version: 66.07.10.p01
glider: 573
mission: 4
dive: 414
start: 1 1 113 5 14 31
data:
$ID,573
$MISSION,4
$DIVE,414
$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,-5646.6934
$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,26
$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,393
$GPS1,010113,050605,-4209.873,-453.493,54,1.0,54,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-67.2
$GPS2,010113,051337,-4209.764,-453.383,19,0.8,20,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.259,0.087
$KALMAN_X,-18789.8,355.1,679.3,111032.6,-5645.6
$KALMAN_Y,-101819.5,-1.7,1047.9,73757.7,-1571.9
$MHEAD_RNG_PITCHd_Wd,93.5,37205,-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,-165.4,0.0,0.0,0,65,0.00,0.00,-36.50,0.000,2,0.000,0.000,79,1889,1848,0,0,0,0,0,0
$GC,68,-0.94,-165.4,3.0,-0.6,6,165,10.90,2.40,-76.68,0.000,4,0.229,0.077,2741,482,3538,0,0,0,0,0,0
$GC,251,-0.91,-165.4,15.4,-10.8,36,259,0.08,2.30,0.00,0.000,6,0.146,0.050,2755,1888,3540,0,0,0,0,0,0
$GC,331,-0.91,-165.4,22.9,-10.7,49,338,0.00,1.17,0.00,0.000,4,0.000,0.060,2750,2615,3540,0,0,0,0,0,0
$GC,353,-0.91,-165.4,25.6,-10.9,52,360,0.00,1.17,0.00,0.000,6,0.000,0.052,2750,1886,3541,0,0,0,0,0,0
$GC,433,-0.93,-165.4,34.2,-11.5,65,438,0.00,1.23,0.00,0.000,4,0.000,0.060,2750,1133,3540,0,0,0,0,0,0
$GC,480,-0.93,-165.4,39.6,-11.6,73,485,0.00,1.23,0.00,0.000,6,0.000,0.051,2745,1893,3540,0,0,0,0,0,0
$GC,715,-0.96,-165.4,61.9,-9.4,112,718,0.00,1.10,0.00,0.000,4,0.000,0.058,2745,1207,3541,0,0,0,0,0,0
$GC,751,-0.96,-165.4,65.0,-8.7,115,755,0.00,1.10,0.00,0.000,6,0.000,0.052,2740,1895,3541,0,0,0,0,0,0
$GC,1080,-1.00,-165.4,91.3,-8.2,146,1084,0.00,2.28,0.00,0.000,4,0.000,0.063,2730,3305,3541,0,0,0,0,0,0
$GC,1152,-1.00,-165.4,97.7,-9.0,152,1158,0.00,2.25,0.00,0.000,6,0.000,0.050,2730,1877,3542,0,0,0,0,0,0
$GC,1479,-1.02,-165.4,130.1,-10.3,174,1482,0.00,0.47,0.00,0.000,4,0.000,0.060,2727,2191,3542,0,0,0,0,0,0
$GC,1557,-1.05,-165.4,138.7,-10.3,178,1565,0.00,0.47,0.00,0.000,6,0.000,0.057,2728,1884,3542,0,0,0,0,0,0
$GC,1878,-1.08,-165.4,170.9,-9.9,199,1883,0.08,1.70,0.00,0.000,4,0.122,0.060,2678,2922,3543,0,0,0,0,0,0
$GC,1939,-1.02,-165.4,177.9,-10.7,202,1947,0.10,1.65,0.00,0.000,6,0.132,0.050,2713,1889,3542,0,0,0,0,0,0
$GC,2268,-1.02,-165.4,210.8,-10.2,222,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1889,3542,0,0,0,0,0,0
$GC,2577,-1.02,-165.4,242.0,-9.9,237,2580,0.00,1.30,0.00,0.000,4,0.000,0.059,2707,2699,3542,0,0,0,0,0,0
$GC,2626,-1.02,-165.4,246.9,-9.8,239,2631,0.03,1.30,0.00,0.000,6,0.171,0.050,2718,1878,3542,0,0,0,0,0,0
$GC,2953,-1.02,-165.4,278.7,-10.3,255,2957,0.00,0.45,0.00,0.000,4,0.000,0.061,2718,1579,3542,0,0,0,0,0,0
$GC,2991,-1.02,-165.4,283.1,-11.0,256,2997,0.00,0.50,0.00,0.000,6,0.000,0.056,2716,1897,3543,0,0,0,0,0,0
$GC,3316,-1.02,-165.4,318.7,-11.2,270,3320,0.00,2.22,0.00,0.000,4,0.000,0.061,2706,3295,3542,0,0,0,0,0,0
$GC,3398,-1.02,-165.4,328.0,-11.3,272,3403,0.03,2.22,0.00,0.000,6,0.165,0.047,2717,1897,3542,0,0,0,0,0,0
