version: 66.07.10.p01
glider: 573
mission: 4
dive: 139
start: 10 28 112 20 17 26
data:
$ID,573
$MISSION,4
$DIVE,139
$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,-4728.8247
$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,23
$R_STBD_OVSHOOT,39
$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,118
$GPS1,281012,200905,-4232.340,-753.848,42,1.0,42,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-70.8
$GPS2,281012,201631,-4232.316,-753.809,17,1.0,17,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.141,-0.165
$KALMAN_X,-151372.5,-179.1,128.6,325430.0,-2690.3
$KALMAN_Y,-173194.9,387.8,234.9,186379.6,-1329.4
$MHEAD_RNG_PITCHd_Wd,161.3,27682,-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,24,-0.71,-121.6,0.0,0.0,0,69,0.00,0.00,-42.30,0.000,2,0.000,0.000,82,1818,2694,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.1,-1.6,7,109,11.27,2.30,-21.30,0.000,4,0.251,0.067,2786,403,3358,0,0,0,0,0,0
$GC,333,-0.60,-121.6,34.5,-13.0,51,338,0.17,2.20,0.00,0.000,6,0.163,0.043,2826,1818,3359,0,0,0,0,0,0
$GC,568,-0.57,-121.6,60.5,-11.0,92,573,0.00,1.15,0.00,0.000,4,0.000,0.053,2820,2550,3360,0,0,0,0,0,0
$GC,675,-0.54,-121.6,72.1,-11.0,111,682,0.05,1.15,0.00,0.000,6,0.150,0.044,2839,1810,3360,0,0,0,0,0,0
$GC,1015,-0.54,-121.6,106.1,-9.4,164,1019,0.00,0.65,0.00,0.000,4,0.000,0.051,2836,2242,3360,0,0,0,0,0,0
$GC,1126,-0.54,-121.6,116.2,-8.3,170,1134,0.00,0.68,0.00,0.000,6,0.000,0.047,2836,1799,3360,0,0,0,0,0,0
$GC,1447,-0.54,-121.6,143.3,-8.7,191,1450,0.00,1.17,0.00,0.000,4,0.000,0.051,2831,2554,3360,0,0,0,0,0,0
$GC,1557,-0.54,-121.6,152.7,-8.0,197,1564,0.00,1.15,0.00,0.000,6,0.000,0.043,2831,1816,3360,0,0,0,0,0,0
$GC,1878,-0.54,-121.6,177.8,-7.8,218,1882,0.00,1.02,0.00,0.000,4,0.000,0.051,2826,2479,3361,0,0,0,0,0,0
$GC,2000,-0.54,-121.6,187.3,-8.1,225,2004,0.03,1.00,0.00,0.000,6,0.174,0.044,2837,1822,3361,0,0,0,0,0,0
$GC,2331,-0.54,-121.6,213.6,-8.5,246,2334,0.00,0.68,0.00,0.000,4,0.000,0.050,2834,2278,3361,0,0,0,0,0,0
$GC,2436,-0.54,-121.6,222.9,-8.7,252,2440,0.00,0.70,0.00,0.000,6,0.000,0.044,2834,1814,3361,0,0,0,0,0,0
$GC,2762,-0.54,-121.6,251.3,-9.0,273,2766,0.00,1.50,0.00,0.000,4,0.000,0.052,2827,2772,3361,0,0,0,0,0,0
$GC,2885,-0.54,-121.6,262.7,-9.2,278,2891,0.08,1.48,0.00,0.000,6,0.184,0.041,2847,1822,3362,0,0,0,0,0,0
$GC,3207,-0.54,-121.6,289.5,-8.1,294,3210,0.00,1.40,0.00,0.000,4,0.000,0.052,2840,2721,3361,0,0,0,0,0,0
$GC,3335,-0.54,-121.6,299.5,-7.6,299,3341,0.00,1.40,0.00,0.000,6,0.000,0.041,2841,1818,3361,0,0,0,0,0,0
$GC,3654,-0.54,-121.6,324.9,-8.8,315,3657,0.00,0.85,0.00,0.000,4,0.000,0.050,2836,2378,3361,0,0,0,0,0,0
$GC,3759,-0.54,-121.6,334.8,-9.3,319,3765,0.00,0.88,0.00,0.000,6,0.000,0.044,2837,1804,3361,0,0,0,0,0,0
$GC,4077,-0.54,-121.6,366.4,-10.4,335,4081,0.00,1.25,0.00,0.000,4,0.000,0.051,2830,2605,3361,0,0,0,0,0,0
$GC,4176,-0.54,-121.6,377.7,-11.0,339,4181,0.00,1.23,0.00,0.000,6,0.000,0.042,2830,1816,3361,0,0,0,0,0,0
$GC,4518,-0.54,-121.6,416.6,-11.7,354,4522,0.03,0.43,0.00,0.000,4,0.267,0.055,2838,2107,3361,0,0,0,0,0,0
$GC,4656,-0.54,-121.6,431.8,-11.3,358,4660,0.00,0.45,0.00,0.000,6,0.000,0.051,2838,1804,3361,0,0,0,0,0,0
