version: 66.07.10.p01
glider: 574
mission: 4
dive: 68
start: 10 5 112 10 32 23
data:
$ID,574
$MISSION,4
$DIVE,68
$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,-5623.0186
$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,28
$R_STBD_OVSHOOT,42
$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,47
$GPS1,051012,101759,-4302.506,-830.955,38,1.1,39,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-72.9
$GPS2,051012,103129,-4302.546,-830.961,48,0.8,49,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,-0.160
$KALMAN_X,-24257.8,-180.9,390.5,49304.4,-3449.9
$KALMAN_Y,-15133.8,-81.8,576.0,-5606.8,-1169.6
$MHEAD_RNG_PITCHd_Wd,154.5,70902,-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,22,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,80,0.00,0.00,-54.28,0.000,2,0.000,0.000,66,1915,2779,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.5,9,121,12.27,2.28,-17.48,0.000,4,0.269,0.069,2829,3309,3424,0,0,0,0,0,0
$GC,211,-0.54,-145.9,17.9,-12.8,30,218,0.00,2.25,0.00,0.000,6,0.000,0.049,2829,1913,3424,0,0,0,0,0,0
$GC,291,-0.47,-145.9,26.7,-11.4,43,299,0.10,0.30,0.00,0.000,4,0.178,0.073,2853,1712,3424,0,0,0,0,0,0
$GC,434,-0.47,-145.9,40.6,-9.3,67,439,0.00,0.30,0.00,0.000,6,0.000,0.051,2853,1929,3424,0,0,0,0,0,0
$GC,667,-0.47,-145.9,63.4,-9.3,108,674,0.00,0.35,0.00,0.000,4,0.000,0.064,2853,1700,3424,0,0,0,0,0,0
$GC,804,-0.47,-145.9,76.8,-8.9,132,811,0.00,0.30,0.00,0.000,6,0.000,0.050,2852,1918,3424,0,0,0,0,0,0
$GC,1152,-0.47,-145.9,109.8,-11.4,186,1155,0.00,0.57,0.00,0.000,4,0.000,0.060,2852,1544,3424,0,0,0,0,0,0
$GC,1242,-0.47,-145.9,119.8,-11.8,194,1245,0.00,0.52,0.00,0.000,6,0.000,0.046,2850,1899,3424,0,0,0,0,0,0
$GC,1573,-0.47,-145.9,153.2,-10.0,225,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1899,3424,0,0,0,0,0,0
$GC,1892,-0.47,-145.9,181.8,-8.9,255,1896,0.00,1.05,0.00,0.000,4,0.000,0.061,2851,1251,3424,0,0,0,0,0,0
$GC,1975,-0.47,-145.9,189.3,-8.6,262,1983,0.00,1.02,0.00,0.000,6,0.000,0.038,2846,1914,3425,0,0,0,0,0,0
$GC,2302,-0.47,-145.9,217.4,-8.7,293,2306,0.00,0.40,0.00,0.000,4,0.000,0.061,2846,1647,3425,0,0,0,0,0,0
$GC,2385,-0.47,-145.9,225.2,-9.4,300,2387,0.00,0.40,0.00,0.000,6,0.000,0.046,2845,1922,3425,0,0,0,0,0,0
$GC,2707,-0.45,-145.9,256.4,-9.7,327,2711,0.08,0.75,0.00,0.000,4,0.193,0.059,2862,1452,3425,0,0,0,0,0,0
$GC,2789,-0.48,-145.9,264.1,-8.2,330,2797,0.00,0.70,0.00,0.000,6,0.000,0.041,2862,1910,3425,0,0,0,0,0,0
$GC,3105,-0.51,-145.9,288.6,-7.6,346,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1910,3425,0,0,0,0,0,0
$GC,3417,-0.53,-145.9,310.1,-6.7,361,3421,0.08,0.75,0.00,0.000,4,0.131,0.059,2826,1441,3426,0,0,0,0,0,0
$GC,3494,-0.46,-145.9,317.5,-9.6,364,3499,0.15,0.73,0.00,0.000,6,0.160,0.041,2863,1915,3426,0,0,0,0,0,0
$GC,3816,-0.50,-145.9,340.0,-7.1,380,3820,0.00,0.70,0.00,0.000,4,0.000,0.059,2863,1472,3426,0,0,0,0,0,0
$GC,3899,-0.55,-145.9,346.2,-7.5,383,3905,0.08,0.68,0.00,0.000,6,0.128,0.042,2829,1913,3426,0,0,0,0,0,0
$GC,4217,-0.50,-145.9,378.0,-10.4,399,4222,0.08,0.60,0.00,0.000,4,0.188,0.060,2847,1533,3426,0,0,0,0,0,0
$GC,4299,-0.50,-145.9,386.1,-9.1,402,4307,0.00,0.57,0.00,0.000,6,0.000,0.042,2845,1916,3426,0,0,0,0,0,0
