version: 66.07.10.p01
glider: 573
mission: 4
dive: 169
start: 11 5 112 8 23 20
data:
$ID,573
$MISSION,4
$DIVE,169
$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,-4828.5986
$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,28
$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,148
$GPS1,051112,081505,-4200.871,-718.376,65,1.1,65,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.6
$GPS2,051112,082225,-4200.826,-718.328,19,1.1,20,-22.0
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.095,-0.195
$KALMAN_X,-214791.3,68.9,317.8,436730.2,-338.4
$KALMAN_Y,-138380.5,-189.4,19.2,210681.0,579.2
$MHEAD_RNG_PITCHd_Wd,176.0,121265,-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,25,-0.71,-121.6,0.0,0.0,0,58,0.00,0.00,-31.33,0.000,2,0.000,0.000,81,1832,2540,0,0,0,0,0,0
$GC,60,-0.71,-121.6,3.0,-1.9,5,110,11.05,2.25,-32.92,0.000,4,0.240,0.070,2779,3226,3358,0,0,0,0,0,0
$GC,254,-0.62,-121.6,22.0,-14.3,37,262,0.10,2.25,0.00,0.000,6,0.150,0.043,2812,1815,3360,0,0,0,0,0,0
$GC,334,-0.56,-121.6,30.5,-9.6,50,342,0.10,0.77,0.00,0.000,4,0.185,0.054,2836,2302,3360,0,0,0,0,0,0
$GC,517,-0.56,-121.6,46.5,-8.5,81,522,0.00,0.75,0.00,0.000,6,0.000,0.049,2836,1816,3360,0,0,0,0,0,0
$GC,747,-0.56,-121.6,68.7,-9.4,122,753,0.00,1.12,0.00,0.000,4,0.000,0.053,2831,2525,3360,0,0,0,0,0,0
$GC,846,-0.56,-121.6,77.3,-8.8,139,850,0.00,1.10,0.00,0.000,6,0.000,0.047,2831,1821,3360,0,0,0,0,0,0
$GC,1183,-0.56,-121.6,109.4,-9.8,188,1186,0.00,0.90,0.00,0.000,4,0.000,0.052,2827,2402,3360,0,0,0,0,0,0
$GC,1271,-0.56,-121.6,118.1,-9.4,193,1276,0.00,0.93,0.00,0.000,6,0.000,0.046,2827,1809,3361,0,0,0,0,0,0
$GC,1598,-0.54,-121.6,147.9,-8.9,214,1603,0.08,1.90,0.00,0.000,4,0.200,0.057,2837,2997,3362,0,0,0,0,0,0
$GC,1709,-0.54,-121.6,157.8,-8.0,220,1717,0.00,1.85,0.00,0.000,6,0.000,0.042,2838,1816,3362,0,0,0,0,0,0
$GC,2030,-0.54,-121.6,183.5,-8.1,241,2034,0.00,1.60,0.00,0.000,4,0.000,0.055,2830,2821,3362,0,0,0,0,0,0
$GC,2134,-0.54,-121.6,192.0,-7.7,247,2138,0.03,1.58,0.00,0.000,6,0.177,0.044,2841,1816,3361,0,0,0,0,0,0
$GC,2465,-0.54,-121.6,218.6,-8.2,268,2468,0.00,1.65,0.00,0.000,4,0.000,0.056,2834,2850,3362,0,0,0,0,0,0
$GC,2593,-0.54,-121.6,230.1,-8.5,275,2599,0.00,1.60,0.00,0.000,6,0.000,0.044,2833,1823,3362,0,0,0,0,0,0
$GC,2918,-0.54,-121.6,257.2,-8.1,295,2922,0.00,0.60,0.00,0.000,4,0.000,0.053,2831,2227,3362,0,0,0,0,0,0
