version: 66.07.10.p01
glider: 574
mission: 4
dive: 129
start: 10 21 112 20 10 1
data:
$ID,574
$MISSION,4
$DIVE,129
$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,-5823.0615
$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,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,108
$GPS1,211012,200128,-4247.534,-751.262,40,1.2,43,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-75.3
$GPS2,211012,200907,-4247.547,-751.301,17,1.4,18,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.157,-0.175
$KALMAN_X,-186404.8,133.8,-633.0,265993.0,-4881.1
$KALMAN_Y,113185.5,-274.6,-322.7,-105048.9,6183.7
$MHEAD_RNG_PITCHd_Wd,159.6,105807,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,75,0.00,0.00,-48.53,0.000,2,0.000,0.000,71,1926,2602,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.1,-1.2,8,121,12.62,0.00,-25.70,0.000,6,0.274,0.000,2834,1924,3423,0,0,0,0,0,0
$GC,193,-0.50,-145.9,12.0,-9.5,27,200,0.05,0.85,0.00,0.000,4,0.230,0.060,2847,1404,3424,0,0,0,0,0,0
$GC,302,-0.50,-145.9,22.1,-8.9,45,309,0.00,0.77,0.00,0.000,6,0.000,0.041,2845,1907,3424,0,0,0,0,0,0
$GC,382,-0.50,-145.9,29.0,-8.7,58,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1907,3424,0,0,0,0,0,0
$GC,459,-0.50,-145.9,36.0,-8.7,71,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1907,3424,0,0,0,0,0,0
$GC,694,-0.50,-145.9,57.1,-9.0,112,701,0.00,0.88,0.00,0.000,4,0.000,0.058,2845,1368,3424,0,0,0,0,0,0
$GC,774,-0.50,-145.9,64.5,-8.9,126,782,0.00,0.85,0.00,0.000,6,0.000,0.037,2841,1918,3424,0,0,0,0,0,0
$GC,1121,-0.50,-145.9,93.1,-7.7,187,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1918,3424,0,0,0,0,0,0
$GC,1458,-0.50,-145.9,120.6,-8.1,218,1461,0.00,1.12,0.00,0.000,4,0.000,0.058,2841,1222,3424,0,0,0,0,0,0
$GC,1546,-0.50,-145.9,128.4,-8.8,223,1551,0.00,1.08,0.00,0.000,6,0.000,0.036,2837,1915,3424,0,0,0,0,0,0
$GC,1873,-0.50,-145.9,154.3,-8.2,244,1876,0.00,0.70,0.00,0.000,4,0.000,0.054,2837,1465,3424,0,0,0,0,0,0
$GC,1961,-0.50,-145.9,161.5,-8.0,249,1964,0.00,0.68,0.00,0.000,6,0.000,0.041,2836,1917,3424,0,0,0,0,0,0
$GC,2291,-0.50,-145.9,187.8,-7.7,270,2295,0.05,1.05,0.00,0.000,4,0.235,0.057,2847,1269,3424,0,0,0,0,0,0
$GC,2380,-0.52,-145.9,194.7,-7.9,275,2385,0.00,0.98,0.00,0.000,6,0.000,0.036,2844,1911,3424,0,0,0,0,0,0
$GC,2706,-0.52,-145.9,218.7,-7.8,296,2710,0.00,0.77,0.00,0.000,4,0.000,0.054,2844,1417,3424,0,0,0,0,0,0
$GC,2794,-0.54,-145.9,225.3,-7.4,301,2798,0.00,0.75,0.00,0.000,6,0.000,0.038,2841,1923,3425,0,0,0,0,0,0
$GC,3125,-0.54,-145.9,249.9,-7.6,322,3129,0.00,0.93,0.00,0.000,4,0.000,0.054,2841,1333,3425,0,0,0,0,0,0
