version: 66.07.10.p01
glider: 573
mission: 4
dive: 244
start: 11 24 112 13 10 31
data:
$ID,573
$MISSION,4
$DIVE,244
$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,-5080.7295
$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,35
$R_STBD_OVSHOOT,32
$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,223
$GPS1,241112,130223,-4152.239,-631.749,38,1.3,38,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.8
$GPS2,241112,130936,-4152.283,-631.693,17,1.4,18,-22.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.083,0.225
$KALMAN_X,-307123.6,-321.6,2.3,593303.6,399.1
$KALMAN_Y,-187543.1,-168.7,188.2,275476.5,-2998.7
$MHEAD_RNG_PITCHd_Wd,42.3,71046,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.92,-121.6,0.0,0.0,0,58,0.00,0.00,-31.17,0.000,2,0.000,0.000,82,1818,2404,0,0,0,0,0,0
$GC,60,-0.92,-121.6,3.1,-1.0,5,116,10.73,1.35,-36.22,0.000,4,0.236,0.072,2712,2660,3361,0,0,0,0,0,0
$GC,172,-0.80,-121.6,11.7,-12.0,23,180,0.15,1.33,0.00,0.000,6,0.145,0.045,2760,1825,3362,0,0,0,0,0,0
$GC,253,-0.77,-121.6,19.9,-10.2,36,259,0.00,0.55,0.00,0.000,4,0.000,0.056,2760,1463,3362,0,0,0,0,0,0
$GC,297,-0.74,-121.6,25.0,-11.4,43,305,0.05,0.55,0.00,0.000,6,0.163,0.052,2775,1819,3362,0,0,0,0,0,0
$GC,375,-0.74,-121.6,33.3,-10.6,56,382,0.00,0.75,0.00,0.000,4,0.000,0.054,2773,2309,3362,0,0,0,0,0,0
$GC,464,-0.74,-121.6,42.0,-10.2,71,469,0.00,0.75,0.00,0.000,6,0.000,0.048,2773,1819,3362,0,0,0,0,0,0
$GC,699,-0.74,-121.6,66.6,-10.7,112,704,0.00,1.98,0.00,0.000,4,0.000,0.057,2764,3060,3363,0,0,0,0,0,0
$GC,785,-0.74,-121.6,75.6,-10.4,127,790,0.08,1.98,0.00,0.000,6,0.184,0.045,2781,1815,3363,0,0,0,0,0,0
$GC,1131,-0.77,-121.6,108.7,-9.0,178,1135,0.00,2.25,0.00,0.000,4,0.000,0.057,2772,3224,3363,0,0,0,0,0,0
$GC,1219,-0.77,-121.6,117.3,-9.7,183,1225,0.00,2.22,0.00,0.000,6,0.000,0.044,2772,1811,3363,0,0,0,0,0,0
$GC,1540,-0.80,-121.6,146.0,-8.9,204,1544,0.00,1.65,0.00,0.000,4,0.000,0.055,2772,757,3363,0,0,0,0,0,0
$GC,1593,-0.80,-121.6,151.1,-9.6,207,1597,0.00,1.67,0.00,0.000,6,0.000,0.044,2764,1833,3363,0,0,0,0,0,0
$GC,1924,-0.80,-121.6,181.4,-9.0,228,1928,0.00,2.15,0.00,0.000,4,0.000,0.056,2754,3221,3364,0,0,0,0,0,0
$GC,2020,-0.80,-121.6,190.5,-9.2,234,2024,0.00,2.17,0.00,0.000,6,0.000,0.044,2754,1815,3364,0,0,0,0,0,0
$GC,2352,-0.80,-121.6,221.2,-8.9,255,2356,0.00,2.22,0.00,0.000,4,0.000,0.056,2743,3228,3364,0,0,0,0,0,0
