version: 66.07.10.p01
glider: 574
mission: 4
dive: 125
start: 10 20 112 17 47 43
data:
$ID,574
$MISSION,4
$DIVE,125
$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,-5809.8926
$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,32
$R_STBD_OVSHOOT,46
$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,104
$GPS1,201012,173835,-4251.515,-754.078,60,0.7,61,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-67.9
$GPS2,201012,174648,-4251.538,-754.146,13,1.6,14,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.229,-0.053
$KALMAN_X,-168592.0,173.7,1069.7,242560.1,-8343.1
$KALMAN_Y,98984.7,-38.8,-546.3,-98254.4,5624.8
$MHEAD_RNG_PITCHd_Wd,124.6,100737,-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,23,-0.52,-145.9,0.0,0.0,0,80,0.00,0.00,-53.85,0.000,2,0.000,0.000,65,1926,2459,0,0,0,0,0,0
$GC,82,-0.52,-145.9,3.0,-0.9,9,132,12.62,2.33,-31.75,0.000,4,0.275,0.075,2831,511,3420,0,0,0,0,0,0
$GC,228,-0.52,-145.9,15.8,-12.1,33,235,0.05,2.22,0.00,0.000,6,0.163,0.041,2839,1905,3422,0,0,0,0,0,0
$GC,308,-0.52,-145.9,23.7,-10.9,46,315,0.00,0.40,0.00,0.000,4,0.000,0.050,2838,2194,3422,0,0,0,0,0,0
$GC,347,-0.52,-145.9,27.3,-9.4,52,354,0.00,0.43,0.00,0.000,6,0.000,0.055,2838,1915,3422,0,0,0,0,0,0
$GC,425,-0.52,-145.9,34.6,-8.6,65,430,0.00,0.43,0.00,0.000,4,0.000,0.060,2838,1629,3422,0,0,0,0,0,0
$GC,507,-0.52,-145.9,42.2,-9.3,79,512,0.00,0.45,0.00,0.000,6,0.000,0.045,2837,1934,3422,0,0,0,0,0,0
$GC,740,-0.52,-145.9,62.0,-8.5,120,747,0.00,0.57,0.00,0.000,4,0.000,0.055,2837,1574,3422,0,0,0,0,0,0
$GC,816,-0.52,-145.9,68.4,-9.1,133,820,0.00,0.50,0.00,0.000,6,0.000,0.043,2835,1914,3423,0,0,0,0,0,0
$GC,1166,-0.52,-145.9,103.3,-9.9,192,1169,0.00,1.45,0.00,0.000,4,0.000,0.058,2835,1021,3422,0,0,0,0,0,0
$GC,1260,-0.52,-145.9,113.2,-10.3,197,1267,0.00,1.40,0.00,0.000,6,0.000,0.037,2829,1911,3423,0,0,0,0,0,0
$GC,1580,-0.50,-145.9,145.4,-10.0,218,1582,0.08,0.00,0.00,0.000,6,0.188,0.000,2847,1911,3423,0,0,0,0,0,0
$GC,1894,-0.50,-145.9,172.2,-8.4,238,1897,0.00,1.15,0.00,0.000,4,0.000,0.057,2847,1192,3423,0,0,0,0,0,0
$GC,1982,-0.52,-145.9,179.7,-8.3,243,1986,0.00,1.10,0.00,0.000,6,0.000,0.037,2844,1914,3423,0,0,0,0,0,0
$GC,2313,-0.52,-145.9,207.3,-8.3,264,2317,0.00,0.98,0.00,0.000,4,0.000,0.056,2844,1298,3423,0,0,0,0,0,0
$GC,2401,-0.52,-145.9,214.5,-7.9,269,2405,0.00,0.93,0.00,0.000,6,0.000,0.036,2839,1913,3423,0,0,0,0,0,0
$GC,2732,-0.52,-145.9,243.4,-8.5,290,2735,0.00,0.90,0.00,0.000,4,0.000,0.053,2840,1340,3423,0,0,0,0,0,0
$GC,2809,-0.52,-145.9,250.4,-8.7,294,2817,0.00,0.90,0.00,0.000,6,0.000,0.034,2837,1928,3423,0,0,0,0,0,0
$GC,3125,-0.52,-145.9,276.5,-8.1,310,3128,0.00,1.35,0.00,0.000,4,0.000,0.055,2837,1084,3422,0,0,0,0,0,0
$GC,3215,-0.52,-145.9,284.6,-9.2,314,3218,0.00,1.25,0.00,0.000,6,0.000,0.036,2833,1903,3423,0,0,0,0,0,0
$GC,3547,-0.52,-145.9,317.5,-10.3,330,3550,0.00,0.82,0.00,0.000,4,0.000,0.054,2833,1380,3423,0,0,0,0,0,0
$GC,3618,-0.52,-145.9,325.1,-10.3,333,3623,0.00,0.82,0.00,0.000,6,0.000,0.035,2830,1926,3423,0,0,0,0,0,0
$GC,3947,-0.52,-145.9,360.0,-11.0,349,3951,0.00,0.95,0.00,0.000,4,0.000,0.054,2829,1325,3424,0,0,0,0,0,0
$GC,4039,-0.52,-145.9,370.7,-12.0,353,4043,0.03,0.88,0.00,0.000,6,0.174,0.036,2836,1911,3424,0,0,0,0,0,0
