version: 66.07.10.p01
glider: 574
mission: 4
dive: 89
start: 10 11 112 5 16 43
data:
$ID,574
$MISSION,4
$DIVE,89
$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,-5690.9707
$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,57
$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,68
$GPS1,111012,050734,-4318.439,-812.163,37,1.6,43,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-70.9
$GPS2,111012,051549,-4318.399,-812.090,16,1.7,17,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.083,0.220
$KALMAN_X,-76201.6,-415.4,1015.4,126476.3,-7141.4
$KALMAN_Y,-178.4,-87.7,514.6,-49857.3,449.8
$MHEAD_RNG_PITCHd_Wd,42.0,103404,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.20,0.000,2,0.000,0.000,66,1924,2699,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.0,-1.9,9,121,12.70,2.33,-20.12,0.000,4,0.280,0.075,2831,508,3423,0,0,0,0,0,0
$GC,205,-0.49,-145.9,16.5,-13.2,29,213,0.08,2.20,0.00,0.000,6,0.149,0.039,2849,1890,3424,0,0,0,0,0,0
$GC,285,-0.49,-145.9,23.5,-8.9,42,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1890,3425,0,0,0,0,0,0
$GC,364,-0.49,-145.9,29.7,-7.8,55,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1890,3425,0,0,0,0,0,0
$GC,440,-0.49,-145.9,36.1,-8.1,68,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1890,3425,0,0,0,0,0,0
$GC,677,-0.49,-145.9,57.9,-10.2,109,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1890,3425,0,0,0,0,0,0
$GC,907,-0.49,-145.9,81.5,-10.1,150,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1890,3424,0,0,0,0,0,0
$GC,1242,-0.49,-145.9,114.0,-9.7,193,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1890,3425,0,0,0,0,0,0
$GC,1555,-0.49,-145.9,143.3,-9.5,213,1558,0.00,0.38,0.00,0.000,4,0.000,0.060,2849,1642,3425,0,0,0,0,0,0
$GC,1607,-0.49,-145.9,148.2,-9.4,216,1610,0.00,0.43,0.00,0.000,6,0.000,0.047,2849,1936,3425,0,0,0,0,0,0
$GC,1938,-0.49,-145.9,179.4,-9.6,237,1941,0.00,1.73,0.00,0.000,4,0.000,0.059,2849,842,3425,0,0,0,0,0,0
$GC,2007,-0.49,-145.9,186.1,-9.4,241,2011,0.00,1.65,0.00,0.000,6,0.000,0.037,2842,1913,3425,0,0,0,0,0,0
$GC,2337,-0.49,-145.9,220.5,-10.9,262,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1913,3425,0,0,0,0,0,0
$GC,2663,-0.49,-145.9,257.0,-11.2,282,2667,0.00,0.75,0.00,0.000,4,0.000,0.055,2842,1433,3425,0,0,0,0,0,0
$GC,2712,-0.49,-145.9,262.9,-10.9,284,2717,0.00,0.75,0.00,0.000,6,0.000,0.038,2839,1925,3425,0,0,0,0,0,0
$GC,3039,-0.49,-145.9,300.3,-11.4,300,3043,0.00,1.88,0.00,0.000,4,0.000,0.060,2839,747,3425,0,0,0,0,0,0
$GC,3099,-0.49,-145.9,307.5,-10.9,302,3108,0.03,1.77,0.00,0.000,6,0.184,0.036,2845,1901,3425,0,0,0,0,0,0
$GC,3415,-0.49,-145.9,340.6,-10.7,318,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1901,3425,0,0,0,0,0,0
$GC,3727,-0.49,-145.9,371.9,-9.7,333,3730,0.00,0.62,0.00,0.000,4,0.000,0.054,2846,1498,3425,0,0,0,0,0,0
$GC,3775,-0.49,-145.9,377.2,-9.5,335,3780,0.00,0.65,0.00,0.000,6,0.000,0.038,2844,1929,3425,0,0,0,0,0,0
$GC,4104,-0.49,-145.9,407.9,-9.3,351,4108,0.00,1.17,0.00,0.000,4,0.000,0.055,2843,1190,3425,0,0,0,0,0,0
$GC,4153,-0.49,-145.9,413.2,-9.7,353,4158,0.00,1.12,0.00,0.000,6,0.000,0.036,2839,1921,3425,0,0,0,0,0,0
