version: 66.07.10.p01
glider: 573
mission: 4
dive: 212
start: 11 17 112 0 21 37
data:
$ID,573
$MISSION,4
$DIVE,212
$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,-4972.1626
$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,30
$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,191
$GPS1,171112,001253,-4209.090,-730.981,41,1.2,41,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-71.7
$GPS2,171112,002042,-4209.049,-730.991,17,1.2,18,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.215,0.025
$KALMAN_X,-314322.8,3.1,-204.3,519612.0,-5447.2
$KALMAN_Y,-113194.8,77.1,-255.2,170267.1,-472.7
$MHEAD_RNG_PITCHd_Wd,105.4,157647,-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,-121.6,0.0,0.0,0,82,0.00,0.00,-54.30,0.000,2,0.000,0.000,89,1818,2785,0,0,0,0,0,0
$GC,84,-0.71,-121.6,3.2,-1.2,9,122,11.38,2.33,-18.05,0.000,4,0.249,0.070,2795,415,3360,0,0,0,0,0,0
$GC,219,-0.61,-121.6,16.6,-11.5,31,227,0.10,2.25,0.00,0.000,6,0.148,0.044,2819,1809,3361,0,0,0,0,0,0
$GC,299,-0.58,-121.6,24.3,-9.1,44,307,0.05,1.42,0.00,0.000,4,0.223,0.057,2826,2686,3362,0,0,0,0,0,0
$GC,402,-0.58,-121.6,33.4,-8.9,61,407,0.00,1.38,0.00,0.000,6,0.000,0.046,2826,1818,3362,0,0,0,0,0,0
$GC,636,-0.58,-121.6,53.8,-8.6,102,644,0.00,2.28,0.00,0.000,4,0.000,0.060,2815,3216,3362,0,0,0,0,0,0
$GC,724,-0.54,-121.6,61.6,-8.8,117,731,0.08,2.22,0.00,0.000,6,0.138,0.044,2842,1810,3362,0,0,0,0,0,0
$GC,1070,-0.59,-121.6,89.4,-8.3,178,1075,0.00,1.70,0.00,0.000,4,0.000,0.057,2834,2893,3363,0,0,0,0,0,0
$GC,1138,-0.64,-121.6,95.2,-8.5,190,1143,0.00,1.67,0.00,0.000,6,0.000,0.044,2835,1809,3363,0,0,0,0,0,0
$GC,1462,-0.68,-121.6,123.9,-8.9,217,1467,0.10,1.73,0.00,0.000,4,0.098,0.054,2782,749,3364,0,0,0,0,0,0
$GC,1498,-0.59,-121.6,127.7,-10.6,219,1503,0.20,1.67,0.00,0.000,6,0.155,0.044,2831,1822,3363,0,0,0,0,0,0
$GC,1829,-0.63,-121.6,157.3,-8.7,240,1833,0.00,2.22,0.00,0.000,4,0.000,0.059,2821,3222,3364,0,0,0,0,0,0
$GC,1917,-0.63,-121.6,165.4,-8.4,245,1924,0.00,2.20,0.00,0.000,6,0.000,0.043,2821,1819,3364,0,0,0,0,0,0
$GC,2237,-0.66,-121.6,191.8,-8.1,266,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1819,3364,0,0,0,0,0,0
$GC,2551,-0.68,-121.6,216.4,-8.0,286,2556,0.05,2.25,0.00,0.000,4,0.167,0.060,2775,3222,3364,0,0,0,0,0,0
$GC,2651,-0.62,-121.6,226.0,-9.3,292,2656,0.12,2.20,0.00,0.000,6,0.142,0.043,2816,1813,3364,0,0,0,0,0,0
