version: 66.07.10.p01
glider: 573
mission: 4
dive: 410
start: 12 31 112 6 8 30
data:
$ID,573
$MISSION,4
$DIVE,410
$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,340
$T_MISSION,355
$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,170
$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,0
$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,200
$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,-5635.1489
$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,3052
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,1890
$C_ROLL_CLIMB,1572
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$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,389
$GPS1,311212,060005,-4209.241,-458.846,32,1.2,32,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-70.5
$GPS2,311212,060735,-4209.220,-458.804,30,1.3,31,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.248,0.114
$KALMAN_X,-3445.1,-883.5,-535.9,90704.9,1508.1
$KALMAN_Y,-102342.5,657.3,1286.3,74379.2,-5641.1
$MHEAD_RNG_PITCHd_Wd,87.5,44200,-16.8,-9.804
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.94,-165.4,0.0,0.0,0,42,0.00,0.00,-13.68,0.000,2,0.000,0.000,86,1893,1352,0,0,0,0,0,0
$GC,44,-0.94,-165.4,3.1,-2.3,2,166,10.82,2.35,-101.03,0.000,4,0.226,0.076,2735,3297,3537,0,0,0,0,0,0
$GC,280,-0.94,-165.4,14.9,-9.3,41,287,0.00,2.30,0.00,0.000,6,0.000,0.052,2735,1881,3539,0,0,0,0,0,0
$GC,361,-0.94,-165.4,22.7,-9.0,54,368,0.00,1.85,0.00,0.000,4,0.000,0.062,2735,770,3539,0,0,0,0,0,0
$GC,406,-0.92,-165.4,27.2,-10.2,61,414,0.08,1.83,0.00,0.000,6,0.143,0.051,2752,1888,3539,0,0,0,0,0,0
$GC,485,-0.95,-165.4,35.0,-9.3,74,492,0.00,2.33,0.00,0.000,4,0.000,0.064,2742,3296,3539,0,0,0,0,0,0
$GC,555,-0.95,-165.4,42.1,-10.3,86,562,0.00,2.28,0.00,0.000,6,0.000,0.052,2742,1886,3539,0,0,0,0,0,0
$GC,786,-0.95,-165.4,65.9,-10.0,122,790,0.00,0.45,0.00,0.000,4,0.000,0.063,2742,1586,3540,0,0,0,0,0,0
$GC,869,-0.95,-165.4,73.7,-9.2,129,876,0.00,0.50,0.00,0.000,6,0.000,0.060,2740,1896,3539,0,0,0,0,0,0
$GC,1205,-0.98,-165.4,103.6,-9.0,160,1209,0.00,2.03,0.00,0.000,4,0.000,0.063,2731,3170,3540,0,0,0,0,0,0
$GC,1267,-1.01,-165.4,109.8,-9.7,163,1272,0.00,2.00,0.00,0.000,6,0.000,0.050,2731,1888,3540,0,0,0,0,0,0
$GC,1586,-1.03,-165.4,140.9,-10.1,184,1590,0.00,0.60,0.00,0.000,4,0.000,0.060,2731,1490,3540,0,0,0,0,0,0
$GC,1621,-1.03,-165.4,144.3,-9.9,186,1624,0.00,0.62,0.00,0.000,6,0.000,0.055,2728,1891,3540,0,0,0,0,0,0
