version: 66.07.10.p01
glider: 573
mission: 4
dive: 360
start: 12 20 112 2 43 54
data:
$ID,573
$MISSION,4
$DIVE,360
$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,325
$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,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,601.71112
$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,-5474.835
$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,2000
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$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,339
$GPS1,201212,022729,-4143.421,-613.473,41,0.9,41,-22.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-65.6
$GPS2,201212,024334,-4143.421,-613.617,67,0.9,77,-22.2
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4143.421,-559.148
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.00,-121.6,0.0,0.0,0,104,0.00,0.00,-77.50,0.000,2,0.000,0.000,81,2006,2700,0,0,0,0,0,0
$GC,107,-1.00,-121.6,3.2,-2.1,13,145,10.80,2.35,-19.08,0.000,4,0.230,0.069,2729,597,3359,0,0,0,0,0,0
$GC,234,-1.00,-121.6,17.7,-12.3,34,241,0.00,2.28,0.00,0.000,6,0.000,0.048,2719,1997,3360,0,0,0,0,0,0
$GC,314,-1.00,-121.6,26.4,-11.0,47,321,0.00,1.02,0.00,0.000,4,0.000,0.060,2714,2635,3360,0,0,0,0,0,0
$GC,341,-1.00,-121.6,29.5,-11.2,51,349,0.03,1.02,0.00,0.000,6,0.183,0.051,2723,1999,3361,0,0,0,0,0,0
$GC,419,-1.00,-121.6,37.2,-10.4,64,426,0.00,2.33,0.00,0.000,4,0.000,0.059,2723,594,3361,0,0,0,0,0,0
$GC,501,-1.00,-121.6,45.9,-10.4,78,509,0.03,2.28,0.00,0.000,6,0.202,0.047,2722,2000,3361,0,0,0,0,0,0
$GC,736,-1.03,-121.6,70.4,-10.0,119,740,0.00,2.30,0.00,0.000,4,0.000,0.058,2722,584,3361,0,0,0,0,0,0
$GC,765,-1.03,-121.6,73.3,-10.0,124,770,0.00,2.28,0.00,0.000,6,0.000,0.047,2711,2014,3361,0,0,0,0,0,0
$GC,1108,-1.03,-121.6,99.5,-7.3,185,1113,0.00,2.22,0.00,0.000,4,0.000,0.060,2701,3405,3361,0,0,0,0,0,0
$GC,1162,-1.03,-121.6,103.7,-7.8,189,1167,0.08,2.22,0.00,0.000,6,0.184,0.047,2719,1990,3361,0,0,0,0,0,0
$GC,1488,-1.06,-121.6,130.3,-8.3,210,1492,0.00,2.22,0.00,0.000,4,0.000,0.056,2719,594,3361,0,0,0,0,0,0
$GC,1588,-1.06,-121.6,139.6,-9.5,216,1593,0.00,2.25,0.00,0.000,6,0.000,0.046,2708,2002,3361,0,0,0,0,0,0
$GC,1917,-1.08,-121.6,166.6,-8.5,237,1921,0.00,1.02,0.00,0.000,4,0.000,0.056,2704,2658,3362,0,0,0,0,0,0
$GC,1938,-1.08,-121.6,169.1,-9.0,238,1942,0.00,1.02,0.00,0.000,6,0.000,0.049,2703,2002,3362,0,0,0,0,0,0