$GC,2988,-0.62,-121.6,254.0,-8.2,313,2992,0.00,1.88,0.00,0.000,4,0.000,0.054,2816,648,3364,0,0,0,0,0,0
$GC,3035,-0.59,-121.6,258.2,-8.6,315,3039,0.10,1.83,0.00,0.000,6,0.173,0.044,2836,1818,3364,0,0,0,0,0,0
$GC,3369,-0.64,-121.6,284.4,-7.5,331,3373,0.05,2.22,0.00,0.000,4,0.164,0.058,2787,3220,3364,0,0,0,0,0,0
$GC,3492,-0.60,-121.6,295.4,-8.8,336,3497,0.15,2.17,0.00,0.000,6,0.155,0.044,2830,1809,3364,0,0,0,0,0,0
$GC,3810,-0.65,-121.6,319.0,-7.5,351,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1809,3364,0,0,0,0,0,0
$GC,4117,-0.70,-121.6,342.8,-7.8,366,4122,0.10,2.28,0.00,0.000,4,0.097,0.060,2765,3223,3364,0,0,0,0,0,0
$GC,4252,-0.63,-121.6,356.0,-9.5,372,4257,0.17,2.17,0.00,0.000,6,0.155,0.044,2814,1813,3364,0,0,0,0,0,0
$GC,4572,-0.63,-121.6,383.7,-8.8,388,4575,0.00,1.17,0.00,0.000,4,0.000,0.055,2814,1069,3363,0,0,0,0,0,0
$GC,4604,-0.63,-121.6,386.8,-9.2,389,4609,0.00,1.20,0.00,0.000,6,0.000,0.045,2809,1827,3363,0,0,0,0,0,0
$GC,4945,-0.63,-121.6,416.4,-8.8,403,4948,0.00,1.48,0.00,0.000,4,0.000,0.056,2802,2762,3363,0,0,0,0,0,0
$GC,5012,-0.63,-121.6,422.5,-8.6,405,5016,0.00,1.48,0.00,0.000,6,0.000,0.045,2802,1817,3363,0,0,0,0,0,0
$GC,5352,-0.63,-121.6,453.0,-8.9,416,5356,0.05,1.20,0.00,0.000,4,0.227,0.054,2814,1068,3363,0,0,0,0,0,0
$GC,5385,-0.63,-121.6,455.9,-8.8,417,5389,0.00,1.17,0.00,0.000,6,0.000,0.046,2809,1818,3363,0,0,0,0,0,0
$GC,5725,-0.63,-121.6,486.4,-8.9,428,5729,0.00,0.68,0.00,0.000,4,0.000,0.055,2805,2270,3362,0,0,0,0,0,0
$GC,5819,-0.63,-121.6,495.2,-9.2,430,5825,0.00,0.70,0.00,0.000,6,0.000,0.048,2805,1818,3362,0,0,0,0,0,0
$GC,6132,-0.63,-121.6,523.4,-8.9,441,6136,0.00,2.22,0.00,0.000,4,0.000,0.055,2805,411,3361,0,0,0,0,0,0
$GC,6194,-0.57,-121.6,529.4,-9.7,443,6198,0.15,2.20,0.00,0.000,6,0.156,0.043,2838,1819,3361,0,0,0,0,0,0
$GC,6534,-0.64,-121.6,555.7,-7.4,454,6538,0.08,2.25,0.00,0.000,4,0.122,0.060,2783,3230,3361,0,0,0,0,0,0
$GC,6664,-0.60,-121.6,566.8,-8.1,458,6668,0.15,2.15,0.00,0.000,6,0.154,0.044,2826,1819,3361,0,0,0,0,0,0
$GC,6998,-0.65,-121.6,592.0,-7.6,469,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1819,3360,0,0,0,0,0,0
$GC,7304,-0.69,-121.6,614.3,-7.2,479,7309,0.08,2.25,0.00,0.000,4,0.122,0.061,2771,3219,3360,0,0,0,0,0,0
$GC,7421,-0.64,-121.6,624.5,-8.9,482,7426,0.15,2.17,0.00,0.000,6,0.154,0.044,2812,1813,3359,0,0,0,0,0,0
