version: 66.07.10.p01
glider: 573
mission: 4
dive: 249
start: 11 25 112 17 35 38
data:
$ID,573
$MISSION,4
$DIVE,249
$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,-5098.0171
$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,228
$GPS1,251112,172253,-4148.286,-627.112,40,1.3,40,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.3
$GPS2,251112,173443,-4148.341,-627.028,43,2.6,63,-22.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.150,0.187
$KALMAN_X,-311587.1,-206.3,-162.9,604160.6,-347.1
$KALMAN_Y,-201073.5,-99.9,-260.6,296682.9,-1954.6
$MHEAD_RNG_PITCHd_Wd,60.9,61577,-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,23,begin dive
$GC,24,-0.92,-121.6,0.0,0.0,0,69,0.00,0.00,-42.00,0.000,2,0.000,0.000,88,1835,2539,0,0,0,0,0,0
$GC,71,-0.92,-121.6,3.1,-1.6,7,121,10.62,1.67,-32.28,0.000,4,0.230,0.069,2724,822,3356,0,0,0,0,0,0
$GC,221,-0.83,-121.6,15.9,-11.5,32,229,0.10,1.60,0.00,0.000,6,0.151,0.045,2749,1813,3358,0,0,0,0,0,0
$GC,302,-0.78,-121.6,24.4,-11.7,45,310,0.08,1.12,0.00,0.000,4,0.197,0.054,2763,2517,3358,0,0,0,0,0,0
$GC,364,-0.78,-121.6,31.9,-12.0,55,369,0.00,1.10,0.00,0.000,6,0.000,0.048,2763,1822,3358,0,0,0,0,0,0
$GC,598,-0.78,-121.6,60.2,-11.0,96,605,0.00,1.05,0.00,0.000,4,0.000,0.054,2758,2487,3358,0,0,0,0,0,0
$GC,675,-0.78,-121.6,68.7,-11.2,109,679,0.00,1.05,0.00,0.000,6,0.000,0.047,2758,1818,3358,0,0,0,0,0,0
$GC,1025,-0.78,-121.6,107.3,-10.9,164,1029,0.00,2.25,0.00,0.000,4,0.000,0.058,2747,3222,3358,0,0,0,0,0,0
$GC,1130,-0.78,-121.6,119.3,-11.0,170,1139,0.05,2.22,0.00,0.000,6,0.158,0.044,2764,1811,3358,0,0,0,0,0,0
$GC,1453,-0.81,-121.6,152.4,-10.2,191,1457,0.00,2.22,0.00,0.000,4,0.000,0.057,2755,3227,3359,0,0,0,0,0,0
$GC,1551,-0.81,-121.6,162.3,-9.5,197,1555,0.00,2.17,0.00,0.000,6,0.000,0.044,2755,1818,3359,0,0,0,0,0,0
$GC,1882,-0.81,-121.6,194.0,-9.6,218,1886,0.00,0.25,0.00,0.000,4,0.000,0.063,2754,2002,3359,0,0,0,0,0,0
$GC,1926,-0.81,-121.6,198.5,-9.8,220,1933,0.00,0.28,0.00,0.000,6,0.000,0.062,2754,1812,3359,0,0,0,0,0,0
$GC,2247,-0.81,-121.6,229.1,-9.6,241,2251,0.00,2.22,0.00,0.000,4,0.000,0.057,2744,3224,3360,0,0,0,0,0,0
$GC,2351,-0.81,-121.6,240.2,-10.0,247,2358,0.03,2.20,0.00,0.000,6,0.184,0.043,2754,1822,3359,0,0,0,0,0,0
$GC,2677,-0.81,-121.6,271.9,-9.8,265,2680,0.00,0.93,0.00,0.000,4,0.000,0.051,2750,2423,3360,0,0,0,0,0,0
$GC,2724,-0.81,-121.6,276.4,-9.5,267,2728,0.00,0.93,0.00,0.000,6,0.000,0.047,2750,1822,3359,0,0,0,0,0,0
$GC,3058,-0.81,-121.6,308.5,-9.7,283,3062,0.00,2.08,0.00,0.000,4,0.000,0.056,2741,3130,3359,0,0,0,0,0,0
$GC,3136,-0.81,-121.6,316.5,-9.0,286,3141,0.05,2.05,0.00,0.000,6,0.152,0.043,2758,1822,3359,0,0,0,0,0,0
$GC,3458,-0.84,-121.6,346.2,-9.3,302,3462,0.00,2.22,0.00,0.000,4,0.000,0.056,2749,3230,3359,0,0,0,0,0,0
$GC,3575,-0.84,-121.6,358.0,-10.4,307,3580,0.00,2.20,0.00,0.000,6,0.000,0.042,2749,1825,3359,0,0,0,0,0,0
$GC,3899,-0.84,-121.6,389.8,-10.0,323,3903,0.00,2.22,0.00,0.000,4,0.000,0.057,2739,3230,3359,0,0,0,0,0,0
$GC,4016,-0.84,-121.6,402.6,-10.8,328,4021,0.00,2.20,0.00,0.000,6,0.000,0.042,2738,1822,3360,0,0,0,0,0,0
