version: 66.07.10.p01
glider: 573
mission: 4
dive: 409
start: 12 31 112 0 23 55
data:
$ID,573
$MISSION,4
$DIVE,409
$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,-5631.6582
$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,25
$R_STBD_OVSHOOT,28
$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,388
$GPS1,311212,001505,-4208.613,-500.740,29,1.4,29,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-70.0
$GPS2,311212,002300,-4208.591,-500.717,40,1.4,41,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.256,-0.096
$KALMAN_X,-1985.1,233.7,-625.1,85537.8,3582.3
$KALMAN_Y,-100480.6,-130.9,-529.8,76309.4,-2436.1
$MHEAD_RNG_PITCHd_Wd,132.8,47064,-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,-165.4,0.0,0.0,0,35,0.00,0.00,-6.80,0.000,2,0.000,0.000,84,1877,1135,0,0,0,0,0,0
$GC,37,-0.94,-165.4,3.1,-0.0,1,170,10.73,2.35,-112.30,0.000,4,0.221,0.075,2734,3289,3535,0,0,0,0,0,0
$GC,259,-0.94,-165.4,13.7,-12.7,38,266,0.00,2.28,0.00,0.000,6,0.000,0.053,2735,1887,3537,0,0,0,0,0,0
$GC,339,-0.94,-165.4,22.9,-11.8,51,346,0.00,1.12,0.00,0.000,4,0.000,0.062,2735,1195,3537,0,0,0,0,0,0
$GC,378,-0.94,-165.4,27.4,-11.1,57,385,0.03,1.12,0.00,0.000,6,0.185,0.054,2739,1892,3537,0,0,0,0,0,0
$GC,455,-0.94,-165.4,36.0,-11.1,70,462,0.00,1.27,0.00,0.000,4,0.000,0.061,2734,2681,3538,0,0,0,0,0,0
$GC,522,-0.94,-165.4,43.3,-11.0,81,527,0.00,1.27,0.00,0.000,6,0.000,0.054,2734,1890,3538,0,0,0,0,0,0
$GC,753,-0.94,-165.4,71.6,-11.8,114,757,0.00,1.52,0.00,0.000,4,0.000,0.063,2727,2823,3538,0,0,0,0,0,0
$GC,813,-0.94,-165.4,78.4,-10.6,119,819,0.05,1.50,0.00,0.000,6,0.153,0.051,2744,1893,3538,0,0,0,0,0,0
$GC,1145,-0.98,-165.4,111.9,-10.1,147,1148,0.00,0.88,0.00,0.000,4,0.000,0.060,2740,2445,3539,0,0,0,0,0,0
$GC,1250,-1.02,-165.4,122.2,-9.6,153,1254,0.00,0.88,0.00,0.000,6,0.000,0.055,2741,1890,3539,0,0,0,0,0,0
$GC,1581,-1.05,-165.4,155.7,-9.9,174,1586,0.08,0.93,0.00,0.000,4,0.123,0.061,2694,2463,3539,0,0,0,0,0,0
$GC,1637,-1.02,-165.4,162.0,-11.2,177,1642,0.05,0.90,0.00,0.000,6,0.142,0.054,2714,1893,3539,0,0,0,0,0,0
$GC,1963,-1.02,-165.4,195.2,-10.2,198,1966,0.00,1.25,0.00,0.000,4,0.000,0.060,2708,2668,3539,0,0,0,0,0,0
$GC,2024,-1.02,-165.4,202.0,-10.6,201,2032,0.00,1.25,0.00,0.000,6,0.000,0.052,2708,1885,3539,0,0,0,0,0,0
$GC,2342,-1.02,-165.4,234.2,-10.3,217,2346,0.00,0.88,0.00,0.000,4,0.000,0.060,2705,2434,3540,0,0,0,0,0,0
$GC,2403,-1.02,-165.4,240.6,-10.4,219,2412,0.05,0.88,0.00,0.000,6,0.207,0.053,2717,1884,3539,0,0,0,0,0,0
$GC,2721,-1.02,-165.4,269.9,-8.9,235,2725,0.00,0.60,0.00,0.000,4,0.000,0.060,2714,2274,3540,0,0,0,0,0,0
$GC,2792,-1.02,-165.4,275.9,-8.9,238,2795,0.00,0.60,0.00,0.000,6,0.000,0.057,2715,1884,3540,0,0,0,0,0,0
$GC,3114,-1.02,-165.4,304.1,-8.5,253,3117,0.00,1.45,0.00,0.000,4,0.000,0.061,2707,2776,3540,0,0,0,0,0,0
$GC,3174,-1.02,-165.4,309.7,-8.9,254,3180,0.00,1.40,0.00,0.000,6,0.000,0.050,2708,1896,3540,0,0,0,0,0,0