$GC,7739,-0.67,-121.6,648.4,-7.3,493,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1812,3359,0,0,0,0,0,0
$GC,8045,-0.69,-121.6,670.6,-7.2,503,8049,0.00,2.28,0.00,0.000,4,0.000,0.060,2803,3228,3359,0,0,0,0,0,0
$GC,8141,-0.69,-121.6,677.9,-7.5,506,8145,0.00,2.15,0.00,0.000,6,0.000,0.044,2803,1821,3358,0,0,0,0,0,0
$GC,8475,-0.69,-121.6,703.3,-7.8,517,8479,0.00,2.25,0.00,0.000,4,0.000,0.057,2803,412,3358,0,0,0,0,0,0
$GC,8537,-0.64,-121.6,708.7,-8.8,519,8542,0.08,2.20,0.00,0.000,6,0.203,0.044,2809,1819,3358,0,0,0,0,0,0
$GC,8871,-0.66,-121.6,735.5,-7.9,530,8875,0.00,2.25,0.00,0.000,4,0.000,0.056,2810,406,3357,0,0,0,0,0,0
$GC,8954,-0.62,-121.6,742.6,-8.8,532,8959,0.05,2.25,0.00,0.000,6,0.161,0.044,2817,1819,3357,0,0,0,0,0,0
$GC,9273,-0.66,-121.6,764.7,-6.8,543,9276,0.00,0.32,0.00,0.000,4,0.000,0.060,2816,2057,3357,0,0,0,0,0,0
$GC,9413,-0.71,-121.6,774.0,-6.2,547,9417,0.05,0.35,0.00,0.000,6,0.067,0.060,2774,1820,3357,0,0,0,0,0,0
$GC,9747,-0.66,-121.6,799.1,-7.5,558,9751,0.12,0.30,0.00,0.000,4,0.169,0.067,2806,2028,3356,0,0,0,0,0,0
$GC,10005,-0.66,-121.6,816.4,-7.1,565,10009,0.00,0.32,0.00,0.000,6,0.000,0.060,2806,1809,3356,0,0,0,0,0,0
$GC,10324,-0.69,-121.6,837.8,-7.0,576,10327,0.00,2.20,0.00,0.000,4,0.000,0.057,2806,423,3356,0,0,0,0,0,0
$GC,10412,-0.65,-121.6,845.1,-8.5,578,10418,0.00,2.22,0.00,0.000,6,0.000,0.044,2796,1820,3355,0,0,0,0,0,0
$GC,10725,-0.62,-121.6,870.0,-8.1,589,10730,0.10,2.28,0.00,0.000,4,0.196,0.061,2811,3230,3355,0,0,0,0,0,0
$GC,10880,-0.62,-121.6,882.6,-8.2,593,10887,0.00,2.20,0.00,0.000,6,0.000,0.044,2811,1827,3355,0,0,0,0,0,0
$GC,11193,-0.62,-121.6,908.4,-8.6,604,11197,0.00,2.08,0.00,0.000,4,0.000,0.060,2801,3121,3354,0,0,0,0,0,0
$GC,11304,-0.62,-121.6,919.0,-9.8,607,11310,0.05,2.05,0.00,0.000,6,0.152,0.044,2820,1821,3354,0,0,0,0,0,0
$GC,11634,-0.62,-121.6,949.3,-9.4,618,11638,0.00,1.80,0.00,0.000,4,0.000,0.060,2812,2960,3354,0,0,0,0,0,0
$GC,11750,-0.62,-121.6,959.9,-8.9,621,11756,0.00,1.80,0.00,0.000,6,0.000,0.045,2811,1815,3354,0,0,0,0,0,0
$GC,12075,-0.62,-121.6,987.5,-8.4,632,12079,0.00,2.25,0.00,0.000,4,0.000,0.062,2802,3229,3353,0,0,0,0,0,0
$GC,12204,-0.62,-121.6,998.3,-7.7,636,12208,0.08,2.20,0.00,0.000,6,0.184,0.044,2820,1810,3353,0,0,0,0,0,0
$STATE,12222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12223,begin apogee