$GC,3011,-0.54,-121.6,264.8,-7.8,299,3015,0.00,0.62,0.00,0.000,6,0.000,0.049,2830,1810,3362,0,0,0,0,0,0
$GC,3345,-0.54,-121.6,290.4,-7.5,315,3349,0.05,1.95,0.00,0.000,4,0.220,0.057,2834,3023,3362,0,0,0,0,0,0
$GC,3461,-0.54,-121.6,299.5,-7.8,320,3466,0.00,1.88,0.00,0.000,6,0.000,0.042,2833,1821,3362,0,0,0,0,0,0
$GC,3789,-0.54,-121.6,326.7,-8.8,336,3792,0.00,1.98,0.00,0.000,4,0.000,0.057,2824,3082,3362,0,0,0,0,0,0
$GC,3906,-0.54,-121.6,337.7,-8.5,341,3911,0.05,1.98,0.00,0.000,6,0.149,0.044,2844,1819,3362,0,0,0,0,0,0
$GC,4235,-0.54,-121.6,365.3,-8.5,357,4239,0.00,1.30,0.00,0.000,4,0.000,0.055,2838,2641,3362,0,0,0,0,0,0
$GC,4335,-0.54,-121.6,374.3,-8.7,361,4340,0.00,1.30,0.00,0.000,6,0.000,0.045,2838,1813,3362,0,0,0,0,0,0
$GC,4667,-0.54,-121.6,403.5,-8.9,377,4670,0.00,1.88,0.00,0.000,4,0.000,0.057,2829,3000,3362,0,0,0,0,0,0
$GC,4771,-0.54,-121.6,413.3,-8.8,380,4777,0.03,1.85,0.00,0.000,6,0.184,0.044,2840,1819,3362,0,0,0,0,0,0
$GC,5107,-0.54,-121.6,442.7,-8.7,391,5110,0.00,0.90,0.00,0.000,4,0.000,0.054,2837,2397,3362,0,0,0,0,0,0
$GC,5211,-0.54,-121.6,452.3,-8.6,394,5216,0.00,0.93,0.00,0.000,6,0.000,0.047,2837,1805,3361,0,0,0,0,0,0
$GC,5547,-0.54,-121.6,482.7,-9.1,405,5550,0.00,1.83,0.00,0.000,4,0.000,0.058,2828,2961,3361,0,0,0,0,0,0
$GC,5657,-0.54,-121.6,492.8,-8.8,408,5663,0.03,1.77,0.00,0.000,6,0.188,0.044,2839,1826,3361,0,0,0,0,0,0
$GC,5987,-0.54,-121.6,519.9,-8.0,419,5990,0.00,0.75,0.00,0.000,4,0.000,0.054,2836,2315,3360,0,0,0,0,0,0
$GC,6088,-0.54,-121.6,527.3,-7.4,422,6092,0.00,0.75,0.00,0.000,6,0.000,0.049,2836,1821,3360,0,0,0,0,0,0
$GC,6429,-0.54,-121.6,552.0,-7.0,433,6432,0.00,1.83,0.00,0.000,4,0.000,0.057,2827,2977,3359,0,0,0,0,0,0
$GC,6545,-0.54,-121.6,561.1,-8.0,436,6551,0.05,1.83,0.00,0.000,6,0.155,0.044,2846,1814,3360,0,0,0,0,0,0
$GC,6870,-0.56,-121.6,584.9,-7.3,447,6874,0.00,1.95,0.00,0.000,4,0.000,0.058,2838,3056,3359,0,0,0,0,0,0
$GC,6986,-0.56,-121.6,593.7,-7.8,450,6991,0.00,1.95,0.00,0.000,6,0.000,0.044,2838,1818,3359,0,0,0,0,0,0
$GC,7311,-0.56,-121.6,617.9,-7.5,461,7314,0.00,1.12,0.00,0.000,4,0.000,0.055,2833,2533,3358,0,0,0,0,0,0
$GC,7416,-0.56,-121.6,625.9,-7.2,464,7421,0.00,1.15,0.00,0.000,6,0.000,0.047,2833,1803,3358,0,0,0,0,0,0
$GC,7751,-0.56,-121.6,651.4,-7.6,475,7755,0.00,2.00,0.00,0.000,4,0.000,0.058,2824,3062,3358,0,0,0,0,0,0
