version: 66.07.10.p01
glider: 573
mission: 4
dive: 173
start: 11 6 112 11 34 26
data:
$ID,573
$MISSION,4
$DIVE,173
$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,-4841.9829
$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,33
$R_STBD_OVSHOOT,38
$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,152
$GPS1,061112,112623,-4210.230,-714.422,41,1.2,41,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-73.1
$GPS2,061112,113331,-4210.250,-714.386,16,1.1,16,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.063,-0.207
$KALMAN_X,-216374.5,95.5,-370.0,444357.5,218.1
$KALMAN_Y,-133906.1,24.4,33.9,188512.4,1822.1
$MHEAD_RNG_PITCHd_Wd,185.0,103240,-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,-121.6,0.0,0.0,0,63,0.00,0.00,-36.45,0.000,2,0.000,0.000,83,1835,2575,0,0,0,0,0,0
$GC,65,-0.71,-121.6,3.1,-1.5,6,115,11.25,2.25,-29.08,0.000,4,0.249,0.074,2778,3209,3360,0,0,0,0,0,0
$GC,323,-0.61,-121.6,27.0,-11.5,49,331,0.12,2.20,0.00,0.000,6,0.145,0.044,2818,1826,3362,0,0,0,0,0,0
$GC,401,-0.57,-121.6,35.1,-9.9,62,409,0.08,0.73,0.00,0.000,4,0.206,0.057,2837,1361,3362,0,0,0,0,0,0
$GC,514,-0.57,-121.6,45.7,-9.7,81,519,0.00,0.70,0.00,0.000,6,0.000,0.050,2834,1816,3362,0,0,0,0,0,0
$GC,747,-0.57,-121.6,68.4,-9.4,122,752,0.00,2.08,0.00,0.000,4,0.000,0.057,2824,3121,3362,0,0,0,0,0,0
$GC,853,-0.57,-121.6,78.8,-9.8,141,860,0.00,2.08,0.00,0.000,6,0.000,0.044,2824,1808,3362,0,0,0,0,0,0
$GC,1188,-0.54,-121.6,112.6,-9.9,186,1192,0.08,1.00,0.00,0.000,4,0.205,0.054,2838,2435,3363,0,0,0,0,0,0
$GC,1309,-0.54,-121.6,122.6,-7.5,193,1313,0.00,0.95,0.00,0.000,6,0.000,0.046,2838,1819,3363,0,0,0,0,0,0
$GC,1640,-0.54,-121.6,148.3,-7.4,214,1644,0.00,2.22,0.00,0.000,4,0.000,0.059,2828,3221,3363,0,0,0,0,0,0
$GC,1756,-0.54,-121.6,156.9,-7.2,221,1761,0.08,2.15,0.00,0.000,6,0.184,0.043,2847,1820,3363,0,0,0,0,0,0
$GC,2080,-0.54,-121.6,181.0,-7.3,242,2084,0.00,1.45,0.00,0.000,4,0.000,0.055,2841,2731,3364,0,0,0,0,0,0
$GC,2186,-0.54,-121.6,189.2,-7.6,248,2191,0.00,1.45,0.00,0.000,6,0.000,0.044,2841,1810,3364,0,0,0,0,0,0
$GC,2513,-0.54,-121.6,213.8,-8.1,269,2517,0.00,1.90,0.00,0.000,4,0.000,0.057,2832,3011,3364,0,0,0,0,0,0
$GC,2632,-0.54,-121.6,224.0,-8.1,276,2636,0.05,1.83,0.00,0.000,6,0.210,0.044,2845,1816,3364,0,0,0,0,0,0
$GC,2963,-0.54,-121.6,250.2,-8.0,297,2967,0.00,1.33,0.00,0.000,4,0.000,0.054,2839,2654,3364,0,0,0,0,0,0
