version: 66.07.10.p01
glider: 573
mission: 4
dive: 282
start: 12 3 112 1 30 50
data:
$ID,573
$MISSION,4
$DIVE,282
$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,300
$T_MISSION,315
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-5211.1855
$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,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,1940
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,261
$GPS1,031212,012322,-4148.120,-555.353,33,1.4,48,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-71.4
$GPS2,031212,013030,-4148.065,-555.378,18,1.4,19,-22.2
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4148.065,-540.891
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.247,0.010
$KALMAN_X,-377392.6,44.8,179.0,704612.1,-3258.3
$KALMAN_Y,-227005.3,-227.1,759.8,319635.8,-463.6
$MHEAD_RNG_PITCHd_Wd,112.2,20000,-21.8,-11.111
$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,-1.00,-121.6,0.0,0.0,0,57,0.00,0.00,-30.60,0.000,2,0.000,0.000,88,1945,2059,0,0,0,0,0,0
$GC,60,-1.00,-121.6,3.1,-1.1,5,139,10.65,2.28,-61.05,0.000,4,0.230,0.073,2715,3343,3356,0,0,0,0,0,0
$GC,295,-0.96,-121.6,20.3,-12.6,44,302,0.05,2.25,0.00,0.000,6,0.161,0.048,2732,1946,3356,0,0,0,0,0,0
$GC,375,-0.96,-121.6,29.3,-12.2,57,382,0.00,0.75,0.00,0.000,4,0.000,0.056,2734,1463,3356,0,0,0,0,0,0
$GC,424,-0.96,-121.6,35.4,-11.9,65,429,0.00,0.73,0.00,0.000,6,0.000,0.051,2731,1928,3356,0,0,0,0,0,0
$GC,659,-0.96,-121.6,60.1,-9.4,106,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1928,3357,0,0,0,0,0,0
$GC,1001,-0.96,-121.6,93.7,-10.5,167,1005,0.00,1.25,0.00,0.000,4,0.000,0.056,2725,2711,3357,0,0,0,0,0,0
$GC,1064,-0.96,-121.6,100.1,-10.3,178,1071,0.00,1.23,0.00,0.000,6,0.000,0.047,2725,1930,3357,0,0,0,0,0,0
$GC,1385,-0.96,-121.6,132.5,-9.9,199,1389,0.03,2.28,0.00,0.000,4,0.269,0.057,2743,525,3358,0,0,0,0,0,0
$GC,1496,-0.96,-121.6,144.6,-10.9,205,1502,0.00,2.25,0.00,0.000,6,0.000,0.044,2733,1941,3358,0,0,0,0,0,0
$GC,1817,-0.99,-121.6,177.0,-10.4,226,1820,0.00,0.93,0.00,0.000,4,0.000,0.055,2736,1351,3358,0,0,0,0,0,0
$GC,1886,-0.99,-121.6,184.6,-10.9,230,1889,0.00,0.93,0.00,0.000,6,0.000,0.049,2732,1946,3358,0,0,0,0,0,0
$GC,2219,-1.01,-121.6,220.4,-10.9,251,2223,0.00,0.43,0.00,0.000,4,0.000,0.060,2730,2240,3358,0,0,0,0,0,0
$GC,2270,-1.01,-121.6,226.3,-10.7,254,2274,0.00,0.45,0.00,0.000,6,0.000,0.054,2730,1938,3358,0,0,0,0,0,0
$GC,2597,-1.04,-121.6,261.1,-10.4,273,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1938,3358,0,0,0,0,0,0
