version: 66.07.10.p01
glider: 573
mission: 4
dive: 448
start: 1 9 113 9 27 17
data:
$ID,573
$MISSION,4
$DIVE,448
$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,-5737.8101
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,427
$GPS1,090113,091836,-4221.774,-426.149,32,1.0,32,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-66.8
$GPS2,090113,092623,-4221.766,-426.057,43,0.8,43,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.273,-0.011
$KALMAN_X,-119408.2,-631.9,-382.3,251369.3,-979.9
$KALMAN_Y,-129298.9,497.7,160.3,79385.8,-3398.8
$MHEAD_RNG_PITCHd_Wd,114.6,200692,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.00,-165.4,0.0,0.0,0,35,0.00,0.00,-6.10,0.000,2,0.000,0.000,86,1917,992,0,0,0,0,0,0
$GC,37,-1.00,-165.4,3.1,-0.0,1,176,10.73,2.35,-117.22,0.000,4,0.223,0.075,2713,3308,3538,0,0,0,0,0,0
$GC,273,-1.00,-165.4,13.3,-8.8,40,280,0.00,2.28,0.00,0.000,6,0.000,0.050,2712,1905,3540,0,0,0,0,0,0
$GC,353,-0.97,-165.4,20.6,-8.7,53,360,0.08,2.15,0.00,0.000,4,0.193,0.061,2731,619,3540,0,0,0,0,0,0
$GC,403,-0.97,-165.4,25.8,-10.0,61,411,0.00,2.10,0.00,0.000,6,0.000,0.048,2722,1910,3540,0,0,0,0,0,0
$GC,482,-0.95,-165.4,33.4,-9.6,74,489,0.08,0.43,0.00,0.000,4,0.189,0.062,2739,2191,3540,0,0,0,0,0,0
$GC,576,-0.95,-165.4,42.5,-9.7,90,583,0.00,0.45,0.00,0.000,6,0.000,0.060,2739,1900,3540,0,0,0,0,0,0
$GC,818,-0.98,-165.4,65.8,-9.7,127,822,0.00,1.25,0.00,0.000,4,0.000,0.057,2738,1116,3541,0,0,0,0,0,0
$GC,888,-0.98,-165.4,72.7,-9.9,133,892,0.00,1.27,0.00,0.000,6,0.000,0.050,2733,1913,3540,0,0,0,0,0,0
$GC,1227,-1.00,-165.4,104.8,-9.4,163,1231,0.00,0.62,0.00,0.000,4,0.000,0.057,2733,1508,3541,0,0,0,0,0,0
$GC,1265,-1.03,-165.4,109.1,-10.0,165,1269,0.00,0.62,0.00,0.000,6,0.000,0.054,2730,1913,3541,0,0,0,0,0,0
$GC,1593,-1.07,-165.4,140.4,-9.4,186,1597,0.08,0.98,0.00,0.000,4,0.119,0.059,2677,2523,3541,0,0,0,0,0,0
$GC,1687,-1.02,-165.4,150.2,-9.9,191,1693,0.12,0.98,0.00,0.000,6,0.129,0.050,2719,1906,3542,0,0,0,0,0,0
$GC,2010,-1.05,-165.4,178.7,-9.0,212,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1906,3542,0,0,0,0,0,0
$GC,2324,-1.07,-165.4,210.0,-10.5,231,2328,0.00,2.12,0.00,0.000,4,0.000,0.060,2709,3218,3542,0,0,0,0,0,0
$GC,2413,-1.07,-165.4,219.6,-10.7,235,2417,0.00,2.08,0.00,0.000,6,0.000,0.048,2709,1917,3542,0,0,0,0,0,0
$GC,2740,-1.07,-165.4,255.1,-11.1,251,2744,0.00,1.20,0.00,0.000,4,0.000,0.058,2704,2667,3542,0,0,0,0,0,0
$GC,2817,-1.07,-165.4,263.9,-11.2,254,2821,0.00,1.20,0.00,0.000,6,0.000,0.049,2704,1909,3542,0,0,0,0,0,0
$GC,3139,-1.07,-165.4,298.3,-10.3,270,3143,0.00,1.45,0.00,0.000,4,0.000,0.058,2697,2813,3542,0,0,0,0,0,0
$GC,3228,-1.07,-165.4,307.4,-10.1,273,3232,0.00,1.45,0.00,0.000,6,0.000,0.049,2698,1900,3542,0,0,0,0,0,0
$GC,3547,-1.07,-165.4,338.6,-9.7,284,3551,0.00,1.83,0.00,0.000,4,0.000,0.060,2689,3037,3542,0,0,0,0,0,0
$GC,3619,-1.05,-165.4,345.9,-9.8,286,3624,0.05,1.80,0.00,0.000,6,0.142,0.048,2708,1908,3542,0,0,0,0,0,0
