version: 66.07.10.p01
glider: 574
mission: 4
dive: 54
start: 10 1 112 13 55 5
data:
$ID,574
$MISSION,4
$DIVE,54
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,450
$T_MISSION,520
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$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,-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,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,-5577.6597
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$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,-61.017719
$PRESSURE_SLOPE,0.00011710486
$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,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,33
$GPS1,011012,134529,-4253.008,-849.471,42,2.0,43,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-72.5
$GPS2,011012,135445,-4253.049,-849.518,21,1.9,22,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,49.7,27423,-13.9,-7.407
$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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,81,0.00,0.00,-54.67,0.000,2,0.000,0.000,66,1902,2734,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.9,9,121,12.52,2.20,-18.12,0.000,4,0.278,0.061,2824,3269,3422,0,0,0,0,0,0
$GC,258,-0.52,-145.9,19.8,-10.6,38,266,0.03,2.20,0.00,0.000,6,0.161,0.050,2835,1906,3423,0,0,0,0,0,0
$GC,339,-0.46,-145.9,27.3,-9.2,51,346,0.10,0.00,0.00,0.000,6,0.184,0.000,2859,1906,3423,0,0,0,0,0,0
$GC,415,-0.46,-145.9,33.8,-7.6,64,422,0.00,0.55,0.00,0.000,4,0.000,0.062,2860,1547,3423,0,0,0,0,0,0
$GC,470,-0.46,-145.9,38.3,-8.6,73,475,0.00,0.50,0.00,0.000,6,0.000,0.044,2859,1882,3423,0,0,0,0,0,0
$GC,704,-0.46,-145.9,60.2,-9.2,114,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1883,3423,0,0,0,0,0,0
$GC,1056,-0.46,-145.9,91.5,-8.6,175,1061,0.00,0.60,0.00,0.000,4,0.000,0.047,2858,2301,3423,0,0,0,0,0,0
$GC,1126,-0.46,-145.9,97.6,-8.7,187,1131,0.00,0.62,0.00,0.000,6,0.000,0.053,2858,1891,3423,0,0,0,0,0,0
$GC,1475,-0.46,-145.9,130.0,-9.3,248,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1891,3423,0,0,0,0,0,0
$GC,1827,-0.46,-145.9,161.8,-9.1,309,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1891,3424,0,0,0,0,0,0
$GC,2176,-0.46,-145.9,193.5,-9.1,370,2183,0.00,0.32,0.00,0.000,4,0.000,0.051,2857,2130,3424,0,0,0,0,0,0
$GC,2219,-0.46,-145.9,197.2,-8.6,377,2224,0.00,0.35,0.00,0.000,6,0.000,0.060,2857,1888,3423,0,0,0,0,0,0
$GC,2567,-0.46,-145.9,230.6,-9.9,438,2574,0.00,0.50,0.00,0.000,4,0.000,0.062,2857,1549,3424,0,0,0,0,0,0
$GC,2610,-0.46,-145.9,234.8,-10.0,445,2615,0.00,0.52,0.00,0.000,6,0.000,0.044,2855,1911,3423,0,0,0,0,0,0
$GC,2947,-0.46,-145.9,269.0,-10.7,489,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1912,3424,0,0,0,0,0,0
$GC,3266,-0.46,-145.9,302.0,-10.3,519,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1912,3424,0,0,0,0,0,0
$GC,3584,-0.46,-145.9,333.9,-10.1,549,3588,0.00,0.60,0.00,0.000,4,0.000,0.057,2855,1521,3424,0,0,0,0,0,0
$GC,3633,-0.46,-145.9,339.3,-9.8,553,3639,0.00,0.57,0.00,0.000,6,0.000,0.041,2852,1904,3423,0,0,0,0,0,0
$GC,3958,-0.46,-145.9,370.9,-9.2,584,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1904,3424,0,0,0,0,0,0
$GC,4277,-0.46,-145.9,402.4,-9.7,614,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1904,3424,0,0,0,0,0,0
