version: 66.07.10.p01
glider: 573
mission: 4
dive: 153
start: 10 31 112 23 25 13
data:
$ID,573
$MISSION,4
$DIVE,153
$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,-4774.9761
$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,30
$R_STBD_OVSHOOT,17
$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,132
$GPS1,311012,231735,-4236.729,-748.390,39,1.0,39,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-71.7
$GPS2,311012,232418,-4236.726,-748.464,18,1.4,19,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.121,0.180
$KALMAN_X,-191679.0,1008.5,1118.3,370795.1,-9313.3
$KALMAN_Y,-162419.5,507.6,326.5,167212.6,-3311.0
$MHEAD_RNG_PITCHd_Wd,55.7,78491,-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,-121.6,0.0,0.0,0,75,0.00,0.00,-48.47,0.000,2,0.000,0.000,83,1798,2754,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.0,-1.2,8,115,10.93,2.30,-20.45,0.000,4,0.240,0.070,2780,3247,3358,0,0,0,0,0,0
$GC,236,-0.63,-121.6,18.2,-11.2,34,243,0.10,2.25,0.00,0.000,6,0.144,0.044,2813,1825,3359,0,0,0,0,0,0
$GC,316,-0.59,-121.6,26.5,-10.6,47,323,0.08,0.00,0.00,0.000,6,0.204,0.000,2833,1825,3360,0,0,0,0,0,0
$GC,393,-0.59,-121.6,34.5,-10.0,60,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1825,3360,0,0,0,0,0,0
$GC,630,-0.59,-121.6,57.4,-9.6,101,635,0.00,1.05,0.00,0.000,4,0.000,0.052,2828,2498,3360,0,0,0,0,0,0
$GC,726,-0.59,-121.6,66.8,-9.5,118,731,0.00,1.08,0.00,0.000,6,0.000,0.044,2828,1803,3360,0,0,0,0,0,0
$GC,1075,-0.56,-121.6,101.7,-10.4,178,1078,0.00,1.20,0.00,0.000,4,0.000,0.052,2823,2568,3360,0,0,0,0,0,0
$GC,1180,-0.54,-121.6,112.7,-10.2,184,1185,0.05,1.15,0.00,0.000,6,0.140,0.043,2843,1820,3360,0,0,0,0,0,0
$GC,1507,-0.54,-121.6,143.8,-9.1,205,1511,0.00,0.90,0.00,0.000,4,0.000,0.051,2838,2408,3361,0,0,0,0,0,0
$GC,1584,-0.54,-121.6,151.5,-9.6,209,1590,0.00,0.93,0.00,0.000,6,0.000,0.044,2838,1810,3361,0,0,0,0,0,0
$GC,1905,-0.54,-121.6,181.2,-9.2,230,1908,0.00,1.48,0.00,0.000,4,0.000,0.054,2831,2743,3361,0,0,0,0,0,0
$GC,2006,-0.54,-121.6,190.8,-9.1,236,2010,0.00,1.42,0.00,0.000,6,0.000,0.043,2832,1822,3361,0,0,0,0,0,0
$GC,2337,-0.54,-121.6,222.9,-9.5,257,2342,0.03,1.42,0.00,0.000,4,0.263,0.053,2835,2711,3361,0,0,0,0,0,0
$GC,2431,-0.54,-121.6,232.0,-8.9,262,2440,0.00,1.40,0.00,0.000,6,0.000,0.043,2835,1816,3361,0,0,0,0,0,0
