version: 66.07.10.p01
glider: 573
mission: 4
dive: 208
start: 11 15 112 20 33 41
data:
$ID,573
$MISSION,4
$DIVE,208
$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,-4958.5815
$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,27
$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,187
$GPS1,151112,202505,-4212.257,-732.170,26,1.0,26,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-70.8
$GPS2,151112,203246,-4212.243,-732.093,24,4.1,43,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.168,0.138
$KALMAN_X,-296509.4,442.4,526.5,499113.4,-8612.2
$KALMAN_Y,-109813.1,-307.8,-165.4,161273.6,1717.5
$MHEAD_RNG_PITCHd_Wd,72.5,116355,-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,-121.6,0.0,0.0,0,75,0.00,0.00,-48.15,0.000,2,0.000,0.000,83,1822,2693,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.3,8,121,11.35,2.30,-22.90,0.000,4,0.249,0.076,2780,3215,3359,0,0,0,0,0,0
$GC,136,-0.54,-121.6,6.5,-5.4,17,144,0.20,2.25,0.00,0.000,6,0.132,0.044,2846,1804,3360,0,0,0,0,0,0
$GC,216,-0.54,-121.6,13.8,-9.9,30,224,0.00,2.28,0.00,0.000,4,0.000,0.054,2846,419,3361,0,0,0,0,0,0
$GC,349,-0.51,-121.6,29.2,-11.9,52,357,0.03,2.25,0.00,0.000,6,0.177,0.044,2847,1822,3361,0,0,0,0,0,0
$GC,428,-0.51,-121.6,36.1,-7.7,65,433,0.00,1.08,0.00,0.000,4,0.000,0.054,2842,2504,3361,0,0,0,0,0,0
$GC,514,-0.53,-121.6,42.9,-8.3,80,521,0.00,1.08,0.00,0.000,6,0.000,0.046,2842,1819,3361,0,0,0,0,0,0
$GC,752,-0.58,-121.6,62.6,-8.1,121,756,0.00,2.28,0.00,0.000,4,0.000,0.056,2842,406,3361,0,0,0,0,0,0
$GC,820,-0.54,-121.6,68.4,-8.8,133,825,0.00,2.25,0.00,0.000,6,0.000,0.043,2832,1836,3361,0,0,0,0,0,0
$GC,1163,-0.54,-121.6,98.1,-8.6,194,1169,0.00,0.93,0.00,0.000,4,0.000,0.053,2827,2436,3362,0,0,0,0,0,0
$GC,1217,-0.57,-121.6,102.4,-8.7,201,1220,0.00,0.95,0.00,0.000,6,0.000,0.046,2827,1817,3361,0,0,0,0,0,0
$GC,1547,-0.60,-121.6,131.0,-8.3,222,1551,0.00,2.05,0.00,0.000,4,0.000,0.058,2817,3103,3362,0,0,0,0,0,0
$GC,1620,-0.60,-121.6,137.1,-8.0,226,1624,0.00,2.00,0.00,0.000,6,0.000,0.044,2818,1813,3362,0,0,0,0,0,0
$GC,1946,-0.60,-121.6,164.3,-8.5,247,1950,0.00,2.25,0.00,0.000,4,0.000,0.059,2807,3223,3362,0,0,0,0,0,0
$GC,1966,-0.60,-121.6,166.3,-8.5,248,1975,0.05,2.20,0.00,0.000,6,0.142,0.043,2826,1816,3362,0,0,0,0,0,0
$GC,2288,-0.63,-121.6,190.3,-7.5,269,2292,0.00,2.25,0.00,0.000,4,0.000,0.058,2816,3227,3362,0,0,0,0,0,0