$GC,3068,-0.54,-121.6,259.1,-8.2,301,3075,0.00,1.33,0.00,0.000,6,0.000,0.044,2839,1811,3364,0,0,0,0,0,0
$GC,3387,-0.54,-121.6,283.9,-7.4,317,3391,0.00,0.90,0.00,0.000,4,0.000,0.053,2835,2394,3364,0,0,0,0,0,0
$GC,3486,-0.54,-121.6,291.7,-7.8,321,3491,0.00,0.90,0.00,0.000,6,0.000,0.047,2835,1817,3364,0,0,0,0,0,0
$GC,3810,-0.54,-121.6,314.6,-7.1,337,3814,0.00,2.22,0.00,0.000,4,0.000,0.058,2825,3223,3364,0,0,0,0,0,0
$GC,3933,-0.54,-121.6,323.7,-7.1,342,3938,0.05,2.20,0.00,0.000,6,0.150,0.043,2844,1818,3364,0,0,0,0,0,0
$GC,4255,-0.54,-121.6,346.0,-7.2,358,4259,0.00,1.85,0.00,0.000,4,0.000,0.058,2835,2987,3364,0,0,0,0,0,0
$GC,4360,-0.54,-121.6,353.8,-7.0,362,4369,0.00,1.83,0.00,0.000,6,0.000,0.044,2836,1823,3364,0,0,0,0,0,0
$GC,4677,-0.54,-121.6,377.1,-7.4,378,4681,0.00,2.20,0.00,0.000,4,0.000,0.058,2825,3224,3364,0,0,0,0,0,0
$GC,4794,-0.54,-121.6,386.2,-8.3,383,4799,0.05,2.20,0.00,0.000,6,0.150,0.044,2845,1815,3363,0,0,0,0,0,0
$GC,5114,-0.54,-121.6,409.0,-7.3,397,5118,0.00,2.20,0.00,0.000,4,0.000,0.060,2834,3216,3363,0,0,0,0,0,0
$GC,5230,-0.54,-121.6,418.1,-8.2,400,5235,0.00,2.17,0.00,0.000,6,0.000,0.044,2834,1824,3363,0,0,0,0,0,0
$GC,5548,-0.54,-121.6,444.2,-8.4,411,5551,0.00,1.02,0.00,0.000,4,0.000,0.054,2830,2476,3363,0,0,0,0,0,0
$GC,5653,-0.54,-121.6,453.3,-8.3,414,5658,0.08,1.05,0.00,0.000,6,0.177,0.046,2849,1805,3362,0,0,0,0,0,0
$GC,5988,-0.56,-121.6,479.7,-8.1,425,5992,0.00,2.22,0.00,0.000,4,0.000,0.060,2839,3221,3362,0,0,0,0,0,0
$GC,6117,-0.56,-121.6,490.2,-7.9,429,6122,0.00,2.15,0.00,0.000,6,0.000,0.044,2839,1817,3361,0,0,0,0,0,0
$GC,6452,-0.56,-121.6,516.8,-7.8,440,6455,0.00,1.42,0.00,0.000,4,0.000,0.056,2833,2711,3361,0,0,0,0,0,0
$GC,6562,-0.56,-121.6,525.4,-7.5,443,6567,0.00,1.42,0.00,0.000,6,0.000,0.045,2833,1808,3360,0,0,0,0,0,0
$GC,6892,-0.56,-121.6,550.0,-7.6,454,6896,0.00,1.23,0.00,0.000,4,0.000,0.056,2827,2579,3360,0,0,0,0,0,0
$GC,7003,-0.56,-121.6,559.0,-7.8,457,7008,0.00,1.20,0.00,0.000,6,0.000,0.046,2827,1819,3361,0,0,0,0,0,0
$GC,7333,-0.56,-121.6,586.0,-8.3,468,7336,0.00,0.95,0.00,0.000,4,0.000,0.055,2823,2427,3360,0,0,0,0,0,0
$GC,7449,-0.56,-121.6,596.1,-8.8,471,7454,0.05,0.95,0.00,0.000,6,0.210,0.047,2836,1818,3360,0,0,0,0,0,0
$GC,7773,-0.56,-121.6,622.6,-8.3,482,7777,0.00,2.20,0.00,0.000,4,0.000,0.060,2826,3216,3359,0,0,0,0,0,0
