,0,0,0,0,0,0
$GC,1383,-1.11,-165.4,143.1,-10.0,152,1387,0.05,1.17,0.00,0.000,4,0.164,0.060,2675,2602,3540,0,0,0,0,0,0
$GC,1439,-1.08,-165.4,149.0,-10.0,155,1444,0.08,1.12,0.00,0.000,6,0.147,0.052,2700,1893,3540,0,0,0,0,0,0
$GC,1764,-1.08,-165.4,180.2,-9.9,176,1767,0.00,1.55,0.00,0.000,4,0.000,0.060,2693,2848,3540,0,0,0,0,0,0
$GC,1825,-1.08,-165.4,186.7,-10.3,179,1831,0.00,1.52,0.00,0.000,6,0.000,0.049,2694,1887,3540,0,0,0,0,0,0
$GC,2144,-1.08,-165.4,220.3,-11.0,197,2148,0.00,2.10,0.00,0.000,4,0.000,0.061,2684,3181,3540,0,0,0,0,0,0
$GC,2206,-1.08,-165.4,227.2,-10.7,200,2211,0.08,2.03,0.00,0.000,6,0.180,0.048,2702,1887,3541,0,0,0,0,0,0
$GC,2532,-1.08,-165.4,262.7,-11.1,216,2536,0.00,0.70,0.00,0.000,4,0.000,0.058,2699,2344,3541,0,0,0,0,0,0
$GC,2632,-1.08,-165.4,273.9,-10.7,220,2637,0.00,0.73,0.00,0.000,6,0.000,0.053,2699,1883,3541,0,0,0,0,0,0
$GC,2954,-1.08,-165.4,306.7,-10.2,235,2957,0.00,2.03,0.00,0.000,4,0.000,0.060,2690,3133,3541,0,0,0,0,0,0
$GC,3014,-1.08,-165.4,313.0,-10.4,236,3020,0.00,1.98,0.00,0.000,6,0.000,0.047,2690,1895,3541,0,0,0,0,0,0
$GC,3328,-1.08,-165.4,343.1,-9.6,247,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1895,3541,0,0,0,0,0,0
$GC,3634,-1.08,-165.4,374.3,-10.2,257,3638,0.00,2.28,0.00,0.000,4,0.000,0.061,2679,3299,3541,0,0,0,0,0,0
$GC,3694,-1.06,-165.4,380.9,-10.7,258,3701,0.10,2.20,0.00,0.000,6,0.166,0.047,2707,1884,3540,0,0,0,0,0,0
$GC,4008,-1.08,-165.4,414.6,-11.2,269,4011,0.00,0.57,0.00,0.000,4,0.000,0.059,2704,2269,3540,0,0,0,0,0,0
$GC,4178,-1.11,-165.4,434.4,-11.7,274,4182,0.00,0.57,0.00,0.000,6,0.000,0.056,2704,1893,3540,0,0,0,0,0,0
$GC,4519,-1.13,-165.4,473.8,-11.3,285,4523,0.00,2.22,0.00,0.000,4,0.000,0.061,2694,3263,3540,0,0,0,0,0,0
$GC,4581,-1.13,-165.4,480.6,-10.7,287,4586,0.00,2.15,0.00,0.000,6,0.000,0.047,2694,1879,3540,0,0,0,0,0,0
$GC,4916,-1.13,-165.4,516.1,-10.3,298,4920,0.00,2.12,0.00,0.000,4,0.000,0.060,2684,3190,3540,0,0,0,0,0,0
$GC,4979,-1.13,-165.4,522.1,-9.3,300,4983,0.00,2.03,0.00,0.000,6,0.000,0.047,2684,1887,3540,0,0,0,0,0,0
$GC,5320,-1.13,-165.4,553.7,-9.0,311,5324,0.00,2.28,0.00,0.000,4,0.000,0.062,2674,3293,3540,0,0,0,0,0,0
$GC,5392,-1.11,-165.4,560.3,-8.9,313,5397,0.08,2.22,0.00,0.000,6,0.185,0.049,2692,1884,3539,0,0,0,0,0,0
$GC,5721,-1.11,-165.4,589.6,-9.2,324,5725,0.00,2.22,0.00,0.000,4,0.000,0.063,2682,3254,3539,0,0,0,0,0,0
$GC,5783,-1.11,-165.4,595.7,-9.6,326,5787,0.00,2.15,0.00,0.000,6,0.000,0.047,2682,1885,3539,0,0,0,0,0,0
$GC,6124,-1.11,-165.4,630.0,-10.3,337,6127,0.00,1.40,0.00,0.000,4,0.000,0.060,2676,2745,3538,0,0,0,0,0,0
$GC,6173,-1.11,-165.4,635.2,-10.4,338,6178,0.03,1.35,0.00,0.000,6,0.175,0.050,2686,1893,3538,0,0,0,0,0,0
$GC,6497,-1.11,-165.4,668.4,-10.6,349,6500,0.00,1.60,0.00,0.000,4,0.000,0.060,2679,2876,3537,0,0,0,0,0,0
