version: 66.07.10.p01
glider: 573
mission: 4
dive: 88
start: 10 17 112 0 18 32
data:
$ID,573
$MISSION,4
$DIVE,88
$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,-4242.4595
$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,32
$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,67
$GPS1,171012,001035,-4250.269,-842.453,86,1.0,86,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-64.7
$GPS2,171012,001737,-4250.221,-842.400,14,1.0,15,-21.5
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.069,-0.206
$KALMAN_X,-90191.7,-257.6,-481.5,198773.8,698.8
$KALMAN_Y,-190874.0,-48.8,630.7,170934.0,-2155.8
$MHEAD_RNG_PITCHd_Wd,183.1,96952,-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,-121.6,0.0,0.0,0,92,0.00,0.00,-66.12,0.000,2,0.000,0.000,85,1864,2837,0,0,0,0,0,0
$GC,94,-0.71,-121.6,3.1,-2.0,11,127,11.20,2.22,-14.62,0.000,4,0.252,0.068,2780,3269,3358,0,0,0,0,0,0
$GC,358,-0.61,-121.6,31.7,-13.2,55,364,0.15,2.20,0.00,0.000,6,0.153,0.044,2823,1853,3360,0,0,0,0,0,0
$GC,592,-0.57,-121.6,56.0,-9.6,96,600,0.00,0.47,0.00,0.000,4,0.000,0.054,2821,2174,3360,0,0,0,0,0,0
$GC,738,-0.52,-121.6,69.3,-9.9,121,743,0.08,0.45,0.00,0.000,6,0.133,0.052,2848,1862,3360,0,0,0,0,0,0
$GC,1088,-0.52,-121.6,103.1,-9.7,180,1092,0.00,0.60,0.00,0.000,4,0.000,0.054,2846,2263,3360,0,0,0,0,0,0
$GC,1211,-0.52,-121.6,114.9,-9.3,187,1215,0.00,0.60,0.00,0.000,6,0.000,0.048,2846,1865,3360,0,0,0,0,0,0
$GC,1537,-0.52,-121.6,142.1,-8.5,208,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1865,3360,0,0,0,0,0,0
$GC,1848,-0.52,-121.6,168.9,-8.9,228,1851,0.00,0.90,0.00,0.000,4,0.000,0.052,2841,2446,3360,0,0,0,0,0,0
$GC,1987,-0.52,-121.6,181.5,-9.5,236,1991,0.00,0.90,0.00,0.000,6,0.000,0.045,2842,1859,3360,0,0,0,0,0,0
$GC,2313,-0.52,-121.6,211.0,-8.8,257,2317,0.00,0.45,0.00,0.000,4,0.000,0.054,2839,2170,3360,0,0,0,0,0,0
$GC,2424,-0.52,-121.6,220.5,-7.9,263,2429,0.00,0.47,0.00,0.000,6,0.000,0.051,2840,1849,3360,0,0,0,0,0,0
$GC,2744,-0.52,-121.6,246.9,-8.6,284,2747,0.00,0.57,0.00,0.000,4,0.000,0.051,2837,2246,3360,0,0,0,0,0,0
$GC,2866,-0.52,-121.6,257.7,-8.9,290,2870,0.00,0.57,0.00,0.000,6,0.000,0.049,2837,1861,3360,0,0,0,0,0,0
$GC,3187,-0.52,-121.6,286.6,-9.2,306,3191,0.00,0.30,0.00,0.000,4,0.000,0.057,2836,2085,3361,0,0,0,0,0,0
$GC,3304,-0.52,-121.6,297.3,-8.8,311,3307,0.05,0.32,0.00,0.000,6,0.210,0.057,2849,1858,3360,0,0,0,0,0,0
$GC,3630,-0.52,-121.6,324.3,-8.3,327,3634,0.00,0.57,0.00,0.000,4,0.000,0.052,2846,2251,3360,0,0,0,0,0,0
$GC,3722,-0.52,-121.6,331.9,-8.0,331,3726,0.00,0.55,0.00,0.000,6,0.000,0.050,2846,1872,3360,0,0,0,0,0,0
$GC,4056,-0.52,-121.6,360.7,-8.8,347,4060,0.00,0.52,0.00,0.000,4,0.000,0.051,2844,2234,3360,0,0,0,0,0,0
$GC,4148,-0.52,-121.6,368.8,-8.7,351,4152,0.00,0.55,0.00,0.000,6,0.000,0.049,2844,1856,3360,0,0,0,0,0,0
$GC,4482,-0.52,-121.6,400.2,-9.5,367,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1856,3360,0,0,0,0,0,0
$GC,4789,-0.52,-121.6,429.6,-9.7,382,4793,0.00,0.75,0.00,0.000,4,0.000,0.052,2840,2352,3360,0,0,0,0,0,0
$GC,4894,-0.52,-121.6,439.9,-10.1,386,4902,0.00,0.75,0.00,0.000,6,0.000,0.047,2841,1857,3360,0,0,0,0,0,0