$GC,1954,-1.06,-165.4,177.7,-10.3,207,1958,0.00,1.80,0.00,0.000,4,0.000,0.062,2720,3000,3541,0,0,0,0,0,0
$GC,2009,-1.06,-165.4,183.9,-10.3,210,2013,0.00,1.77,0.00,0.000,6,0.000,0.049,2720,1887,3541,0,0,0,0,0,0
$GC,2344,-1.06,-165.4,217.9,-10.2,229,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1887,3540,0,0,0,0,0,0
$GC,2654,-1.06,-165.4,249.0,-10.1,244,2657,0.00,0.45,0.00,0.000,4,0.000,0.061,2718,2185,3540,0,0,0,0,0,0
$GC,2709,-1.06,-165.4,254.8,-9.6,246,2713,0.00,0.47,0.00,0.000,6,0.000,0.058,2718,1878,3541,0,0,0,0,0,0
$GC,3032,-1.06,-165.4,287.1,-10.3,262,3036,0.00,0.88,0.00,0.000,4,0.000,0.059,2714,2430,3541,0,0,0,0,0,0
$GC,3070,-1.06,-165.4,291.4,-10.5,263,3076,0.00,0.88,0.00,0.000,6,0.000,0.053,2714,1879,3541,0,0,0,0,0,0
$GC,3405,-1.06,-165.4,325.4,-10.0,276,3408,0.00,1.42,0.00,0.000,4,0.000,0.060,2708,2767,3540,0,0,0,0,0,0
$GC,3460,-1.06,-165.4,331.2,-10.6,277,3464,0.00,1.40,0.00,0.000,6,0.000,0.051,2708,1889,3540,0,0,0,0,0,0
$GC,3778,-1.06,-165.4,364.5,-10.8,288,3782,0.00,1.58,0.00,0.000,4,0.000,0.060,2701,2857,3540,0,0,0,0,0,0
$GC,3839,-1.06,-165.4,371.3,-11.8,289,3845,0.00,1.52,0.00,0.000,6,0.000,0.051,2701,1898,3540,0,0,0,0,0,0
$GC,4152,-1.06,-165.4,403.6,-10.1,300,4156,0.00,0.82,0.00,0.000,4,0.000,0.060,2697,2422,3540,0,0,0,0,0,0
$GC,4202,-1.06,-165.4,408.7,-9.7,301,4206,0.00,0.85,0.00,0.000,6,0.000,0.054,2697,1880,3540,0,0,0,0,0,0
$GC,4526,-1.03,-165.4,439.8,-9.7,312,4531,0.08,1.42,0.00,0.000,4,0.198,0.061,2708,2752,3540,0,0,0,0,0,0
$GC,4576,-1.03,-165.4,444.7,-9.6,313,4580,0.00,1.38,0.00,0.000,6,0.000,0.051,2708,1894,3540,0,0,0,0,0,0
$GC,4900,-1.03,-165.4,477.2,-10.3,324,4904,0.00,0.77,0.00,0.000,4,0.000,0.060,2704,2385,3539,0,0,0,0,0,0
$GC,4961,-1.03,-165.4,484.0,-10.6,325,4967,0.00,0.80,0.00,0.000,6,0.000,0.054,2704,1882,3539,0,0,0,0,0,0
$GC,5274,-1.03,-165.4,515.8,-10.1,336,5278,0.00,1.55,0.00,0.000,4,0.000,0.061,2698,2831,3539,0,0,0,0,0,0
$GC,5335,-1.03,-165.4,522.0,-9.7,337,5341,0.05,1.50,0.00,0.000,6,0.139,0.052,2716,1895,3539,0,0,0,0,0,0
$GC,5648,-1.03,-165.4,551.4,-9.6,348,5652,0.00,0.68,0.00,0.000,4,0.000,0.060,2713,2324,3539,0,0,0,0,0,0
$GC,5703,-1.03,-165.4,556.6,-9.1,349,5707,0.00,0.70,0.00,0.000,6,0.000,0.056,2713,1871,3539,0,0,0,0,0,0
$GC,6022,-1.03,-165.4,584.7,-8.6,360,6026,0.00,2.30,0.00,0.000,4,0.000,0.062,2702,3304,3538,0,0,0,0,0,0
$GC,6110,-1.03,-165.4,592.6,-8.6,362,6116,0.05,2.25,0.00,0.000,6,0.203,0.049,2715,1878,3538,0,0,0,0,0,0
