version: 66.07.10.p01
glider: 573
mission: 4
dive: 34
start: 10 2 112 3 45 3
data:
$ID,573
$MISSION,4
$DIVE,34
$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,450
$T_MISSION,520
$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,-4071.7153
$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,34
$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,13
$GPS1,021012,033605,-4240.325,-958.006,38,1.2,38,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-67.0
$GPS2,021012,034412,-4240.332,-957.990,18,1.9,18,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,-0.042
$KALMAN_X,-233.7,-233.7,-233.7,5620.4,1091.1
$KALMAN_Y,-248.7,-248.7,-248.7,-271.3,1161.3
$MHEAD_RNG_PITCHd_Wd,122.5,106207,-15.4,-7.407
$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,-0.71,-121.6,0.0,0.0,0,92,0.00,0.00,-66.12,0.000,2,0.000,0.000,89,1822,2874,0,0,0,0,0,0
$GC,94,-0.71,-121.6,3.3,-2.3,11,127,11.62,2.30,-12.20,0.000,4,0.267,0.078,2776,3213,3361,0,0,0,0,0,0
$GC,392,-0.60,-121.6,39.5,-13.6,61,397,0.17,2.17,0.00,0.000,6,0.168,0.044,2824,1820,3363,0,0,0,0,0,0
$GC,627,-0.54,-121.6,67.5,-12.3,102,635,0.08,1.30,0.00,0.000,4,0.215,0.057,2835,2626,3363,0,0,0,0,0,0
$GC,786,-0.52,-121.6,84.6,-10.7,129,791,0.03,1.27,0.00,0.000,6,0.173,0.047,2846,1814,3363,0,0,0,0,0,0
$GC,1135,-0.49,-121.6,118.3,-9.2,190,1143,0.05,0.77,0.00,0.000,4,0.241,0.054,2853,2310,3363,0,0,0,0,0,0
$GC,1390,-0.49,-121.6,139.9,-8.2,234,1396,0.00,0.75,0.00,0.000,6,0.000,0.050,2853,1818,3363,0,0,0,0,0,0
$GC,1742,-0.49,-121.6,168.8,-8.3,295,1747,0.00,0.35,0.00,0.000,4,0.000,0.059,2851,2060,3364,0,0,0,0,0,0
$GC,2006,-0.49,-121.6,191.9,-9.0,341,2011,0.00,0.35,0.00,0.000,6,0.000,0.060,2852,1816,3364,0,0,0,0,0,0
$GC,2355,-0.49,-121.6,223.6,-9.6,402,2362,0.00,0.93,0.00,0.000,4,0.000,0.054,2847,2416,3364,0,0,0,0,0,0
$GC,2471,-0.49,-121.6,234.8,-9.7,422,2478,0.00,0.93,0.00,0.000,6,0.000,0.048,2847,1810,3364,0,0,0,0,0,0
$GC,2807,-0.49,-121.6,269.2,-10.4,466,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1810,3364,0,0,0,0,0,0
$GC,3126,-0.49,-121.6,303.5,-10.6,496,3129,0.00,1.52,0.00,0.000,4,0.000,0.057,2840,2770,3364,0,0,0,0,0,0
$GC,3253,-0.49,-121.6,317.1,-10.5,507,3261,0.08,1.50,0.00,0.000,6,0.181,0.045,2859,1810,3364,0,0,0,0,0,0
$GC,3581,-0.49,-121.6,348.9,-9.7,538,3584,0.00,0.85,0.00,0.000,4,0.000,0.054,2856,2365,3364,0,0,0,0,0,0
$GC,3708,-0.49,-121.6,361.1,-10.2,549,3712,0.00,0.82,0.00,0.000,6,0.000,0.048,2856,1821,3364,0,0,0,0,0,0
$GC,4038,-0.49,-121.6,391.0,-8.1,580,4041,0.00,1.15,0.00,0.000,4,0.000,0.056,2850,2554,3364,0,0,0,0,0,0
$GC,4188,-0.49,-121.6,402.4,-7.6,593,4191,0.00,1.12,0.00,0.000,6,0.000,0.048,2850,1822,3363,0,0,0,0,0,0
$GC,4517,-0.49,-121.6,428.1,-8.1,624,4521,0.00,0.38,0.00,0.000,4,0.000,0.060,2849,2089,3363,0,0,0,0,0,0
$GC,4780,-0.49,-121.6,447.0,-6.8,647,4783,0.00,0.40,0.00,0.000,6,0.000,0.060,2849,1816,3363,0,0,0,0,0,0
$GC,5110,-0.49,-121.6,471.1,-7.3,678,5113,0.00,0.65,0.00,0.000,4,0.000,0.056,2845,2250,3362,0,0,0,0,0,0
$GC,5236,-0.49,-121.6,480.2,-7.8,689,5240,0.03,0.65,0.00,0.000,6,0.176,0.054,2856,1819,3362,0,0,0,0,0,0
$GC,5573,-0.49,-121.6,504.7,-7.3,717,5577,0.00,0.73,0.00,0.000,4,0.000,0.058,2852,2299,3362,0,0,0,0,0,0
