version: 66.07.10.p01
glider: 573
mission: 4
dive: 60
start: 10 9 112 8 36 50
data:
$ID,573
$MISSION,4
$DIVE,60
$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,-4153.6538
$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,38
$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,39
$GPS1,091012,082329,-4254.718,-922.379,113,1.4,113,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-74.2
$GPS2,091012,083556,-4254.832,-922.399,50,1.8,50,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.151,0.155
$KALMAN_X,-53850.7,-5.6,619.0,106600.3,-3099.0
$KALMAN_Y,-102794.4,112.1,645.4,74134.7,-8292.4
$MHEAD_RNG_PITCHd_Wd,65.6,11330,-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,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,69,0.00,0.00,-42.42,0.000,2,0.000,0.000,81,1872,2833,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.0,-2.0,7,103,11.43,2.22,-15.43,0.000,4,0.261,0.071,2779,3265,3355,0,0,0,0,0,0
$GC,368,-0.61,-121.6,40.1,-12.9,57,374,0.15,2.20,0.00,0.000,6,0.169,0.044,2819,1850,3357,0,0,0,0,0,0
$GC,603,-0.55,-121.6,65.1,-9.8,98,608,0.08,0.00,0.00,0.000,6,0.210,0.000,2838,1850,3357,0,0,0,0,0,0
$GC,949,-0.53,-121.6,97.7,-10.3,159,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1850,3357,0,0,0,0,0,0
$GC,1282,-0.50,-121.6,134.0,-10.7,192,1287,0.08,0.95,0.00,0.000,4,0.203,0.054,2853,2451,3357,0,0,0,0,0,0
$GC,1395,-0.50,-121.6,145.8,-10.6,202,1399,0.00,0.90,0.00,0.000,6,0.000,0.046,2853,1858,3357,0,0,0,0,0,0
$GC,1727,-0.50,-121.6,179.1,-10.1,233,1731,0.00,0.68,0.00,0.000,4,0.000,0.054,2850,2301,3357,0,0,0,0,0,0
$GC,1842,-0.50,-121.6,190.4,-9.8,243,1845,0.00,0.65,0.00,0.000,6,0.000,0.048,2850,1862,3358,0,0,0,0,0,0
$GC,2173,-0.50,-121.6,220.1,-9.1,274,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1862,3358,0,0,0,0,0,0
$GC,2492,-0.50,-121.6,246.7,-8.0,304,2495,0.00,0.38,0.00,0.000,4,0.000,0.056,2848,2125,3358,0,0,0,0,0,0
$GC,2563,-0.50,-121.6,253.2,-8.6,309,2565,0.00,0.40,0.00,0.000,6,0.000,0.054,2848,1855,3358,0,0,0,0,0,0
$GC,2888,-0.50,-121.6,282.4,-9.0,325,2892,0.00,1.02,0.00,0.000,4,0.000,0.054,2843,2511,3358,0,0,0,0,0,0
$GC,3046,-0.50,-121.6,296.3,-8.7,332,3050,0.03,0.98,0.00,0.000,6,0.169,0.046,2854,1868,3358,0,0,0,0,0,0
$GC,3378,-0.50,-121.6,321.6,-7.3,348,3381,0.00,0.60,0.00,0.000,4,0.000,0.054,2851,2270,3358,0,0,0,0,0,0
$GC,3500,-0.50,-121.6,331.1,-7.4,353,3504,0.00,0.62,0.00,0.000,6,0.000,0.049,2851,1856,3358,0,0,0,0,0,0
$GC,3823,-0.50,-121.6,356.9,-8.2,369,3827,0.00,0.28,0.00,0.000,4,0.000,0.062,2850,2057,3359,0,0,0,0,0,0
$GC,4081,-0.50,-121.6,381.0,-10.0,380,4083,0.00,0.30,0.00,0.000,6,0.000,0.060,2850,1850,3359,0,0,0,0,0,0
$GC,4398,-0.50,-121.6,412.2,-9.8,396,4402,0.00,0.93,0.00,0.000,4,0.000,0.054,2846,2447,3358,0,0,0,0,0,0
$GC,4497,-0.50,-121.6,421.9,-10.1,400,4502,0.00,0.90,0.00,0.000,6,0.000,0.047,2846,1861,3358,0,0,0,0,0,0
$GC,4819,-0.50,-121.6,453.6,-10.2,416,4822,0.00,0.40,0.00,0.000,4,0.000,0.058,2844,2139,3357,0,0,0,0,0,0
$GC,4947,-0.50,-121.6,466.7,-10.0,421,4949,0.00,0.43,0.00,0.000,6,0.000,0.054,2844,1853,3357,0,0,0,0,0,0
$GC,5258,-0.50,-121.6,498.1,-10.1,436,5262,0.00,0.30,0.00,0.000,4,0.000,0.062,2843,2070,3357,0,0,0,0,0,0
$GC,5352,-0.50,-121.6,507.7,-9.7,439,5355,0.05,0.30,0.00,0.000,6,0.220,0.060,2856,1864,3357,0,0,0,0,0,0
