version: 66.07.10.p01
glider: 573
mission: 4
dive: 192
start: 11 11 112 6 10 7
data:
$ID,573
$MISSION,4
$DIVE,192
$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,-4904.9722
$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,33
$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,171
$GPS1,111112,060058,-4214.827,-713.428,43,1.5,43,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-65.2
$GPS2,111112,060912,-4214.779,-713.340,18,1.5,19,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.140,-0.166
$KALMAN_X,-215000.8,-467.4,-764.0,445359.7,1255.6
$KALMAN_Y,-134723.2,356.6,921.5,179721.8,-3404.3
$MHEAD_RNG_PITCHd_Wd,242.2,29619,-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,-121.6,0.0,0.0,0,76,0.00,0.00,-48.97,0.000,2,0.000,0.000,82,1821,2563,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.0,-0.8,8,128,11.65,2.30,-27.83,0.000,4,0.259,0.072,2775,3224,3359,0,0,0,0,0,0
$GC,260,-0.62,-121.6,26.4,-15.6,38,268,0.12,2.25,0.00,0.000,6,0.151,0.045,2815,1817,3361,0,0,0,0,0,0
$GC,340,-0.56,-121.6,36.5,-12.5,51,345,0.10,0.00,0.00,0.000,6,0.203,0.000,2840,1817,3362,0,0,0,0,0,0
$GC,575,-0.56,-121.6,56.3,-6.5,92,582,0.00,1.75,0.00,0.000,4,0.000,0.058,2833,2900,3362,0,0,0,0,0,0
$GC,652,-0.56,-121.6,62.6,-9.0,105,658,0.00,1.73,0.00,0.000,6,0.000,0.046,2833,1813,3362,0,0,0,0,0,0
$GC,995,-0.56,-121.6,96.1,-9.0,166,1000,0.00,2.25,0.00,0.000,4,0.000,0.059,2822,3230,3362,0,0,0,0,0,0
$GC,1115,-0.56,-121.6,106.7,-8.7,179,1120,0.08,2.20,0.00,0.000,6,0.187,0.043,2840,1814,3363,0,0,0,0,0,0
$GC,1439,-0.56,-121.6,133.7,-8.3,200,1443,0.00,1.80,0.00,0.000,4,0.000,0.057,2833,2956,3363,0,0,0,0,0,0
$GC,1527,-0.56,-121.6,141.3,-8.5,205,1532,0.00,1.77,0.00,0.000,6,0.000,0.043,2833,1821,3363,0,0,0,0,0,0
$GC,1852,-0.56,-121.6,168.1,-8.6,226,1856,0.00,2.22,0.00,0.000,4,0.000,0.058,2822,3232,3363,0,0,0,0,0,0
$GC,1967,-0.56,-121.6,177.8,-8.5,233,1972,0.08,2.20,0.00,0.000,6,0.188,0.042,2841,1808,3363,0,0,0,0,0,0
$GC,2291,-0.56,-121.6,204.7,-8.6,254,2294,0.00,0.70,0.00,0.000,4,0.000,0.053,2838,2277,3363,0,0,0,0,0,0
$GC,2396,-0.56,-121.6,214.1,-9.1,260,2401,0.00,0.73,0.00,0.000,6,0.000,0.047,2838,1803,3363,0,0,0,0,0,0
$GC,2723,-0.56,-121.6,243.0,-9.0,281,2727,0.00,2.22,0.00,0.000,4,0.000,0.057,2828,3222,3363,0,0,0,0,0,0
$GC,2868,-0.56,-121.6,256.9,-9.5,289,2873,0.00,2.15,0.00,0.000,6,0.000,0.042,2828,1828,3364,0,0,0,0,0,0