$GC,5729,-0.49,-121.6,516.7,-8.4,721,5734,0.00,0.75,0.00,0.000,6,0.000,0.050,2853,1809,3361,0,0,0,0,0,0
$GC,6047,-0.49,-121.6,542.1,-8.0,732,6051,0.00,0.57,0.00,0.000,4,0.000,0.057,2850,2195,3361,0,0,0,0,0,0
$GC,6191,-0.49,-121.6,553.7,-7.7,736,6196,0.00,0.57,0.00,0.000,6,0.000,0.054,2850,1820,3361,0,0,0,0,0,0
$GC,6520,-0.49,-121.6,580.2,-8.2,747,6524,0.00,0.85,0.00,0.000,4,0.000,0.057,2846,2372,3360,0,0,0,0,0,0
$GC,6647,-0.49,-121.6,590.4,-8.0,750,6654,0.05,0.85,0.00,0.000,6,0.213,0.050,2858,1820,3360,0,0,0,0,0,0
$GC,6961,-0.51,-121.6,611.4,-6.6,761,6965,0.00,0.98,0.00,0.000,4,0.000,0.057,2855,2452,3360,0,0,0,0,0,0
$GC,7072,-0.55,-121.6,618.9,-6.1,764,7076,0.00,1.00,0.00,0.000,6,0.000,0.050,2854,1810,3359,0,0,0,0,0,0
$GC,7401,-0.55,-121.6,641.4,-7.0,775,7405,0.00,0.40,0.00,0.000,4,0.000,0.060,2852,2090,3359,0,0,0,0,0,0
$GC,7630,-0.55,-121.6,658.0,-7.0,781,7635,0.00,0.43,0.00,0.000,6,0.000,0.059,2853,1811,3358,0,0,0,0,0,0
$GC,7943,-0.55,-121.6,680.1,-7.3,792,7946,0.00,0.82,0.00,0.000,4,0.000,0.057,2849,2353,3358,0,0,0,0,0,0
$GC,8048,-0.57,-121.6,688.1,-7.5,795,8052,0.00,0.82,0.00,0.000,6,0.000,0.050,2849,1821,3358,0,0,0,0,0,0
$GC,8383,-0.57,-121.6,713.4,-7.4,806,8386,0.00,1.00,0.00,0.000,4,0.000,0.058,2844,2461,3358,0,0,0,0,0,0
$GC,8555,-0.57,-121.6,727.2,-7.7,811,8559,0.00,1.00,0.00,0.000,6,0.000,0.050,2844,1818,3357,0,0,0,0,0,0
$GC,8890,-0.57,-121.6,755.5,-8.8,822,8894,0.00,0.85,0.00,0.000,4,0.000,0.057,2840,2376,3357,0,0,0,0,0,0
$GC,9006,-0.57,-121.6,765.9,-9.4,825,9011,0.00,0.88,0.00,0.000,6,0.000,0.051,2840,1811,3356,0,0,0,0,0,0
$GC,9330,-0.57,-121.6,796.1,-9.7,836,9333,0.00,1.20,0.00,0.000,4,0.000,0.058,2834,2582,3355,0,0,0,0,0,0
$GC,9457,-0.57,-121.6,808.7,-8.9,839,9463,0.00,1.20,0.00,0.000,6,0.000,0.050,2835,1816,3356,0,0,0,0,0,0
$GC,9770,-0.57,-121.6,837.8,-9.0,850,9773,0.00,1.12,0.00,0.000,4,0.000,0.058,2830,2533,3356,0,0,0,0,0,0
$GC,9897,-0.57,-121.6,848.8,-8.1,853,9903,0.00,1.12,0.00,0.000,6,0.000,0.050,2829,1815,3356,0,0,0,0,0,0
$GC,10210,-0.57,-121.6,874.8,-8.3,864,10213,0.00,1.45,0.00,0.000,4,0.000,0.059,2822,2730,3355,0,0,0,0,0,0
$GC,10331,-0.57,-121.6,884.9,-8.6,867,10336,0.00,1.42,0.00,0.000,6,0.000,0.048,2823,1820,3355,0,0,0,0,0,0
$GC,10650,-0.57,-121.6,912.2,-8.7,878,10653,0.00,1.05,0.00,0.000,4,0.000,0.058,2818,2490,3355,0,0,0,0,0,0
$GC,10788,-0.57,-121.6,925.3,-9.4,882,10794,0.08,1.05,0.00,0.000,6,0.194,0.051,2836,1821,3355,0,0,0,0,0,0
$GC,11123,-0.57,-121.6,954.5,-8.6,893,11127,0.00,1.10,0.00,0.000,4,0.000,0.059,2831,2519,3355,0,0,0,0,0,0
$GC,11258,-0.57,-121.6,966.1,-8.9,897,11261,0.00,1.08,0.00,0.000,6,0.000,0.052,2831,1825,3355,0,0,0,0,0,0
$GC,11597,-0.57,-121.6,993.4,-7.6,908,11601,0.00,0.75,0.00,0.000,4,0.000,0.058,2827,2314,3354,0,0,0,0,0,0
$STATE,11690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11690,begin apogee
$GC,11694,-0.23,0.0,1000.4,8.1,910,11798,0.35,0.00,100.88,1.328,6,0.144,0.000,2942,1646,2862,0,0,0,0,0,0
$STATE,11799,end apogee,CONTROL_FINISHED_OK
$STATE,11799,begin climb
$GC,11800,0.71,121.6,1002.9,0.0,914,11911,0.93,0.80,103.97,1.291,4,0.107,0.055,3242,1176,2366,0,0,0,0,0,0
$GC,11949,0.71,123.5,995.6,7.3,918,11954,0.00,0.80,0.00,0.000,6,0.000,0.050,3242,1648,2364,0,0,0,0,0,0
