version: 66.07.10.p01
glider: 573
mission: 4
dive: 223
start: 11 19 112 15 4 12
data:
$ID,573
$MISSION,4
$DIVE,223
$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,333
$T_MISSION,348
$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,-5009.1772
$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,26
$R_STBD_OVSHOOT,34
$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,202
$GPS1,191112,145556,-4207.665,-710.472,41,1.6,41,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-77.1
$GPS2,191112,150317,-4207.672,-710.356,22,1.5,22,-22.0
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.177,0.161
$KALMAN_X,-335112.8,164.5,-122.8,568261.1,-451.2
$KALMAN_Y,-125619.6,-153.7,-277.3,185494.9,-1242.6
$MHEAD_RNG_PITCHd_Wd,69.8,131494,-20.1,-10.010
$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,-0.92,-121.6,0.0,0.0,0,69,0.00,0.00,-42.67,0.000,2,0.000,0.000,82,1819,2487,0,0,0,0,0,0
$GC,71,-0.92,-121.6,3.1,-1.4,7,127,11.12,2.35,-34.90,0.000,4,0.250,0.069,2727,405,3359,0,0,0,0,0,0
$GC,334,-0.80,-121.6,30.6,-13.5,51,340,0.17,2.25,0.00,0.000,6,0.173,0.044,2763,1822,3361,0,0,0,0,0,0
$GC,570,-0.77,-121.6,57.4,-10.8,92,577,0.00,2.28,0.00,0.000,4,0.000,0.057,2754,3229,3361,0,0,0,0,0,0
$GC,704,-0.75,-121.6,73.3,-12.8,115,709,0.10,2.22,0.00,0.000,6,0.180,0.043,2778,1804,3362,0,0,0,0,0,0
$GC,1039,-0.75,-121.6,110.3,-10.9,164,1042,0.00,1.42,0.00,0.000,4,0.000,0.054,2773,2694,3363,0,0,0,0,0,0
$GC,1161,-0.75,-121.6,122.9,-11.2,171,1164,0.00,1.38,0.00,0.000,6,0.000,0.047,2773,1820,3362,0,0,0,0,0,0
$GC,1490,-0.75,-121.6,158.1,-10.2,192,1494,0.00,2.25,0.00,0.000,4,0.000,0.058,2762,3227,3363,0,0,0,0,0,0
$GC,1596,-0.75,-121.6,168.9,-9.8,198,1605,0.05,2.20,0.00,0.000,6,0.163,0.043,2779,1824,3363,0,0,0,0,0,0
$GC,1918,-0.75,-121.6,197.7,-8.8,219,1922,0.00,2.20,0.00,0.000,4,0.000,0.058,2770,3222,3363,0,0,0,0,0,0
$GC,2029,-0.75,-121.6,207.9,-9.1,225,2035,0.00,2.20,0.00,0.000,6,0.000,0.043,2769,1821,3363,0,0,0,0,0,0
$GC,2348,-0.75,-121.6,238.9,-10.4,246,2352,0.00,2.22,0.00,0.000,4,0.000,0.057,2760,3222,3363,0,0,0,0,0,0
$GC,2465,-0.75,-121.6,251.1,-9.8,253,2470,0.08,2.17,0.00,0.000,6,0.194,0.044,2776,1813,3363,0,0,0,0,0,0
$GC,2788,-0.75,-121.6,282.4,-9.2,269,2791,0.00,1.67,0.00,0.000,4,0.000,0.056,2770,2863,3363,0,0,0,0,0,0
$GC,2894,-0.75,-121.6,292.6,-9.8,273,2899,0.00,1.62,0.00,0.000,6,0.000,0.044,2770,1819,3363,0,0,0,0,0,0
