version: 66.07.10.p01
glider: 573
mission: 4
dive: 59
start: 10 9 112 1 58 7
data:
$ID,573
$MISSION,4
$DIVE,59
$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,-4150.5308
$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,26
$R_STBD_OVSHOOT,34
$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,38
$GPS1,091012,013705,-4255.292,-921.822,124,1.0,124,-21.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-70.4
$GPS2,091012,015712,-4255.384,-921.969,16,1.1,16,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.004,0.217
$KALMAN_X,-52354.3,-163.7,-267.8,106737.4,-1556.6
$KALMAN_Y,-97456.8,188.9,8.3,68332.2,-6956.2
$MHEAD_RNG_PITCHd_Wd,20.3,11347,-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,-121.6,0.0,0.0,0,75,0.00,0.00,-48.95,0.000,2,0.000,0.000,80,1872,3028,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.4,-2.6,8,103,11.50,2.35,-7.82,0.000,4,0.261,0.068,2785,419,3358,0,0,0,0,0,0
$GC,301,-0.57,-121.6,39.4,-14.4,46,309,0.17,2.33,0.00,0.000,6,0.148,0.044,2831,1869,3360,0,0,0,0,0,0
$GC,538,-0.53,-121.6,65.4,-10.3,87,546,0.05,1.80,0.00,0.000,4,0.243,0.058,2835,2984,3360,0,0,0,0,0,0
$GC,684,-0.53,-121.6,80.8,-10.4,112,689,0.00,1.75,0.00,0.000,6,0.000,0.044,2835,1849,3360,0,0,0,0,0,0
$GC,1019,-0.51,-121.6,118.0,-10.8,158,1023,0.08,0.40,0.00,0.000,4,0.205,0.057,2850,2119,3360,0,0,0,0,0,0
$GC,1145,-0.51,-121.6,131.0,-10.3,169,1148,0.00,0.38,0.00,0.000,6,0.000,0.055,2851,1858,3360,0,0,0,0,0,0
$GC,1476,-0.51,-121.6,166.5,-10.8,200,1479,0.00,0.80,0.00,0.000,4,0.000,0.054,2847,2378,3360,0,0,0,0,0,0
$GC,1589,-0.51,-121.6,178.9,-10.5,210,1592,0.00,0.77,0.00,0.000,6,0.000,0.047,2847,1864,3360,0,0,0,0,0,0
$GC,1921,-0.51,-121.6,214.0,-10.2,241,1924,0.00,1.15,0.00,0.000,4,0.000,0.054,2841,2601,3361,0,0,0,0,0,0
$GC,2067,-0.51,-121.6,228.8,-9.7,254,2071,0.00,1.12,0.00,0.000,6,0.000,0.045,2841,1865,3360,0,0,0,0,0,0
$GC,2407,-0.51,-121.6,259.9,-8.6,281,2411,0.05,0.38,0.00,0.000,4,0.227,0.059,2851,2119,3361,0,0,0,0,0,0
$GC,2546,-0.51,-121.6,271.3,-7.5,287,2550,0.00,0.40,0.00,0.000,6,0.000,0.054,2851,1850,3361,0,0,0,0,0,0
$GC,2875,-0.51,-121.6,294.8,-7.2,303,2879,0.00,0.57,0.00,0.000,4,0.000,0.053,2849,2239,3361,0,0,0,0,0,0
$GC,2968,-0.51,-121.6,300.8,-6.8,307,2971,0.00,0.55,0.00,0.000,6,0.000,0.050,2849,1864,3361,0,0,0,0,0,0
$GC,3302,-0.51,-121.6,323.7,-6.9,323,3305,0.00,0.88,0.00,0.000,4,0.000,0.054,2844,2434,3361,0,0,0,0,0,0
$GC,3430,-0.51,-121.6,333.1,-6.8,328,3438,0.00,0.88,0.00,0.000,6,0.000,0.044,2844,1860,3361,0,0,0,0,0,0
$GC,3746,-0.51,-121.6,357.0,-7.7,344,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1859,3361,0,0,0,0,0,0
$GC,4057,-0.51,-121.6,382.8,-8.8,359,4061,0.00,1.17,0.00,0.000,4,0.000,0.054,2839,2613,3361,0,0,0,0,0,0
$GC,4170,-0.51,-121.6,393.1,-8.8,364,4174,0.03,1.15,0.00,0.000,6,0.164,0.044,2850,1856,3361,0,0,0,0,0,0
$GC,4501,-0.51,-121.6,424.1,-9.6,380,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1856,3362,0,0,0,0,0,0
$GC,4812,-0.51,-121.6,453.5,-9.5,395,4816,0.00,0.90,0.00,0.000,4,0.000,0.054,2846,2440,3361,0,0,0,0,0,0
$GC,4906,-0.51,-121.6,463.1,-10.0,399,4911,0.00,0.90,0.00,0.000,6,0.000,0.046,2845,1853,3361,0,0,0,0,0,0
