version: 66.07.10.p01
glider: 573
mission: 4
dive: 450
start: 1 9 113 20 52 26
data:
$ID,573
$MISSION,4
$DIVE,450
$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,-5744.186
$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,26
$R_STBD_OVSHOOT,33
$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,429
$GPS1,090113,204423,-4223.184,-423.780,41,1.4,41,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-68.6
$GPS2,090113,205131,-4223.205,-423.786,16,1.5,17,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.272,-0.032
$KALMAN_X,-128861.4,170.0,268.1,262492.7,-5514.6
$KALMAN_Y,-130348.6,-175.2,-332.3,78948.7,628.5
$MHEAD_RNG_PITCHd_Wd,118.9,196644,-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,-1.00,-165.4,0.0,0.0,0,34,0.00,0.00,-6.78,0.000,2,0.000,0.000,82,1920,1146,0,0,0,0,0,0
$GC,36,-1.00,-165.4,3.0,-0.0,1,170,10.57,2.35,-110.70,0.000,4,0.217,0.075,2716,3314,3539,0,0,0,0,0,0
$GC,277,-0.97,-165.4,14.5,-9.7,41,285,0.05,2.28,0.00,0.000,6,0.145,0.049,2733,1907,3540,0,0,0,0,0,0
$GC,358,-0.97,-165.4,22.1,-9.7,54,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1907,3540,0,0,0,0,0,0
$GC,438,-1.00,-165.4,30.3,-10.6,67,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1907,3540,0,0,0,0,0,0
$GC,675,-1.02,-165.4,53.8,-10.7,108,682,0.00,1.23,0.00,0.000,4,0.000,0.058,2728,2660,3540,0,0,0,0,0,0
$GC,738,-1.04,-165.4,61.4,-11.8,118,743,0.00,1.20,0.00,0.000,6,0.000,0.050,2728,1905,3540,0,0,0,0,0,0
$GC,1064,-1.04,-165.4,97.4,-11.3,149,1068,0.00,0.43,0.00,0.000,4,0.000,0.060,2726,2188,3541,0,0,0,0,0,0
$GC,1152,-1.07,-165.4,107.1,-10.9,155,1156,0.03,0.43,0.00,0.000,6,0.098,0.059,2690,1907,3541,0,0,0,0,0,0
$GC,1484,-1.03,-165.4,144.6,-11.0,176,1486,0.10,0.00,0.00,0.000,6,0.172,0.000,2716,1906,3541,0,0,0,0,0,0
$GC,1795,-1.03,-165.4,175.5,-9.7,196,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1906,3541,0,0,0,0,0,0
$GC,2121,-1.03,-165.4,207.3,-9.6,216,2125,0.00,0.38,0.00,0.000,4,0.000,0.062,2717,1646,3541,0,0,0,0,0,0
$GC,2189,-1.03,-165.4,213.9,-9.8,219,2193,0.00,0.40,0.00,0.000,6,0.000,0.057,2715,1910,3542,0,0,0,0,0,0
$GC,2526,-1.06,-165.4,245.1,-9.5,235,2530,0.00,0.47,0.00,0.000,4,0.000,0.057,2715,1596,3541,0,0,0,0,0,0
$GC,2654,-1.06,-165.4,258.2,-9.8,240,2662,0.00,0.50,0.00,0.000,6,0.000,0.055,2713,1914,3542,0,0,0,0,0,0
$GC,2972,-1.06,-165.4,289.1,-10.1,256,2976,0.00,1.58,0.00,0.000,4,0.000,0.055,2713,941,3541,0,0,0,0,0,0
$GC,3042,-1.06,-165.4,296.5,-11.0,259,3046,0.00,1.55,0.00,0.000,6,0.000,0.047,2706,1911,3542,0,0,0,0,0,0