$GC,7883,-0.56,-121.6,631.8,-8.2,485,7888,0.00,2.17,0.00,0.000,6,0.000,0.044,2826,1827,3359,0,0,0,0,0,0
$GC,8208,-0.56,-121.6,658.4,-8.0,496,8211,0.00,1.67,0.00,0.000,4,0.000,0.057,2818,2890,3359,0,0,0,0,0,0
$GC,8318,-0.56,-121.6,667.9,-8.5,499,8324,0.05,1.67,0.00,0.000,6,0.151,0.044,2837,1819,3358,0,0,0,0,0,0
$GC,8648,-0.56,-121.6,695.2,-8.6,510,8652,0.00,1.35,0.00,0.000,4,0.000,0.057,2831,2668,3358,0,0,0,0,0,0
$GC,8764,-0.56,-121.6,706.1,-9.8,513,8770,0.00,1.35,0.00,0.000,6,0.000,0.046,2831,1816,3358,0,0,0,0,0,0
$GC,9089,-0.56,-121.6,736.3,-9.2,524,9092,0.00,1.62,0.00,0.000,4,0.000,0.057,2824,2831,3358,0,0,0,0,0,0
$GC,9205,-0.56,-121.6,747.4,-9.4,527,9210,0.00,1.60,0.00,0.000,6,0.000,0.045,2823,1820,3357,0,0,0,0,0,0
$GC,9529,-0.56,-121.6,777.1,-9.1,538,9533,0.05,0.52,0.00,0.000,4,0.229,0.057,2833,2164,3357,0,0,0,0,0,0
$GC,9617,-0.56,-121.6,784.7,-8.6,540,9622,0.00,0.55,0.00,0.000,6,0.000,0.051,2833,1803,3357,0,0,0,0,0,0
$GC,9935,-0.56,-121.6,811.1,-8.4,551,9939,0.00,1.35,0.00,0.000,4,0.000,0.055,2826,2652,3357,0,0,0,0,0,0
$GC,10046,-0.56,-121.6,820.7,-8.6,554,10051,0.00,1.33,0.00,0.000,6,0.000,0.046,2827,1816,3356,0,0,0,0,0,0
$GC,10376,-0.56,-121.6,850.6,-9.5,565,10380,0.00,0.93,0.00,0.000,4,0.000,0.054,2822,2412,3356,0,0,0,0,0,0
$GC,10486,-0.56,-121.6,861.3,-9.3,568,10492,0.05,0.95,0.00,0.000,6,0.209,0.047,2835,1804,3356,0,0,0,0,0,0
$GC,10816,-0.56,-121.6,887.2,-7.2,579,10820,0.00,1.23,0.00,0.000,4,0.000,0.055,2830,2582,3355,0,0,0,0,0,0
$GC,10945,-0.58,-121.6,896.2,-7.0,582,10950,0.00,1.17,0.00,0.000,6,0.000,0.047,2830,1827,3355,0,0,0,0,0,0
$GC,11257,-0.58,-121.6,916.9,-6.5,593,11261,0.00,0.62,0.00,0.000,4,0.000,0.054,2827,2242,3355,0,0,0,0,0,0
$GC,11351,-0.58,-121.6,922.7,-4.8,595,11357,0.00,0.68,0.00,0.000,6,0.000,0.050,2827,1805,3355,0,0,0,0,0,0
$GC,11664,-0.58,-121.6,942.6,-6.7,606,11668,0.00,0.88,0.00,0.000,4,0.000,0.054,2823,2372,3355,0,0,0,0,0,0
$GC,11786,-0.58,-121.6,951.2,-6.9,609,11791,0.00,0.88,0.00,0.000,6,0.000,0.048,2823,1801,3355,0,0,0,0,0,0
$GC,12105,-0.58,-121.6,973.1,-6.7,620,12108,0.00,1.30,0.00,0.000,4,0.000,0.055,2817,2624,3354,0,0,0,0,0,0
$GC,12227,-0.58,-121.6,981.8,-6.7,623,12232,0.00,1.25,0.00,0.000,6,0.000,0.047,2817,1827,3354,0,0,0,0,0,0
$STATE,12483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12483,begin apogee
