version: 66.07.10.p01
glider: 573
mission: 4
dive: 82
start: 10 15 112 8 55 37
data:
$ID,573
$MISSION,4
$DIVE,82
$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,-4223.5972
$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,34
$R_STBD_OVSHOOT,36
$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,61
$GPS1,151012,084505,-4253.456,-856.334,41,1.0,41,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-74.4
$GPS2,151012,085442,-4253.478,-856.328,15,1.6,16,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3e
$TGT_LATLONG,-4252.000,-842.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.044,0.212
$KALMAN_X,-86978.4,102.6,247.1,175493.4,-2650.1
$KALMAN_Y,-189250.0,380.8,401.2,163062.0,-5942.2
$MHEAD_RNG_PITCHd_Wd,33.0,19640,-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,-48.80,0.000,2,0.000,0.000,82,1863,3017,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.2,-1.8,8,103,11.15,2.25,-8.98,0.000,4,0.250,0.063,2786,458,3359,0,0,0,0,0,0
$GC,223,-0.58,-121.6,22.8,-13.6,32,231,0.15,2.22,0.00,0.000,6,0.147,0.041,2826,1857,3360,0,0,0,0,0,0
$GC,302,-0.54,-121.6,31.3,-10.2,45,307,0.08,0.40,0.00,0.000,4,0.194,0.057,2844,2135,3361,0,0,0,0,0,0
$GC,533,-0.54,-121.6,52.2,-9.1,85,538,0.00,0.40,0.00,0.000,6,0.000,0.054,2844,1859,3361,0,0,0,0,0,0
$GC,762,-0.54,-121.6,73.7,-9.4,126,770,0.00,0.75,0.00,0.000,4,0.000,0.050,2841,2342,3361,0,0,0,0,0,0
$GC,861,-0.54,-121.6,82.7,-9.3,143,865,0.00,0.73,0.00,0.000,6,0.000,0.046,2841,1858,3361,0,0,0,0,0,0
$GC,1203,-0.54,-121.6,114.8,-9.2,186,1207,0.00,0.90,0.00,0.000,4,0.000,0.051,2837,2437,3361,0,0,0,0,0,0
$GC,1308,-0.54,-121.6,124.8,-9.5,192,1313,0.00,0.90,0.00,0.000,6,0.000,0.044,2837,1851,3361,0,0,0,0,0,0
$GC,1635,-0.54,-121.6,155.0,-9.4,213,1639,0.00,1.10,0.00,0.000,4,0.000,0.051,2831,2558,3361,0,0,0,0,0,0
$GC,1746,-0.54,-121.6,165.5,-9.4,219,1752,0.00,1.08,0.00,0.000,6,0.000,0.044,2832,1862,3362,0,0,0,0,0,0
$GC,2067,-0.52,-121.6,195.8,-9.5,240,2071,0.08,1.15,0.00,0.000,4,0.196,0.051,2844,2591,3362,0,0,0,0,0,0
$GC,2171,-0.52,-121.6,205.0,-8.1,246,2176,0.00,1.12,0.00,0.000,6,0.000,0.042,2844,1860,3362,0,0,0,0,0,0
$GC,2498,-0.52,-121.6,232.9,-8.1,267,2501,0.00,1.12,0.00,0.000,4,0.000,0.052,2839,2585,3362,0,0,0,0,0,0
$GC,2603,-0.52,-121.6,241.5,-8.3,273,2606,0.00,1.10,0.00,0.000,6,0.000,0.044,2839,1860,3362,0,0,0,0,0,0
$GC,2919,-0.52,-121.6,270.2,-9.1,290,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1860,3362,0,0,0,0,0,0
$GC,3231,-0.52,-121.6,298.3,-8.8,305,3234,0.00,1.33,0.00,0.000,4,0.000,0.052,2834,2707,3362,0,0,0,0,0,0
$GC,3352,-0.52,-121.6,309.8,-10.0,310,3358,0.08,1.30,0.00,0.000,6,0.177,0.042,2853,1862,3362,0,0,0,0,0,0
$GC,3674,-0.52,-121.6,336.5,-8.2,326,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1861,3362,0,0,0,0,0,0
$GC,3985,-0.52,-121.6,362.0,-8.0,341,3989,0.00,0.62,0.00,0.000,4,0.000,0.051,2850,2285,3362,0,0,0,0,0,0
$GC,4056,-0.52,-121.6,368.2,-8.5,344,4060,0.00,0.65,0.00,0.000,6,0.000,0.047,2850,1852,3362,0,0,0,0,0,0
$GC,4383,-0.52,-121.6,394.1,-7.9,360,4387,0.00,0.62,0.00,0.000,4,0.000,0.051,2847,2274,3362,0,0,0,0,0,0
