version: 66.07.10.p01
glider: 573
mission: 4
dive: 191
start: 11 10 112 23 19 38
data:
$ID,573
$MISSION,4
$DIVE,191
$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,-4901.6855
$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,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,170
$GPS1,101112,231105,-4212.342,-711.796,45,1.0,45,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-72.5
$GPS2,101112,231843,-4212.402,-711.790,26,1.2,27,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,-0.215
$KALMAN_X,-214237.4,371.4,552.2,444556.7,-3005.3
$KALMAN_Y,-135500.3,301.3,301.0,185573.6,-606.7
$MHEAD_RNG_PITCHd_Wd,194.0,34466,-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,-121.6,0.0,0.0,0,70,0.00,0.00,-42.97,0.000,2,0.000,0.000,86,1824,2531,0,0,0,0,0,0
$GC,72,-0.71,-121.6,3.2,-1.2,7,122,11.43,1.62,-30.55,0.000,4,0.254,0.076,2781,2824,3355,0,0,0,0,0,0
$GC,195,-0.61,-121.6,12.3,-10.5,27,203,0.12,1.60,0.00,0.000,6,0.144,0.046,2822,1821,3356,0,0,0,0,0,0
$GC,276,-0.57,-121.6,19.6,-8.9,40,283,0.03,0.00,0.00,0.000,6,0.283,0.000,2831,1821,3356,0,0,0,0,0,0
$GC,356,-0.55,-121.6,26.6,-8.6,53,363,0.00,0.45,0.00,0.000,4,0.000,0.058,2829,2121,3357,0,0,0,0,0,0
$GC,445,-0.52,-121.6,35.0,-8.7,68,452,0.05,0.47,0.00,0.000,6,0.151,0.055,2848,1803,3357,0,0,0,0,0,0
$GC,684,-0.52,-121.6,55.7,-8.9,109,689,0.00,1.92,0.00,0.000,4,0.000,0.058,2839,3007,3357,0,0,0,0,0,0
$GC,788,-0.52,-121.6,64.7,-8.9,127,793,0.00,1.83,0.00,0.000,6,0.000,0.045,2839,1822,3357,0,0,0,0,0,0
$GC,1132,-0.52,-121.6,94.1,-8.5,188,1137,0.00,2.25,0.00,0.000,4,0.000,0.058,2829,3232,3358,0,0,0,0,0,0
$GC,1250,-0.52,-121.6,104.0,-8.1,204,1254,0.08,2.17,0.00,0.000,6,0.187,0.042,2848,1815,3358,0,0,0,0,0,0
$GC,1575,-0.52,-121.6,129.4,-8.0,225,1579,0.00,2.22,0.00,0.000,4,0.000,0.059,2837,3213,3358,0,0,0,0,0,0
$GC,1681,-0.52,-121.6,138.6,-9.0,231,1686,0.00,2.17,0.00,0.000,6,0.000,0.041,2838,1825,3359,0,0,0,0,0,0
$GC,2006,-0.52,-121.6,166.0,-8.8,252,2010,0.00,2.22,0.00,0.000,4,0.000,0.058,2827,3225,3358,0,0,0,0,0,0
$GC,2147,-0.52,-121.6,178.6,-8.5,260,2156,0.05,2.20,0.00,0.000,6,0.156,0.043,2846,1817,3359,0,0,0,0,0,0
$GC,2468,-0.52,-121.6,204.1,-7.9,281,2471,0.00,1.52,0.00,0.000,4,0.000,0.057,2839,2776,3359,0,0,0,0,0,0
$GC,2562,-0.52,-121.6,211.5,-7.3,286,2570,0.00,1.50,0.00,0.000,6,0.000,0.044,2839,1810,3358,0,0,0,0,0,0
