version: 66.07.10.p01
glider: 573
mission: 4
dive: 210
start: 11 16 112 10 19 49
data:
$ID,573
$MISSION,4
$DIVE,210
$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,-4965.3716
$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,24
$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,189
$GPS1,161112,100705,-4209.578,-732.115,37,0.9,37,-21.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-73.9
$GPS2,161112,101853,-4209.534,-732.099,75,0.8,75,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.214,0.033
$KALMAN_X,-304932.5,39.4,385.9,508072.5,-6777.6
$KALMAN_Y,-112794.6,-293.5,332.1,168765.6,-1401.4
$MHEAD_RNG_PITCHd_Wd,103.3,159426,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,69,0.00,0.00,-42.88,0.000,2,0.000,0.000,81,1837,2551,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.0,-1.1,7,121,11.32,2.28,-29.62,0.000,4,0.247,0.075,2776,3215,3360,0,0,0,0,0,0
$GC,271,-0.62,-121.6,20.7,-11.1,40,279,0.12,2.25,0.00,0.000,6,0.143,0.045,2817,1808,3361,0,0,0,0,0,0
$GC,352,-0.58,-121.6,28.6,-9.5,53,359,0.08,0.00,0.00,0.000,6,0.199,0.000,2835,1808,3362,0,0,0,0,0,0
$GC,428,-0.58,-121.6,35.7,-8.8,66,435,0.00,0.30,0.00,0.000,4,0.000,0.061,2834,2026,3362,0,0,0,0,0,0
$GC,693,-0.58,-121.6,57.9,-8.3,112,700,0.00,0.30,0.00,0.000,6,0.000,0.059,2834,1817,3361,0,0,0,0,0,0
$GC,926,-0.60,-121.6,76.6,-8.1,153,932,0.00,2.28,0.00,0.000,4,0.000,0.060,2824,3213,3362,0,0,0,0,0,0
$GC,1035,-0.60,-121.6,85.4,-8.4,172,1040,0.00,2.17,0.00,0.000,6,0.000,0.043,2824,1819,3362,0,0,0,0,0,0
$GC,1367,-0.60,-121.6,114.4,-9.4,213,1371,0.00,2.25,0.00,0.000,4,0.000,0.059,2814,3227,3362,0,0,0,0,0,0
$GC,1484,-0.58,-121.6,125.9,-9.7,220,1489,0.05,2.20,0.00,0.000,6,0.146,0.043,2842,1830,3363,0,0,0,0,0,0
$GC,1811,-0.63,-121.6,153.6,-8.1,241,1816,0.08,2.22,0.00,0.000,4,0.121,0.059,2789,3216,3362,0,0,0,0,0,0
$GC,1979,-0.57,-121.6,169.6,-9.6,251,1984,0.10,2.20,0.00,0.000,6,0.135,0.044,2833,1816,3363,0,0,0,0,0,0
$GC,2306,-0.61,-121.6,196.4,-8.7,272,2310,0.00,2.25,0.00,0.000,4,0.000,0.055,2832,409,3363,0,0,0,0,0,0
$GC,2402,-0.59,-121.6,205.7,-9.7,278,2406,0.00,2.20,0.00,0.000,6,0.000,0.042,2822,1824,3362,0,0,0,0,0,0
$GC,2727,-0.59,-121.6,235.6,-8.9,299,2731,0.00,2.22,0.00,0.000,4,0.000,0.059,2811,3228,3363,0,0,0,0,0,0
$GC,2840,-0.59,-121.6,245.7,-8.5,306,2845,0.08,2.15,0.00,0.000,6,0.173,0.043,2831,1816,3363,0,0,0,0,0,0
