version: 66.07.10.p01
glider: 573
mission: 4
dive: 256
start: 11 27 112 9 21 30
data:
$ID,573
$MISSION,4
$DIVE,256
$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,-5122.7495
$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,27
$R_STBD_OVSHOOT,36
$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,235
$GPS1,271112,091235,-4147.829,-625.050,31,1.5,31,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-73.1
$GPS2,271112,092035,-4147.856,-625.099,43,0.9,43,-22.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.237,-0.032
$KALMAN_X,-312534.8,-1037.1,-849.6,609282.2,2124.9
$KALMAN_Y,-213708.1,381.2,-577.1,310047.8,-684.6
$MHEAD_RNG_PITCHd_Wd,120.0,119262,-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,-121.6,0.0,0.0,0,70,0.00,0.00,-42.72,0.000,2,0.000,0.000,83,1825,2539,0,0,0,0,0,0
$GC,72,-0.92,-121.6,3.1,-1.6,7,121,10.55,0.00,-31.30,0.000,6,0.229,0.000,2722,1826,3359,0,0,0,0,0,0
$GC,195,-0.83,-121.6,12.2,-12.2,27,202,0.10,0.00,0.00,0.000,6,0.183,0.000,2747,1826,3360,0,0,0,0,0,0
$GC,275,-0.79,-121.6,21.6,-11.8,40,282,0.08,1.02,0.00,0.000,4,0.203,0.056,2761,2464,3361,0,0,0,0,0,0
$GC,402,-0.77,-121.6,35.3,-10.9,61,407,0.00,1.02,0.00,0.000,6,0.000,0.047,2762,1814,3361,0,0,0,0,0,0
$GC,636,-0.74,-121.6,60.4,-10.4,102,644,0.08,2.22,0.00,0.000,4,0.197,0.059,2769,3168,3361,0,0,0,0,0,0
$GC,717,-0.74,-121.6,68.9,-10.3,116,722,0.00,2.12,0.00,0.000,6,0.000,0.045,2769,1815,3361,0,0,0,0,0,0
$GC,1061,-0.76,-121.6,101.7,-9.1,175,1065,0.00,2.25,0.00,0.000,4,0.000,0.058,2760,3219,3362,0,0,0,0,0,0
$GC,1184,-0.76,-121.6,113.5,-8.9,182,1193,0.03,2.22,0.00,0.000,6,0.182,0.045,2769,1810,3362,0,0,0,0,0,0
$GC,1506,-0.79,-121.6,140.6,-8.5,203,1510,0.00,2.25,0.00,0.000,4,0.000,0.057,2769,409,3362,0,0,0,0,0,0
$GC,1596,-0.76,-121.6,149.7,-9.8,208,1601,0.05,2.22,0.00,0.000,6,0.231,0.043,2769,1828,3362,0,0,0,0,0,0
$GC,1924,-0.80,-121.6,178.2,-8.7,229,1928,0.00,1.08,0.00,0.000,4,0.000,0.054,2770,1152,3362,0,0,0,0,0,0
$GC,1960,-0.80,-121.6,181.7,-9.2,231,1963,0.00,1.05,0.00,0.000,6,0.000,0.046,2765,1825,3363,0,0,0,0,0,0
$GC,2291,-0.83,-121.6,210.7,-8.7,252,2295,0.00,2.28,0.00,0.000,4,0.000,0.055,2765,411,3363,0,0,0,0,0,0
$GC,2341,-0.80,-121.6,215.7,-9.8,255,2345,0.00,2.20,0.00,0.000,6,0.000,0.041,2755,1823,3362,0,0,0,0,0,0
$GC,2665,-0.80,-121.6,245.9,-9.5,276,2670,0.00,2.28,0.00,0.000,4,0.000,0.054,2755,409,3362,0,0,0,0,0,0
