version: 66.07.10.p01
glider: 573
mission: 4
dive: 19
start: 9 27 112 23 34 51
data:
$ID,573
$MISSION,4
$DIVE,19
$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,450
$T_MISSION,520
$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,125
$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,2
$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,250
$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,-4024.7019
$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,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,37
$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,-1
$GPS1,270912,232119,-4246.445,-1041.931,53,2.3,72,-21.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.2
$GPS2,270912,233430,-4246.256,-1041.894,46,2.3,65,-21.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,-0.304
$KALMAN_X,-151.7,-151.7,-151.7,138.2,-343.1
$KALMAN_Y,273.5,273.5,273.5,229.1,618.8
$MHEAD_RNG_PITCHd_Wd,127.3,226863,-15.4,-7.407
$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,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,69,0.00,0.00,-43.12,0.000,2,0.000,0.000,88,1835,2881,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.1,-2.9,7,103,11.50,2.28,-12.07,0.000,4,0.264,0.077,2775,3224,3359,0,0,0,0,0,0
$GC,367,-0.60,-121.6,46.0,-13.8,57,373,0.17,2.20,0.00,0.000,6,0.168,0.046,2824,1820,3361,0,0,0,0,0,0
$GC,602,-0.55,-121.6,74.1,-11.5,98,610,0.08,0.55,0.00,0.000,4,0.215,0.059,2839,2178,3361,0,0,0,0,0,0
$GC,784,-0.53,-121.6,93.1,-10.7,129,789,0.00,0.55,0.00,0.000,6,0.000,0.055,2839,1815,3361,0,0,0,0,0,0
$GC,1133,-0.50,-121.6,132.3,-11.3,190,1141,0.08,1.65,0.00,0.000,4,0.203,0.057,2850,2844,3361,0,0,0,0,0,0
$GC,1280,-0.50,-121.6,147.0,-9.9,215,1285,0.00,1.60,0.00,0.000,6,0.000,0.047,2850,1820,3362,0,0,0,0,0,0
$GC,1628,-0.50,-121.6,183.3,-10.7,276,1636,0.00,1.15,0.00,0.000,4,0.000,0.056,2844,2547,3362,0,0,0,0,0,0
$GC,1775,-0.50,-121.6,198.3,-9.9,301,1780,0.00,1.12,0.00,0.000,6,0.000,0.048,2845,1818,3362,0,0,0,0,0,0
$GC,2124,-0.50,-121.6,232.8,-9.8,362,2131,0.00,0.43,0.00,0.000,4,0.000,0.058,2842,2111,3362,0,0,0,0,0,0
$GC,2228,-0.50,-121.6,242.5,-9.1,380,2235,0.03,0.43,0.00,0.000,6,0.176,0.058,2852,1823,3362,0,0,0,0,0,0
$GC,2561,-0.50,-121.6,270.6,-7.7,418,2565,0.00,1.20,0.00,0.000,4,0.000,0.056,2847,2590,3362,0,0,0,0,0,0
$GC,2697,-0.50,-121.6,281.9,-8.3,430,2700,0.00,1.20,0.00,0.000,6,0.000,0.047,2847,1812,3362,0,0,0,0,0,0
$GC,3028,-0.50,-121.6,307.7,-7.2,461,3032,0.00,0.75,0.00,0.000,4,0.000,0.054,2843,2305,3363,0,0,0,0,0,0