$GC,3185,-0.56,-121.6,285.8,-8.9,305,3189,0.00,1.75,0.00,0.000,4,0.000,0.056,2820,2942,3363,0,0,0,0,0,0
$GC,3285,-0.56,-121.6,295.4,-8.8,309,3291,0.05,1.75,0.00,0.000,6,0.155,0.044,2838,1821,3363,0,0,0,0,0,0
$GC,3609,-0.56,-121.6,323.1,-8.7,325,3613,0.00,1.50,0.00,0.000,4,0.000,0.056,2831,2765,3363,0,0,0,0,0,0
$GC,3692,-0.56,-121.6,330.6,-9.2,328,3701,0.00,1.50,0.00,0.000,6,0.000,0.044,2831,1810,3363,0,0,0,0,0,0
$GC,4009,-0.56,-121.6,359.1,-9.1,344,4012,0.00,1.52,0.00,0.000,4,0.000,0.056,2824,2768,3363,0,0,0,0,0,0
$GC,4108,-0.56,-121.6,368.9,-9.7,348,4114,0.05,1.50,0.00,0.000,6,0.217,0.044,2837,1815,3363,0,0,0,0,0,0
$GC,4430,-0.56,-121.6,399.5,-9.5,364,4434,0.00,2.22,0.00,0.000,4,0.000,0.058,2827,3232,3363,0,0,0,0,0,0
$GC,4541,-0.56,-121.6,410.6,-10.1,368,4546,0.00,2.20,0.00,0.000,6,0.000,0.042,2827,1822,3363,0,0,0,0,0,0
$GC,4865,-0.56,-121.6,441.1,-9.3,379,4869,0.00,1.67,0.00,0.000,4,0.000,0.057,2819,2888,3363,0,0,0,0,0,0
$GC,4967,-0.56,-121.6,450.5,-9.2,382,4971,0.08,1.67,0.00,0.000,6,0.186,0.044,2838,1798,3363,0,0,0,0,0,0
$GC,5306,-0.56,-121.6,479.2,-8.1,393,5310,0.00,2.28,0.00,0.000,4,0.000,0.059,2827,3229,3363,0,0,0,0,0,0
$GC,5410,-0.56,-121.6,488.4,-8.4,396,5415,0.00,2.20,0.00,0.000,6,0.000,0.041,2827,1822,3362,0,0,0,0,0,0
$GC,5740,-0.56,-121.6,515.7,-8.3,407,5744,0.00,2.22,0.00,0.000,4,0.000,0.058,2817,3223,3361,0,0,0,0,0,0
$GC,5836,-0.56,-121.6,523.8,-8.4,410,5841,0.08,2.17,0.00,0.000,6,0.188,0.044,2836,1816,3361,0,0,0,0,0,0
$GC,6170,-0.56,-121.6,551.1,-8.3,421,6174,0.00,2.22,0.00,0.000,4,0.000,0.059,2826,3226,3361,0,0,0,0,0,0
$GC,6286,-0.56,-121.6,561.0,-8.6,424,6291,0.00,2.20,0.00,0.000,6,0.000,0.043,2826,1821,3360,0,0,0,0,0,0
$GC,6604,-0.56,-121.6,588.5,-8.8,435,6608,0.03,2.03,0.00,0.000,4,0.270,0.059,2826,3103,3359,0,0,0,0,0,0
$GC,6697,-0.56,-121.6,596.7,-8.9,437,6703,0.00,2.03,0.00,0.000,6,0.000,0.044,2826,1813,3360,0,0,0,0,0,0
$GC,7010,-0.56,-121.6,623.9,-8.9,448,7014,0.03,1.25,0.00,0.000,4,0.272,0.057,2829,2591,3359,0,0,0,0,0,0
$GC,7111,-0.56,-121.6,632.7,-8.7,451,7115,0.00,1.20,0.00,0.000,6,0.000,0.046,2829,1818,3359,0,0,0,0,0,0
$GC,7451,-0.56,-121.6,661.8,-8.2,462,7455,0.00,2.22,0.00,0.000,4,0.000,0.060,2819,3212,3358,0,0,0,0,0,0
$GC,7567,-0.56,-121.6,671.8,-8.4,465,7573,0.05,2.17,0.00,0.000,6,0.155,0.043,2837,1824,3358,0,0,0,0,0,0