$GC,2457,-0.80,-121.6,231.5,-9.4,261,2463,0.08,2.20,0.00,0.000,6,0.188,0.043,2761,1822,3364,0,0,0,0,0,0
$GC,2788,-0.80,-121.6,259.7,-8.5,281,2792,0.00,1.17,0.00,0.000,4,0.000,0.053,2757,2571,3364,0,0,0,0,0,0
$GC,2849,-0.80,-121.6,265.1,-8.8,283,2855,0.00,1.17,0.00,0.000,6,0.000,0.044,2757,1817,3364,0,0,0,0,0,0
$GC,3167,-0.80,-121.6,291.3,-8.7,299,3171,0.00,2.22,0.00,0.000,4,0.000,0.055,2746,3227,3364,0,0,0,0,0,0
$GC,3251,-0.80,-121.6,299.1,-8.8,302,3259,0.03,2.20,0.00,0.000,6,0.183,0.042,2756,1819,3364,0,0,0,0,0,0
$GC,3567,-0.80,-121.6,326.6,-8.9,318,3571,0.00,2.22,0.00,0.000,4,0.000,0.056,2746,3227,3364,0,0,0,0,0,0
$GC,3680,-0.80,-121.6,337.0,-8.9,323,3684,0.03,2.20,0.00,0.000,6,0.181,0.043,2755,1819,3364,0,0,0,0,0,0
$GC,4010,-0.82,-121.6,366.1,-9.2,339,4014,0.00,2.22,0.00,0.000,4,0.000,0.056,2745,3227,3363,0,0,0,0,0,0
$GC,4088,-0.82,-121.6,373.8,-8.6,342,4092,0.00,2.20,0.00,0.000,6,0.000,0.043,2745,1820,3364,0,0,0,0,0,0
$GC,4420,-0.82,-121.6,405.0,-9.7,358,4424,0.00,2.20,0.00,0.000,4,0.000,0.056,2735,3220,3364,0,0,0,0,0,0
$GC,4515,-0.80,-121.6,414.8,-10.5,361,4520,0.10,2.17,0.00,0.000,6,0.168,0.044,2762,1815,3364,0,0,0,0,0,0
$GC,4851,-0.83,-121.6,445.5,-9.0,372,4855,0.00,2.25,0.00,0.000,4,0.000,0.057,2752,3230,3364,0,0,0,0,0,0
$GC,4952,-0.83,-121.6,455.1,-8.8,375,4956,0.00,2.17,0.00,0.000,6,0.000,0.043,2752,1818,3364,0,0,0,0,0,0
$GC,5292,-0.83,-121.6,487.5,-9.6,386,5296,0.00,2.22,0.00,0.000,4,0.000,0.056,2741,3221,3364,0,0,0,0,0,0
$GC,5408,-0.83,-121.6,498.8,-9.1,389,5413,0.00,2.20,0.00,0.000,6,0.000,0.044,2742,1819,3363,0,0,0,0,0,0
$GC,5727,-0.83,-121.6,527.4,-8.9,400,5731,0.00,2.20,0.00,0.000,4,0.000,0.057,2732,3202,3363,0,0,0,0,0,0
$GC,5798,-0.81,-121.6,534.4,-9.6,402,5803,0.10,2.15,0.00,0.000,6,0.170,0.044,2758,1811,3363,0,0,0,0,0,0
$GC,6128,-0.84,-121.6,562.2,-8.7,413,6132,0.00,2.22,0.00,0.000,4,0.000,0.057,2748,3223,3362,0,0,0,0,0,0
$GC,6216,-0.84,-121.6,570.6,-9.4,415,6222,0.00,2.20,0.00,0.000,6,0.000,0.044,2748,1826,3362,0,0,0,0,0,0
$GC,6529,-0.84,-121.6,601.5,-10.4,426,6533,0.00,2.22,0.00,0.000,4,0.000,0.056,2738,3225,3362,0,0,0,0,0,0
$GC,6605,-0.84,-121.6,609.9,-10.6,428,6610,0.00,2.20,0.00,0.000,6,0.000,0.044,2738,1826,3362,0,0,0,0,0,0
$GC,6930,-0.84,-121.6,645.8,-11.3,439,6933,0.00,0.70,0.00,0.000,4,0.000,0.053,2735,2289,3361,0,0,0,0,0,0
