version: 66.07.10.p01
glider: 573
mission: 4
dive: 141
start: 10 29 112 9 44 20
data:
$ID,573
$MISSION,4
$DIVE,141
$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,-4735.3838
$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,37
$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,120
$GPS1,291012,093653,-4235.472,-754.507,42,0.9,42,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.9
$GPS2,291012,094325,-4235.438,-754.518,16,1.0,18,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.178,-0.124
$KALMAN_X,-158755.0,-38.8,361.9,331488.2,-4655.7
$KALMAN_Y,-168008.0,108.6,-370.6,176278.5,2867.6
$MHEAD_RNG_PITCHd_Wd,146.7,22277,-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,-121.5,0.0,0.0,0,69,0.00,0.00,-42.30,0.000,2,0.000,0.000,90,1819,2618,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.1,-1.2,7,115,11.18,2.22,-28.05,0.000,4,0.251,0.068,2776,3223,3357,0,0,0,0,0,0
$GC,381,-0.61,-121.6,35.0,-12.1,59,387,0.17,2.20,0.00,0.000,6,0.159,0.042,2825,1807,3359,0,0,0,0,0,0
$GC,617,-0.58,-121.6,60.5,-10.8,100,621,0.00,0.28,0.00,0.000,4,0.000,0.060,2824,2011,3359,0,0,0,0,0,0
$GC,759,-0.55,-121.6,75.5,-10.6,125,764,0.03,0.28,0.00,0.000,6,0.184,0.059,2835,1813,3360,0,0,0,0,0,0
$GC,1105,-0.55,-121.6,111.0,-9.9,174,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1813,3360,0,0,0,0,0,0
$GC,1416,-0.55,-121.6,139.2,-9.0,194,1420,0.00,1.02,0.00,0.000,4,0.000,0.050,2830,2472,3360,0,0,0,0,0,0
$GC,1523,-0.55,-121.6,149.1,-9.4,200,1527,0.00,1.00,0.00,0.000,6,0.000,0.044,2830,1819,3360,0,0,0,0,0,0
$GC,1849,-0.55,-121.6,180.1,-9.6,221,1852,0.00,1.00,0.00,0.000,4,0.000,0.051,2826,2463,3360,0,0,0,0,0,0
$GC,1959,-0.55,-121.6,191.3,-9.3,227,1966,0.05,1.00,0.00,0.000,6,0.213,0.043,2839,1816,3360,0,0,0,0,0,0
$GC,2281,-0.55,-121.6,221.1,-9.4,248,2284,0.00,1.15,0.00,0.000,4,0.000,0.050,2833,2559,3361,0,0,0,0,0,0
$GC,2382,-0.55,-121.6,231.1,-10.2,254,2386,0.00,1.12,0.00,0.000,6,0.000,0.043,2834,1823,3361,0,0,0,0,0,0
$GC,2712,-0.55,-121.6,260.6,-8.6,273,2716,0.00,1.02,0.00,0.000,4,0.000,0.050,2829,2483,3361,0,0,0,0,0,0
$GC,2804,-0.55,-121.6,268.3,-7.7,277,2808,0.00,1.02,0.00,0.000,6,0.000,0.044,2829,1811,3361,0,0,0,0,0,0
$GC,3138,-0.55,-121.6,292.5,-6.5,293,3142,0.00,1.08,0.00,0.000,4,0.000,0.051,2824,2504,3361,0,0,0,0,0,0
$GC,3284,-0.55,-121.6,302.2,-6.1,299,3289,0.03,1.05,0.00,0.000,6,0.180,0.044,2835,1813,3361,0,0,0,0,0,0
$GC,3607,-0.55,-121.6,324.1,-7.6,315,3611,0.00,2.20,0.00,0.000,4,0.000,0.056,2825,3225,3361,0,0,0,0,0,0
$GC,3734,-0.55,-121.6,335.5,-8.7,320,3744,0.03,2.17,0.00,0.000,6,0.181,0.040,2836,1818,3361,0,0,0,0,0,0
$GC,4051,-0.55,-121.6,364.6,-9.7,336,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1818,3361,0,0,0,0,0,0
$GC,4362,-0.55,-121.6,391.0,-8.0,351,4366,0.00,0.50,0.00,0.000,4,0.000,0.053,2836,1469,3361,0,0,0,0,0,0
$GC,4454,-0.55,-121.6,398.7,-8.6,355,4458,0.00,0.52,0.00,0.000,6,0.000,0.049,2834,1827,3361,0,0,0,0,0,0
$GC,4783,-0.55,-121.6,429.1,-9.3,366,4787,0.00,0.40,0.00,0.000,4,0.000,0.055,2832,2118,3361,0,0,0,0,0,0
$GC,4988,-0.55,-121.6,451.2,-10.2,372,4993,0.00,0.45,0.00,0.000,6,0.000,0.049,2831,1809,3361,0,0,0,0,0,0
