version: 66.07.10.p01
glider: 573
mission: 4
dive: 136
start: 10 28 112 0 29 8
data:
$ID,573
$MISSION,4
$DIVE,136
$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,-4718.9336
$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,115
$GPS1,281012,002035,-4234.557,-759.652,38,1.2,38,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-73.5
$GPS2,281012,002813,-4234.526,-759.692,25,1.2,25,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,0.043
$KALMAN_X,-146992.8,193.0,755.9,312036.3,-6003.9
$KALMAN_Y,-171087.8,-549.8,-1206.3,182567.5,6694.4
$MHEAD_RNG_PITCHd_Wd,100.3,17647,-15.1,-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,-0.69,-121.6,0.0,0.0,0,81,0.00,0.00,-54.08,0.000,2,0.000,0.000,82,1822,2801,0,0,0,0,0,0
$GC,83,-0.69,-121.6,3.2,-1.4,9,121,11.15,2.28,-17.08,0.000,4,0.249,0.072,2782,3219,3359,0,0,0,0,0,0
$GC,270,-0.60,-121.6,23.8,-10.8,40,278,0.12,2.22,0.00,0.000,6,0.140,0.044,2823,1811,3360,0,0,0,0,0,0
$GC,350,-0.56,-121.6,31.8,-9.0,53,355,0.03,0.00,0.00,0.000,6,0.285,0.000,2834,1811,3360,0,0,0,0,0,0
$GC,585,-0.53,-121.6,50.6,-8.0,94,592,0.00,0.62,0.00,0.000,4,0.000,0.052,2832,2226,3361,0,0,0,0,0,0
$GC,674,-0.51,-121.6,58.4,-9.3,109,680,0.05,0.62,0.00,0.000,6,0.144,0.049,2852,1811,3361,0,0,0,0,0,0
$GC,905,-0.51,-121.6,78.9,-9.4,150,912,0.00,0.47,0.00,0.000,4,0.000,0.053,2849,2128,3361,0,0,0,0,0,0
$GC,1015,-0.51,-121.6,89.0,-9.4,169,1019,0.00,0.45,0.00,0.000,6,0.000,0.052,2849,1818,3361,0,0,0,0,0,0
$GC,1348,-0.51,-121.6,122.3,-9.8,203,1352,0.00,0.77,0.00,0.000,4,0.000,0.050,2846,2329,3361,0,0,0,0,0,0
$GC,1436,-0.51,-121.6,131.3,-9.7,208,1441,0.00,0.80,0.00,0.000,6,0.000,0.046,2846,1810,3361,0,0,0,0,0,0
$GC,1763,-0.51,-121.6,160.9,-9.0,229,1767,0.00,0.85,0.00,0.000,4,0.000,0.052,2842,2367,3361,0,0,0,0,0,0
$GC,1857,-0.51,-121.6,169.1,-8.1,234,1864,0.00,0.85,0.00,0.000,6,0.000,0.045,2842,1814,3361,0,0,0,0,0,0
$GC,2178,-0.51,-121.6,193.2,-7.0,255,2182,0.03,1.08,0.00,0.000,4,0.260,0.052,2847,2495,3361,0,0,0,0,0,0
$GC,2296,-0.51,-121.6,199.8,-4.6,262,2300,0.00,1.02,0.00,0.000,6,0.000,0.044,2847,1823,3361,0,0,0,0,0,0
$GC,2629,-0.51,-121.6,218.3,-6.8,283,2632,0.00,0.32,0.00,0.000,4,0.000,0.055,2846,2063,3362,0,0,0,0,0,0
$GC,2717,-0.51,-121.6,226.1,-8.7,288,2721,0.00,0.38,0.00,0.000,6,0.000,0.054,2846,1808,3362,0,0,0,0,0,0
$GC,3043,-0.51,-121.6,251.2,-7.9,309,3047,0.00,0.62,0.00,0.000,4,0.000,0.051,2843,2233,3362,0,0,0,0,0,0