$GC,2884,-0.52,-121.6,234.3,-7.0,307,2888,0.00,2.25,0.00,0.000,4,0.000,0.057,2829,3226,3359,0,0,0,0,0,0
$GC,3035,-0.52,-121.6,245.7,-7.2,316,3040,0.08,2.17,0.00,0.000,6,0.187,0.042,2848,1815,3359,0,0,0,0,0,0
$GC,3352,-0.54,-121.6,266.3,-6.5,332,3356,0.00,2.20,0.00,0.000,4,0.000,0.058,2838,3226,3359,0,0,0,0,0,0
$GC,3437,-0.57,-121.6,272.2,-7.0,336,3441,0.00,2.17,0.00,0.000,6,0.000,0.042,2837,1812,3359,0,0,0,0,0,0
$GC,3763,-0.62,-121.6,294.1,-6.6,352,3767,0.00,2.22,0.00,0.000,4,0.000,0.055,2838,415,3359,0,0,0,0,0,0
$GC,3858,-0.62,-121.6,301.4,-7.8,356,3863,0.00,2.22,0.00,0.000,6,0.000,0.042,2827,1828,3359,0,0,0,0,0,0
$GC,4179,-0.62,-121.6,325.0,-7.6,372,4183,0.00,2.17,0.00,0.000,4,0.000,0.057,2817,3227,3359,0,0,0,0,0,0
$GC,4325,-0.62,-121.6,336.7,-8.4,378,4334,0.00,2.20,0.00,0.000,6,0.000,0.042,2817,1815,3359,0,0,0,0,0,0
$GC,4642,-0.60,-121.6,364.0,-9.4,394,4646,0.00,2.17,0.00,0.000,4,0.000,0.058,2807,3202,3358,0,0,0,0,0,0
$GC,4751,-0.57,-121.6,374.3,-9.6,399,4756,0.10,2.12,0.00,0.000,6,0.163,0.043,2834,1819,3359,0,0,0,0,0,0
$GC,5066,-0.57,-121.6,403.0,-9.2,414,5070,0.00,1.90,0.00,0.000,4,0.000,0.057,2825,3023,3358,0,0,0,0,0,0
$GC,5171,-0.57,-121.6,413.1,-9.1,417,5176,0.00,1.88,0.00,0.000,6,0.000,0.042,2826,1822,3358,0,0,0,0,0,0
$GC,5507,-0.57,-121.6,444.6,-9.4,428,5511,0.00,2.22,0.00,0.000,4,0.000,0.058,2815,3226,3358,0,0,0,0,0,0
$GC,5636,-0.57,-121.6,457.0,-9.5,432,5640,0.08,2.17,0.00,0.000,6,0.189,0.043,2834,1818,3358,0,0,0,0,0,0
$GC,5969,-0.57,-121.6,486.1,-8.7,443,5973,0.00,1.02,0.00,0.000,4,0.000,0.055,2830,2470,3357,0,0,0,0,0,0
$GC,6053,-0.57,-121.6,493.2,-8.6,445,6057,0.00,1.02,0.00,0.000,6,0.000,0.047,2830,1808,3357,0,0,0,0,0,0
$GC,6376,-0.57,-121.6,520.8,-8.4,456,6380,0.00,2.25,0.00,0.000,4,0.000,0.059,2819,3225,3356,0,0,0,0,0,0
$GC,6510,-0.57,-121.6,532.1,-8.0,460,6515,0.03,2.20,0.00,0.000,6,0.179,0.043,2830,1822,3356,0,0,0,0,0,0
$GC,6845,-0.57,-121.6,559.1,-8.3,471,6848,0.00,1.12,0.00,0.000,4,0.000,0.055,2826,2536,3356,0,0,0,0,0,0
$GC,6938,-0.57,-121.6,567.3,-8.9,473,6945,0.00,1.15,0.00,0.000,6,0.000,0.047,2826,1804,3356,0,0,0,0,0,0
$GC,7251,-0.57,-121.6,595.0,-9.0,484,7255,0.00,2.25,0.00,0.000,4,0.000,0.059,2815,3221,3355,0,0,0,0,0,0
$GC,7368,-0.57,-121.6,605.7,-9.3,487,7374,0.05,2.20,0.00,0.000,6,0.158,0.043,2834,1818,3355,0,0,0,0,0,0