$GC,2265,-1.08,-121.6,198.6,-9.5,259,2269,0.00,2.25,0.00,0.000,4,0.000,0.056,2704,595,3362,0,0,0,0,0,0
$GC,2360,-1.08,-121.6,209.1,-10.8,264,2368,0.00,2.25,0.00,0.000,6,0.000,0.045,2693,2005,3362,0,0,0,0,0,0
$GC,2682,-1.08,-121.6,242.7,-10.8,285,2686,0.00,1.58,0.00,0.000,4,0.000,0.057,2685,2994,3361,0,0,0,0,0,0
$GC,2718,-1.05,-121.6,246.7,-11.5,287,2722,0.05,1.58,0.00,0.000,6,0.155,0.047,2705,1999,3362,0,0,0,0,0,0
$GC,3042,-1.05,-121.6,280.1,-9.7,303,3046,0.00,2.25,0.00,0.000,4,0.000,0.057,2705,595,3362,0,0,0,0,0,0
$GC,3119,-1.05,-121.6,288.3,-10.1,306,3124,0.05,2.22,0.00,0.000,6,0.237,0.045,2707,1997,3362,0,0,0,0,0,0
$GC,3441,-1.05,-121.6,316.2,-8.3,322,3445,0.00,2.25,0.00,0.000,4,0.000,0.059,2696,3414,3361,0,0,0,0,0,0
$GC,3484,-1.05,-121.6,320.1,-8.3,324,3489,0.05,2.25,0.00,0.000,6,0.210,0.045,2708,1976,3361,0,0,0,0,0,0
$GC,3813,-1.08,-121.6,346.5,-8.1,340,3817,0.00,2.22,0.00,0.000,4,0.000,0.057,2709,584,3361,0,0,0,0,0,0
$GC,3890,-1.08,-121.6,353.7,-8.9,343,3896,0.00,2.22,0.00,0.000,6,0.000,0.046,2698,1999,3360,0,0,0,0,0,0
$GC,4209,-1.08,-121.6,382.1,-9.4,359,4213,0.00,2.25,0.00,0.000,4,0.000,0.056,2698,595,3361,0,0,0,0,0,0
$GC,4302,-1.08,-121.6,391.6,-10.8,363,4307,0.05,2.22,0.00,0.000,6,0.239,0.045,2699,2009,3361,0,0,0,0,0,0
$GC,4616,-1.08,-121.6,424.9,-10.8,375,4620,0.00,2.22,0.00,0.000,4,0.000,0.059,2689,3402,3360,0,0,0,0,0,0
$GC,4670,-1.08,-121.6,431.2,-11.0,376,4676,0.05,2.22,0.00,0.000,6,0.212,0.046,2701,2000,3360,0,0,0,0,0,0
$GC,4983,-1.08,-121.6,462.7,-9.9,387,4987,0.00,2.25,0.00,0.000,4,0.000,0.057,2701,585,3359,0,0,0,0,0,0
$GC,5078,-1.08,-121.6,472.4,-10.3,389,5083,0.00,2.25,0.00,0.000,6,0.000,0.046,2691,2014,3359,0,0,0,0,0,0
$GC,5391,-1.08,-121.6,500.4,-8.8,400,5395,0.00,1.05,0.00,0.000,4,0.000,0.057,2686,2678,3359,0,0,0,0,0,0
$GC,5417,-1.08,-121.6,503.0,-9.4,400,5424,0.03,1.08,0.00,0.000,6,0.177,0.050,2696,1994,3358,0,0,0,0,0,0
$GC,5731,-1.08,-121.6,529.2,-8.4,411,5735,0.00,2.25,0.00,0.000,4,0.000,0.057,2696,595,3357,0,0,0,0,0,0
$GC,5814,-1.08,-121.6,536.7,-8.5,413,5819,0.08,2.22,0.00,0.000,6,0.202,0.046,2703,2005,3357,0,0,0,0,0,0
$GC,6133,-1.10,-121.6,563.3,-8.5,424,6137,0.00,2.22,0.00,0.000,4,0.000,0.060,2693,3404,3356,0,0,0,0,0,0
$GC,6182,-1.10,-121.6,567.9,-9.7,425,6186,0.00,2.22,0.00,0.000,6,0.000,0.047,2693,2008,3356,0,0,0,0,0,0
$GC,6501,-1.10,-121.6,597.4,-9.5,436,6505,0.00,2.28,0.00,0.000,4,0.000,0.057,2693,593,3355,0,0,0,0,0,0
