version: 66.07.10.p01
glider: 573
mission: 4
dive: 156
start: 11 1 112 18 42 56
data:
$ID,573
$MISSION,4
$DIVE,156
$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,-4785.1509
$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,32
$R_STBD_OVSHOOT,36
$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,135
$GPS1,011112,183453,-4232.286,-745.611,40,1.3,40,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.4
$GPS2,011112,184201,-4232.248,-745.662,14,1.2,16,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.128,0.175
$KALMAN_X,-199169.2,-875.0,1398.7,383743.3,-9479.1
$KALMAN_Y,-153763.2,-533.1,1048.0,167161.9,-961.1
$MHEAD_RNG_PITCHd_Wd,57.9,69384,-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,-121.6,0.0,0.0,0,75,0.00,0.00,-48.15,0.000,2,0.000,0.000,83,1816,2667,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.0,-1.3,8,121,11.02,1.42,-24.33,0.000,4,0.243,0.078,2784,2692,3359,0,0,0,0,0,0
$GC,204,-0.61,-121.6,14.1,-11.3,29,212,0.10,1.38,0.00,0.000,6,0.140,0.044,2817,1821,3360,0,0,0,0,0,0
$GC,285,-0.57,-121.6,22.9,-10.5,42,292,0.08,0.00,0.00,0.000,6,0.195,0.000,2837,1822,3360,0,0,0,0,0,0
$GC,364,-0.57,-121.6,30.9,-10.0,55,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1821,3361,0,0,0,0,0,0
$GC,598,-0.57,-121.6,53.3,-9.6,96,605,0.00,1.15,0.00,0.000,4,0.000,0.052,2832,2547,3361,0,0,0,0,0,0
$GC,691,-0.57,-121.6,61.7,-9.1,112,697,0.00,1.15,0.00,0.000,6,0.000,0.044,2832,1810,3361,0,0,0,0,0,0
$GC,1035,-0.55,-121.6,95.3,-10.4,173,1039,0.00,1.77,0.00,0.000,4,0.000,0.055,2823,2936,3361,0,0,0,0,0,0
$GC,1137,-0.55,-121.6,105.8,-10.3,185,1142,0.08,1.73,0.00,0.000,6,0.176,0.043,2843,1816,3361,0,0,0,0,0,0
$GC,1469,-0.55,-121.6,136.9,-8.9,206,1472,0.00,1.52,0.00,0.000,4,0.000,0.054,2836,2780,3362,0,0,0,0,0,0
$GC,1574,-0.55,-121.6,146.4,-8.8,212,1579,0.00,1.52,0.00,0.000,6,0.000,0.043,2836,1808,3362,0,0,0,0,0,0
$GC,1901,-0.55,-121.6,175.4,-8.9,233,1904,0.00,0.60,0.00,0.000,4,0.000,0.050,2834,2211,3362,0,0,0,0,0,0
$GC,2023,-0.55,-121.6,186.2,-8.6,240,2027,0.00,0.60,0.00,0.000,6,0.000,0.048,2834,1816,3362,0,0,0,0,0,0
$GC,2350,-0.55,-121.6,212.2,-7.4,261,2353,0.00,1.40,0.00,0.000,4,0.000,0.053,2828,2704,3362,0,0,0,0,0,0
$GC,2444,-0.55,-121.6,218.9,-6.5,266,2452,0.03,1.38,0.00,0.000,6,0.178,0.043,2838,1818,3362,0,0,0,0,0,0
$GC,2766,-0.55,-121.6,238.3,-5.8,287,2769,0.00,1.40,0.00,0.000,4,0.000,0.054,2832,2705,3362,0,0,0,0,0,0
$GC,2860,-0.55,-121.6,244.0,-5.2,292,2868,0.00,1.38,0.00,0.000,6,0.000,0.043,2832,1817,3362,0,0,0,0,0,0
$GC,3188,-0.55,-121.6,265.8,-6.9,310,3191,0.00,2.00,0.00,0.000,4,0.000,0.056,2822,3086,3362,0,0,0,0,0,0
$GC,3288,-0.55,-121.6,272.6,-6.3,314,3293,0.05,1.98,0.00,0.000,6,0.148,0.041,2842,1815,3362,0,0,0,0,0,0
$GC,3609,-0.55,-121.6,292.9,-6.6,330,3613,0.00,1.20,0.00,0.000,4,0.000,0.052,2836,2584,3362,0,0,0,0,0,0
$GC,3709,-0.55,-121.6,300.2,-7.5,334,3714,0.00,1.20,0.00,0.000,6,0.000,0.043,2836,1813,3362,0,0,0,0,0,0
$GC,4031,-0.55,-121.6,327.1,-9.3,350,4035,0.00,0.38,0.00,0.000,4,0.000,0.054,2835,2083,3362,0,0,0,0,0,0
