version: 66.07.10.p01
glider: 573
mission: 4
dive: 257
start: 11 27 112 15 6 27
data:
$ID,573
$MISSION,4
$DIVE,257
$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,-5126.2061
$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,31
$R_STBD_OVSHOOT,35
$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,236
$GPS1,271112,145735,-4148.311,-623.556,34,0.8,34,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-72.6
$GPS2,271112,150531,-4148.353,-623.544,20,0.9,21,-22.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.196,0.137
$KALMAN_X,-316743.5,201.3,-494.2,614009.1,-1170.7
$KALMAN_Y,-215024.0,142.4,700.8,309400.8,-3266.5
$MHEAD_RNG_PITCHd_Wd,77.2,116988,-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,-121.6,0.0,0.0,0,57,0.00,0.00,-30.73,0.000,2,0.000,0.000,90,1834,2253,0,0,0,0,0,0
$GC,59,-0.92,-121.6,3.0,-1.5,5,121,10.35,0.82,-46.17,0.000,4,0.222,0.097,2720,1338,3359,0,0,0,0,0,0
$GC,137,-0.83,-121.6,4.7,-7.3,17,144,0.10,0.75,0.00,0.000,6,0.152,0.052,2748,1812,3359,0,0,0,0,0,0
$GC,217,-0.79,-121.6,13.1,-11.0,30,225,0.08,1.10,0.00,0.000,4,0.200,0.057,2762,2501,3360,0,0,0,0,0,0
$GC,309,-0.79,-121.6,22.6,-10.8,45,316,0.00,1.08,0.00,0.000,6,0.000,0.048,2762,1819,3361,0,0,0,0,0,0
$GC,387,-0.79,-121.6,30.9,-10.4,58,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1819,3361,0,0,0,0,0,0
$GC,624,-0.79,-121.6,53.5,-8.9,99,629,0.00,2.28,0.00,0.000,4,0.000,0.056,2762,412,3361,0,0,0,0,0,0
$GC,726,-0.74,-121.6,64.5,-10.7,117,733,0.08,2.25,0.00,0.000,6,0.148,0.044,2777,1819,3361,0,0,0,0,0,0
$GC,1072,-0.78,-121.6,97.0,-9.4,178,1077,0.00,2.30,0.00,0.000,4,0.000,0.055,2777,401,3362,0,0,0,0,0,0
$GC,1125,-0.75,-121.6,102.5,-10.7,185,1129,0.00,2.25,0.00,0.000,6,0.000,0.043,2767,1833,3362,0,0,0,0,0,0
$GC,1450,-0.77,-121.6,135.0,-10.0,206,1454,0.00,2.20,0.00,0.000,4,0.000,0.057,2757,3218,3362,0,0,0,0,0,0
$GC,1465,-0.77,-121.6,136.8,-9.9,207,1470,0.03,2.22,0.00,0.000,6,0.184,0.044,2767,1805,3362,0,0,0,0,0,0
$GC,1791,-0.80,-121.6,167.0,-9.1,228,1794,0.00,1.60,0.00,0.000,4,0.000,0.055,2760,2810,3362,0,0,0,0,0,0
$GC,1864,-0.80,-121.6,173.9,-9.6,232,1868,0.00,1.55,0.00,0.000,6,0.000,0.045,2760,1824,3362,0,0,0,0,0,0
$GC,2190,-0.80,-121.6,202.6,-8.9,253,2194,0.00,2.22,0.00,0.000,4,0.000,0.057,2750,3221,3363,0,0,0,0,0,0
$GC,2305,-0.80,-121.6,213.0,-9.1,260,2309,0.00,2.20,0.00,0.000,6,0.000,0.044,2750,1801,3363,0,0,0,0,0,0
