version: 66.07.10.p01
glider: 573
mission: 4
dive: 58
start: 10 8 112 19 10 39
data:
$ID,573
$MISSION,4
$DIVE,58
$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,1
$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,-4147.3247
$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,1863
$C_ROLL_CLIMB,1664
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,37
$GPS1,081012,185705,-4254.496,-922.849,63,0.9,63,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-66.6
$GPS2,081012,190945,-4254.553,-922.832,20,1.2,20,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.148,0.159
$KALMAN_X,-50508.9,242.0,287.1,102746.2,-2790.0
$KALMAN_Y,-92691.5,13.2,1150.1,64138.0,-9713.0
$MHEAD_RNG_PITCHd_Wd,64.4,11635,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-121.6,0.0,0.0,0,76,0.00,0.00,-48.92,0.000,2,0.000,0.000,82,1858,2987,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.1,-1.7,8,104,11.45,2.28,-9.88,0.000,4,0.261,0.067,2788,457,3357,0,0,0,0,0,0
$GC,218,-0.58,-121.6,21.7,-13.5,31,226,0.15,2.25,0.00,0.000,6,0.156,0.045,2825,1854,3359,0,0,0,0,0,0
$GC,296,-0.53,-121.6,33.1,-14.4,44,303,0.08,0.00,0.00,0.000,6,0.203,0.000,2844,1855,3359,0,0,0,0,0,0
$GC,534,-0.53,-121.6,54.2,-9.4,85,539,0.00,0.82,0.00,0.000,4,0.000,0.054,2840,2394,3360,0,0,0,0,0,0
$GC,723,-0.53,-121.6,70.8,-9.1,118,728,0.00,0.82,0.00,0.000,6,0.000,0.047,2840,1852,3360,0,0,0,0,0,0
$GC,1073,-0.51,-121.6,102.0,-8.6,178,1077,0.05,0.85,0.00,0.000,4,0.226,0.054,2847,2394,3360,0,0,0,0,0,0
$GC,1185,-0.51,-121.6,111.5,-8.0,188,1189,0.00,0.80,0.00,0.000,6,0.000,0.047,2848,1863,3359,0,0,0,0,0,0
$GC,1516,-0.51,-121.6,140.0,-9.0,219,1520,0.00,1.08,0.00,0.000,4,0.000,0.055,2842,2547,3360,0,0,0,0,0,0
$GC,1631,-0.51,-121.6,150.8,-9.2,229,1634,0.00,1.05,0.00,0.000,6,0.000,0.045,2842,1860,3359,0,0,0,0,0,0
$GC,1962,-0.51,-121.6,185.4,-11.0,260,1966,0.00,0.62,0.00,0.000,4,0.000,0.054,2839,2276,3360,0,0,0,0,0,0
$GC,2165,-0.51,-121.6,209.1,-12.1,278,2170,0.03,0.62,0.00,0.000,6,0.169,0.047,2849,1852,3360,0,0,0,0,0,0
$GC,2497,-0.51,-121.6,245.9,-11.1,309,2501,0.00,0.30,0.00,0.000,4,0.000,0.062,2850,1631,3360,0,0,0,0,0,0
$GC,2614,-0.51,-121.6,260.7,-11.8,316,2616,0.00,0.40,0.00,0.000,6,0.000,0.054,2848,1894,3360,0,0,0,0,0,0
$GC,2937,-0.51,-121.6,298.4,-11.3,332,2940,0.00,0.70,0.00,0.000,4,0.000,0.054,2845,2365,3361,0,0,0,0,0,0
$GC,3052,-0.51,-121.6,310.2,-10.4,337,3055,0.00,0.75,0.00,0.000,6,0.000,0.047,2845,1861,3361,0,0,0,0,0,0
$GC,3385,-0.51,-121.6,341.7,-9.4,353,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1860,3361,0,0,0,0,0,0
$GC,3692,-0.51,-121.6,370.3,-9.1,368,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1860,3361,0,0,0,0,0,0
$GC,4004,-0.51,-121.6,397.4,-8.5,383,4008,0.00,0.55,0.00,0.000,4,0.000,0.055,2842,2233,3361,0,0,0,0,0,0
$GC,4142,-0.51,-121.6,409.3,-8.7,389,4146,0.00,0.55,0.00,0.000,6,0.000,0.050,2842,1856,3361,0,0,0,0,0,0
$GC,4476,-0.51,-121.6,438.5,-8.8,405,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1856,3361,0,0,0,0,0,0
$GC,4783,-0.51,-121.6,465.9,-8.8,420,4787,0.00,0.68,0.00,0.000,4,0.000,0.055,2839,2304,3360,0,0,0,0,0,0
$GC,4898,-0.51,-121.6,476.0,-9.2,425,4902,0.03,0.65,0.00,0.000,6,0.172,0.050,2850,1867,3360,0,0,0,0,0,0