$GC,6552,-1.11,-165.4,674.6,-11.0,350,6556,0.00,1.58,0.00,0.000,6,0.000,0.050,2680,1890,3537,0,0,0,0,0,0
$GC,6870,-1.11,-165.4,710.0,-11.2,361,6874,0.00,1.20,0.00,0.000,4,0.000,0.060,2674,2633,3536,0,0,0,0,0,0
$GC,6925,-1.11,-165.4,716.5,-11.1,362,6930,0.05,1.17,0.00,0.000,6,0.151,0.050,2692,1895,3535,0,0,0,0,0,0
$GC,7244,-1.13,-165.4,751.5,-10.9,373,7247,0.00,1.27,0.00,0.000,4,0.000,0.059,2686,2691,3535,0,0,0,0,0,0
$GC,7349,-1.13,-165.4,763.4,-11.1,376,7354,0.00,1.27,0.00,0.000,6,0.000,0.050,2686,1887,3535,0,0,0,0,0,0
$GC,7685,-1.13,-165.4,800.3,-11.1,387,7689,0.00,2.30,0.00,0.000,4,0.000,0.063,2676,3297,3534,0,0,0,0,0,0
$GC,7739,-1.13,-165.4,806.7,-11.0,388,7745,0.00,2.25,0.00,0.000,6,0.000,0.049,2676,1893,3534,0,0,0,0,0,0
$GC,8052,-1.13,-165.4,840.8,-11.0,399,8056,0.00,2.15,0.00,0.000,4,0.000,0.062,2666,3215,3533,0,0,0,0,0,0
$GC,8115,-1.11,-165.4,847.9,-11.4,401,8120,0.10,2.08,0.00,0.000,6,0.169,0.049,2692,1887,3533,0,0,0,0,0,0
$GC,8450,-1.14,-165.4,883.2,-10.4,412,8454,0.00,1.20,0.00,0.000,4,0.000,0.060,2687,2628,3532,0,0,0,0,0,0
$GC,8518,-1.14,-165.4,890.1,-10.1,414,8522,0.00,1.17,0.00,0.000,6,0.000,0.054,2687,1896,3532,0,0,0,0,0,0
$GC,8859,-1.16,-165.4,924.3,-9.8,425,8863,0.00,2.20,0.00,0.000,4,0.000,0.063,2677,3257,3531,0,0,0,0,0,0
$GC,8921,-1.16,-165.4,930.3,-9.5,427,8925,0.00,2.15,0.00,0.000,6,0.000,0.050,2677,1887,3531,0,0,0,0,0,0
$GC,9256,-1.16,-165.4,961.5,-9.1,438,9259,0.00,1.40,0.00,0.000,4,0.000,0.061,2671,2746,3530,0,0,0,0,0,0
$GC,9311,-1.16,-165.4,966.4,-8.5,439,9315,0.00,1.38,0.00,0.000,6,0.000,0.051,2671,1887,3530,0,0,0,0,0,0
$GC,9629,-1.16,-165.4,993.4,-8.4,450,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1887,3529,0,0,0,0,0,0
$STATE,9719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9719,begin apogee
$GC,9724,-0.28,0.0,1000.9,8.3,453,9871,0.93,0.00,143.57,1.255,6,0.124,0.000,2960,1572,2862,0,0,0,0,0,0
$STATE,9872,end apogee,CONTROL_FINISHED_OK
$STATE,9872,begin climb
$GC,9874,1.00,165.4,1009.4,0.0,458,10031,1.20,0.00,149.93,1.220,6,0.063,0.000,3375,1571,2187,0,0,0,0,0,0
$GC,10333,0.85,229.4,988.7,7.0,473,10398,0.17,2.00,57.05,1.203,4,0.173,0.057,3329,2724,1925,0,0,0,0,0,0
$GC,10455,0.81,279.0,979.4,7.6,476,10507,0.10,1.88,45.72,1.186,6,0.176,0.050,3313,1575,1724,0,0,0,0,0,0
$GC,10826,0.85,328.8,950.6,7.6,489,10876,0.00,1.30,45.65,1.186,4,0.000,0.061,3319,809,1520,0,0,0,0,0,0
$GC,10921,0.91,369.3,943.2,8.0,492,10966,0.05,1.27,38.30,1.165,6,0.066,0.050,3356,1571,1355,0,0,0,0,0,0
$GC,11286,0.95,389.2,910.7,8.9,504,11306,0.00,0.00,18.48,1.126,6,0.000,0.000,3356,1571,1275,0,0,0,0,0,0
$GC,11592,1.01,409.6,882.9,8.9,514,11617,0.05,0.62,20.48,1.130,4,0.164,0.060,3395,1195,1191,0,0,0,0,0,0
