version: 66.07.10.p01
glider: 573
mission: 4
dive: 86
start: 10 16 112 11 8 2
data:
$ID,573
$MISSION,4
$DIVE,86
$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,-4236.0962
$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,37
$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,65
$GPS1,161012,110005,-4247.717,-846.816,28,1.0,28,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-72.5
$GPS2,161012,110707,-4247.700,-846.749,32,1.1,33,-21.5
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3e
$TGT_LATLONG,-4252.000,-842.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,0.011
$KALMAN_X,-88995.4,76.1,322.3,190508.0,-2134.5
$KALMAN_Y,-191862.6,39.4,1032.5,176093.9,-4851.3
$MHEAD_RNG_PITCHd_Wd,108.7,10246,-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,-121.6,0.0,0.0,0,81,0.00,0.00,-54.58,0.000,2,0.000,0.000,81,1873,2945,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.1,-1.6,9,115,11.15,2.17,-10.82,0.000,4,0.251,0.067,2786,536,3359,0,0,0,0,0,0
$GC,264,-0.57,-121.6,26.7,-13.4,39,272,0.17,2.10,0.00,0.000,6,0.141,0.043,2834,1861,3361,0,0,0,0,0,0
$GC,342,-0.55,-121.6,35.4,-10.1,52,349,0.00,0.28,0.00,0.000,4,0.000,0.060,2833,2070,3361,0,0,0,0,0,0
$GC,503,-0.52,-121.6,51.3,-9.8,80,511,0.03,0.30,0.00,0.000,6,0.176,0.058,2844,1855,3361,0,0,0,0,0,0
$GC,739,-0.52,-121.6,73.7,-9.4,121,743,0.00,0.52,0.00,0.000,4,0.000,0.054,2842,2208,3361,0,0,0,0,0,0
$GC,913,-0.52,-121.6,90.4,-9.5,152,918,0.00,0.50,0.00,0.000,6,0.000,0.050,2842,1864,3362,0,0,0,0,0,0
$GC,1250,-0.52,-121.6,123.2,-10.0,185,1253,0.00,0.60,0.00,0.000,4,0.000,0.053,2839,2272,3362,0,0,0,0,0,0
$GC,1387,-0.52,-121.6,136.7,-9.8,193,1390,0.00,0.60,0.00,0.000,6,0.000,0.049,2839,1864,3363,0,0,0,0,0,0
$GC,1716,-0.52,-121.6,169.5,-9.7,214,1720,0.00,0.70,0.00,0.000,4,0.000,0.052,2836,2323,3362,0,0,0,0,0,0
$GC,1836,-0.52,-121.6,180.8,-9.1,221,1840,0.03,0.68,0.00,0.000,6,0.171,0.047,2848,1865,3363,0,0,0,0,0,0
$GC,2166,-0.52,-121.6,211.5,-9.2,242,2169,0.00,0.57,0.00,0.000,4,0.000,0.053,2845,2255,3363,0,0,0,0,0,0
$GC,2288,-0.52,-121.6,223.0,-9.5,249,2292,0.00,0.60,0.00,0.000,6,0.000,0.047,2845,1855,3363,0,0,0,0,0,0
$GC,2617,-0.52,-121.6,252.0,-8.8,270,2620,0.00,0.77,0.00,0.000,4,0.000,0.051,2842,2366,3363,0,0,0,0,0,0
$GC,2733,-0.52,-121.6,262.3,-8.7,275,2738,0.00,0.77,0.00,0.000,6,0.000,0.045,2842,1854,3363,0,0,0,0,0,0
