version: 66.07.10.p01
glider: 573
mission: 4
dive: 445
start: 1 8 113 16 10 31
data:
$ID,573
$MISSION,4
$DIVE,445
$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,-5730.2803
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$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,424
$GPS1,080113,160205,-4220.583,-429.443,26,1.4,26,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-69.0
$GPS2,080113,160936,-4220.608,-429.340,28,1.5,29,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.268,0.054
$KALMAN_X,-108856.6,-58.4,309.0,235005.4,-676.7
$KALMAN_Y,-124494.5,-204.4,110.3,77504.6,-4853.4
$MHEAD_RNG_PITCHd_Wd,100.7,205471,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.00,-165.4,0.0,0.0,0,34,0.00,0.00,-6.88,0.000,2,0.000,0.000,92,1893,1278,0,0,0,0,0,0
$GC,36,-1.00,-165.4,3.1,-0.0,1,164,10.80,2.38,-106.25,0.000,4,0.224,0.072,2711,3315,3539,0,0,0,0,0,0
$GC,243,-0.93,-165.4,11.6,-10.4,35,251,0.10,2.28,0.00,0.000,6,0.130,0.050,2744,1915,3540,0,0,0,0,0,0
$GC,324,-0.97,-165.4,19.8,-10.3,48,331,0.00,1.45,0.00,0.000,4,0.000,0.060,2744,1033,3540,0,0,0,0,0,0
$GC,374,-0.97,-165.4,25.3,-10.6,56,381,0.00,1.42,0.00,0.000,6,0.000,0.050,2738,1909,3541,0,0,0,0,0,0
$GC,453,-1.00,-165.4,33.7,-10.5,69,458,0.00,1.05,0.00,0.000,4,0.000,0.059,2734,2564,3540,0,0,0,0,0,0
$GC,513,-1.03,-165.4,39.9,-10.6,79,518,0.00,1.05,0.00,0.000,6,0.000,0.052,2734,1908,3540,0,0,0,0,0,0
$GC,750,-1.05,-165.4,64.6,-10.5,117,754,0.08,1.10,0.00,0.000,4,0.119,0.059,2688,1226,3540,0,0,0,0,0,0
$GC,817,-0.99,-165.4,72.0,-11.3,123,821,0.12,1.10,0.00,0.000,6,0.134,0.052,2725,1913,3540,0,0,0,0,0,0
$GC,1153,-0.99,-165.4,105.5,-9.9,153,1157,0.00,0.62,0.00,0.000,4,0.000,0.058,2725,1510,3541,0,0,0,0,0,0
$GC,1214,-0.99,-165.4,112.0,-9.8,156,1222,0.00,0.65,0.00,0.000,6,0.000,0.054,2722,1920,3541,0,0,0,0,0,0
$GC,1537,-1.01,-165.4,141.3,-9.6,177,1541,0.00,0.38,0.00,0.000,4,0.000,0.064,2720,2183,3541,0,0,0,0,0,0
$GC,1592,-1.01,-165.4,147.3,-10.2,180,1596,0.00,0.43,0.00,0.000,6,0.000,0.058,2720,1906,3541,0,0,0,0,0,0
$GC,1919,-1.01,-165.4,179.1,-9.4,201,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1907,3542,0,0,0,0,0,0
$GC,2241,-1.01,-165.4,209.8,-9.4,220,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1907,3542,0,0,0,0,0,0
$GC,2551,-1.04,-165.4,238.6,-9.3,235,2554,0.00,1.15,0.00,0.000,4,0.000,0.058,2720,1185,3542,0,0,0,0,0,0
$GC,2600,-1.04,-165.4,243.7,-9.1,237,2605,0.00,1.15,0.00,0.000,6,0.000,0.050,2715,1914,3542,0,0,0,0,0,0