$GC,2904,-1.07,-121.6,292.1,-10.0,288,2908,0.08,0.85,0.00,0.000,4,0.124,0.056,2687,2464,3358,0,0,0,0,0,0
$GC,2981,-1.02,-121.6,300.5,-10.8,291,2986,0.08,0.80,0.00,0.000,6,0.153,0.048,2714,1945,3358,0,0,0,0,0,0
$GC,3304,-1.02,-121.6,335.1,-11.1,307,3308,0.00,2.22,0.00,0.000,4,0.000,0.059,2703,3344,3358,0,0,0,0,0,0
$GC,3388,-0.99,-121.6,345.2,-11.3,310,3396,0.05,2.20,0.00,0.000,6,0.158,0.044,2721,1946,3358,0,0,0,0,0,0
$GC,3704,-0.99,-121.6,378.4,-10.6,326,3708,0.00,1.30,0.00,0.000,4,0.000,0.057,2715,2760,3358,0,0,0,0,0,0
$GC,3759,-0.99,-121.6,384.6,-11.2,328,3764,0.03,1.30,0.00,0.000,6,0.181,0.046,2725,1939,3358,0,0,0,0,0,0
$GC,4100,-1.02,-121.6,421.5,-11.0,342,4104,0.00,1.15,0.00,0.000,4,0.000,0.056,2720,2669,3358,0,0,0,0,0,0
$GC,4156,-1.02,-121.6,427.7,-11.0,343,4160,0.00,1.15,0.00,0.000,6,0.000,0.048,2720,1938,3358,0,0,0,0,0,0
$GC,4474,-1.04,-121.6,462.8,-11.3,354,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1937,3358,0,0,0,0,0,0
$GC,4781,-1.07,-121.6,497.5,-11.6,364,4785,0.00,2.25,0.00,0.000,4,0.000,0.059,2709,3341,3358,0,0,0,0,0,0
$GC,4852,-1.07,-121.6,506.0,-11.1,366,4857,0.00,2.20,0.00,0.000,6,0.000,0.045,2709,1944,3358,0,0,0,0,0,0
$GC,5182,-1.07,-121.6,540.1,-10.2,377,5185,0.00,1.20,0.00,0.000,4,0.000,0.054,2709,1174,3358,0,0,0,0,0,0
$GC,5231,-1.05,-121.6,545.4,-10.4,378,5235,0.00,1.20,0.00,0.000,6,0.000,0.047,2703,1942,3358,0,0,0,0,0,0
$GC,5555,-1.05,-121.6,578.1,-10.2,389,5559,0.00,1.45,0.00,0.000,4,0.000,0.054,2704,1043,3358,0,0,0,0,0,0
$GC,5605,-1.02,-121.6,583.6,-10.8,390,5610,0.05,1.40,0.00,0.000,6,0.181,0.045,2715,1936,3358,0,0,0,0,0,0
$GC,5928,-1.02,-121.6,617.3,-10.6,401,5933,0.00,2.25,0.00,0.000,4,0.000,0.058,2704,3346,3357,0,0,0,0,0,0
$GC,6039,-1.02,-121.6,630.1,-11.7,404,6044,0.03,2.22,0.00,0.000,6,0.181,0.044,2715,1937,3356,0,0,0,0,0,0
$GC,6364,-1.02,-121.6,665.5,-10.9,415,6368,0.00,2.25,0.00,0.000,4,0.000,0.056,2715,522,3356,0,0,0,0,0,0
$GC,6426,-0.98,-121.6,672.6,-11.3,417,6431,0.10,2.22,0.00,0.000,6,0.190,0.044,2729,1942,3356,0,0,0,0,0,0
$GC,6761,-1.02,-121.6,707.6,-10.4,428,6765,0.00,2.22,0.00,0.000,4,0.000,0.060,2719,3341,3355,0,0,0,0,0,0
$GC,6849,-1.02,-121.6,717.4,-11.7,430,6855,0.00,2.22,0.00,0.000,6,0.000,0.046,2719,1937,3355,0,0,0,0,0,0
$GC,7163,-1.05,-121.6,749.2,-9.9,441,7167,0.00,1.67,0.00,0.000,4,0.000,0.057,2719,879,3354,0,0,0,0,0,0
$GC,7231,-1.05,-121.6,756.3,-10.6,443,7235,0.00,1.67,0.00,0.000,6,0.000,0.047,2711,1945,3354,0,0,0,0,0,0
$GC,7571,-1.05,-121.6,790.3,-10.0,454,7575,0.00,2.25,0.00,0.000,4,0.000,0.060,2700,3352,3353,0,0,0,0,0,0
