version: 66.07.10.p01
glider: 573
mission: 4
dive: 207
start: 11 15 112 13 38 31
data:
$ID,573
$MISSION,4
$DIVE,207
$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,-4955.3203
$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,39
$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,186
$GPS1,151112,132935,-4214.433,-731.985,31,1.6,31,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-68.7
$GPS2,151112,133736,-4214.358,-731.916,20,2.0,21,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.164,0.142
$KALMAN_X,-291513.8,214.0,375.7,494757.8,-8112.3
$KALMAN_Y,-109847.9,-424.6,-61.8,157400.9,2010.3
$MHEAD_RNG_PITCHd_Wd,71.0,118846,-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,-49.05,0.000,2,0.000,0.000,82,1837,2604,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.1,-1.1,8,128,11.43,2.28,-28.17,0.000,4,0.251,0.073,2777,3221,3359,0,0,0,0,0,0
$GC,278,-0.61,-121.6,19.6,-10.6,41,286,0.12,2.25,0.00,0.000,6,0.142,0.046,2818,1815,3361,0,0,0,0,0,0
$GC,359,-0.57,-121.6,27.6,-9.6,54,366,0.08,0.00,0.00,0.000,6,0.197,0.000,2836,1814,3361,0,0,0,0,0,0
$GC,437,-0.57,-121.6,34.8,-9.5,67,442,0.00,0.93,0.00,0.000,4,0.000,0.055,2833,2396,3361,0,0,0,0,0,0
$GC,557,-0.57,-121.6,46.7,-9.4,88,564,0.00,0.90,0.00,0.000,6,0.000,0.049,2833,1818,3361,0,0,0,0,0,0
$GC,791,-0.57,-121.6,68.8,-9.9,129,797,0.00,2.28,0.00,0.000,4,0.000,0.062,2823,3215,3361,0,0,0,0,0,0
$GC,904,-0.57,-121.6,80.3,-10.3,149,908,0.00,2.17,0.00,0.000,6,0.000,0.044,2823,1819,3361,0,0,0,0,0,0
$GC,1247,-0.54,-121.6,112.5,-8.4,194,1251,0.08,2.22,0.00,0.000,4,0.204,0.059,2830,3215,3362,0,0,0,0,0,0
$GC,1387,-0.54,-121.6,123.5,-6.5,202,1393,0.00,2.20,0.00,0.000,6,0.000,0.044,2830,1818,3362,0,0,0,0,0,0
$GC,1707,-0.54,-121.6,144.6,-6.5,223,1711,0.00,2.22,0.00,0.000,4,0.000,0.059,2820,3223,3362,0,0,0,0,0,0
$GC,1823,-0.54,-121.6,153.2,-7.2,230,1828,0.05,2.20,0.00,0.000,6,0.143,0.043,2849,1821,3362,0,0,0,0,0,0
$GC,2150,-0.61,-121.6,175.8,-7.4,251,2155,0.08,0.40,0.00,0.000,4,0.122,0.060,2801,1551,3363,0,0,0,0,0,0
$GC,2160,-0.66,-121.6,177.1,-7.6,251,2165,0.00,0.43,0.00,0.000,6,0.000,0.054,2799,1827,3362,0,0,0,0,0,0
$GC,2481,-0.61,-121.6,206.8,-9.3,272,2485,0.10,2.22,0.00,0.000,4,0.190,0.060,2815,3224,3363,0,0,0,0,0,0
$GC,2615,-0.58,-121.6,218.6,-8.2,280,2620,0.05,2.17,0.00,0.000,6,0.213,0.043,2827,1816,3363,0,0,0,0,0,0