$GC,7686,-0.57,-121.6,631.7,-7.9,498,7690,0.00,2.15,0.00,0.000,4,0.000,0.060,2823,3180,3355,0,0,0,0,0,0
$GC,7796,-0.57,-121.6,640.9,-8.7,501,7801,0.00,2.12,0.00,0.000,6,0.000,0.044,2824,1818,3355,0,0,0,0,0,0
$GC,8120,-0.57,-121.6,667.9,-8.4,512,8124,0.00,2.03,0.00,0.000,4,0.000,0.060,2814,3104,3354,0,0,0,0,0,0
$GC,8231,-0.57,-121.6,677.2,-7.8,515,8236,0.05,2.03,0.00,0.000,6,0.162,0.044,2833,1815,3354,0,0,0,0,0,0
$GC,8560,-0.57,-121.6,703.8,-8.0,526,8564,0.00,1.88,0.00,0.000,4,0.000,0.058,2824,2981,3353,0,0,0,0,0,0
$GC,8654,-0.57,-121.6,711.5,-8.1,528,8660,0.00,1.83,0.00,0.000,6,0.000,0.044,2825,1816,3353,0,0,0,0,0,0
$GC,8967,-0.57,-121.6,735.8,-7.7,539,8971,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,3225,3352,0,0,0,0,0,0
$GC,9083,-0.57,-121.6,745.4,-7.9,542,9088,0.05,2.20,0.00,0.000,6,0.158,0.044,2833,1826,3353,0,0,0,0,0,0
$GC,9407,-0.57,-121.6,770.2,-7.6,553,9410,0.00,1.98,0.00,0.000,4,0.000,0.060,2824,3080,3353,0,0,0,0,0,0
$GC,9508,-0.57,-121.6,778.3,-8.2,556,9511,0.00,1.95,0.00,0.000,6,0.000,0.044,2824,1808,3352,0,0,0,0,0,0
$GC,9848,-0.57,-121.6,805.3,-8.0,567,9851,0.00,1.77,0.00,0.000,4,0.000,0.058,2816,2943,3352,0,0,0,0,0,0
$GC,9949,-0.57,-121.6,813.4,-8.1,570,9953,0.08,1.75,0.00,0.000,6,0.187,0.045,2835,1809,3352,0,0,0,0,0,0
$GC,10289,-0.59,-121.6,839.0,-7.5,581,10292,0.00,2.00,0.00,0.000,4,0.000,0.059,2826,3085,3352,0,0,0,0,0,0
$GC,10399,-0.59,-121.6,848.0,-7.8,584,10404,0.00,1.98,0.00,0.000,6,0.000,0.044,2826,1828,3351,0,0,0,0,0,0
$GC,10729,-0.59,-121.6,875.6,-8.5,595,10733,0.00,1.05,0.00,0.000,4,0.000,0.056,2821,2496,3351,0,0,0,0,0,0
$GC,10840,-0.59,-121.6,885.1,-8.7,598,10845,0.00,1.08,0.00,0.000,6,0.000,0.047,2822,1812,3351,0,0,0,0,0,0
$GC,11169,-0.59,-121.6,914.8,-9.2,609,11173,0.00,1.80,0.00,0.000,4,0.000,0.059,2813,2946,3351,0,0,0,0,0,0
$GC,11285,-0.59,-121.6,925.7,-10.0,612,11291,0.03,1.75,0.00,0.000,6,0.181,0.044,2823,1831,3350,0,0,0,0,0,0
$GC,11609,-0.59,-121.6,955.0,-9.1,623,11613,0.00,1.33,0.00,0.000,4,0.000,0.059,2818,2657,3350,0,0,0,0,0,0
$GC,11731,-0.59,-121.6,965.7,-8.9,626,11736,0.00,1.35,0.00,0.000,6,0.000,0.044,2818,1802,3350,0,0,0,0,0,0
$GC,12050,-0.59,-121.6,991.7,-8.1,637,12053,0.00,1.30,0.00,0.000,4,0.000,0.057,2812,2621,3350,0,0,0,0,0,0
$STATE,12153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12154,begin apogee