$GC,4341,-0.84,-121.6,434.9,-9.7,339,4345,0.00,2.22,0.00,0.000,4,0.000,0.055,2728,3224,3359,0,0,0,0,0,0
$GC,4487,-0.81,-121.6,449.8,-10.5,343,4491,0.10,2.20,0.00,0.000,6,0.168,0.043,2755,1803,3360,0,0,0,0,0,0
$GC,4810,-0.84,-121.6,476.1,-8.2,354,4814,0.00,1.00,0.00,0.000,4,0.000,0.051,2751,2449,3359,0,0,0,0,0,0
$GC,4882,-0.84,-121.6,482.0,-7.9,356,4886,0.00,1.00,0.00,0.000,6,0.000,0.045,2751,1809,3359,0,0,0,0,0,0
$GC,5218,-0.86,-121.6,508.9,-8.2,367,5222,0.00,2.25,0.00,0.000,4,0.000,0.057,2741,3224,3359,0,0,0,0,0,0
$GC,5358,-0.86,-121.6,521.3,-9.0,371,5362,0.00,2.17,0.00,0.000,6,0.000,0.043,2741,1827,3358,0,0,0,0,0,0
$GC,5681,-0.86,-121.6,552.0,-9.8,382,5685,0.00,0.88,0.00,0.000,4,0.000,0.053,2737,2392,3358,0,0,0,0,0,0
$GC,5749,-0.86,-121.6,558.7,-9.1,384,5753,0.00,0.88,0.00,0.000,6,0.000,0.047,2737,1819,3357,0,0,0,0,0,0
$GC,6089,-0.86,-121.6,593.7,-10.4,395,6093,0.00,2.25,0.00,0.000,4,0.000,0.057,2726,3231,3357,0,0,0,0,0,0
$GC,6223,-0.83,-121.6,608.7,-11.1,399,6228,0.10,2.20,0.00,0.000,6,0.168,0.043,2753,1813,3357,0,0,0,0,0,0
$GC,6552,-0.86,-121.6,642.9,-10.4,410,6556,0.00,2.22,0.00,0.000,4,0.000,0.058,2743,3222,3356,0,0,0,0,0,0
$GC,6634,-0.86,-121.6,652.1,-11.2,412,6639,0.00,2.20,0.00,0.000,6,0.000,0.044,2743,1827,3356,0,0,0,0,0,0
$GC,6953,-0.88,-121.6,685.3,-10.2,423,6957,0.00,2.20,0.00,0.000,4,0.000,0.057,2733,3224,3355,0,0,0,0,0,0
$GC,7057,-0.88,-121.6,696.4,-10.2,426,7062,0.00,2.22,0.00,0.000,6,0.000,0.044,2733,1811,3354,0,0,0,0,0,0
$GC,7388,-0.88,-121.6,730.2,-10.3,437,7391,0.00,1.92,0.00,0.000,4,0.000,0.057,2724,3021,3354,0,0,0,0,0,0
$GC,7455,-0.88,-121.6,737.5,-10.6,439,7459,0.00,1.85,0.00,0.000,6,0.000,0.044,2724,1812,3354,0,0,0,0,0,0
$GC,7795,-0.88,-121.6,773.2,-10.3,450,7799,0.00,2.22,0.00,0.000,4,0.000,0.058,2714,3222,3354,0,0,0,0,0,0
$GC,7892,-0.85,-121.6,783.2,-10.3,453,7897,0.12,2.20,0.00,0.000,6,0.161,0.045,2749,1812,3353,0,0,0,0,0,0
$GC,8228,-0.87,-121.6,813.9,-8.8,464,8232,0.00,2.28,0.00,0.000,4,0.000,0.059,2739,3230,3352,0,0,0,0,0,0
$GC,8304,-0.87,-121.6,821.2,-9.3,466,8309,0.00,2.22,0.00,0.000,6,0.000,0.044,2739,1819,3353,0,0,0,0,0,0
$GC,8629,-0.87,-121.6,849.1,-8.3,477,8633,0.00,2.17,0.00,0.000,4,0.000,0.058,2729,3176,3352,0,0,0,0,0,0
$GC,8706,-0.87,-121.6,856.0,-9.3,479,8710,0.00,2.15,0.00,0.000,6,0.000,0.044,2729,1814,3352,0,0,0,0,0,0
$GC,9031,-0.85,-121.6,884.7,-8.9,490,9035,0.08,2.25,0.00,0.000,4,0.203,0.059,2736,3222,3351,0,0,0,0,0,0
$GC,9130,-0.85,-121.6,893.3,-8.2,493,9134,0.00,2.22,0.00,0.000,6,0.000,0.045,2736,1817,3351,0,0,0,0,0,0
$GC,9466,-0.85,-121.6,920.5,-7.9,504,9469,0.00,0.90,0.00,0.000,4,0.000,0.054,2732,2392,3350,0,0,0,0,0,0
$GC,9534,-0.85,-121.6,926.2,-8.7,506,9537,0.00,0.90,0.00,0.000,6,0.000,0.050,2732,1808,3350,0,0,0,0,0,0
$GC,9874,-0.85,-121.6,956.8,-9.2,517,9878,0.03,0.88,0.00,0.000,4,0.272,0.055,2737,2362,3350,0,0,0,0,0,0
$GC,9968,-0.85,-121.6,965.4,-9.3,519,9973,0.00,0.85,0.00,0.000,6,0.000,0.048,2737,1819,3350,0,0,0,0,0,0
$GC,10281,-0.85,-121.6,994.3,-9.6,530,10284,0.00,1.40,0.00,0.000,4,0.000,0.056,2731,2691,3349,0,0,0,0,0,0
$STATE,10334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10334,begin apogee