$GC,2930,-1.07,-165.4,273.6,-9.3,253,2934,0.00,0.40,0.00,0.000,4,0.000,0.061,2713,2191,3542,0,0,0,0,0,0
$GC,3060,-1.09,-165.4,285.7,-9.3,258,3068,0.00,0.43,0.00,0.000,6,0.000,0.057,2713,1910,3542,0,0,0,0,0,0
$GC,3385,-1.09,-165.4,314.2,-8.8,272,3389,0.00,1.65,0.00,0.000,4,0.000,0.057,2713,885,3542,0,0,0,0,0,0
$GC,3435,-1.09,-165.4,319.1,-9.6,273,3439,0.00,1.65,0.00,0.000,6,0.000,0.047,2705,1915,3542,0,0,0,0,0,0
$GC,3759,-1.09,-165.4,349.4,-9.6,284,3763,0.00,0.47,0.00,0.000,4,0.000,0.059,2703,2242,3542,0,0,0,0,0,0
$GC,3797,-1.09,-165.4,353.2,-9.1,285,3801,0.00,0.52,0.00,0.000,6,0.000,0.054,2703,1907,3542,0,0,0,0,0,0
$GC,4132,-1.09,-165.4,386.6,-10.1,296,4136,0.00,0.43,0.00,0.000,4,0.000,0.060,2701,2198,3542,0,0,0,0,0,0
$GC,4176,-1.09,-165.4,391.4,-10.7,297,4180,0.00,0.45,0.00,0.000,6,0.000,0.057,2701,1908,3542,0,0,0,0,0,0
$GC,4506,-1.09,-165.4,424.8,-10.2,308,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1908,3542,0,0,0,0,0,0
$GC,4812,-1.09,-165.4,453.5,-9.1,318,4816,0.00,0.60,0.00,0.000,4,0.000,0.059,2699,2303,3541,0,0,0,0,0,0
$GC,4901,-1.09,-165.4,461.7,-9.1,320,4905,0.00,0.62,0.00,0.000,6,0.000,0.053,2699,1906,3541,0,0,0,0,0,0
$GC,5220,-1.09,-165.4,489.0,-8.5,331,5224,0.00,0.93,0.00,0.000,4,0.000,0.058,2695,2490,3541,0,0,0,0,0,0
$GC,5289,-1.09,-165.4,494.7,-7.9,333,5292,0.00,0.93,0.00,0.000,6,0.000,0.052,2694,1906,3541,0,0,0,0,0,0
$GC,5629,-1.09,-165.4,522.8,-8.3,344,5633,0.00,0.88,0.00,0.000,4,0.000,0.058,2691,2455,3540,0,0,0,0,0,0
$GC,5690,-1.09,-165.4,528.3,-8.5,345,5696,0.00,0.85,0.00,0.000,6,0.000,0.051,2691,1914,3540,0,0,0,0,0,0
$GC,6004,-1.09,-165.4,556.4,-9.4,356,6007,0.00,0.43,0.00,0.000,4,0.000,0.062,2689,2201,3540,0,0,0,0,0,0
$GC,6053,-1.09,-165.4,561.5,-9.4,357,6057,0.00,0.47,0.00,0.000,6,0.000,0.057,2689,1898,3540,0,0,0,0,0,0
$GC,6377,-1.09,-165.4,594.2,-10.4,368,6381,0.00,1.58,0.00,0.000,4,0.000,0.060,2682,2867,3539,0,0,0,0,0,0
$GC,6445,-1.09,-165.4,601.4,-10.8,370,6449,0.00,1.52,0.00,0.000,6,0.000,0.050,2682,1913,3539,0,0,0,0,0,0
$GC,6786,-1.09,-165.4,638.3,-10.9,381,6790,0.05,1.40,0.00,0.000,4,0.220,0.059,2688,2767,3538,0,0,0,0,0,0
$GC,6863,-1.09,-165.4,646.7,-10.7,383,6867,0.00,1.38,0.00,0.000,6,0.000,0.050,2687,1905,3537,0,0,0,0,0,0
$GC,7193,-1.09,-165.4,681.6,-10.6,394,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1905,3537,0,0,0,0,0,0
$GC,7499,-1.09,-165.4,714.1,-10.7,404,7502,0.00,0.50,0.00,0.000,4,0.000,0.062,2685,2235,3536,0,0,0,0,0,0