$GC,6423,-1.03,-165.4,619.4,-8.9,373,6427,0.00,1.23,0.00,0.000,4,0.000,0.062,2710,2632,3537,0,0,0,0,0,0
$GC,6479,-1.03,-165.4,624.7,-9.5,374,6483,0.00,1.17,0.00,0.000,6,0.000,0.052,2710,1894,3537,0,0,0,0,0,0
$GC,6797,-1.03,-165.4,653.7,-10.2,385,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1895,3537,0,0,0,0,0,0
$GC,7103,-1.03,-165.4,684.5,-10.3,395,7107,0.00,2.28,0.00,0.000,4,0.000,0.063,2699,3293,3536,0,0,0,0,0,0
$GC,7215,-1.03,-165.4,695.9,-10.1,398,7219,0.08,2.22,0.00,0.000,6,0.177,0.050,2718,1887,3535,0,0,0,0,0,0
$GC,7544,-1.06,-165.4,728.0,-10.0,409,7548,0.00,0.52,0.00,0.000,4,0.000,0.062,2716,2231,3535,0,0,0,0,0,0
$GC,7579,-1.09,-165.4,731.5,-10.2,410,7582,0.00,0.52,0.00,0.000,6,0.000,0.060,2716,1888,3535,0,0,0,0,0,0
$GC,7920,-1.12,-165.4,765.1,-9.7,421,7922,0.08,0.00,0.00,0.000,6,0.124,0.000,2673,1888,3533,0,0,0,0,0,0
$GC,8226,-1.09,-165.4,796.7,-10.2,431,8231,0.10,2.33,0.00,0.000,4,0.173,0.062,2699,478,3533,0,0,0,0,0,0
$GC,8298,-1.04,-165.4,804.0,-9.7,433,8303,0.10,2.28,0.00,0.000,6,0.175,0.050,2714,1901,3532,0,0,0,0,0,0
$GC,8622,-1.07,-165.4,834.0,-9.6,444,8625,0.00,1.48,0.00,0.000,4,0.000,0.061,2714,1008,3532,0,0,0,0,0,0
$GC,8656,-1.07,-165.4,837.4,-9.4,445,8660,0.00,1.42,0.00,0.000,6,0.000,0.053,2708,1887,3532,0,0,0,0,0,0
$GC,8997,-1.07,-165.4,872.3,-10.4,456,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1887,3531,0,0,0,0,0,0
$GC,9303,-1.07,-165.4,906.0,-11.1,466,9306,0.00,0.77,0.00,0.000,4,0.000,0.061,2704,2392,3530,0,0,0,0,0,0
$GC,9431,-1.07,-165.4,920.7,-11.0,469,9437,0.00,0.80,0.00,0.000,6,0.000,0.057,2704,1892,3531,0,0,0,0,0,0
$GC,9744,-1.07,-165.4,955.1,-10.8,480,9748,0.00,2.30,0.00,0.000,4,0.000,0.066,2694,3307,3530,0,0,0,0,0,0
$GC,9793,-1.05,-165.4,960.6,-11.4,481,9798,0.08,2.25,0.00,0.000,6,0.180,0.052,2712,1891,3530,0,0,0,0,0,0
$GC,10112,-1.05,-165.4,992.1,-9.8,492,10116,0.00,2.30,0.00,0.000,4,0.000,0.063,2713,476,3529,0,0,0,0,0,0
$GC,10174,-1.03,-165.4,998.5,-10.6,494,10179,0.08,2.28,0.00,0.000,6,0.187,0.050,2720,1902,3529,0,0,0,0,0,0
$STATE,10187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10187,begin apogee
$GC,10192,-0.28,0.0,1000.2,9.9,494,10339,0.73,0.00,142.62,1.262,6,0.122,0.000,2955,1567,2862,0,0,0,0,0,0
$STATE,10339,end apogee,CONTROL_FINISHED_OK
$STATE,10339,begin climb
$GC,10341,0.94,165.4,1009.1,0.0,499,10499,1.15,2.58,149.55,1.222,4,0.069,0.064,3361,168,2187,0,0,0,0,0,0