$GC,7879,-0.56,-121.6,661.5,-7.5,478,7886,0.03,1.95,0.00,0.000,6,0.181,0.044,2834,1818,3357,0,0,0,0,0,0
$GC,8192,-0.56,-121.6,684.0,-7.1,489,8196,0.00,0.75,0.00,0.000,4,0.000,0.054,2831,2304,3357,0,0,0,0,0,0
$GC,8297,-0.56,-121.6,691.8,-7.3,492,8302,0.00,0.77,0.00,0.000,6,0.000,0.049,2831,1805,3357,0,0,0,0,0,0
$GC,8633,-0.56,-121.6,714.8,-6.9,503,8637,0.00,1.58,0.00,0.000,4,0.000,0.057,2823,2787,3356,0,0,0,0,0,0
$GC,8761,-0.56,-121.6,723.8,-6.5,506,8767,0.03,1.52,0.00,0.000,6,0.179,0.046,2834,1811,3356,0,0,0,0,0,0
$GC,9074,-0.56,-121.6,745.8,-7.1,517,9078,0.00,1.67,0.00,0.000,4,0.000,0.057,2826,2857,3356,0,0,0,0,0,0
$GC,9195,-0.56,-121.6,754.8,-7.7,520,9200,0.00,1.62,0.00,0.000,6,0.000,0.045,2826,1823,3356,0,0,0,0,0,0
$GC,9514,-0.56,-121.6,779.2,-7.9,531,9517,0.00,0.60,0.00,0.000,4,0.000,0.056,2824,2221,3355,0,0,0,0,0,0
$GC,9658,-0.56,-121.6,791.5,-8.3,535,9663,0.05,0.65,0.00,0.000,6,0.211,0.050,2836,1801,3355,0,0,0,0,0,0
$GC,9987,-0.56,-121.6,819.8,-8.9,546,9991,0.00,0.73,0.00,0.000,4,0.000,0.054,2833,2279,3355,0,0,0,0,0,0
$GC,10097,-0.56,-121.6,829.9,-9.1,549,10102,0.00,0.73,0.00,0.000,6,0.000,0.049,2833,1812,3354,0,0,0,0,0,0
$GC,10427,-0.56,-121.6,859.1,-9.2,560,10431,0.00,1.38,0.00,0.000,4,0.000,0.057,2827,2675,3353,0,0,0,0,0,0
$GC,10543,-0.56,-121.6,869.8,-9.2,563,10548,0.00,1.35,0.00,0.000,6,0.000,0.045,2827,1822,3353,0,0,0,0,0,0
$GC,10868,-0.56,-121.6,899.5,-9.2,574,10871,0.00,1.30,0.00,0.000,4,0.000,0.056,2821,2639,3353,0,0,0,0,0,0
$GC,10978,-0.56,-121.6,910.1,-10.5,577,10984,0.08,1.30,0.00,0.000,6,0.181,0.046,2841,1818,3353,0,0,0,0,0,0
$GC,11308,-0.59,-121.6,938.6,-8.6,588,11312,0.00,0.62,0.00,0.000,4,0.000,0.055,2838,2235,3353,0,0,0,0,0,0
$GC,11391,-0.62,-121.6,945.8,-9.0,590,11396,0.00,0.65,0.00,0.000,6,0.000,0.050,2838,1814,3353,0,0,0,0,0,0
$GC,11715,-0.65,-121.6,970.7,-7.4,601,11719,0.08,1.48,0.00,0.000,4,0.124,0.057,2791,2722,3352,0,0,0,0,0,0
$GC,11826,-0.62,-121.6,980.4,-8.3,604,11831,0.08,1.40,0.00,0.000,6,0.144,0.045,2817,1826,3352,0,0,0,0,0,0
$STATE,12093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12093,begin apogee
$GC,12097,-0.23,0.0,1001.0,7.5,613,12200,0.40,0.00,100.40,1.306,6,0.127,0.000,2946,1642,2862,0,0,0,0,0,0
$STATE,12201,end apogee,CONTROL_FINISHED_OK
$STATE,12201,begin climb