$GC,4596,-0.46,-145.9,432.9,-9.6,644,4599,0.00,0.35,0.00,0.000,4,0.000,0.053,2852,2171,3423,0,0,0,0,0,0
$GC,4654,-0.46,-145.9,438.2,-9.1,649,4657,0.00,0.40,0.00,0.000,6,0.000,0.054,2852,1896,3423,0,0,0,0,0,0
$GC,4985,-0.46,-145.9,468.1,-9.0,680,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1896,3423,0,0,0,0,0,0
$GC,5304,-0.46,-145.9,496.3,-8.8,710,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1896,3423,0,0,0,0,0,0
$GC,5631,-0.46,-145.9,524.4,-8.4,724,5634,0.00,0.40,0.00,0.000,4,0.000,0.048,2852,2182,3422,0,0,0,0,0,0
$GC,5685,-0.48,-145.9,528.9,-8.3,725,5689,0.00,0.43,0.00,0.000,6,0.000,0.054,2852,1898,3422,0,0,0,0,0,0
$GC,6003,-0.48,-145.9,552.8,-7.3,736,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1898,3422,0,0,0,0,0,0
$GC,6310,-0.48,-145.9,574.6,-6.8,746,6313,0.00,0.65,0.00,0.000,4,0.000,0.059,2852,1471,3421,0,0,0,0,0,0
$GC,6370,-0.48,-145.9,579.1,-7.1,747,6376,0.00,0.65,0.00,0.000,6,0.000,0.042,2851,1897,3421,0,0,0,0,0,0
$GC,6683,-0.48,-145.9,600.2,-6.9,758,6686,0.00,0.35,0.00,0.000,4,0.000,0.054,2849,2163,3420,0,0,0,0,0,0
$GC,6737,-0.50,-145.9,604.2,-6.9,759,6741,0.00,0.40,0.00,0.000,6,0.000,0.054,2850,1897,3420,0,0,0,0,0,0
$GC,7056,-0.50,-145.9,626.5,-7.1,770,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1897,3419,0,0,0,0,0,0
$GC,7362,-0.50,-145.9,647.7,-6.9,780,7365,0.00,0.30,0.00,0.000,4,0.000,0.051,2849,2131,3419,0,0,0,0,0,0
$GC,7400,-0.53,-145.9,650.6,-7.0,781,7404,0.00,0.35,0.00,0.000,6,0.000,0.057,2849,1896,3418,0,0,0,0,0,0
$GC,7735,-0.53,-145.9,674.8,-7.2,792,7739,0.00,0.38,0.00,0.000,4,0.000,0.048,2849,2167,3418,0,0,0,0,0,0
$GC,7789,-0.55,-145.9,679.0,-7.6,793,7793,0.00,0.40,0.00,0.000,6,0.000,0.054,2849,1900,3417,0,0,0,0,0,0
$GC,8108,-0.57,-145.9,702.2,-7.4,804,8112,0.08,0.70,0.00,0.000,4,0.133,0.057,2816,1442,3416,0,0,0,0,0,0
$GC,8167,-0.51,-145.9,708.2,-11.0,805,8174,0.12,0.70,0.00,0.000,6,0.174,0.041,2846,1907,3416,0,0,0,0,0,0
$GC,8480,-0.51,-145.9,734.6,-8.4,816,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1907,3416,0,0,0,0,0,0
$GC,8786,-0.51,-145.9,762.1,-9.5,826,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1907,3415,0,0,0,0,0,0
$GC,9092,-0.51,-145.9,791.0,-9.3,836,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1907,3415,0,0,0,0,0,0
$GC,9399,-0.53,-145.9,817.9,-8.5,846,9402,0.00,0.25,0.00,0.000,4,0.000,0.057,2846,2111,3415,0,0,0,0,0,0
$GC,9448,-0.56,-145.9,822.2,-8.3,847,9452,0.00,0.32,0.00,0.000,6,0.000,0.057,2846,1893,3414,0,0,0,0,0,0
$GC,9771,-0.58,-145.9,848.2,-8.1,858,9776,0.08,0.32,0.00,0.000,4,0.140,0.053,2813,2129,3414,0,0,0,0,0,0
$GC,9842,-0.53,-145.9,855.3,-10.0,860,9847,0.10,0.35,0.00,0.000,6,0.178,0.057,2839,1888,3414,0,0,0,0,0,0
$GC,10177,-0.53,-145.9,882.7,-8.0,871,10181,0.00,0.35,0.00,0.000,4,0.000,0.054,2838,2142,3413,0,0,0,0,0,0
$GC,10225,-0.53,-145.9,886.8,-8.7,872,10227,0.00,0.35,0.00,0.000,6,0.000,0.057,2838,1905,3413,0,0,0,0,0,0
$GC,10545,-0.53,-145.9,911.3,-7.6,883,10548,0.00,0.30,0.00,0.000,4,0.000,0.054,2837,2124,3413,0,0,0,0,0,0
$GC,10599,-0.53,-145.9,915.4,-7.2,884,10603,0.00,0.35,0.00,0.000,6,0.000,0.058,2837,1887,3412,0,0,0,0,0,0
$GC,10918,-0.53,-145.9,938.1,-6.9,895,10921,0.00,0.28,0.00,0.000,4,0.000,0.067,2837,1682,3412,0,0,0,0,0,0
$GC,10955,-0.53,-145.9,940.8,-7.8,896,10957,0.00,0.32,0.00,0.000,6,0.000,0.053,2836,1901,3412,0,0,0,0,0,0
