version: 66.07.10.p01
glider: 573
mission: 4
dive: 159
start: 11 2 112 14 38 13
data:
$ID,573
$MISSION,4
$DIVE,159
$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,-4795.2739
$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,26
$R_STBD_OVSHOOT,30
$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,138
$GPS1,021112,143035,-4221.786,-742.904,36,0.9,36,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-71.5
$GPS2,021112,143718,-4221.797,-742.938,13,1.7,14,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.155,0.152
$KALMAN_X,-206449.9,-213.6,714.7,394749.9,-5289.5
$KALMAN_Y,-146548.0,-159.0,-550.5,180547.9,4442.5
$MHEAD_RNG_PITCHd_Wd,67.3,51248,-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,-59.85,0.000,2,0.000,0.000,90,1808,2873,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.0,-1.4,10,121,10.90,0.73,-14.40,0.000,4,0.240,0.090,2786,2284,3358,0,0,0,0,0,0
$GC,199,-0.61,-121.6,14.7,-11.7,28,207,0.10,0.73,0.00,0.000,6,0.143,0.048,2819,1811,3359,0,0,0,0,0,0
$GC,280,-0.56,-121.6,22.9,-9.7,41,287,0.08,0.30,0.00,0.000,4,0.198,0.063,2838,1604,3360,0,0,0,0,0,0
$GC,496,-0.56,-121.6,39.4,-6.8,78,503,0.00,0.32,0.00,0.000,6,0.000,0.057,2837,1827,3360,0,0,0,0,0,0
$GC,735,-0.56,-121.6,55.5,-7.0,119,740,0.00,1.10,0.00,0.000,4,0.000,0.054,2832,2527,3360,0,0,0,0,0,0
$GC,838,-0.56,-121.6,62.7,-7.2,137,842,0.00,1.10,0.00,0.000,6,0.000,0.045,2833,1819,3360,0,0,0,0,0,0
$GC,1180,-0.56,-121.6,90.1,-8.2,198,1188,0.00,1.95,0.00,0.000,4,0.000,0.056,2823,3034,3361,0,0,0,0,0,0
$GC,1307,-0.56,-121.6,100.3,-8.0,220,1311,0.00,1.88,0.00,0.000,6,0.000,0.043,2824,1818,3361,0,0,0,0,0,0
$GC,1634,-0.53,-121.6,129.5,-9.2,241,1639,0.10,1.52,0.00,0.000,4,0.183,0.054,2843,2765,3361,0,0,0,0,0,0
$GC,1738,-0.53,-121.6,139.0,-9.0,247,1742,0.00,1.48,0.00,0.000,6,0.000,0.044,2843,1818,3361,0,0,0,0,0,0
$GC,2068,-0.53,-121.6,173.3,-11.1,268,2071,0.00,1.17,0.00,0.000,4,0.000,0.053,2838,2568,3361,0,0,0,0,0,0
$GC,2162,-0.53,-121.6,184.2,-11.1,273,2169,0.00,1.17,0.00,0.000,6,0.000,0.044,2838,1816,3361,0,0,0,0,0,0
$GC,2482,-0.53,-121.6,218.9,-10.3,294,2485,0.00,1.52,0.00,0.000,4,0.000,0.054,2831,2776,3362,0,0,0,0,0,0
$GC,2588,-0.53,-121.6,229.4,-9.7,300,2593,0.05,1.50,0.00,0.000,6,0.210,0.043,2846,1820,3362,0,0,0,0,0,0
$GC,2922,-0.53,-121.6,260.3,-9.7,320,2925,0.00,1.65,0.00,0.000,4,0.000,0.055,2838,2865,3362,0,0,0,0,0,0
$GC,3027,-0.53,-121.6,271.1,-10.4,324,3036,0.00,1.62,0.00,0.000,6,0.000,0.042,2838,1820,3362,0,0,0,0,0,0
$GC,3344,-0.53,-121.6,306.1,-11.4,340,3347,0.00,1.15,0.00,0.000,4,0.000,0.052,2833,2554,3362,0,0,0,0,0,0
$GC,3443,-0.53,-121.6,317.7,-11.6,344,3448,0.00,1.15,0.00,0.000,6,0.000,0.044,2833,1816,3362,0,0,0,0,0,0
$GC,3765,-0.53,-121.6,348.8,-8.7,360,3769,0.05,1.62,0.00,0.000,4,0.223,0.055,2838,2841,3362,0,0,0,0,0,0
$GC,3864,-0.53,-121.6,357.0,-7.6,364,3869,0.00,1.60,0.00,0.000,6,0.000,0.043,2836,1819,3362,0,0,0,0,0,0
$GC,4187,-0.53,-121.6,380.4,-7.3,380,4190,0.00,0.85,0.00,0.000,4,0.000,0.051,2834,2373,3362,0,0,0,0,0,0
$GC,4259,-0.53,-121.6,386.1,-7.6,383,4263,0.00,0.88,0.00,0.000,6,0.000,0.045,2834,1804,3362,0,0,0,0,0,0