$GC,2630,-0.80,-121.6,243.6,-10.0,281,2634,0.00,2.25,0.00,0.000,4,0.000,0.056,2740,3219,3363,0,0,0,0,0,0
$GC,2645,-0.80,-121.6,245.5,-10.1,282,2651,0.05,2.20,0.00,0.000,6,0.154,0.043,2757,1816,3363,0,0,0,0,0,0
$GC,2975,-0.80,-121.6,278.6,-10.5,299,2979,0.00,1.62,0.00,0.000,4,0.000,0.054,2750,2837,3363,0,0,0,0,0,0
$GC,3052,-0.80,-121.6,287.5,-10.9,302,3057,0.00,1.60,0.00,0.000,6,0.000,0.044,2750,1815,3363,0,0,0,0,0,0
$GC,3374,-0.80,-121.6,322.3,-10.9,318,3378,0.00,2.25,0.00,0.000,4,0.000,0.055,2751,410,3363,0,0,0,0,0,0
$GC,3439,-0.75,-121.6,329.5,-12.2,321,3444,0.15,2.20,0.00,0.000,6,0.156,0.041,2781,1821,3362,0,0,0,0,0,0
$GC,3768,-0.81,-121.6,360.1,-8.8,337,3773,0.08,2.22,0.00,0.000,4,0.119,0.056,2722,3222,3363,0,0,0,0,0,0
$GC,3914,-0.77,-121.6,375.0,-9.8,343,3920,0.17,2.17,0.00,0.000,6,0.146,0.044,2772,1813,3362,0,0,0,0,0,0
$GC,4232,-0.82,-121.6,398.9,-7.0,359,4236,0.00,2.25,0.00,0.000,4,0.000,0.056,2772,406,3362,0,0,0,0,0,0
$GC,4275,-0.82,-121.6,402.5,-7.3,361,4280,0.00,2.22,0.00,0.000,6,0.000,0.041,2762,1817,3363,0,0,0,0,0,0
$GC,4605,-0.85,-121.6,423.5,-6.2,372,4609,0.00,0.62,0.00,0.000,4,0.000,0.052,2760,2243,3362,0,0,0,0,0,0
$GC,4729,-0.88,-121.6,431.9,-7.2,375,4733,0.03,0.65,0.00,0.000,6,0.093,0.050,2724,1816,3362,0,0,0,0,0,0
$GC,5047,-0.86,-121.6,458.5,-8.7,386,5052,0.08,2.28,0.00,0.000,4,0.194,0.055,2742,408,3362,0,0,0,0,0,0
$GC,5113,-0.81,-121.6,465.2,-9.9,388,5118,0.10,2.22,0.00,0.000,6,0.173,0.041,2758,1835,3362,0,0,0,0,0,0
$GC,5449,-0.84,-121.6,493.4,-8.7,399,5452,0.00,1.12,0.00,0.000,4,0.000,0.052,2754,2569,3361,0,0,0,0,0,0
$GC,5532,-0.86,-121.6,501.2,-9.1,401,5536,0.00,1.17,0.00,0.000,6,0.000,0.044,2754,1810,3361,0,0,0,0,0,0
$GC,5856,-0.89,-121.6,531.8,-9.9,412,5860,0.00,2.12,0.00,0.000,4,0.000,0.054,2754,461,3361,0,0,0,0,0,0
$GC,5900,-0.86,-121.6,536.9,-11.2,413,5905,0.00,2.15,0.00,0.000,6,0.000,0.042,2743,1825,3361,0,0,0,0,0,0
$GC,6224,-0.86,-121.6,569.9,-10.2,424,6228,0.00,1.38,0.00,0.000,4,0.000,0.053,2743,969,3361,0,0,0,0,0,0
$GC,6258,-0.84,-121.6,573.3,-10.0,425,6262,0.00,1.33,0.00,0.000,6,0.000,0.044,2738,1813,3361,0,0,0,0,0,0
$GC,6599,-0.84,-121.6,608.6,-10.2,436,6603,0.03,0.75,0.00,0.000,4,0.284,0.055,2746,1339,3360,0,0,0,0,0,0
$GC,6624,-0.84,-121.6,611.4,-10.2,436,6630,0.00,0.75,0.00,0.000,6,0.000,0.047,2743,1821,3360,0,0,0,0,0,0
$GC,6938,-0.84,-121.6,641.3,-9.3,447,6942,0.00,2.28,0.00,0.000,4,0.000,0.054,2743,408,3359,0,0,0,0,0,0
