version: 66.07.10.p01
glider: 573
mission: 4
dive: 155
start: 11 1 112 12 11 1
data:
$ID,573
$MISSION,4
$DIVE,155
$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,-4781.8237
$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,134
$GPS1,011112,120335,-4233.044,-746.864,39,0.9,39,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-71.9
$GPS2,011112,121006,-4233.023,-746.979,14,1.5,15,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,-0.042
$KALMAN_X,-196004.9,7.5,1052.1,378229.9,-9494.2
$KALMAN_Y,-157460.7,443.8,857.8,168618.2,-5103.3
$MHEAD_RNG_PITCHd_Wd,122.9,71548,-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,-121.6,0.0,0.0,0,87,0.00,0.00,-59.90,0.000,2,0.000,0.000,83,1824,2915,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.1,-1.4,10,121,10.98,1.15,-12.85,0.000,4,0.242,0.083,2789,1111,3360,0,0,0,0,0,0
$GC,221,-0.61,-121.6,18.0,-12.6,32,229,0.10,1.10,0.00,0.000,6,0.146,0.045,2819,1815,3362,0,0,0,0,0,0
$GC,302,-0.56,-121.6,26.5,-10.5,45,310,0.08,0.35,0.00,0.000,4,0.190,0.057,2838,2064,3362,0,0,0,0,0,0
$GC,482,-0.56,-121.6,44.2,-9.9,76,489,0.00,0.38,0.00,0.000,6,0.000,0.054,2838,1805,3362,0,0,0,0,0,0
$GC,716,-0.56,-121.6,66.6,-9.9,117,723,0.00,1.10,0.00,0.000,4,0.000,0.050,2833,2503,3363,0,0,0,0,0,0
$GC,824,-0.56,-121.6,77.1,-10.1,136,829,0.00,1.05,0.00,0.000,6,0.000,0.044,2833,1824,3363,0,0,0,0,0,0
$GC,1165,-0.56,-121.6,111.7,-10.2,184,1168,0.00,1.05,0.00,0.000,4,0.000,0.051,2828,2493,3363,0,0,0,0,0,0
$GC,1276,-0.56,-121.6,123.9,-10.9,190,1284,0.00,1.05,0.00,0.000,6,0.000,0.044,2828,1820,3363,0,0,0,0,0,0
$GC,1597,-0.54,-121.6,159.6,-11.3,211,1601,0.08,0.47,0.00,0.000,4,0.194,0.054,2846,2140,3363,0,0,0,0,0,0
$GC,1701,-0.54,-121.6,170.9,-10.2,217,1704,0.00,0.47,0.00,0.000,6,0.000,0.050,2846,1815,3363,0,0,0,0,0,0
$GC,2030,-0.54,-121.6,205.6,-10.3,238,2033,0.00,1.55,0.00,0.000,4,0.000,0.054,2838,2791,3363,0,0,0,0,0,0
$GC,2131,-0.54,-121.6,215.8,-10.0,244,2135,0.00,1.50,0.00,0.000,6,0.000,0.042,2838,1822,3363,0,0,0,0,0,0
$GC,2462,-0.54,-121.6,248.1,-9.6,265,2465,0.00,1.20,0.00,0.000,4,0.000,0.051,2833,2588,3363,0,0,0,0,0,0
$GC,2578,-0.54,-121.6,259.1,-8.8,271,2583,0.00,1.20,0.00,0.000,6,0.000,0.042,2833,1816,3364,0,0,0,0,0,0
$GC,2908,-0.54,-121.6,286.1,-8.1,287,2912,0.00,0.95,0.00,0.000,4,0.000,0.050,2829,2434,3364,0,0,0,0,0,0
$GC,3000,-0.54,-121.6,293.0,-7.4,291,3004,0.03,0.93,0.00,0.000,6,0.177,0.044,2840,1822,3364,0,0,0,0,0,0
$GC,3334,-0.54,-121.6,314.9,-6.5,307,3338,0.00,1.12,0.00,0.000,4,0.000,0.051,2835,2543,3364,0,0,0,0,0,0
$GC,3435,-0.54,-121.6,322.0,-7.2,311,3439,0.00,1.12,0.00,0.000,6,0.000,0.042,2835,1819,3364,0,0,0,0,0,0
$GC,3759,-0.54,-121.6,344.7,-7.0,327,3763,0.00,0.65,0.00,0.000,4,0.000,0.050,2832,2255,3364,0,0,0,0,0,0
$GC,3881,-0.54,-121.6,353.9,-7.2,332,3886,0.00,0.68,0.00,0.000,6,0.000,0.046,2832,1811,3364,0,0,0,0,0,0
$GC,4203,-0.54,-121.6,380.0,-8.4,348,4206,0.00,1.00,0.00,0.000,4,0.000,0.051,2828,2456,3364,0,0,0,0,0,0
$GC,4297,-0.54,-121.6,387.9,-8.1,352,4302,0.08,0.98,0.00,0.000,6,0.181,0.044,2848,1821,3364,0,0,0,0,0,0
$GC,4612,-0.54,-121.6,413.7,-8.4,365,4615,0.00,1.60,0.00,0.000,4,0.000,0.055,2841,2840,3364,0,0,0,0,0,0
