version: 66.07.10.p01
glider: 574
mission: 4
dive: 64
start: 10 4 112 7 57 54
data:
$ID,574
$MISSION,4
$DIVE,64
$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,1
$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,-5610.1216
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,54
$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,43
$GPS1,041012,074835,-4254.707,-838.521,61,0.9,62,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-68.3
$GPS2,041012,075700,-4254.695,-838.481,17,1.2,18,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.099,-0.213
$KALMAN_X,-16978.0,370.5,-796.9,32440.2,425.8
$KALMAN_Y,-17183.8,319.2,522.5,10622.3,-4585.2
$MHEAD_RNG_PITCHd_Wd,176.6,87481,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-66.00,0.000,2,0.000,0.000,66,1909,2780,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.3,-1.8,11,133,13.38,2.25,-16.33,0.000,4,0.297,0.067,2825,3294,3424,0,0,0,0,0,0
$GC,229,-0.52,-145.9,20.4,-11.3,33,236,0.03,2.22,0.00,0.000,6,0.168,0.050,2835,1915,3425,0,0,0,0,0,0
$GC,309,-0.46,-145.9,28.7,-10.7,46,316,0.10,0.65,0.00,0.000,4,0.187,0.061,2860,1501,3425,0,0,0,0,0,0
$GC,410,-0.46,-145.9,37.4,-7.7,63,415,0.00,0.60,0.00,0.000,6,0.000,0.044,2859,1899,3425,0,0,0,0,0,0
$GC,644,-0.46,-145.9,59.7,-9.5,104,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1899,3425,0,0,0,0,0,0
$GC,879,-0.46,-145.9,79.8,-7.5,145,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1900,3425,0,0,0,0,0,0
$GC,1225,-0.46,-145.9,108.5,-7.7,197,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1900,3425,0,0,0,0,0,0
$GC,1544,-0.46,-145.9,136.0,-9.2,227,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1900,3425,0,0,0,0,0,0
$GC,1863,-0.46,-145.9,167.0,-10.1,257,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1900,3425,0,0,0,0,0,0
$GC,2182,-0.46,-145.9,198.5,-9.9,287,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1900,3425,0,0,0,0,0,0
$GC,2500,-0.46,-145.9,229.2,-9.7,317,2504,0.00,0.50,0.00,0.000,4,0.000,0.059,2859,1570,3426,0,0,0,0,0,0
$GC,2593,-0.46,-145.9,237.9,-9.5,325,2596,0.00,0.50,0.00,0.000,6,0.000,0.046,2858,1913,3426,0,0,0,0,0,0
$GC,2919,-0.46,-145.9,266.7,-8.6,347,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1913,3427,0,0,0,0,0,0
$GC,3226,-0.46,-145.9,292.0,-7.8,362,3230,0.00,0.73,0.00,0.000,4,0.000,0.057,2858,1448,3427,0,0,0,0,0,0
$GC,3303,-0.46,-145.9,298.0,-7.7,365,3308,0.00,0.73,0.00,0.000,6,0.000,0.042,2856,1921,3427,0,0,0,0,0,0
$GC,3627,-0.49,-145.9,322.5,-7.8,381,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1922,3427,0,0,0,0,0,0
$GC,3934,-0.51,-145.9,347.3,-8.3,396,3938,0.00,0.40,0.00,0.000,4,0.000,0.060,2856,1649,3428,0,0,0,0,0,0
$GC,4029,-0.53,-145.9,356.3,-9.5,400,4033,0.00,0.40,0.00,0.000,6,0.000,0.047,2855,1926,3428,0,0,0,0,0,0
$GC,4356,-0.55,-145.9,386.6,-8.8,416,4360,0.05,0.82,0.00,0.000,4,0.168,0.057,2826,1407,3428,0,0,0,0,0,0
$GC,4446,-0.50,-145.9,395.6,-10.5,420,4450,0.05,0.75,0.00,0.000,6,0.158,0.041,2841,1908,3428,0,0,0,0,0,0
$GC,4777,-0.50,-145.9,426.1,-9.0,436,4781,0.00,0.35,0.00,0.000,4,0.000,0.062,2841,1670,3429,0,0,0,0,0,0