$GC,12159,-0.23,0.0,1000.2,8.0,640,12262,0.40,0.00,99.90,1.303,6,0.134,0.000,2943,1647,2862,0,0,0,0,0,0
$STATE,12263,end apogee,CONTROL_FINISHED_OK
$STATE,12263,begin climb
$GC,12264,0.71,121.6,1003.9,0.0,643,12375,0.93,0.95,104.20,1.267,4,0.096,0.052,3250,1102,2367,0,0,0,0,0,0
$GC,12414,0.71,149.3,1000.1,6.3,647,12444,0.00,0.93,25.98,1.206,6,0.000,0.044,3251,1643,2254,0,0,0,0,0,0
$GC,12758,0.71,168.9,977.4,6.6,659,12782,0.00,1.42,18.20,1.192,4,0.000,0.053,3251,2484,2173,0,0,0,0,0,0
$GC,12856,0.71,168.9,970.2,7.4,662,12860,0.00,1.38,0.00,0.000,6,0.000,0.047,3257,1652,2171,0,0,0,0,0,0
$GC,13196,0.71,184.5,946.5,6.8,673,13216,0.00,1.12,14.73,1.157,4,0.000,0.053,3257,2334,2109,0,0,0,0,0,0
$GC,13300,0.71,214.5,939.3,6.2,676,13334,0.00,1.12,28.23,1.206,6,0.000,0.049,3261,1644,1986,0,0,0,0,0,0
$GC,13665,0.71,225.9,913.0,6.9,688,13678,0.00,0.00,11.02,1.125,6,0.000,0.000,3262,1644,1940,0,0,0,0,0,0
$GC,13971,0.71,232.4,891.2,7.1,698,13980,0.00,0.00,7.12,0.992,6,0.000,0.000,3261,1644,1913,0,0,0,0,0,0
$GC,14277,0.71,232.4,866.8,8.2,708,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1644,1911,0,0,0,0,0,0
$GC,14584,0.74,232.4,841.2,8.2,718,14588,0.00,0.32,0.00,0.000,4,0.000,0.057,3262,1866,1912,0,0,0,0,0,0
$GC,14644,0.76,232.4,836.1,7.8,719,14650,0.00,0.38,0.00,0.000,6,0.000,0.060,3262,1633,1911,0,0,0,0,0,0
$GC,14957,0.78,238.6,812.8,7.2,730,14966,0.00,0.00,6.68,0.959,6,0.000,0.000,3263,1633,1889,0,0,0,0,0,0
$GC,15264,0.81,268.1,793.0,6.2,740,15297,0.00,0.70,28.15,1.155,4,0.000,0.052,3263,2057,1767,0,0,0,0,0,0
$GC,15348,0.85,299.5,787.7,6.1,742,15383,0.05,0.65,29.25,1.145,6,0.073,0.054,3304,1652,1641,0,0,0,0,0,0
$GC,15695,0.85,299.5,760.2,8.1,754,15699,0.00,0.85,0.00,0.000,4,0.000,0.060,3308,1125,1633,0,0,0,0,0,0
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$STATE,23897,end climb,SURFACE_DEPTH_REACHED
$STATE,23897,begin surface coast
$FINISH,1.8,1.018435
$STATE,23928,end surface coast,CONTROL_FINISHED_OK
$STATE,23928,begin surface
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$10V_AH,10.1,29.781
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73583,1240
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$CFSIZE,2097086464,2069168128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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