$GC,3362,-1.06,-165.4,331.4,-11.2,270,3365,0.00,0.57,0.00,0.000,4,0.000,0.057,2705,1538,3541,0,0,0,0,0,0
$GC,3450,-1.06,-165.4,341.7,-11.6,272,3455,0.00,0.60,0.00,0.000,6,0.000,0.054,2703,1919,3542,0,0,0,0,0,0
$GC,3769,-1.06,-165.4,377.4,-11.2,283,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1918,3541,0,0,0,0,0,0
$GC,4075,-1.06,-165.4,411.1,-10.9,293,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1919,3541,0,0,0,0,0,0
$GC,4382,-1.06,-165.4,442.8,-10.1,303,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1918,3541,0,0,0,0,0,0
$GC,4688,-1.06,-165.4,471.7,-9.1,313,4692,0.00,1.58,0.00,0.000,4,0.000,0.056,2702,952,3541,0,0,0,0,0,0
$GC,4760,-1.06,-165.4,478.6,-9.2,315,4764,0.00,1.52,0.00,0.000,6,0.000,0.047,2696,1910,3541,0,0,0,0,0,0
$GC,5096,-1.06,-165.4,509.9,-9.8,326,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1910,3540,0,0,0,0,0,0
$GC,5402,-1.06,-165.4,541.0,-10.3,336,5405,0.00,0.93,0.00,0.000,4,0.000,0.055,2697,1326,3540,0,0,0,0,0,0
$GC,5491,-1.06,-165.4,550.5,-10.7,338,5495,0.00,0.90,0.00,0.000,6,0.000,0.050,2692,1904,3540,0,0,0,0,0,0
$GC,5809,-1.06,-165.4,584.5,-10.6,349,5813,0.05,0.98,0.00,0.000,4,0.224,0.057,2704,1300,3539,0,0,0,0,0,0
$GC,5910,-1.06,-165.4,595.1,-10.3,352,5914,0.00,0.95,0.00,0.000,6,0.000,0.050,2699,1907,3539,0,0,0,0,0,0
$GC,6251,-1.06,-165.4,630.7,-10.5,363,6254,0.00,0.47,0.00,0.000,4,0.000,0.058,2699,1596,3538,0,0,0,0,0,0
$GC,6334,-1.06,-165.4,639.7,-10.9,365,6338,0.00,0.50,0.00,0.000,6,0.000,0.056,2697,1911,3538,0,0,0,0,0,0
$GC,6658,-1.06,-165.4,672.4,-10.3,376,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1911,3538,0,0,0,0,0,0
$GC,6964,-1.06,-165.4,703.0,-9.7,386,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1911,3537,0,0,0,0,0,0
$GC,7271,-1.06,-165.4,732.3,-9.4,396,7274,0.00,0.65,0.00,0.000,4,0.000,0.057,2697,1491,3536,0,0,0,0,0,0
$GC,7314,-1.06,-165.4,736.7,-9.6,397,7319,0.00,0.68,0.00,0.000,6,0.000,0.053,2694,1922,3536,0,0,0,0,0,0
$GC,7645,-1.06,-165.4,766.8,-9.1,408,7648,0.00,0.47,0.00,0.000,4,0.000,0.060,2692,2243,3535,0,0,0,0,0,0
$GC,7750,-1.06,-165.4,776.8,-9.5,411,7755,0.05,0.52,0.00,0.000,6,0.202,0.057,2705,1910,3535,0,0,0,0,0,0
$GC,8086,-1.08,-165.4,807.2,-9.1,422,8089,0.00,0.95,0.00,0.000,4,0.000,0.060,2700,2509,3534,0,0,0,0,0,0
$GC,8203,-1.11,-165.4,818.3,-9.6,425,8207,0.00,0.95,0.00,0.000,6,0.000,0.055,2700,1913,3533,0,0,0,0,0,0
$GC,8528,-1.13,-165.4,849.6,-9.9,436,8531,0.00,0.70,0.00,0.000,4,0.000,0.060,2698,2358,3533,0,0,0,0,0,0
$GC,8599,-1.13,-165.4,857.0,-10.3,438,8603,0.00,0.73,0.00,0.000,6,0.000,0.055,2697,1907,3532,0,0,0,0,0,0