$GC,4615,-0.50,-145.9,414.5,-9.1,418,4619,0.00,0.40,0.00,0.000,4,0.000,0.062,2846,1651,3426,0,0,0,0,0,0
$GC,4675,-0.50,-145.9,420.2,-8.8,420,4683,0.00,0.40,0.00,0.000,6,0.000,0.047,2844,1924,3426,0,0,0,0,0,0
$GC,4990,-0.50,-145.9,447.1,-8.3,436,4994,0.00,0.22,0.00,0.000,4,0.000,0.062,2843,2098,3426,0,0,0,0,0,0
$GC,5060,-0.50,-145.9,452.7,-8.3,439,5063,0.00,0.28,0.00,0.000,6,0.000,0.064,2843,1906,3426,0,0,0,0,0,0
$GC,5393,-0.50,-145.9,480.9,-9.0,455,5397,0.00,0.25,0.00,0.000,4,0.000,0.073,2844,1719,3426,0,0,0,0,0,0
$GC,5521,-0.50,-145.9,493.1,-9.0,460,5524,0.00,0.28,0.00,0.000,6,0.000,0.054,2842,1911,3426,0,0,0,0,0,0
$GC,5851,-0.50,-145.9,522.8,-8.7,472,5854,0.00,0.35,0.00,0.000,4,0.000,0.063,2842,1678,3426,0,0,0,0,0,0
$GC,5905,-0.50,-145.9,527.7,-9.3,473,5907,0.00,0.35,0.00,0.000,6,0.000,0.050,2841,1920,3425,0,0,0,0,0,0
$GC,6219,-0.50,-145.9,556.3,-9.2,484,6222,0.00,0.52,0.00,0.000,4,0.000,0.060,2841,1580,3425,0,0,0,0,0,0
$GC,6295,-0.50,-145.9,563.7,-9.3,486,6300,0.00,0.50,0.00,0.000,6,0.000,0.044,2839,1915,3425,0,0,0,0,0,0
$GC,6625,-0.50,-145.9,593.4,-8.5,497,6628,0.00,0.62,0.00,0.000,4,0.000,0.059,2839,1514,3424,0,0,0,0,0,0
$GC,6695,-0.50,-145.9,599.2,-7.7,499,6700,0.00,0.60,0.00,0.000,6,0.000,0.044,2837,1908,3424,0,0,0,0,0,0
$GC,7030,-0.50,-145.9,629.6,-9.4,510,7034,0.00,0.28,0.00,0.000,4,0.000,0.066,2837,1716,3424,0,0,0,0,0,0
$GC,7101,-0.50,-145.9,636.0,-7.8,512,7103,0.00,0.30,0.00,0.000,6,0.000,0.053,2837,1926,3423,0,0,0,0,0,0
$GC,7432,-0.50,-145.9,663.3,-8.2,523,7436,0.00,0.35,0.00,0.000,4,0.000,0.063,2837,1689,3423,0,0,0,0,0,0
$GC,7503,-0.50,-145.9,669.3,-8.2,525,7505,0.00,0.32,0.00,0.000,6,0.000,0.052,2836,1912,3423,0,0,0,0,0,0
$GC,7834,-0.50,-145.9,696.0,-8.3,536,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1912,3422,0,0,0,0,0,0
$GC,8140,-0.50,-145.9,720.7,-7.7,546,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1912,3421,0,0,0,0,0,0
$GC,8447,-0.50,-145.9,743.6,-7.3,556,8451,0.03,0.62,0.00,0.000,4,0.288,0.058,2846,1517,3421,0,0,0,0,0,0
$GC,8534,-0.50,-145.9,749.7,-7.1,558,8539,0.00,0.60,0.00,0.000,6,0.000,0.043,2844,1910,3421,0,0,0,0,0,0
$GC,8853,-0.50,-145.9,770.6,-6.9,569,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1910,3421,0,0,0,0,0,0
$GC,9159,-0.50,-145.9,793.3,-7.7,579,9162,0.00,0.73,0.00,0.000,4,0.000,0.056,2844,1446,3420,0,0,0,0,0,0
$GC,9246,-0.50,-145.9,800.5,-8.5,581,9251,0.00,0.73,0.00,0.000,6,0.000,0.042,2841,1922,3419,0,0,0,0,0,0
$GC,9564,-0.50,-145.9,827.8,-8.9,592,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1922,3419,0,0,0,0,0,0
$GC,9871,-0.50,-145.9,855.4,-9.1,602,9874,0.00,0.57,0.00,0.000,4,0.000,0.057,2842,1543,3419,0,0,0,0,0,0
$GC,9947,-0.50,-145.9,862.4,-8.8,604,9951,0.00,0.57,0.00,0.000,6,0.000,0.044,2839,1925,3418,0,0,0,0,0,0
$GC,10276,-0.50,-145.9,892.9,-9.5,615,10280,0.00,0.38,0.00,0.000,4,0.000,0.061,2839,1670,3419,0,0,0,0,0,0
$GC,10398,-0.50,-145.9,904.6,-10.1,618,10402,0.00,0.38,0.00,0.000,6,0.000,0.050,2837,1926,3418,0,0,0,0,0,0
$GC,10716,-0.50,-145.9,932.5,-8.5,629,10719,0.00,0.82,0.00,0.000,4,0.000,0.056,2838,1399,3417,0,0,0,0,0,0