$GC,3190,-0.50,-121.6,320.2,-7.7,475,3196,0.00,0.75,0.00,0.000,6,0.000,0.050,2843,1819,3362,0,0,0,0,0,0
$GC,3517,-0.50,-121.6,347.5,-8.1,506,3520,0.00,1.00,0.00,0.000,4,0.000,0.057,2839,2464,3362,0,0,0,0,0,0
$GC,3675,-0.50,-121.6,360.3,-7.6,520,3679,0.03,1.00,0.00,0.000,6,0.174,0.050,2849,1814,3362,0,0,0,0,0,0
$GC,4006,-0.50,-121.6,387.4,-8.3,551,4009,0.00,1.08,0.00,0.000,4,0.000,0.057,2844,2502,3362,0,0,0,0,0,0
$GC,4130,-0.50,-121.6,398.5,-8.8,562,4133,0.00,1.05,0.00,0.000,6,0.000,0.050,2845,1820,3362,0,0,0,0,0,0
$GC,4461,-0.50,-121.6,431.1,-10.0,593,4465,0.00,0.95,0.00,0.000,4,0.000,0.056,2840,2435,3361,0,0,0,0,0,0
$GC,4644,-0.50,-121.6,449.6,-10.3,609,4648,0.03,0.95,0.00,0.000,6,0.177,0.050,2850,1816,3362,0,0,0,0,0,0
$GC,4974,-0.50,-121.6,484.5,-10.2,640,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1815,3361,0,0,0,0,0,0
$GC,5285,-0.50,-121.6,515.6,-9.5,660,5289,0.00,1.10,0.00,0.000,4,0.000,0.057,2845,2517,3361,0,0,0,0,0,0
$GC,5395,-0.50,-121.6,525.8,-8.9,663,5400,0.00,1.10,0.00,0.000,6,0.000,0.050,2845,1814,3361,0,0,0,0,0,0
$GC,5725,-0.50,-121.6,555.2,-8.8,674,5729,0.00,1.02,0.00,0.000,4,0.000,0.058,2841,2471,3360,0,0,0,0,0,0
$GC,5852,-0.50,-121.6,566.5,-8.8,677,5859,0.08,1.02,0.00,0.000,6,0.188,0.050,2859,1816,3361,0,0,0,0,0,0
$GC,6165,-0.52,-121.6,590.9,-7.6,688,6169,0.00,0.95,0.00,0.000,4,0.000,0.057,2855,2430,3360,0,0,0,0,0,0
$GC,6316,-0.55,-121.6,602.0,-7.3,692,6320,0.00,0.93,0.00,0.000,6,0.000,0.052,2855,1825,3360,0,0,0,0,0,0
$GC,6640,-0.55,-121.6,623.6,-6.6,703,6643,0.00,0.73,0.00,0.000,4,0.000,0.058,2851,2299,3359,0,0,0,0,0,0
$GC,6756,-0.57,-121.6,631.6,-6.5,706,6761,0.00,0.75,0.00,0.000,6,0.000,0.051,2852,1813,3358,0,0,0,0,0,0
$GC,7080,-0.57,-121.6,654.1,-7.3,717,7084,0.00,0.90,0.00,0.000,4,0.000,0.058,2847,2393,3358,0,0,0,0,0,0
$GC,7207,-0.57,-121.6,664.0,-8.2,720,7213,0.00,0.90,0.00,0.000,6,0.000,0.051,2848,1813,3358,0,0,0,0,0,0
$GC,7520,-0.57,-121.6,689.4,-8.3,731,7523,0.00,0.80,0.00,0.000,4,0.000,0.058,2844,2331,3358,0,0,0,0,0,0
$GC,7670,-0.57,-121.6,702.7,-8.7,735,7674,0.00,0.80,0.00,0.000,6,0.000,0.053,2844,1816,3358,0,0,0,0,0,0
$GC,7993,-0.57,-121.6,732.0,-9.1,746,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1816,3357,0,0,0,0,0,0
$GC,8299,-0.57,-121.6,760.0,-9.0,756,8303,0.00,0.75,0.00,0.000,4,0.000,0.059,2840,2303,3357,0,0,0,0,0,0
$GC,8477,-0.57,-121.6,775.6,-8.4,761,8482,0.00,0.75,0.00,0.000,6,0.000,0.054,2840,1820,3356,0,0,0,0,0,0