$GC,8935,-1.13,-165.4,890.6,-10.0,449,8938,0.00,0.85,0.00,0.000,4,0.000,0.060,2694,2439,3532,0,0,0,0,0,0
$GC,9024,-1.13,-165.4,899.8,-10.2,451,9028,0.00,0.85,0.00,0.000,6,0.000,0.054,2694,1907,3531,0,0,0,0,0,0
$GC,9342,-1.13,-165.4,932.0,-10.3,462,9346,0.00,1.90,0.00,0.000,4,0.000,0.063,2685,3083,3531,0,0,0,0,0,0
$GC,9410,-1.13,-165.4,939.0,-10.9,464,9414,0.00,1.88,0.00,0.000,6,0.000,0.051,2685,1905,3531,0,0,0,0,0,0
$GC,9751,-1.13,-165.4,975.8,-11.0,475,9754,0.00,1.10,0.00,0.000,4,0.000,0.061,2680,2585,3530,0,0,0,0,0,0
$GC,9811,-1.13,-165.4,982.7,-10.9,476,9817,0.00,1.08,0.00,0.000,6,0.000,0.052,2680,1917,3530,0,0,0,0,0,0
$STATE,10000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10000,begin apogee
$GC,10005,-0.29,0.0,1003.1,10.8,483,10153,0.85,0.00,144.18,1.257,6,0.118,0.000,2950,1573,2862,0,0,0,0,0,0
$STATE,10154,end apogee,CONTROL_FINISHED_OK
$STATE,10154,begin climb
$GC,10156,1.00,165.4,1015.5,0.0,488,10316,1.20,2.60,150.02,1.222,4,0.059,0.062,3381,184,2185,0,0,0,0,0,0
$GC,10451,0.80,258.9,1012.6,6.1,497,10544,0.28,2.33,84.75,1.212,6,0.160,0.044,3308,1589,1806,0,0,0,0,0,0
$GC,10868,0.80,314.9,983.2,7.6,511,10923,0.00,1.12,50.47,1.203,4,0.000,0.052,3308,2300,1579,0,0,0,0,0,0
$GC,11002,0.84,364.4,972.1,7.8,515,11053,0.00,1.17,46.72,1.188,6,0.000,0.055,3314,1585,1375,0,0,0,0,0,0
$GC,11360,0.91,366.6,938.3,9.7,526,11365,0.08,0.82,0.00,0.000,4,0.119,0.065,3364,1085,1366,0,0,0,0,0,0
$GC,11403,0.91,366.6,933.7,10.9,527,11409,0.08,0.82,0.00,0.000,6,0.175,0.050,3345,1589,1365,0,0,0,0,0,0
$GC,11734,0.94,366.6,899.7,10.3,538,11738,0.00,0.88,0.00,0.000,4,0.000,0.054,3345,2155,1364,0,0,0,0,0,0
$GC,11778,0.94,366.6,894.9,10.5,539,11782,0.00,0.93,0.00,0.000,6,0.000,0.057,3348,1580,1364,0,0,0,0,0,0
$GC,12108,0.96,366.6,859.3,10.9,550,12112,0.00,1.30,0.00,0.000,4,0.000,0.064,3354,793,1364,0,0,0,0,0,0
$GC,12163,0.96,366.6,853.1,11.3,551,12167,0.00,1.27,0.00,0.000,6,0.000,0.049,3355,1584,1363,0,0,0,0,0,0
$GC,12482,0.96,366.6,819.3,10.5,562,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1584,1363,0,0,0,0,0,0
$GC,12788,0.96,366.6,787.9,10.1,572,12792,0.00,0.50,0.00,0.000,4,0.000,0.067,3356,1271,1363,0,0,0,0,0,0
$GC,12856,0.96,366.6,781.2,9.9,574,12859,0.00,0.50,0.00,0.000,6,0.000,0.057,3357,1590,1362,0,0,0,0,0,0
$GC,13197,0.96,379.6,748.6,9.3,585,13215,0.00,0.93,12.98,1.052,4,0.000,0.056,3357,2159,1314,0,0,0,0,0,0
$GC,13271,0.98,395.5,741.6,9.2,587,13292,0.00,0.93,17.25,1.047,6,0.000,0.059,3361,1585,1249,0,0,0,0,0,0