$GC,3212,-0.75,-121.6,321.6,-9.6,289,3216,0.00,2.22,0.00,0.000,4,0.000,0.058,2760,3221,3363,0,0,0,0,0,0
$GC,3380,-0.75,-121.6,339.2,-10.8,296,3385,0.08,2.20,0.00,0.000,6,0.194,0.044,2776,1818,3363,0,0,0,0,0,0
$GC,3702,-0.77,-121.6,371.0,-9.7,312,3706,0.00,2.15,0.00,0.000,4,0.000,0.059,2768,3174,3363,0,0,0,0,0,0
$GC,3812,-0.77,-121.6,381.7,-10.1,317,3816,0.00,2.10,0.00,0.000,6,0.000,0.044,2768,1818,3363,0,0,0,0,0,0
$GC,4147,-0.77,-121.6,415.3,-9.8,331,4151,0.00,2.22,0.00,0.000,4,0.000,0.059,2758,3228,3363,0,0,0,0,0,0
$GC,4257,-0.77,-121.6,426.8,-10.7,334,4262,0.00,2.20,0.00,0.000,6,0.000,0.043,2758,1824,3363,0,0,0,0,0,0
$GC,4582,-0.77,-121.6,458.4,-9.6,345,4586,0.05,2.25,0.00,0.000,4,0.229,0.059,2759,3224,3362,0,0,0,0,0,0
$GC,4765,-0.77,-121.6,476.6,-10.2,350,4770,0.03,2.20,0.00,0.000,6,0.190,0.043,2767,1819,3362,0,0,0,0,0,0
$GC,5084,-0.77,-121.6,507.5,-9.9,361,5087,0.00,2.20,0.00,0.000,4,0.000,0.060,2758,3221,3362,0,0,0,0,0,0
$GC,5188,-0.77,-121.6,518.7,-10.4,364,5194,0.03,2.20,0.00,0.000,6,0.184,0.044,2766,1819,3362,0,0,0,0,0,0
$GC,5519,-0.77,-121.6,550.5,-9.6,375,5523,0.00,2.22,0.00,0.000,4,0.000,0.060,2758,3221,3361,0,0,0,0,0,0
$GC,5646,-0.77,-121.6,563.1,-9.4,378,5652,0.03,2.20,0.00,0.000,6,0.184,0.045,2767,1820,3361,0,0,0,0,0,0
$GC,5959,-0.77,-121.6,591.2,-8.9,389,5963,0.00,2.25,0.00,0.000,4,0.000,0.060,2758,3229,3360,0,0,0,0,0,0
$GC,6116,-0.77,-121.6,605.7,-9.6,393,6122,0.05,2.20,0.00,0.000,6,0.220,0.044,2768,1804,3360,0,0,0,0,0,0
$GC,6428,-0.77,-121.6,633.2,-8.6,404,6432,0.00,2.28,0.00,0.000,4,0.000,0.060,2759,3228,3359,0,0,0,0,0,0
$GC,6568,-0.77,-121.6,645.8,-9.5,408,6572,0.00,2.20,0.00,0.000,6,0.000,0.044,2759,1809,3359,0,0,0,0,0,0
$GC,6903,-0.77,-121.6,675.9,-9.2,419,6907,0.00,2.22,0.00,0.000,4,0.000,0.059,2749,3200,3358,0,0,0,0,0,0
$GC,7003,-0.77,-121.6,685.8,-9.9,422,7008,0.05,2.17,0.00,0.000,6,0.167,0.045,2765,1821,3358,0,0,0,0,0,0
$GC,7338,-0.77,-121.6,716.2,-9.2,433,7342,0.00,2.25,0.00,0.000,4,0.000,0.060,2756,3226,3358,0,0,0,0,0,0
$GC,7494,-0.77,-121.6,731.3,-10.0,437,7499,0.08,2.20,0.00,0.000,6,0.194,0.045,2773,1805,3358,0,0,0,0,0,0
$GC,7807,-0.80,-121.6,760.2,-9.2,447,7811,0.00,2.28,0.00,0.000,4,0.000,0.060,2764,3224,3357,0,0,0,0,0,0
$GC,7947,-0.82,-121.6,773.0,-8.8,451,7951,0.00,2.20,0.00,0.000,6,0.000,0.045,2764,1810,3356,0,0,0,0,0,0