$GC,5323,-0.55,-121.6,487.2,-11.6,383,5327,0.00,0.55,0.00,0.000,4,0.000,0.051,2829,2184,3361,0,0,0,0,0,0
$GC,5428,-0.55,-121.6,499.6,-11.8,386,5432,0.00,0.55,0.00,0.000,6,0.000,0.047,2829,1817,3361,0,0,0,0,0,0
$GC,5763,-0.55,-121.6,538.1,-11.4,397,5766,0.00,1.20,0.00,0.000,4,0.000,0.053,2824,2583,3361,0,0,0,0,0,0
$GC,5868,-0.55,-121.6,550.4,-11.1,400,5873,0.08,1.17,0.00,0.000,6,0.184,0.042,2844,1824,3361,0,0,0,0,0,0
$GC,6203,-0.55,-121.6,585.0,-10.2,411,6206,0.00,0.50,0.00,0.000,4,0.000,0.051,2841,2176,3360,0,0,0,0,0,0
$GC,6291,-0.57,-121.6,593.9,-9.8,413,6295,0.00,0.55,0.00,0.000,6,0.000,0.049,2841,1809,3360,0,0,0,0,0,0
$GC,6609,-0.57,-121.6,625.7,-10.0,424,6613,0.00,0.35,0.00,0.000,4,0.000,0.055,2840,2066,3359,0,0,0,0,0,0
$GC,6714,-0.57,-121.6,635.5,-8.6,427,6718,0.00,0.38,0.00,0.000,6,0.000,0.054,2840,1810,3359,0,0,0,0,0,0
$GC,7049,-0.57,-121.6,664.8,-9.0,438,7053,0.00,1.48,0.00,0.000,4,0.000,0.054,2833,2752,3359,0,0,0,0,0,0
$GC,7165,-0.57,-121.6,676.2,-10.5,441,7171,0.00,1.45,0.00,0.000,6,0.000,0.044,2833,1825,3358,0,0,0,0,0,0
$GC,7490,-0.57,-121.6,708.0,-9.7,452,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1825,3358,0,0,0,0,0,0
$GC,7796,-0.57,-121.6,738.0,-9.8,462,7799,0.00,0.73,0.00,0.000,4,0.000,0.051,2829,2304,3357,0,0,0,0,0,0
$GC,7901,-0.57,-121.6,748.4,-9.5,465,7905,0.00,0.75,0.00,0.000,6,0.000,0.046,2829,1813,3356,0,0,0,0,0,0
$GC,8236,-0.57,-121.6,780.2,-9.6,476,8240,0.00,0.55,0.00,0.000,4,0.000,0.053,2827,2187,3356,0,0,0,0,0,0
$GC,8329,-0.57,-121.6,789.2,-8.5,478,8335,0.00,0.55,0.00,0.000,6,0.000,0.049,2828,1819,3356,0,0,0,0,0,0
$GC,8642,-0.57,-121.6,818.8,-9.7,489,8645,0.00,0.32,0.00,0.000,4,0.000,0.058,2826,2052,3355,0,0,0,0,0,0
$GC,8776,-0.57,-121.6,832.2,-9.7,493,8780,0.00,0.32,0.00,0.000,6,0.000,0.057,2826,1819,3355,0,0,0,0,0,0
$GC,9116,-0.57,-121.6,860.7,-8.1,504,9120,0.00,1.10,0.00,0.000,4,0.000,0.053,2821,2521,3354,0,0,0,0,0,0
$GC,9238,-0.57,-121.6,871.0,-9.1,507,9243,0.05,1.10,0.00,0.000,6,0.213,0.043,2834,1813,3354,0,0,0,0,0,0
$GC,9557,-0.57,-121.6,896.1,-7.7,518,9560,0.00,0.43,0.00,0.000,4,0.000,0.055,2832,2114,3353,0,0,0,0,0,0
$GC,9713,-0.57,-121.6,907.8,-7.8,522,9717,0.00,0.45,0.00,0.000,6,0.000,0.052,2832,1811,3354,0,0,0,0,0,0
$GC,10031,-0.57,-121.6,932.5,-7.8,533,10034,0.00,0.55,0.00,0.000,4,0.000,0.053,2830,2184,3353,0,0,0,0,0,0
$GC,10132,-0.57,-121.6,940.3,-7.9,536,10135,0.00,0.52,0.00,0.000,6,0.000,0.050,2830,1824,3353,0,0,0,0,0,0
$GC,10472,-0.57,-121.6,962.9,-6.7,547,10475,0.00,0.80,0.00,0.000,4,0.000,0.052,2826,2350,3353,0,0,0,0,0,0
$GC,10617,-0.57,-121.6,974.1,-7.7,551,10621,0.00,0.80,0.00,0.000,6,0.000,0.046,2826,1817,3353,0,0,0,0,0,0
$GC,10946,-0.57,-121.6,999.6,-7.9,562,10950,0.00,0.57,0.00,0.000,4,0.000,0.053,2823,2205,3352,0,0,0,0,0,0
$STATE,10954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10954,begin apogee
$GC,10959,-0.23,0.0,1000.5,7.8,562,11062,0.35,0.00,99.93,1.299,6,0.130,0.000,2942,1642,2863,0,0,0,0,0,0
$STATE,11063,end apogee,CONTROL_FINISHED_OK
$STATE,11063,begin climb
$GC,11064,0.71,121.6,1003.7,0.0,565,11175,0.90,0.98,103.35,1.262,4,0.094,0.055,3246,1077,2366,0,0,0,0,0,0