$GC,4847,-0.50,-145.9,432.2,-9.2,439,4851,0.00,0.35,0.00,0.000,6,0.000,0.049,2841,1928,3428,0,0,0,0,0,0
$GC,5181,-0.50,-145.9,462.2,-8.7,455,5184,0.00,1.00,0.00,0.000,4,0.000,0.058,2840,1300,3428,0,0,0,0,0,0
$GC,5263,-0.50,-145.9,469.9,-9.0,458,5271,0.00,0.93,0.00,0.000,6,0.000,0.039,2837,1904,3429,0,0,0,0,0,0
$GC,5579,-0.50,-145.9,499.6,-9.3,474,5583,0.00,0.35,0.00,0.000,4,0.000,0.054,2836,2169,3429,0,0,0,0,0,0
$GC,5656,-0.50,-145.9,506.6,-8.9,477,5658,0.00,0.43,0.00,0.000,6,0.000,0.056,2836,1890,3429,0,0,0,0,0,0
$GC,5982,-0.48,-145.9,536.8,-9.2,488,5983,0.08,0.00,0.00,0.000,6,0.197,0.000,2852,1888,3429,0,0,0,0,0,0
$GC,6288,-0.51,-145.9,562.1,-8.3,498,6291,0.00,0.40,0.00,0.000,4,0.000,0.060,2852,1602,3429,0,0,0,0,0,0
$GC,6355,-0.54,-145.9,567.8,-8.0,500,6359,0.00,0.45,0.00,0.000,6,0.000,0.044,2851,1921,3429,0,0,0,0,0,0
$GC,6696,-0.56,-145.9,596.4,-8.3,511,6700,0.05,0.30,0.00,0.000,4,0.170,0.066,2824,1720,3428,0,0,0,0,0,0
$GC,6772,-0.52,-145.9,604.3,-11.3,513,6777,0.08,0.28,0.00,0.000,6,0.199,0.052,2839,1923,3428,0,0,0,0,0,0
$GC,7101,-0.52,-145.9,635.6,-9.7,524,7105,0.00,0.28,0.00,0.000,4,0.000,0.064,2839,1725,3427,0,0,0,0,0,0
$GC,7189,-0.52,-145.9,644.4,-10.0,526,7191,0.00,0.25,0.00,0.000,6,0.000,0.055,2839,1915,3427,0,0,0,0,0,0
$GC,7503,-0.52,-145.9,674.9,-9.8,537,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1915,3427,0,0,0,0,0,0
$GC,7809,-0.52,-145.9,704.7,-9.7,547,7813,0.00,0.45,0.00,0.000,4,0.000,0.057,2838,1614,3426,0,0,0,0,0,0
$GC,7885,-0.52,-145.9,712.6,-10.3,549,7887,0.00,0.43,0.00,0.000,6,0.000,0.045,2837,1906,3426,0,0,0,0,0,0
$GC,8211,-0.52,-145.9,743.7,-9.3,560,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1906,3425,0,0,0,0,0,0
$GC,8517,-0.52,-145.9,770.8,-8.5,570,8520,0.00,0.38,0.00,0.000,4,0.000,0.059,2837,1651,3425,0,0,0,0,0,0
$GC,8593,-0.52,-145.9,777.6,-9.4,572,8595,0.00,0.38,0.00,0.000,6,0.000,0.048,2836,1914,3425,0,0,0,0,0,0
$GC,8919,-0.52,-145.9,805.9,-8.4,583,8922,0.00,0.28,0.00,0.000,4,0.000,0.057,2834,2134,3424,0,0,0,0,0,0
$GC,8956,-0.52,-145.9,809.2,-7.9,584,8958,0.00,0.35,0.00,0.000,6,0.000,0.058,2834,1901,3424,0,0,0,0,0,0
$GC,9287,-0.52,-145.9,836.8,-8.7,595,9290,0.00,0.75,0.00,0.000,4,0.000,0.057,2834,1409,3424,0,0,0,0,0,0
$GC,9375,-0.52,-145.9,844.7,-9.2,597,9379,0.00,0.77,0.00,0.000,6,0.000,0.041,2831,1917,3423,0,0,0,0,0,0
$GC,9693,-0.52,-145.9,873.1,-9.0,608,9696,0.00,0.32,0.00,0.000,4,0.000,0.062,2831,1691,3423,0,0,0,0,0,0
$GC,9780,-0.52,-145.9,881.6,-9.8,610,9783,0.00,0.32,0.00,0.000,6,0.000,0.052,2831,1918,3423,0,0,0,0,0,0
$GC,10095,-0.52,-145.9,909.9,-8.9,621,10098,0.00,0.32,0.00,0.000,4,0.000,0.062,2831,1691,3423,0,0,0,0,0,0
$GC,10222,-0.52,-145.9,921.5,-9.3,624,10224,0.00,0.32,0.00,0.000,6,0.000,0.051,2831,1919,3423,0,0,0,0,0,0
$GC,10530,-0.52,-145.9,949.7,-9.5,634,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1919,3422,0,0,0,0,0,0
$GC,10836,-0.52,-145.9,976.5,-8.5,644,10840,0.00,0.68,0.00,0.000,4,0.000,0.056,2831,1482,3422,0,0,0,0,0,0
$GC,10929,-0.52,-145.9,984.5,-8.7,646,10935,0.00,0.65,0.00,0.000,6,0.000,0.043,2830,1908,3422,0,0,0,0,0,0
$STATE,11120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11120,begin apogee