$GC,3955,-1.05,-165.4,376.7,-9.3,297,3959,0.00,0.68,0.00,0.000,4,0.000,0.058,2705,2345,3542,0,0,0,0,0,0
$GC,4011,-1.05,-165.4,382.0,-9.3,298,4015,0.00,0.68,0.00,0.000,6,0.000,0.054,2705,1908,3541,0,0,0,0,0,0
$GC,4329,-1.05,-165.4,412.3,-9.8,309,4333,0.00,1.45,0.00,0.000,4,0.000,0.059,2699,2801,3542,0,0,0,0,0,0
$GC,4401,-1.05,-165.4,419.7,-9.6,311,4405,0.00,1.42,0.00,0.000,6,0.000,0.050,2699,1905,3541,0,0,0,0,0,0
$GC,4737,-1.05,-165.4,453.0,-9.9,322,4740,0.00,0.95,0.00,0.000,4,0.000,0.058,2694,2499,3541,0,0,0,0,0,0
$GC,4805,-1.05,-165.4,459.5,-9.5,324,4809,0.03,0.93,0.00,0.000,6,0.168,0.052,2705,1911,3541,0,0,0,0,0,0
$GC,5146,-1.05,-165.4,491.9,-9.4,335,5150,0.00,0.98,0.00,0.000,4,0.000,0.058,2701,2517,3540,0,0,0,0,0,0
$GC,5231,-1.05,-165.4,499.9,-9.3,337,5234,0.00,0.98,0.00,0.000,6,0.000,0.052,2701,1906,3540,0,0,0,0,0,0
$GC,5555,-1.05,-165.4,529.2,-9.1,348,5558,0.00,0.60,0.00,0.000,4,0.000,0.058,2701,1512,3540,0,0,0,0,0,0
$GC,5616,-1.05,-165.4,535.2,-9.5,349,5621,0.00,0.65,0.00,0.000,6,0.000,0.053,2698,1920,3540,0,0,0,0,0,0
$GC,5929,-1.05,-165.4,564.5,-9.6,360,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1920,3539,0,0,0,0,0,0
$GC,6235,-1.05,-165.4,594.1,-9.8,370,6239,0.00,1.20,0.00,0.000,4,0.000,0.060,2692,2664,3538,0,0,0,0,0,0
$GC,6306,-1.05,-165.4,601.7,-10.5,372,6311,0.03,1.20,0.00,0.000,6,0.168,0.050,2704,1907,3538,0,0,0,0,0,0
$GC,6641,-1.05,-165.4,635.7,-10.4,383,6645,0.00,0.62,0.00,0.000,4,0.000,0.059,2704,1498,3538,0,0,0,0,0,0
$GC,6681,-1.05,-165.4,639.7,-9.8,384,6684,0.00,0.65,0.00,0.000,6,0.000,0.054,2701,1915,3537,0,0,0,0,0,0
$GC,7016,-1.05,-165.4,672.7,-9.8,395,7019,0.00,1.83,0.00,0.000,4,0.000,0.062,2692,3067,3537,0,0,0,0,0,0
$GC,7076,-1.05,-165.4,679.0,-10.4,396,7082,0.03,1.85,0.00,0.000,6,0.168,0.049,2703,1910,3536,0,0,0,0,0,0
$GC,7389,-1.05,-165.4,709.9,-10.0,407,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1910,3536,0,0,0,0,0,0
$GC,7696,-1.05,-165.4,740.2,-9.7,417,7699,0.00,0.60,0.00,0.000,4,0.000,0.062,2701,2296,3535,0,0,0,0,0,0
$GC,7746,-1.07,-165.4,745.3,-9.7,418,7749,0.00,0.60,0.00,0.000,6,0.000,0.057,2701,1910,3535,0,0,0,0,0,0
$GC,8070,-1.09,-165.4,777.0,-9.8,429,8073,0.00,0.60,0.00,0.000,4,0.000,0.061,2698,2301,3534,0,0,0,0,0,0
$GC,8142,-1.11,-165.4,784.4,-9.8,431,8146,0.00,0.60,0.00,0.000,6,0.000,0.056,2698,1914,3534,0,0,0,0,0,0
$GC,8477,-1.11,-165.4,818.5,-10.5,442,8481,0.00,0.82,0.00,0.000,4,0.000,0.060,2694,2431,3533,0,0,0,0,0,0
$GC,8532,-1.11,-165.4,824.4,-10.9,443,8536,0.00,0.85,0.00,0.000,6,0.000,0.054,2694,1904,3533,0,0,0,0,0,0
$GC,8851,-1.11,-165.4,858.1,-10.5,454,8855,0.00,0.93,0.00,0.000,4,0.000,0.061,2690,2486,3532,0,0,0,0,0,0
$GC,8939,-1.11,-165.4,867.6,-10.4,456,8944,0.00,0.95,0.00,0.000,6,0.000,0.054,2690,1902,3532,0,0,0,0,0,0
$GC,9258,-1.11,-165.4,899.8,-10.2,467,9262,0.00,1.02,0.00,0.000,4,0.000,0.060,2685,2532,3531,0,0,0,0,0,0