$GC,3062,-0.52,-121.6,290.5,-8.3,291,3066,0.00,0.93,0.00,0.000,4,0.000,0.051,2837,2452,3363,0,0,0,0,0,0
$GC,3179,-0.52,-121.6,300.9,-8.4,296,3184,0.05,0.90,0.00,0.000,6,0.210,0.044,2851,1862,3363,0,0,0,0,0,0
$GC,3505,-0.52,-121.6,327.1,-7.9,312,3509,0.00,0.55,0.00,0.000,4,0.000,0.052,2848,2236,3363,0,0,0,0,0,0
$GC,3645,-0.52,-121.6,338.7,-8.1,318,3649,0.00,0.57,0.00,0.000,6,0.000,0.049,2848,1851,3363,0,0,0,0,0,0
$GC,3972,-0.52,-121.6,365.6,-8.1,334,3975,0.00,1.25,0.00,0.000,4,0.000,0.053,2842,2650,3362,0,0,0,0,0,0
$GC,4089,-0.52,-121.6,375.3,-8.2,339,4094,0.00,1.23,0.00,0.000,6,0.000,0.044,2842,1856,3363,0,0,0,0,0,0
$GC,4418,-0.52,-121.6,403.1,-8.2,355,4422,0.00,0.73,0.00,0.000,4,0.000,0.051,2839,2340,3363,0,0,0,0,0,0
$GC,4601,-0.52,-121.6,418.9,-8.9,363,4604,0.00,0.70,0.00,0.000,6,0.000,0.047,2839,1866,3363,0,0,0,0,0,0
$GC,4934,-0.52,-121.6,448.0,-8.6,379,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1867,3363,0,0,0,0,0,0
$GC,5242,-0.52,-121.6,475.2,-8.8,394,5245,0.00,0.77,0.00,0.000,4,0.000,0.052,2835,2379,3362,0,0,0,0,0,0
$GC,5357,-0.52,-121.6,485.0,-7.9,399,5361,0.03,0.77,0.00,0.000,6,0.170,0.047,2846,1858,3363,0,0,0,0,0,0
$GC,5696,-0.52,-121.6,513.3,-8.4,413,5700,0.00,0.80,0.00,0.000,4,0.000,0.052,2843,2387,3362,0,0,0,0,0,0
$GC,5812,-0.52,-121.6,523.3,-8.6,416,5817,0.00,0.80,0.00,0.000,6,0.000,0.046,2843,1859,3362,0,0,0,0,0,0
$GC,6136,-0.52,-121.6,551.1,-8.5,427,6140,0.00,0.40,0.00,0.000,4,0.000,0.056,2842,2142,3362,0,0,0,0,0,0
$GC,6258,-0.52,-121.6,561.3,-8.6,430,6262,0.00,0.43,0.00,0.000,6,0.000,0.053,2841,1855,3362,0,0,0,0,0,0
$GC,6575,-0.52,-121.6,585.6,-7.4,441,6579,0.00,0.55,0.00,0.000,4,0.000,0.054,2838,2228,3361,0,0,0,0,0,0
$GC,6686,-0.52,-121.6,593.9,-7.5,444,6690,0.00,0.55,0.00,0.000,6,0.000,0.050,2839,1861,3361,0,0,0,0,0,0
$GC,7015,-0.52,-121.6,619.5,-8.1,455,7019,0.00,0.32,0.00,0.000,4,0.000,0.059,2837,2095,3360,0,0,0,0,0,0
$GC,7271,-0.52,-121.6,640.5,-8.7,462,7274,0.05,0.35,0.00,0.000,6,0.211,0.057,2851,1854,3359,0,0,0,0,0,0
$GC,7586,-0.54,-121.6,663.5,-7.5,473,7590,0.00,1.12,0.00,0.000,4,0.000,0.055,2845,2580,3359,0,0,0,0,0,0
$GC,7722,-0.57,-121.6,673.6,-7.1,477,7726,0.00,1.10,0.00,0.000,6,0.000,0.047,2846,1863,3359,0,0,0,0,0,0
$GC,8062,-0.59,-121.6,701.5,-8.4,488,8065,0.00,0.47,0.00,0.000,4,0.000,0.056,2843,2188,3358,0,0,0,0,0,0
$GC,8231,-0.61,-121.6,715.9,-8.0,493,8235,0.03,0.47,0.00,0.000,6,0.103,0.054,2812,1862,3358,0,0,0,0,0,0
