version: 66.07.10.p01
glider: 573
mission: 4
dive: 135
start: 10 27 112 18 0 18
data:
$ID,573
$MISSION,4
$DIVE,135
$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,-4715.6382
$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,33
$R_STBD_OVSHOOT,24
$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,114
$GPS1,271012,174559,-4235.583,-802.372,41,1.2,41,-21.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-71.5
$GPS2,271012,175923,-4235.490,-802.472,43,0.9,44,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.203,0.077
$KALMAN_X,-144535.2,-9.4,131.7,306634.2,-4494.7
$KALMAN_Y,-172437.1,111.2,-160.2,180407.0,3561.4
$MHEAD_RNG_PITCHd_Wd,91.0,19719,-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,-121.3,0.0,0.0,0,75,0.00,0.00,-48.30,0.000,2,0.000,0.000,81,1803,2800,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.2,-1.3,8,115,11.23,2.30,-16.80,0.000,4,0.249,0.068,2786,414,3359,0,0,0,0,0,0
$GC,124,-0.19,-121.6,6.6,-7.0,15,132,0.55,2.28,0.00,0.000,6,0.132,0.043,2953,1831,3360,0,0,0,0,0,0
$GC,205,-0.37,-121.6,12.1,-6.1,28,213,0.15,2.33,0.00,0.000,4,0.073,0.054,2878,419,3361,0,0,0,0,0,0
$GC,392,-0.42,-121.6,27.0,-11.5,59,399,0.00,2.22,0.00,0.000,6,0.000,0.043,2867,1815,3361,0,0,0,0,0,0
$GC,469,-0.45,-121.6,34.7,-9.9,72,476,0.00,0.90,0.00,0.000,4,0.000,0.052,2863,2397,3361,0,0,0,0,0,0
$GC,558,-0.49,-121.6,41.5,-7.6,87,563,0.00,0.90,0.00,0.000,6,0.000,0.047,2863,1814,3361,0,0,0,0,0,0
$GC,792,-0.52,-121.6,60.9,-8.2,128,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1814,3362,0,0,0,0,0,0
$GC,1136,-0.55,-121.6,88.0,-6.6,189,1142,0.00,0.80,0.00,0.000,4,0.000,0.051,2859,2335,3361,0,0,0,0,0,0
$GC,1244,-0.58,-121.6,96.0,-8.2,208,1250,0.05,0.77,0.00,0.000,6,0.067,0.047,2813,1823,3362,0,0,0,0,0,0
$GC,1571,-0.54,-121.6,131.5,-10.9,234,1576,0.12,0.95,0.00,0.000,4,0.162,0.051,2844,2434,3362,0,0,0,0,0,0
$GC,1673,-0.54,-121.6,141.4,-9.4,240,1677,0.00,0.95,0.00,0.000,6,0.000,0.044,2844,1810,3362,0,0,0,0,0,0
$GC,2004,-0.54,-121.6,171.9,-9.0,261,2007,0.00,0.75,0.00,0.000,4,0.000,0.051,2840,2306,3362,0,0,0,0,0,0
$GC,2098,-0.54,-121.6,180.8,-9.1,266,2106,0.00,0.75,0.00,0.000,6,0.000,0.045,2840,1816,3362,0,0,0,0,0,0
$GC,2419,-0.54,-121.6,209.2,-8.7,287,2422,0.00,1.62,0.00,0.000,4,0.000,0.054,2833,2849,3362,0,0,0,0,0,0
$GC,2537,-0.54,-121.6,219.7,-8.6,294,2541,0.00,1.60,0.00,0.000,6,0.000,0.043,2833,1815,3362,0,0,0,0,0,0
$GC,2868,-0.54,-121.6,249.0,-9.0,315,2872,0.00,1.25,0.00,0.000,4,0.000,0.052,2827,2617,3362,0,0,0,0,0,0
$GC,2984,-0.54,-121.6,259.6,-9.3,321,2988,0.03,1.23,0.00,0.000,6,0.174,0.044,2838,1818,3363,0,0,0,0,0,0
$GC,3317,-0.54,-121.6,292.9,-10.7,337,3321,0.00,1.33,0.00,0.000,4,0.000,0.053,2832,2661,3362,0,0,0,0,0,0
$GC,3445,-0.54,-121.6,308.2,-12.0,342,3454,0.00,1.33,0.00,0.000,6,0.000,0.043,2832,1808,3363,0,0,0,0,0,0
$GC,3762,-0.54,-121.6,346.2,-11.7,358,3765,0.00,1.02,0.00,0.000,4,0.000,0.051,2827,2472,3362,0,0,0,0,0,0
$GC,3879,-0.54,-121.6,360.0,-11.1,363,3884,0.08,1.02,0.00,0.000,6,0.181,0.043,2847,1808,3362,0,0,0,0,0,0
$GC,4207,-0.54,-121.6,389.4,-8.6,379,4211,0.00,1.65,0.00,0.000,4,0.000,0.054,2840,2859,3362,0,0,0,0,0,0
