version: 66.07.10.p01
glider: 573
mission: 4
dive: 133
start: 10 27 112 4 47 56
data:
$ID,573
$MISSION,4
$DIVE,133
$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,-4709.0752
$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,31
$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,112
$GPS1,271012,044005,-4242.662,-803.932,47,1.3,47,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-67.3
$GPS2,271012,044701,-4242.617,-803.923,16,1.3,16,-21.6
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,0.096
$KALMAN_X,-138331.2,-270.3,424.3,298413.3,-4029.8
$KALMAN_Y,-177413.2,85.7,-675.2,172734.3,4895.4
$MHEAD_RNG_PITCHd_Wd,85.4,33065,-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,-59.95,0.000,2,0.000,0.000,87,1824,2830,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.0,-1.5,10,121,11.12,1.17,-14.75,0.000,4,0.249,0.076,2791,1091,3359,0,0,0,0,0,0
$GC,217,-0.62,-121.6,17.0,-10.2,31,225,0.10,1.15,0.00,0.000,6,0.147,0.046,2821,1818,3360,0,0,0,0,0,0
$GC,298,-0.57,-121.6,25.1,-10.5,44,306,0.05,0.47,0.00,0.000,4,0.220,0.054,2831,2140,3360,0,0,0,0,0,0
$GC,564,-0.55,-121.6,51.2,-9.1,90,571,0.00,0.47,0.00,0.000,6,0.000,0.050,2831,1816,3360,0,0,0,0,0,0
$GC,798,-0.53,-121.6,73.5,-9.4,131,803,0.08,1.35,0.00,0.000,4,0.183,0.053,2844,2661,3361,0,0,0,0,0,0
$GC,928,-0.53,-121.6,84.9,-8.4,154,933,0.00,1.30,0.00,0.000,6,0.000,0.044,2845,1824,3361,0,0,0,0,0,0
$GC,1269,-0.53,-121.6,116.2,-9.3,195,1273,0.00,0.93,0.00,0.000,4,0.000,0.050,2840,2428,3361,0,0,0,0,0,0
$GC,1363,-0.53,-121.6,125.6,-9.6,200,1371,0.00,0.95,0.00,0.000,6,0.000,0.044,2840,1813,3361,0,0,0,0,0,0
$GC,1685,-0.53,-121.6,156.6,-10.0,221,1688,0.00,1.12,0.00,0.000,4,0.000,0.051,2835,2534,3361,0,0,0,0,0,0
$GC,1789,-0.53,-121.6,167.5,-9.7,227,1794,0.00,1.12,0.00,0.000,6,0.000,0.044,2835,1811,3361,0,0,0,0,0,0
$GC,2114,-0.53,-121.6,200.0,-10.0,248,2118,0.00,0.93,0.00,0.000,4,0.000,0.050,2831,2416,3361,0,0,0,0,0,0
$GC,2225,-0.53,-121.6,211.6,-10.1,254,2234,0.08,0.93,0.00,0.000,6,0.181,0.044,2850,1818,3361,0,0,0,0,0,0
$GC,2547,-0.53,-121.6,241.7,-9.5,275,2550,0.00,1.05,0.00,0.000,4,0.000,0.050,2845,2498,3361,0,0,0,0,0,0
$GC,2640,-0.53,-121.6,250.7,-9.4,280,2648,0.00,1.05,0.00,0.000,6,0.000,0.043,2845,1819,3361,0,0,0,0,0,0
$GC,2956,-0.53,-121.6,279.7,-9.4,296,2960,0.00,1.35,0.00,0.000,4,0.000,0.053,2838,2679,3361,0,0,0,0,0,0
$GC,3079,-0.53,-121.6,291.4,-9.5,301,3083,0.00,1.35,0.00,0.000,6,0.000,0.041,2839,1810,3361,0,0,0,0,0,0
$GC,3403,-0.53,-121.6,320.7,-8.8,317,3406,0.00,0.82,0.00,0.000,4,0.000,0.050,2835,2355,3361,0,0,0,0,0,0
$GC,3485,-0.53,-121.6,327.8,-8.0,320,3493,0.00,0.82,0.00,0.000,6,0.000,0.045,2835,1818,3361,0,0,0,0,0,0
$GC,3801,-0.53,-121.6,354.1,-8.2,336,3806,0.03,0.28,0.00,0.000,4,0.266,0.062,2843,2014,3361,0,0,0,0,0,0
$GC,4060,-0.53,-121.6,374.4,-8.0,347,4062,0.00,0.30,0.00,0.000,6,0.000,0.059,2843,1807,3361,0,0,0,0,0,0
$GC,4379,-0.53,-121.6,399.9,-8.4,363,4383,0.00,2.20,0.00,0.000,4,0.000,0.057,2833,3223,3361,0,0,0,0,0,0
$GC,4507,-0.53,-121.6,411.1,-9.0,367,4514,0.03,2.15,0.00,0.000,6,0.176,0.041,2844,1828,3362,0,0,0,0,0,0