$GC,10617,0.79,212.3,1000.6,7.9,507,10667,0.20,2.38,42.62,1.190,6,0.161,0.047,3309,1579,1997,0,0,0,0,0,0
$GC,10992,0.76,252.3,970.7,8.2,520,11031,0.00,0.00,36.42,1.193,6,0.000,0.000,3308,1578,1832,0,0,0,0,0,0
$GC,11363,0.76,301.0,940.4,7.9,532,11413,0.00,0.47,44.15,1.196,4,0.000,0.069,3311,1306,1634,0,0,0,0,0,0
$GC,11427,0.79,370.8,935.3,7.0,534,11497,0.00,0.43,64.85,1.181,6,0.000,0.059,3311,1568,1349,0,0,0,0,0,0
$GC,11827,0.89,414.4,900.9,8.1,547,11875,0.08,1.77,40.30,1.166,4,0.121,0.060,3356,2601,1170,0,0,0,0,0,0
$GC,11926,0.93,414.4,891.6,10.3,550,11930,0.00,1.73,0.00,0.000,6,0.000,0.060,3363,1581,1166,0,0,0,0,0,0
$GC,12261,0.98,420.7,859.7,9.5,561,12270,0.00,1.23,5.62,0.899,4,0.000,0.058,3363,2360,1146,0,0,0,0,0,0
$GC,12294,1.01,421.7,856.3,9.8,562,12298,0.00,1.30,0.00,0.000,6,0.000,0.060,3368,1567,1146,0,0,0,0,0,0
$GC,12635,1.05,421.7,821.1,10.5,573,12640,0.08,2.35,0.00,0.000,4,0.121,0.065,3409,2985,1144,0,0,0,0,0,0
$GC,12701,0.97,421.7,813.2,12.2,575,12706,0.20,2.30,0.00,0.000,6,0.162,0.056,3364,1558,1144,0,0,0,0,0,0
$GC,13031,1.02,421.7,779.1,10.3,586,13035,0.00,2.33,0.00,0.000,4,0.000,0.063,3364,2980,1142,0,0,0,0,0,0
$GC,13102,1.02,426.8,771.5,9.6,588,13114,0.00,2.30,6.60,0.901,6,0.000,0.056,3374,1554,1122,0,0,0,0,0,0
$GC,13427,1.06,426.8,735.2,11.7,599,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1554,1121,0,0,0,0,0,0
$GC,13733,1.10,426.8,699.4,11.6,609,13738,0.10,2.35,0.00,0.000,4,0.100,0.072,3435,162,1119,0,0,0,0,0,0
$GC,13805,1.02,426.8,690.2,11.3,611,13810,0.20,2.28,0.00,0.000,6,0.161,0.050,3380,1577,1119,0,0,0,0,0,0
$GC,14128,1.02,426.8,653.8,11.0,622,14132,0.00,0.82,0.00,0.000,4,0.000,0.057,3380,2117,1119,0,0,0,0,0,0
$GC,14234,1.02,427.3,643.0,9.8,625,14238,0.00,0.88,0.00,0.000,6,0.000,0.060,3384,1573,1119,0,0,0,0,0,0
$GC,14569,1.02,437.0,612.2,9.4,636,14586,0.00,2.35,11.38,0.953,4,0.000,0.069,3395,167,1079,0,0,0,0,0,0
$GC,14601,1.02,437.0,608.8,10.3,637,14607,0.03,2.30,0.00,0.000,6,0.177,0.052,3385,1567,1078,0,0,0,0,0,0
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$STATE,19995,end climb,SURFACE_DEPTH_REACHED
$STATE,19995,begin surface coast
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$10V_AH,9.9,56.164
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$FG_AHR_10Vo,0.000
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$MEM,354636
$DATA_FILE_SIZE,57009,949
$CAP_FILE_SIZE,190722,0
$CFSIZE,2097086464,2040135680
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