$GC,2401,-0.63,-121.6,199.3,-7.8,276,2405,0.00,2.17,0.00,0.000,6,0.000,0.042,2816,1816,3362,0,0,0,0,0,0
$GC,2727,-0.63,-121.6,223.8,-7.5,297,2731,0.00,2.25,0.00,0.000,4,0.000,0.058,2805,3228,3363,0,0,0,0,0,0
$GC,2824,-0.63,-121.6,231.6,-8.2,303,2828,0.00,2.17,0.00,0.000,6,0.000,0.042,2805,1815,3362,0,0,0,0,0,0
$GC,3142,-0.63,-121.6,256.4,-7.7,322,3146,0.00,2.22,0.00,0.000,4,0.000,0.058,2795,3219,3362,0,0,0,0,0,0
$GC,3220,-0.60,-121.6,262.8,-7.9,325,3227,0.08,2.20,0.00,0.000,6,0.139,0.043,2822,1816,3362,0,0,0,0,0,0
$GC,3540,-0.63,-121.6,285.7,-7.1,341,3544,0.00,0.40,0.00,0.000,4,0.000,0.057,2823,1532,3362,0,0,0,0,0,0
$GC,3550,-0.66,-121.6,286.6,-7.0,341,3554,0.00,0.45,0.00,0.000,6,0.000,0.053,2821,1827,3362,0,0,0,0,0,0
$GC,3874,-0.69,-121.6,309.6,-7.2,357,3878,0.08,2.20,0.00,0.000,4,0.122,0.059,2767,3215,3362,0,0,0,0,0,0
$GC,3991,-0.62,-121.6,320.4,-8.6,362,3996,0.17,2.17,0.00,0.000,6,0.151,0.042,2817,1806,3362,0,0,0,0,0,0
$GC,4313,-0.65,-121.6,345.0,-7.8,378,4317,0.00,2.20,0.00,0.000,4,0.000,0.054,2817,406,3362,0,0,0,0,0,0
$GC,4362,-0.59,-121.6,349.6,-8.9,380,4367,0.03,2.22,0.00,0.000,6,0.182,0.042,2818,1818,3362,0,0,0,0,0,0
$GC,4684,-0.62,-121.6,375.6,-8.0,396,4688,0.00,2.22,0.00,0.000,4,0.000,0.054,2818,414,3362,0,0,0,0,0,0
$GC,4739,-0.58,-121.6,380.6,-8.7,398,4747,0.05,2.22,0.00,0.000,6,0.152,0.042,2827,1828,3362,0,0,0,0,0,0
$GC,5054,-0.62,-121.6,405.0,-7.7,413,5058,0.00,2.17,0.00,0.000,4,0.000,0.058,2817,3225,3362,0,0,0,0,0,0
$GC,5132,-0.62,-121.6,410.8,-7.3,415,5136,0.00,2.20,0.00,0.000,6,0.000,0.044,2818,1818,3361,0,0,0,0,0,0
$GC,5456,-0.64,-121.6,433.4,-6.9,426,5460,0.00,1.67,0.00,0.000,4,0.000,0.054,2817,739,3361,0,0,0,0,0,0
$GC,5491,-0.64,-121.6,435.8,-7.1,427,5494,0.00,1.65,0.00,0.000,6,0.000,0.044,2809,1819,3361,0,0,0,0,0,0
$GC,5831,-0.64,-121.6,459.8,-7.1,438,5835,0.00,0.65,0.00,0.000,4,0.000,0.054,2809,1397,3361,0,0,0,0,0,0
$GC,5846,-0.64,-121.6,461.0,-6.8,438,5850,0.00,0.68,0.00,0.000,6,0.000,0.050,2806,1831,3361,0,0,0,0,0,0
$GC,6170,-0.64,-121.6,482.9,-6.7,449,6173,0.00,1.15,0.00,0.000,4,0.000,0.054,2806,1108,3360,0,0,0,0,0,0
$GC,6197,-0.64,-121.6,484.8,-6.8,449,6202,0.00,1.10,0.00,0.000,6,0.000,0.045,2801,1817,3360,0,0,0,0,0,0
$GC,6510,-0.64,-121.6,505.5,-6.7,460,6514,0.00,2.25,0.00,0.000,4,0.000,0.054,2801,407,3359,0,0,0,0,0,0
$GC,6650,-0.57,-121.6,516.7,-8.3,464,6655,0.15,2.20,0.00,0.000,6,0.161,0.044,2833,1817,3359,0,0,0,0,0,0