$GC,4820,-0.53,-121.6,437.0,-8.2,378,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1828,3361,0,0,0,0,0,0
$GC,5126,-0.53,-121.6,461.7,-8.1,388,5130,0.00,0.60,0.00,0.000,4,0.000,0.052,2841,2231,3361,0,0,0,0,0,0
$GC,5203,-0.53,-121.6,468.3,-8.0,390,5207,0.00,0.65,0.00,0.000,6,0.000,0.047,2841,1802,3361,0,0,0,0,0,0
$GC,5532,-0.53,-121.6,496.1,-8.8,401,5536,0.00,0.52,0.00,0.000,4,0.000,0.050,2839,2162,3361,0,0,0,0,0,0
$GC,5637,-0.53,-121.6,505.2,-8.3,404,5641,0.00,0.52,0.00,0.000,6,0.000,0.048,2839,1811,3361,0,0,0,0,0,0
$GC,5972,-0.53,-121.6,530.5,-7.0,415,5976,0.00,0.80,0.00,0.000,4,0.000,0.052,2835,2340,3361,0,0,0,0,0,0
$GC,6066,-0.53,-121.6,537.4,-7.2,417,6072,0.00,0.80,0.00,0.000,6,0.000,0.046,2835,1816,3360,0,0,0,0,0,0
$GC,6379,-0.53,-121.6,560.5,-7.9,428,6382,0.00,0.88,0.00,0.000,4,0.000,0.050,2831,2388,3360,0,0,0,0,0,0
$GC,6483,-0.53,-121.6,569.7,-8.7,431,6489,0.08,0.88,0.00,0.000,6,0.176,0.044,2851,1819,3360,0,0,0,0,0,0
$GC,6819,-0.56,-121.6,597.6,-8.4,442,6823,0.00,0.50,0.00,0.000,4,0.000,0.052,2849,2164,3359,0,0,0,0,0,0
$GC,6921,-0.59,-121.6,606.4,-8.9,445,6925,0.03,0.50,0.00,0.000,6,0.102,0.050,2816,1823,3359,0,0,0,0,0,0
$GC,7260,-0.56,-121.6,641.2,-10.4,456,7265,0.10,0.77,0.00,0.000,4,0.180,0.052,2839,2320,3359,0,0,0,0,0,0
$GC,7365,-0.56,-121.6,651.3,-8.7,459,7370,0.00,0.77,0.00,0.000,6,0.000,0.046,2839,1813,3358,0,0,0,0,0,0
$GC,7701,-0.56,-121.6,678.4,-7.4,470,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1813,3358,0,0,0,0,0,0
$GC,8007,-0.56,-121.6,695.8,-5.2,480,8011,0.00,0.60,0.00,0.000,4,0.000,0.052,2836,2225,3357,0,0,0,0,0,0
$GC,8180,-0.56,-121.6,704.7,-5.3,485,8184,0.00,0.62,0.00,0.000,6,0.000,0.050,2836,1815,3357,0,0,0,0,0,0
$GC,8515,-0.56,-121.6,722.8,-5.7,496,8519,0.00,1.27,0.00,0.000,4,0.000,0.054,2831,2627,3357,0,0,0,0,0,0
$GC,8650,-0.56,-121.6,731.4,-6.0,500,8654,0.00,1.25,0.00,0.000,6,0.000,0.045,2830,1820,3356,0,0,0,0,0,0
$GC,8991,-0.56,-121.6,755.0,-7.1,511,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1819,3355,0,0,0,0,0,0
$GC,9296,-0.56,-121.6,779.1,-8.4,521,9300,0.00,0.90,0.00,0.000,4,0.000,0.054,2826,2405,3355,0,0,0,0,0,0
$GC,9418,-0.56,-121.6,790.2,-9.1,524,9423,0.00,0.93,0.00,0.000,6,0.000,0.046,2827,1806,3355,0,0,0,0,0,0
$GC,9736,-0.56,-121.6,822.0,-10.6,535,9740,0.00,0.55,0.00,0.000,4,0.000,0.054,2824,2178,3354,0,0,0,0,0,0
$GC,9819,-0.56,-121.6,831.6,-11.8,537,9823,0.05,0.55,0.00,0.000,6,0.214,0.051,2837,1817,3354,0,0,0,0,0,0
$GC,10142,-0.56,-121.6,868.4,-11.4,548,10146,0.00,0.98,0.00,0.000,4,0.000,0.052,2833,2445,3354,0,0,0,0,0,0
$GC,10247,-0.56,-121.6,880.3,-10.4,551,10252,0.00,0.98,0.00,0.000,6,0.000,0.046,2833,1819,3353,0,0,0,0,0,0
$GC,10583,-0.56,-121.6,915.6,-10.3,562,10586,0.00,1.52,0.00,0.000,4,0.000,0.056,2825,2780,3353,0,0,0,0,0,0
$GC,10699,-0.56,-121.6,927.7,-10.4,565,10704,0.00,1.52,0.00,0.000,6,0.000,0.044,2825,1808,3353,0,0,0,0,0,0
$GC,11023,-0.56,-121.6,959.8,-9.8,576,11027,0.00,1.25,0.00,0.000,4,0.000,0.055,2820,2602,3353,0,0,0,0,0,0
$GC,11158,-0.56,-121.6,972.9,-9.2,580,11162,0.05,1.20,0.00,0.000,6,0.142,0.046,2839,1825,3352,0,0,0,0,0,0