$GC,12227,-0.23,0.0,1000.1,8.5,636,12331,0.38,0.00,101.40,1.301,6,0.127,0.000,2946,1648,2862,0,0,0,0,0,0
$STATE,12332,end apogee,CONTROL_FINISHED_OK
$STATE,12332,begin climb
$GC,12334,0.71,121.6,1004.1,0.0,640,12445,0.90,1.55,104.28,1.266,4,0.089,0.056,3253,761,2367,0,0,0,0,0,0
$GC,12495,0.68,179.8,1000.3,5.0,645,12555,0.00,1.52,53.35,1.236,6,0.000,0.044,3252,1649,2128,0,0,0,0,0,0
$GC,12885,0.68,190.8,973.8,7.0,658,12897,0.00,0.00,10.02,1.106,6,0.000,0.000,3253,1649,2084,0,0,0,0,0,0
$GC,13191,0.68,196.9,951.9,7.2,668,13202,0.00,1.77,6.72,0.979,4,0.000,0.057,3252,2711,2059,0,0,0,0,0,0
$GC,13280,0.68,199.4,945.1,7.3,670,13290,0.03,1.73,3.95,0.721,6,0.171,0.048,3250,1658,2049,0,0,0,0,0,0
$GC,13626,0.68,208.6,920.7,7.0,682,13641,0.00,0.45,9.88,1.090,4,0.000,0.065,3251,1376,2011,0,0,0,0,0,0
$GC,13674,0.71,224.2,917.2,6.8,683,13695,0.00,0.45,15.80,1.154,6,0.000,0.055,3251,1654,1947,0,0,0,0,0,0
$GC,14032,0.74,241.6,892.3,6.7,695,14051,0.00,1.08,16.02,1.153,4,0.000,0.050,3252,2341,1878,0,0,0,0,0,0
$GC,14106,0.77,241.6,886.9,7.5,697,14111,0.00,1.12,0.00,0.000,6,0.000,0.050,3256,1650,1876,0,0,0,0,0,0
$GC,14437,0.80,259.8,864.5,6.7,708,14457,0.05,0.00,17.85,1.154,6,0.164,0.000,3293,1650,1802,0,0,0,0,0,0
$GC,14742,0.80,259.8,840.4,7.7,718,14746,0.00,0.45,0.00,0.000,4,0.000,0.055,3293,1945,1798,0,0,0,0,0,0
$GC,14810,0.80,259.8,835.0,7.5,720,14814,0.03,0.47,0.00,0.000,6,0.177,0.059,3284,1644,1797,0,0,0,0,0,0
$GC,15149,0.80,259.8,809.6,7.4,731,15153,0.00,0.65,0.00,0.000,4,0.000,0.054,3284,2063,1796,0,0,0,0,0,0
$GC,15217,0.80,259.8,804.4,7.8,733,15220,0.00,0.65,0.00,0.000,6,0.000,0.054,3286,1648,1796,0,0,0,0,0,0
$GC,15557,0.80,259.8,777.9,8.0,744,15561,0.00,0.77,0.00,0.000,4,0.000,0.052,3286,2147,1796,0,0,0,0,0,0
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$STATE,24713,end climb,SURFACE_DEPTH_REACHED
$STATE,24713,begin surface coast
$FINISH,1.6,1.015444
$STATE,24726,end surface coast,CONTROL_FINISHED_OK
$STATE,24726,begin surface
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$10V_AH,10.2,32.828
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$FG_AHR_10Vo,0.000
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$MEM,354264
$DATA_FILE_SIZE,76829,1288
$CAP_FILE_SIZE,229380,0
$CFSIZE,2097086464,2066022400
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