$GC,4595,-0.53,-121.6,416.5,-9.9,397,4598,0.00,1.35,0.00,0.000,4,0.000,0.054,2827,2658,3362,0,0,0,0,0,0
$GC,4705,-0.53,-121.6,428.4,-10.8,400,4711,0.08,1.30,0.00,0.000,6,0.180,0.043,2848,1822,3361,0,0,0,0,0,0
$GC,5035,-0.53,-121.6,462.7,-10.6,411,5039,0.00,1.05,0.00,0.000,4,0.000,0.052,2843,2495,3362,0,0,0,0,0,0
$GC,5137,-0.55,-121.6,473.4,-10.4,414,5141,0.00,1.05,0.00,0.000,6,0.000,0.045,2843,1813,3361,0,0,0,0,0,0
$GC,5477,-0.55,-121.6,507.6,-9.7,425,5480,0.00,1.12,0.00,0.000,4,0.000,0.053,2838,2536,3361,0,0,0,0,0,0
$GC,5571,-0.55,-121.6,516.5,-9.5,427,5577,0.00,1.12,0.00,0.000,6,0.000,0.044,2838,1817,3361,0,0,0,0,0,0
$GC,5884,-0.55,-121.6,544.1,-8.4,438,5888,0.00,2.15,0.00,0.000,4,0.000,0.058,2828,3174,3360,0,0,0,0,0,0
$GC,6007,-0.55,-121.6,554.4,-8.3,441,6012,0.00,2.10,0.00,0.000,6,0.000,0.044,2828,1811,3360,0,0,0,0,0,0
$GC,6319,-0.55,-121.6,579.4,-8.0,452,6322,0.00,0.80,0.00,0.000,4,0.000,0.054,2825,2334,3360,0,0,0,0,0,0
$GC,6412,-0.55,-121.6,586.9,-8.2,454,6418,0.08,0.80,0.00,0.000,6,0.178,0.047,2845,1818,3360,0,0,0,0,0,0
$GC,6725,-0.55,-121.6,607.1,-6.3,465,6729,0.00,0.32,0.00,0.000,4,0.000,0.057,2843,2055,3359,0,0,0,0,0,0
$GC,6827,-0.55,-121.6,613.4,-5.8,468,6830,0.00,0.35,0.00,0.000,6,0.000,0.058,2844,1809,3358,0,0,0,0,0,0
$GC,7167,-0.57,-121.6,635.3,-6.6,479,7171,0.00,1.30,0.00,0.000,4,0.000,0.055,2837,2630,3358,0,0,0,0,0,0
$GC,7262,-0.59,-121.6,641.5,-6.4,481,7267,0.00,1.25,0.00,0.000,6,0.000,0.045,2838,1825,3358,0,0,0,0,0,0
$GC,7574,-0.59,-121.6,664.5,-7.7,492,7578,0.00,2.17,0.00,0.000,4,0.000,0.059,2828,3208,3357,0,0,0,0,0,0
$GC,7707,-0.59,-121.6,676.0,-8.7,496,7712,0.00,2.17,0.00,0.000,6,0.000,0.043,2827,1816,3357,0,0,0,0,0,0
$GC,8043,-0.59,-121.6,707.3,-9.6,507,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1815,3356,0,0,0,0,0,0
$GC,8349,-0.59,-121.6,736.3,-9.5,517,8353,0.00,0.95,0.00,0.000,4,0.000,0.053,2824,2429,3356,0,0,0,0,0,0
$GC,8471,-0.59,-121.6,748.0,-9.8,520,8476,0.00,0.98,0.00,0.000,6,0.000,0.046,2823,1802,3355,0,0,0,0,0,0
$GC,8789,-0.59,-121.6,777.7,-9.2,531,8793,0.00,0.85,0.00,0.000,4,0.000,0.052,2819,2358,3355,0,0,0,0,0,0
$GC,8894,-0.59,-121.6,787.2,-8.8,534,8899,0.00,0.85,0.00,0.000,6,0.000,0.047,2819,1810,3355,0,0,0,0,0,0
$GC,9230,-0.59,-121.6,815.0,-8.0,545,9233,0.00,1.02,0.00,0.000,4,0.000,0.054,2814,2468,3354,0,0,0,0,0,0
$GC,9346,-0.59,-121.6,824.3,-7.6,548,9351,0.05,1.02,0.00,0.000,6,0.220,0.047,2827,1811,3354,0,0,0,0,0,0
$GC,9669,-0.59,-121.6,849.8,-8.2,559,9673,0.00,0.73,0.00,0.000,4,0.000,0.054,2824,2289,3354,0,0,0,0,0,0
$GC,9813,-0.59,-121.6,862.5,-8.6,563,9818,0.00,0.73,0.00,0.000,6,0.000,0.048,2824,1819,3354,0,0,0,0,0,0
$GC,10143,-0.59,-121.6,895.0,-10.4,574,10147,0.00,0.75,0.00,0.000,4,0.000,0.054,2820,2309,3354,0,0,0,0,0,0
$GC,10270,-0.59,-121.6,908.7,-11.8,577,10275,0.00,0.77,0.00,0.000,6,0.000,0.049,2821,1809,3353,0,0,0,0,0,0
$GC,10583,-0.59,-121.6,942.8,-10.9,588,10586,0.00,1.02,0.00,0.000,4,0.000,0.054,2816,2460,3353,0,0,0,0,0,0
$GC,10687,-0.59,-121.6,954.2,-9.7,591,10692,0.00,1.00,0.00,0.000,6,0.000,0.047,2816,1820,3352,0,0,0,0,0,0
$GC,11023,-0.59,-121.6,987.6,-9.7,602,11026,0.00,0.95,0.00,0.000,4,0.000,0.054,2811,2434,3352,0,0,0,0,0,0