$GC,3148,-0.51,-121.6,260.1,-7.8,313,3154,0.00,0.62,0.00,0.000,6,0.000,0.047,2843,1819,3362,0,0,0,0,0,0
$GC,3466,-0.51,-121.6,286.8,-9.4,329,3470,0.00,1.42,0.00,0.000,4,0.000,0.053,2836,2725,3362,0,0,0,0,0,0
$GC,3589,-0.51,-121.6,298.9,-8.9,334,3594,0.08,1.40,0.00,0.000,6,0.174,0.041,2857,1822,3362,0,0,0,0,0,0
$GC,3910,-0.53,-121.6,325.3,-8.0,350,3914,0.00,1.10,0.00,0.000,4,0.000,0.051,2852,2528,3362,0,0,0,0,0,0
$GC,4005,-0.56,-121.6,332.6,-7.4,354,4010,0.00,1.10,0.00,0.000,6,0.000,0.043,2852,1818,3362,0,0,0,0,0,0
$GC,4332,-0.56,-121.6,358.4,-7.9,370,4336,0.00,0.38,0.00,0.000,4,0.000,0.054,2850,2087,3362,0,0,0,0,0,0
$GC,4591,-0.56,-121.6,378.2,-7.9,381,4595,0.00,0.40,0.00,0.000,6,0.000,0.053,2850,1815,3362,0,0,0,0,0,0
$GC,4921,-0.56,-121.6,409.7,-9.9,396,4925,0.00,1.40,0.00,0.000,4,0.000,0.053,2843,2707,3362,0,0,0,0,0,0
$GC,5026,-0.56,-121.6,420.3,-9.7,399,5031,0.00,1.38,0.00,0.000,6,0.000,0.042,2844,1821,3362,0,0,0,0,0,0
$GC,5362,-0.56,-121.6,453.2,-10.5,410,5366,0.00,0.75,0.00,0.000,4,0.000,0.050,2840,2322,3362,0,0,0,0,0,0
$GC,5466,-0.56,-121.6,465.3,-11.3,413,5471,0.00,0.77,0.00,0.000,6,0.000,0.045,2840,1814,3362,0,0,0,0,0,0
$GC,5802,-0.56,-121.6,503.0,-11.1,424,5805,0.00,0.40,0.00,0.000,4,0.000,0.053,2838,2107,3362,0,0,0,0,0,0
$GC,6038,-0.56,-121.6,528.7,-10.6,431,6041,0.00,0.43,0.00,0.000,6,0.000,0.054,2838,1809,3362,0,0,0,0,0,0
$GC,6377,-0.56,-121.6,563.0,-10.1,442,6381,0.00,1.12,0.00,0.000,4,0.000,0.053,2833,2529,3361,0,0,0,0,0,0
$GC,6478,-0.56,-121.6,573.2,-9.8,445,6482,0.00,1.08,0.00,0.000,6,0.000,0.044,2833,1825,3361,0,0,0,0,0,0
$GC,6818,-0.56,-121.6,605.9,-9.3,456,6822,0.00,0.77,0.00,0.000,4,0.000,0.050,2830,2337,3360,0,0,0,0,0,0
$GC,6919,-0.56,-121.6,614.8,-8.3,459,6923,0.00,0.77,0.00,0.000,6,0.000,0.047,2829,1819,3360,0,0,0,0,0,0
$GC,7260,-0.56,-121.6,641.3,-7.3,470,7263,0.00,0.90,0.00,0.000,4,0.000,0.052,2825,2405,3360,0,0,0,0,0,0
$GC,7361,-0.56,-121.6,648.5,-6.7,473,7365,0.00,0.90,0.00,0.000,6,0.000,0.046,2826,1810,3360,0,0,0,0,0,0
$GC,7701,-0.56,-121.6,674.9,-8.4,484,7705,0.00,1.05,0.00,0.000,4,0.000,0.054,2821,2486,3359,0,0,0,0,0,0
$GC,7794,-0.56,-121.6,683.3,-9.0,486,7800,0.08,1.05,0.00,0.000,6,0.177,0.044,2840,1809,3359,0,0,0,0,0,0
$GC,8107,-0.56,-121.6,709.8,-8.5,497,8111,0.00,1.15,0.00,0.000,4,0.000,0.054,2835,2551,3358,0,0,0,0,0,0