$GC,7567,-1.09,-165.4,721.0,-10.3,406,7571,0.00,0.50,0.00,0.000,6,0.000,0.057,2685,1908,3536,0,0,0,0,0,0
$GC,7907,-1.09,-165.4,755.9,-10.1,417,7911,0.00,1.83,0.00,0.000,4,0.000,0.061,2677,3045,3536,0,0,0,0,0,0
$GC,7976,-1.07,-165.4,762.5,-9.7,419,7980,0.05,1.83,0.00,0.000,6,0.145,0.049,2696,1909,3535,0,0,0,0,0,0
$GC,8316,-1.07,-165.4,795.8,-9.9,430,8319,0.00,0.57,0.00,0.000,4,0.000,0.062,2694,2282,3535,0,0,0,0,0,0
$GC,8462,-1.07,-165.4,810.4,-9.7,434,8466,0.00,0.57,0.00,0.000,6,0.000,0.057,2694,1911,3534,0,0,0,0,0,0
$GC,8791,-1.07,-165.4,843.0,-10.1,445,8795,0.00,1.90,0.00,0.000,4,0.000,0.062,2685,3091,3533,0,0,0,0,0,0
$GC,8859,-1.07,-165.4,849.7,-10.0,447,8864,0.08,1.88,0.00,0.000,6,0.174,0.050,2705,1910,3533,0,0,0,0,0,0
$GC,9201,-1.10,-165.4,882.6,-9.5,458,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1910,3532,0,0,0,0,0,0
$GC,9507,-1.13,-165.4,910.9,-9.3,468,9510,0.00,0.50,0.00,0.000,4,0.000,0.063,2702,2237,3532,0,0,0,0,0,0
$GC,9551,-1.15,-165.4,915.3,-9.9,469,9555,0.05,0.52,0.00,0.000,6,0.066,0.058,2658,1906,3531,0,0,0,0,0,0
$GC,9881,-1.11,-165.4,949.5,-10.6,480,9886,0.12,2.30,0.00,0.000,4,0.171,0.063,2680,3312,3531,0,0,0,0,0,0
$GC,9941,-1.09,-165.4,956.3,-10.7,481,9947,0.08,2.25,0.00,0.000,6,0.181,0.050,2699,1903,3531,0,0,0,0,0,0
$GC,10255,-1.12,-165.4,989.4,-10.5,492,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1902,3530,0,0,0,0,0,0
$STATE,10375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10375,begin apogee
$GC,10380,-0.29,0.0,1001.9,10.3,496,10528,0.77,0.00,144.77,1.257,6,0.115,0.000,2949,1576,2862,0,0,0,0,0,0
$STATE,10529,end apogee,CONTROL_FINISHED_OK
$STATE,10529,begin climb
$GC,10531,1.00,165.4,1013.8,0.0,501,10689,1.23,1.00,150.75,1.225,4,0.063,0.052,3372,2130,2187,0,0,0,0,0,0
$GC,10763,0.84,296.6,1014.5,4.6,508,10893,0.17,0.93,122.82,1.209,6,0.152,0.054,3326,1588,1651,0,0,0,0,0,0
$GC,11206,0.84,350.0,982.4,7.7,523,11261,0.00,0.95,49.40,1.196,4,0.000,0.064,3330,1041,1434,0,0,0,0,0,0
$GC,11305,0.88,370.2,974.2,9.0,526,11331,0.00,0.90,20.00,1.136,6,0.000,0.051,3330,1585,1352,0,0,0,0,0,0
$GC,11640,0.94,372.7,943.3,9.7,537,11642,0.05,0.00,0.00,0.000,6,0.164,0.000,3366,1585,1345,0,0,0,0,0,0
$GC,11944,0.94,372.7,911.6,10.1,547,11949,0.05,1.50,0.00,0.000,4,0.213,0.066,3360,704,1344,0,0,0,0,0,0
$GC,12000,0.94,388.2,906.2,9.2,548,12021,0.00,1.42,17.02,1.135,6,0.000,0.049,3360,1585,1279,0,0,0,0,0,0