$GC,5210,-0.52,-121.6,469.0,-8.9,402,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1857,3360,0,0,0,0,0,0
$GC,5521,-0.52,-121.6,497.1,-9.2,417,5525,0.00,0.57,0.00,0.000,4,0.000,0.053,2838,2246,3360,0,0,0,0,0,0
$GC,5726,-0.52,-121.6,516.3,-9.5,424,5731,0.00,0.57,0.00,0.000,6,0.000,0.050,2838,1861,3360,0,0,0,0,0,0
$GC,6061,-0.52,-121.6,547.1,-9.2,435,6065,0.00,0.38,0.00,0.000,4,0.000,0.055,2836,2128,3360,0,0,0,0,0,0
$GC,6317,-0.52,-121.6,570.8,-9.3,442,6322,0.05,0.40,0.00,0.000,6,0.210,0.055,2850,1857,3359,0,0,0,0,0,0
$GC,6635,-0.55,-121.6,597.8,-8.5,453,6639,0.00,0.35,0.00,0.000,4,0.000,0.056,2848,2114,3359,0,0,0,0,0,0
$GC,6780,-0.57,-121.6,610.8,-9.2,457,6784,0.00,0.38,0.00,0.000,6,0.000,0.056,2849,1857,3359,0,0,0,0,0,0
$GC,7110,-0.60,-121.6,641.6,-9.7,468,7114,0.05,0.50,0.00,0.000,4,0.167,0.055,2807,2190,3358,0,0,0,0,0,0
$GC,7265,-0.56,-121.6,659.6,-12.1,472,7270,0.12,0.50,0.00,0.000,6,0.151,0.053,2843,1856,3358,0,0,0,0,0,0
$GC,7583,-0.56,-121.6,690.7,-9.6,483,7586,0.00,0.35,0.00,0.000,4,0.000,0.058,2842,2113,3357,0,0,0,0,0,0
$GC,7839,-0.58,-121.6,713.7,-8.1,490,7843,0.00,0.38,0.00,0.000,6,0.000,0.057,2842,1858,3357,0,0,0,0,0,0
$GC,8157,-0.58,-121.6,739.1,-7.7,501,8161,0.00,0.70,0.00,0.000,4,0.000,0.054,2839,2317,3356,0,0,0,0,0,0
$GC,8285,-0.58,-121.6,749.2,-7.4,504,8290,0.00,0.70,0.00,0.000,6,0.000,0.049,2839,1857,3356,0,0,0,0,0,0
$GC,8597,-0.58,-121.6,772.8,-7.6,515,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1858,3355,0,0,0,0,0,0
$GC,8903,-0.58,-121.6,797.1,-8.1,525,8907,0.00,0.45,0.00,0.000,4,0.000,0.055,2837,2173,3354,0,0,0,0,0,0
$GC,9054,-0.58,-121.6,809.5,-9.0,529,9058,0.00,0.47,0.00,0.000,6,0.000,0.054,2837,1855,3354,0,0,0,0,0,0
$GC,9377,-0.58,-121.6,836.9,-8.3,540,9381,0.00,0.30,0.00,0.000,4,0.000,0.060,2835,2081,3353,0,0,0,0,0,0
$GC,9533,-0.58,-121.6,849.8,-8.3,544,9537,0.00,0.32,0.00,0.000,6,0.000,0.060,2836,1858,3353,0,0,0,0,0,0
$GC,9850,-0.58,-121.6,876.7,-8.8,555,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1858,3353,0,0,0,0,0,0
$GC,10157,-0.58,-121.6,904.0,-9.1,565,10160,0.00,0.28,0.00,0.000,4,0.000,0.062,2834,2066,3352,0,0,0,0,0,0
$GC,10413,-0.58,-121.6,927.2,-9.1,572,10415,0.00,0.30,0.00,0.000,6,0.000,0.062,2835,1861,3352,0,0,0,0,0,0
$GC,10727,-0.58,-121.6,953.0,-8.0,583,10731,0.00,0.65,0.00,0.000,4,0.000,0.056,2831,2294,3351,0,0,0,0,0,0
$GC,10849,-0.58,-121.6,963.1,-8.3,586,10853,0.00,0.65,0.00,0.000,6,0.000,0.050,2832,1866,3351,0,0,0,0,0,0
$GC,11167,-0.58,-121.6,988.6,-8.3,597,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1865,3351,0,0,0,0,0,0
$STATE,11319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11319,begin apogee
$GC,11323,-0.23,0.0,1000.8,8.0,602,11425,0.35,0.00,99.57,1.318,6,0.127,0.000,2945,1664,2862,0,0,0,0,0,0
$STATE,11426,end apogee,CONTROL_FINISHED_OK
$STATE,11426,begin climb
$GC,11427,0.71,121.6,1004.8,0.0,605,11538,0.90,1.10,103.15,1.279,4,0.096,0.056,3248,1029,2365,0,0,0,0,0,0
$GC,11593,0.71,156.7,1000.0,6.0,610,11629,0.00,1.08,31.05,1.229,6,0.000,0.045,3248,1666,2224,0,0,0,0,0,0