$GC,11124,-0.19,0.0,1000.2,8.2,653,11250,0.40,0.00,122.85,1.433,6,0.142,0.000,2952,1652,2827,0,0,0,0,0,0
$STATE,11251,end apogee,CONTROL_FINISHED_OK
$STATE,11251,begin climb
$GC,11252,0.52,145.9,1004.9,0.0,657,11385,0.70,0.57,126.62,1.418,4,0.083,0.037,3175,2019,2231,0,0,0,0,0,0
$GC,11453,0.36,145.9,1001.4,7.9,663,11457,0.15,0.60,0.00,0.000,6,0.169,0.057,3137,1660,2227,0,0,0,0,0,0
$GC,11793,0.29,185.6,980.1,6.0,674,11830,0.12,0.00,34.83,1.363,6,0.193,0.000,3106,1660,2070,0,0,0,0,0,0
$GC,12129,0.32,218.6,960.1,6.3,685,12163,0.00,0.57,29.08,1.345,4,0.000,0.044,3106,2016,1934,0,0,0,0,0,0
$GC,12219,0.37,236.7,954.0,6.8,687,12241,0.08,0.62,17.25,1.291,6,0.124,0.055,3140,1642,1861,0,0,0,0,0,0
$GC,12559,0.37,236.7,925.5,8.4,699,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1642,1855,0,0,0,0,0,0
$GC,12864,0.37,236.7,900.7,7.7,709,12868,0.00,0.35,0.00,0.000,4,0.000,0.069,3140,1410,1854,0,0,0,0,0,0
$GC,12924,0.37,238.7,896.2,7.3,710,12930,0.00,0.35,0.00,0.000,6,0.000,0.048,3140,1649,1854,0,0,0,0,0,0
$GC,13236,0.37,238.7,872.3,7.8,721,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1650,1853,0,0,0,0,0,0
$GC,13543,0.37,238.7,848.5,7.6,731,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1650,1853,0,0,0,0,0,0
$GC,13849,0.37,238.7,824.5,7.8,741,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1650,1852,0,0,0,0,0,0
$GC,14155,0.37,238.7,800.1,7.9,751,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1651,1852,0,0,0,0,0,0
$GC,14461,0.37,238.7,775.7,7.9,761,14465,0.00,0.43,0.00,0.000,4,0.000,0.067,3140,1375,1851,0,0,0,0,0,0
$GC,14532,0.37,238.7,770.0,8.1,763,14535,0.00,0.43,0.00,0.000,6,0.000,0.046,3140,1666,1852,0,0,0,0,0,0
$GC,14864,0.37,245.8,745.7,7.2,774,14873,0.00,0.00,7.85,1.051,6,0.000,0.000,3140,1667,1824,0,0,0,0,0,0
$GC,15170,0.37,249.7,723.3,7.3,784,15179,0.00,0.35,4.95,0.854,4,0.000,0.070,3140,1446,1809,0,0,0,0,0,0
$GC,15229,0.37,290.7,719.3,6.0,785,15270,0.00,0.30,37.58,1.240,6,0.000,0.052,3140,1653,1641,0,0,0,0,0,0
$GC,15605,0.41,321.0,694.5,6.4,798,15634,0.00,0.00,27.02,1.200,6,0.000,0.000,3140,1652,1519,0,0,0,0,0,0
$GC,15941,0.48,354.3,673.5,6.3,809,15976,0.08,0.35,30.55,1.185,4,0.126,0.060,3174,1434,1381,0,0,0,0,0,0
$GC,16054,0.50,354.3,663.8,8.5,812,16058,0.00,0.32,0.00,0.000,6,0.000,0.050,3174,1646,1377,0,0,0,0,0,0
$GC,16377,0.50,354.3,634.9,9.2,823,16381,0.00,0.60,0.00,0.000,4,0.000,0.066,3174,1268,1375,0,0,0,0,0,0
$GC,16431,0.50,354.3,629.8,8.9,824,16436,0.00,0.60,0.00,0.000,6,0.000,0.042,3174,1666,1375,0,0,0,0,0,0
$GC,16749,0.50,354.3,601.8,8.9,835,16753,0.00,0.52,0.00,0.000,4,0.000,0.066,3174,1331,1375,0,0,0,0,0,0
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$STATE,23216,end climb,SURFACE_DEPTH_REACHED
$STATE,23216,begin surface coast
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$STATE,23247,end surface coast,CONTROL_FINISHED_OK
$STATE,23248,begin surface
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,80269,1337
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$CFSIZE,2097086464,2084339712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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