$GC,4321,-0.56,-121.6,398.8,-8.3,384,4325,0.00,1.60,0.00,0.000,6,0.000,0.042,2840,1821,3362,0,0,0,0,0,0
$GC,4650,-0.56,-121.6,422.3,-6.9,395,4654,0.00,0.68,0.00,0.000,4,0.000,0.050,2836,2273,3362,0,0,0,0,0,0
$GC,4785,-0.56,-121.6,431.4,-6.2,399,4789,0.00,0.68,0.00,0.000,6,0.000,0.047,2836,1818,3362,0,0,0,0,0,0
$GC,5125,-0.56,-121.6,452.6,-6.1,410,5128,0.00,1.15,0.00,0.000,4,0.000,0.053,2831,2553,3362,0,0,0,0,0,0
$GC,5230,-0.56,-121.6,459.1,-6.0,413,5235,0.00,1.15,0.00,0.000,6,0.000,0.044,2831,1813,3362,0,0,0,0,0,0
$GC,5565,-0.56,-121.6,484.1,-7.8,424,5569,0.00,0.40,0.00,0.000,4,0.000,0.054,2830,2100,3362,0,0,0,0,0,0
$GC,5666,-0.56,-121.6,492.5,-7.9,427,5670,0.00,0.40,0.00,0.000,6,0.000,0.054,2829,1819,3362,0,0,0,0,0,0
$GC,6006,-0.56,-121.6,523.2,-9.5,438,6010,0.00,1.55,0.00,0.000,4,0.000,0.055,2822,2797,3361,0,0,0,0,0,0
$GC,6117,-0.56,-121.6,534.2,-9.5,441,6123,0.05,1.52,0.00,0.000,6,0.214,0.043,2836,1820,3362,0,0,0,0,0,0
$GC,6446,-0.56,-121.6,566.7,-9.9,452,6450,0.00,0.70,0.00,0.000,4,0.000,0.053,2833,2286,3361,0,0,0,0,0,0
$GC,6534,-0.56,-121.6,575.3,-9.3,454,6539,0.00,0.73,0.00,0.000,6,0.000,0.047,2833,1811,3361,0,0,0,0,0,0
$GC,6852,-0.56,-121.6,604.6,-8.9,465,6856,0.00,0.55,0.00,0.000,4,0.000,0.053,2830,2186,3360,0,0,0,0,0,0
$GC,6963,-0.56,-121.6,614.1,-8.5,468,6967,0.00,0.55,0.00,0.000,6,0.000,0.049,2830,1820,3360,0,0,0,0,0,0
$GC,7292,-0.56,-121.6,641.7,-8.4,479,7296,0.00,2.22,0.00,0.000,4,0.000,0.058,2820,3229,3360,0,0,0,0,0,0
$GC,7420,-0.56,-121.6,652.8,-8.6,483,7425,0.08,2.15,0.00,0.000,6,0.178,0.041,2840,1825,3359,0,0,0,0,0,0
$GC,7754,-0.56,-121.6,686.1,-10.5,494,7758,0.00,0.45,0.00,0.000,4,0.000,0.054,2838,2138,3359,0,0,0,0,0,0
$GC,7850,-0.58,-121.6,696.6,-11.0,496,7855,0.00,0.47,0.00,0.000,6,0.000,0.052,2838,1813,3359,0,0,0,0,0,0
$GC,8161,-0.58,-121.6,728.0,-9.1,507,8165,0.00,0.73,0.00,0.000,4,0.000,0.052,2833,2301,3358,0,0,0,0,0,0
$GC,8272,-0.58,-121.6,737.8,-8.9,510,8276,0.00,0.75,0.00,0.000,6,0.000,0.047,2835,1811,3358,0,0,0,0,0,0
$GC,8601,-0.58,-121.6,763.8,-7.6,521,8605,0.00,1.33,0.00,0.000,4,0.000,0.055,2829,2656,3358,0,0,0,0,0,0
$GC,8706,-0.58,-121.6,771.7,-7.4,524,8711,0.00,1.30,0.00,0.000,6,0.000,0.044,2829,1818,3357,0,0,0,0,0,0
$GC,9042,-0.58,-121.6,795.8,-7.0,535,9046,0.00,0.57,0.00,0.000,4,0.000,0.054,2826,2205,3357,0,0,0,0,0,0
$GC,9158,-0.58,-121.6,804.0,-7.6,538,9163,0.00,0.60,0.00,0.000,6,0.000,0.049,2826,1808,3357,0,0,0,0,0,0
$GC,9482,-0.58,-121.6,828.0,-7.5,549,9486,0.00,0.73,0.00,0.000,4,0.000,0.053,2823,2287,3356,0,0,0,0,0,0
$GC,9609,-0.58,-121.6,838.7,-9.2,552,9615,0.00,0.73,0.00,0.000,6,0.000,0.047,2823,1816,3356,0,0,0,0,0,0
$GC,9922,-0.58,-121.6,871.4,-10.2,563,9925,0.00,0.35,0.00,0.000,4,0.000,0.057,2821,2063,3355,0,0,0,0,0,0
$GC,10139,-0.58,-121.6,894.4,-10.5,569,10143,0.00,0.38,0.00,0.000,6,0.000,0.057,2821,1809,3354,0,0,0,0,0,0
$GC,10462,-0.58,-121.6,926.7,-9.8,580,10466,0.00,0.25,0.00,0.000,4,0.000,0.066,2821,1625,3354,0,0,0,0,0,0
$GC,10510,-0.58,-121.6,931.4,-8.8,581,10514,0.00,0.30,0.00,0.000,6,0.000,0.060,2820,1828,3354,0,0,0,0,0,0
$GC,10833,-0.58,-121.6,958.3,-8.0,592,10837,0.00,0.70,0.00,0.000,4,0.000,0.054,2817,2300,3354,0,0,0,0,0,0