$GC,4722,-0.54,-121.6,423.5,-8.6,368,4727,0.00,1.60,0.00,0.000,6,0.000,0.042,2841,1818,3364,0,0,0,0,0,0
$GC,5052,-0.54,-121.6,452.6,-8.8,379,5056,0.00,0.68,0.00,0.000,4,0.000,0.052,2837,2269,3363,0,0,0,0,0,0
$GC,5163,-0.54,-121.6,462.8,-9.1,382,5167,0.00,0.70,0.00,0.000,6,0.000,0.047,2837,1810,3363,0,0,0,0,0,0
$GC,5492,-0.54,-121.6,493.0,-9.2,393,5496,0.00,1.65,0.00,0.000,4,0.000,0.056,2830,2859,3362,0,0,0,0,0,0
$GC,5620,-0.54,-121.6,505.3,-9.7,396,5627,0.03,1.62,0.00,0.000,6,0.177,0.042,2841,1810,3363,0,0,0,0,0,0
$GC,5933,-0.54,-121.6,535.5,-9.8,407,5936,0.00,0.38,0.00,0.000,4,0.000,0.057,2840,2078,3362,0,0,0,0,0,0
$GC,6083,-0.54,-121.6,549.7,-9.3,411,6087,0.00,0.40,0.00,0.000,6,0.000,0.055,2840,1810,3362,0,0,0,0,0,0
$GC,6407,-0.54,-121.6,579.5,-8.9,422,6410,0.00,1.30,0.00,0.000,4,0.000,0.054,2834,2635,3361,0,0,0,0,0,0
$GC,6523,-0.54,-121.6,589.8,-8.6,425,6528,0.00,1.27,0.00,0.000,6,0.000,0.044,2834,1821,3361,0,0,0,0,0,0
$GC,6847,-0.54,-121.6,617.5,-8.5,436,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1821,3361,0,0,0,0,0,0
$GC,7153,-0.54,-121.6,643.6,-8.7,446,7157,0.00,1.15,0.00,0.000,4,0.000,0.054,2829,2556,3360,0,0,0,0,0,0
$GC,7264,-0.54,-121.6,653.4,-8.7,449,7269,0.08,1.15,0.00,0.000,6,0.180,0.044,2850,1820,3360,0,0,0,0,0,0
$GC,7594,-0.57,-121.6,678.9,-7.6,460,7598,0.00,1.05,0.00,0.000,4,0.000,0.054,2844,2493,3360,0,0,0,0,0,0
$GC,7706,-0.60,-121.6,687.3,-7.3,463,7710,0.00,1.05,0.00,0.000,6,0.000,0.045,2845,1813,3360,0,0,0,0,0,0
$GC,8035,-0.62,-121.6,713.1,-7.9,474,8040,0.08,0.52,0.00,0.000,4,0.125,0.054,2802,2164,3359,0,0,0,0,0,0
$GC,8225,-0.58,-121.6,729.9,-8.9,479,8230,0.10,0.52,0.00,0.000,6,0.165,0.050,2829,1817,3358,0,0,0,0,0,0
$GC,8543,-0.58,-121.6,752.5,-6.8,490,8546,0.00,0.68,0.00,0.000,4,0.000,0.052,2827,2265,3358,0,0,0,0,0,0
$GC,8671,-0.58,-121.6,761.2,-6.8,493,8676,0.00,0.70,0.00,0.000,6,0.000,0.048,2827,1809,3358,0,0,0,0,0,0
$GC,8984,-0.58,-121.6,782.6,-6.6,504,8988,0.00,0.98,0.00,0.000,4,0.000,0.054,2822,2438,3357,0,0,0,0,0,0
$GC,9123,-0.58,-121.6,791.3,-6.5,508,9127,0.00,0.95,0.00,0.000,6,0.000,0.047,2822,1819,3356,0,0,0,0,0,0
$GC,9458,-0.58,-121.6,812.4,-6.4,519,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1819,3356,0,0,0,0,0,0
$GC,9765,-0.58,-121.6,831.8,-6.4,529,9768,0.00,1.30,0.00,0.000,4,0.000,0.054,2816,2644,3355,0,0,0,0,0,0
$GC,9859,-0.58,-121.6,837.6,-6.1,531,9864,0.00,1.27,0.00,0.000,6,0.000,0.045,2816,1822,3355,0,0,0,0,0,0
$GC,10172,-0.58,-121.6,858.1,-7.1,542,10176,0.05,0.47,0.00,0.000,4,0.230,0.055,2825,2140,3355,0,0,0,0,0,0
$GC,10355,-0.58,-121.6,871.2,-7.0,547,10359,0.00,0.50,0.00,0.000,6,0.000,0.050,2825,1808,3354,0,0,0,0,0,0
$GC,10679,-0.58,-121.6,893.7,-6.8,558,10683,0.00,0.68,0.00,0.000,4,0.000,0.052,2823,2257,3354,0,0,0,0,0,0
$GC,10785,-0.58,-121.6,901.0,-6.7,561,10789,0.00,0.68,0.00,0.000,6,0.000,0.048,2822,1818,3354,0,0,0,0,0,0
$GC,11120,-0.58,-121.6,924.7,-7.1,572,11124,0.00,0.68,0.00,0.000,4,0.000,0.053,2820,2268,3353,0,0,0,0,0,0
$GC,11248,-0.58,-121.6,934.0,-7.3,575,11253,0.00,0.70,0.00,0.000,6,0.000,0.048,2819,1813,3353,0,0,0,0,0,0