$GC,4369,-0.52,-145.9,407.9,-11.4,368,4373,0.00,1.10,0.00,0.000,4,0.000,0.054,2836,1217,3424,0,0,0,0,0,0
$GC,4452,-0.52,-145.9,417.6,-11.9,370,4456,0.00,1.08,0.00,0.000,6,0.000,0.034,2833,1923,3424,0,0,0,0,0,0
$GC,4776,-0.52,-145.9,453.8,-11.0,381,4779,0.00,1.10,0.00,0.000,4,0.000,0.054,2833,1229,3424,0,0,0,0,0,0
$GC,4858,-0.52,-145.9,462.6,-9.8,383,4863,0.00,1.05,0.00,0.000,6,0.000,0.033,2829,1920,3424,0,0,0,0,0,0
$GC,5182,-0.52,-145.9,493.2,-9.0,394,5186,0.00,1.45,0.00,0.000,4,0.000,0.054,2829,1010,3424,0,0,0,0,0,0
$GC,5270,-0.52,-145.9,501.3,-8.9,396,5276,0.08,1.40,0.00,0.000,6,0.187,0.033,2842,1920,3424,0,0,0,0,0,0
$GC,5589,-0.55,-145.9,524.1,-6.8,407,5593,0.00,0.85,0.00,0.000,4,0.000,0.051,2842,1375,3424,0,0,0,0,0,0
$GC,5672,-0.58,-145.9,530.0,-6.8,409,5677,0.00,0.82,0.00,0.000,6,0.000,0.036,2840,1922,3424,0,0,0,0,0,0
$GC,5997,-0.61,-145.9,552.4,-7.0,420,6001,0.08,1.25,0.00,0.000,4,0.129,0.054,2808,1143,3423,0,0,0,0,0,0
$GC,6090,-0.56,-145.9,561.0,-9.0,422,6097,0.08,1.17,0.00,0.000,6,0.142,0.034,2828,1923,3423,0,0,0,0,0,0
$GC,6403,-0.56,-145.9,585.2,-7.9,433,6407,0.00,0.73,0.00,0.000,4,0.000,0.051,2828,1455,3423,0,0,0,0,0,0
$GC,6474,-0.56,-145.9,591.2,-8.3,435,6478,0.00,0.70,0.00,0.000,6,0.000,0.037,2826,1923,3423,0,0,0,0,0,0
$GC,6809,-0.56,-145.9,620.9,-9.0,446,6813,0.00,1.35,0.00,0.000,4,0.000,0.054,2826,1075,3422,0,0,0,0,0,0
$GC,6910,-0.56,-145.9,630.4,-9.2,449,6914,0.00,1.25,0.00,0.000,6,0.000,0.036,2821,1892,3422,0,0,0,0,0,0
$GC,7250,-0.56,-145.9,663.3,-9.8,460,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1892,3421,0,0,0,0,0,0
$GC,7556,-0.56,-145.9,692.3,-9.2,470,7560,0.00,0.82,0.00,0.000,4,0.000,0.052,2821,1367,3421,0,0,0,0,0,0
$GC,7627,-0.56,-145.9,698.9,-8.5,472,7632,0.00,0.85,0.00,0.000,6,0.000,0.037,2818,1922,3421,0,0,0,0,0,0
$GC,7963,-0.56,-145.9,730.7,-9.6,483,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1923,3421,0,0,0,0,0,0
$GC,8269,-0.56,-145.9,760.7,-9.9,493,8273,0.00,1.23,0.00,0.000,4,0.000,0.053,2818,1150,3420,0,0,0,0,0,0
$GC,8370,-0.56,-145.9,770.7,-9.5,496,8374,0.00,1.15,0.00,0.000,6,0.000,0.037,2814,1905,3420,0,0,0,0,0,0
$GC,8710,-0.54,-145.9,803.7,-9.9,507,8715,0.10,0.45,0.00,0.000,4,0.191,0.055,2839,1610,3421,0,0,0,0,0,0
$GC,8778,-0.58,-145.9,809.4,-7.4,509,8782,0.00,0.45,0.00,0.000,6,0.000,0.044,2838,1925,3420,0,0,0,0,0,0
$GC,9119,-0.61,-145.9,835.9,-7.8,520,9123,0.08,1.40,0.00,0.000,4,0.132,0.054,2807,1059,3419,0,0,0,0,0,0
$GC,9212,-0.58,-145.9,845.5,-10.0,522,9219,0.05,1.30,0.00,0.000,6,0.155,0.036,2819,1906,3419,0,0,0,0,0,0
$GC,9525,-0.58,-145.9,873.4,-8.8,533,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1907,3419,0,0,0,0,0,0
$GC,9831,-0.58,-145.9,900.3,-8.7,543,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1907,3418,0,0,0,0,0,0
$GC,10137,-0.58,-145.9,926.5,-8.4,553,10141,0.00,0.62,0.00,0.000,4,0.000,0.052,2819,1496,3418,0,0,0,0,0,0
$GC,10204,-0.58,-145.9,932.2,-8.7,555,10208,0.00,0.62,0.00,0.000,6,0.000,0.041,2817,1919,3418,0,0,0,0,0,0
$GC,10544,-0.58,-145.9,961.0,-8.4,566,10548,0.00,1.02,0.00,0.000,4,0.000,0.053,2817,1271,3418,0,0,0,0,0,0
$GC,10632,-0.58,-145.9,968.6,-8.4,568,10637,0.00,1.00,0.00,0.000,6,0.000,0.037,2814,1918,3418,0,0,0,0,0,0