$GC,12347,0.96,393.2,872.9,9.6,560,12354,0.00,0.00,5.78,0.875,6,0.000,0.000,3360,1585,1258,0,0,0,0,0,0
$GC,12652,0.98,408.3,844.0,9.2,570,12670,0.00,0.00,16.52,1.099,6,0.000,0.000,3360,1585,1196,0,0,0,0,0,0
$GC,12958,1.02,438.5,817.1,8.6,580,12991,0.00,0.62,30.17,1.136,4,0.000,0.069,3363,1226,1074,0,0,0,0,0,0
$GC,13036,1.08,494.8,810.6,7.6,582,13096,0.05,0.57,54.67,1.128,6,0.069,0.056,3402,1582,843,0,0,0,0,0,0
$GC,13415,1.12,494.8,772.8,10.3,595,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,1582,831,0,0,0,0,0,0
$GC,13722,1.17,494.8,740.9,10.4,605,13726,0.08,1.02,0.00,0.000,4,0.119,0.067,3450,967,829,0,0,0,0,0,0
$GC,13776,1.14,494.8,734.3,11.5,606,13781,0.10,1.00,0.00,0.000,6,0.129,0.050,3415,1586,829,0,0,0,0,0,0
$GC,14095,1.16,494.8,696.9,12.1,617,14098,0.00,0.65,0.00,0.000,4,0.000,0.067,3418,1186,828,0,0,0,0,0,0
$GC,14139,1.19,494.8,691.3,12.1,618,14143,0.00,0.62,0.00,0.000,6,0.000,0.055,3418,1584,828,0,0,0,0,0,0
$GC,14469,1.22,494.8,648.6,13.3,629,14470,0.08,0.00,0.00,0.000,6,0.121,0.000,3459,1584,828,0,0,0,0,0,0
$GC,14775,1.18,494.8,606.0,13.8,639,14779,0.10,0.43,0.00,0.000,4,0.170,0.060,3431,1874,827,0,0,0,0,0,0
$GC,14824,1.18,494.8,599.2,13.2,640,14828,0.00,0.50,0.00,0.000,6,0.000,0.067,3433,1573,827,0,0,0,0,0,0
$GC,15148,1.18,494.8,557.9,12.7,651,15151,0.00,1.12,0.00,0.000,4,0.000,0.060,3433,2274,827,0,0,0,0,0,0
$GC,15208,1.18,494.8,550.2,12.2,652,15214,0.00,1.12,0.00,0.000,6,0.000,0.057,3438,1580,827,0,0,0,0,0,0
$GC,15521,1.18,494.8,511.8,12.2,663,15525,0.00,1.25,0.00,0.000,4,0.000,0.058,3438,2355,827,0,0,0,0,0,0
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$STATE,19834,end climb,SURFACE_DEPTH_REACHED
$STATE,19834,begin surface coast
$FINISH,2.2,1.025761
$STATE,19865,end surface coast,CONTROL_FINISHED_OK
$STATE,19866,begin surface
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$TT8_MAMPS,0.026215
$HUMID,48.85
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$TCM_TEMP,14.40
$XPDR_PINGS,4
$24V_AH,22.2,74.664
$10V_AH,9.9,59.951
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.950,78.725,619.275,0.000,0.000,28.107,36.658,230.322,1.000,0.000,31.055,2400.692,14183.041,652.719,2897.694,254.530,33.375,1881.739,0.000,2553.777,0.000,1.008,0.000
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$MEM,354588
$DATA_FILE_SIZE,56813,932
$CAP_FILE_SIZE,173661,0
$CFSIZE,2097086464,2035548160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080113,214429,-4220.885,-428.171,60,1.0,60,-22.2