$GC,3723,-1.02,-165.4,361.9,-10.3,283,3726,0.00,0.65,0.00,0.000,4,0.000,0.058,2714,2318,3542,0,0,0,0,0,0
$GC,3791,-1.02,-165.4,368.5,-9.5,285,3795,0.00,0.68,0.00,0.000,6,0.000,0.054,2714,1878,3542,0,0,0,0,0,0
$GC,4132,-1.02,-165.4,398.4,-8.6,296,4135,0.00,1.20,0.00,0.000,4,0.000,0.058,2709,2625,3542,0,0,0,0,0,0
$GC,4187,-1.02,-165.4,403.1,-8.0,297,4192,0.03,1.17,0.00,0.000,6,0.163,0.050,2719,1886,3542,0,0,0,0,0,0
$GC,4506,-1.04,-165.4,431.0,-9.0,308,4510,0.00,1.15,0.00,0.000,4,0.000,0.059,2714,2614,3541,0,0,0,0,0,0
$GC,4574,-1.04,-165.4,437.3,-9.0,310,4578,0.00,1.15,0.00,0.000,6,0.000,0.050,2714,1884,3541,0,0,0,0,0,0
$GC,4915,-1.04,-165.4,472.8,-11.0,321,4919,0.00,2.12,0.00,0.000,4,0.000,0.061,2704,3215,3541,0,0,0,0,0,0
$GC,4976,-1.04,-165.4,479.7,-11.0,323,4981,0.00,2.08,0.00,0.000,6,0.000,0.048,2705,1892,3541,0,0,0,0,0,0
$GC,5317,-1.04,-165.4,515.8,-10.2,334,5321,0.00,1.25,0.00,0.000,4,0.000,0.058,2699,2672,3540,0,0,0,0,0,0
$GC,5385,-1.04,-165.4,522.6,-10.2,336,5389,0.05,1.25,0.00,0.000,6,0.138,0.051,2717,1885,3540,0,0,0,0,0,0
$GC,5725,-1.04,-165.4,554.0,-9.1,347,5729,0.00,2.03,0.00,0.000,4,0.000,0.061,2708,3149,3540,0,0,0,0,0,0
$GC,5780,-1.04,-165.4,559.1,-8.9,348,5784,0.00,2.03,0.00,0.000,6,0.000,0.050,2708,1882,3540,0,0,0,0,0,0
$GC,6099,-1.04,-165.4,585.8,-8.5,359,6103,0.00,2.03,0.00,0.000,4,0.000,0.061,2699,3150,3539,0,0,0,0,0,0
$GC,6154,-1.04,-165.4,590.6,-8.8,360,6159,0.08,2.00,0.00,0.000,6,0.173,0.050,2718,1898,3539,0,0,0,0,0,0
$GC,6473,-1.06,-165.4,617.3,-8.7,371,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1898,3539,0,0,0,0,0,0
$GC,6779,-1.09,-165.4,646.1,-9.6,381,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1898,3538,0,0,0,0,0,0
$GC,7085,-1.11,-165.4,676.4,-10.0,391,7090,0.08,2.25,0.00,0.000,4,0.123,0.063,2665,3293,3537,0,0,0,0,0,0
$GC,7140,-1.04,-165.4,682.6,-10.9,392,7146,0.17,2.22,0.00,0.000,6,0.151,0.048,2715,1884,3537,0,0,0,0,0,0
$GC,7453,-1.06,-165.4,714.0,-10.2,403,7457,0.00,0.43,0.00,0.000,4,0.000,0.061,2716,1593,3536,0,0,0,0,0,0
$GC,7479,-1.06,-165.4,716.9,-10.2,403,7485,0.00,0.47,0.00,0.000,6,0.000,0.058,2713,1892,3537,0,0,0,0,0,0
$GC,7792,-1.06,-165.4,747.3,-10.0,414,7796,0.00,2.25,0.00,0.000,4,0.000,0.063,2703,3293,3536,0,0,0,0,0,0
$GC,7869,-1.06,-165.4,755.4,-9.9,416,7873,0.00,2.25,0.00,0.000,6,0.000,0.049,2703,1888,3535,0,0,0,0,0,0
$GC,8193,-1.06,-165.4,786.5,-9.4,427,8197,0.00,1.05,0.00,0.000,4,0.000,0.058,2703,1227,3535,0,0,0,0,0,0
$GC,8232,-1.06,-165.4,790.1,-9.4,428,8236,0.00,1.05,0.00,0.000,6,0.000,0.051,2698,1891,3535,0,0,0,0,0,0
$GC,8567,-1.06,-165.4,819.9,-9.0,439,8571,0.00,2.28,0.00,0.000,4,0.000,0.063,2688,3305,3534,0,0,0,0,0,0
$GC,8630,-1.02,-165.4,825.6,-9.0,441,8635,0.12,2.25,0.00,0.000,6,0.156,0.050,2722,1883,3533,0,0,0,0,0,0
$GC,8966,-1.05,-165.4,855.7,-9.3,452,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1882,3532,0,0,0,0,0,0
$GC,9272,-1.09,-165.4,885.4,-9.8,462,9277,0.08,2.33,0.00,0.000,4,0.118,0.064,2668,3299,3532,0,0,0,0,0,0