$GC,7886,-0.56,-121.6,695.7,-7.4,476,7890,0.00,1.90,0.00,0.000,4,0.000,0.058,2829,3005,3358,0,0,0,0,0,0
$GC,7997,-0.56,-121.6,704.0,-7.0,479,8001,0.00,1.88,0.00,0.000,6,0.000,0.044,2829,1807,3358,0,0,0,0,0,0
$GC,8326,-0.56,-121.6,729.1,-7.6,490,8330,0.00,1.75,0.00,0.000,4,0.000,0.058,2821,2914,3357,0,0,0,0,0,0
$GC,8437,-0.56,-121.6,738.2,-8.7,493,8442,0.03,1.70,0.00,0.000,6,0.192,0.044,2832,1826,3357,0,0,0,0,0,0
$GC,8766,-0.56,-121.6,764.5,-8.0,504,8770,0.00,0.82,0.00,0.000,4,0.000,0.054,2829,2361,3357,0,0,0,0,0,0
$GC,8871,-0.56,-121.6,773.0,-8.5,507,8876,0.00,0.85,0.00,0.000,6,0.000,0.049,2829,1811,3356,0,0,0,0,0,0
$GC,9206,-0.56,-121.6,799.6,-8.0,518,9210,0.00,2.25,0.00,0.000,4,0.000,0.060,2818,3221,3356,0,0,0,0,0,0
$GC,9322,-0.56,-121.6,809.6,-8.1,521,9328,0.05,2.20,0.00,0.000,6,0.158,0.044,2837,1821,3356,0,0,0,0,0,0
$GC,9641,-0.56,-121.6,836.4,-8.6,532,9644,0.00,1.52,0.00,0.000,4,0.000,0.057,2830,2775,3355,0,0,0,0,0,0
$GC,9734,-0.56,-121.6,844.8,-9.2,534,9741,0.00,1.52,0.00,0.000,6,0.000,0.044,2830,1808,3355,0,0,0,0,0,0
$GC,10048,-0.56,-121.6,872.8,-9.2,545,10051,0.00,1.45,0.00,0.000,4,0.000,0.057,2823,2716,3355,0,0,0,0,0,0
$GC,10149,-0.56,-121.6,882.2,-10.0,548,10153,0.03,1.40,0.00,0.000,6,0.181,0.047,2834,1823,3354,0,0,0,0,0,0
$GC,10489,-0.58,-121.6,914.0,-9.3,559,10492,0.00,1.65,0.00,0.000,4,0.000,0.057,2826,2853,3354,0,0,0,0,0,0
$GC,10599,-0.58,-121.6,924.6,-9.1,562,10604,0.00,1.62,0.00,0.000,6,0.000,0.045,2826,1819,3354,0,0,0,0,0,0
$GC,10929,-0.58,-121.6,954.9,-8.8,573,10933,0.00,0.52,0.00,0.000,4,0.000,0.057,2824,2169,3354,0,0,0,0,0,0
$GC,11031,-0.58,-121.6,963.6,-7.3,576,11034,0.00,0.52,0.00,0.000,6,0.000,0.054,2824,1815,3354,0,0,0,0,0,0
$GC,11371,-0.58,-121.6,990.5,-7.5,587,11374,0.00,1.52,0.00,0.000,4,0.000,0.057,2817,2773,3353,0,0,0,0,0,0
$GC,11476,-0.58,-121.6,998.6,-6.8,590,11481,0.03,1.48,0.00,0.000,6,0.187,0.044,2828,1831,3353,0,0,0,0,0,0
$STATE,11495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11496,begin apogee
$GC,11500,-0.23,0.0,1000.1,7.7,590,11604,0.35,0.00,101.15,1.302,6,0.135,0.000,2943,1632,2861,0,0,0,0,0,0
$STATE,11605,end apogee,CONTROL_FINISHED_OK
$STATE,11605,begin climb
$GC,11606,0.71,121.6,1003.4,0.0,594,11717,0.93,1.08,103.90,1.266,4,0.096,0.053,3250,1020,2367,0,0,0,0,0,0