$STATE,11496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11496,begin apogee
$GC,11500,-0.23,0.0,1001.3,7.9,591,11603,0.32,0.00,100.12,1.300,6,0.125,0.000,2945,1637,2862,0,0,0,0,0,0
$STATE,11604,end apogee,CONTROL_FINISHED_OK
$STATE,11604,begin climb
$GC,11605,0.71,121.6,1005.1,0.0,594,11716,0.90,1.25,103.45,1.265,4,0.094,0.055,3247,927,2365,0,0,0,0,0,0
$GC,11771,0.71,146.9,999.7,6.4,599,11798,0.00,1.23,23.05,1.197,6,0.000,0.042,3247,1654,2263,0,0,0,0,0,0
$GC,12128,0.71,157.5,976.1,7.0,611,12142,0.00,1.05,10.05,1.112,4,0.000,0.047,3247,2307,2218,0,0,0,0,0,0
$GC,12249,0.71,182.6,967.4,6.4,614,12277,0.00,1.05,23.27,1.196,6,0.000,0.048,3252,1658,2117,0,0,0,0,0,0
$GC,12595,0.71,189.4,942.7,7.1,626,12605,0.00,0.70,6.97,0.989,4,0.000,0.052,3252,2091,2089,0,0,0,0,0,0
$GC,12700,0.71,192.7,935.3,7.3,629,12710,0.00,0.73,4.55,0.804,6,0.000,0.050,3255,1640,2076,0,0,0,0,0,0
$GC,13029,0.71,202.9,912.5,7.0,640,13043,0.00,0.52,10.85,1.099,4,0.000,0.046,3254,1979,2034,0,0,0,0,0,0
$GC,13155,0.71,210.4,903.6,7.1,643,13166,0.00,0.55,7.97,1.023,6,0.000,0.054,3257,1635,2004,0,0,0,0,0,0
$GC,13496,0.73,211.7,879.3,7.4,655,13500,0.00,1.10,0.00,0.000,4,0.000,0.052,3257,2333,2001,0,0,0,0,0,0
$GC,13597,0.73,211.7,871.1,7.8,658,13601,0.00,1.08,0.00,0.000,6,0.000,0.050,3262,1653,2001,0,0,0,0,0,0
$GC,13937,0.73,211.7,842.5,8.7,669,13941,0.00,0.68,0.00,0.000,4,0.000,0.053,3262,2093,2000,0,0,0,0,0,0
$GC,14024,0.73,211.7,834.4,9.1,671,14029,0.00,0.73,0.00,0.000,6,0.000,0.052,3264,1637,2001,0,0,0,0,0,0
$GC,14343,0.73,211.7,805.6,8.8,682,14346,0.00,0.45,0.00,0.000,4,0.000,0.055,3264,1941,2001,0,0,0,0,0,0
$GC,14436,0.73,211.7,797.3,8.8,684,14442,0.00,0.47,0.00,0.000,6,0.000,0.057,3266,1641,2001,0,0,0,0,0,0
$GC,14749,0.73,217.3,773.2,7.2,695,14759,0.00,0.60,7.10,0.960,4,0.000,0.053,3266,2023,1976,0,0,0,0,0,0
$GC,14879,0.73,218.4,764.3,7.4,699,14882,0.00,0.57,0.00,0.000,6,0.000,0.054,3269,1649,1975,0,0,0,0,0,0
$GC,15218,0.73,218.4,739.6,7.5,710,15222,0.00,0.82,0.00,0.000,4,0.000,0.051,3269,2182,1975,0,0,0,0,0,0
$GC,15341,0.73,238.0,730.2,6.6,713,15366,0.00,0.85,19.75,1.099,6,0.000,0.050,3272,1643,1891,0,0,0,0,0,0
$GC,15691,0.76,258.5,705.6,6.6,725,15712,0.00,0.00,19.08,1.075,6,0.000,0.000,3273,1643,1808,0,0,0,0,0,0
$GC,15997,0.79,300.8,687.4,5.7,735,16037,0.00,0.00,38.83,1.092,6,0.000,0.000,3272,1643,1635,0,0,0,0,0,0
$GC,16333,0.85,347.7,668.8,5.5,746,16379,0.05,0.62,42.22,1.076,4,0.165,0.051,3307,2020,1443,0,0,0,0,0,0
$GC,16429,0.87,347.7,661.4,8.5,749,16433,0.00,0.62,0.00,0.000,6,0.000,0.053,3310,1642,1439,0,0,0,0,0,0
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$STATE,22855,end climb,SURFACE_DEPTH_REACHED
$STATE,22855,begin surface coast
$FINISH,2.1,1.026692
$STATE,22863,end surface coast,CONTROL_FINISHED_OK
$STATE,22863,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.2,22.105
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353912
$DATA_FILE_SIZE,66980,1146
$CAP_FILE_SIZE,205602,0
$CFSIZE,2097086464,2076803072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271012,111135,-4239.846,-801.981,48,1.2,48,-21.6