$GC,7004,-0.79,-121.6,648.0,-10.2,449,7009,0.12,2.17,0.00,0.000,6,0.165,0.042,2766,1818,3359,0,0,0,0,0,0
$GC,7340,-0.83,-121.6,674.8,-8.1,460,7343,0.00,2.08,0.00,0.000,4,0.000,0.056,2757,3129,3358,0,0,0,0,0,0
$GC,7417,-0.86,-121.6,681.0,-7.9,462,7421,0.00,2.05,0.00,0.000,6,0.000,0.045,2757,1810,3358,0,0,0,0,0,0
$GC,7747,-0.89,-121.6,707.1,-8.1,473,7752,0.08,2.25,0.00,0.000,4,0.122,0.057,2715,415,3358,0,0,0,0,0,0
$GC,7802,-0.81,-121.6,712.9,-11.0,474,7807,0.20,2.20,0.00,0.000,6,0.160,0.043,2761,1822,3358,0,0,0,0,0,0
$GC,8120,-0.85,-121.6,741.7,-9.1,485,8124,0.00,1.30,0.00,0.000,4,0.000,0.054,2761,1018,3357,0,0,0,0,0,0
$GC,8154,-0.85,-121.6,745.1,-10.1,486,8158,0.00,1.27,0.00,0.000,6,0.000,0.045,2756,1822,3357,0,0,0,0,0,0
$GC,8494,-0.85,-121.6,779.7,-10.4,497,8498,0.00,2.28,0.00,0.000,4,0.000,0.056,2756,416,3355,0,0,0,0,0,0
$GC,8555,-0.81,-121.6,787.0,-11.9,498,8561,0.00,2.22,0.00,0.000,6,0.000,0.043,2746,1814,3356,0,0,0,0,0,0
$GC,8868,-0.81,-121.6,822.3,-11.3,509,8872,0.00,2.28,0.00,0.000,4,0.000,0.054,2745,407,3355,0,0,0,0,0,0
$GC,8963,-0.78,-121.6,833.6,-12.0,512,8968,0.12,2.20,0.00,0.000,6,0.168,0.043,2768,1824,3355,0,0,0,0,0,0
$GC,9299,-0.83,-121.6,865.8,-9.1,523,9303,0.00,0.38,0.00,0.000,4,0.000,0.060,2769,1572,3354,0,0,0,0,0,0
$GC,9309,-0.89,-121.6,867.0,-9.1,523,9314,0.10,0.40,0.00,0.000,6,0.096,0.056,2717,1828,3354,0,0,0,0,0,0
$GC,9639,-0.84,-121.6,900.5,-10.0,534,9644,0.12,2.30,0.00,0.000,4,0.162,0.055,2751,412,3354,0,0,0,0,0,0
$GC,9750,-0.84,-121.6,911.3,-9.9,537,9754,0.00,2.22,0.00,0.000,6,0.000,0.044,2741,1824,3354,0,0,0,0,0,0
$GC,10080,-0.84,-121.6,939.1,-8.3,548,10084,0.00,2.28,0.00,0.000,4,0.000,0.056,2742,416,3352,0,0,0,0,0,0
$GC,10176,-0.81,-121.6,947.9,-9.5,551,10181,0.10,2.22,0.00,0.000,6,0.176,0.044,2757,1828,3352,0,0,0,0,0,0
$STATE,10447,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10447,begin apogee
$GC,10452,-0.23,0.0,969.5,7.9,560,10556,0.60,0.00,100.68,1.263,6,0.120,0.000,2950,1638,2862,0,0,0,0,0,0
$STATE,10556,end apogee,CONTROL_FINISHED_OK
$STATE,10557,begin climb
$GC,10558,0.92,121.6,973.2,0.0,563,10669,1.08,1.25,103.80,1.226,4,0.078,0.050,3315,2380,2365,0,0,0,0,0,0
$GC,10725,0.89,188.8,968.9,6.3,568,10790,0.00,1.23,60.45,1.199,6,0.000,0.047,3319,1657,2091,0,0,0,0,0,0
$GC,11114,0.89,222.4,937.1,8.2,581,11149,0.00,0.65,30.00,1.177,4,0.000,0.047,3320,2058,1954,0,0,0,0,0,0