$GC,4154,-0.55,-121.6,339.4,-10.1,355,4158,0.00,0.40,0.00,0.000,6,0.000,0.054,2835,1815,3362,0,0,0,0,0,0
$GC,4477,-0.55,-121.6,371.6,-10.5,371,4481,0.00,1.30,0.00,0.000,4,0.000,0.053,2829,2644,3362,0,0,0,0,0,0
$GC,4576,-0.55,-121.6,382.7,-11.0,375,4582,0.05,1.30,0.00,0.000,6,0.215,0.044,2842,1810,3362,0,0,0,0,0,0
$GC,4907,-0.55,-121.6,414.4,-9.0,389,4911,0.00,2.03,0.00,0.000,4,0.000,0.057,2832,3114,3362,0,0,0,0,0,0
$GC,5008,-0.55,-121.6,423.3,-8.7,392,5012,0.00,1.98,0.00,0.000,6,0.000,0.042,2832,1826,3362,0,0,0,0,0,0
$GC,5348,-0.55,-121.6,453.1,-8.7,403,5352,0.00,1.15,0.00,0.000,4,0.000,0.052,2827,2560,3362,0,0,0,0,0,0
$GC,5458,-0.55,-121.6,462.9,-8.4,406,5464,0.08,1.17,0.00,0.000,6,0.181,0.044,2847,1806,3361,0,0,0,0,0,0
$GC,5788,-0.55,-121.6,493.5,-9.9,417,5791,0.00,0.82,0.00,0.000,4,0.000,0.052,2843,2354,3362,0,0,0,0,0,0
$GC,5882,-0.57,-121.6,503.6,-10.4,419,5887,0.00,0.82,0.00,0.000,6,0.000,0.046,2843,1819,3362,0,0,0,0,0,0
$GC,6195,-0.57,-121.6,537.6,-10.9,430,6198,0.00,0.50,0.00,0.000,4,0.000,0.054,2841,2162,3361,0,0,0,0,0,0
$GC,6277,-0.57,-121.6,546.3,-10.6,432,6281,0.00,0.52,0.00,0.000,6,0.000,0.049,2841,1815,3361,0,0,0,0,0,0
$GC,6601,-0.57,-121.6,578.1,-9.6,443,6604,0.00,0.32,0.00,0.000,4,0.000,0.057,2840,2055,3361,0,0,0,0,0,0
$GC,6840,-0.57,-121.6,598.9,-7.7,450,6844,0.00,0.35,0.00,0.000,6,0.000,0.057,2840,1817,3360,0,0,0,0,0,0
$GC,7175,-0.57,-121.6,623.0,-7.0,461,7179,0.00,1.15,0.00,0.000,4,0.000,0.053,2835,2562,3359,0,0,0,0,0,0
$GC,7281,-0.57,-121.6,630.4,-7.2,464,7286,0.00,1.15,0.00,0.000,6,0.000,0.044,2835,1824,3360,0,0,0,0,0,0
$GC,7616,-0.57,-121.6,654.7,-7.2,475,7620,0.00,0.68,0.00,0.000,4,0.000,0.052,2832,2273,3359,0,0,0,0,0,0
$GC,7699,-0.57,-121.6,660.4,-6.8,477,7704,0.00,0.70,0.00,0.000,6,0.000,0.047,2832,1816,3359,0,0,0,0,0,0
$GC,8023,-0.57,-121.6,682.6,-7.0,488,8027,0.00,1.27,0.00,0.000,4,0.000,0.054,2826,2626,3358,0,0,0,0,0,0
$GC,8140,-0.57,-121.6,691.5,-7.3,491,8144,0.00,1.25,0.00,0.000,6,0.000,0.044,2826,1816,3358,0,0,0,0,0,0
$GC,8464,-0.57,-121.6,717.6,-8.2,502,8467,0.00,0.80,0.00,0.000,4,0.000,0.052,2822,2340,3357,0,0,0,0,0,0
$GC,8565,-0.57,-121.6,726.3,-8.5,505,8569,0.00,0.77,0.00,0.000,6,0.000,0.047,2822,1826,3357,0,0,0,0,0,0
$GC,8905,-0.57,-121.6,760.1,-10.3,516,8909,0.05,1.17,0.00,0.000,4,0.219,0.054,2829,2568,3357,0,0,0,0,0,0
$GC,8998,-0.57,-121.6,769.2,-9.5,518,9004,0.00,1.17,0.00,0.000,6,0.000,0.044,2828,1817,3356,0,0,0,0,0,0
$GC,9311,-0.57,-121.6,799.6,-9.6,529,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1817,3356,0,0,0,0,0,0
$GC,9617,-0.57,-121.6,826.9,-8.7,539,9621,0.00,0.60,0.00,0.000,4,0.000,0.054,2826,2221,3355,0,0,0,0,0,0
$GC,9773,-0.57,-121.6,840.1,-8.3,543,9778,0.00,0.62,0.00,0.000,6,0.000,0.049,2826,1812,3355,0,0,0,0,0,0
$GC,10092,-0.57,-121.6,866.6,-8.4,554,10095,0.00,1.40,0.00,0.000,4,0.000,0.054,2819,2698,3355,0,0,0,0,0,0
$GC,10230,-0.57,-121.6,878.2,-8.3,558,10236,0.08,1.38,0.00,0.000,6,0.177,0.044,2839,1822,3354,0,0,0,0,0,0