$GC,2934,-0.63,-121.6,244.3,-8.2,300,2938,0.00,2.25,0.00,0.000,4,0.000,0.054,2828,406,3363,0,0,0,0,0,0
$GC,2996,-0.59,-121.6,249.8,-8.8,304,3000,0.00,2.20,0.00,0.000,6,0.000,0.042,2817,1821,3363,0,0,0,0,0,0
$GC,3318,-0.62,-121.6,277.4,-8.5,320,3321,0.00,0.50,0.00,0.000,4,0.000,0.055,2817,1486,3363,0,0,0,0,0,0
$GC,3333,-0.62,-121.6,278.9,-8.7,320,3340,0.00,0.52,0.00,0.000,6,0.000,0.050,2814,1830,3363,0,0,0,0,0,0
$GC,3649,-0.62,-121.6,305.4,-8.4,336,3652,0.00,0.93,0.00,0.000,4,0.000,0.055,2810,2433,3363,0,0,0,0,0,0
$GC,3726,-0.62,-121.6,312.2,-8.3,339,3731,0.00,0.98,0.00,0.000,6,0.000,0.044,2810,1801,3363,0,0,0,0,0,0
$GC,4050,-0.62,-121.6,339.2,-8.5,355,4053,0.00,1.98,0.00,0.000,4,0.000,0.054,2810,552,3362,0,0,0,0,0,0
$GC,4087,-0.57,-121.6,342.9,-9.6,356,4096,0.10,1.98,0.00,0.000,6,0.139,0.042,2836,1815,3363,0,0,0,0,0,0
$GC,4405,-0.63,-121.6,366.1,-7.1,372,4409,0.00,2.20,0.00,0.000,4,0.000,0.058,2826,3219,3363,0,0,0,0,0,0
$GC,4493,-0.66,-121.6,373.0,-7.7,376,4498,0.00,2.17,0.00,0.000,6,0.000,0.044,2826,1829,3362,0,0,0,0,0,0
$GC,4821,-0.70,-121.6,395.8,-7.0,392,4823,0.10,0.00,0.00,0.000,6,0.101,0.000,2774,1829,3362,0,0,0,0,0,0
$GC,5128,-0.62,-121.6,421.6,-8.8,403,5133,0.15,2.22,0.00,0.000,4,0.161,0.059,2805,3218,3362,0,0,0,0,0,0
$GC,5311,-0.60,-121.6,435.8,-7.6,408,5317,0.05,2.20,0.00,0.000,6,0.145,0.043,2824,1812,3362,0,0,0,0,0,0
$GC,5631,-0.64,-121.6,457.2,-6.8,419,5634,0.00,0.68,0.00,0.000,4,0.000,0.055,2824,1370,3362,0,0,0,0,0,0
$GC,5647,-0.68,-121.6,458.4,-6.8,419,5651,0.03,0.70,0.00,0.000,6,0.100,0.048,2792,1833,3362,0,0,0,0,0,0
$GC,5970,-0.68,-121.6,484.7,-8.7,430,5974,0.00,2.28,0.00,0.000,4,0.000,0.055,2793,413,3361,0,0,0,0,0,0
$GC,6047,-0.61,-121.6,492.6,-10.0,432,6052,0.10,2.20,0.00,0.000,6,0.148,0.042,2816,1810,3361,0,0,0,0,0,0
$GC,6376,-0.64,-121.6,521.6,-8.8,443,6380,0.00,0.45,0.00,0.000,4,0.000,0.057,2816,1502,3361,0,0,0,0,0,0
$GC,6386,-0.67,-121.6,522.6,-8.9,443,6390,0.00,0.50,0.00,0.000,6,0.000,0.052,2814,1828,3361,0,0,0,0,0,0
$GC,6716,-0.70,-121.6,551.4,-8.8,454,6720,0.00,2.20,0.00,0.000,4,0.000,0.060,2804,3215,3360,0,0,0,0,0,0
$GC,6809,-0.70,-121.6,560.0,-9.0,456,6815,0.00,2.20,0.00,0.000,6,0.000,0.043,2804,1811,3359,0,0,0,0,0,0
$GC,7122,-0.70,-121.6,587.4,-8.7,467,7126,0.00,2.25,0.00,0.000,4,0.000,0.055,2804,403,3359,0,0,0,0,0,0
