version: 66.07.10.p01
glider: 573
mission: 4
dive: 142
start: 10 29 112 16 8 49
data:
$ID,573
$MISSION,4
$DIVE,142
$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,-4738.8027
$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,36
$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,121
$GPS1,291012,160059,-4236.075,-752.873,41,1.0,41,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-76.0
$GPS2,291012,160754,-4236.058,-752.868,24,1.0,25,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.204,-0.075
$KALMAN_X,-161654.6,463.4,244.7,336234.7,-5498.2
$KALMAN_Y,-166187.9,-209.6,332.9,172939.9,2019.8
$MHEAD_RNG_PITCHd_Wd,131.9,20636,-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,-121.6,0.0,0.0,0,57,0.00,0.00,-30.65,0.000,2,0.000,0.000,86,1829,2479,0,0,0,0,0,0
$GC,59,-0.71,-121.6,3.1,-1.9,5,115,11.35,1.92,-35.05,0.000,4,0.254,0.071,2797,662,3359,0,0,0,0,0,0
$GC,223,-0.61,-121.6,16.1,-11.8,32,231,0.08,1.83,0.00,0.000,6,0.157,0.044,2816,1808,3360,0,0,0,0,0,0
$GC,304,-0.57,-121.6,24.3,-9.7,45,311,0.08,0.60,0.00,0.000,4,0.197,0.054,2832,2209,3361,0,0,0,0,0,0
$GC,427,-0.57,-121.6,36.0,-9.1,66,434,0.00,0.57,0.00,0.000,6,0.000,0.048,2833,1821,3361,0,0,0,0,0,0
$GC,665,-0.57,-121.6,58.1,-9.4,107,670,0.00,0.40,0.00,0.000,4,0.000,0.054,2831,2101,3361,0,0,0,0,0,0
$GC,737,-0.57,-121.6,65.4,-9.6,120,745,0.00,0.43,0.00,0.000,6,0.000,0.052,2831,1817,3361,0,0,0,0,0,0
$GC,1084,-0.57,-121.6,100.5,-10.3,181,1088,0.00,1.12,0.00,0.000,4,0.000,0.052,2826,2537,3361,0,0,0,0,0,0
$GC,1189,-0.57,-121.6,111.1,-10.0,187,1192,0.00,1.10,0.00,0.000,6,0.000,0.044,2826,1824,3362,0,0,0,0,0,0
$GC,1519,-0.54,-121.6,147.3,-11.2,208,1523,0.08,1.05,0.00,0.000,4,0.197,0.051,2840,2492,3361,0,0,0,0,0,0
$GC,1624,-0.54,-121.6,158.4,-9.8,214,1629,0.00,1.05,0.00,0.000,6,0.000,0.043,2840,1814,3362,0,0,0,0,0,0
$GC,1951,-0.54,-121.6,189.2,-8.7,235,1954,0.00,1.17,0.00,0.000,4,0.000,0.050,2835,2568,3362,0,0,0,0,0,0
$GC,2061,-0.54,-121.6,199.2,-8.2,241,2068,0.00,1.17,0.00,0.000,6,0.000,0.042,2835,1811,3361,0,0,0,0,0,0
$GC,2382,-0.54,-121.6,224.9,-8.6,262,2386,0.00,0.82,0.00,0.000,4,0.000,0.051,2830,2359,3362,0,0,0,0,0,0
$GC,2484,-0.54,-121.6,233.4,-8.6,268,2487,0.00,0.80,0.00,0.000,6,0.000,0.045,2831,1825,3362,0,0,0,0,0,0
$GC,2809,-0.54,-121.6,258.6,-8.0,287,2812,0.00,1.38,0.00,0.000,4,0.000,0.052,2825,2701,3362,0,0,0,0,0,0
$GC,2936,-0.54,-121.6,269.2,-8.3,292,2945,0.08,1.38,0.00,0.000,6,0.180,0.041,2844,1814,3363,0,0,0,0,0,0
$GC,3253,-0.54,-121.6,291.5,-7.3,308,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1814,3363,0,0,0,0,0,0
$GC,3564,-0.54,-121.6,315.5,-8.2,323,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1814,3363,0,0,0,0,0,0
$GC,3872,-0.54,-121.6,340.0,-7.7,338,3875,0.00,1.90,0.00,0.000,4,0.000,0.054,2835,3041,3363,0,0,0,0,0,0
$GC,3977,-0.54,-121.6,348.7,-8.6,342,3986,0.00,1.88,0.00,0.000,6,0.000,0.041,2835,1824,3363,0,0,0,0,0,0
$GC,4293,-0.54,-121.6,377.8,-9.6,358,4297,0.00,1.73,0.00,0.000,4,0.000,0.054,2828,2944,3362,0,0,0,0,0,0
$GC,4399,-0.54,-121.6,388.1,-9.0,362,4408,0.03,1.75,0.00,0.000,6,0.181,0.041,2838,1812,3363,0,0,0,0,0,0