$GC,8807,-0.57,-121.6,801.3,-7.8,772,8810,0.00,1.20,0.00,0.000,4,0.000,0.060,2835,2587,3356,0,0,0,0,0,0
$GC,8951,-0.57,-121.6,812.6,-7.3,776,8956,0.00,1.20,0.00,0.000,6,0.000,0.052,2835,1821,3356,0,0,0,0,0,0
$GC,9281,-0.57,-121.6,836.7,-7.2,787,9285,0.00,0.65,0.00,0.000,4,0.000,0.060,2832,2254,3355,0,0,0,0,0,0
$GC,9383,-0.57,-121.6,843.9,-7.0,790,9386,0.00,0.65,0.00,0.000,6,0.000,0.057,2832,1823,3355,0,0,0,0,0,0
$GC,9723,-0.57,-121.6,867.5,-7.2,801,9726,0.00,0.73,0.00,0.000,4,0.000,0.059,2829,2297,3355,0,0,0,0,0,0
$GC,9951,-0.57,-121.6,883.8,-7.4,807,9957,0.00,0.75,0.00,0.000,6,0.000,0.054,2829,1814,3355,0,0,0,0,0,0
$GC,10263,-0.57,-121.6,905.9,-7.0,818,10267,0.00,0.75,0.00,0.000,4,0.000,0.060,2825,2301,3354,0,0,0,0,0,0
$GC,10425,-0.57,-121.6,918.2,-7.6,822,10430,0.00,0.75,0.00,0.000,6,0.000,0.054,2825,1819,3354,0,0,0,0,0,0
$GC,10737,-0.57,-121.6,941.7,-7.8,833,10741,0.00,1.08,0.00,0.000,4,0.000,0.060,2820,2502,3354,0,0,0,0,0,0
$GC,10887,-0.57,-121.6,953.4,-8.5,837,10892,0.03,1.08,0.00,0.000,6,0.266,0.051,2830,1816,3354,0,0,0,0,0,0
$GC,11211,-0.57,-121.6,978.8,-7.9,848,11215,0.00,0.98,0.00,0.000,4,0.000,0.060,2826,2438,3353,0,0,0,0,0,0
$GC,11400,-0.57,-121.6,995.2,-8.7,853,11404,0.00,0.98,0.00,0.000,6,0.000,0.053,2826,1816,3353,0,0,0,0,0,0
$STATE,11472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11472,begin apogee
$GC,11476,-0.23,0.0,1001.3,8.7,856,11579,0.38,0.00,100.40,1.323,6,0.142,0.000,2945,1649,2862,0,0,0,0,0,0
$STATE,11580,end apogee,CONTROL_FINISHED_OK
$STATE,11580,begin climb
$GC,11581,0.71,121.6,1005.7,0.0,859,11692,0.93,0.62,104.80,1.285,4,0.108,0.057,3243,1254,2366,0,0,0,0,0,0
$GC,11718,0.71,198.0,1003.1,4.3,863,11791,0.00,0.68,68.65,1.261,6,0.000,0.054,3243,1648,2054,0,0,0,0,0,0
$GC,12097,0.75,228.8,981.0,6.1,875,12129,0.05,1.15,27.17,1.229,4,0.171,0.056,3267,2319,1929,0,0,0,0,0,0
$GC,12230,0.75,228.8,970.8,8.9,879,12234,0.00,1.10,0.00,0.000,6,0.000,0.054,3272,1655,1925,0,0,0,0,0,0
$GC,12570,0.75,228.8,941.7,8.9,890,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1655,1923,0,0,0,0,0,0
$GC,12876,0.75,228.8,914.8,8.5,900,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1655,1923,0,0,0,0,0,0
$GC,13182,0.75,228.8,889.5,8.4,910,13186,0.00,0.75,0.00,0.000,4,0.000,0.057,3272,2135,1922,0,0,0,0,0,0
$GC,13326,0.75,228.8,876.5,8.9,914,13331,0.00,0.80,0.00,0.000,6,0.000,0.057,3275,1637,1922,0,0,0,0,0,0
$GC,13656,0.75,228.8,846.1,9.2,925,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1637,1922,0,0,0,0,0,0
$GC,13962,0.75,228.8,817.8,9.1,935,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1637,1922,0,0,0,0,0,0