$GC,8212,-0.56,-121.6,718.9,-8.0,500,8217,0.00,1.15,0.00,0.000,6,0.000,0.044,2835,1814,3358,0,0,0,0,0,0
$GC,8547,-0.56,-121.6,746.9,-8.5,511,8551,0.00,0.93,0.00,0.000,4,0.000,0.054,2830,2413,3357,0,0,0,0,0,0
$GC,8648,-0.56,-121.6,755.2,-8.0,514,8652,0.00,0.90,0.00,0.000,6,0.000,0.047,2831,1821,3358,0,0,0,0,0,0
$GC,8988,-0.56,-121.6,782.8,-7.9,525,8992,0.00,0.68,0.00,0.000,4,0.000,0.052,2827,2272,3357,0,0,0,0,0,0
$GC,9081,-0.56,-121.6,790.1,-7.7,527,9087,0.00,0.70,0.00,0.000,6,0.000,0.047,2828,1813,3356,0,0,0,0,0,0
$GC,9394,-0.56,-121.6,816.0,-8.4,538,9398,0.00,1.35,0.00,0.000,4,0.000,0.054,2821,2668,3357,0,0,0,0,0,0
$GC,9504,-0.56,-121.6,825.4,-8.0,541,9510,0.08,1.33,0.00,0.000,6,0.180,0.044,2841,1821,3356,0,0,0,0,0,0
$GC,9834,-0.56,-121.6,849.5,-7.2,552,9838,0.00,0.52,0.00,0.000,4,0.000,0.053,2839,2185,3355,0,0,0,0,0,0
$GC,9970,-0.56,-121.6,858.3,-6.1,556,9973,0.00,0.55,0.00,0.000,6,0.000,0.050,2839,1811,3355,0,0,0,0,0,0
$GC,10309,-0.56,-121.6,882.8,-7.9,567,10313,0.00,0.88,0.00,0.000,4,0.000,0.054,2834,2381,3354,0,0,0,0,0,0
$GC,10431,-0.56,-121.6,893.0,-8.8,570,10436,0.00,0.88,0.00,0.000,6,0.000,0.047,2835,1816,3354,0,0,0,0,0,0
$GC,10750,-0.56,-121.6,923.3,-10.0,581,10753,0.00,0.77,0.00,0.000,4,0.000,0.053,2831,2322,3354,0,0,0,0,0,0
$GC,10877,-0.56,-121.6,936.3,-9.4,584,10883,0.00,0.77,0.00,0.000,6,0.000,0.047,2832,1818,3354,0,0,0,0,0,0
$GC,11190,-0.56,-121.6,966.6,-9.5,595,11194,0.00,0.35,0.00,0.000,4,0.000,0.057,2830,2066,3353,0,0,0,0,0,0
$GC,11446,-0.56,-121.6,989.1,-7.7,602,11450,0.00,0.38,0.00,0.000,6,0.000,0.056,2830,1813,3353,0,0,0,0,0,0
$STATE,11579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11579,begin apogee
$GC,11583,-0.23,0.0,1000.3,8.4,607,11686,0.38,0.00,100.18,1.301,6,0.126,0.000,2951,1643,2862,0,0,0,0,0,0
$STATE,11687,end apogee,CONTROL_FINISHED_OK
$STATE,11687,begin climb
$GC,11689,0.69,121.6,1004.0,0.0,610,11800,0.88,0.95,103.00,1.268,4,0.093,0.054,3246,1091,2366,0,0,0,0,0,0
$GC,11838,0.70,162.2,999.6,5.8,614,11878,0.00,0.93,36.88,1.227,6,0.000,0.044,3246,1640,2200,0,0,0,0,0,0
$GC,12213,0.70,162.2,972.0,7.7,627,12217,0.00,1.08,0.00,0.000,4,0.000,0.050,3246,2314,2193,0,0,0,0,0,0
$GC,12330,0.70,168.0,963.1,7.2,630,12340,0.00,1.08,5.15,0.920,6,0.000,0.048,3251,1655,2177,0,0,0,0,0,0
$GC,12653,0.70,177.7,940.0,7.0,641,12665,0.00,0.00,10.15,1.096,6,0.000,0.000,3250,1654,2137,0,0,0,0,0,0