$GC,4713,-0.54,-121.6,418.2,-9.6,375,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1812,3363,0,0,0,0,0,0
$GC,5019,-0.54,-121.6,446.8,-9.1,385,5023,0.00,0.32,0.00,0.000,4,0.000,0.060,2838,1579,3363,0,0,0,0,0,0
$GC,5107,-0.54,-121.6,454.9,-9.5,387,5112,0.00,0.38,0.00,0.000,6,0.000,0.054,2836,1827,3362,0,0,0,0,0,0
$GC,5425,-0.54,-121.6,482.0,-8.8,398,5429,0.00,1.27,0.00,0.000,4,0.000,0.053,2831,2647,3363,0,0,0,0,0,0
$GC,5535,-0.54,-121.6,492.1,-8.9,401,5540,0.00,1.30,0.00,0.000,6,0.000,0.043,2831,1813,3363,0,0,0,0,0,0
$GC,5866,-0.54,-121.6,521.6,-8.6,412,5870,0.03,1.62,0.00,0.000,4,0.267,0.056,2833,2861,3362,0,0,0,0,0,0
$GC,5987,-0.54,-121.6,532.1,-9.2,415,5992,0.00,1.60,0.00,0.000,6,0.000,0.042,2833,1824,3361,0,0,0,0,0,0
$GC,6305,-0.54,-121.6,561.0,-9.1,426,6309,0.00,0.52,0.00,0.000,4,0.000,0.052,2830,2181,3361,0,0,0,0,0,0
$GC,6377,-0.54,-121.6,568.0,-9.3,428,6381,0.05,0.57,0.00,0.000,6,0.207,0.050,2844,1799,3361,0,0,0,0,0,0
$GC,6712,-0.54,-121.6,594.6,-7.3,439,6716,0.00,0.28,0.00,0.000,4,0.000,0.060,2842,2002,3361,0,0,0,0,0,0
$GC,6766,-0.54,-121.6,598.8,-7.7,440,6768,0.00,0.28,0.00,0.000,6,0.000,0.060,2843,1812,3360,0,0,0,0,0,0
$GC,7081,-0.54,-121.6,618.9,-6.1,451,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1812,3360,0,0,0,0,0,0
$GC,7387,-0.54,-121.6,638.8,-6.4,461,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1812,3359,0,0,0,0,0,0
$GC,7693,-0.56,-121.6,664.4,-9.4,471,7697,0.00,0.32,0.00,0.000,4,0.000,0.057,2841,2054,3359,0,0,0,0,0,0
$GC,7865,-0.59,-121.6,680.6,-9.5,476,7869,0.00,0.35,0.00,0.000,6,0.000,0.056,2842,1814,3359,0,0,0,0,0,0
$GC,8200,-0.59,-121.6,712.5,-9.7,487,8204,0.00,0.77,0.00,0.000,4,0.000,0.054,2838,2319,3358,0,0,0,0,0,0
$GC,8294,-0.61,-121.6,721.8,-10.2,489,8300,0.00,0.77,0.00,0.000,6,0.000,0.046,2837,1813,3358,0,0,0,0,0,0
$GC,8606,-0.61,-121.6,750.6,-9.1,500,8610,0.00,1.00,0.00,0.000,4,0.000,0.053,2834,2455,3357,0,0,0,0,0,0
$GC,8728,-0.61,-121.6,761.3,-8.9,503,8733,0.00,1.00,0.00,0.000,6,0.000,0.044,2833,1810,3358,0,0,0,0,0,0
$GC,9047,-0.61,-121.6,787.5,-8.2,514,9050,0.00,1.00,0.00,0.000,4,0.000,0.054,2829,2449,3357,0,0,0,0,0,0
$GC,9163,-0.61,-121.6,797.3,-8.1,517,9167,0.00,0.98,0.00,0.000,6,0.000,0.044,2829,1819,3357,0,0,0,0,0,0
$GC,9487,-0.61,-121.6,826.7,-9.5,528,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1819,3355,0,0,0,0,0,0
$GC,9793,-0.61,-121.6,855.4,-9.4,538,9797,0.00,1.50,0.00,0.000,4,0.000,0.056,2822,2770,3355,0,0,0,0,0,0
$GC,9915,-0.61,-121.6,867.8,-10.4,541,9920,0.00,1.50,0.00,0.000,6,0.000,0.042,2822,1811,3354,0,0,0,0,0,0
$GC,10234,-0.61,-121.6,900.8,-10.3,552,10237,0.00,0.55,0.00,0.000,4,0.000,0.054,2820,2182,3354,0,0,0,0,0,0
$GC,10338,-0.61,-121.6,911.9,-9.7,555,10343,0.00,0.57,0.00,0.000,6,0.000,0.049,2820,1802,3354,0,0,0,0,0,0
$GC,10673,-0.61,-121.6,946.3,-10.5,566,10677,0.00,1.25,0.00,0.000,4,0.000,0.054,2814,2594,3354,0,0,0,0,0,0
$GC,10824,-0.61,-121.6,960.2,-9.5,570,10828,0.00,1.20,0.00,0.000,6,0.000,0.044,2814,1818,3354,0,0,0,0,0,0