$GC,4557,-0.52,-121.6,408.9,-8.5,367,4563,0.00,0.62,0.00,0.000,6,0.000,0.047,2847,1857,3362,0,0,0,0,0,0
$GC,4874,-0.52,-121.6,438.6,-9.8,383,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1857,3362,0,0,0,0,0,0
$GC,5182,-0.52,-121.6,469.6,-10.0,398,5186,0.00,1.23,0.00,0.000,4,0.000,0.053,2841,2641,3362,0,0,0,0,0,0
$GC,5318,-0.52,-121.6,482.5,-9.4,404,5321,0.00,1.17,0.00,0.000,6,0.000,0.044,2841,1867,3362,0,0,0,0,0,0
$GC,5658,-0.52,-121.6,513.8,-9.1,418,5661,0.00,1.02,0.00,0.000,4,0.000,0.052,2836,2528,3362,0,0,0,0,0,0
$GC,5768,-0.52,-121.6,524.0,-9.3,421,5774,0.05,1.02,0.00,0.000,6,0.210,0.044,2850,1861,3361,0,0,0,0,0,0
$GC,6098,-0.54,-121.6,552.9,-8.7,432,6102,0.00,1.00,0.00,0.000,4,0.000,0.053,2845,2515,3361,0,0,0,0,0,0
$GC,6209,-0.56,-121.6,562.7,-8.7,435,6214,0.00,1.00,0.00,0.000,6,0.000,0.045,2845,1864,3361,0,0,0,0,0,0
$GC,6539,-0.56,-121.6,590.8,-8.6,446,6542,0.00,0.65,0.00,0.000,4,0.000,0.054,2842,2301,3359,0,0,0,0,0,0
$GC,6640,-0.56,-121.6,599.1,-7.7,449,6644,0.00,0.65,0.00,0.000,6,0.000,0.048,2842,1860,3359,0,0,0,0,0,0
$GC,6980,-0.56,-121.6,627.7,-8.4,460,6983,0.00,0.30,0.00,0.000,4,0.000,0.059,2841,2090,3359,0,0,0,0,0,0
$GC,7236,-0.56,-121.6,650.5,-8.8,467,7238,0.00,0.35,0.00,0.000,6,0.000,0.057,2841,1850,3358,0,0,0,0,0,0
$GC,7550,-0.56,-121.6,678.9,-9.0,478,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1850,3358,0,0,0,0,0,0
$GC,7856,-0.56,-121.6,705.4,-8.5,488,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1850,3357,0,0,0,0,0,0
$GC,8163,-0.56,-121.6,731.4,-8.4,498,8166,0.00,0.43,0.00,0.000,4,0.000,0.055,2839,2156,3357,0,0,0,0,0,0
$GC,8314,-0.56,-121.6,743.6,-7.9,502,8318,0.00,0.43,0.00,0.000,6,0.000,0.055,2839,1861,3356,0,0,0,0,0,0
$GC,8637,-0.56,-121.6,768.6,-7.7,513,8640,0.00,0.55,0.00,0.000,4,0.000,0.054,2836,2240,3356,0,0,0,0,0,0
$GC,8815,-0.56,-121.6,782.4,-8.3,518,8819,0.00,0.57,0.00,0.000,6,0.000,0.050,2836,1859,3356,0,0,0,0,0,0
$GC,9144,-0.56,-121.6,809.8,-8.7,529,9147,0.00,0.70,0.00,0.000,4,0.000,0.054,2833,2320,3355,0,0,0,0,0,0
$GC,9293,-0.56,-121.6,822.6,-8.5,533,9298,0.00,0.70,0.00,0.000,6,0.000,0.048,2833,1860,3355,0,0,0,0,0,0
$GC,9617,-0.56,-121.6,850.5,-8.8,544,9621,0.00,1.10,0.00,0.000,4,0.000,0.055,2828,2561,3354,0,0,0,0,0,0
$GC,9752,-0.56,-121.6,862.8,-9.0,548,9755,0.00,1.08,0.00,0.000,6,0.000,0.047,2828,1858,3353,0,0,0,0,0,0
$GC,10091,-0.56,-121.6,894.8,-9.4,559,10095,0.00,0.82,0.00,0.000,4,0.000,0.055,2824,2395,3353,0,0,0,0,0,0
$GC,10253,-0.56,-121.6,909.9,-8.5,563,10258,0.00,0.82,0.00,0.000,6,0.000,0.048,2824,1859,3353,0,0,0,0,0,0
$GC,10565,-0.56,-121.6,937.3,-8.7,574,10569,0.00,0.77,0.00,0.000,4,0.000,0.055,2821,2366,3352,0,0,0,0,0,0
$GC,10687,-0.56,-121.6,947.6,-8.3,577,10692,0.08,0.77,0.00,0.000,6,0.182,0.047,2840,1858,3351,0,0,0,0,0,0
$GC,11005,-0.59,-121.6,970.5,-7.0,588,11009,0.00,0.90,0.00,0.000,4,0.000,0.055,2837,2439,3351,0,0,0,0,0,0
$GC,11141,-0.61,-121.6,979.9,-5.9,592,11145,0.00,0.88,0.00,0.000,6,0.000,0.049,2836,1861,3351,0,0,0,0,0,0
$STATE,11449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11449,begin apogee
$GC,11453,-0.23,0.0,1002.0,7.3,602,11555,0.35,0.00,99.15,1.310,6,0.126,0.000,2950,1660,2862,0,0,0,0,0,0