$GC,11650,1.01,409.6,876.8,9.8,515,11656,0.08,0.62,0.00,0.000,6,0.178,0.053,3377,1575,1189,0,0,0,0,0,0
$GC,11963,1.04,409.6,845.7,10.3,526,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1575,1185,0,0,0,0,0,0
$GC,12269,1.08,409.6,814.1,10.3,536,12274,0.05,0.52,0.00,0.000,4,0.167,0.057,3411,1928,1184,0,0,0,0,0,0
$GC,12329,1.08,409.6,807.3,11.2,537,12336,0.05,0.60,0.00,0.000,6,0.220,0.061,3403,1562,1184,0,0,0,0,0,0
$GC,12642,1.08,409.6,773.1,11.1,548,12646,0.00,1.05,0.00,0.000,4,0.000,0.057,3402,2222,1183,0,0,0,0,0,0
$GC,12692,1.08,409.6,767.4,11.1,549,12696,0.00,1.08,0.00,0.000,6,0.000,0.057,3406,1557,1183,0,0,0,0,0,0
$GC,13016,1.08,409.6,730.9,11.3,560,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1557,1183,0,0,0,0,0,0
$GC,13322,1.08,409.6,696.6,11.0,570,13326,0.00,2.33,0.00,0.000,4,0.000,0.062,3406,2973,1183,0,0,0,0,0,0
$GC,13378,1.05,409.6,690.1,10.7,571,13383,0.10,2.25,0.00,0.000,6,0.182,0.054,3392,1568,1183,0,0,0,0,0,0
$GC,13690,1.05,409.6,656.1,10.8,581,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1568,1183,0,0,0,0,0,0
$GC,13997,1.07,409.6,623.5,10.6,591,14001,0.00,1.27,0.00,0.000,4,0.000,0.057,3392,2363,1182,0,0,0,0,0,0
$GC,14074,1.07,409.6,615.1,11.0,593,14079,0.00,1.27,0.00,0.000,6,0.000,0.057,3397,1576,1182,0,0,0,0,0,0
$GC,14404,1.07,409.6,579.3,10.9,604,14408,0.00,0.57,0.00,0.000,4,0.000,0.056,3397,1950,1182,0,0,0,0,0,0
$GC,14459,1.07,409.6,573.2,10.9,605,14464,0.00,0.62,0.00,0.000,6,0.000,0.062,3400,1568,1182,0,0,0,0,0,0
$GC,14778,1.07,409.6,538.9,10.7,616,14779,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1568,1182,0,0,0,0,0,0
$GC,15084,1.07,409.6,505.8,10.6,626,15088,0.00,1.00,0.00,0.000,4,0.000,0.057,3400,2196,1182,0,0,0,0,0,0
$GC,15134,1.07,409.6,500.4,10.2,627,15138,0.00,1.02,0.00,0.000,6,0.000,0.059,3404,1569,1182,0,0,0,0,0,0
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$STATE,19803,end climb,SURFACE_DEPTH_REACHED
$STATE,19804,begin surface coast
$FINISH,2.4,1.026278
$STATE,19829,end surface coast,CONTROL_FINISHED_OK
$STATE,19829,begin surface
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$TT8_MAMPS,0.026964
$HUMID,47.99
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$TCM_TEMP,14.60
$XPDR_PINGS,1
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$10V_AH,9.9,59.622
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.325,120.375,559.450,0.000,0.000,51.066,39.807,240.801,0.250,0.000,34.428,2385.168,14247.487,606.685,2908.069,242.309,33.365,1840.782,0.000,2520.461,0.000,1.009,0.000
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$MEM,354596
$DATA_FILE_SIZE,53675,917
$CAP_FILE_SIZE,175573,0
$CFSIZE,2097086464,2035941376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080113,043305,-4221.030,-428.789,36,1.5,36,-22.2