$GC,8570,-0.58,-121.6,750.9,-10.2,504,8575,0.08,0.77,0.00,0.000,4,0.183,0.054,2828,2365,3357,0,0,0,0,0,0
$GC,8664,-0.58,-121.6,760.1,-9.6,506,8670,0.00,0.77,0.00,0.000,6,0.000,0.047,2827,1858,3357,0,0,0,0,0,0
$GC,8976,-0.58,-121.6,789.0,-9.5,517,8980,0.00,0.50,0.00,0.000,4,0.000,0.056,2826,2196,3356,0,0,0,0,0,0
$GC,9115,-0.58,-121.6,802.8,-10.2,521,9119,0.00,0.50,0.00,0.000,6,0.000,0.053,2826,1863,3356,0,0,0,0,0,0
$GC,9450,-0.58,-121.6,838.2,-10.7,532,9453,0.00,0.90,0.00,0.000,4,0.000,0.055,2822,2441,3355,0,0,0,0,0,0
$GC,9584,-0.58,-121.6,852.2,-10.1,536,9588,0.00,0.88,0.00,0.000,6,0.000,0.048,2822,1866,3355,0,0,0,0,0,0
$GC,9924,-0.58,-121.6,887.3,-10.4,547,9928,0.00,1.12,0.00,0.000,4,0.000,0.057,2816,2580,3353,0,0,0,0,0,0
$GC,10059,-0.58,-121.6,901.4,-9.9,551,10063,0.03,1.10,0.00,0.000,6,0.173,0.048,2828,1862,3353,0,0,0,0,0,0
$GC,10398,-0.58,-121.6,934.1,-9.3,562,10402,0.00,0.70,0.00,0.000,4,0.000,0.055,2825,2321,3353,0,0,0,0,0,0
$GC,10610,-0.58,-121.6,954.1,-9.7,568,10614,0.00,0.70,0.00,0.000,6,0.000,0.048,2825,1860,3352,0,0,0,0,0,0
$GC,10939,-0.58,-121.6,983.1,-8.6,579,10943,0.00,0.68,0.00,0.000,4,0.000,0.055,2822,2306,3352,0,0,0,0,0,0
$GC,11124,-0.58,-121.6,999.3,-8.6,584,11128,0.00,0.65,0.00,0.000,6,0.000,0.050,2821,1869,3352,0,0,0,0,0,0
$STATE,11132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11132,begin apogee
$GC,11136,-0.23,0.0,1000.1,8.1,584,11239,0.35,0.00,99.70,1.310,6,0.130,0.000,2939,1665,2862,0,0,0,0,0,0
$STATE,11239,end apogee,CONTROL_FINISHED_OK
$STATE,11240,begin climb
$GC,11241,0.71,121.6,1004.5,0.0,588,11352,0.95,0.40,103.62,1.280,4,0.097,0.063,3247,1427,2366,0,0,0,0,0,0
$GC,11407,0.71,180.6,999.2,5.0,593,11463,0.00,0.40,52.35,1.248,6,0.000,0.055,3247,1672,2125,0,0,0,0,0,0
$GC,11787,0.74,180.6,969.7,8.3,606,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1672,2117,0,0,0,0,0,0
$GC,12093,0.76,180.6,942.5,9.0,616,12098,0.05,0.32,0.00,0.000,4,0.168,0.060,3278,1902,2116,0,0,0,0,0,0
$GC,12238,0.76,180.6,928.4,9.1,620,12242,0.00,0.38,0.00,0.000,6,0.000,0.061,3280,1670,2115,0,0,0,0,0,0
$GC,12567,0.74,180.6,900.2,8.0,631,12569,0.08,0.00,0.00,0.000,6,0.196,0.000,3262,1669,2115,0,0,0,0,0,0
$GC,12873,0.74,212.6,880.7,6.1,641,12903,0.00,0.00,27.50,1.219,6,0.000,0.000,3261,1669,1994,0,0,0,0,0,0
$GC,13210,0.77,242.4,859.9,6.2,652,13239,0.00,0.00,27.50,1.200,6,0.000,0.000,3262,1669,1872,0,0,0,0,0,0