$GC,11756,0.71,151.1,998.4,6.2,598,11787,0.00,1.08,27.55,1.207,6,0.000,0.042,3250,1645,2246,0,0,0,0,0,0
$GC,12094,0.71,151.1,974.0,7.6,609,12098,0.00,0.50,0.00,0.000,4,0.000,0.054,3250,1979,2239,0,0,0,0,0,0
$GC,12176,0.71,163.4,967.6,6.9,611,12193,0.00,0.55,11.52,1.134,6,0.000,0.054,3252,1645,2195,0,0,0,0,0,0
$GC,12500,0.71,169.5,943.2,7.2,622,12508,0.00,0.00,6.82,0.986,6,0.000,0.000,3253,1644,2170,0,0,0,0,0,0
$GC,12806,0.71,197.3,922.5,6.3,632,12835,0.00,0.00,26.15,1.205,6,0.000,0.000,3253,1645,2057,0,0,0,0,0,0
$GC,13142,0.71,234.8,902.1,5.9,643,13178,0.00,0.00,34.15,1.206,6,0.000,0.000,3252,1645,1904,0,0,0,0,0,0
$GC,13479,0.75,266.2,881.8,6.1,654,13510,0.00,0.00,28.85,1.196,6,0.000,0.000,3252,1644,1776,0,0,0,0,0,0
$GC,13817,0.81,282.6,859.2,6.7,665,13835,0.08,0.00,15.50,1.144,6,0.125,0.000,3293,1645,1709,0,0,0,0,0,0
$GC,14122,0.81,282.6,831.7,9.3,675,14126,0.00,0.90,0.00,0.000,4,0.000,0.056,3298,1084,1705,0,0,0,0,0,0
$GC,14193,0.81,282.6,824.9,9.3,677,14198,0.05,0.93,0.00,0.000,6,0.207,0.044,3285,1660,1704,0,0,0,0,0,0
$GC,14528,0.83,282.6,794.9,9.2,688,14532,0.00,0.43,0.00,0.000,4,0.000,0.060,3286,1377,1703,0,0,0,0,0,0
$GC,14588,0.85,282.6,789.3,9.2,689,14594,0.00,0.43,0.00,0.000,6,0.000,0.053,3286,1646,1703,0,0,0,0,0,0
$GC,14900,0.85,282.6,761.6,8.8,700,14904,0.00,0.28,0.00,0.000,4,0.000,0.066,3287,1458,1702,0,0,0,0,0,0
$GC,14972,0.85,282.6,755.6,7.9,702,14976,0.00,0.30,0.00,0.000,6,0.000,0.059,3287,1652,1702,0,0,0,0,0,0
$GC,15306,0.85,282.6,728.9,8.0,713,15308,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1652,1702,0,0,0,0,0,0
$GC,15613,0.85,282.6,704.7,7.8,723,15616,0.00,0.93,0.00,0.000,4,0.000,0.058,3291,1076,1701,0,0,0,0,0,0
$GC,15684,0.85,282.6,698.5,8.6,725,15688,0.00,0.93,0.00,0.000,6,0.000,0.045,3291,1657,1701,0,0,0,0,0,0
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$STATE,23856,end climb,SURFACE_DEPTH_REACHED
$STATE,23857,begin surface coast
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$STATE,23894,end surface coast,CONTROL_FINISHED_OK
$STATE,23894,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.1,29.923
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354312
$DATA_FILE_SIZE,73669,1234
$CAP_FILE_SIZE,208500,0
$CFSIZE,2097086464,2069037056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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