$GC,7183,-0.65,-121.6,593.2,-9.7,468,7189,0.03,2.22,0.00,0.000,6,0.189,0.043,2804,1815,3360,0,0,0,0,0,0
$GC,7495,-0.65,-121.6,621.3,-8.8,479,7499,0.00,1.95,0.00,0.000,4,0.000,0.054,2803,599,3359,0,0,0,0,0,0
$GC,7539,-0.60,-121.6,625.4,-9.1,480,7544,0.08,1.92,0.00,0.000,6,0.148,0.044,2821,1818,3359,0,0,0,0,0,0
$GC,7869,-0.65,-121.6,652.1,-8.0,491,7873,0.00,2.20,0.00,0.000,4,0.000,0.060,2811,3219,3359,0,0,0,0,0,0
$GC,7951,-0.65,-121.6,659.0,-7.9,493,7956,0.00,2.20,0.00,0.000,6,0.000,0.044,2811,1810,3358,0,0,0,0,0,0
$GC,8270,-0.68,-121.6,684.0,-7.8,504,8274,0.00,0.60,0.00,0.000,4,0.000,0.055,2811,1413,3358,0,0,0,0,0,0
$GC,8286,-0.70,-121.6,685.3,-7.8,504,8290,0.00,0.65,0.00,0.000,6,0.000,0.050,2808,1829,3358,0,0,0,0,0,0
$GC,8610,-0.72,-121.6,711.6,-8.3,515,8612,0.05,0.00,0.00,0.000,6,0.168,0.000,2772,1830,3357,0,0,0,0,0,0
$GC,8916,-0.64,-121.6,741.1,-10.3,525,8921,0.15,2.22,0.00,0.000,4,0.159,0.060,2804,3219,3356,0,0,0,0,0,0
$GC,9088,-0.64,-121.6,758.1,-9.2,530,9093,0.00,2.20,0.00,0.000,6,0.000,0.044,2804,1819,3356,0,0,0,0,0,0
$GC,9424,-0.64,-121.6,790.1,-9.5,541,9428,0.00,2.25,0.00,0.000,4,0.000,0.061,2794,3225,3356,0,0,0,0,0,0
$GC,9546,-0.62,-121.6,802.5,-10.2,544,9551,0.08,2.20,0.00,0.000,6,0.142,0.044,2820,1822,3356,0,0,0,0,0,0
$GC,9864,-0.66,-121.6,830.7,-9.0,555,9868,0.00,1.85,0.00,0.000,4,0.000,0.055,2820,647,3356,0,0,0,0,0,0
$GC,9902,-0.66,-121.6,834.5,-9.6,556,9907,0.00,1.85,0.00,0.000,6,0.000,0.044,2812,1816,3355,0,0,0,0,0,0
$GC,10238,-0.70,-121.6,864.2,-8.7,567,10242,0.00,2.28,0.00,0.000,4,0.000,0.054,2812,398,3355,0,0,0,0,0,0
$GC,10309,-0.66,-121.6,871.1,-9.6,569,10314,0.00,2.25,0.00,0.000,6,0.000,0.044,2801,1816,3355,0,0,0,0,0,0
$GC,10639,-0.64,-121.6,900.3,-8.5,580,10643,0.00,2.22,0.00,0.000,4,0.000,0.060,2791,3230,3354,0,0,0,0,0,0
$GC,10773,-0.61,-121.6,912.1,-8.4,584,10778,0.12,2.20,0.00,0.000,6,0.158,0.044,2826,1806,3354,0,0,0,0,0,0
$GC,11103,-0.67,-121.6,935.0,-6.7,595,11108,0.05,2.25,0.00,0.000,4,0.168,0.056,2791,412,3354,0,0,0,0,0,0
$GC,11199,-0.61,-121.6,942.7,-8.1,598,11204,0.15,2.20,0.00,0.000,6,0.164,0.044,2821,1831,3353,0,0,0,0,0,0
$GC,11533,-0.61,-121.6,964.4,-6.3,609,11537,0.00,2.20,0.00,0.000,4,0.000,0.060,2811,3225,3353,0,0,0,0,0,0