$GC,5661,-0.52,-121.6,535.4,-8.8,449,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1863,3356,0,0,0,0,0,0
$GC,5967,-0.54,-121.6,560.8,-8.0,459,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1864,3356,0,0,0,0,0,0
$GC,6273,-0.57,-121.6,584.7,-8.0,469,6275,0.05,0.00,0.00,0.000,6,0.168,0.000,2820,1864,3355,0,0,0,0,0,0
$GC,6579,-0.54,-121.6,612.2,-8.8,479,6584,0.10,1.05,0.00,0.000,4,0.170,0.057,2843,2528,3355,0,0,0,0,0,0
$GC,6684,-0.54,-121.6,620.3,-7.3,482,6689,0.00,1.02,0.00,0.000,6,0.000,0.047,2843,1866,3354,0,0,0,0,0,0
$GC,7020,-0.54,-121.6,645.2,-7.5,493,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1866,3354,0,0,0,0,0,0
$GC,7326,-0.54,-121.6,666.7,-7.0,503,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1867,3354,0,0,0,0,0,0
$GC,7632,-0.54,-121.6,688.1,-7.0,513,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1866,3353,0,0,0,0,0,0
$GC,7938,-0.54,-121.6,711.0,-7.8,523,7942,0.00,0.45,0.00,0.000,4,0.000,0.059,2841,2173,3352,0,0,0,0,0,0
$GC,8049,-0.54,-121.6,720.0,-8.1,526,8053,0.00,0.47,0.00,0.000,6,0.000,0.054,2841,1856,3352,0,0,0,0,0,0
$GC,8378,-0.54,-121.6,748.7,-9.0,537,8381,0.00,0.35,0.00,0.000,4,0.000,0.060,2839,2101,3352,0,0,0,0,0,0
$GC,8574,-0.54,-121.6,767.5,-9.6,542,8579,0.00,0.35,0.00,0.000,6,0.000,0.059,2839,1853,3351,0,0,0,0,0,0
$GC,8885,-0.54,-121.6,797.0,-9.6,553,8889,0.00,0.47,0.00,0.000,4,0.000,0.057,2837,2178,3351,0,0,0,0,0,0
$GC,9063,-0.54,-121.6,814.5,-9.8,558,9065,0.00,0.47,0.00,0.000,6,0.000,0.055,2837,1861,3350,0,0,0,0,0,0
$GC,9389,-0.54,-121.6,846.3,-10.0,569,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1861,3350,0,0,0,0,0,0
$GC,9695,-0.54,-121.6,874.2,-8.9,579,9699,0.00,0.47,0.00,0.000,4,0.000,0.059,2835,2184,3350,0,0,0,0,0,0
$GC,9952,-0.54,-121.6,895.3,-7.4,586,9956,0.00,0.50,0.00,0.000,6,0.000,0.054,2835,1855,3349,0,0,0,0,0,0
$GC,10269,-0.54,-121.6,919.2,-7.4,597,10273,0.00,0.40,0.00,0.000,4,0.000,0.060,2834,2131,3349,0,0,0,0,0,0
$GC,10526,-0.54,-121.6,937.9,-7.4,604,10528,0.00,0.40,0.00,0.000,6,0.000,0.058,2834,1861,3348,0,0,0,0,0,0
$GC,10840,-0.54,-121.6,960.5,-7.2,615,10844,0.00,0.60,0.00,0.000,4,0.000,0.058,2831,2260,3348,0,0,0,0,0,0
$GC,10941,-0.54,-121.6,968.2,-7.8,618,10945,0.00,0.60,0.00,0.000,6,0.000,0.053,2831,1856,3348,0,0,0,0,0,0
$GC,11281,-0.54,-121.6,994.5,-7.9,629,11284,0.00,0.60,0.00,0.000,4,0.000,0.058,2828,2255,3347,0,0,0,0,0,0
$STATE,11351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11351,begin apogee
$GC,11356,-0.23,0.0,1000.4,8.2,631,11458,0.35,0.00,99.03,1.321,6,0.135,0.000,2946,1661,2862,0,0,0,0,0,0
$STATE,11459,end apogee,CONTROL_FINISHED_OK
$STATE,11459,begin climb
$GC,11460,0.71,121.6,1003.7,0.0,634,11571,0.90,0.73,103.55,1.284,4,0.101,0.059,3241,1233,2366,0,0,0,0,0,0
$GC,11626,0.71,168.0,998.2,5.5,639,11671,0.00,0.73,41.42,1.248,6,0.000,0.050,3241,1665,2178,0,0,0,0,0,0
$GC,11984,0.74,168.0,972.3,7.4,651,11988,0.00,0.25,0.00,0.000,4,0.000,0.066,3241,1840,2171,0,0,0,0,0,0
$GC,12089,0.76,168.0,964.4,7.8,654,12094,0.08,0.30,0.00,0.000,6,0.123,0.066,3277,1655,2170,0,0,0,0,0,0
$GC,12424,0.74,168.0,936.1,8.5,665,12426,0.08,0.00,0.00,0.000,6,0.180,0.000,3258,1655,2169,0,0,0,0,0,0
$GC,12730,0.74,177.5,913.8,7.0,675,12740,0.00,0.00,8.20,1.092,6,0.000,0.000,3259,1655,2138,0,0,0,0,0,0