$GC,9315,-1.11,-165.4,905.7,-10.6,468,9318,0.00,1.00,0.00,0.000,6,0.000,0.054,2685,1910,3531,0,0,0,0,0,0
$GC,9633,-1.11,-165.4,938.4,-10.3,479,9636,0.00,0.55,0.00,0.000,4,0.000,0.063,2683,2265,3530,0,0,0,0,0,0
$GC,9693,-1.11,-165.4,945.0,-10.3,480,9699,0.00,0.57,0.00,0.000,6,0.000,0.057,2683,1905,3530,0,0,0,0,0,0
$GC,10006,-1.11,-165.4,976.4,-10.1,491,10010,0.00,1.30,0.00,0.000,4,0.000,0.062,2677,2702,3530,0,0,0,0,0,0
$GC,10066,-1.11,-165.4,982.5,-10.3,492,10072,0.00,1.27,0.00,0.000,6,0.000,0.053,2677,1908,3530,0,0,0,0,0,0
$STATE,10255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10255,begin apogee
$GC,10260,-0.29,0.0,1000.8,9.7,499,10408,0.85,0.00,144.10,1.256,6,0.119,0.000,2948,1579,2862,0,0,0,0,0,0
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10411,1.00,165.4,1011.3,0.0,504,10571,1.23,2.53,149.80,1.224,4,0.063,0.054,3372,2989,2186,0,0,0,0,0,0
$GC,10700,0.82,264.9,1007.0,5.8,513,10798,0.25,2.35,90.22,1.211,6,0.168,0.051,3317,1584,1781,0,0,0,0,0,0
$GC,11122,0.82,341.0,977.9,6.8,527,11194,0.00,0.00,69.95,1.206,6,0.000,0.000,3317,1584,1471,0,0,0,0,0,0
$GC,11489,0.87,386.0,949.3,8.0,539,11533,0.00,0.00,41.67,1.186,6,0.000,0.000,3317,1584,1288,0,0,0,0,0,0
$GC,11825,0.96,420.1,921.2,8.4,550,11865,0.12,1.55,32.25,1.169,4,0.084,0.067,3384,703,1148,0,0,0,0,0,0
$GC,11910,0.97,441.1,913.0,9.0,552,11936,0.05,1.48,21.23,1.130,6,0.141,0.049,3365,1590,1062,0,0,0,0,0,0
$GC,12255,1.03,441.1,876.9,10.6,564,12259,0.00,0.82,0.00,0.000,4,0.000,0.066,3369,1099,1053,0,0,0,0,0,0
$GC,12344,1.09,441.1,867.2,10.2,566,12348,0.05,0.77,0.00,0.000,6,0.070,0.052,3411,1584,1053,0,0,0,0,0,0
$GC,12661,1.09,441.1,831.1,11.4,577,12665,0.00,0.47,0.00,0.000,4,0.000,0.068,3413,1289,1052,0,0,0,0,0,0
$GC,12716,1.09,441.1,824.7,10.7,578,12721,0.05,0.50,0.00,0.000,6,0.204,0.057,3401,1597,1052,0,0,0,0,0,0
$GC,13034,1.09,441.1,789.6,11.0,589,13038,0.00,0.77,0.00,0.000,4,0.000,0.057,3401,2104,1052,0,0,0,0,0,0
$GC,13078,1.09,441.1,784.5,11.6,590,13082,0.00,0.85,0.00,0.000,6,0.000,0.060,3404,1583,1052,0,0,0,0,0,0
$GC,13408,1.09,441.1,748.9,10.6,601,13412,0.00,0.45,0.00,0.000,4,0.000,0.070,3406,1292,1051,0,0,0,0,0,0
$GC,13468,1.09,441.1,742.4,10.6,602,13474,0.00,0.47,0.00,0.000,6,0.000,0.059,3406,1587,1051,0,0,0,0,0,0
$GC,13781,1.09,441.1,711.0,10.0,613,13785,0.00,0.50,0.00,0.000,4,0.000,0.058,3406,1923,1051,0,0,0,0,0,0
$GC,13870,1.09,451.6,701.8,9.4,615,13884,0.00,0.55,8.80,0.945,6,0.000,0.066,3409,1582,1021,0,0,0,0,0,0
$GC,14220,1.09,451.6,665.5,10.7,627,14221,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1582,1019,0,0,0,0,0,0
$GC,14526,1.09,451.6,633.2,10.6,637,14530,0.00,0.82,0.00,0.000,4,0.000,0.057,3409,2109,1019,0,0,0,0,0,0
$GC,14570,1.09,451.6,628.5,10.3,638,14574,0.00,0.88,0.00,0.000,6,0.000,0.060,3412,1574,1019,0,0,0,0,0,0
$GC,14900,1.09,451.6,589.9,12.1,649,14904,0.00,0.82,0.00,0.000,4,0.000,0.056,3413,2102,1019,0,0,0,0,0,0
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