$GC,3169,-0.63,-121.6,271.6,-7.7,323,3172,0.00,1.40,0.00,0.000,4,0.000,0.054,2831,939,3363,0,0,0,0,0,0
$GC,3195,-0.63,-121.6,274.1,-8.0,324,3200,0.00,1.40,0.00,0.000,6,0.000,0.044,2825,1818,3363,0,0,0,0,0,0
$GC,3523,-0.67,-121.6,298.8,-7.6,340,3528,0.05,2.22,0.00,0.000,4,0.165,0.058,2777,3221,3363,0,0,0,0,0,0
$GC,3612,-0.60,-121.6,306.8,-9.4,344,3617,0.15,2.20,0.00,0.000,6,0.132,0.044,2827,1818,3362,0,0,0,0,0,0
$GC,3940,-0.65,-121.6,332.1,-7.7,360,3943,0.00,0.68,0.00,0.000,4,0.000,0.054,2827,1376,3362,0,0,0,0,0,0
$GC,3955,-0.68,-121.6,333.5,-7.9,360,3964,0.08,0.70,0.00,0.000,6,0.119,0.048,2782,1826,3362,0,0,0,0,0,0
$GC,4272,-0.63,-121.6,362.6,-9.6,376,4276,0.12,2.22,0.00,0.000,4,0.162,0.060,2806,3222,3362,0,0,0,0,0,0
$GC,4402,-0.63,-121.6,374.3,-8.8,382,4406,0.00,2.17,0.00,0.000,6,0.000,0.044,2806,1815,3362,0,0,0,0,0,0
$GC,4718,-0.63,-121.6,403.7,-9.6,397,4722,0.00,2.22,0.00,0.000,4,0.000,0.060,2796,3222,3362,0,0,0,0,0,0
$GC,4807,-0.60,-121.6,413.0,-10.0,399,4813,0.08,2.20,0.00,0.000,6,0.136,0.044,2822,1818,3362,0,0,0,0,0,0
$GC,5120,-0.65,-121.6,443.9,-10.3,410,5124,0.00,1.40,0.00,0.000,4,0.000,0.055,2823,942,3362,0,0,0,0,0,0
$GC,5153,-0.65,-121.6,447.5,-10.8,411,5157,0.00,1.38,0.00,0.000,6,0.000,0.045,2817,1818,3362,0,0,0,0,0,0
$GC,5494,-0.67,-121.6,485.3,-11.4,422,5498,0.00,2.20,0.00,0.000,4,0.000,0.059,2807,3223,3362,0,0,0,0,0,0
$GC,5572,-0.67,-121.6,494.6,-11.7,424,5576,0.00,2.17,0.00,0.000,6,0.000,0.044,2807,1804,3361,0,0,0,0,0,0
$GC,5889,-0.67,-121.6,531.0,-11.4,435,5893,0.00,2.25,0.00,0.000,4,0.000,0.060,2796,3221,3361,0,0,0,0,0,0
$GC,5999,-0.65,-121.6,543.8,-11.4,438,6004,0.03,2.20,0.00,0.000,6,0.168,0.044,2806,1816,3361,0,0,0,0,0,0
$GC,6324,-0.65,-121.6,576.9,-10.0,449,6328,0.00,2.25,0.00,0.000,4,0.000,0.060,2796,3222,3360,0,0,0,0,0,0
$GC,6420,-0.63,-121.6,586.2,-9.5,452,6424,0.08,2.15,0.00,0.000,6,0.177,0.044,2815,1820,3360,0,0,0,0,0,0
$GC,6754,-0.63,-121.6,615.0,-8.4,463,6758,0.00,2.22,0.00,0.000,4,0.000,0.060,2805,3215,3359,0,0,0,0,0,0
$GC,6836,-0.63,-121.6,621.6,-8.8,465,6841,0.00,2.20,0.00,0.000,6,0.000,0.044,2805,1813,3359,0,0,0,0,0,0
$GC,7155,-0.63,-121.6,645.3,-7.3,476,7159,0.00,2.25,0.00,0.000,4,0.000,0.060,2795,3223,3358,0,0,0,0,0,0
$GC,7261,-0.60,-121.6,653.5,-7.6,479,7266,0.08,2.20,0.00,0.000,6,0.139,0.044,2822,1826,3358,0,0,0,0,0,0