$STATE,11556,end apogee,CONTROL_FINISHED_OK
$STATE,11556,begin climb
$GC,11557,0.71,121.6,1005.3,0.0,605,11668,0.88,0.65,102.97,1.280,4,0.095,0.059,3243,1283,2365,0,0,0,0,0,0
$GC,11695,0.71,181.1,1001.3,5.0,609,11752,0.00,0.65,52.88,1.251,6,0.000,0.048,3243,1671,2123,0,0,0,0,0,0
$GC,12076,0.73,181.3,974.7,7.4,622,12079,0.00,0.28,0.00,0.000,4,0.000,0.062,3243,1863,2116,0,0,0,0,0,0
$GC,12158,0.76,181.3,968.3,7.7,624,12163,0.08,0.32,0.00,0.000,6,0.122,0.062,3280,1662,2115,0,0,0,0,0,0
$GC,12482,0.74,181.3,940.5,8.4,635,12486,0.08,0.52,0.00,0.000,4,0.179,0.056,3262,2010,2114,0,0,0,0,0,0
$GC,12569,0.74,185.6,933.6,7.2,637,12574,0.00,0.55,0.00,0.000,6,0.000,0.055,3264,1666,2113,0,0,0,0,0,0
$GC,12888,0.74,193.5,910.2,7.1,648,12902,0.00,0.70,10.70,1.136,4,0.000,0.049,3264,2117,2071,0,0,0,0,0,0
$GC,13009,0.74,206.6,901.2,6.9,651,13025,0.00,0.73,13.05,1.133,6,0.000,0.052,3267,1663,2018,0,0,0,0,0,0
$GC,13354,0.74,206.6,875.7,7.4,663,13357,0.00,0.57,0.00,0.000,4,0.000,0.055,3267,2038,2015,0,0,0,0,0,0
$GC,13459,0.74,221.6,868.0,6.8,666,13476,0.00,0.60,14.07,1.134,6,0.000,0.054,3269,1660,1958,0,0,0,0,0,0
$GC,13788,0.74,221.6,844.0,7.4,677,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1660,1956,0,0,0,0,0,0
$GC,14094,0.74,221.6,820.9,7.6,687,14098,0.00,0.43,0.00,0.000,4,0.000,0.058,3269,1946,1955,0,0,0,0,0,0
$GC,14199,0.74,221.6,812.8,7.6,690,14203,0.00,0.45,0.00,0.000,6,0.000,0.060,3271,1661,1954,0,0,0,0,0,0
$GC,14534,0.74,221.6,786.4,7.9,701,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1661,1954,0,0,0,0,0,0
$GC,14840,0.74,221.6,761.2,8.2,711,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1662,1954,0,0,0,0,0,0
$GC,15146,0.74,221.6,735.4,8.3,721,15150,0.00,0.52,0.00,0.000,4,0.000,0.056,3271,2011,1954,0,0,0,0,0,0
$GC,15247,0.74,221.6,726.7,9.1,724,15251,0.03,0.52,0.00,0.000,6,0.181,0.057,3263,1669,1954,0,0,0,0,0,0
$GC,15587,0.76,221.6,699.6,7.9,735,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1669,1954,0,0,0,0,0,0
$GC,15894,0.79,221.6,675.8,7.7,745,15897,0.00,0.25,0.00,0.000,4,0.000,0.063,3263,1845,1954,0,0,0,0,0,0
$GC,16016,0.82,221.6,666.4,8.0,748,16020,0.08,0.30,0.00,0.000,6,0.127,0.067,3301,1653,1954,0,0,0,0,0,0
$GC,16333,0.80,221.6,636.9,9.3,759,16337,0.08,0.45,0.00,0.000,4,0.179,0.064,3284,1361,1953,0,0,0,0,0,0
$GC,16415,0.80,221.6,629.9,9.1,761,16420,0.00,0.47,0.00,0.000,6,0.000,0.055,3284,1666,1953,0,0,0,0,0,0
$GC,16739,0.80,221.6,602.6,8.5,772,16742,0.00,0.35,0.00,0.000,4,0.000,0.058,3284,1914,1953,0,0,0,0,0,0
$GC,16821,0.80,221.6,595.8,7.9,774,16823,0.00,0.40,0.00,0.000,6,0.000,0.060,3286,1658,1953,0,0,0,0,0,0
$GC,17141,0.80,221.6,570.6,7.8,785,17144,0.00,0.45,0.00,0.000,4,0.000,0.057,3286,1964,1953,0,0,0,0,0,0
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$STATE,23684,end climb,SURFACE_DEPTH_REACHED
$STATE,23684,begin surface coast
$FINISH,1.3,1.014617
$STATE,23715,end surface coast,CONTROL_FINISHED_OK
$STATE,23715,begin surface
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73480,1243
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$CFSIZE,2097086464,2083192832
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