$GC,10950,-0.58,-121.6,967.0,-7.1,595,10955,0.05,0.75,0.00,0.000,6,0.212,0.047,2830,1811,3353,0,0,0,0,0,0
$GC,11274,-0.58,-121.6,988.4,-6.5,606,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1811,3353,0,0,0,0,0,0
$STATE,11456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11456,begin apogee
$GC,11460,-0.23,0.0,1000.4,6.6,612,11563,0.38,0.00,100.57,1.300,6,0.127,0.000,2951,1641,2862,0,0,0,0,0,0
$STATE,11564,end apogee,CONTROL_FINISHED_OK
$STATE,11564,begin climb
$GC,11566,0.71,121.6,1002.2,0.0,615,11677,0.88,1.25,102.88,1.267,4,0.094,0.054,3248,930,2366,0,0,0,0,0,0
$GC,11726,0.71,134.0,994.7,6.9,620,11742,0.00,1.20,11.98,1.125,6,0.000,0.044,3248,1638,2315,0,0,0,0,0,0
$GC,12054,0.71,141.2,971.5,7.1,631,12065,0.00,0.47,7.25,1.040,4,0.000,0.054,3248,1943,2286,0,0,0,0,0,0
$GC,12184,0.71,161.8,962.6,6.6,635,12208,0.00,0.45,19.67,1.186,6,0.000,0.057,3250,1652,2201,0,0,0,0,0,0
$GC,12522,0.71,181.3,939.8,6.6,646,12541,0.00,0.00,18.00,1.175,6,0.000,0.000,3250,1652,2122,0,0,0,0,0,0
$GC,12827,0.71,213.5,920.6,6.1,656,12862,0.00,0.50,29.27,1.207,4,0.000,0.053,3250,1955,1991,0,0,0,0,0,0
$GC,12945,0.74,246.1,913.0,6.1,659,12981,0.00,0.52,29.95,1.206,6,0.000,0.054,3252,1636,1858,0,0,0,0,0,0
$GC,13295,0.80,278.8,892.0,6.1,671,13330,0.08,0.38,29.73,1.201,4,0.124,0.065,3296,1393,1725,0,0,0,0,0,0
$GC,13480,0.80,278.8,874.9,9.8,676,13485,0.08,0.40,0.00,0.000,6,0.173,0.053,3277,1649,1720,0,0,0,0,0,0
$GC,13798,0.83,278.8,848.4,7.8,687,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1649,1717,0,0,0,0,0,0
$GC,14104,0.87,278.8,821.1,9.3,697,14109,0.08,0.52,0.00,0.000,4,0.125,0.060,3318,1305,1716,0,0,0,0,0,0
$GC,14147,0.84,278.8,816.3,10.5,698,14152,0.10,0.55,0.00,0.000,6,0.161,0.049,3291,1655,1717,0,0,0,0,0,0
$GC,14476,0.84,278.8,783.3,10.2,709,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1655,1715,0,0,0,0,0,0
$GC,14783,0.84,278.8,753.8,9.7,719,14786,0.00,0.47,0.00,0.000,4,0.000,0.060,3293,1343,1715,0,0,0,0,0,0
$GC,14893,0.84,278.8,743.1,9.4,722,14897,0.00,0.47,0.00,0.000,6,0.000,0.052,3294,1651,1714,0,0,0,0,0,0
$GC,15222,0.84,278.8,713.0,9.0,733,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1651,1714,0,0,0,0,0,0
$GC,15528,0.84,278.8,687.4,8.0,743,15532,0.00,0.40,0.00,0.000,4,0.000,0.062,3295,1383,1714,0,0,0,0,0,0
$GC,15611,0.84,278.8,681.1,7.6,745,15614,0.00,0.40,0.00,0.000,6,0.000,0.054,3296,1645,1714,0,0,0,0,0,0
$GC,15934,0.84,278.8,655.1,8.1,756,15935,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1645,1714,0,0,0,0,0,0
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$STATE,22635,end climb,SURFACE_DEPTH_REACHED
$STATE,22635,begin surface coast
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$STATE,22672,end surface coast,CONTROL_FINISHED_OK
$STATE,22672,begin surface
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$10V_AH,10.2,22.387
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$FG_AHR_10Vo,0.000
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$MEM,353892
$DATA_FILE_SIZE,70423,1178
$CAP_FILE_SIZE,208335,0
$CFSIZE,2097086464,2076540928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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