$GC,12487,-0.23,0.0,1000.5,7.4,632,12591,0.40,0.00,100.85,1.310,6,0.129,0.000,2945,1640,2862,0,0,0,0,0,0
$STATE,12592,end apogee,CONTROL_FINISHED_OK
$STATE,12592,begin climb
$GC,12593,0.71,121.6,1003.6,0.0,635,12704,0.90,1.45,104.05,1.268,4,0.093,0.054,3250,812,2366,0,0,0,0,0,0
$GC,12754,0.71,148.4,998.3,6.3,640,12784,0.00,1.40,25.05,1.209,6,0.000,0.044,3250,1636,2255,0,0,0,0,0,0
$GC,13120,0.71,163.6,974.1,6.8,652,13139,0.00,1.33,13.77,1.171,4,0.000,0.052,3250,2432,2194,0,0,0,0,0,0
$GC,13253,0.71,172.9,964.5,7.0,656,13267,0.00,1.27,9.25,1.071,6,0.000,0.049,3256,1655,2158,0,0,0,0,0,0
$GC,13591,0.71,174.7,939.9,7.3,667,13595,0.00,0.30,0.00,0.000,4,0.000,0.060,3256,1858,2155,0,0,0,0,0,0
$GC,13659,0.71,175.6,934.7,7.4,669,13667,0.00,0.35,3.80,0.708,6,0.000,0.063,3257,1636,2146,0,0,0,0,0,0
$GC,13997,0.71,175.6,908.1,8.0,680,14000,0.00,0.32,0.00,0.000,4,0.000,0.057,3257,1857,2145,0,0,0,0,0,0
$GC,14102,0.71,175.6,899.6,8.0,683,14106,0.00,0.35,0.00,0.000,6,0.000,0.062,3259,1641,2145,0,0,0,0,0,0
$GC,14436,0.71,175.6,873.3,7.8,694,14440,0.00,0.47,0.00,0.000,4,0.000,0.054,3259,1958,2145,0,0,0,0,0,0
$GC,14525,0.71,186.2,866.8,7.0,696,14540,0.00,0.50,10.80,1.104,6,0.000,0.057,3261,1644,2102,0,0,0,0,0,0
$GC,14876,0.71,207.6,843.1,6.5,708,14901,0.00,0.68,20.20,1.167,4,0.000,0.047,3261,2076,2016,0,0,0,0,0,0
$GC,14962,0.71,223.3,836.9,6.8,710,14982,0.00,0.70,15.40,1.122,6,0.000,0.054,3264,1644,1951,0,0,0,0,0,0
$GC,15313,0.73,230.2,811.8,7.1,722,15321,0.00,0.00,6.85,0.958,6,0.000,0.000,3263,1644,1923,0,0,0,0,0,0
$GC,15653,0.76,243.3,787.9,6.9,733,15669,0.00,0.55,12.98,1.089,4,0.000,0.053,3264,1982,1870,0,0,0,0,0,0
$GC,15719,0.79,259.8,783.1,6.7,735,15739,0.00,0.55,16.73,1.104,6,0.000,0.056,3266,1642,1801,0,0,0,0,0,0
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$STATE,24908,end climb,SURFACE_DEPTH_REACHED
$STATE,24909,begin surface coast
$FINISH,1.7,1.026155
$STATE,24922,end surface coast,CONTROL_FINISHED_OK
$STATE,24922,begin surface
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$TCM_TEMP,15.00
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$10V_AH,10.2,27.425
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73457,1264
$CAP_FILE_SIZE,224743,0
$CFSIZE,2097086464,2071560192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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