$GC,2755,-0.76,-121.6,255.7,-10.6,281,2760,0.08,2.22,0.00,0.000,6,0.148,0.041,2769,1819,3363,0,0,0,0,0,0
$GC,3085,-0.80,-121.6,288.0,-9.9,297,3089,0.00,2.20,0.00,0.000,4,0.000,0.056,2760,3221,3363,0,0,0,0,0,0
$GC,3169,-0.82,-121.6,297.3,-10.6,300,3177,0.00,2.20,0.00,0.000,6,0.000,0.043,2761,1812,3363,0,0,0,0,0,0
$GC,3486,-0.84,-121.6,329.5,-10.0,316,3490,0.00,2.25,0.00,0.000,4,0.000,0.055,2761,406,3363,0,0,0,0,0,0
$GC,3596,-0.81,-121.6,341.6,-11.4,321,3600,0.00,2.20,0.00,0.000,6,0.000,0.042,2751,1821,3363,0,0,0,0,0,0
$GC,3925,-0.83,-121.6,373.5,-8.9,337,3929,0.00,2.25,0.00,0.000,4,0.000,0.054,2750,413,3362,0,0,0,0,0,0
$GC,3986,-0.78,-121.6,379.7,-9.3,339,3992,0.10,2.20,0.00,0.000,6,0.176,0.041,2765,1830,3362,0,0,0,0,0,0
$GC,4323,-0.82,-121.6,404.7,-7.1,355,4327,0.00,0.95,0.00,0.000,4,0.000,0.052,2762,2449,3362,0,0,0,0,0,0
$GC,4384,-0.86,-121.6,409.4,-7.3,356,4390,0.03,0.98,0.00,0.000,6,0.098,0.047,2730,1813,3362,0,0,0,0,0,0
$GC,4697,-0.86,-121.6,434.0,-8.2,367,4701,0.00,2.22,0.00,0.000,4,0.000,0.056,2719,3217,3363,0,0,0,0,0,0
$GC,4798,-0.82,-121.6,443.1,-8.6,370,4803,0.12,2.17,0.00,0.000,6,0.162,0.044,2753,1811,3362,0,0,0,0,0,0
$GC,5139,-0.84,-121.6,472.7,-9.2,381,5143,0.00,2.22,0.00,0.000,4,0.000,0.055,2753,415,3362,0,0,0,0,0,0
$GC,5216,-0.81,-121.6,480.8,-10.2,383,5221,0.03,2.20,0.00,0.000,6,0.190,0.042,2752,1811,3362,0,0,0,0,0,0
$GC,5540,-0.83,-121.6,511.6,-9.7,394,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1812,3362,0,0,0,0,0,0
$GC,5847,-0.86,-121.6,540.7,-9.3,404,5850,0.00,0.60,0.00,0.000,4,0.000,0.053,2751,2225,3362,0,0,0,0,0,0
$GC,6004,-0.88,-121.6,555.0,-9.2,408,6007,0.00,0.62,0.00,0.000,6,0.000,0.050,2751,1811,3361,0,0,0,0,0,0
$GC,6322,-0.88,-121.6,581.9,-8.3,419,6326,0.00,2.25,0.00,0.000,4,0.000,0.057,2740,3224,3361,0,0,0,0,0,0
$GC,6416,-0.88,-121.6,590.1,-8.1,421,6422,0.00,2.20,0.00,0.000,6,0.000,0.044,2740,1829,3361,0,0,0,0,0,0
$GC,6729,-0.88,-121.6,616.0,-8.5,432,6733,0.00,2.20,0.00,0.000,4,0.000,0.057,2730,3219,3360,0,0,0,0,0,0
$GC,6750,-0.88,-121.6,618.1,-9.0,432,6755,0.00,2.22,0.00,0.000,6,0.000,0.045,2730,1811,3360,0,0,0,0,0,0
$GC,7069,-0.88,-121.6,646.9,-9.4,443,7073,0.00,0.80,0.00,0.000,4,0.000,0.054,2727,2328,3359,0,0,0,0,0,0
$GC,7171,-0.88,-121.6,657.2,-10.2,446,7174,0.00,0.77,0.00,0.000,6,0.000,0.051,2727,1824,3359,0,0,0,0,0,0
$GC,7511,-0.88,-121.6,694.7,-11.2,457,7515,0.00,2.25,0.00,0.000,4,0.000,0.057,2727,409,3359,0,0,0,0,0,0