$GC,2751,-0.54,-121.6,261.9,-9.5,281,2755,0.00,1.05,0.00,0.000,4,0.000,0.051,2830,2492,3361,0,0,0,0,0,0
$GC,2851,-0.54,-121.6,272.2,-11.0,285,2856,0.05,1.05,0.00,0.000,6,0.208,0.044,2844,1817,3361,0,0,0,0,0,0
$GC,3175,-0.54,-121.6,302.9,-9.4,301,3179,0.00,1.15,0.00,0.000,4,0.000,0.053,2838,2551,3361,0,0,0,0,0,0
$GC,3258,-0.54,-121.6,311.3,-9.9,304,3266,0.00,1.15,0.00,0.000,6,0.000,0.044,2839,1812,3361,0,0,0,0,0,0
$GC,3574,-0.54,-121.6,342.7,-10.2,320,3578,0.00,1.52,0.00,0.000,4,0.000,0.054,2831,2778,3362,0,0,0,0,0,0
$GC,3696,-0.54,-121.6,355.7,-10.1,325,3701,0.00,1.50,0.00,0.000,6,0.000,0.043,2832,1819,3362,0,0,0,0,0,0
$GC,4020,-0.54,-121.6,389.4,-10.4,341,4025,0.03,1.10,0.00,0.000,4,0.266,0.054,2837,2513,3361,0,0,0,0,0,0
$GC,4102,-0.54,-121.6,397.8,-9.6,344,4111,0.00,1.10,0.00,0.000,6,0.000,0.044,2837,1807,3362,0,0,0,0,0,0
$GC,4436,-0.54,-121.6,429.7,-9.7,356,4440,0.00,2.25,0.00,0.000,4,0.000,0.057,2826,3247,3362,0,0,0,0,0,0
$GC,4557,-0.54,-121.6,441.7,-10.1,359,4564,0.05,2.20,0.00,0.000,6,0.145,0.041,2846,1828,3362,0,0,0,0,0,0
$GC,4870,-0.54,-121.6,471.2,-9.7,370,4874,0.00,0.73,0.00,0.000,4,0.000,0.052,2843,2309,3361,0,0,0,0,0,0
$GC,4958,-0.54,-121.6,479.9,-9.6,372,4963,0.00,0.77,0.00,0.000,6,0.000,0.047,2843,1802,3362,0,0,0,0,0,0
$GC,5277,-0.54,-121.6,510.1,-9.5,383,5281,0.00,2.12,0.00,0.000,4,0.000,0.057,2833,3154,3361,0,0,0,0,0,0
$GC,5387,-0.54,-121.6,521.0,-9.4,386,5392,0.00,2.08,0.00,0.000,6,0.000,0.042,2833,1822,3361,0,0,0,0,0,0
$GC,5717,-0.54,-121.6,553.1,-9.8,397,5721,0.00,0.47,0.00,0.000,4,0.000,0.056,2833,1496,3361,0,0,0,0,0,0
$GC,5788,-0.54,-121.6,560.3,-9.8,399,5793,0.05,0.52,0.00,0.000,6,0.220,0.050,2844,1840,3361,0,0,0,0,0,0
$GC,6123,-0.54,-121.6,589.3,-8.5,410,6126,0.00,0.65,0.00,0.000,4,0.000,0.054,2841,2282,3361,0,0,0,0,0,0
$GC,6272,-0.54,-121.6,602.2,-8.4,414,6277,0.00,0.73,0.00,0.000,6,0.000,0.047,2842,1810,3360,0,0,0,0,0,0
$GC,6596,-0.54,-121.6,629.8,-8.4,425,6600,0.00,1.67,0.00,0.000,4,0.000,0.057,2834,2878,3359,0,0,0,0,0,0
$GC,6697,-0.54,-121.6,638.2,-7.4,428,6701,0.00,1.65,0.00,0.000,6,0.000,0.044,2834,1818,3359,0,0,0,0,0,0
$GC,7037,-0.54,-121.6,668.8,-9.3,439,7041,0.00,0.40,0.00,0.000,4,0.000,0.057,2831,2098,3359,0,0,0,0,0,0
$GC,7138,-0.54,-121.6,678.9,-9.9,442,7142,0.00,0.40,0.00,0.000,6,0.000,0.054,2832,1818,3359,0,0,0,0,0,0