$GC,7654,-1.05,-121.6,799.4,-10.7,456,7659,0.00,2.25,0.00,0.000,6,0.000,0.047,2700,1936,3353,0,0,0,0,0,0
$GC,7973,-1.05,-121.6,832.8,-10.7,467,7977,0.00,1.42,0.00,0.000,4,0.000,0.056,2701,1047,3352,0,0,0,0,0,0
$GC,8034,-1.02,-121.6,839.6,-10.5,468,8040,0.08,1.42,0.00,0.000,6,0.165,0.047,2718,1944,3352,0,0,0,0,0,0
$GC,8347,-1.05,-121.6,870.0,-9.7,479,8351,0.00,2.15,0.00,0.000,4,0.000,0.060,2709,3308,3352,0,0,0,0,0,0
$GC,8410,-1.05,-121.6,876.2,-9.2,481,8414,0.00,2.15,0.00,0.000,6,0.000,0.047,2709,1939,3352,0,0,0,0,0,0
$GC,8750,-1.05,-121.6,910.4,-10.2,492,8754,0.00,2.25,0.00,0.000,4,0.000,0.061,2698,3343,3351,0,0,0,0,0,0
$GC,8846,-1.05,-121.6,920.9,-10.8,495,8850,0.00,2.20,0.00,0.000,6,0.000,0.046,2701,1939,3351,0,0,0,0,0,0
$GC,9181,-1.03,-121.6,958.5,-11.1,506,9183,0.08,0.00,0.00,0.000,6,0.216,0.000,2717,1938,3350,0,0,0,0,0,0
$STATE,9485,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9485,begin apogee
$GC,9490,-0.23,0.0,991.4,10.7,516,9594,0.85,0.00,100.90,1.274,6,0.135,0.000,2978,1628,2862,0,0,0,0,0,0
$STATE,9595,end apogee,CONTROL_FINISHED_OK
$STATE,9595,begin climb
$GC,9597,1.00,121.6,996.5,0.0,519,9710,1.15,2.50,104.40,1.242,4,0.072,0.057,3384,225,2366,0,0,0,0,0,0
$GC,9885,0.90,179.8,985.8,7.6,528,9946,0.17,2.33,51.40,1.216,6,0.169,0.042,3340,1635,2129,0,0,0,0,0,0
$GC,10252,0.90,231.8,957.4,7.9,540,10306,0.00,2.40,46.40,1.212,4,0.000,0.057,3340,3026,1915,0,0,0,0,0,0
$GC,10447,0.90,247.8,938.8,10.1,546,10467,0.00,2.28,14.65,1.128,6,0.000,0.047,3350,1632,1851,0,0,0,0,0,0
$GC,10781,0.92,278.3,907.0,9.2,557,10815,0.00,2.38,28.30,1.171,4,0.000,0.059,3350,3026,1726,0,0,0,0,0,0
$GC,10900,0.95,284.0,894.6,10.8,560,10911,0.00,2.28,5.97,0.932,6,0.000,0.048,3361,1629,1704,0,0,0,0,0,0
$GC,11218,0.97,299.1,862.3,10.2,571,11238,0.00,1.52,15.18,1.104,4,0.000,0.054,3360,2563,1641,0,0,0,0,0,0
$GC,11319,1.01,299.1,851.7,11.4,574,11322,0.00,1.52,0.00,0.000,6,0.000,0.050,3367,1630,1639,0,0,0,0,0,0
$GC,11660,1.04,300.6,815.0,11.0,585,11663,0.00,1.60,0.00,0.000,4,0.000,0.057,3367,2605,1637,0,0,0,0,0,0
$GC,11731,1.06,300.6,806.6,12.4,587,11736,0.00,1.58,0.00,0.000,6,0.000,0.050,3373,1635,1637,0,0,0,0,0,0
$GC,12067,1.08,300.6,768.4,11.5,598,12072,0.08,2.15,0.00,0.000,4,0.127,0.059,3409,2944,1636,0,0,0,0,0,0
$GC,12155,1.04,300.6,756.6,14.1,600,12161,0.10,2.12,0.00,0.000,6,0.168,0.051,3388,1632,1636,0,0,0,0,0,0
$GC,12468,1.04,300.6,718.2,12.7,611,12471,0.00,0.85,0.00,0.000,4,0.000,0.055,3388,2173,1635,0,0,0,0,0,0
$GC,12550,1.04,300.6,707.3,11.7,613,12555,0.00,0.90,0.00,0.000,6,0.000,0.055,3392,1619,1636,0,0,0,0,0,0