$GC,12959,0.70,204.1,920.0,6.4,651,12988,0.00,0.00,25.10,1.203,6,0.000,0.000,3251,1655,2028,0,0,0,0,0,0
$GC,13296,0.72,222.9,897.9,6.7,662,13317,0.00,1.38,17.10,1.162,4,0.000,0.053,3251,2476,1952,0,0,0,0,0,0
$GC,13395,0.75,222.9,890.8,7.5,665,13399,0.00,1.35,0.00,0.000,6,0.000,0.047,3256,1645,1950,0,0,0,0,0,0
$GC,13730,0.78,222.9,863.4,8.6,676,13734,0.00,0.47,0.00,0.000,4,0.000,0.052,3257,1960,1949,0,0,0,0,0,0
$GC,13832,0.80,222.9,853.9,9.8,679,13836,0.03,0.50,0.00,0.000,6,0.103,0.057,3288,1640,1948,0,0,0,0,0,0
$GC,14171,0.80,222.9,818.0,10.5,690,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1640,1947,0,0,0,0,0,0
$GC,14477,0.80,222.9,788.1,9.3,700,14481,0.00,0.28,0.00,0.000,4,0.000,0.062,3287,1835,1947,0,0,0,0,0,0
$GC,14560,0.80,222.9,780.5,8.8,702,14564,0.00,0.30,0.00,0.000,6,0.000,0.064,3289,1641,1947,0,0,0,0,0,0
$GC,14883,0.80,222.9,753.5,8.0,713,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1641,1946,0,0,0,0,0,0
$GC,15190,0.80,222.9,730.3,7.6,723,15193,0.00,0.55,0.00,0.000,4,0.000,0.052,3290,2007,1946,0,0,0,0,0,0
$GC,15266,0.80,222.9,724.4,7.8,725,15271,0.00,0.57,0.00,0.000,6,0.000,0.054,3291,1642,1946,0,0,0,0,0,0
$GC,15596,0.78,222.9,697.8,8.5,736,15598,0.08,0.00,0.00,0.000,6,0.188,0.000,3273,1642,1946,0,0,0,0,0,0
$GC,15902,0.78,222.9,673.6,8.1,746,15905,0.00,0.65,0.00,0.000,4,0.000,0.051,3273,2082,1946,0,0,0,0,0,0
$GC,15984,0.78,222.9,666.6,8.2,748,15989,0.00,0.68,0.00,0.000,6,0.000,0.052,3275,1648,1946,0,0,0,0,0,0
$GC,16308,0.78,222.9,638.4,8.8,759,16312,0.00,0.28,0.00,0.000,4,0.000,0.067,3277,1449,1946,0,0,0,0,0,0
$GC,16368,0.78,222.9,632.9,9.4,760,16373,0.00,0.30,0.00,0.000,6,0.000,0.060,3276,1649,1946,0,0,0,0,0,0
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$STATE,23560,end climb,SURFACE_DEPTH_REACHED
$STATE,23560,begin surface coast
$FINISH,2.4,1.026684
$STATE,23567,end surface coast,CONTROL_FINISHED_OK
$STATE,23567,begin surface
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$HUMID,42.95
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$TCM_TEMP,15.20
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$10V_AH,10.3,22.529
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353804
$DATA_FILE_SIZE,70182,1212
$CAP_FILE_SIZE,205868,0
$CFSIZE,2097086464,2076409856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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