$GC,7607,-0.81,-121.6,706.5,-12.0,460,7612,0.15,2.22,0.00,0.000,6,0.165,0.043,2757,1830,3358,0,0,0,0,0,0
$GC,7941,-0.86,-121.6,742.0,-10.5,471,7945,0.00,0.47,0.00,0.000,4,0.000,0.056,2756,2159,3358,0,0,0,0,0,0
$GC,8187,-0.89,-121.6,768.6,-11.4,478,8192,0.08,0.55,0.00,0.000,6,0.121,0.054,2717,1803,3357,0,0,0,0,0,0
$GC,8516,-0.89,-121.6,808.7,-12.6,489,8521,0.05,2.25,0.00,0.000,4,0.220,0.057,2729,413,3356,0,0,0,0,0,0
$GC,8627,-0.83,-121.6,823.6,-12.8,492,8632,0.12,2.22,0.00,0.000,6,0.169,0.044,2752,1827,3356,0,0,0,0,0,0
$GC,8956,-0.83,-121.6,860.6,-10.9,503,8960,0.00,2.28,0.00,0.000,4,0.000,0.057,2752,412,3356,0,0,0,0,0,0
$GC,9052,-0.81,-121.6,871.6,-11.6,506,9056,0.08,2.22,0.00,0.000,6,0.198,0.044,2759,1828,3355,0,0,0,0,0,0
$GC,9387,-0.85,-121.6,903.2,-9.0,517,9391,0.00,1.58,0.00,0.000,4,0.000,0.057,2760,863,3355,0,0,0,0,0,0
$GC,9421,-0.85,-121.6,906.4,-9.4,518,9425,0.00,1.52,0.00,0.000,6,0.000,0.045,2754,1822,3355,0,0,0,0,0,0
$GC,9762,-0.89,-121.6,934.2,-7.7,529,9766,0.00,2.30,0.00,0.000,4,0.000,0.057,2754,408,3354,0,0,0,0,0,0
$GC,9858,-0.89,-121.6,942.6,-8.8,532,9862,0.00,2.22,0.00,0.000,6,0.000,0.044,2743,1819,3354,0,0,0,0,0,0
$GC,10193,-0.89,-121.6,969.9,-8.2,543,10197,0.00,2.25,0.00,0.000,4,0.000,0.059,2732,3230,3354,0,0,0,0,0,0
$GC,10377,-0.89,-121.6,986.8,-9.5,548,10382,0.00,2.22,0.00,0.000,6,0.000,0.044,2732,1821,3353,0,0,0,0,0,0
$STATE,10449,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10449,begin apogee
$GC,10454,-0.23,0.0,993.4,9.3,551,10558,0.68,0.00,101.07,1.279,6,0.125,0.000,2947,1641,2862,0,0,0,0,0,0
$STATE,10559,end apogee,CONTROL_FINISHED_OK
$STATE,10559,begin climb
$GC,10561,0.92,121.6,997.7,0.0,554,10674,1.08,2.47,104.65,1.242,4,0.079,0.057,3324,247,2365,0,0,0,0,0,0
$GC,10826,0.87,199.9,988.1,5.7,562,10901,0.08,2.33,69.50,1.223,6,0.188,0.042,3307,1651,2047,0,0,0,0,0,0
$GC,11215,0.90,252.3,960.3,7.1,575,11266,0.00,1.50,46.67,1.213,4,0.000,0.053,3307,2526,1833,0,0,0,0,0,0
$GC,11328,0.93,272.5,951.1,8.9,578,11353,0.00,1.45,19.62,1.156,6,0.000,0.048,3313,1656,1750,0,0,0,0,0,0
$GC,11678,0.99,283.9,920.3,9.4,590,11693,0.08,0.55,10.50,1.091,4,0.119,0.048,3350,2007,1705,0,0,0,0,0,0
$GC,11744,0.99,283.9,912.8,11.4,592,11748,0.00,0.57,0.00,0.000,6,0.000,0.056,3353,1643,1703,0,0,0,0,0,0
$GC,12084,0.99,283.9,875.6,10.8,603,12088,0.00,1.10,0.00,0.000,4,0.000,0.057,3358,965,1702,0,0,0,0,0,0