$GC,12875,1.04,300.6,665.9,12.9,624,12879,0.00,2.30,0.00,0.000,4,0.000,0.060,3391,3033,1635,0,0,0,0,0,0
$GC,12954,1.01,300.6,655.4,13.5,626,12959,0.10,2.25,0.00,0.000,6,0.200,0.052,3379,1630,1635,0,0,0,0,0,0
$GC,13271,1.01,300.6,616.3,12.3,637,13274,0.00,0.57,0.00,0.000,4,0.000,0.056,3378,2012,1634,0,0,0,0,0,0
$GC,13331,1.01,300.6,608.7,12.1,638,13337,0.00,0.62,0.00,0.000,6,0.000,0.058,3381,1627,1635,0,0,0,0,0,0
$GC,13644,1.01,300.6,569.5,12.7,649,13648,0.00,1.02,0.00,0.000,4,0.000,0.057,3381,2274,1634,0,0,0,0,0,0
$GC,13700,1.01,300.6,562.3,12.9,650,13704,0.00,1.02,0.00,0.000,6,0.000,0.054,3385,1634,1634,0,0,0,0,0,0
$GC,14018,1.01,300.6,522.4,12.1,661,14021,0.00,0.52,0.00,0.000,4,0.000,0.063,3388,1294,1634,0,0,0,0,0,0
$GC,14085,1.01,300.6,514.3,12.3,663,14089,0.00,0.52,0.00,0.000,6,0.000,0.054,3388,1632,1634,0,0,0,0,0,0
$GC,14425,1.01,300.6,474.7,11.5,674,14429,0.00,0.30,0.00,0.000,4,0.000,0.068,3389,1434,1634,0,0,0,0,0,0
$GC,14463,1.01,300.6,470.1,11.5,675,14467,0.00,0.32,0.00,0.000,6,0.000,0.060,3389,1640,1634,0,0,0,0,0,0
$GC,14798,1.01,300.6,431.8,11.3,686,14802,0.00,1.58,0.00,0.000,4,0.000,0.060,3396,684,1635,0,0,0,0,0,0
$GC,14847,1.01,302.1,426.1,11.0,687,14852,0.05,1.52,0.00,0.000,6,0.155,0.046,3380,1635,1634,0,0,0,0,0,0
$GC,15174,1.06,317.1,392.3,10.2,699,15195,0.00,2.22,15.88,0.868,4,0.000,0.057,3380,3031,1570,0,0,0,0,0,0
$GC,15290,1.06,317.1,378.9,11.9,704,15294,0.00,2.25,0.00,0.000,6,0.000,0.051,3389,1628,1568,0,0,0,0,0,0
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$GC,18430,1.08,384.9,19.2,8.1,959,18461,0.00,1.35,27.50,0.591,4,0.000,0.054,3405,2467,1290,0,0,0,0,0,0
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$STATE,18566,end climb,SURFACE_DEPTH_REACHED
$STATE,18566,begin surface coast
$FINISH,1.9,1.013491
$STATE,18591,end surface coast,CONTROL_FINISHED_OK
$STATE,18591,begin surface
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$TT8_MAMPS,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.0,44.812
$10V_AH,10.1,41.182
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.775,137.225,432.050,0.000,0.000,24.707,46.018,227.708,0.000,0.000,21.309,2525.885,12640.026,500.012,3230.068,194.932,0.000,1788.931,0.000,2880.981,0.000,1.009,0.000
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$MEM,354552
$DATA_FILE_SIZE,60327,985
$CAP_FILE_SIZE,181167,0
$CFSIZE,2097086464,2056912896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031212,064359,-4147.445,-554.966,88,0.9,88,-22.2