$GC,12202,0.71,121.6,1003.5,0.0,616,12313,0.90,1.67,104.05,1.263,4,0.093,0.054,3251,683,2365,0,0,0,0,0,0
$GC,12380,0.68,126.3,994.9,7.2,621,12391,0.00,1.62,4.88,0.876,6,0.000,0.043,3251,1643,2347,0,0,0,0,0,0
$GC,12698,0.68,138.4,972.5,6.9,632,12714,0.00,0.90,12.07,1.125,4,0.000,0.053,3251,2193,2297,0,0,0,0,0,0
$GC,12820,0.68,152.4,964.0,6.8,635,12839,0.00,0.85,13.75,1.143,6,0.000,0.050,3255,1660,2240,0,0,0,0,0,0
$GC,13163,0.69,191.3,943.5,5.8,647,13203,0.00,0.38,35.15,1.226,4,0.000,0.048,3255,1900,2081,0,0,0,0,0,0
$GC,13281,0.69,232.3,936.3,5.7,650,13323,0.00,0.43,37.35,1.221,6,0.000,0.057,3257,1644,1913,0,0,0,0,0,0
$GC,13630,0.72,246.5,913.0,6.8,662,13646,0.00,0.38,12.73,1.116,4,0.000,0.065,3259,1412,1857,0,0,0,0,0,0
$GC,13736,0.76,248.5,905.3,7.3,665,13739,0.00,0.35,0.00,0.000,6,0.000,0.057,3259,1645,1855,0,0,0,0,0,0
$GC,14065,0.79,248.5,880.5,7.6,676,14069,0.05,0.43,0.00,0.000,4,0.166,0.063,3297,1378,1854,0,0,0,0,0,0
$GC,14186,0.79,248.5,868.9,9.7,679,14191,0.08,0.45,0.00,0.000,6,0.174,0.052,3279,1661,1853,0,0,0,0,0,0
$GC,14504,0.79,248.5,841.1,8.6,690,14505,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1660,1852,0,0,0,0,0,0
$GC,14810,0.79,248.5,816.3,8.1,700,14814,0.00,0.47,0.00,0.000,4,0.000,0.060,3280,1350,1852,0,0,0,0,0,0
$GC,14898,0.79,248.5,809.2,8.4,702,14902,0.00,0.47,0.00,0.000,6,0.000,0.051,3280,1655,1852,0,0,0,0,0,0
$GC,15216,0.79,248.5,783.2,8.3,713,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1655,1851,0,0,0,0,0,0
$GC,15522,0.79,248.5,758.5,7.9,723,15524,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1655,1850,0,0,0,0,0,0
$GC,15829,0.79,248.5,735.2,7.6,733,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1656,1851,0,0,0,0,0,0
$GC,16135,0.80,253.9,712.5,7.2,743,16144,0.00,0.00,7.15,0.946,6,0.000,0.000,3280,1655,1827,0,0,0,0,0,0
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$STATE,24227,end climb,SURFACE_DEPTH_REACHED
$STATE,24227,begin surface coast
$FINISH,1.7,1.012829
$STATE,24269,end surface coast,CONTROL_FINISHED_OK
$STATE,24270,begin surface
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$10V_AH,10.2,26.852
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354044
$DATA_FILE_SIZE,73654,1258
$CAP_FILE_SIZE,207978,0
$CFSIZE,2097086464,2072084480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051112,151029,-4203.420,-716.397,51,1.2,51,-22.0