$GC,4991,-0.54,-121.6,465.9,-9.8,369,4995,0.00,1.10,0.00,0.000,4,0.000,0.051,2834,2510,3361,0,0,0,0,0,0
$GC,5084,-0.54,-121.6,474.8,-9.4,371,5091,0.00,1.08,0.00,0.000,6,0.000,0.044,2833,1818,3361,0,0,0,0,0,0
$GC,5397,-0.54,-121.6,501.1,-8.1,382,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1817,3361,0,0,0,0,0,0
$GC,5704,-0.54,-121.6,525.8,-8.1,392,5707,0.00,0.52,0.00,0.000,4,0.000,0.052,2832,2176,3361,0,0,0,0,0,0
$GC,5825,-0.54,-121.6,535.3,-7.6,395,5829,0.00,0.55,0.00,0.000,6,0.000,0.049,2831,1810,3361,0,0,0,0,0,0
$GC,6143,-0.54,-121.6,559.6,-7.7,406,6147,0.00,1.48,0.00,0.000,4,0.000,0.054,2825,2743,3360,0,0,0,0,0,0
$GC,6271,-0.54,-121.6,568.7,-6.7,409,6278,0.05,1.42,0.00,0.000,6,0.149,0.043,2844,1821,3360,0,0,0,0,0,0
$GC,6584,-0.54,-121.6,590.3,-7.1,420,6588,0.00,1.25,0.00,0.000,4,0.000,0.054,2838,2618,3359,0,0,0,0,0,0
$GC,6706,-0.56,-121.6,599.4,-7.8,423,6711,0.00,1.23,0.00,0.000,6,0.000,0.044,2838,1820,3359,0,0,0,0,0,0
$GC,7025,-0.56,-121.6,626.6,-8.8,434,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1820,3358,0,0,0,0,0,0
$GC,7331,-0.56,-121.6,655.7,-9.6,444,7335,0.00,1.17,0.00,0.000,4,0.000,0.053,2833,2574,3358,0,0,0,0,0,0
$GC,7447,-0.56,-121.6,667.3,-10.2,447,7452,0.00,1.17,0.00,0.000,6,0.000,0.044,2833,1818,3357,0,0,0,0,0,0
$GC,7771,-0.56,-121.6,700.6,-10.4,458,7775,0.00,0.62,0.00,0.000,4,0.000,0.052,2830,2239,3357,0,0,0,0,0,0
$GC,7906,-0.56,-121.6,714.8,-10.5,462,7910,0.00,0.62,0.00,0.000,6,0.000,0.049,2830,1820,3357,0,0,0,0,0,0
$GC,8246,-0.56,-121.6,750.4,-10.3,473,8250,0.00,0.43,0.00,0.000,4,0.000,0.056,2828,2117,3356,0,0,0,0,0,0
$GC,8347,-0.56,-121.6,760.6,-9.4,476,8351,0.00,0.43,0.00,0.000,6,0.000,0.052,2828,1820,3356,0,0,0,0,0,0
$GC,8687,-0.56,-121.6,795.5,-10.0,487,8690,0.00,1.27,0.00,0.000,4,0.000,0.054,2822,2629,3355,0,0,0,0,0,0
$GC,8803,-0.56,-121.6,806.4,-9.4,490,8809,0.08,1.27,0.00,0.000,6,0.184,0.044,2842,1814,3355,0,0,0,0,0,0
$GC,9128,-0.59,-121.6,830.1,-6.7,501,9132,0.00,0.68,0.00,0.000,4,0.000,0.053,2839,2261,3355,0,0,0,0,0,0
$GC,9217,-0.61,-121.6,835.4,-5.7,503,9221,0.00,0.65,0.00,0.000,6,0.000,0.048,2839,1823,3355,0,0,0,0,0,0
$GC,9535,-0.61,-121.6,853.5,-5.8,514,9539,0.00,0.57,0.00,0.000,4,0.000,0.052,2836,2210,3354,0,0,0,0,0,0
$GC,9652,-0.61,-121.6,860.1,-5.0,517,9656,0.00,0.60,0.00,0.000,6,0.000,0.048,2836,1814,3353,0,0,0,0,0,0
$GC,9976,-0.61,-121.6,878.0,-5.7,528,9979,0.00,0.98,0.00,0.000,4,0.000,0.052,2832,2443,3353,0,0,0,0,0,0
$GC,10077,-0.61,-121.6,884.4,-6.2,531,10081,0.00,0.95,0.00,0.000,6,0.000,0.046,2833,1821,3353,0,0,0,0,0,0
$GC,10417,-0.61,-121.6,909.2,-7.8,542,10421,0.00,0.50,0.00,0.000,4,0.000,0.053,2829,2165,3352,0,0,0,0,0,0
$GC,10512,-0.61,-121.6,916.9,-8.8,544,10517,0.00,0.52,0.00,0.000,6,0.000,0.051,2830,1809,3352,0,0,0,0,0,0
$GC,10824,-0.61,-121.6,942.5,-8.3,555,10827,0.00,0.80,0.00,0.000,4,0.000,0.053,2826,2339,3352,0,0,0,0,0,0
$GC,10959,-0.61,-121.6,954.4,-8.6,559,10962,0.00,0.77,0.00,0.000,6,0.000,0.047,2826,1823,3352,0,0,0,0,0,0
$GC,11298,-0.61,-121.6,984.4,-8.7,570,11302,0.00,0.55,0.00,0.000,4,0.000,0.052,2824,2204,3351,0,0,0,0,0,0