$GC,11221,0.71,156.2,998.8,6.0,570,11256,0.00,0.93,31.50,1.212,6,0.000,0.044,3245,1637,2226,0,0,0,0,0,0
$GC,11585,0.71,179.9,974.1,6.4,582,11611,0.00,1.58,21.27,1.198,4,0.000,0.050,3245,2610,2128,0,0,0,0,0,0
$GC,11689,0.71,217.0,967.1,5.9,584,11729,0.00,1.58,34.12,1.221,6,0.000,0.045,3252,1648,1976,0,0,0,0,0,0
$GC,12048,0.75,246.6,945.5,6.2,596,12077,0.00,0.38,26.85,1.212,4,0.000,0.063,3254,1419,1856,0,0,0,0,0,0
$GC,12228,0.80,251.1,932.7,7.2,601,12238,0.08,0.38,4.82,0.824,6,0.121,0.054,3291,1657,1838,0,0,0,0,0,0
$GC,12550,0.80,251.1,901.8,10.0,612,12554,0.00,0.32,0.00,0.000,4,0.000,0.062,3293,1442,1836,0,0,0,0,0,0
$GC,12655,0.80,251.1,890.4,11.4,615,12659,0.00,0.32,0.00,0.000,6,0.000,0.057,3293,1654,1836,0,0,0,0,0,0
$GC,12990,0.80,251.1,853.5,10.5,626,12994,0.00,0.28,0.00,0.000,4,0.000,0.066,3294,1462,1835,0,0,0,0,0,0
$GC,13073,0.80,251.1,846.0,7.9,628,13077,0.00,0.28,0.00,0.000,6,0.000,0.058,3294,1648,1836,0,0,0,0,0,0
$GC,13396,0.80,251.1,819.7,8.1,639,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1648,1835,0,0,0,0,0,0
$GC,13702,0.80,251.1,794.7,8.3,649,13706,0.00,0.77,0.00,0.000,4,0.000,0.057,3298,1156,1835,0,0,0,0,0,0
$GC,13789,0.80,251.1,787.0,8.5,651,13795,0.05,0.77,0.00,0.000,6,0.210,0.046,3285,1649,1834,0,0,0,0,0,0
$GC,14108,0.80,251.1,762.0,8.1,662,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1649,1834,0,0,0,0,0,0
$GC,14414,0.80,251.1,737.0,8.6,672,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1649,1833,0,0,0,0,0,0
$GC,14720,0.80,251.1,711.6,7.9,682,14724,0.00,0.85,0.00,0.000,4,0.000,0.057,3289,1114,1833,0,0,0,0,0,0
$GC,14808,0.80,251.1,704.3,7.8,684,14813,0.00,0.85,0.00,0.000,6,0.000,0.047,3289,1653,1833,0,0,0,0,0,0
$GC,15126,0.80,251.1,676.7,9.2,695,15130,0.00,0.85,0.00,0.000,4,0.000,0.058,3292,1116,1833,0,0,0,0,0,0
$GC,15227,0.80,251.1,666.5,10.5,698,15231,0.00,0.82,0.00,0.000,6,0.000,0.047,3292,1651,1833,0,0,0,0,0,0
$GC,15567,0.80,251.1,630.8,10.3,709,15571,0.00,0.30,0.00,0.000,4,0.000,0.063,3294,1446,1833,0,0,0,0,0,0
$GC,15638,0.80,251.1,623.3,9.9,711,15640,0.00,0.30,0.00,0.000,6,0.000,0.058,3294,1645,1833,0,0,0,0,0,0
$GC,15969,0.80,251.1,587.0,11.4,722,15973,0.00,0.28,0.00,0.000,4,0.000,0.067,3295,1453,1833,0,0,0,0,0,0
$GC,16052,0.80,251.1,577.2,11.7,724,16056,0.00,0.30,0.00,0.000,6,0.000,0.058,3295,1651,1833,0,0,0,0,0,0
$GC,16375,0.80,251.1,540.5,10.9,735,16379,0.00,0.38,0.00,0.000,4,0.000,0.061,3296,1398,1833,0,0,0,0,0,0
$GC,16430,0.80,251.1,534.8,11.0,736,16434,0.03,0.38,0.00,0.000,6,0.176,0.054,3286,1654,1833,0,0,0,0,0,0
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$STATE,22407,end climb,SURFACE_DEPTH_REACHED
$STATE,22407,begin surface coast
$FINISH,1.7,1.014031
$STATE,22450,end surface coast,CONTROL_FINISHED_OK
$STATE,22451,begin surface
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$10V_AH,10.2,23.211
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$FG_AHR_10Vo,0.000
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$MEM,354124
$DATA_FILE_SIZE,66858,1160
$CAP_FILE_SIZE,198956,0
$CFSIZE,2097086464,2075754496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291012,160059,-4236.075,-752.873,41,1.0,41,-21.7