$GC,6601,-1.10,-121.6,608.4,-11.1,439,6605,0.05,2.22,0.00,0.000,6,0.234,0.047,2694,2002,3356,0,0,0,0,0,0
$GC,6936,-1.10,-121.6,644.2,-10.8,450,6940,0.00,2.25,0.00,0.000,4,0.000,0.060,2683,3409,3355,0,0,0,0,0,0
$GC,7013,-1.10,-121.6,653.2,-11.9,452,7018,0.00,2.22,0.00,0.000,6,0.000,0.047,2683,2004,3355,0,0,0,0,0,0
$GC,7344,-1.10,-121.6,689.7,-11.1,463,7348,0.00,2.28,0.00,0.000,4,0.000,0.062,2673,3409,3354,0,0,0,0,0,0
$GC,7422,-1.07,-121.6,698.5,-10.6,465,7426,0.12,2.22,0.00,0.000,6,0.168,0.049,2707,1997,3354,0,0,0,0,0,0
$GC,7740,-1.10,-121.6,730.2,-9.8,476,7744,0.00,2.25,0.00,0.000,4,0.000,0.059,2708,588,3353,0,0,0,0,0,0
$GC,7836,-1.10,-121.6,739.9,-10.1,479,7840,0.00,2.25,0.00,0.000,6,0.000,0.047,2697,2002,3353,0,0,0,0,0,0
$GC,8171,-1.10,-121.6,770.9,-8.9,490,8174,0.00,0.68,0.00,0.000,4,0.000,0.059,2694,2438,3351,0,0,0,0,0,0
$GC,8192,-1.10,-121.6,773.0,-9.0,490,8196,0.00,0.70,0.00,0.000,6,0.000,0.054,2694,1999,3352,0,0,0,0,0,0
$GC,8511,-1.10,-121.6,800.0,-8.4,501,8515,0.00,2.28,0.00,0.000,4,0.000,0.060,2694,584,3351,0,0,0,0,0,0
$GC,8599,-1.10,-121.6,808.0,-9.2,503,8605,0.00,2.25,0.00,0.000,6,0.000,0.048,2683,2001,3350,0,0,0,0,0,0
$GC,8913,-1.10,-121.6,835.2,-9.0,514,8917,0.00,2.28,0.00,0.000,4,0.000,0.062,2673,3410,3350,0,0,0,0,0,0
$GC,8980,-1.07,-121.6,841.7,-9.4,516,8984,0.12,2.25,0.00,0.000,6,0.168,0.050,2706,1991,3350,0,0,0,0,0,0
$GC,9309,-1.10,-121.6,872.6,-9.7,527,9313,0.00,2.28,0.00,0.000,4,0.000,0.060,2706,597,3350,0,0,0,0,0,0
$GC,9414,-1.10,-121.6,884.1,-11.1,530,9418,0.00,2.25,0.00,0.000,6,0.000,0.049,2696,2004,3350,0,0,0,0,0,0
$GC,9745,-1.13,-121.6,919.5,-10.8,541,9748,0.00,1.58,0.00,0.000,4,0.000,0.059,2696,1041,3349,0,0,0,0,0,0
$STATE,9753,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9753,begin apogee
$GC,9758,-0.23,0.0,920.8,10.9,541,9865,0.90,0.00,102.70,1.212,6,0.135,0.000,2971,1631,2862,0,0,0,0,0,0
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9866,begin climb
$GC,9867,1.00,121.6,927.2,0.0,544,9984,1.15,2.40,105.80,1.182,4,0.063,0.055,3377,2969,2365,0,0,0,0,0,0
$GC,10079,0.91,240.0,929.4,3.9,550,10196,0.15,2.25,107.18,1.166,6,0.177,0.048,3350,1631,1883,0,0,0,0,0,0
$GC,10520,0.97,289.5,897.3,8.1,565,10570,0.00,2.40,44.62,1.148,4,0.000,0.060,3350,3031,1681,0,0,0,0,0,0
$GC,10671,1.03,309.8,883.3,9.9,569,10696,0.08,2.30,19.20,1.095,6,0.122,0.052,3395,1630,1598,0,0,0,0,0,0