$GC,11148,-0.61,-121.6,983.6,-6.6,581,11151,0.00,0.88,0.00,0.000,4,0.000,0.053,2810,2385,3353,0,0,0,0,0,0
$GC,11270,-0.61,-121.6,992.9,-8.0,584,11274,0.00,0.90,0.00,0.000,6,0.000,0.046,2810,1803,3353,0,0,0,0,0,0
$STATE,11372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11372,begin apogee
$GC,11377,-0.23,0.0,1001.2,8.2,588,11480,0.43,0.00,100.38,1.300,6,0.131,0.000,2947,1648,2862,0,0,0,0,0,0
$STATE,11481,end apogee,CONTROL_FINISHED_OK
$STATE,11481,begin climb
$GC,11482,0.71,121.6,1004.8,0.0,591,11593,0.90,0.43,103.45,1.267,4,0.093,0.061,3247,1388,2365,0,0,0,0,0,0
$GC,11620,0.71,187.3,1001.2,4.7,595,11683,0.00,0.43,58.97,1.239,6,0.000,0.051,3247,1645,2098,0,0,0,0,0,0
$GC,12001,0.71,201.5,975.8,6.8,608,12017,0.00,0.82,12.82,1.146,4,0.000,0.051,3247,2150,2040,0,0,0,0,0,0
$GC,12124,0.73,220.7,967.3,6.6,611,12147,0.00,0.80,18.42,1.170,6,0.000,0.050,3251,1651,1962,0,0,0,0,0,0
$GC,12467,0.77,229.0,944.3,7.1,623,12478,0.05,0.00,8.57,1.049,6,0.165,0.000,3287,1651,1927,0,0,0,0,0,0
$GC,12772,0.77,229.0,916.9,9.2,633,12776,0.05,0.85,0.00,0.000,4,0.211,0.052,3273,2182,1926,0,0,0,0,0,0
$GC,12893,0.77,229.0,905.6,10.3,636,12898,0.00,0.88,0.00,0.000,6,0.000,0.049,3277,1638,1925,0,0,0,0,0,0
$GC,13212,0.77,229.0,877.6,8.8,647,13215,0.00,0.28,0.00,0.000,4,0.000,0.067,3278,1441,1925,0,0,0,0,0,0
$GC,13288,0.77,229.0,870.9,8.4,649,13293,0.00,0.32,0.00,0.000,6,0.000,0.057,3278,1652,1924,0,0,0,0,0,0
$GC,13617,0.77,229.0,842.4,9.2,660,13621,0.00,0.52,0.00,0.000,4,0.000,0.054,3278,2014,1924,0,0,0,0,0,0
$GC,13712,0.77,229.0,833.6,9.2,662,13717,0.00,0.57,0.00,0.000,6,0.000,0.054,3280,1643,1923,0,0,0,0,0,0
$GC,14024,0.77,229.0,805.9,8.3,673,14028,0.00,0.68,0.00,0.000,4,0.000,0.052,3280,2089,1923,0,0,0,0,0,0
$GC,14101,0.77,229.0,799.7,7.6,675,14105,0.00,0.70,0.00,0.000,6,0.000,0.052,3283,1645,1923,0,0,0,0,0,0
$GC,14430,0.77,229.0,771.3,9.4,686,14434,0.00,0.73,0.00,0.000,4,0.000,0.050,3283,2120,1922,0,0,0,0,0,0
$GC,14501,0.77,229.0,764.9,8.3,688,14506,0.05,0.75,0.00,0.000,6,0.221,0.050,3274,1644,1922,0,0,0,0,0,0
$GC,14837,0.77,258.8,743.0,6.2,699,14868,0.00,0.65,26.95,1.131,4,0.000,0.057,3276,1244,1806,0,0,0,0,0,0
$GC,14946,0.80,258.8,734.9,7.6,702,14950,0.00,0.62,0.00,0.000,6,0.000,0.047,3276,1648,1802,0,0,0,0,0,0
$GC,15275,0.82,258.8,710.6,7.5,713,15279,0.00,0.68,0.00,0.000,4,0.000,0.051,3276,2103,1800,0,0,0,0,0,0
$GC,15393,0.85,271.8,701.5,6.9,716,15409,0.00,0.73,11.98,1.027,6,0.000,0.052,3279,1641,1754,0,0,0,0,0,0
$GC,15715,0.88,271.8,675.3,8.8,727,15717,0.08,0.00,0.00,0.000,6,0.124,0.000,3323,1641,1750,0,0,0,0,0,0
$GC,16021,0.84,271.8,642.3,11.0,737,16023,0.10,0.00,0.00,0.000,6,0.167,0.000,3296,1641,1750,0,0,0,0,0,0
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$STATE,22723,end climb,SURFACE_DEPTH_REACHED
$STATE,22724,begin surface coast
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$STATE,22754,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,66841,1154
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$CFSIZE,2097086464,2075623424
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