$GC,5235,-0.51,-121.6,494.6,-9.7,415,5239,0.00,0.75,0.00,0.000,4,0.000,0.054,2842,2344,3360,0,0,0,0,0,0
$GC,5336,-0.51,-121.6,504.1,-8.7,419,5340,0.00,0.73,0.00,0.000,6,0.000,0.047,2842,1858,3360,0,0,0,0,0,0
$GC,5676,-0.51,-121.6,534.5,-8.6,430,5680,0.05,0.62,0.00,0.000,4,0.229,0.057,2852,2267,3359,0,0,0,0,0,0
$GC,5786,-0.53,-121.6,543.5,-7.5,433,5790,0.00,0.62,0.00,0.000,6,0.000,0.050,2852,1856,3359,0,0,0,0,0,0
$GC,6115,-0.53,-121.6,569.8,-8.1,444,6119,0.00,0.73,0.00,0.000,4,0.000,0.055,2848,2340,3358,0,0,0,0,0,0
$GC,6209,-0.53,-121.6,577.3,-7.8,446,6214,0.00,0.73,0.00,0.000,6,0.000,0.048,2848,1863,3358,0,0,0,0,0,0
$GC,6521,-0.53,-121.6,603.8,-8.8,457,6525,0.00,0.47,0.00,0.000,4,0.000,0.058,2846,2184,3358,0,0,0,0,0,0
$GC,6632,-0.53,-121.6,613.7,-8.6,460,6636,0.00,0.50,0.00,0.000,6,0.000,0.053,2846,1851,3357,0,0,0,0,0,0
$GC,6961,-0.53,-121.6,642.6,-8.9,471,6964,0.00,0.32,0.00,0.000,4,0.000,0.060,2844,2084,3357,0,0,0,0,0,0
$GC,7129,-0.53,-121.6,657.6,-8.6,476,7133,0.00,0.30,0.00,0.000,6,0.000,0.062,2844,1870,3357,0,0,0,0,0,0
$GC,7469,-0.53,-121.6,687.8,-8.9,487,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1870,3356,0,0,0,0,0,0
$GC,7775,-0.53,-121.6,713.3,-8.5,497,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1870,3356,0,0,0,0,0,0
$GC,8081,-0.53,-121.6,739.9,-8.7,507,8085,0.00,0.28,0.00,0.000,4,0.000,0.063,2843,2070,3355,0,0,0,0,0,0
$GC,8192,-0.53,-121.6,749.8,-8.8,510,8194,0.00,0.32,0.00,0.000,6,0.000,0.060,2843,1849,3355,0,0,0,0,0,0
$GC,8517,-0.53,-121.6,778.2,-8.8,521,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1849,3354,0,0,0,0,0,0
$GC,8823,-0.53,-121.6,803.9,-8.4,531,8827,0.00,0.68,0.00,0.000,4,0.000,0.057,2840,2295,3354,0,0,0,0,0,0
$GC,8928,-0.53,-121.6,812.6,-8.2,534,8932,0.00,0.68,0.00,0.000,6,0.000,0.050,2841,1853,3353,0,0,0,0,0,0
$GC,9263,-0.53,-121.6,837.8,-7.1,545,9267,0.00,0.40,0.00,0.000,4,0.000,0.060,2839,2129,3353,0,0,0,0,0,0
$GC,9368,-0.53,-121.6,845.4,-7.1,548,9372,0.00,0.40,0.00,0.000,6,0.000,0.057,2839,1864,3353,0,0,0,0,0,0
$GC,9703,-0.53,-121.6,868.1,-6.9,559,9707,0.00,0.25,0.00,0.000,4,0.000,0.069,2838,2044,3352,0,0,0,0,0,0
$GC,9780,-0.53,-121.6,873.9,-7.7,561,9782,0.00,0.28,0.00,0.000,6,0.000,0.065,2837,1858,3352,0,0,0,0,0,0
$GC,10105,-0.53,-121.6,898.5,-7.7,572,10109,0.00,0.60,0.00,0.000,4,0.000,0.057,2835,2256,3352,0,0,0,0,0,0
$GC,10255,-0.53,-121.6,910.7,-9.0,576,10260,0.05,0.60,0.00,0.000,6,0.213,0.052,2848,1860,3351,0,0,0,0,0,0
$GC,10578,-0.56,-121.6,936.6,-8.2,587,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1860,3352,0,0,0,0,0,0
$GC,10885,-0.58,-121.6,962.8,-8.9,597,10888,0.00,0.35,0.00,0.000,4,0.000,0.063,2846,2104,3351,0,0,0,0,0,0
$GC,11063,-0.61,-121.6,978.6,-8.7,602,11068,0.05,0.38,0.00,0.000,6,0.171,0.059,2815,1855,3350,0,0,0,0,0,0
$STATE,11298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11298,begin apogee
$GC,11302,-0.23,0.0,1002.0,10.0,610,11405,0.40,0.00,99.68,1.321,6,0.137,0.000,2943,1668,2862,0,0,0,0,0,0
$STATE,11406,end apogee,CONTROL_FINISHED_OK
$STATE,11406,begin climb
$GC,11407,0.71,121.6,1006.8,0.0,613,11518,0.93,1.75,103.57,1.284,4,0.101,0.059,3252,654,2366,0,0,0,0,0,0