$GC,9343,-1.03,-165.4,893.0,-10.1,464,9348,0.17,2.25,0.00,0.000,6,0.146,0.050,2718,1878,3532,0,0,0,0,0,0
$GC,9673,-1.06,-165.4,926.0,-10.3,475,9677,0.00,2.30,0.00,0.000,4,0.000,0.065,2708,3296,3531,0,0,0,0,0,0
$GC,9738,-1.06,-165.4,933.3,-10.3,477,9743,0.00,2.28,0.00,0.000,6,0.000,0.050,2709,1881,3531,0,0,0,0,0,0
$GC,10074,-1.06,-165.4,966.6,-9.6,488,10078,0.00,1.65,0.00,0.000,4,0.000,0.062,2701,2918,3531,0,0,0,0,0,0
$GC,10135,-1.06,-165.4,972.5,-9.1,489,10140,0.00,1.65,0.00,0.000,6,0.000,0.052,2701,1890,3531,0,0,0,0,0,0
$STATE,10446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10446,begin apogee
$GC,10451,-0.28,0.0,1000.6,8.9,500,10599,0.82,0.00,143.75,1.256,6,0.121,0.000,2962,1573,2862,0,0,0,0,0,0
$STATE,10599,end apogee,CONTROL_FINISHED_OK
$STATE,10600,begin climb
$GC,10602,0.94,165.4,1009.7,0.0,505,10762,1.15,2.58,150.02,1.215,4,0.067,0.057,3357,2972,2185,0,0,0,0,0,0
$GC,10853,0.79,224.6,1003.9,7.4,513,10915,0.22,2.35,54.85,1.189,6,0.164,0.048,3309,1576,1945,0,0,0,0,0,0
$GC,11221,0.79,278.2,975.2,7.7,525,11276,0.00,2.42,48.58,1.196,4,0.000,0.060,3309,2977,1727,0,0,0,0,0,0
$GC,11365,0.79,312.1,963.3,8.5,529,11402,0.00,2.33,31.83,1.169,6,0.000,0.052,3319,1563,1588,0,0,0,0,0,0
$GC,11717,0.83,339.5,933.6,8.7,541,11748,0.00,2.35,25.65,1.161,4,0.000,0.060,3319,2978,1476,0,0,0,0,0,0
$GC,11799,0.87,344.5,926.1,9.6,543,11809,0.00,2.33,5.50,0.889,6,0.000,0.055,3328,1562,1456,0,0,0,0,0,0
$GC,12117,0.92,367.2,898.6,8.9,553,12148,0.05,2.42,22.30,1.134,4,0.167,0.061,3365,2981,1364,0,0,0,0,0,0
$GC,12192,0.92,367.2,890.8,9.8,555,12198,0.08,2.33,0.00,0.000,6,0.136,0.054,3350,1577,1361,0,0,0,0,0,0
$GC,12523,0.95,367.2,858.2,9.9,566,12527,0.00,2.28,0.00,0.000,4,0.000,0.060,3350,2973,1358,0,0,0,0,0,0
$GC,12589,0.95,367.2,851.3,9.8,568,12593,0.00,2.30,0.00,0.000,6,0.000,0.054,3360,1564,1358,0,0,0,0,0,0
$GC,12924,0.95,367.2,817.5,10.1,579,12928,0.00,2.35,0.00,0.000,4,0.000,0.070,3371,158,1357,0,0,0,0,0,0
$GC,13013,0.93,367.2,808.3,10.4,581,13019,0.08,2.25,0.00,0.000,6,0.184,0.050,3352,1574,1356,0,0,0,0,0,0
$GC,13326,0.96,367.2,777.8,9.9,592,13330,0.00,2.38,0.00,0.000,4,0.000,0.070,3363,159,1356,0,0,0,0,0,0
$GC,13389,0.96,367.2,771.7,11.1,594,13393,0.00,2.28,0.00,0.000,6,0.000,0.050,3363,1573,1355,0,0,0,0,0,0
$GC,13723,0.96,367.2,738.4,9.8,605,13727,0.00,1.48,0.00,0.000,4,0.000,0.058,3363,2489,1355,0,0,0,0,0,0
$GC,13761,0.96,367.2,734.4,10.1,606,13766,0.00,1.50,0.00,0.000,6,0.000,0.058,3370,1571,1355,0,0,0,0,0,0
$GC,14097,0.96,372.6,702.7,9.6,617,14104,0.00,0.00,4.70,0.748,6,0.000,0.000,3370,1571,1343,0,0,0,0,0,0
$GC,14403,0.96,372.6,672.8,9.9,627,14407,0.00,0.43,0.00,0.000,4,0.000,0.063,3370,1841,1343,0,0,0,0,0,0
$GC,14440,0.96,372.6,668.9,10.5,628,14444,0.00,0.47,0.00,0.000,6,0.000,0.066,3372,1556,1343,0,0,0,0,0,0
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$STATE,20790,begin surface coast
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