version: 66.07.10.p01
glider: 573
mission: 4
dive: 130
start: 10 26 112 9 2 26
data:
$ID,573
$MISSION,4
$DIVE,130
$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,-4699.0464
$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,32
$R_STBD_OVSHOOT,41
$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,109
$GPS1,261012,085435,-4252.030,-807.332,45,0.9,45,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-72.3
$GPS2,261012,090131,-4251.983,-807.312,16,0.9,16,-21.5
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.071,0.205
$KALMAN_X,-132269.8,-314.9,1317.6,286898.2,-6648.6
$KALMAN_Y,-184160.4,382.7,-265.7,161416.0,2303.0
$MHEAD_RNG_PITCHd_Wd,40.7,50963,-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,-121.6,0.0,0.0,0,87,0.00,0.00,-60.00,0.000,2,0.000,0.000,75,1831,3061,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.2,-1.6,10,115,11.15,2.33,-7.68,0.000,4,0.249,0.068,2789,414,3357,0,0,0,0,0,0
$GC,247,-0.59,-121.6,24.2,-12.7,36,255,0.15,2.22,0.00,0.000,6,0.139,0.043,2829,1809,3359,0,0,0,0,0,0
$GC,327,-0.56,-121.6,32.6,-9.9,49,331,0.00,0.35,0.00,0.000,4,0.000,0.058,2828,2061,3359,0,0,0,0,0,0
$GC,401,-0.54,-121.6,40.0,-9.7,62,409,0.03,0.35,0.00,0.000,6,0.180,0.057,2839,1821,3359,0,0,0,0,0,0
$GC,639,-0.54,-121.6,62.4,-9.4,103,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1820,3359,0,0,0,0,0,0
$GC,983,-0.54,-121.6,96.1,-10.0,164,988,0.00,1.08,0.00,0.000,4,0.000,0.054,2834,2507,3359,0,0,0,0,0,0
$GC,1093,-0.54,-121.6,106.6,-8.5,176,1101,0.00,1.08,0.00,0.000,6,0.000,0.045,2834,1818,3359,0,0,0,0,0,0
$GC,1415,-0.54,-121.6,136.4,-9.5,197,1418,0.00,0.73,0.00,0.000,4,0.000,0.052,2831,2298,3360,0,0,0,0,0,0
$GC,1501,-0.54,-121.6,144.8,-9.5,202,1505,0.03,0.73,0.00,0.000,6,0.174,0.047,2842,1818,3360,0,0,0,0,0,0
$GC,1832,-0.54,-121.6,175.0,-9.0,223,1836,0.00,0.82,0.00,0.000,4,0.000,0.052,2838,2360,3360,0,0,0,0,0,0
$GC,1921,-0.54,-121.6,183.1,-8.5,228,1925,0.00,0.85,0.00,0.000,6,0.000,0.046,2838,1807,3360,0,0,0,0,0,0
$GC,2247,-0.54,-121.6,211.4,-8.8,249,2251,0.00,0.82,0.00,0.000,4,0.000,0.051,2834,2349,3360,0,0,0,0,0,0
$GC,2341,-0.54,-121.6,220.0,-8.9,254,2349,0.00,0.82,0.00,0.000,6,0.000,0.046,2834,1811,3360,0,0,0,0,0,0
$GC,2662,-0.54,-121.6,248.1,-9.0,275,2665,0.00,1.02,0.00,0.000,4,0.000,0.053,2830,2473,3360,0,0,0,0,0,0
$GC,2776,-0.54,-121.6,258.1,-8.3,281,2781,0.03,1.00,0.00,0.000,6,0.172,0.044,2841,1818,3360,0,0,0,0,0,0
$GC,3110,-0.54,-121.6,286.1,-8.3,297,3113,0.00,0.80,0.00,0.000,4,0.000,0.052,2837,2344,3360,0,0,0,0,0,0
$GC,3181,-0.54,-121.6,292.3,-7.6,300,3185,0.00,0.80,0.00,0.000,6,0.000,0.044,2837,1818,3360,0,0,0,0,0,0
$GC,3508,-0.54,-121.6,320.7,-9.7,316,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1817,3361,0,0,0,0,0,0
$GC,3819,-0.54,-121.6,354.0,-11.0,331,3823,0.00,1.02,0.00,0.000,4,0.000,0.053,2833,2476,3360,0,0,0,0,0,0
$GC,3924,-0.54,-121.6,366.3,-11.2,335,3930,0.00,1.02,0.00,0.000,6,0.000,0.043,2833,1811,3360,0,0,0,0,0,0
$GC,4250,-0.54,-121.6,404.1,-11.7,351,4255,0.03,0.32,0.00,0.000,4,0.263,0.060,2841,2038,3360,0,0,0,0,0,0
$GC,4338,-0.54,-121.6,414.1,-10.6,353,4342,0.00,0.32,0.00,0.000,6,0.000,0.057,2841,1817,3361,0,0,0,0,0,0