$GC,11286,-0.53,-145.9,963.9,-7.2,907,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1901,3412,0,0,0,0,0,0
$GC,11592,-0.53,-145.9,986.9,-7.8,917,11596,0.00,0.32,0.00,0.000,4,0.000,0.063,2837,1676,3412,0,0,0,0,0,0
$GC,11635,-0.53,-145.9,990.2,-8.1,918,11637,0.00,0.32,0.00,0.000,6,0.000,0.051,2837,1897,3411,0,0,0,0,0,0
$STATE,11776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11776,begin apogee
$GC,11780,-0.19,0.0,1001.5,8.1,923,11904,0.38,0.00,121.12,1.458,6,0.140,0.000,2951,1629,2826,0,0,0,0,0,0
$STATE,11905,end apogee,CONTROL_FINISHED_OK
$STATE,11905,begin climb
$GC,11906,0.52,145.9,1006.2,0.0,927,12042,0.70,2.55,127.00,1.452,4,0.093,0.070,3180,237,2231,0,0,0,0,0,0
$GC,12142,0.35,145.9,999.1,8.8,934,12147,0.15,2.30,0.00,0.000,6,0.171,0.041,3133,1624,2227,0,0,0,0,0,0
$GC,12466,0.30,206.3,980.6,5.3,945,12528,0.10,1.45,53.22,1.421,4,0.207,0.044,3110,2479,1984,0,0,0,0,0,0
$GC,12583,0.33,286.3,974.5,4.7,948,12660,0.00,1.40,72.12,1.404,6,0.000,0.049,3113,1640,1658,0,0,0,0,0,0
$GC,12989,0.54,316.8,949.9,6.4,962,13024,0.22,2.50,26.75,1.353,4,0.088,0.070,3193,221,1534,0,0,0,0,0,0
$GC,13113,0.51,316.8,938.8,9.9,965,13119,0.03,2.30,0.00,0.000,6,0.187,0.040,3185,1635,1530,0,0,0,0,0,0
$GC,13426,0.47,316.8,908.6,9.8,976,13431,0.08,1.05,0.00,0.000,4,0.210,0.065,3172,1018,1528,0,0,0,0,0,0
$GC,13502,0.47,316.8,901.4,8.9,978,13507,0.00,0.98,0.00,0.000,6,0.000,0.038,3172,1637,1527,0,0,0,0,0,0
$GC,13832,0.47,316.8,871.8,9.0,989,13835,0.00,1.08,0.00,0.000,4,0.000,0.064,3172,989,1527,0,0,0,0,0,0
$GC,13908,0.47,316.8,864.8,8.5,991,13913,0.00,1.00,0.00,0.000,6,0.000,0.038,3172,1628,1526,0,0,0,0,0,0
$GC,14238,0.47,316.8,836.2,8.6,1002,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1630,1526,0,0,0,0,0,0
$GC,14544,0.47,316.8,811.2,8.0,1012,14548,0.00,0.65,0.00,0.000,4,0.000,0.064,3172,1225,1527,0,0,0,0,0,0
$GC,14610,0.47,316.8,805.6,9.2,1014,14614,0.00,0.60,0.00,0.000,6,0.000,0.041,3172,1636,1526,0,0,0,0,0,0
$GC,14950,0.47,316.8,777.9,8.1,1025,14954,0.00,0.52,0.00,0.000,4,0.000,0.067,3172,1300,1526,0,0,0,0,0,0
$GC,15005,0.47,316.8,773.6,7.5,1026,15009,0.00,0.47,0.00,0.000,6,0.000,0.047,3172,1627,1526,0,0,0,0,0,0
$GC,15322,0.47,316.8,746.9,9.0,1037,15326,0.00,1.40,0.00,0.000,4,0.000,0.067,3172,764,1526,0,0,0,0,0,0
$GC,15399,0.47,316.8,739.5,9.5,1039,15404,0.00,1.35,0.00,0.000,6,0.000,0.037,3173,1633,1526,0,0,0,0,0,0
$GC,15729,0.47,316.8,706.9,10.6,1050,15732,0.00,0.95,0.00,0.000,4,0.000,0.063,3172,1049,1526,0,0,0,0,0,0
$GC,15796,0.47,316.8,699.7,10.8,1052,15799,0.00,0.88,0.00,0.000,6,0.000,0.040,3172,1629,1526,0,0,0,0,0,0
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$STATE,23842,end climb,SURFACE_DEPTH_REACHED
$STATE,23842,begin surface coast
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$STATE,23879,end surface coast,CONTROL_FINISHED_OK
$STATE,23879,begin surface
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$10V_AH,10.3,14.776
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$FG_AHR_10Vo,0.000
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$MEM,354760
$DATA_FILE_SIZE,113603,1892
$CAP_FILE_SIZE,222688,0
$CFSIZE,2097086464,2085781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011012,203529,-4251.585,-849.527,37,1.1,38,-21.5