$GC,7478,-0.54,-121.6,713.2,-10.2,453,7482,0.00,1.40,0.00,0.000,4,0.000,0.056,2826,2701,3358,0,0,0,0,0,0
$GC,7589,-0.54,-121.6,724.8,-10.0,456,7594,0.08,1.38,0.00,0.000,6,0.176,0.043,2846,1823,3357,0,0,0,0,0,0
$GC,7919,-0.57,-121.6,754.8,-8.9,467,7922,0.00,0.25,0.00,0.000,4,0.000,0.063,2845,2006,3357,0,0,0,0,0,0
$GC,7973,-0.59,-121.6,759.7,-9.0,468,7977,0.00,0.30,0.00,0.000,6,0.000,0.060,2845,1802,3357,0,0,0,0,0,0
$GC,8292,-0.62,-121.6,782.9,-7.0,479,8296,0.08,1.05,0.00,0.000,4,0.124,0.054,2798,2470,3356,0,0,0,0,0,0
$GC,8402,-0.58,-121.6,792.6,-8.9,482,8407,0.12,1.02,0.00,0.000,6,0.155,0.045,2833,1812,3356,0,0,0,0,0,0
$GC,8732,-0.58,-121.6,816.8,-7.4,493,8735,0.00,0.68,0.00,0.000,4,0.000,0.052,2830,2269,3355,0,0,0,0,0,0
$GC,8848,-0.58,-121.6,825.3,-7.0,496,8852,0.00,0.70,0.00,0.000,6,0.000,0.048,2830,1815,3355,0,0,0,0,0,0
$GC,9172,-0.58,-121.6,849.9,-7.8,507,9175,0.00,1.23,0.00,0.000,4,0.000,0.054,2825,2591,3355,0,0,0,0,0,0
$GC,9294,-0.58,-121.6,860.1,-9.0,510,9299,0.00,1.20,0.00,0.000,6,0.000,0.044,2826,1822,3355,0,0,0,0,0,0
$GC,9612,-0.58,-121.6,887.8,-8.7,521,9616,0.00,1.00,0.00,0.000,4,0.000,0.053,2820,2461,3354,0,0,0,0,0,0
$GC,9706,-0.58,-121.6,895.7,-8.1,523,9712,0.00,1.00,0.00,0.000,6,0.000,0.045,2820,1819,3354,0,0,0,0,0,0
$GC,10019,-0.58,-121.6,919.8,-7.4,534,10022,0.00,0.43,0.00,0.000,4,0.000,0.056,2818,2118,3353,0,0,0,0,0,0
$GC,10171,-0.58,-121.6,930.3,-6.1,538,10175,0.00,0.45,0.00,0.000,6,0.000,0.054,2818,1810,3353,0,0,0,0,0,0
$GC,10494,-0.58,-121.6,949.9,-6.0,549,10499,0.05,0.80,0.00,0.000,4,0.220,0.054,2826,2326,3353,0,0,0,0,0,0
$GC,10606,-0.58,-121.6,956.8,-6.2,552,10610,0.00,0.77,0.00,0.000,6,0.000,0.048,2827,1818,3352,0,0,0,0,0,0
$GC,10935,-0.58,-121.6,977.9,-6.5,563,10939,0.00,0.85,0.00,0.000,4,0.000,0.054,2823,2371,3352,0,0,0,0,0,0
$GC,11057,-0.58,-121.6,988.4,-9.4,566,11062,0.00,0.88,0.00,0.000,6,0.000,0.047,2822,1806,3352,0,0,0,0,0,0
$STATE,11190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11190,begin apogee
$GC,11195,-0.23,0.0,1000.6,9.1,571,11298,0.38,0.00,100.40,1.299,6,0.125,0.000,2944,1639,2862,0,0,0,0,0,0
$STATE,11299,end apogee,CONTROL_FINISHED_OK
$STATE,11299,begin climb
$GC,11300,0.71,121.6,1004.8,0.0,574,11411,0.90,1.33,103.25,1.265,4,0.093,0.055,3249,889,2366,0,0,0,0,0,0
$GC,11467,0.69,158.1,1000.2,5.9,579,11506,0.00,1.25,33.38,1.221,6,0.000,0.043,3249,1635,2217,0,0,0,0,0,0