$GC,3488,-1.02,-165.4,339.0,-9.8,265,3491,0.00,1.12,0.00,0.000,4,0.000,0.058,2703,2593,3540,0,0,0,0,0,0
$GC,3548,-1.02,-165.4,345.4,-9.8,266,3554,0.03,1.12,0.00,0.000,6,0.166,0.051,2714,1884,3540,0,0,0,0,0,0
$GC,3861,-1.02,-165.4,377.0,-10.3,277,3865,0.00,1.83,0.00,0.000,4,0.000,0.062,2705,3029,3540,0,0,0,0,0,0
$GC,3910,-1.02,-165.4,382.3,-10.7,278,3915,0.03,1.83,0.00,0.000,6,0.169,0.050,2715,1881,3540,0,0,0,0,0,0
$GC,4235,-1.02,-165.4,417.5,-11.2,289,4238,0.00,1.65,0.00,0.000,4,0.000,0.061,2708,2924,3540,0,0,0,0,0,0
$GC,4295,-1.02,-165.4,424.3,-10.5,290,4301,0.00,1.65,0.00,0.000,6,0.000,0.050,2708,1890,3540,0,0,0,0,0,0
$GC,4608,-1.02,-165.4,458.9,-11.3,301,4612,0.00,0.40,0.00,0.000,4,0.000,0.063,2706,2161,3539,0,0,0,0,0,0
$GC,4725,-1.02,-165.4,472.1,-10.8,304,4730,0.05,0.43,0.00,0.000,6,0.213,0.060,2718,1887,3539,0,0,0,0,0,0
$GC,5049,-1.02,-165.4,506.0,-10.3,315,5053,0.00,1.65,0.00,0.000,4,0.000,0.061,2711,2928,3539,0,0,0,0,0,0
$GC,5104,-1.02,-165.4,511.9,-10.4,316,5108,0.00,1.65,0.00,0.000,6,0.000,0.050,2711,1893,3539,0,0,0,0,0,0
$GC,5423,-1.02,-165.4,543.2,-9.6,327,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1893,3538,0,0,0,0,0,0
$GC,5729,-1.02,-165.4,572.3,-9.6,337,5733,0.00,2.00,0.00,0.000,4,0.000,0.062,2702,3129,3538,0,0,0,0,0,0
$GC,5785,-1.00,-165.4,577.8,-9.0,338,5789,0.10,1.95,0.00,0.000,6,0.158,0.050,2729,1890,3538,0,0,0,0,0,0
$GC,6103,-1.03,-165.4,608.1,-9.7,349,6107,0.00,2.30,0.00,0.000,4,0.000,0.063,2719,3301,3537,0,0,0,0,0,0
$GC,6186,-1.03,-165.4,616.1,-9.8,351,6190,0.00,2.22,0.00,0.000,6,0.000,0.050,2719,1890,3537,0,0,0,0,0,0
$GC,6505,-1.05,-165.4,648.1,-10.3,362,6508,0.00,1.33,0.00,0.000,4,0.000,0.061,2713,2713,3537,0,0,0,0,0,0
$GC,6573,-1.07,-165.4,655.5,-11.0,364,6577,0.00,1.30,0.00,0.000,6,0.000,0.053,2713,1898,3536,0,0,0,0,0,0
$GC,6914,-1.07,-165.4,693.5,-11.1,375,6917,0.00,1.92,0.00,0.000,4,0.000,0.063,2704,3085,3536,0,0,0,0,0,0
$GC,6982,-1.07,-165.4,700.9,-10.8,377,6985,0.00,1.90,0.00,0.000,6,0.000,0.051,2704,1879,3535,0,0,0,0,0,0
$GC,7322,-1.07,-165.4,736.3,-10.2,388,7326,0.00,1.25,0.00,0.000,4,0.000,0.061,2698,2651,3535,0,0,0,0,0,0
$GC,7389,-1.07,-165.4,743.2,-9.9,390,7393,0.00,1.23,0.00,0.000,6,0.000,0.055,2698,1887,3534,0,0,0,0,0,0
$GC,7730,-1.07,-165.4,778.1,-10.2,401,7734,0.00,2.30,0.00,0.000,4,0.000,0.065,2688,3298,3534,0,0,0,0,0,0
$GC,7798,-1.04,-165.4,784.9,-10.9,403,7803,0.10,2.25,0.00,0.000,6,0.164,0.050,2715,1876,3533,0,0,0,0,0,0
$GC,8133,-1.04,-165.4,817.1,-9.6,414,8137,0.00,2.33,0.00,0.000,4,0.000,0.065,2704,3300,3533,0,0,0,0,0,0
$GC,8215,-1.04,-165.4,825.2,-9.7,416,8220,0.00,2.25,0.00,0.000,6,0.000,0.050,2704,1881,3533,0,0,0,0,0,0
$GC,8540,-1.04,-165.4,856.3,-9.8,427,8544,0.00,2.33,0.00,0.000,4,0.000,0.065,2694,3305,3532,0,0,0,0,0,0
$GC,8617,-1.02,-165.4,864.2,-10.5,429,8622,0.10,2.25,0.00,0.000,6,0.164,0.051,2720,1882,3531,0,0,0,0,0,0
$GC,8942,-1.06,-165.4,895.7,-9.7,440,8945,0.00,1.75,0.00,0.000,4,0.000,0.065,2713,2969,3531,0,0,0,0,0,0