$GC,6973,-0.63,-121.6,537.7,-6.7,475,6977,0.00,2.20,0.00,0.000,4,0.000,0.060,2823,3218,3359,0,0,0,0,0,0
$GC,7051,-0.65,-121.6,543.6,-7.3,477,7055,0.00,2.17,0.00,0.000,6,0.000,0.044,2823,1810,3358,0,0,0,0,0,0
$GC,7375,-0.69,-121.6,568.2,-7.9,488,7377,0.08,0.00,0.00,0.000,6,0.126,0.000,2787,1809,3359,0,0,0,0,0,0
$GC,7681,-0.66,-121.6,597.5,-9.8,498,7686,0.10,2.25,0.00,0.000,4,0.177,0.056,2813,413,3358,0,0,0,0,0,0
$GC,7815,-0.61,-121.6,610.7,-10.0,502,7820,0.08,2.20,0.00,0.000,6,0.194,0.044,2822,1820,3358,0,0,0,0,0,0
$GC,8143,-0.61,-121.6,640.0,-8.9,513,8147,0.00,2.22,0.00,0.000,4,0.000,0.060,2812,3221,3357,0,0,0,0,0,0
$GC,8299,-0.61,-121.6,654.2,-9.2,517,8304,0.00,2.20,0.00,0.000,6,0.000,0.044,2812,1815,3357,0,0,0,0,0,0
$GC,8618,-0.64,-121.6,680.7,-8.3,528,8622,0.00,2.25,0.00,0.000,4,0.000,0.057,2811,413,3356,0,0,0,0,0,0
$GC,8689,-0.60,-121.6,686.9,-8.4,530,8694,0.08,2.22,0.00,0.000,6,0.148,0.044,2827,1821,3356,0,0,0,0,0,0
$GC,9019,-0.65,-121.6,709.8,-6.8,541,9023,0.00,1.05,0.00,0.000,4,0.000,0.053,2828,1157,3356,0,0,0,0,0,0
$GC,9040,-0.69,-121.6,711.4,-7.2,541,9045,0.05,1.02,0.00,0.000,6,0.070,0.047,2786,1816,3356,0,0,0,0,0,0
$GC,9358,-0.66,-121.6,737.2,-8.6,552,9363,0.08,2.25,0.00,0.000,4,0.197,0.060,2793,3224,3356,0,0,0,0,0,0
$GC,9502,-0.63,-121.6,750.1,-8.9,556,9508,0.05,2.20,0.00,0.000,6,0.153,0.044,2812,1822,3355,0,0,0,0,0,0
$GC,9826,-0.63,-121.6,776.4,-8.0,567,9830,0.00,2.25,0.00,0.000,4,0.000,0.060,2802,3225,3355,0,0,0,0,0,0
$GC,9942,-0.63,-121.6,785.7,-8.6,570,9947,0.03,2.20,0.00,0.000,6,0.172,0.044,2811,1821,3355,0,0,0,0,0,0
$GC,10260,-0.63,-121.6,810.0,-8.0,581,10264,0.00,2.22,0.00,0.000,4,0.000,0.061,2801,3224,3355,0,0,0,0,0,0
$GC,10370,-0.63,-121.6,819.6,-9.4,584,10375,0.03,2.20,0.00,0.000,6,0.176,0.044,2811,1818,3354,0,0,0,0,0,0
$GC,10694,-0.63,-121.6,845.8,-8.2,595,10698,0.00,1.75,0.00,0.000,4,0.000,0.060,2804,2907,3354,0,0,0,0,0,0
$GC,10799,-0.63,-121.6,854.5,-8.6,598,10804,0.00,1.70,0.00,0.000,6,0.000,0.044,2804,1822,3354,0,0,0,0,0,0
$GC,11134,-0.63,-121.6,884.2,-9.0,609,11138,0.00,2.22,0.00,0.000,4,0.000,0.060,2794,3224,3353,0,0,0,0,0,0
$GC,11251,-0.60,-121.6,895.4,-9.8,612,11256,0.08,2.22,0.00,0.000,6,0.143,0.044,2820,1810,3353,0,0,0,0,0,0
$GC,11570,-0.64,-121.6,923.2,-8.6,623,11574,0.00,2.22,0.00,0.000,4,0.000,0.062,2810,3217,3353,0,0,0,0,0,0