$GC,10340,-0.23,0.0,1000.1,10.8,531,10444,0.65,0.00,100.78,1.283,6,0.131,0.000,2939,1648,2862,0,0,0,0,0,0
$STATE,10445,end apogee,CONTROL_FINISHED_OK
$STATE,10445,begin climb
$GC,10446,0.92,121.6,1005.9,0.0,535,10560,1.12,2.50,104.57,1.255,4,0.085,0.056,3326,237,2365,0,0,0,0,0,0
$GC,10722,0.86,199.6,997.2,5.7,543,10798,0.08,2.35,69.43,1.231,6,0.151,0.041,3290,1649,2048,0,0,0,0,0,0
$GC,11134,0.91,241.9,967.7,7.7,557,11179,0.08,2.08,37.95,1.214,4,0.121,0.055,3325,2862,1874,0,0,0,0,0,0
$GC,11257,0.91,241.9,955.3,10.7,560,11264,0.05,2.00,0.00,0.000,6,0.158,0.045,3318,1650,1870,0,0,0,0,0,0
$GC,11571,0.94,244.0,924.6,9.9,571,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1650,1868,0,0,0,0,0,0
$GC,11877,0.97,244.0,893.3,10.5,581,11880,0.00,0.28,0.00,0.000,4,0.000,0.058,3317,1841,1867,0,0,0,0,0,0
$GC,11926,1.00,244.0,888.1,10.7,582,11931,0.08,0.32,0.00,0.000,6,0.126,0.062,3353,1638,1867,0,0,0,0,0,0
$GC,12250,1.00,244.0,851.9,11.2,593,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1638,1866,0,0,0,0,0,0
$GC,12556,1.00,244.0,817.5,11.1,603,12560,0.00,0.82,0.00,0.000,4,0.000,0.053,3353,2164,1866,0,0,0,0,0,0
$GC,12645,0.98,244.0,807.4,10.8,605,12650,0.08,0.82,0.00,0.000,6,0.204,0.050,3341,1647,1865,0,0,0,0,0,0
$GC,12963,0.98,244.0,774.3,10.2,616,12967,0.00,1.60,0.00,0.000,4,0.000,0.054,3339,2637,1865,0,0,0,0,0,0
$GC,13052,0.98,250.2,765.3,9.7,618,13063,0.00,1.58,7.03,0.978,6,0.000,0.047,3346,1650,1841,0,0,0,0,0,0
$GC,13370,0.98,265.0,735.5,9.2,629,13387,0.00,0.00,15.10,1.063,6,0.000,0.000,3346,1650,1780,0,0,0,0,0,0
$GC,13676,0.98,270.5,706.0,9.7,639,13684,0.00,0.00,5.95,0.854,6,0.000,0.000,3346,1650,1759,0,0,0,0,0,0
$GC,13982,0.98,270.5,675.4,10.1,649,13983,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1650,1758,0,0,0,0,0,0
$GC,14288,0.98,270.5,643.6,10.5,659,14289,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1650,1757,0,0,0,0,0,0
$GC,14594,0.98,270.5,611.4,10.3,669,14598,0.00,1.55,0.00,0.000,4,0.000,0.054,3346,2609,1757,0,0,0,0,0,0
$GC,14688,0.98,270.5,601.3,10.5,671,14695,0.03,1.52,0.00,0.000,6,0.201,0.047,3344,1656,1757,0,0,0,0,0,0
$GC,15001,0.98,272.4,569.9,9.9,682,15005,0.00,1.08,0.00,0.000,4,0.000,0.053,3344,2334,1757,0,0,0,0,0,0
$GC,15062,0.98,272.4,563.6,10.7,683,15068,0.00,1.12,0.00,0.000,6,0.000,0.050,3348,1637,1757,0,0,0,0,0,0
$GC,15375,0.98,272.4,532.4,10.1,694,15378,0.00,0.60,0.00,0.000,4,0.000,0.053,3348,2028,1757,0,0,0,0,0,0
$GC,15446,0.98,272.4,525.1,10.0,696,15451,0.05,0.62,0.00,0.000,6,0.242,0.054,3341,1637,1756,0,0,0,0,0,0
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$STATE,20446,end climb,SURFACE_DEPTH_REACHED
$STATE,20446,begin surface coast
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$STATE,20471,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,37.330
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$FG_AHR_10Vo,0.000
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$MEM,354344
$DATA_FILE_SIZE,63599,1047
$CAP_FILE_SIZE,195557,0
$CFSIZE,2097086464,2061238272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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