$GC,11825,0.69,186.1,978.2,6.3,591,11856,0.00,0.57,25.23,1.214,4,0.000,0.044,3249,2005,2103,0,0,0,0,0,0
$GC,11945,0.71,189.0,969.1,7.3,594,11949,0.00,0.57,0.00,0.000,6,0.000,0.054,3251,1644,2099,0,0,0,0,0,0
$GC,12263,0.73,189.0,944.5,7.9,605,12267,0.00,0.57,0.00,0.000,4,0.000,0.051,3252,2021,2097,0,0,0,0,0,0
$GC,12374,0.73,189.0,934.9,8.3,608,12378,0.00,0.60,0.00,0.000,6,0.000,0.052,3254,1644,2097,0,0,0,0,0,0
$GC,12703,0.73,189.0,905.1,9.7,619,12707,0.00,0.45,0.00,0.000,4,0.000,0.053,3254,1956,2096,0,0,0,0,0,0
$GC,12808,0.73,189.0,894.8,9.7,622,12812,0.00,0.50,0.00,0.000,6,0.000,0.054,3256,1643,2095,0,0,0,0,0,0
$GC,13143,0.73,189.0,864.2,8.7,633,13147,0.00,0.47,0.00,0.000,4,0.000,0.059,3259,1317,2095,0,0,0,0,0,0
$GC,13210,0.73,189.0,858.3,9.1,635,13214,0.00,0.50,0.00,0.000,6,0.000,0.050,3259,1649,2095,0,0,0,0,0,0
$GC,13550,0.73,189.0,828.9,8.7,646,13554,0.00,0.98,0.00,0.000,4,0.000,0.053,3259,2289,2095,0,0,0,0,0,0
$GC,13677,0.73,189.0,818.1,7.6,649,13684,0.00,1.02,0.00,0.000,6,0.000,0.049,3263,1648,2094,0,0,0,0,0,0
$GC,13990,0.73,189.0,792.8,8.1,660,13994,0.00,0.80,0.00,0.000,4,0.000,0.057,3267,1133,2094,0,0,0,0,0,0
$GC,14078,0.73,189.0,785.0,7.9,662,14083,0.00,0.82,0.00,0.000,6,0.000,0.046,3267,1655,2094,0,0,0,0,0,0
$GC,14397,0.73,201.2,761.7,6.9,673,14412,0.00,0.00,13.12,1.085,6,0.000,0.000,3267,1655,2040,0,0,0,0,0,0
$GC,14703,0.73,220.4,741.1,6.6,683,14725,0.00,0.35,18.12,1.097,4,0.000,0.057,3267,1887,1962,0,0,0,0,0,0
$GC,14814,0.73,226.9,733.5,7.1,686,14824,0.00,0.40,6.93,0.916,6,0.000,0.057,3269,1640,1936,0,0,0,0,0,0
$GC,15137,0.75,252.1,712.4,6.4,697,15164,0.00,0.40,23.08,1.089,4,0.000,0.056,3269,1887,1834,0,0,0,0,0,0
$GC,15233,0.79,275.9,706.3,6.4,699,15258,0.00,0.38,22.52,1.069,6,0.000,0.059,3270,1646,1737,0,0,0,0,0,0
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$STATE,22383,end climb,SURFACE_DEPTH_REACHED
$STATE,22384,begin surface coast
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$STATE,22415,end surface coast,CONTROL_FINISHED_OK
$STATE,22415,begin surface
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$10V_AH,10.2,24.646
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,67057,1132
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$CFSIZE,2097086464,2074181632
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