$GC,11635,-0.64,-121.6,929.3,-8.8,625,11640,0.00,2.20,0.00,0.000,6,0.000,0.044,2810,1819,3352,0,0,0,0,0,0
$GC,11971,-0.68,-121.6,958.6,-8.7,636,11975,0.00,2.25,0.00,0.000,4,0.000,0.061,2800,3217,3352,0,0,0,0,0,0
$GC,11992,-0.68,-121.6,960.5,-8.1,636,11998,0.00,2.20,0.00,0.000,6,0.000,0.044,2800,1820,3352,0,0,0,0,0,0
$GC,12305,-0.68,-121.6,987.2,-8.2,647,12309,0.00,2.28,0.00,0.000,4,0.000,0.057,2800,406,3352,0,0,0,0,0,0
$GC,12416,-0.63,-121.6,996.6,-8.9,650,12421,0.10,2.22,0.00,0.000,6,0.183,0.044,2815,1818,3352,0,0,0,0,0,0
$STATE,12468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12468,begin apogee
$GC,12473,-0.23,0.0,1000.3,7.0,652,12577,0.40,0.00,101.18,1.303,6,0.125,0.000,2944,1640,2862,0,0,0,0,0,0
$STATE,12578,end apogee,CONTROL_FINISHED_OK
$STATE,12578,begin climb
$GC,12579,0.71,121.6,1003.1,0.0,655,12692,0.90,2.50,104.43,1.265,4,0.091,0.060,3255,242,2366,0,0,0,0,0,0
$GC,12816,0.68,133.9,991.4,6.9,662,12834,0.00,2.35,11.62,1.125,6,0.000,0.044,3254,1644,2316,0,0,0,0,0,0
$GC,13171,0.66,148.3,966.0,6.8,674,13191,0.08,0.80,13.88,1.165,4,0.181,0.052,3236,2136,2257,0,0,0,0,0,0
$GC,13258,0.66,171.8,959.9,6.4,676,13283,0.00,0.77,22.10,1.187,6,0.000,0.053,3238,1654,2161,0,0,0,0,0,0
$GC,13603,0.69,197.7,937.5,6.3,688,13633,0.00,1.60,23.48,1.196,4,0.000,0.060,3246,715,2055,0,0,0,0,0,0
$GC,13690,0.72,213.5,931.7,6.8,690,13709,0.00,1.52,15.40,1.139,6,0.000,0.046,3246,1641,1991,0,0,0,0,0,0
$GC,14034,0.80,236.0,908.9,6.5,702,14061,0.10,2.38,21.05,1.175,4,0.101,0.060,3310,230,1899,0,0,0,0,0,0
$GC,14124,0.74,236.0,901.5,9.7,703,14130,0.17,2.30,0.00,0.000,6,0.145,0.044,3262,1649,1895,0,0,0,0,0,0
$GC,14437,0.77,236.6,878.9,7.4,714,14440,0.00,0.80,0.00,0.000,4,0.000,0.051,3262,2169,1894,0,0,0,0,0,0
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$STATE,24928,end climb,SURFACE_DEPTH_REACHED
$STATE,24928,begin surface coast
$FINISH,1.6,1.025713
$STATE,24959,end surface coast,CONTROL_FINISHED_OK
$STATE,24959,begin surface
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$10V_AH,10.1,32.245
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$FG_AHR_10Vo,0.000
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$MEM,354512
$DATA_FILE_SIZE,76889,1294
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$CFSIZE,2097086464,2066644992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
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