version: 66.07.10.p01
glider: 573
mission: 4
dive: 132
start: 10 26 112 22 0 32
data:
$ID,573
$MISSION,4
$DIVE,132
$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,-4705.7715
$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,26
$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,111
$GPS1,261012,215229,-4244.525,-806.165,40,1.1,40,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-72.6
$GPS2,261012,215937,-4244.495,-806.160,15,1.0,17,-21.6
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.209,0.058
$KALMAN_X,-136063.6,100.2,339.1,292818.2,-4333.7
$KALMAN_Y,-179342.3,-281.8,-247.0,171119.5,4049.9
$MHEAD_RNG_PITCHd_Wd,96.1,37073,-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,-121.4,0.0,0.0,0,75,0.00,0.00,-48.33,0.000,2,0.000,0.000,82,1820,2819,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.5,8,109,11.05,1.08,-16.55,0.000,4,0.247,0.083,2785,1164,3360,0,0,0,0,0,0
$GC,211,-0.60,-121.6,16.5,-11.5,30,219,0.12,1.02,0.00,0.000,6,0.143,0.044,2822,1821,3362,0,0,0,0,0,0
$GC,292,-0.57,-121.6,24.6,-8.9,43,299,0.00,0.62,0.00,0.000,4,0.000,0.051,2820,2242,3362,0,0,0,0,0,0
$GC,438,-0.54,-121.6,38.8,-10.4,68,446,0.05,0.65,0.00,0.000,6,0.145,0.047,2840,1810,3362,0,0,0,0,0,0
$GC,677,-0.54,-121.6,59.9,-9.3,109,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1810,3363,0,0,0,0,0,0
$GC,906,-0.54,-121.6,80.6,-8.9,150,913,0.00,0.70,0.00,0.000,4,0.000,0.050,2837,2267,3362,0,0,0,0,0,0
$GC,1017,-0.54,-121.6,90.0,-8.9,169,1021,0.00,0.68,0.00,0.000,6,0.000,0.047,2837,1818,3362,0,0,0,0,0,0
$GC,1342,-0.54,-121.6,121.2,-9.8,202,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1818,3363,0,0,0,0,0,0
$GC,1655,-0.54,-121.6,151.7,-9.9,222,1658,0.00,0.77,0.00,0.000,4,0.000,0.050,2833,2331,3363,0,0,0,0,0,0
$GC,1761,-0.54,-121.6,162.2,-9.9,228,1765,0.00,0.80,0.00,0.000,6,0.000,0.045,2833,1809,3363,0,0,0,0,0,0
$GC,2087,-0.54,-121.6,193.8,-9.7,249,2091,0.00,1.05,0.00,0.000,4,0.000,0.051,2829,2488,3363,0,0,0,0,0,0
$GC,2194,-0.54,-121.6,204.3,-9.1,255,2198,0.03,1.02,0.00,0.000,6,0.179,0.044,2840,1820,3363,0,0,0,0,0,0
$GC,2519,-0.54,-121.6,234.0,-9.3,276,2522,0.00,1.25,0.00,0.000,4,0.000,0.051,2834,2624,3364,0,0,0,0,0,0
$GC,2630,-0.54,-121.6,244.9,-9.2,282,2638,0.00,1.25,0.00,0.000,6,0.000,0.042,2834,1818,3363,0,0,0,0,0,0
$GC,2949,-0.54,-121.6,274.9,-9.6,299,2952,0.00,1.45,0.00,0.000,4,0.000,0.052,2827,2741,3363,0,0,0,0,0,0
$GC,3061,-0.54,-121.6,285.8,-9.7,304,3065,0.05,1.42,0.00,0.000,6,0.153,0.042,2846,1815,3363,0,0,0,0,0,0
$GC,3393,-0.54,-121.6,315.7,-9.1,320,3397,0.00,0.65,0.00,0.000,4,0.000,0.050,2843,2252,3363,0,0,0,0,0,0
$GC,3508,-0.54,-121.6,325.9,-8.6,325,3512,0.00,0.65,0.00,0.000,6,0.000,0.046,2843,1813,3363,0,0,0,0,0,0
$GC,3842,-0.54,-121.6,357.3,-9.5,341,3846,0.00,0.77,0.00,0.000,4,0.000,0.050,2840,2324,3364,0,0,0,0,0,0
$GC,3958,-0.54,-121.6,368.8,-9.6,346,3962,0.00,0.77,0.00,0.000,6,0.000,0.044,2840,1814,3364,0,0,0,0,0,0
$GC,4285,-0.54,-121.6,401.9,-10.4,362,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1814,3364,0,0,0,0,0,0
$GC,4591,-0.54,-121.6,432.2,-9.5,372,4595,0.00,0.55,0.00,0.000,4,0.000,0.051,2837,2190,3364,0,0,0,0,0,0