$GC,5218,-0.51,-121.6,504.1,-8.9,440,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1867,3360,0,0,0,0,0,0
$GC,5524,-0.51,-121.6,532.7,-9.6,450,5528,0.00,0.40,0.00,0.000,4,0.000,0.059,2849,2147,3359,0,0,0,0,0,0
$GC,5640,-0.51,-121.6,544.0,-9.9,453,5643,0.00,0.43,0.00,0.000,6,0.000,0.055,2849,1859,3359,0,0,0,0,0,0
$GC,5960,-0.51,-121.6,575.6,-9.9,464,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1859,3359,0,0,0,0,0,0
$GC,6266,-0.51,-121.6,606.0,-9.8,474,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1859,3358,0,0,0,0,0,0
$GC,6573,-0.51,-121.6,635.6,-9.7,484,6576,0.00,0.57,0.00,0.000,4,0.000,0.057,2846,2245,3357,0,0,0,0,0,0
$GC,6660,-0.51,-121.6,644.4,-9.6,486,6665,0.00,0.57,0.00,0.000,6,0.000,0.053,2846,1865,3357,0,0,0,0,0,0
$GC,6978,-0.51,-121.6,675.0,-9.6,497,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1865,3356,0,0,0,0,0,0
$GC,7284,-0.51,-121.6,704.5,-9.6,507,7288,0.00,0.50,0.00,0.000,4,0.000,0.059,2844,2201,3356,0,0,0,0,0,0
$GC,7389,-0.51,-121.6,714.6,-9.4,510,7391,0.00,0.52,0.00,0.000,6,0.000,0.054,2843,1854,3355,0,0,0,0,0,0
$GC,7720,-0.51,-121.6,743.0,-8.2,521,7724,0.00,0.47,0.00,0.000,4,0.000,0.059,2842,2176,3355,0,0,0,0,0,0
$GC,7836,-0.51,-121.6,752.5,-7.9,524,7840,0.00,0.47,0.00,0.000,6,0.000,0.054,2842,1859,3355,0,0,0,0,0,0
$GC,8160,-0.51,-121.6,776.5,-7.3,535,8163,0.00,0.62,0.00,0.000,4,0.000,0.058,2839,2273,3354,0,0,0,0,0,0
$GC,8261,-0.51,-121.6,783.8,-7.4,538,8265,0.03,0.60,0.00,0.000,6,0.173,0.054,2850,1868,3354,0,0,0,0,0,0
$GC,8601,-0.54,-121.6,807.2,-7.2,549,8605,0.00,0.32,0.00,0.000,4,0.000,0.063,2848,2104,3353,0,0,0,0,0,0
$GC,8717,-0.56,-121.6,816.4,-8.9,552,8721,0.00,0.38,0.00,0.000,6,0.000,0.058,2849,1853,3353,0,0,0,0,0,0
$GC,9041,-0.58,-121.6,841.4,-7.7,563,9045,0.00,0.52,0.00,0.000,4,0.000,0.059,2846,2207,3353,0,0,0,0,0,0
$GC,9163,-0.61,-121.6,851.2,-8.3,566,9168,0.08,0.52,0.00,0.000,6,0.127,0.053,2809,1859,3353,0,0,0,0,0,0
$GC,9481,-0.58,-121.6,881.0,-9.5,577,9485,0.10,0.90,0.00,0.000,4,0.178,0.058,2831,2428,3353,0,0,0,0,0,0
$GC,9648,-0.58,-121.6,895.4,-9.1,582,9652,0.00,0.85,0.00,0.000,6,0.000,0.050,2831,1870,3352,0,0,0,0,0,0
$GC,9988,-0.58,-121.6,924.0,-8.2,593,9992,0.00,0.32,0.00,0.000,4,0.000,0.063,2830,2099,3352,0,0,0,0,0,0
$GC,10115,-0.58,-121.6,934.2,-7.2,596,10120,0.00,0.38,0.00,0.000,6,0.000,0.059,2830,1849,3351,0,0,0,0,0,0
$GC,10428,-0.58,-121.6,958.2,-7.4,607,10431,0.00,0.88,0.00,0.000,4,0.000,0.057,2826,2415,3351,0,0,0,0,0,0
$GC,10538,-0.58,-121.6,966.2,-7.0,610,10543,0.00,0.85,0.00,0.000,6,0.000,0.049,2826,1863,3351,0,0,0,0,0,0
$GC,10868,-0.58,-121.6,988.0,-6.5,621,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1863,3351,0,0,0,0,0,0
$STATE,11081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11081,begin apogee
$GC,11085,-0.23,0.0,1002.0,6.5,628,11188,0.38,0.00,100.05,1.320,6,0.136,0.000,2946,1663,2862,0,0,0,0,0,0
$STATE,11188,end apogee,CONTROL_FINISHED_OK
$STATE,11189,begin climb
$GC,11190,0.71,121.6,1004.2,0.0,631,11301,0.90,1.62,103.85,1.282,4,0.100,0.059,3247,727,2366,0,0,0,0,0,0
$GC,11389,0.71,128.8,993.7,7.1,637,11401,0.00,1.55,7.15,1.032,6,0.000,0.047,3247,1656,2337,0,0,0,0,0,0