$GC,4656,-0.54,-121.6,447.2,-10.1,364,4660,0.00,0.75,0.00,0.000,4,0.000,0.051,2838,2313,3361,0,0,0,0,0,0
$GC,4744,-0.54,-121.6,456.0,-9.3,366,4749,0.00,0.75,0.00,0.000,6,0.000,0.047,2838,1821,3361,0,0,0,0,0,0
$GC,5062,-0.54,-121.6,484.3,-8.7,377,5066,0.00,0.70,0.00,0.000,4,0.000,0.053,2834,2288,3360,0,0,0,0,0,0
$GC,5157,-0.54,-121.6,492.4,-8.4,379,5162,0.00,0.70,0.00,0.000,6,0.000,0.047,2835,1820,3360,0,0,0,0,0,0
$GC,5469,-0.54,-121.6,517.9,-8.1,390,5473,0.00,1.23,0.00,0.000,4,0.000,0.054,2829,2605,3360,0,0,0,0,0,0
$GC,5580,-0.54,-121.6,527.0,-7.8,393,5585,0.08,1.23,0.00,0.000,6,0.180,0.044,2849,1818,3360,0,0,0,0,0,0
$GC,5910,-0.56,-121.6,551.7,-7.6,404,5913,0.00,0.65,0.00,0.000,4,0.000,0.054,2846,2251,3359,0,0,0,0,0,0
$GC,5977,-0.58,-121.6,556.9,-7.9,406,5981,0.00,0.65,0.00,0.000,6,0.000,0.049,2846,1815,3359,0,0,0,0,0,0
$GC,6317,-0.58,-121.6,586.8,-9.2,417,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1815,3359,0,0,0,0,0,0
$GC,6623,-0.58,-121.6,615.6,-9.4,427,6627,0.00,0.73,0.00,0.000,4,0.000,0.053,2843,2295,3359,0,0,0,0,0,0
$GC,6700,-0.61,-121.6,622.9,-9.5,429,6705,0.00,0.73,0.00,0.000,6,0.000,0.047,2842,1819,3358,0,0,0,0,0,0
$GC,7030,-0.61,-121.6,652.6,-9.0,440,7033,0.00,0.60,0.00,0.000,4,0.000,0.054,2840,2222,3358,0,0,0,0,0,0
$GC,7124,-0.63,-121.6,661.0,-8.6,442,7130,0.08,0.62,0.00,0.000,6,0.123,0.050,2798,1812,3358,0,0,0,0,0,0
$GC,7437,-0.58,-121.6,694.2,-10.7,453,7441,0.12,0.75,0.00,0.000,4,0.163,0.054,2830,2297,3357,0,0,0,0,0,0
$GC,7541,-0.58,-121.6,704.1,-8.3,456,7546,0.00,0.75,0.00,0.000,6,0.000,0.047,2830,1807,3357,0,0,0,0,0,0
$GC,7876,-0.58,-121.6,735.9,-9.6,467,7880,0.00,0.50,0.00,0.000,4,0.000,0.055,2829,2149,3356,0,0,0,0,0,0
$GC,7944,-0.58,-121.6,742.3,-9.1,469,7947,0.00,0.47,0.00,0.000,6,0.000,0.054,2828,1825,3356,0,0,0,0,0,0
$GC,8283,-0.58,-121.6,774.3,-9.1,480,8287,0.00,0.65,0.00,0.000,4,0.000,0.053,2825,2256,3356,0,0,0,0,0,0
$GC,8399,-0.58,-121.6,784.6,-8.4,483,8404,0.00,0.68,0.00,0.000,6,0.000,0.048,2826,1814,3355,0,0,0,0,0,0
$GC,8723,-0.58,-121.6,812.8,-8.7,494,8727,0.00,0.43,0.00,0.000,4,0.000,0.059,2826,1520,3355,0,0,0,0,0,0
$GC,8772,-0.58,-121.6,817.1,-8.6,495,8776,0.00,0.47,0.00,0.000,6,0.000,0.053,2823,1831,3355,0,0,0,0,0,0
$GC,9095,-0.58,-121.6,845.0,-8.9,506,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1831,3354,0,0,0,0,0,0
$GC,9402,-0.58,-121.6,872.4,-9.2,516,9405,0.00,0.60,0.00,0.000,4,0.000,0.054,2823,1438,3354,0,0,0,0,0,0
$GC,9478,-0.58,-121.6,880.0,-9.6,518,9483,0.00,0.60,0.00,0.000,6,0.000,0.050,2821,1831,3354,0,0,0,0,0,0
$GC,9808,-0.58,-121.6,914.4,-10.8,529,9811,0.00,0.60,0.00,0.000,4,0.000,0.056,2818,2239,3353,0,0,0,0,0,0
$GC,9890,-0.58,-121.6,923.7,-11.2,531,9895,0.05,0.65,0.00,0.000,6,0.212,0.050,2831,1816,3353,0,0,0,0,0,0
$GC,10214,-0.58,-121.6,957.4,-10.3,542,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1816,3353,0,0,0,0,0,0
$GC,10520,-0.58,-121.6,987.3,-9.6,552,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1816,3352,0,0,0,0,0,0
$STATE,10672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10672,begin apogee
$GC,10676,-0.23,0.0,1001.4,9.2,557,10778,0.35,0.00,99.53,1.300,6,0.125,0.000,2945,1648,2862,0,0,0,0,0,0