$GC,11145,-0.59,-121.6,999.1,-9.1,605,11150,0.08,0.98,0.00,0.000,6,0.180,0.046,2831,1808,3352,0,0,0,0,0,0
$STATE,11187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11187,begin apogee
$GC,11192,-0.23,0.0,1002.5,8.6,607,11295,0.35,0.00,100.20,1.302,6,0.119,0.000,2947,1641,2862,0,0,0,0,0,0
$STATE,11295,end apogee,CONTROL_FINISHED_OK
$STATE,11296,begin climb
$GC,11297,0.71,121.6,1006.7,0.0,610,11408,0.90,0.65,102.97,1.265,4,0.091,0.056,3249,1265,2366,0,0,0,0,0,0
$GC,11440,0.71,195.1,1003.4,4.4,614,11513,0.00,0.65,66.28,1.238,6,0.000,0.046,3249,1652,2066,0,0,0,0,0,0
$GC,11819,0.74,211.1,977.9,6.8,627,11839,0.00,0.90,14.45,1.154,4,0.000,0.050,3249,2209,2000,0,0,0,0,0,0
$GC,11920,0.77,215.8,971.2,7.2,630,11929,0.00,0.90,5.68,0.896,6,0.000,0.050,3253,1653,1982,0,0,0,0,0,0
$GC,12260,0.80,246.8,949.5,6.1,641,12292,0.08,0.00,29.15,1.212,6,0.123,0.000,3297,1653,1855,0,0,0,0,0,0
$GC,12595,0.80,246.8,922.7,7.9,652,12597,0.08,0.00,0.00,0.000,6,0.177,0.000,3279,1653,1849,0,0,0,0,0,0
$GC,12901,0.80,246.8,899.9,7.5,662,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1653,1848,0,0,0,0,0,0
$GC,13207,0.80,246.8,874.2,8.7,672,13211,0.00,0.32,0.00,0.000,4,0.000,0.057,3279,1878,1847,0,0,0,0,0,0
$GC,13335,0.80,246.8,863.0,8.6,675,13340,0.00,0.38,0.00,0.000,6,0.000,0.060,3281,1643,1847,0,0,0,0,0,0
$GC,13647,0.80,246.8,834.3,9.4,686,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1643,1847,0,0,0,0,0,0
$GC,13953,0.80,246.8,806.9,8.9,696,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1643,1846,0,0,0,0,0,0
$GC,14259,0.80,246.8,782.2,7.6,706,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1643,1846,0,0,0,0,0,0
$GC,14566,0.80,246.8,758.0,8.2,716,14569,0.00,0.55,0.00,0.000,4,0.000,0.058,3283,1276,1846,0,0,0,0,0,0
$GC,14633,0.80,246.8,752.4,8.8,718,14637,0.00,0.57,0.00,0.000,6,0.000,0.050,3283,1654,1846,0,0,0,0,0,0
$GC,14973,0.80,246.8,723.8,8.6,729,14974,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1654,1846,0,0,0,0,0,0
$GC,15279,0.80,246.8,696.8,9.1,739,15283,0.00,0.65,0.00,0.000,4,0.000,0.060,3286,1240,1846,0,0,0,0,0,0
$GC,15350,0.80,246.8,689.9,8.5,741,15354,0.00,0.65,0.00,0.000,6,0.000,0.048,3286,1656,1846,0,0,0,0,0,0
$GC,15685,0.80,246.8,656.3,10.4,752,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1656,1846,0,0,0,0,0,0
$GC,15991,0.80,246.8,624.3,10.4,762,15993,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1656,1845,0,0,0,0,0,0
$GC,16298,0.80,246.8,593.8,9.4,772,16299,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1656,1846,0,0,0,0,0,0
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$STATE,22683,end climb,SURFACE_DEPTH_REACHED
$STATE,22683,begin surface coast
$FINISH,1.6,1.026560
$STATE,22702,end surface coast,CONTROL_FINISHED_OK
$STATE,22703,begin surface
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$HUMID,43.93
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$10V_AH,10.2,25.462
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354012
$DATA_FILE_SIZE,70290,1184
$CAP_FILE_SIZE,193147,0
$CFSIZE,2097086464,2073427968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021112,205905,-4218.518,-742.124,41,0.9,41,-21.8