$GC,12152,0.99,283.9,868.2,10.3,605,12156,0.05,1.10,0.00,0.000,6,0.160,0.046,3341,1652,1702,0,0,0,0,0,0
$GC,12492,1.01,283.9,834.5,10.0,616,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1652,1700,0,0,0,0,0,0
$GC,12798,1.03,283.9,803.2,10.1,626,12802,0.00,0.28,0.00,0.000,4,0.000,0.067,3342,1464,1700,0,0,0,0,0,0
$GC,12854,1.06,290.6,797.5,9.6,627,12865,0.05,0.30,7.00,0.949,6,0.168,0.058,3369,1659,1677,0,0,0,0,0,0
$GC,13171,1.06,290.6,761.7,11.3,638,13175,0.00,0.75,0.00,0.000,4,0.000,0.057,3372,1186,1675,0,0,0,0,0,0
$GC,13238,1.06,290.6,754.2,11.3,640,13242,0.00,0.73,0.00,0.000,6,0.000,0.049,3372,1651,1675,0,0,0,0,0,0
$GC,13578,1.06,290.6,716.1,11.1,651,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1651,1675,0,0,0,0,0,0
$GC,13884,1.06,290.6,682.4,10.8,661,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1651,1674,0,0,0,0,0,0
$GC,14191,1.06,290.6,649.8,10.6,671,14194,0.00,1.33,0.00,0.000,4,0.000,0.057,3378,841,1674,0,0,0,0,0,0
$GC,14246,1.03,290.6,643.9,10.3,672,14250,0.05,1.27,0.00,0.000,6,0.163,0.045,3361,1646,1674,0,0,0,0,0,0
$GC,14563,1.03,298.2,612.6,9.6,683,14573,0.00,0.00,8.15,0.913,6,0.000,0.000,3361,1646,1646,0,0,0,0,0,0
$GC,14870,1.04,314.6,584.6,9.1,693,14890,0.00,1.30,16.55,0.991,4,0.000,0.057,3366,873,1579,0,0,0,0,0,0
$GC,14940,1.04,325.1,577.9,9.4,695,14955,0.00,1.25,10.95,0.926,6,0.000,0.044,3366,1649,1537,0,0,0,0,0,0
$GC,15268,1.06,325.1,544.9,10.5,706,15272,0.00,0.98,0.00,0.000,4,0.000,0.054,3366,2272,1532,0,0,0,0,0,0
$GC,15328,1.06,325.1,537.9,11.8,707,15334,0.00,1.02,0.00,0.000,6,0.000,0.050,3371,1641,1532,0,0,0,0,0,0
$GC,15641,1.06,325.1,500.9,12.3,718,15645,0.00,0.60,0.00,0.000,4,0.000,0.060,3373,1254,1532,0,0,0,0,0,0
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$STATE,19991,end climb,SURFACE_DEPTH_REACHED
$STATE,19991,begin surface coast
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$STATE,20021,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,16.10
$XPDR_PINGS,1
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$10V_AH,10.1,38.185
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$FG_AHR_10Vo,0.000
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$MEM,354728
$DATA_FILE_SIZE,63516,1051
$CAP_FILE_SIZE,195776,0
$CFSIZE,2097086464,2060320768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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