$STATE,10779,end apogee,CONTROL_FINISHED_OK
$STATE,10779,begin climb
$GC,10781,0.71,121.6,1006.0,0.0,560,10888,0.93,0.00,103.75,1.268,6,0.092,0.000,3246,1648,2366,0,0,0,0,0,0
$GC,11190,0.71,154.3,987.0,6.1,574,11224,0.00,0.55,28.58,1.229,4,0.000,0.054,3247,1974,2232,0,0,0,0,0,0
$GC,11354,0.71,168.8,975.7,6.8,579,11373,0.00,0.52,13.93,1.162,6,0.000,0.056,3249,1644,2173,0,0,0,0,0,0
$GC,11692,0.71,185.4,952.3,6.7,590,11709,0.00,0.00,15.52,1.160,6,0.000,0.000,3249,1644,2105,0,0,0,0,0,0
$GC,11998,0.73,207.1,931.8,6.5,600,12021,0.00,0.00,20.67,1.187,6,0.000,0.000,3249,1644,2017,0,0,0,0,0,0
$GC,12304,0.77,232.4,912.0,6.4,610,12335,0.05,1.15,23.30,1.190,4,0.168,0.053,3284,2323,1913,0,0,0,0,0,0
$GC,12440,0.77,232.4,901.8,7.8,614,12446,0.08,1.10,0.00,0.000,6,0.178,0.048,3270,1649,1910,0,0,0,0,0,0
$GC,12776,0.77,277.7,882.5,5.6,625,12819,0.00,0.00,41.47,1.207,6,0.000,0.000,3270,1650,1728,0,0,0,0,0,0
$GC,13113,0.81,303.7,861.7,6.3,636,13141,0.00,0.00,23.92,1.177,6,0.000,0.000,3270,1649,1622,0,0,0,0,0,0
$GC,13449,0.87,303.7,837.2,7.8,647,13453,0.10,0.50,0.00,0.000,4,0.099,0.061,3322,1315,1615,0,0,0,0,0,0
$GC,13520,0.84,303.7,829.5,11.2,649,13524,0.10,0.52,0.00,0.000,6,0.164,0.052,3295,1645,1615,0,0,0,0,0,0
$GC,13854,0.84,303.7,793.7,11.1,660,13858,0.00,0.50,0.00,0.000,4,0.000,0.063,3297,1324,1614,0,0,0,0,0,0
$GC,13948,0.84,303.7,782.8,11.3,662,13953,0.00,0.52,0.00,0.000,6,0.000,0.052,3297,1657,1613,0,0,0,0,0,0
$GC,14260,0.84,303.7,746.0,11.7,673,14264,0.00,0.60,0.00,0.000,4,0.000,0.060,3300,1274,1613,0,0,0,0,0,0
$GC,14328,0.86,303.7,738.2,10.9,675,14332,0.00,0.57,0.00,0.000,6,0.000,0.052,3300,1649,1612,0,0,0,0,0,0
$GC,14668,0.86,303.7,702.4,9.9,686,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1649,1612,0,0,0,0,0,0
$GC,14974,0.86,303.7,675.8,8.3,696,14978,0.00,0.38,0.00,0.000,4,0.000,0.064,3301,1400,1612,0,0,0,0,0,0
$GC,15062,0.86,303.7,668.5,7.7,698,15066,0.00,0.40,0.00,0.000,6,0.000,0.057,3301,1655,1612,0,0,0,0,0,0
$GC,15380,0.86,303.7,642.5,8.3,709,15384,0.00,0.47,0.00,0.000,4,0.000,0.062,3303,1344,1612,0,0,0,0,0,0
$GC,15447,0.86,303.7,637.0,8.5,711,15450,0.00,0.45,0.00,0.000,6,0.000,0.055,3303,1646,1612,0,0,0,0,0,0
$GC,15787,0.86,303.7,608.3,8.7,722,15788,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1646,1612,0,0,0,0,0,0
$GC,16093,0.86,303.7,581.9,8.6,732,16097,0.00,0.93,0.00,0.000,4,0.000,0.060,3307,1066,1612,0,0,0,0,0,0
$GC,16169,0.86,303.7,575.0,9.5,734,16174,0.00,0.93,0.00,0.000,6,0.000,0.047,3307,1649,1611,0,0,0,0,0,0
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$STATE,21793,end climb,SURFACE_DEPTH_REACHED
$STATE,21793,begin surface coast
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$STATE,21800,end surface coast,CONTROL_FINISHED_OK
$STATE,21801,begin surface
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$10V_AH,10.3,21.693
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$FG_AHR_10Vo,0.000
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$MEM,353888
$DATA_FILE_SIZE,67029,1119
$CAP_FILE_SIZE,182411,0
$CFSIZE,2097086464,2077229056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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