$GC,4668,-0.54,-121.6,439.5,-8.7,374,4672,0.00,0.57,0.00,0.000,6,0.000,0.047,2837,1807,3364,0,0,0,0,0,0
$GC,4997,-0.54,-121.6,467.7,-8.2,385,5001,0.00,0.80,0.00,0.000,4,0.000,0.050,2834,2337,3364,0,0,0,0,0,0
$GC,5113,-0.54,-121.6,477.1,-8.0,388,5118,0.00,0.80,0.00,0.000,6,0.000,0.044,2834,1813,3364,0,0,0,0,0,0
$GC,5438,-0.54,-121.6,501.5,-7.3,399,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1812,3364,0,0,0,0,0,0
$GC,5743,-0.54,-121.6,525.1,-7.8,409,5747,0.00,0.90,0.00,0.000,4,0.000,0.050,2830,2405,3364,0,0,0,0,0,0
$GC,5878,-0.54,-121.6,535.7,-7.5,413,5882,0.03,0.88,0.00,0.000,6,0.172,0.045,2842,1826,3363,0,0,0,0,0,0
$GC,6218,-0.54,-121.6,560.0,-7.1,424,6222,0.00,1.08,0.00,0.000,4,0.000,0.051,2837,2517,3364,0,0,0,0,0,0
$GC,6329,-0.54,-121.6,567.8,-6.8,427,6334,0.00,1.10,0.00,0.000,6,0.000,0.043,2836,1805,3364,0,0,0,0,0,0
$GC,6659,-0.54,-121.6,589.0,-6.3,438,6662,0.00,0.60,0.00,0.000,4,0.000,0.050,2834,2211,3363,0,0,0,0,0,0
$GC,6760,-0.54,-121.6,595.4,-6.3,441,6764,0.00,0.57,0.00,0.000,6,0.000,0.049,2834,1820,3363,0,0,0,0,0,0
$GC,7100,-0.54,-121.6,616.9,-6.6,452,7104,0.00,1.08,0.00,0.000,4,0.000,0.052,2829,2510,3363,0,0,0,0,0,0
$GC,7211,-0.54,-121.6,624.9,-7.5,455,7216,0.08,1.08,0.00,0.000,6,0.180,0.044,2849,1818,3361,0,0,0,0,0,0
$GC,7540,-0.56,-121.6,649.0,-7.7,466,7544,0.00,1.35,0.00,0.000,4,0.000,0.054,2843,2676,3361,0,0,0,0,0,0
$GC,7651,-0.59,-121.6,658.3,-8.7,469,7656,0.00,1.33,0.00,0.000,6,0.000,0.043,2843,1817,3361,0,0,0,0,0,0
$GC,7981,-0.61,-121.6,687.5,-9.0,480,7986,0.05,0.95,0.00,0.000,4,0.170,0.052,2802,2428,3361,0,0,0,0,0,0
$GC,8087,-0.58,-121.6,698.6,-10.2,483,8092,0.12,0.95,0.00,0.000,6,0.155,0.045,2838,1811,3360,0,0,0,0,0,0
$GC,8421,-0.58,-121.6,728.0,-8.8,494,8425,0.00,0.38,0.00,0.000,4,0.000,0.056,2837,2090,3360,0,0,0,0,0,0
$GC,8522,-0.58,-121.6,736.1,-8.6,497,8526,0.00,0.38,0.00,0.000,6,0.000,0.056,2837,1826,3360,0,0,0,0,0,0
$GC,8862,-0.58,-121.6,762.9,-7.8,508,8866,0.00,0.47,0.00,0.000,4,0.000,0.052,2835,2162,3359,0,0,0,0,0,0
$GC,8939,-0.58,-121.6,768.8,-7.2,510,8943,0.00,0.52,0.00,0.000,6,0.000,0.050,2835,1814,3358,0,0,0,0,0,0
$GC,9269,-0.58,-121.6,792.9,-7.2,521,9272,0.00,0.70,0.00,0.000,4,0.000,0.053,2832,2280,3358,0,0,0,0,0,0
$GC,9390,-0.58,-121.6,801.9,-7.5,524,9395,0.00,0.70,0.00,0.000,6,0.000,0.048,2832,1821,3358,0,0,0,0,0,0
$GC,9709,-0.58,-121.6,825.2,-7.3,535,9713,0.00,0.68,0.00,0.000,4,0.000,0.052,2829,2273,3357,0,0,0,0,0,0
$GC,9814,-0.58,-121.6,832.9,-7.4,538,9818,0.00,0.70,0.00,0.000,6,0.000,0.047,2828,1813,3357,0,0,0,0,0,0
$GC,10149,-0.58,-121.6,855.9,-6.9,549,10153,0.00,0.88,0.00,0.000,4,0.000,0.052,2825,2384,3356,0,0,0,0,0,0
$GC,10260,-0.58,-121.6,863.5,-7.0,552,10265,0.00,0.88,0.00,0.000,6,0.000,0.046,2825,1818,3356,0,0,0,0,0,0
$GC,10590,-0.58,-121.6,885.9,-6.8,563,10594,0.00,0.70,0.00,0.000,4,0.000,0.052,2822,2284,3355,0,0,0,0,0,0
$GC,10712,-0.58,-121.6,894.0,-6.7,566,10717,0.00,0.73,0.00,0.000,6,0.000,0.047,2822,1813,3355,0,0,0,0,0,0
$GC,11031,-0.58,-121.6,916.2,-7.1,577,11035,0.00,0.57,0.00,0.000,4,0.000,0.052,2819,2202,3355,0,0,0,0,0,0