$GC,13036,0.74,208.4,894.1,6.1,685,13067,0.00,0.00,28.73,1.218,6,0.000,0.000,3259,1655,2012,0,0,0,0,0,0
$GC,13374,0.77,244.6,873.5,5.9,696,13410,0.00,0.40,32.75,1.208,4,0.000,0.061,3258,1892,1864,0,0,0,0,0,0
$GC,13471,0.82,278.2,867.8,6.0,699,13507,0.08,0.38,31.60,1.197,6,0.126,0.062,3294,1666,1727,0,0,0,0,0,0
$GC,13830,0.82,278.2,839.7,7.8,711,13834,0.00,1.27,0.00,0.000,4,0.000,0.059,3300,893,1718,0,0,0,0,0,0
$GC,13925,0.82,278.2,832.0,8.1,713,13930,0.00,1.25,0.00,0.000,6,0.000,0.048,3300,1665,1717,0,0,0,0,0,0
$GC,14236,0.82,278.2,805.4,8.8,724,14240,0.00,0.98,0.00,0.000,4,0.000,0.060,3304,1066,1716,0,0,0,0,0,0
$GC,14337,0.82,278.2,796.3,9.3,727,14342,0.03,0.95,0.00,0.000,6,0.163,0.049,3293,1666,1715,0,0,0,0,0,0
$GC,14677,0.82,278.2,765.8,9.2,738,14681,0.00,0.55,0.00,0.000,4,0.000,0.063,3295,1311,1715,0,0,0,0,0,0
$GC,14753,0.82,278.2,758.5,9.1,740,14757,0.00,0.57,0.00,0.000,6,0.000,0.053,3296,1673,1715,0,0,0,0,0,0
$GC,15082,0.82,278.2,726.6,9.8,751,15086,0.00,0.80,0.00,0.000,4,0.000,0.060,3299,1172,1714,0,0,0,0,0,0
$GC,15192,0.82,278.2,715.7,10.6,754,15197,0.00,0.80,0.00,0.000,6,0.000,0.049,3299,1676,1714,0,0,0,0,0,0
$GC,15521,0.82,278.2,684.4,9.6,765,15525,0.00,1.25,0.00,0.000,4,0.000,0.061,3304,911,1714,0,0,0,0,0,0
$GC,15609,0.82,278.2,675.5,9.7,767,15615,0.08,1.23,0.00,0.000,6,0.179,0.048,3286,1674,1714,0,0,0,0,0,0
$GC,15928,0.86,278.2,646.5,9.3,778,15932,0.00,0.57,0.00,0.000,4,0.000,0.063,3287,1304,1714,0,0,0,0,0,0
$GC,16023,0.88,278.2,637.5,9.9,780,16029,0.00,0.55,0.00,0.000,6,0.000,0.054,3288,1661,1714,0,0,0,0,0,0
$GC,16336,0.91,278.2,608.2,9.0,791,16340,0.08,0.93,0.00,0.000,4,0.127,0.058,3332,1076,1713,0,0,0,0,0,0
$GC,16440,0.88,278.2,596.7,12.0,794,16445,0.10,0.95,0.00,0.000,6,0.165,0.049,3305,1673,1713,0,0,0,0,0,0
$GC,16775,0.88,278.2,566.1,8.9,805,16779,0.00,0.85,0.00,0.000,4,0.000,0.060,3308,1134,1713,0,0,0,0,0,0
$GC,16880,0.88,278.2,556.3,8.8,808,16884,0.00,0.85,0.00,0.000,6,0.000,0.049,3308,1671,1713,0,0,0,0,0,0
$GC,17215,0.88,278.2,524.9,9.6,819,17218,0.00,0.62,0.00,0.000,4,0.000,0.061,3311,1269,1714,0,0,0,0,0,0
$GC,17303,0.88,278.2,516.2,10.0,821,17307,0.00,0.62,0.00,0.000,6,0.000,0.052,3311,1666,1713,0,0,0,0,0,0
$GC,17622,0.88,278.2,484.8,9.9,834,17625,0.00,0.38,0.00,0.000,4,0.000,0.067,3313,1417,1713,0,0,0,0,0,0
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$STATE,22416,end climb,SURFACE_DEPTH_REACHED
$STATE,22416,begin surface coast
$FINISH,1.5,1.026647
$STATE,22453,end surface coast,CONTROL_FINISHED_OK
$STATE,22453,begin surface
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$HUMID,41.77
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$TCM_TEMP,15.20
$XPDR_PINGS,0
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$10V_AH,10.3,12.735
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,57.250,345.275,0.000,0.000,64.221,86.309,364.196,0.000,0.000,53.576,3304.698,15000.342,405.198,4428.542,127.978,33.355,1924.659,0.000,3788.479,0.000,1.007,0.000
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$MEM,354172
$DATA_FILE_SIZE,73597,1255
$CAP_FILE_SIZE,199744,0
$CFSIZE,2097086464,2086076416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091012,145335,-4254.988,-920.677,45,1.0,45,-21.4