$GC,10826,-0.50,-145.9,941.4,-8.1,632,10831,0.00,0.80,0.00,0.000,6,0.000,0.042,2836,1918,3417,0,0,0,0,0,0
$GC,11156,-0.50,-145.9,967.2,-7.9,643,11159,0.00,0.62,0.00,0.000,4,0.000,0.056,2836,1512,3416,0,0,0,0,0,0
$GC,11238,-0.50,-145.9,974.1,-8.6,645,11242,0.00,0.62,0.00,0.000,6,0.000,0.043,2836,1922,3416,0,0,0,0,0,0
$GC,11561,-0.50,-145.9,998.9,-7.8,656,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1922,3416,0,0,0,0,0,0
$STATE,11595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11595,begin apogee
$GC,11599,-0.19,0.0,1001.1,7.6,657,11724,0.38,0.00,122.38,1.467,6,0.139,0.000,2950,1650,2827,0,0,0,0,0,0
$STATE,11725,end apogee,CONTROL_FINISHED_OK
$STATE,11725,begin climb
$GC,11726,0.52,145.9,1005.7,0.0,661,11863,0.73,1.25,127.38,1.457,4,0.086,0.061,3183,966,2232,0,0,0,0,0,0
$GC,11918,0.34,145.9,1000.8,8.4,667,11924,0.20,1.15,0.00,0.000,6,0.179,0.041,3132,1648,2228,0,0,0,0,0,0
$GC,12237,0.29,160.2,979.1,6.9,678,12256,0.10,0.98,12.98,1.276,4,0.196,0.046,3108,2244,2174,0,0,0,0,0,0
$GC,12361,0.29,173.6,970.7,6.9,681,12378,0.00,0.98,13.23,1.328,6,0.000,0.054,3111,1657,2119,0,0,0,0,0,0
$GC,12702,0.29,219.3,950.0,5.8,693,12745,0.00,0.00,40.90,1.372,6,0.000,0.000,3111,1657,1933,0,0,0,0,0,0
$GC,13038,0.33,259.5,930.2,6.0,704,13078,0.00,0.57,36.00,1.361,4,0.000,0.042,3111,2047,1769,0,0,0,0,0,0
$GC,13150,0.40,290.6,923.1,6.3,707,13185,0.10,0.68,28.92,1.339,6,0.106,0.056,3149,1646,1642,0,0,0,0,0,0
$GC,13503,0.40,290.6,892.8,9.0,719,13506,0.00,0.70,0.00,0.000,4,0.000,0.065,3150,1212,1635,0,0,0,0,0,0
$GC,13570,0.40,290.6,886.6,8.8,721,13573,0.00,0.68,0.00,0.000,6,0.000,0.045,3150,1653,1635,0,0,0,0,0,0
$GC,13910,0.40,290.6,856.1,9.1,732,13913,0.00,0.52,0.00,0.000,4,0.000,0.068,3151,1324,1633,0,0,0,0,0,0
$GC,13969,0.40,290.6,850.6,8.2,733,13975,0.00,0.52,0.00,0.000,6,0.000,0.047,3151,1664,1633,0,0,0,0,0,0
$GC,14282,0.40,290.6,822.3,9.1,744,14283,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1665,1633,0,0,0,0,0,0
$GC,14588,0.40,290.6,796.0,8.4,754,14591,0.00,0.57,0.00,0.000,4,0.000,0.068,3152,1302,1632,0,0,0,0,0,0
$GC,14655,0.40,290.6,790.5,8.2,756,14658,0.00,0.52,0.00,0.000,6,0.000,0.049,3152,1654,1632,0,0,0,0,0,0
$GC,14995,0.40,290.6,762.7,8.3,767,14998,0.00,0.28,0.00,0.000,4,0.000,0.076,3152,1469,1631,0,0,0,0,0,0
$GC,15077,0.40,290.6,755.5,8.0,769,15079,0.00,0.28,0.00,0.000,6,0.000,0.058,3152,1653,1631,0,0,0,0,0,0
$GC,15397,0.40,290.6,729.0,7.9,780,15400,0.00,0.52,0.00,0.000,4,0.000,0.069,3153,1317,1631,0,0,0,0,0,0
$GC,15456,0.40,294.3,724.2,7.3,781,15462,0.00,0.52,0.00,0.000,6,0.000,0.048,3152,1661,1631,0,0,0,0,0,0
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$STATE,23532,end climb,SURFACE_DEPTH_REACHED
$STATE,23532,begin surface coast
$FINISH,1.5,1.015502
$STATE,23563,end surface coast,CONTROL_FINISHED_OK
$STATE,23563,begin surface
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$10V_AH,10.3,17.321
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354476
$DATA_FILE_SIZE,80342,1340
$CAP_FILE_SIZE,215921,0
$CFSIZE,2097086464,2083782656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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