$GC,7591,-0.65,-121.6,676.3,-7.0,490,7594,0.00,0.65,0.00,0.000,4,0.000,0.054,2822,1398,3358,0,0,0,0,0,0
$GC,7606,-0.69,-121.6,677.6,-7.2,490,7611,0.03,0.68,0.00,0.000,6,0.100,0.050,2788,1830,3358,0,0,0,0,0,0
$GC,7930,-0.64,-121.6,703.9,-8.6,501,7935,0.10,2.22,0.00,0.000,4,0.175,0.060,2804,3215,3357,0,0,0,0,0,0
$GC,8046,-0.64,-121.6,714.2,-8.5,504,8050,0.00,2.20,0.00,0.000,6,0.000,0.044,2804,1815,3357,0,0,0,0,0,0
$GC,8370,-0.64,-121.6,741.3,-8.5,515,8374,0.00,2.25,0.00,0.000,4,0.000,0.060,2794,3218,3357,0,0,0,0,0,0
$GC,8465,-0.62,-121.6,749.3,-8.1,518,8470,0.10,2.15,0.00,0.000,6,0.164,0.045,2821,1819,3357,0,0,0,0,0,0
$GC,8800,-0.66,-121.6,775.0,-7.8,529,8803,0.00,1.23,0.00,0.000,4,0.000,0.055,2821,1047,3356,0,0,0,0,0,0
$GC,8826,-0.66,-121.6,777.5,-8.8,529,8832,0.00,1.23,0.00,0.000,6,0.000,0.047,2816,1816,3356,0,0,0,0,0,0
$GC,9139,-0.70,-121.6,802.5,-7.8,540,9144,0.05,0.70,0.00,0.000,4,0.166,0.055,2774,2273,3356,0,0,0,0,0,0
$GC,9284,-0.65,-121.6,815.8,-9.5,544,9289,0.10,0.70,0.00,0.000,6,0.141,0.050,2806,1807,3355,0,0,0,0,0,0
$GC,9613,-0.65,-121.6,845.0,-9.0,555,9617,0.00,2.25,0.00,0.000,4,0.000,0.060,2796,3224,3355,0,0,0,0,0,0
$GC,9729,-0.65,-121.6,856.2,-9.5,558,9734,0.00,2.20,0.00,0.000,6,0.000,0.044,2797,1830,3355,0,0,0,0,0,0
$GC,10049,-0.62,-121.6,885.5,-9.2,569,10053,0.10,2.25,0.00,0.000,4,0.194,0.062,2811,3228,3354,0,0,0,0,0,0
$GC,10142,-0.62,-121.6,893.7,-8.1,571,10148,0.00,2.22,0.00,0.000,6,0.000,0.044,2811,1809,3354,0,0,0,0,0,0
$GC,10456,-0.64,-121.6,918.1,-7.7,582,10460,0.00,2.25,0.00,0.000,4,0.000,0.061,2801,3218,3354,0,0,0,0,0,0
$GC,10557,-0.64,-121.6,926.3,-7.8,585,10561,0.00,2.15,0.00,0.000,6,0.000,0.045,2801,1820,3354,0,0,0,0,0,0
$GC,10891,-0.64,-121.6,950.8,-7.1,596,10895,0.00,2.25,0.00,0.000,4,0.000,0.061,2791,3224,3354,0,0,0,0,0,0
$GC,11001,-0.64,-121.6,959.1,-7.2,599,11007,0.05,2.20,0.00,0.000,6,0.154,0.044,2809,1826,3353,0,0,0,0,0,0
$GC,11326,-0.64,-121.6,981.2,-6.8,610,11329,0.00,1.42,0.00,0.000,4,0.000,0.058,2802,2711,3353,0,0,0,0,0,0
$GC,11431,-0.64,-121.6,988.7,-6.4,613,11436,0.00,1.40,0.00,0.000,6,0.000,0.046,2802,1819,3352,0,0,0,0,0,0
$STATE,11612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11612,begin apogee
$GC,11616,-0.23,0.0,1002.4,7.5,619,11721,0.45,0.00,101.20,1.301,6,0.133,0.000,2944,1649,2861,0,0,0,0,0,0