$GC,14268,0.75,228.8,791.2,8.5,945,14272,0.00,0.32,0.00,0.000,4,0.000,0.066,3275,1854,1921,0,0,0,0,0,0
$GC,14373,0.75,228.8,782.4,8.3,948,14375,0.00,0.35,0.00,0.000,6,0.000,0.069,3276,1639,1921,0,0,0,0,0,0
$GC,14704,0.75,228.8,755.4,8.1,959,14707,0.00,0.43,0.00,0.000,4,0.000,0.063,3276,1922,1921,0,0,0,0,0,0
$GC,14848,0.75,228.8,743.7,7.7,963,14852,0.00,0.45,0.00,0.000,6,0.000,0.065,3277,1641,1921,0,0,0,0,0,0
$GC,15177,0.75,228.8,718.3,7.6,974,15178,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1641,1921,0,0,0,0,0,0
$GC,15483,0.75,229.9,695.9,7.4,984,15487,0.00,0.32,0.00,0.000,4,0.000,0.067,3278,1860,1921,0,0,0,0,0,0
$GC,15543,0.75,233.4,691.4,7.3,985,15551,0.03,0.35,3.88,0.685,6,0.285,0.070,3268,1644,1910,0,0,0,0,0,0
$GC,15857,0.79,247.6,670.0,6.8,996,15873,0.00,0.00,14.15,1.051,6,0.000,0.000,3268,1644,1852,0,0,0,0,0,0
$GC,16163,0.83,247.6,648.0,7.6,1006,16167,0.08,0.43,0.00,0.000,4,0.135,0.063,3303,1910,1850,0,0,0,0,0,0
$GC,16297,0.83,247.6,635.4,9.1,1010,16301,0.03,0.40,0.00,0.000,6,0.184,0.066,3295,1652,1850,0,0,0,0,0,0
$GC,16636,0.83,247.6,605.6,8.6,1021,16639,0.00,0.50,0.00,0.000,4,0.000,0.065,3297,1322,1849,0,0,0,0,0,0
$GC,16718,0.83,247.6,598.2,8.1,1023,16720,0.00,0.52,0.00,0.000,6,0.000,0.058,3297,1650,1850,0,0,0,0,0,0
$GC,17038,0.83,247.6,567.5,10.0,1034,17039,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1650,1849,0,0,0,0,0,0
$GC,17344,0.83,247.6,535.9,10.3,1044,17348,0.00,0.32,0.00,0.000,4,0.000,0.064,3297,1882,1849,0,0,0,0,0,0
$GC,17459,0.83,247.6,523.9,9.7,1047,17464,0.00,0.40,0.00,0.000,6,0.000,0.067,3299,1635,1849,0,0,0,0,0,0
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$STATE,23190,end climb,SURFACE_DEPTH_REACHED
$STATE,23190,begin surface coast
$FINISH,2.0,1.026693
$STATE,23198,end surface coast,CONTROL_FINISHED_OK
$STATE,23198,begin surface
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$HUMID,41.80
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.5,8.002
$10V_AH,10.3,5.363
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.300,63.350,394.375,0.000,0.000,55.204,80.165,409.833,0.000,0.000,68.919,4445.707,13342.961,451.037,5666.622,144.206,0.000,2260.418,0.000,4998.577,0.000,1.008,0.000
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$MEM,354532
$DATA_FILE_SIZE,106959,1799
$CAP_FILE_SIZE,227108,0
$CFSIZE,2097086464,2092072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280912,060529,-4244.728,-1039.579,133,0.9,133,-21.3