$GC,11561,-0.58,-121.6,956.4,-7.2,586,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1814,3353,0,0,0,0,0,0
$GC,11867,-0.58,-121.6,979.1,-7.4,596,11871,0.00,0.45,0.00,0.000,4,0.000,0.054,2817,2126,3352,0,0,0,0,0,0
$GC,12037,-0.58,-121.6,991.6,-7.2,601,12040,0.00,0.45,0.00,0.000,6,0.000,0.054,2817,1819,3352,0,0,0,0,0,0
$STATE,12161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12161,begin apogee
$GC,12166,-0.23,0.0,1001.2,7.6,605,12269,0.40,0.00,100.75,1.298,6,0.127,0.000,2946,1649,2862,0,0,0,0,0,0
$STATE,12270,end apogee,CONTROL_FINISHED_OK
$STATE,12270,begin climb
$GC,12271,0.71,121.6,1004.4,0.0,608,12382,0.93,0.45,103.75,1.263,4,0.093,0.060,3249,1386,2366,0,0,0,0,0,0
$GC,12420,0.71,150.7,999.1,6.2,613,12451,0.00,0.43,27.17,1.212,6,0.000,0.051,3249,1643,2247,0,0,0,0,0,0
$GC,12776,0.71,170.9,975.2,6.6,625,12796,0.00,0.00,18.10,1.194,6,0.000,0.000,3249,1643,2165,0,0,0,0,0,0
$GC,13081,0.71,170.9,952.1,7.5,635,13085,0.00,0.30,0.00,0.000,4,0.000,0.060,3249,1861,2161,0,0,0,0,0,0
$GC,13186,0.71,170.9,944.4,7.6,638,13190,0.00,0.35,0.00,0.000,6,0.000,0.060,3250,1644,2161,0,0,0,0,0,0
$GC,13521,0.71,174.2,920.2,7.3,649,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1644,2160,0,0,0,0,0,0
$GC,13827,0.71,182.2,898.5,7.1,659,13842,0.00,0.60,10.48,1.103,4,0.000,0.046,3250,2035,2119,0,0,0,0,0,0
$GC,13932,0.71,200.5,891.0,6.7,662,13953,0.00,0.62,17.67,1.161,6,0.000,0.053,3253,1634,2044,0,0,0,0,0,0
$GC,14261,0.74,217.8,868.1,6.7,672,14280,0.00,0.82,16.40,1.141,4,0.000,0.047,3253,2171,1973,0,0,0,0,0,0
$GC,14365,0.77,228.9,861.0,7.0,675,14379,0.00,0.82,11.02,1.073,6,0.000,0.050,3257,1652,1928,0,0,0,0,0,0
$GC,14692,0.81,252.5,839.8,6.4,686,14718,0.08,0.73,21.85,1.152,4,0.121,0.058,3306,1211,1832,0,0,0,0,0,0
$GC,14807,0.79,252.5,829.6,8.1,688,14812,0.12,0.70,0.00,0.000,6,0.149,0.047,3272,1651,1829,0,0,0,0,0,0
$GC,15126,0.81,256.6,806.1,7.2,699,15135,0.00,0.43,4.60,0.785,4,0.000,0.062,3273,1393,1815,0,0,0,0,0,0
$GC,15242,0.84,267.2,797.5,7.0,702,15259,0.03,0.38,11.25,1.055,6,0.100,0.054,3303,1649,1772,0,0,0,0,0,0
$GC,15564,0.84,267.2,767.9,9.4,713,15568,0.00,0.47,0.00,0.000,4,0.000,0.060,3305,1344,1768,0,0,0,0,0,0
$GC,15635,0.84,267.2,760.7,9.4,715,15639,0.00,0.47,0.00,0.000,6,0.000,0.052,3305,1649,1768,0,0,0,0,0,0
$GC,15970,0.84,267.2,726.1,10.8,726,15971,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1649,1767,0,0,0,0,0,0
$GC,16276,0.84,267.2,690.0,12.2,736,16280,0.00,0.40,0.00,0.000,4,0.000,0.054,3305,1931,1767,0,0,0,0,0,0
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$STATE,22853,end climb,SURFACE_DEPTH_REACHED
$STATE,22853,begin surface coast
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$STATE,22884,end surface coast,CONTROL_FINISHED_OK
$STATE,22884,begin surface
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$10V_AH,10.2,24.910
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$FG_AHR_10Vo,0.000
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$MEM,354020
$DATA_FILE_SIZE,66688,1130
$CAP_FILE_SIZE,204913,0
$CFSIZE,2097086464,2073919488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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