$GC,11199,0.89,258.0,929.7,8.0,583,11236,0.03,0.70,32.80,1.171,6,0.264,0.054,3312,1637,1809,0,0,0,0,0,0
$GC,11543,0.94,285.3,900.3,8.5,594,11572,0.00,0.00,25.35,1.161,6,0.000,0.000,3312,1637,1697,0,0,0,0,0,0
$GC,11879,1.00,310.1,871.1,8.6,605,11906,0.10,0.40,23.15,1.150,4,0.097,0.066,3359,1391,1596,0,0,0,0,0,0
$GC,12051,1.00,310.1,851.6,10.9,609,12055,0.00,0.40,0.00,0.000,6,0.000,0.054,3359,1645,1591,0,0,0,0,0,0
$GC,12380,1.00,310.1,815.7,10.6,620,12384,0.00,1.27,0.00,0.000,4,0.000,0.059,3365,875,1589,0,0,0,0,0,0
$GC,12441,1.00,310.1,809.0,11.3,621,12447,0.08,1.25,0.00,0.000,6,0.191,0.045,3348,1643,1589,0,0,0,0,0,0
$GC,12754,1.03,319.0,778.4,9.5,632,12768,0.00,1.35,8.15,0.972,4,0.000,0.059,3354,841,1561,0,0,0,0,0,0
$GC,12820,1.03,319.0,771.7,10.8,634,12824,0.00,1.30,0.00,0.000,6,0.000,0.044,3353,1652,1560,0,0,0,0,0,0
$GC,13160,1.06,319.0,737.0,10.3,645,13163,0.00,0.50,0.00,0.000,4,0.000,0.060,3356,1331,1559,0,0,0,0,0,0
$GC,13215,1.09,321.1,731.2,9.9,646,13219,0.00,0.50,0.00,0.000,6,0.000,0.052,3355,1649,1559,0,0,0,0,0,0
$GC,13534,1.12,321.1,697.3,10.9,657,13538,0.08,1.05,0.00,0.000,4,0.130,0.057,3396,1010,1559,0,0,0,0,0,0
$GC,13605,1.09,321.1,688.0,12.9,659,13610,0.05,1.00,0.00,0.000,6,0.170,0.046,3378,1644,1559,0,0,0,0,0,0
$GC,13940,1.09,321.1,645.3,12.9,670,13943,0.00,0.60,0.00,0.000,4,0.000,0.059,3381,1265,1559,0,0,0,0,0,0
$GC,14011,1.09,321.1,635.7,13.3,672,14015,0.00,0.62,0.00,0.000,6,0.000,0.049,3381,1660,1558,0,0,0,0,0,0
$GC,14346,1.09,321.1,592.3,12.7,683,14350,0.00,2.30,0.00,0.000,4,0.000,0.060,3392,239,1557,0,0,0,0,0,0
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$STATE,19711,end climb,SURFACE_DEPTH_REACHED
$STATE,19712,begin surface coast
$FINISH,1.8,1.009454
$STATE,19742,end surface coast,CONTROL_FINISHED_OK
$STATE,19743,begin surface
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$10V_AH,10.2,38.309
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.075,152.225,384.375,0.000,0.000,25.654,38.190,282.329,0.000,0.000,23.568,2724.964,13415.816,479.784,3456.097,212.571,33.407,1823.331,0.000,3069.355,0.000,1.008,0.000
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$MEM,354644
$DATA_FILE_SIZE,63541,1049
$CAP_FILE_SIZE,196238,0
$CFSIZE,2097086464,2060189696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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