$GC,8276,-0.82,-121.6,801.3,-8.3,462,8280,0.00,2.28,0.00,0.000,4,0.000,0.061,2754,3229,3356,0,0,0,0,0,0
$GC,8410,-0.82,-121.6,812.7,-8.1,466,8414,0.00,2.20,0.00,0.000,6,0.000,0.044,2754,1815,3355,0,0,0,0,0,0
$GC,8739,-0.82,-121.6,839.0,-7.9,477,8743,0.00,2.03,0.00,0.000,4,0.000,0.060,2745,3080,3355,0,0,0,0,0,0
$GC,8867,-0.82,-121.6,848.8,-7.1,480,8873,0.00,2.00,0.00,0.000,6,0.000,0.046,2745,1813,3355,0,0,0,0,0,0
$GC,9180,-0.82,-121.6,874.7,-9.2,491,9184,0.00,2.28,0.00,0.000,4,0.000,0.061,2735,3227,3354,0,0,0,0,0,0
$GC,9342,-0.82,-121.6,890.4,-9.5,495,9347,0.08,2.20,0.00,0.000,6,0.198,0.044,2752,1812,3355,0,0,0,0,0,0
$GC,9654,-0.82,-121.6,921.5,-10.5,506,9658,0.00,2.28,0.00,0.000,4,0.000,0.060,2742,3227,3354,0,0,0,0,0,0
$GC,9810,-0.82,-121.6,939.1,-10.9,510,9816,0.00,2.22,0.00,0.000,6,0.000,0.044,2742,1799,3353,0,0,0,0,0,0
$GC,10122,-0.82,-121.6,973.3,-11.1,521,10126,0.00,1.27,0.00,0.000,4,0.000,0.057,2737,2600,3354,0,0,0,0,0,0
$GC,10224,-0.82,-121.6,984.0,-10.0,524,10228,0.05,1.23,0.00,0.000,6,0.163,0.048,2754,1818,3354,0,0,0,0,0,0
$STATE,10409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10409,begin apogee
$GC,10413,-0.23,0.0,1002.9,9.8,530,10518,0.62,0.00,101.43,1.301,6,0.136,0.000,2949,1637,2862,0,0,0,0,0,0
$STATE,10518,end apogee,CONTROL_FINISHED_OK
$STATE,10519,begin climb
$GC,10520,0.92,121.6,1007.0,0.0,533,10633,1.10,2.47,104.50,1.263,4,0.087,0.058,3326,249,2366,0,0,0,0,0,0
$GC,10763,0.87,160.9,996.3,7.8,540,10804,0.10,2.35,35.53,1.221,6,0.176,0.044,3304,1654,2205,0,0,0,0,0,0
$GC,11110,0.87,197.4,968.7,8.0,552,11146,0.00,0.57,32.83,1.219,4,0.000,0.053,3303,2008,2057,0,0,0,0,0,0
$GC,11214,0.90,211.8,959.8,9.2,555,11235,0.00,0.57,14.27,1.142,6,0.000,0.055,3305,1653,1997,0,0,0,0,0,0
$GC,11542,0.93,236.6,931.4,8.6,566,11572,0.00,0.88,23.08,1.196,4,0.000,0.059,3309,1137,1897,0,0,0,0,0,0
$GC,11645,0.97,271.5,922.2,8.1,569,11682,0.05,0.82,32.83,1.189,6,0.073,0.048,3341,1646,1754,0,0,0,0,0,0
$GC,12006,0.97,274.5,885.8,9.8,581,12010,0.00,0.82,0.00,0.000,4,0.000,0.053,3342,2174,1747,0,0,0,0,0,0
$GC,12066,0.97,274.5,879.8,10.1,582,12072,0.00,0.88,0.00,0.000,6,0.000,0.052,3345,1639,1747,0,0,0,0,0,0
$GC,12379,0.97,279.2,849.9,9.7,593,12389,0.00,0.38,6.88,1.001,4,0.000,0.059,3346,1873,1723,0,0,0,0,0,0
$GC,12461,0.97,286.2,841.6,9.6,595,12472,0.00,0.38,7.82,0.989,6,0.000,0.062,3347,1645,1695,0,0,0,0,0,0