$GC,10566,-0.59,-121.6,905.4,-8.5,569,10570,0.00,0.55,0.00,0.000,4,0.000,0.053,2837,2193,3354,0,0,0,0,0,0
$GC,10643,-0.62,-121.6,912.2,-7.7,571,10647,0.00,0.57,0.00,0.000,6,0.000,0.050,2837,1818,3354,0,0,0,0,0,0
$GC,10973,-0.64,-121.6,940.7,-8.7,582,10977,0.08,0.85,0.00,0.000,4,0.125,0.054,2793,2361,3353,0,0,0,0,0,0
$GC,11084,-0.60,-121.6,951.9,-9.8,585,11089,0.08,0.82,0.00,0.000,6,0.141,0.048,2820,1822,3353,0,0,0,0,0,0
$GC,11413,-0.60,-121.6,982.4,-9.5,596,11417,0.00,0.75,0.00,0.000,4,0.000,0.052,2817,2314,3352,0,0,0,0,0,0
$GC,11518,-0.60,-121.6,992.8,-9.7,599,11522,0.00,0.77,0.00,0.000,6,0.000,0.047,2818,1813,3352,0,0,0,0,0,0
$STATE,11607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11607,begin apogee
$GC,11611,-0.23,0.0,1001.5,10.0,602,11714,0.40,0.00,100.12,1.303,6,0.123,0.000,2947,1645,2862,0,0,0,0,0,0
$STATE,11715,end apogee,CONTROL_FINISHED_OK
$STATE,11715,begin climb
$GC,11716,0.71,121.6,1006.6,0.0,605,11827,0.88,0.98,103.03,1.268,4,0.091,0.055,3245,1088,2366,0,0,0,0,0,0
$GC,11873,0.71,192.4,1004.2,4.5,610,11943,0.00,0.93,63.92,1.243,6,0.000,0.045,3245,1641,2077,0,0,0,0,0,0
$GC,12273,0.74,247.1,984.7,5.2,623,12327,0.00,0.65,48.62,1.244,4,0.000,0.050,3244,2037,1854,0,0,0,0,0,0
$GC,12389,0.80,276.1,978.0,6.2,626,12420,0.05,0.65,27.23,1.209,6,0.070,0.053,3285,1649,1736,0,0,0,0,0,0
$GC,12732,0.80,276.1,952.3,7.5,638,12736,0.00,0.43,0.00,0.000,4,0.000,0.063,3287,1371,1728,0,0,0,0,0,0
$GC,12792,0.80,286.5,948.0,7.0,639,12807,0.00,0.45,9.70,1.076,6,0.000,0.051,3286,1654,1693,0,0,0,0,0,0
$GC,13137,0.81,303.8,924.7,6.7,651,13157,0.00,0.77,16.80,1.167,4,0.000,0.057,3290,1196,1623,0,0,0,0,0,0
$GC,13241,0.83,311.6,917.8,7.1,654,13255,0.00,0.70,8.43,1.036,6,0.000,0.047,3290,1645,1591,0,0,0,0,0,0
$GC,13568,0.87,312.0,894.3,7.4,665,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1645,1587,0,0,0,0,0,0
$GC,13874,0.90,312.0,870.1,8.1,675,13876,0.05,0.00,0.00,0.000,6,0.166,0.000,3323,1645,1586,0,0,0,0,0,0
$GC,14180,0.90,312.0,835.1,12.0,685,14184,0.00,0.47,0.00,0.000,4,0.000,0.062,3325,1334,1585,0,0,0,0,0,0
$GC,14285,0.87,312.0,822.3,12.1,688,14290,0.10,0.50,0.00,0.000,6,0.161,0.052,3299,1655,1585,0,0,0,0,0,0
$GC,14620,0.87,312.0,787.0,10.2,699,14623,0.00,0.93,0.00,0.000,4,0.000,0.057,3302,1071,1585,0,0,0,0,0,0
$GC,14702,0.87,312.0,778.6,9.6,701,14707,0.00,0.93,0.00,0.000,6,0.000,0.046,3303,1654,1584,0,0,0,0,0,0
$GC,15026,0.87,312.0,748.2,8.9,712,15030,0.00,0.57,0.00,0.000,4,0.000,0.060,3305,1280,1585,0,0,0,0,0,0
$GC,15103,0.87,312.0,741.7,7.9,714,15107,0.00,0.57,0.00,0.000,6,0.000,0.049,3305,1650,1585,0,0,0,0,0,0
$GC,15433,0.87,313.6,717.4,7.3,725,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1650,1584,0,0,0,0,0,0
$GC,15738,0.87,313.6,690.8,9.4,735,15742,0.00,0.95,0.00,0.000,4,0.000,0.057,3309,1057,1584,0,0,0,0,0,0
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$STATE,22774,end climb,SURFACE_DEPTH_REACHED
$STATE,22774,begin surface coast
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