$GC,7018,-0.84,-121.6,656.2,-11.6,441,7023,0.00,0.75,0.00,0.000,6,0.000,0.048,2735,1805,3361,0,0,0,0,0,0
$GC,7336,-0.84,-121.6,691.0,-10.7,452,7341,0.00,2.25,0.00,0.000,4,0.000,0.056,2724,3221,3360,0,0,0,0,0,0
$GC,7466,-0.84,-121.6,704.7,-10.7,456,7471,0.10,2.17,0.00,0.000,6,0.173,0.044,2751,1825,3360,0,0,0,0,0,0
$GC,7801,-0.86,-121.6,735.5,-9.0,467,7805,0.00,2.20,0.00,0.000,4,0.000,0.057,2741,3223,3359,0,0,0,0,0,0
$GC,7907,-0.86,-121.6,745.3,-8.7,470,7911,0.00,2.20,0.00,0.000,6,0.000,0.044,2741,1821,3359,0,0,0,0,0,0
$GC,8237,-0.86,-121.6,774.2,-8.9,481,8241,0.00,2.22,0.00,0.000,4,0.000,0.057,2731,3218,3357,0,0,0,0,0,0
$GC,8333,-0.86,-121.6,782.9,-9.0,484,8337,0.00,2.17,0.00,0.000,6,0.000,0.044,2731,1823,3357,0,0,0,0,0,0
$GC,8668,-0.83,-121.6,814.8,-9.8,495,8673,0.08,2.20,0.00,0.000,4,0.203,0.058,2738,3192,3357,0,0,0,0,0,0
$GC,8763,-0.83,-121.6,824.5,-10.5,498,8768,0.05,2.15,0.00,0.000,6,0.212,0.045,2750,1813,3357,0,0,0,0,0,0
$GC,9097,-0.83,-121.6,857.5,-9.9,509,9101,0.00,2.25,0.00,0.000,4,0.000,0.058,2740,3218,3356,0,0,0,0,0,0
$GC,9197,-0.83,-121.6,868.5,-10.4,512,9202,0.00,2.22,0.00,0.000,6,0.000,0.045,2740,1815,3356,0,0,0,0,0,0
$GC,9532,-0.83,-121.6,905.4,-11.3,523,9536,0.00,2.25,0.00,0.000,4,0.000,0.059,2730,3222,3355,0,0,0,0,0,0
$GC,9637,-0.83,-121.6,916.8,-10.2,526,9643,0.05,2.22,0.00,0.000,6,0.155,0.045,2748,1813,3355,0,0,0,0,0,0
$GC,9973,-0.83,-121.6,948.9,-9.4,537,9976,0.00,1.95,0.00,0.000,4,0.000,0.058,2740,3032,3355,0,0,0,0,0,0
$GC,10089,-0.83,-121.6,959.5,-8.5,540,10094,0.00,1.92,0.00,0.000,6,0.000,0.046,2740,1818,3354,0,0,0,0,0,0
$GC,10414,-0.83,-121.6,986.9,-8.5,551,10418,0.00,1.88,0.00,0.000,4,0.000,0.057,2731,3006,3354,0,0,0,0,0,0
$STATE,10446,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10446,begin apogee
$GC,10453,-0.23,0.0,989.8,8.3,552,10557,0.68,0.00,101.60,1.273,6,0.131,0.000,2942,1646,2862,0,0,0,0,0,0
$STATE,10558,end apogee,CONTROL_FINISHED_OK
$STATE,10558,begin climb
$GC,10560,0.92,121.6,993.0,0.0,555,10673,1.10,2.47,104.10,1.238,4,0.083,0.056,3323,243,2367,0,0,0,0,0,0
$GC,10841,0.87,149.9,976.1,8.5,563,10872,0.08,2.33,25.65,1.183,6,0.186,0.041,3307,1656,2251,0,0,0,0,0,0
$GC,11179,0.87,179.8,947.6,8.4,574,11213,0.00,1.83,27.00,1.190,4,0.000,0.053,3306,2736,2127,0,0,0,0,0,0
$GC,11296,0.87,201.9,937.2,8.8,577,11322,0.00,1.80,20.70,1.161,6,0.000,0.047,3314,1645,2038,0,0,0,0,0,0