$GC,11601,0.71,139.4,1000.8,6.7,619,11622,0.00,1.70,16.75,1.192,6,0.000,0.047,3252,1666,2292,0,0,0,0,0,0
$GC,11929,0.71,170.5,980.4,6.1,629,11963,0.00,1.23,27.67,1.240,4,0.000,0.054,3252,2391,2166,0,0,0,0,0,0
$GC,12068,0.71,179.3,970.7,7.0,633,12081,0.00,1.20,8.93,1.096,6,0.000,0.050,3257,1666,2131,0,0,0,0,0,0
$GC,12393,0.71,192.0,948.1,6.9,644,12408,0.00,0.00,12.45,1.140,6,0.000,0.000,3257,1666,2078,0,0,0,0,0,0
$GC,12726,0.71,192.0,923.1,7.9,655,12730,0.00,0.65,0.00,0.000,4,0.000,0.060,3260,1249,2075,0,0,0,0,0,0
$GC,12814,0.71,192.0,915.9,8.2,657,12818,0.00,0.68,0.00,0.000,6,0.000,0.051,3260,1668,2075,0,0,0,0,0,0
$GC,13132,0.71,192.0,889.0,8.4,668,13136,0.00,0.32,0.00,0.000,4,0.000,0.067,3262,1452,2075,0,0,0,0,0,0
$GC,13199,0.71,192.0,883.3,9.3,670,13203,0.00,0.32,0.00,0.000,6,0.000,0.063,3262,1669,2075,0,0,0,0,0,0
$GC,13539,0.71,192.0,853.9,9.1,681,13542,0.00,0.35,0.00,0.000,4,0.000,0.065,3263,1439,2074,0,0,0,0,0,0
$GC,13644,0.71,192.0,844.3,8.6,684,13648,0.00,0.35,0.00,0.000,6,0.000,0.059,3264,1668,2074,0,0,0,0,0,0
$GC,13978,0.71,192.0,814.9,8.8,695,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1668,2074,0,0,0,0,0,0
$GC,14284,0.71,192.0,789.3,7.9,705,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1668,2073,0,0,0,0,0,0
$GC,14591,0.71,194.8,766.5,7.3,715,14594,0.00,0.70,0.00,0.000,4,0.000,0.061,3266,1223,2073,0,0,0,0,0,0
$GC,14684,0.71,194.8,759.6,7.6,717,14691,0.05,0.70,0.00,0.000,6,0.213,0.050,3253,1663,2072,0,0,0,0,0,0
$GC,14997,0.74,223.3,739.4,6.2,728,15030,0.00,0.30,27.75,1.141,4,0.000,0.070,3254,1481,1951,0,0,0,0,0,0
$GC,15170,0.79,250.8,727.8,6.3,733,15200,0.05,0.30,25.05,1.114,6,0.168,0.063,3282,1670,1839,0,0,0,0,0,0
$GC,15529,0.82,250.8,700.3,7.7,745,15533,0.00,0.57,0.00,0.000,4,0.000,0.061,3285,1301,1833,0,0,0,0,0,0
$GC,15612,0.84,251.4,693.9,7.4,747,15617,0.00,0.60,0.00,0.000,6,0.000,0.054,3285,1674,1833,0,0,0,0,0,0
$GC,15936,0.86,251.4,668.0,8.5,758,15940,0.00,0.85,0.00,0.000,4,0.000,0.060,3289,1146,1832,0,0,0,0,0,0
$GC,16024,0.88,251.4,660.3,8.7,760,16029,0.00,0.82,0.00,0.000,6,0.000,0.050,3289,1664,1832,0,0,0,0,0,0
$GC,16343,0.88,251.4,633.0,8.6,771,16346,0.00,0.50,0.00,0.000,4,0.000,0.063,3291,1342,1832,0,0,0,0,0,0
$GC,16453,0.88,251.4,623.4,9.5,774,16457,0.00,0.52,0.00,0.000,6,0.000,0.055,3291,1673,1832,0,0,0,0,0,0
$GC,16782,0.88,251.4,595.2,8.7,785,16786,0.00,0.50,0.00,0.000,4,0.000,0.063,3293,1352,1832,0,0,0,0,0,0
$GC,16875,0.88,251.4,586.8,9.4,787,16881,0.00,0.50,0.00,0.000,6,0.000,0.055,3293,1671,1832,0,0,0,0,0,0
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$STATE,22865,end climb,SURFACE_DEPTH_REACHED
$STATE,22865,begin surface coast
$FINISH,1.6,1.026636
$STATE,22902,end surface coast,CONTROL_FINISHED_OK
$STATE,22902,begin surface
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$HUMID,41.77
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$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.7,13.631
$10V_AH,10.3,12.582
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354116
$DATA_FILE_SIZE,73531,1256
$CAP_FILE_SIZE,206641,0
$CFSIZE,2097086464,2086207488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091012,082329,-4254.718,-922.379,113,1.4,113,-21.4