$GC,12261,0.71,123.5,971.2,8.1,929,12265,0.00,0.88,0.00,0.000,4,0.000,0.056,3242,2201,2361,0,0,0,0,0,0
$GC,12416,0.71,123.5,958.7,7.4,933,12421,0.00,0.90,0.00,0.000,6,0.000,0.055,3246,1649,2361,0,0,0,0,0,0
$GC,12734,0.71,126.2,935.2,7.3,944,12744,0.00,0.52,4.43,0.882,4,0.000,0.057,3246,1974,2347,0,0,0,0,0,0
$GC,12919,0.71,129.9,922.2,7.3,949,12928,0.00,0.52,4.88,0.867,6,0.000,0.060,3248,1642,2332,0,0,0,0,0,0
$GC,13241,0.71,156.1,901.5,6.3,960,13271,0.00,0.80,23.95,1.220,4,0.000,0.057,3248,2121,2225,0,0,0,0,0,0
$GC,13394,0.71,177.0,891.2,6.5,964,13418,0.00,0.77,19.20,1.203,6,0.000,0.054,3251,1646,2139,0,0,0,0,0,0
$GC,13742,0.71,197.0,867.9,6.6,976,13763,0.00,0.00,18.38,1.174,6,0.000,0.000,3251,1645,2059,0,0,0,0,0,0
$GC,14049,0.74,209.3,847.2,6.9,986,14064,0.00,0.50,12.02,1.113,4,0.000,0.059,3251,1952,2008,0,0,0,0,0,0
$GC,14198,0.78,221.5,836.3,6.9,990,14214,0.05,0.50,12.23,1.106,6,0.170,0.061,3278,1646,1958,0,0,0,0,0,0
$GC,14548,0.78,221.5,805.8,9.0,1002,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1646,1955,0,0,0,0,0,0
$GC,14854,0.78,221.5,779.0,8.7,1012,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1646,1954,0,0,0,0,0,0
$GC,15160,0.78,221.5,753.7,8.2,1022,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1646,1954,0,0,0,0,0,0
$GC,15467,0.78,221.5,727.8,8.7,1032,15470,0.00,0.40,0.00,0.000,4,0.000,0.060,3278,1913,1953,0,0,0,0,0,0
$GC,15549,0.78,221.5,720.4,9.1,1034,15551,0.00,0.43,0.00,0.000,6,0.000,0.062,3280,1645,1953,0,0,0,0,0,0
$GC,15868,0.78,221.5,691.8,8.9,1045,15869,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1644,1954,0,0,0,0,0,0
$GC,16175,0.78,221.5,666.9,7.9,1055,16176,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1644,1953,0,0,0,0,0,0
$GC,16481,0.78,221.5,643.6,7.7,1065,16482,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1644,1953,0,0,0,0,0,0
$GC,16787,0.78,222.8,621.5,7.4,1075,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1644,1952,0,0,0,0,0,0
$GC,17093,0.78,222.8,598.7,7.6,1085,17094,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1644,1952,0,0,0,0,0,0
$GC,17399,0.78,222.8,575.4,7.6,1095,17401,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1644,1952,0,0,0,0,0,0
$GC,17706,0.78,222.8,550.3,8.4,1105,17709,0.00,0.32,0.00,0.000,4,0.000,0.063,3280,1863,1952,0,0,0,0,0,0
$GC,17840,0.78,222.8,538.8,8.5,1109,17844,0.00,0.32,0.00,0.000,6,0.000,0.067,3281,1647,1952,0,0,0,0,0,0
$GC,18180,0.78,222.8,508.5,9.4,1120,18181,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1647,1952,0,0,0,0,0,0
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$STATE,23933,end climb,SURFACE_DEPTH_REACHED
$STATE,23933,begin surface coast
$FINISH,1.3,1.026673
$STATE,23970,end surface coast,CONTROL_FINISHED_OK
$STATE,23970,begin surface
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$TT8_MAMPS,0.026964
$HUMID,41.65
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$10V_AH,10.3,8.478
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354784
$DATA_FILE_SIZE,110087,1859
$CAP_FILE_SIZE,223416,0
$CFSIZE,2097086464,2089648128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021012,102659,-4242.539,-955.906,39,1.1,39,-21.4