$GC,11954,0.71,201.5,978.9,5.6,622,11998,0.00,0.47,39.45,1.250,4,0.000,0.056,3248,1964,2040,0,0,0,0,0,0
$GC,12076,0.74,240.2,971.5,5.8,625,12117,0.00,0.50,35.35,1.232,6,0.000,0.057,3250,1662,1881,0,0,0,0,0,0
$GC,12453,0.80,266.0,947.5,6.3,638,12483,0.08,0.73,23.35,1.215,4,0.126,0.060,3296,1227,1776,0,0,0,0,0,0
$GC,12555,0.80,266.0,938.8,8.8,641,12560,0.05,0.73,0.00,0.000,6,0.204,0.048,3282,1672,1771,0,0,0,0,0,0
$GC,12890,0.80,266.0,911.9,8.0,652,12891,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1672,1771,0,0,0,0,0,0
$GC,13196,0.82,266.0,886.6,8.3,662,13200,0.00,0.70,0.00,0.000,4,0.000,0.060,3285,1231,1770,0,0,0,0,0,0
$GC,13284,0.82,266.0,879.3,8.3,664,13289,0.00,0.70,0.00,0.000,6,0.000,0.050,3285,1671,1769,0,0,0,0,0,0
$GC,13602,0.82,266.0,854.4,7.6,675,13606,0.00,0.40,0.00,0.000,4,0.000,0.064,3287,1407,1768,0,0,0,0,0,0
$GC,13690,0.82,266.0,847.6,8.3,677,13692,0.00,0.43,0.00,0.000,6,0.000,0.056,3286,1678,1768,0,0,0,0,0,0
$GC,14004,0.82,266.0,823.7,7.7,688,14008,0.00,0.73,0.00,0.000,4,0.000,0.060,3290,1220,1768,0,0,0,0,0,0
$GC,14072,0.82,266.0,818.3,8.2,690,14076,0.00,0.65,0.00,0.000,6,0.000,0.050,3290,1644,1768,0,0,0,0,0,0
$GC,14411,0.82,266.0,790.8,8.3,701,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1644,1768,0,0,0,0,0,0
$GC,14718,0.82,266.0,764.5,8.6,711,14721,0.00,0.40,0.00,0.000,4,0.000,0.066,3292,1381,1768,0,0,0,0,0,0
$GC,14822,0.82,266.0,755.3,9.1,714,14825,0.00,0.45,0.00,0.000,6,0.000,0.056,3292,1669,1768,0,0,0,0,0,0
$GC,15153,0.82,266.0,725.9,9.1,725,15157,0.00,0.55,0.00,0.000,4,0.000,0.063,3295,1311,1767,0,0,0,0,0,0
$GC,15254,0.82,266.0,716.3,9.8,728,15258,0.00,0.52,0.00,0.000,6,0.000,0.054,3295,1657,1767,0,0,0,0,0,0
$GC,15594,0.82,266.0,681.5,10.5,739,15595,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1657,1767,0,0,0,0,0,0
$GC,15900,0.82,266.0,650.0,10.3,749,15904,0.00,0.50,0.00,0.000,4,0.000,0.063,3297,1329,1767,0,0,0,0,0,0
$GC,16001,0.82,266.0,639.2,11.3,752,16005,0.00,0.50,0.00,0.000,6,0.000,0.053,3297,1661,1767,0,0,0,0,0,0
$GC,16341,0.82,266.0,603.3,10.4,763,16345,0.00,0.40,0.00,0.000,4,0.000,0.064,3299,1396,1767,0,0,0,0,0,0
$GC,16457,0.82,266.0,591.4,9.3,766,16461,0.00,0.43,0.00,0.000,6,0.000,0.054,3299,1673,1767,0,0,0,0,0,0
$GC,16780,0.82,266.0,559.2,9.8,777,16784,0.00,0.65,0.00,0.000,4,0.000,0.060,3302,1254,1767,0,0,0,0,0,0
$GC,16857,0.82,266.0,551.2,9.7,779,16862,0.05,0.65,0.00,0.000,6,0.206,0.050,3289,1671,1767,0,0,0,0,0,0
$GC,17186,0.84,266.0,520.9,9.0,790,17190,0.00,0.45,0.00,0.000,4,0.000,0.063,3290,1374,1767,0,0,0,0,0,0
$GC,17254,0.86,266.0,514.6,9.2,792,17257,0.00,0.43,0.00,0.000,6,0.000,0.054,3290,1660,1767,0,0,0,0,0,0
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$STATE,22736,end climb,SURFACE_DEPTH_REACHED
$STATE,22736,begin surface coast
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$STATE,22743,end surface coast,CONTROL_FINISHED_OK
$STATE,22743,begin surface
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70291,1196
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$CFSIZE,2097086464,2082406400
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