$GC,11713,0.71,141.0,971.2,6.9,648,11728,0.00,1.10,12.02,1.137,4,0.000,0.055,3247,2320,2287,0,0,0,0,0,0
$GC,11868,0.71,148.5,959.4,7.1,652,11879,0.00,1.08,8.00,1.043,6,0.000,0.050,3252,1665,2255,0,0,0,0,0,0
$GC,12208,0.71,148.5,933.0,7.5,664,12212,0.00,0.52,0.00,0.000,4,0.000,0.061,3254,1320,2254,0,0,0,0,0,0
$GC,12290,0.71,161.2,926.9,6.9,666,12307,0.00,0.55,12.10,1.138,6,0.000,0.055,3254,1665,2205,0,0,0,0,0,0
$GC,12614,0.71,168.2,903.4,7.1,677,12624,0.00,0.47,7.60,1.030,4,0.000,0.059,3254,1965,2176,0,0,0,0,0,0
$GC,12713,0.71,175.1,896.1,7.1,680,12724,0.00,0.50,7.85,1.032,6,0.000,0.058,3257,1658,2147,0,0,0,0,0,0
$GC,13042,0.71,189.6,873.6,6.8,691,13058,0.00,0.00,14.10,1.144,6,0.000,0.000,3257,1658,2089,0,0,0,0,0,0
$GC,13348,0.73,202.1,852.2,6.9,701,13363,0.00,0.00,12.38,1.117,6,0.000,0.000,3256,1658,2038,0,0,0,0,0,0
$GC,13655,0.76,227.4,832.4,6.4,711,13683,0.00,0.00,23.80,1.174,6,0.000,0.000,3257,1658,1935,0,0,0,0,0,0
$GC,13991,0.81,237.2,809.8,7.0,722,14006,0.08,0.55,9.68,1.050,4,0.127,0.063,3297,1310,1894,0,0,0,0,0,0
$GC,14127,0.81,237.2,797.7,9.5,726,14132,0.05,0.57,0.00,0.000,6,0.210,0.053,3286,1666,1892,0,0,0,0,0,0
$GC,14462,0.81,237.2,767.0,9.6,737,14466,0.00,0.45,0.00,0.000,4,0.000,0.063,3287,1376,1891,0,0,0,0,0,0
$GC,14539,0.81,237.2,759.8,9.5,739,14541,0.00,0.47,0.00,0.000,6,0.000,0.055,3287,1675,1891,0,0,0,0,0,0
$GC,14864,0.81,237.2,731.1,8.8,750,14868,0.00,0.57,0.00,0.000,4,0.000,0.063,3290,1309,1890,0,0,0,0,0,0
$GC,14958,0.81,237.2,723.3,8.2,752,14963,0.00,0.57,0.00,0.000,6,0.000,0.054,3289,1672,1890,0,0,0,0,0,0
$GC,15270,0.81,237.2,699.0,7.5,763,15274,0.00,0.73,0.00,0.000,4,0.000,0.061,3293,1216,1890,0,0,0,0,0,0
$GC,15371,0.81,237.2,691.4,7.5,766,15374,0.00,0.70,0.00,0.000,6,0.000,0.051,3293,1667,1890,0,0,0,0,0,0
$GC,15710,0.81,237.2,666.0,7.6,777,15714,0.00,0.62,0.00,0.000,4,0.000,0.062,3295,1267,1890,0,0,0,0,0,0
$GC,15781,0.81,237.2,660.4,7.9,779,15786,0.00,0.62,0.00,0.000,6,0.000,0.053,3296,1662,1890,0,0,0,0,0,0
$GC,16116,0.81,237.2,633.2,8.1,790,16120,0.00,0.40,0.00,0.000,4,0.000,0.066,3298,1397,1890,0,0,0,0,0,0
$GC,16285,0.81,237.2,618.8,9.4,795,16289,0.03,0.40,0.00,0.000,6,0.180,0.059,3288,1663,1890,0,0,0,0,0,0
$GC,16624,0.81,237.2,588.2,9.2,806,16627,0.00,0.40,0.00,0.000,4,0.000,0.067,3289,1397,1889,0,0,0,0,0,0
$GC,16869,0.81,237.2,564.1,9.3,813,16873,0.00,0.43,0.00,0.000,6,0.000,0.057,3289,1669,1889,0,0,0,0,0,0
$GC,17198,0.81,237.2,529.0,11.0,824,17202,0.00,0.45,0.00,0.000,4,0.000,0.065,3291,1378,1889,0,0,0,0,0,0
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$STATE,22973,end climb,SURFACE_DEPTH_REACHED
$STATE,22973,begin surface coast
$FINISH,1.3,1.026683
$STATE,23010,end surface coast,CONTROL_FINISHED_OK
$STATE,23010,begin surface
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$TT8_MAMPS,0.027713
$HUMID,41.69
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$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.7,13.471
$10V_AH,10.3,12.426
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354192
$DATA_FILE_SIZE,77003,1300
$CAP_FILE_SIZE,203615,0
$CFSIZE,2097086464,2086338560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091012,013705,-4255.292,-921.822,124,1.0,124,-21.4