$GC,13599,1.01,395.5,709.1,10.2,598,13603,0.00,1.10,0.00,0.000,4,0.000,0.066,3366,925,1243,0,0,0,0,0,0
$GC,13648,1.01,395.5,703.9,9.8,599,13653,0.00,1.08,0.00,0.000,6,0.000,0.049,3366,1584,1242,0,0,0,0,0,0
$GC,13973,1.04,395.5,670.5,10.4,610,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1584,1242,0,0,0,0,0,0
$GC,14280,1.06,395.5,637.7,10.9,620,14281,0.08,0.00,0.00,0.000,6,0.122,0.000,3406,1584,1241,0,0,0,0,0,0
$GC,14586,1.02,395.5,601.4,11.7,630,14590,0.10,1.35,0.00,0.000,4,0.174,0.057,3380,2425,1241,0,0,0,0,0,0
$GC,14646,1.02,395.5,594.0,11.4,631,14651,0.00,1.35,0.00,0.000,6,0.000,0.054,3386,1592,1241,0,0,0,0,0,0
$GC,14959,1.02,395.5,558.2,11.5,642,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1592,1241,0,0,0,0,0,0
$GC,15265,1.02,395.5,524.1,10.8,652,15269,0.00,1.40,0.00,0.000,4,0.000,0.058,3386,2453,1241,0,0,0,0,0,0
$GC,15320,0.99,397.8,518.4,9.7,653,15324,0.05,1.42,0.00,0.000,6,0.161,0.054,3374,1578,1241,0,0,0,0,0,0
$GC,15639,0.99,406.9,487.4,9.4,664,15651,0.00,0.00,10.75,0.871,6,0.000,0.000,3374,1577,1202,0,0,0,0,0,0
$GC,15945,1.01,427.2,459.2,9.0,674,15969,0.00,0.62,20.85,0.905,4,0.000,0.050,3374,2001,1119,0,0,0,0,0,0
$GC,16034,1.05,447.1,450.9,9.0,676,16058,0.00,0.68,19.65,0.884,6,0.000,0.060,3377,1584,1039,0,0,0,0,0,0
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$GC,16790,1.09,447.1,368.6,11.2,701,16794,0.00,1.35,0.00,0.000,4,0.000,0.057,3402,2412,1031,0,0,0,0,0,0
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$GC,17164,1.09,447.1,326.3,11.3,713,17167,0.00,0.82,0.00,0.000,4,0.000,0.057,3408,2108,1030,0,0,0,0,0,0
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$STATE,20229,end climb,SURFACE_DEPTH_REACHED
$STATE,20229,begin surface coast
$FINISH,2.3,1.012934
$STATE,20260,end surface coast,CONTROL_FINISHED_OK
$STATE,20260,begin surface
$SM_CCo,20338,0.00,0.000,0,0,972,463.61
$SM_GC,2.97,8.70,0.00,0.00,0.033,0.000,0.000,88,1916,972,-9.19,0.17,463.61
$IRIDIUM_FIX,-4206.99,-428.17,090113,151502
$TT8_MAMPS,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,22.2,75.701
$10V_AH,9.9,60.494
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.425,77.625,568.825,0.000,0.000,25.725,36.682,223.298,0.250,0.000,18.817,2461.033,14461.776,605.023,2982.137,249.895,33.370,1870.368,0.000,2659.031,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,641.309,908.486,655.865,75.687,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,56888,953
$CAP_FILE_SIZE,172877,0
$CFSIZE,2097086464,2034892800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100113,023323,-4223.756,-423.113,85,1.0,85,-22.2