$GC,4483,-0.49,-145.9,445.9,-10.1,369,4486,0.00,1.42,0.00,0.000,4,0.000,0.056,2839,1026,3425,0,0,0,0,0,0
$GC,4542,-0.49,-145.9,452.5,-9.8,371,4549,0.08,1.38,0.00,0.000,6,0.196,0.036,2853,1914,3425,0,0,0,0,0,0
$GC,4861,-0.53,-145.9,480.1,-8.8,387,4865,0.00,1.50,0.00,0.000,4,0.000,0.057,2853,977,3425,0,0,0,0,0,0
$GC,4922,-0.56,-145.9,485.4,-8.2,389,4928,0.03,1.45,0.00,0.000,6,0.107,0.035,2827,1921,3425,0,0,0,0,0,0
$GC,5247,-0.53,-145.9,516.3,-9.5,403,5250,0.00,1.10,0.00,0.000,4,0.000,0.054,2827,1224,3425,0,0,0,0,0,0
$GC,5296,-0.51,-145.9,521.1,-9.1,404,5301,0.10,1.08,0.00,0.000,6,0.177,0.036,2850,1924,3425,0,0,0,0,0,0
$GC,5620,-0.54,-145.9,544.5,-7.3,415,5623,0.00,1.45,0.00,0.000,4,0.000,0.054,2850,1014,3425,0,0,0,0,0,0
$GC,5680,-0.57,-145.9,549.5,-7.6,416,5687,0.03,1.38,0.00,0.000,6,0.102,0.034,2825,1913,3425,0,0,0,0,0,0
$GC,5993,-0.53,-145.9,579.5,-9.9,427,5997,0.00,0.88,0.00,0.000,4,0.000,0.052,2825,1352,3425,0,0,0,0,0,0
$GC,6048,-0.50,-145.9,585.1,-9.8,428,6053,0.10,0.88,0.00,0.000,6,0.178,0.037,2847,1929,3425,0,0,0,0,0,0
$GC,6366,-0.53,-145.9,612.3,-8.8,439,6370,0.00,1.20,0.00,0.000,4,0.000,0.052,2848,1166,3424,0,0,0,0,0,0
$GC,6426,-0.56,-145.9,617.9,-9.0,440,6432,0.03,1.12,0.00,0.000,6,0.105,0.034,2821,1912,3424,0,0,0,0,0,0
$GC,6739,-0.52,-145.9,651.7,-10.9,451,6743,0.10,0.50,0.00,0.000,4,0.181,0.055,2846,1584,3423,0,0,0,0,0,0
$GC,6805,-0.52,-145.9,657.9,-8.4,453,6809,0.00,0.47,0.00,0.000,6,0.000,0.042,2844,1919,3423,0,0,0,0,0,0
$GC,7146,-0.54,-145.9,686.2,-8.0,464,7150,0.00,2.25,0.00,0.000,4,0.000,0.056,2844,498,3422,0,0,0,0,0,0
$GC,7208,-0.59,-145.9,691.4,-8.1,466,7212,0.00,2.15,0.00,0.000,6,0.000,0.034,2837,1913,3422,0,0,0,0,0,0
$GC,7542,-0.59,-145.9,719.3,-8.4,477,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1913,3421,0,0,0,0,0,0
$GC,7848,-0.59,-145.9,745.4,-8.7,487,7852,0.00,0.40,0.00,0.000,4,0.000,0.055,2837,1640,3421,0,0,0,0,0,0
$GC,7897,-0.59,-145.9,750.0,-9.2,488,7901,0.00,0.43,0.00,0.000,6,0.000,0.044,2836,1933,3421,0,0,0,0,0,0
$GC,8220,-0.59,-145.9,776.9,-8.4,499,8224,0.00,0.60,0.00,0.000,4,0.000,0.050,2836,1536,3420,0,0,0,0,0,0
$GC,8263,-0.59,-145.9,780.8,-8.9,500,8267,0.00,0.57,0.00,0.000,6,0.000,0.041,2836,1920,3420,0,0,0,0,0,0
$GC,8592,-0.59,-145.9,811.4,-9.5,511,8596,0.00,1.17,0.00,0.000,4,0.000,0.052,2836,1172,3419,0,0,0,0,0,0
$GC,8651,-0.59,-145.9,817.0,-9.0,512,8658,0.00,1.12,0.00,0.000,6,0.000,0.035,2831,1908,3419,0,0,0,0,0,0
$GC,8964,-0.59,-145.9,845.5,-9.2,523,8968,0.00,0.35,0.00,0.000,4,0.000,0.056,2831,1665,3418,0,0,0,0,0,0
$GC,9007,-0.59,-145.9,849.8,-9.7,524,9009,0.00,0.38,0.00,0.000,6,0.000,0.047,2829,1926,3418,0,0,0,0,0,0
$GC,9333,-0.59,-145.9,878.6,-9.2,535,9336,0.00,1.25,0.00,0.000,4,0.000,0.054,2830,1137,3418,0,0,0,0,0,0
$GC,9400,-0.59,-145.9,884.6,-8.4,537,9403,0.00,1.17,0.00,0.000,6,0.000,0.037,2825,1910,3417,0,0,0,0,0,0
$GC,9740,-0.59,-145.9,916.4,-9.2,548,9743,0.00,0.32,0.00,0.000,4,0.000,0.058,2825,1675,3417,0,0,0,0,0,0
$GC,9794,-0.59,-145.9,921.8,-9.7,549,9796,0.00,0.35,0.00,0.000,6,0.000,0.048,2824,1924,3417,0,0,0,0,0,0
$GC,10108,-0.59,-145.9,950.3,-9.1,560,10111,0.00,1.42,0.00,0.000,4,0.000,0.054,2824,1022,3416,0,0,0,0,0,0