$GC,11450,-0.61,-121.6,997.4,-8.6,574,11454,0.00,0.57,0.00,0.000,6,0.000,0.049,2824,1816,3351,0,0,0,0,0,0
$STATE,11496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11497,begin apogee
$GC,11501,-0.23,0.0,1001.1,8.0,576,11604,0.38,0.00,100.05,1.304,6,0.129,0.000,2944,1645,2862,0,0,0,0,0,0
$STATE,11604,end apogee,CONTROL_FINISHED_OK
$STATE,11604,begin climb
$GC,11606,0.71,121.6,1004.7,0.0,579,11717,0.90,0.77,103.20,1.266,4,0.095,0.054,3245,1188,2367,0,0,0,0,0,0
$GC,11749,0.71,173.3,1000.8,5.3,583,11800,0.00,0.77,46.67,1.232,6,0.000,0.044,3245,1651,2155,0,0,0,0,0,0
$GC,12129,0.71,176.9,974.5,7.3,596,12138,0.00,0.55,3.40,0.690,4,0.000,0.052,3245,1999,2140,0,0,0,0,0,0
$GC,12199,0.71,176.9,969.2,7.8,598,12203,0.00,0.57,0.00,0.000,6,0.000,0.052,3248,1645,2140,0,0,0,0,0,0
$GC,12534,0.71,176.9,943.7,7.7,609,12537,0.00,0.98,0.00,0.000,4,0.000,0.050,3247,2264,2139,0,0,0,0,0,0
$GC,12661,0.71,176.9,933.7,8.2,612,12667,0.00,1.00,0.00,0.000,6,0.000,0.048,3252,1644,2138,0,0,0,0,0,0
$GC,12974,0.71,176.9,908.4,8.2,623,12975,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1645,2138,0,0,0,0,0,0
$GC,13280,0.71,176.9,883.4,8.3,633,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1644,2137,0,0,0,0,0,0
$GC,13586,0.71,176.9,859.1,7.7,643,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1644,2137,0,0,0,0,0,0
$GC,13893,0.71,176.9,835.1,7.9,653,13896,0.00,0.32,0.00,0.000,4,0.000,0.058,3252,1869,2137,0,0,0,0,0,0
$GC,13981,0.71,181.0,828.1,7.2,655,13988,0.00,0.38,4.65,0.816,6,0.000,0.060,3254,1631,2124,0,0,0,0,0,0
$GC,14294,0.71,184.9,804.9,7.2,665,14301,0.00,0.00,5.20,0.861,6,0.000,0.000,3253,1631,2108,0,0,0,0,0,0
$GC,14600,0.71,188.8,782.3,7.2,675,14609,0.00,0.35,5.30,0.861,4,0.000,0.054,3255,1392,2092,0,0,0,0,0,0
$GC,14688,0.73,219.2,776.0,6.2,677,14719,0.00,0.40,27.98,1.141,6,0.000,0.054,3255,1653,1967,0,0,0,0,0,0
$GC,15032,0.77,225.2,751.1,7.2,689,15040,0.00,0.00,6.20,0.892,6,0.000,0.000,3255,1653,1943,0,0,0,0,0,0
$GC,15338,0.80,235.6,729.8,7.0,699,15351,0.08,0.00,10.62,1.020,6,0.124,0.000,3297,1654,1901,0,0,0,0,0,0
$GC,15644,0.78,235.6,703.3,8.8,709,15646,0.10,0.00,0.00,0.000,6,0.164,0.000,3271,1654,1899,0,0,0,0,0,0
$GC,15950,0.78,235.6,679.2,8.2,719,15951,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1654,1899,0,0,0,0,0,0
$GC,16256,0.80,235.6,652.4,8.7,729,16258,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1654,1898,0,0,0,0,0,0
$GC,16563,0.82,235.6,624.7,9.2,739,16564,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1654,1898,0,0,0,0,0,0
$GC,16869,0.84,235.6,596.9,9.0,749,16871,0.08,0.00,0.00,0.000,6,0.125,0.000,3310,1654,1898,0,0,0,0,0,0
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$STATE,23585,end climb,SURFACE_DEPTH_REACHED
$STATE,23585,begin surface coast
$FINISH,1.8,1.026480
$STATE,23616,end surface coast,CONTROL_FINISHED_OK
$STATE,23616,begin surface
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$10V_AH,10.2,22.936
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354020
$DATA_FILE_SIZE,70272,1195
$CAP_FILE_SIZE,198344,0
$CFSIZE,2097086464,2076016640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291012,025329,-4233.324,-753.835,40,1.2,40,-21.7