$GC,10951,-0.58,-145.9,994.8,-8.3,579,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1918,3418,0,0,0,0,0,0
$STATE,11044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11044,begin apogee
$GC,11048,-0.19,0.0,1001.9,7.9,582,11175,0.45,0.00,123.72,1.543,6,0.139,0.000,2950,1642,2827,0,0,0,0,0,0
$STATE,11176,end apogee,CONTROL_FINISHED_OK
$STATE,11176,begin climb
$GC,11177,0.52,145.9,1006.2,0.0,586,11315,0.70,1.98,129.35,1.503,4,0.077,0.043,3177,2769,2231,0,0,0,0,0,0
$GC,11398,0.33,145.9,1001.3,7.4,593,11403,0.20,1.88,0.00,0.000,6,0.175,0.047,3132,1667,2227,0,0,0,0,0,0
$GC,11722,0.27,208.2,983.0,5.3,604,11783,0.12,0.90,55.17,1.519,4,0.191,0.039,3101,2245,1977,0,0,0,0,0,0
$GC,11839,0.31,315.8,977.7,3.7,607,11941,0.00,1.02,96.90,1.463,6,0.000,0.050,3103,1630,1538,0,0,0,0,0,0
$GC,12247,0.65,315.8,951.4,7.8,621,12252,0.32,1.62,0.00,0.000,4,0.096,0.041,3215,2658,1528,0,0,0,0,0,0
$GC,12302,0.55,315.8,946.4,9.5,622,12307,0.08,1.65,0.00,0.000,6,0.172,0.050,3201,1655,1528,0,0,0,0,0,0
$GC,12620,0.47,315.8,912.6,11.0,633,12624,0.12,0.40,0.00,0.000,4,0.186,0.067,3170,1391,1527,0,0,0,0,0,0
$GC,12663,0.47,315.8,908.3,9.1,634,12665,0.00,0.40,0.00,0.000,6,0.000,0.044,3170,1664,1527,0,0,0,0,0,0
$GC,12989,0.47,315.8,877.3,9.7,645,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1664,1526,0,0,0,0,0,0
$GC,13295,0.47,315.8,847.2,10.0,655,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1664,1525,0,0,0,0,0,0
$GC,13601,0.47,315.8,816.0,10.2,665,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1664,1525,0,0,0,0,0,0
$GC,13907,0.47,315.8,784.0,10.7,675,13911,0.00,0.45,0.00,0.000,4,0.000,0.066,3171,1375,1524,0,0,0,0,0,0
$GC,13961,0.47,315.8,778.1,11.2,676,13965,0.00,0.43,0.00,0.000,6,0.000,0.046,3171,1660,1524,0,0,0,0,0,0
$GC,14279,0.47,315.8,744.6,10.4,687,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1660,1524,0,0,0,0,0,0
$GC,14586,0.47,315.8,714.3,9.7,697,14589,0.00,0.38,0.00,0.000,4,0.000,0.067,3171,1417,1523,0,0,0,0,0,0
$GC,14630,0.47,315.8,710.1,10.1,698,14634,0.00,0.32,0.00,0.000,6,0.000,0.052,3171,1643,1523,0,0,0,0,0,0
$GC,14959,0.47,315.8,679.3,9.2,709,14962,0.00,0.65,0.00,0.000,4,0.000,0.048,3171,2078,1523,0,0,0,0,0,0
$GC,15013,0.45,315.8,674.2,8.8,710,15018,0.00,0.70,0.00,0.000,6,0.000,0.057,3173,1647,1523,0,0,0,0,0,0
$GC,15332,0.43,315.8,645.0,9.2,721,15334,0.08,0.00,0.00,0.000,6,0.214,0.000,3157,1647,1523,0,0,0,0,0,0
$GC,15638,0.43,315.8,618.4,8.8,731,15639,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1647,1523,0,0,0,0,0,0
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$STATE,22828,end climb,SURFACE_DEPTH_REACHED
$STATE,22828,begin surface coast
$FINISH,1.4,1.026667
$STATE,22859,end surface coast,CONTROL_FINISHED_OK
$STATE,22859,begin surface
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$HUMID,45.15
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$10V_AH,10.2,25.556
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354416
$DATA_FILE_SIZE,73584,1234
$CAP_FILE_SIZE,193032,0
$CFSIZE,2097086464,2076344320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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