$GC,10175,-0.59,-145.9,956.5,-8.9,562,10179,0.00,1.35,0.00,0.000,6,0.000,0.037,2821,1901,3417,0,0,0,0,0,0
$GC,10515,-0.56,-145.9,988.5,-9.4,573,10519,0.00,0.62,0.00,0.000,4,0.000,0.046,2818,2341,3416,0,0,0,0,0,0
$GC,10569,-0.56,-145.9,993.9,-9.6,574,10574,0.00,0.68,0.00,0.000,6,0.000,0.046,2818,1899,3416,0,0,0,0,0,0
$STATE,10642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10642,begin apogee
$GC,10646,-0.19,0.0,1001.0,10.1,577,10772,0.43,0.00,122.70,1.503,6,0.141,0.000,2947,1643,2827,0,0,0,0,0,0
$STATE,10773,end apogee,CONTROL_FINISHED_OK
$STATE,10773,begin climb
$GC,10774,0.52,145.9,1006.8,0.0,581,10910,0.70,2.50,128.00,1.483,4,0.088,0.065,3179,261,2231,0,0,0,0,0,0
$GC,11028,0.35,145.9,1000.3,7.7,589,11033,0.20,2.28,0.00,0.000,6,0.180,0.034,3131,1661,2227,0,0,0,0,0,0
$GC,11363,0.30,208.3,982.1,5.3,600,11424,0.08,1.25,54.65,1.401,4,0.220,0.041,3114,2420,1977,0,0,0,0,0,0
$GC,11485,0.30,265.5,975.6,5.5,603,11541,0.00,1.25,51.42,1.399,6,0.000,0.047,3117,1659,1744,0,0,0,0,0,0
$GC,11860,0.36,308.2,954.1,5.9,616,11900,0.00,0.00,38.40,1.372,6,0.000,0.000,3117,1659,1570,0,0,0,0,0,0
$GC,12196,0.45,348.7,934.0,6.0,627,12236,0.12,0.00,37.03,1.369,6,0.097,0.000,3167,1659,1404,0,0,0,0,0,0
$GC,12534,0.47,348.7,905.7,8.3,638,12538,0.00,0.82,0.00,0.000,4,0.000,0.060,3167,1140,1398,0,0,0,0,0,0
$GC,12601,0.50,348.7,899.6,9.0,640,12605,0.00,0.80,0.00,0.000,6,0.000,0.035,3167,1671,1397,0,0,0,0,0,0
$GC,12941,0.50,348.7,870.8,8.3,651,12945,0.00,0.77,0.00,0.000,4,0.000,0.060,3168,1193,1396,0,0,0,0,0,0
$GC,13001,0.52,348.7,865.7,8.0,652,13007,0.00,0.70,0.00,0.000,6,0.000,0.035,3168,1660,1396,0,0,0,0,0,0
$GC,13313,0.52,348.7,838.4,8.7,663,13317,0.00,0.50,0.00,0.000,4,0.000,0.060,3168,1346,1395,0,0,0,0,0,0
$GC,13373,0.52,348.7,833.1,8.3,664,13379,0.00,0.45,0.00,0.000,6,0.000,0.040,3168,1664,1395,0,0,0,0,0,0
$GC,13685,0.52,348.7,807.2,7.9,675,13689,0.00,0.80,0.00,0.000,4,0.000,0.062,3169,1158,1395,0,0,0,0,0,0
$GC,13753,0.52,348.7,801.3,9.3,677,13756,0.00,0.70,0.00,0.000,6,0.000,0.037,3171,1636,1394,0,0,0,0,0,0
$GC,14092,0.52,348.7,772.4,8.9,688,14096,0.00,0.57,0.00,0.000,4,0.000,0.061,3171,1277,1394,0,0,0,0,0,0
$GC,14146,0.52,348.7,767.3,9.9,689,14151,0.00,0.57,0.00,0.000,6,0.000,0.038,3171,1673,1394,0,0,0,0,0,0
$GC,14464,0.52,348.7,736.7,10.2,700,14468,0.00,0.62,0.00,0.000,4,0.000,0.063,3171,1274,1394,0,0,0,0,0,0
$GC,14520,0.52,348.7,731.4,9.1,701,14523,0.00,0.52,0.00,0.000,6,0.000,0.040,3171,1647,1394,0,0,0,0,0,0
$GC,14837,0.52,348.7,699.6,9.9,712,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1648,1394,0,0,0,0,0,0
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$STATE,21954,end climb,SURFACE_DEPTH_REACHED
$STATE,21954,begin surface coast
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$STATE,21991,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,20.488
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$FG_AHR_10Vo,0.000
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$MEM,354524
$DATA_FILE_SIZE,70243,1162
$CAP_FILE_SIZE,197265,0
$CFSIZE,2097086464,2081030144
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