$GC,12779,0.97,286.7,809.3,10.0,605,12783,0.00,0.90,0.00,0.000,4,0.000,0.057,3352,1081,1693,0,0,0,0,0,0
$GC,12856,0.97,286.7,801.1,10.8,607,12861,0.05,0.93,0.00,0.000,6,0.223,0.046,3339,1656,1693,0,0,0,0,0,0
$GC,13186,1.00,286.7,767.5,10.3,618,13190,0.00,0.43,0.00,0.000,4,0.000,0.060,3341,1373,1692,0,0,0,0,0,0
$GC,13247,1.02,288.5,761.2,9.9,619,13253,0.00,0.43,0.00,0.000,6,0.000,0.054,3340,1642,1692,0,0,0,0,0,0
$GC,13560,1.05,288.5,729.1,10.4,630,13564,0.05,0.35,0.00,0.000,4,0.168,0.067,3371,1420,1691,0,0,0,0,0,0
$GC,13636,1.05,288.5,720.0,11.4,632,13640,0.00,0.35,0.00,0.000,6,0.000,0.057,3371,1649,1692,0,0,0,0,0,0
$GC,13966,1.05,288.5,681.4,11.7,643,13969,0.00,0.82,0.00,0.000,4,0.000,0.058,3375,1134,1691,0,0,0,0,0,0
$GC,14043,1.03,288.5,671.6,12.3,645,14048,0.08,0.82,0.00,0.000,6,0.195,0.047,3358,1654,1691,0,0,0,0,0,0
$GC,14372,1.03,288.5,632.4,12.0,656,14376,0.00,1.02,0.00,0.000,4,0.000,0.057,3362,1020,1690,0,0,0,0,0,0
$GC,14460,1.03,288.5,621.1,13.0,658,14465,0.00,1.00,0.00,0.000,6,0.000,0.045,3362,1645,1690,0,0,0,0,0,0
$GC,14779,1.03,288.5,583.3,11.8,669,14782,0.00,0.70,0.00,0.000,4,0.000,0.057,3366,1201,1690,0,0,0,0,0,0
$GC,14846,1.03,288.5,575.4,12.1,671,14850,0.00,0.70,0.00,0.000,6,0.000,0.049,3366,1654,1690,0,0,0,0,0,0
$GC,15186,1.03,288.5,535.7,11.9,682,15187,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1654,1690,0,0,0,0,0,0
$GC,15492,1.03,288.5,498.8,12.1,692,15496,0.00,1.10,0.00,0.000,4,0.000,0.057,3371,973,1690,0,0,0,0,0,0
$GC,15569,1.03,288.5,488.9,12.9,694,15575,0.05,1.08,0.00,0.000,6,0.229,0.044,3359,1651,1690,0,0,0,0,0,0
$GC,15899,1.03,288.5,449.1,12.1,705,15903,0.00,0.82,0.00,0.000,4,0.000,0.053,3359,2191,1690,0,0,0,0,0,0
$GC,15967,1.03,288.5,440.9,13.0,707,15970,0.00,0.85,0.00,0.000,6,0.000,0.051,3363,1646,1690,0,0,0,0,0,0
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$STATE,19951,end climb,SURFACE_DEPTH_REACHED
$STATE,19951,begin surface coast
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$10V_AH,10.1,34.156
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$FG_AHR_10Vo,0.000
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$MEM,354344
$DATA_FILE_SIZE,60221,1015
$CAP_FILE_SIZE,192287,0
$CFSIZE,2097086464,2064646144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191112,204005,-4207.509,-708.078,62,1.0,62,-22.0