$GC,11647,0.87,227.1,906.4,8.6,589,11677,0.00,1.62,22.80,1.167,4,0.000,0.053,3314,2610,1935,0,0,0,0,0,0
$GC,11750,0.90,245.6,896.7,9.0,592,11775,0.00,1.58,17.62,1.118,6,0.000,0.049,3320,1648,1860,0,0,0,0,0,0
$GC,12083,0.94,260.8,865.3,9.2,603,12102,0.00,0.77,14.60,1.096,4,0.000,0.052,3321,2129,1799,0,0,0,0,0,0
$GC,12177,0.98,269.6,856.3,9.5,605,12191,0.00,0.77,9.48,1.013,6,0.000,0.054,3324,1644,1763,0,0,0,0,0,0
$GC,12522,1.02,272.4,822.9,9.9,617,12526,0.08,0.35,0.00,0.000,4,0.120,0.058,3361,1866,1759,0,0,0,0,0,0
$GC,12632,1.02,272.4,810.2,10.5,620,12636,0.00,0.38,0.00,0.000,6,0.000,0.059,3363,1636,1758,0,0,0,0,0,0
$GC,12961,1.02,272.4,772.7,11.3,631,12965,0.00,0.68,0.00,0.000,4,0.000,0.051,3362,2073,1757,0,0,0,0,0,0
$GC,13049,1.02,272.4,762.7,10.9,633,13054,0.05,0.70,0.00,0.000,6,0.235,0.052,3354,1633,1757,0,0,0,0,0,0
$GC,13368,1.02,272.4,729.8,10.2,644,13372,0.00,0.68,0.00,0.000,4,0.000,0.052,3354,2070,1756,0,0,0,0,0,0
$GC,13439,1.02,272.4,722.3,10.1,646,13443,0.00,0.68,0.00,0.000,6,0.000,0.051,3357,1647,1756,0,0,0,0,0,0
$GC,13774,1.02,277.3,688.9,9.7,657,13783,0.00,0.00,7.32,0.916,6,0.000,0.000,3357,1647,1731,0,0,0,0,0,0
$GC,14080,1.02,277.3,658.1,10.1,667,14084,0.00,0.47,0.00,0.000,4,0.000,0.053,3356,1965,1730,0,0,0,0,0,0
$GC,14173,1.02,277.3,648.3,10.7,669,14179,0.00,0.52,0.00,0.000,6,0.000,0.055,3359,1638,1730,0,0,0,0,0,0
$GC,14486,1.02,277.3,615.4,10.6,680,14490,0.00,0.62,0.00,0.000,4,0.000,0.060,3362,1233,1729,0,0,0,0,0,0
$GC,14553,1.02,277.3,608.2,10.9,682,14556,0.00,0.62,0.00,0.000,6,0.000,0.049,3362,1639,1729,0,0,0,0,0,0
$GC,14893,1.02,277.3,571.4,10.8,693,14897,0.00,1.25,0.00,0.000,4,0.000,0.052,3362,2434,1730,0,0,0,0,0,0
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$STATE,20277,end climb,SURFACE_DEPTH_REACHED
$STATE,20277,begin surface coast
$FINISH,1.8,1.013181
$STATE,20302,end surface coast,CONTROL_FINISHED_OK
$STATE,20302,begin surface
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$HUMID,44.56
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$TCM_TEMP,15.70
$XPDR_PINGS,0
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$10V_AH,10.2,36.716
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354292
$DATA_FILE_SIZE,63614,1053
$CAP_FILE_SIZE,195913,0
$CFSIZE,2097086464,2061893632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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