$GC,9003,-1.08,-165.4,901.9,-9.5,441,9008,0.00,1.73,0.00,0.000,6,0.000,0.055,2713,1888,3531,0,0,0,0,0,0
$GC,9315,-1.08,-165.4,933.3,-10.4,452,9319,0.00,1.60,0.00,0.000,4,0.000,0.065,2705,2856,3530,0,0,0,0,0,0
$GC,9376,-1.10,-165.4,939.9,-10.2,453,9382,0.00,1.55,0.00,0.000,6,0.000,0.054,2706,1896,3530,0,0,0,0,0,0
$GC,9689,-1.10,-165.4,973.4,-10.7,464,9693,0.00,2.28,0.00,0.000,4,0.000,0.067,2696,3295,3530,0,0,0,0,0,0
$GC,9785,-1.10,-165.4,983.7,-10.4,467,9789,0.00,2.25,0.00,0.000,6,0.000,0.052,2696,1882,3529,0,0,0,0,0,0
$STATE,9964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9964,begin apogee
$GC,9969,-0.28,0.0,1002.5,10.4,473,10115,0.82,0.00,142.85,1.265,6,0.120,0.000,2957,1569,2862,0,0,0,0,0,0
$STATE,10116,end apogee,CONTROL_FINISHED_OK
$STATE,10116,begin climb
$GC,10118,0.94,165.4,1012.7,0.0,478,10276,1.15,2.20,149.48,1.226,4,0.069,0.061,3359,370,2186,0,0,0,0,0,0
$GC,10349,0.80,252.1,1009.3,6.4,485,10436,0.20,2.05,79.97,1.204,6,0.156,0.047,3308,1576,1834,0,0,0,0,0,0
$GC,10760,0.80,293.8,976.6,8.1,499,10805,0.00,2.40,37.97,1.193,4,0.000,0.062,3308,2977,1664,0,0,0,0,0,0
$GC,10895,0.83,317.8,964.6,8.8,503,10925,0.00,2.30,23.08,1.158,6,0.000,0.054,3317,1574,1565,0,0,0,0,0,0
$GC,11262,0.88,331.0,931.4,9.3,515,11281,0.00,1.67,12.35,1.103,4,0.000,0.060,3317,2559,1512,0,0,0,0,0,0
$GC,11309,0.91,331.2,926.9,9.8,516,11313,0.03,1.62,0.00,0.000,6,0.099,0.059,3352,1586,1510,0,0,0,0,0,0
$GC,11632,0.91,337.8,896.3,9.5,527,11646,0.00,2.00,7.57,0.977,4,0.000,0.068,3361,412,1484,0,0,0,0,0,0
$GC,11686,0.89,337.8,890.5,10.2,528,11691,0.05,1.90,0.00,0.000,6,0.147,0.050,3344,1573,1483,0,0,0,0,0,0
$GC,12005,0.92,351.2,860.7,9.3,539,12024,0.00,1.27,13.82,1.091,4,0.000,0.068,3349,830,1430,0,0,0,0,0,0
$GC,12057,0.92,366.6,855.6,9.2,540,12077,0.00,1.23,15.93,1.092,6,0.000,0.053,3349,1573,1367,0,0,0,0,0,0
$GC,12409,0.97,384.7,823.6,9.1,552,12429,0.00,0.45,17.33,1.111,4,0.000,0.060,3349,1849,1293,0,0,0,0,0,0
$GC,12457,1.02,402.1,819.1,9.1,553,12479,0.05,0.47,18.17,1.079,6,0.069,0.070,3389,1560,1221,0,0,0,0,0,0
$GC,12804,1.02,402.1,785.1,10.0,565,12808,0.00,2.12,0.00,0.000,4,0.000,0.070,3399,294,1214,0,0,0,0,0,0
$GC,12854,0.99,405.0,780.1,9.7,566,12859,0.10,2.08,0.00,0.000,6,0.169,0.051,3373,1574,1213,0,0,0,0,0,0
$GC,13167,1.03,405.0,749.5,10.1,576,13171,0.00,0.65,0.00,0.000,4,0.000,0.070,3376,1176,1212,0,0,0,0,0,0
$GC,13205,1.06,405.0,745.3,10.6,577,13209,0.00,0.62,0.00,0.000,6,0.000,0.058,3376,1568,1212,0,0,0,0,0,0
$GC,13541,1.09,405.0,707.6,11.6,588,13546,0.08,0.50,0.00,0.000,4,0.122,0.061,3415,1887,1211,0,0,0,0,0,0
$GC,13575,1.05,405.0,703.2,12.7,589,13579,0.08,0.50,0.00,0.000,6,0.149,0.067,3392,1576,1211,0,0,0,0,0,0
$GC,13915,1.05,405.0,661.3,12.4,600,13918,0.00,0.73,0.00,0.000,4,0.000,0.068,3396,1124,1211,0,0,0,0,0,0
$GC,13953,1.05,405.0,656.4,12.8,601,13957,0.00,0.75,0.00,0.000,6,0.000,0.056,3396,1580,1211,0,0,0,0,0,0
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