$GC,11170,-0.58,-121.6,926.3,-6.8,581,11175,0.05,0.60,0.00,0.000,6,0.213,0.050,2832,1807,3355,0,0,0,0,0,0
$GC,11505,-0.58,-121.6,949.2,-7.3,592,11509,0.00,0.55,0.00,0.000,4,0.000,0.053,2830,2180,3354,0,0,0,0,0,0
$GC,11610,-0.58,-121.6,957.5,-7.3,595,11614,0.00,0.55,0.00,0.000,6,0.000,0.050,2830,1818,3354,0,0,0,0,0,0
$GC,11944,-0.58,-121.6,985.1,-8.2,606,11948,0.00,0.45,0.00,0.000,4,0.000,0.055,2828,2132,3354,0,0,0,0,0,0
$GC,12032,-0.58,-121.6,992.7,-9.0,608,12037,0.00,0.47,0.00,0.000,6,0.000,0.053,2828,1818,3354,0,0,0,0,0,0
$STATE,12135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12135,begin apogee
$GC,12139,-0.23,0.0,1002.0,9.1,612,12242,0.38,0.00,100.50,1.304,6,0.126,0.000,2950,1648,2862,0,0,0,0,0,0
$STATE,12243,end apogee,CONTROL_FINISHED_OK
$STATE,12243,begin climb
$GC,12244,0.71,121.6,1006.6,0.0,615,12352,0.93,0.00,104.20,1.272,6,0.091,0.000,3252,1648,2366,0,0,0,0,0,0
$GC,12653,0.71,150.8,987.9,6.2,629,12682,0.00,0.00,25.65,1.226,6,0.000,0.000,3252,1648,2248,0,0,0,0,0,0
$GC,12989,0.71,162.4,964.6,6.9,640,13003,0.00,0.40,11.18,1.138,4,0.000,0.045,3252,1943,2199,0,0,0,0,0,0
$GC,13109,0.71,162.4,956.0,7.5,643,13113,0.00,0.47,0.00,0.000,6,0.000,0.055,3254,1648,2198,0,0,0,0,0,0
$GC,13427,0.71,182.1,934.7,6.6,654,13451,0.00,0.52,18.45,1.185,4,0.000,0.052,3254,1972,2119,0,0,0,0,0,0
$GC,13540,0.71,218.6,927.3,5.9,657,13578,0.00,0.52,33.80,1.213,6,0.000,0.054,3257,1646,1969,0,0,0,0,0,0
$GC,13891,0.74,242.4,904.4,6.4,669,13915,0.00,0.47,21.45,1.187,4,0.000,0.053,3257,1941,1873,0,0,0,0,0,0
$GC,14000,0.79,289.0,897.4,5.5,671,14046,0.00,0.45,43.28,1.199,6,0.000,0.057,3258,1652,1683,0,0,0,0,0,0
$GC,14381,0.85,312.0,872.6,6.5,684,14405,0.10,0.00,21.25,1.168,6,0.102,0.000,3311,1652,1589,0,0,0,0,0,0
$GC,14687,0.85,312.0,843.1,10.0,694,14689,0.05,0.00,0.00,0.000,6,0.206,0.000,3298,1652,1582,0,0,0,0,0,0
$GC,14993,0.85,312.0,817.0,8.3,704,14994,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1652,1581,0,0,0,0,0,0
$GC,15299,0.85,312.0,792.5,7.7,714,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1652,1580,0,0,0,0,0,0
$GC,15605,0.85,312.0,769.4,7.7,724,15607,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1652,1580,0,0,0,0,0,0
$GC,15912,0.85,312.0,744.2,8.5,734,15916,0.00,0.60,0.00,0.000,4,0.000,0.060,3300,1258,1579,0,0,0,0,0,0
$GC,15979,0.85,312.0,738.3,8.6,736,15982,0.00,0.60,0.00,0.000,6,0.000,0.049,3300,1653,1579,0,0,0,0,0,0
$GC,16318,0.85,312.0,709.1,8.7,747,16322,0.00,0.45,0.00,0.000,4,0.000,0.062,3302,1359,1579,0,0,0,0,0,0
$GC,16423,0.85,312.0,699.2,9.9,750,16427,0.00,0.45,0.00,0.000,6,0.000,0.053,3302,1650,1579,0,0,0,0,0,0
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$STATE,23793,end climb,SURFACE_DEPTH_REACHED
$STATE,23793,begin surface coast
$FINISH,1.5,1.003337
$STATE,23818,end surface coast,CONTROL_FINISHED_OK
$STATE,23818,begin surface
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$10V_AH,10.2,21.968
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70292,1200
$CAP_FILE_SIZE,200044,0
$CFSIZE,2097086464,2076934144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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