$STATE,11721,end apogee,CONTROL_FINISHED_OK
$STATE,11721,begin climb
$GC,11723,0.71,121.6,1006.1,0.0,622,11835,0.90,2.35,104.20,1.266,4,0.092,0.058,3251,325,2366,0,0,0,0,0,0
$GC,11913,0.68,199.6,1001.5,4.2,628,11989,0.00,2.22,70.20,1.246,6,0.000,0.043,3251,1650,2048,0,0,0,0,0,0
$GC,12303,0.75,220.0,976.6,6.6,641,12327,0.00,2.38,18.45,1.188,4,0.000,0.059,3251,3039,1965,0,0,0,0,0,0
$GC,12417,0.75,228.1,968.2,7.1,644,12433,0.00,2.28,8.48,1.034,6,0.000,0.048,3261,1653,1932,0,0,0,0,0,0
$GC,12740,0.82,228.1,943.6,7.8,655,12745,0.08,2.38,0.00,0.000,4,0.120,0.062,3314,233,1930,0,0,0,0,0,0
$GC,12862,0.75,228.1,931.3,9.6,658,12867,0.17,2.28,0.00,0.000,6,0.148,0.044,3265,1655,1929,0,0,0,0,0,0
$GC,13174,0.75,228.1,903.2,9.1,668,13178,0.00,1.55,0.00,0.000,4,0.000,0.055,3265,2617,1929,0,0,0,0,0,0
$GC,13242,0.75,228.1,896.7,9.1,670,13246,0.00,1.58,0.00,0.000,6,0.000,0.049,3271,1644,1928,0,0,0,0,0,0
$GC,13582,0.75,228.1,864.0,9.6,681,13583,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1644,1928,0,0,0,0,0,0
$GC,13888,0.75,228.1,836.0,8.9,691,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1644,1928,0,0,0,0,0,0
$GC,14194,0.75,228.1,811.0,7.8,701,14198,0.00,0.98,0.00,0.000,4,0.000,0.053,3271,2265,1927,0,0,0,0,0,0
$GC,14262,0.75,228.1,805.8,7.7,703,14265,0.00,0.98,0.00,0.000,6,0.000,0.050,3275,1646,1927,0,0,0,0,0,0
$GC,14602,0.75,231.1,780.8,7.3,714,14606,0.00,0.57,0.00,0.000,4,0.000,0.054,3276,2024,1927,0,0,0,0,0,0
$GC,14669,0.75,251.0,775.9,6.6,716,14694,0.00,0.60,20.83,1.134,6,0.000,0.054,3278,1637,1837,0,0,0,0,0,0
$GC,15008,0.75,264.9,752.2,6.8,727,15024,0.00,0.32,13.30,1.068,4,0.000,0.060,3278,1837,1782,0,0,0,0,0,0
$GC,15103,0.75,265.3,745.0,7.4,730,15108,0.03,0.30,0.00,0.000,6,0.182,0.067,3269,1645,1780,0,0,0,0,0,0
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$STATE,24069,end climb,SURFACE_DEPTH_REACHED
$STATE,24070,begin surface coast
$FINISH,1.7,1.011500
$STATE,24107,end surface coast,CONTROL_FINISHED_OK
$STATE,24107,begin surface
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$10V_AH,10.1,32.530
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354376
$DATA_FILE_SIZE,76927,1267
$CAP_FILE_SIZE,231162,0
$CFSIZE,2097086464,2066350080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,161112,170405,-4208.719,-730.689,40,1.1,40,-21.9