$GC,11016,1.08,317.1,847.0,10.7,581,11025,0.00,0.00,7.32,0.959,6,0.000,0.000,3395,1630,1569,0,0,0,0,0,0
$GC,11321,1.13,317.1,812.9,11.3,591,11325,0.00,2.30,0.00,0.000,4,0.000,0.061,3395,3039,1566,0,0,0,0,0,0
$GC,11392,1.13,317.1,804.2,12.0,593,11396,0.00,2.30,0.00,0.000,6,0.000,0.050,3406,1627,1567,0,0,0,0,0,0
$GC,11728,1.16,317.1,765.7,11.4,604,11733,0.05,2.30,0.00,0.000,4,0.163,0.061,3437,3042,1566,0,0,0,0,0,0
$GC,11794,1.11,317.1,757.5,12.0,606,11799,0.12,2.25,0.00,0.000,6,0.181,0.051,3416,1629,1566,0,0,0,0,0,0
$GC,12130,1.13,317.1,719.4,11.3,617,12133,0.00,1.85,0.00,0.000,4,0.000,0.059,3416,2794,1565,0,0,0,0,0,0
$GC,12184,1.13,317.1,712.8,11.4,618,12189,0.00,1.88,0.00,0.000,6,0.000,0.052,3424,1632,1565,0,0,0,0,0,0
$GC,12503,1.13,321.0,677.9,10.9,629,12513,0.00,1.92,4.45,0.714,4,0.000,0.062,3423,2801,1553,0,0,0,0,0,0
$GC,12558,1.13,321.9,671.7,11.1,630,12562,0.03,1.90,0.00,0.000,6,0.203,0.054,3423,1631,1553,0,0,0,0,0,0
$GC,12877,1.14,332.0,637.7,10.5,641,12893,0.00,1.50,12.15,0.966,4,0.000,0.057,3423,2533,1508,0,0,0,0,0,0
$GC,12931,1.14,335.9,631.4,10.9,642,12941,0.00,1.48,5.38,0.812,6,0.000,0.054,3429,1629,1492,0,0,0,0,0,0
$GC,13277,1.14,340.2,593.8,10.8,654,13287,0.00,2.28,5.18,0.744,4,0.000,0.060,3429,3032,1475,0,0,0,0,0,0
$GC,13339,1.14,341.7,586.9,11.0,656,13343,0.08,2.25,0.00,0.000,6,0.209,0.052,3422,1629,1475,0,0,0,0,0,0
$GC,13679,1.17,342.5,550.0,11.1,667,13685,0.00,0.00,3.80,0.590,6,0.000,0.000,3422,1629,1465,0,0,0,0,0,0
$GC,13985,1.20,345.1,516.6,11.0,677,13995,0.00,2.33,3.95,0.601,4,0.000,0.061,3421,3034,1455,0,0,0,0,0,0
$GC,14062,1.20,349.0,507.7,10.9,679,14073,0.00,2.28,5.72,0.744,6,0.000,0.053,3430,1635,1438,0,0,0,0,0,0
$GC,14386,1.23,349.7,472.2,11.1,690,14390,0.00,2.17,0.00,0.000,4,0.000,0.061,3430,2986,1438,0,0,0,0,0,0
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$STATE,18352,end climb,SURFACE_DEPTH_REACHED
$STATE,18352,begin surface coast
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$STATE,18377,end surface coast,CONTROL_FINISHED_OK
$STATE,18377,begin surface
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$10V_AH,9.9,50.275
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$FG_AHR_10Vo,0.000
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$MEM,354548
$DATA_FILE_SIZE,60265,988
$CAP_FILE_SIZE,185389,0
$CFSIZE,2097086464,2046459904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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