$GC,11657,-0.61,-121.6,972.3,-5.8,612,11662,0.00,2.20,0.00,0.000,6,0.000,0.044,2811,1809,3353,0,0,0,0,0,0
$GC,11969,-0.61,-121.6,992.7,-6.6,623,11973,0.00,1.90,0.00,0.000,4,0.000,0.060,2802,2998,3353,0,0,0,0,0,0
$STATE,12079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12079,begin apogee
$GC,12085,-0.23,0.0,1000.4,6.9,626,12189,0.43,0.00,101.28,1.303,6,0.132,0.000,2942,1648,2862,0,0,0,0,0,0
$STATE,12190,end apogee,CONTROL_FINISHED_OK
$STATE,12190,begin climb
$GC,12192,0.71,121.6,1002.9,0.0,629,12304,0.90,2.20,104.03,1.265,4,0.091,0.057,3251,403,2367,0,0,0,0,0,0
$GC,12387,0.68,131.0,995.0,7.0,635,12402,0.00,2.10,9.95,1.097,6,0.000,0.043,3251,1640,2327,0,0,0,0,0,0
$GC,12715,0.68,155.3,973.6,6.4,646,12745,0.00,2.12,22.02,1.197,4,0.000,0.056,3251,2888,2228,0,0,0,0,0,0
$GC,12824,0.66,170.7,965.9,6.8,649,12846,0.10,2.03,14.73,1.165,6,0.164,0.045,3234,1638,2166,0,0,0,0,0,0
$GC,13152,0.72,185.6,944.1,6.8,660,13172,0.05,2.38,14.30,1.150,4,0.164,0.061,3278,234,2105,0,0,0,0,0,0
$GC,13312,0.69,185.6,931.4,8.8,664,13319,0.10,2.30,0.00,0.000,6,0.136,0.043,3245,1648,2102,0,0,0,0,0,0
$GC,13626,0.74,196.6,909.8,7.0,675,13641,0.00,1.73,10.80,1.102,4,0.000,0.055,3245,2729,2060,0,0,0,0,0,0
$GC,13708,0.77,208.4,903.9,6.9,677,13726,0.00,1.73,12.10,1.112,6,0.000,0.047,3252,1652,2012,0,0,0,0,0,0
$GC,14058,0.83,217.7,879.2,7.0,689,14073,0.10,2.17,9.48,1.065,4,0.104,0.059,3315,339,1974,0,0,0,0,0,0
$GC,14128,0.76,217.7,873.0,9.2,691,14133,0.12,2.12,0.00,0.000,6,0.138,0.044,3274,1651,1973,0,0,0,0,0,0
$GC,14463,0.76,227.4,848.5,7.0,702,14477,0.00,0.60,10.05,1.068,4,0.000,0.054,3274,2043,1934,0,0,0,0,0,0
$GC,14544,0.76,239.5,842.7,6.9,704,14561,0.00,0.65,12.35,1.093,6,0.000,0.053,3276,1640,1885,0,0,0,0,0,0
$GC,14867,0.76,246.2,819.9,7.1,715,14876,0.00,0.00,6.88,0.958,6,0.000,0.000,3276,1640,1858,0,0,0,0,0,0
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$STATE,24222,end climb,SURFACE_DEPTH_REACHED
$STATE,24222,begin surface coast
$FINISH,1.7,1.013585
$STATE,24259,end surface coast,CONTROL_FINISHED_OK
$STATE,24259,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.1,32.096
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354488
$DATA_FILE_SIZE,73523,1249
$CAP_FILE_SIZE,227083,0
$CFSIZE,2097086464,2066841600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,202505,-4212.257,-732.170,26,1.0,26,-21.9