$GC,13546,0.81,273.1,838.6,6.1,663,13580,0.05,0.55,28.23,1.174,4,0.167,0.061,3294,1332,1747,0,0,0,0,0,0
$GC,13663,0.81,276.6,829.7,7.3,666,13668,0.00,0.55,0.00,0.000,6,0.000,0.051,3294,1672,1742,0,0,0,0,0,0
$GC,13981,0.81,276.6,806.1,7.5,677,13985,0.00,0.77,0.00,0.000,4,0.000,0.059,3298,1189,1741,0,0,0,0,0,0
$GC,14075,0.81,276.6,798.8,8.2,679,14081,0.03,0.77,0.00,0.000,6,0.255,0.048,3287,1674,1740,0,0,0,0,0,0
$GC,14388,0.83,276.6,774.8,7.9,690,14391,0.00,0.55,0.00,0.000,4,0.000,0.062,3289,1314,1740,0,0,0,0,0,0
$GC,14470,0.83,286.9,768.4,7.0,692,14487,0.00,0.57,11.82,1.066,6,0.000,0.051,3289,1677,1693,0,0,0,0,0,0
$GC,14794,0.85,291.4,744.9,7.2,703,14803,0.00,0.52,5.78,0.875,4,0.000,0.057,3292,1343,1672,0,0,0,0,0,0
$GC,14887,0.88,295.6,737.6,7.2,705,14897,0.00,0.52,5.62,0.857,6,0.000,0.054,3291,1673,1655,0,0,0,0,0,0
$GC,15233,0.91,295.6,708.6,9.0,717,15237,0.08,0.82,0.00,0.000,4,0.127,0.060,3335,1171,1654,0,0,0,0,0,0
$GC,15334,0.88,295.6,697.6,11.0,720,15338,0.08,0.77,0.00,0.000,6,0.142,0.049,3309,1669,1654,0,0,0,0,0,0
$GC,15673,0.88,295.6,664.8,9.6,731,15674,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1669,1653,0,0,0,0,0,0
$GC,15979,0.88,295.6,637.3,8.7,741,15983,0.00,0.93,0.00,0.000,4,0.000,0.059,3313,1089,1653,0,0,0,0,0,0
$GC,16066,0.88,295.6,629.6,8.7,743,16071,0.00,0.93,0.00,0.000,6,0.000,0.048,3313,1670,1653,0,0,0,0,0,0
$GC,16385,0.88,295.6,601.5,8.8,754,16388,0.00,0.85,0.00,0.000,4,0.000,0.058,3317,1134,1653,0,0,0,0,0,0
$GC,16478,0.88,295.6,592.9,9.4,756,16484,0.00,0.85,0.00,0.000,6,0.000,0.047,3317,1672,1652,0,0,0,0,0,0
$GC,16791,0.88,295.6,563.3,9.8,767,16794,0.00,0.28,0.00,0.000,4,0.000,0.069,3318,1483,1652,0,0,0,0,0,0
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$STATE,22251,end climb,SURFACE_DEPTH_REACHED
$STATE,22251,begin surface coast
$FINISH,1.4,1.018315
$STATE,22288,end surface coast,CONTROL_FINISHED_OK
$STATE,22289,begin surface
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$HUMID,42.91
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$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,17.314
$10V_AH,10.3,16.442
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354276
$DATA_FILE_SIZE,70343,1162
$CAP_FILE_SIZE,201188,0
$CFSIZE,2097086464,2082668544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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