$GC,3217,-0.54,-145.9,257.0,-7.7,327,3221,0.00,0.88,0.00,0.000,6,0.000,0.037,2837,1915,3424,0,0,0,0,0,0
$GC,3552,-0.54,-145.9,281.9,-7.4,343,3555,0.00,0.60,0.00,0.000,4,0.000,0.054,2837,1520,3425,0,0,0,0,0,0
$GC,3629,-0.54,-145.9,288.1,-7.9,346,3633,0.00,0.60,0.00,0.000,6,0.000,0.038,2836,1921,3425,0,0,0,0,0,0
$GC,3950,-0.54,-145.9,312.1,-7.6,362,3953,0.00,1.02,0.00,0.000,4,0.000,0.054,2836,1277,3425,0,0,0,0,0,0
$GC,4041,-0.54,-145.9,318.8,-7.0,366,4044,0.00,0.95,0.00,0.000,6,0.000,0.035,2833,1908,3425,0,0,0,0,0,0
$GC,4373,-0.54,-145.9,345.4,-8.3,382,4376,0.00,1.00,0.00,0.000,4,0.000,0.054,2832,1280,3425,0,0,0,0,0,0
$GC,4463,-0.54,-145.9,352.9,-8.0,386,4467,0.00,0.95,0.00,0.000,6,0.000,0.036,2828,1910,3425,0,0,0,0,0,0
$GC,4795,-0.54,-145.9,379.9,-8.1,402,4798,0.00,1.45,0.00,0.000,4,0.000,0.056,2828,1007,3425,0,0,0,0,0,0
$GC,4878,-0.54,-145.9,387.0,-8.3,405,4884,0.00,1.40,0.00,0.000,6,0.000,0.034,2823,1909,3425,0,0,0,0,0,0
$GC,5213,-0.54,-145.9,416.9,-9.1,419,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1908,3425,0,0,0,0,0,0
$GC,5519,-0.54,-145.9,445.3,-9.3,429,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1908,3425,0,0,0,0,0,0
$GC,5825,-0.54,-145.9,474.6,-9.6,439,5829,0.00,0.28,0.00,0.000,4,0.000,0.060,2823,1714,3425,0,0,0,0,0,0
$GC,5885,-0.54,-145.9,480.4,-9.0,440,5887,0.00,0.30,0.00,0.000,6,0.000,0.049,2822,1927,3425,0,0,0,0,0,0
$GC,6193,-0.54,-145.9,510.1,-9.8,450,6197,0.00,1.62,0.00,0.000,4,0.000,0.056,2822,920,3425,0,0,0,0,0,0
$GC,6294,-0.54,-145.9,520.6,-10.6,453,6298,0.05,1.50,0.00,0.000,6,0.148,0.036,2833,1895,3425,0,0,0,0,0,0
$GC,6633,-0.54,-145.9,551.7,-9.1,464,6637,0.00,0.25,0.00,0.000,4,0.000,0.063,2833,1716,3425,0,0,0,0,0,0
$GC,6701,-0.54,-145.9,557.9,-9.0,466,6704,0.00,0.28,0.00,0.000,6,0.000,0.051,2833,1926,3424,0,0,0,0,0,0
$GC,7040,-0.54,-145.9,588.3,-9.0,477,7044,0.00,1.30,0.00,0.000,4,0.000,0.055,2833,1113,3424,0,0,0,0,0,0
$GC,7142,-0.54,-145.9,597.3,-8.9,480,7145,0.00,1.23,0.00,0.000,6,0.000,0.037,2828,1914,3424,0,0,0,0,0,0
$GC,7481,-0.54,-145.9,627.5,-8.9,491,7485,0.00,0.55,0.00,0.000,4,0.000,0.054,2828,1550,3423,0,0,0,0,0,0
$GC,7575,-0.54,-145.9,636.2,-8.9,493,7581,0.00,0.55,0.00,0.000,6,0.000,0.042,2826,1922,3423,0,0,0,0,0,0
$GC,7887,-0.54,-145.9,663.0,-8.6,504,7891,0.00,1.30,0.00,0.000,4,0.000,0.054,2826,1110,3423,0,0,0,0,0,0
$GC,7988,-0.54,-145.9,671.5,-8.3,507,7992,0.00,1.23,0.00,0.000,6,0.000,0.038,2822,1904,3423,0,0,0,0,0,0
$GC,8328,-0.54,-145.9,699.0,-7.9,518,8332,0.00,0.50,0.00,0.000,4,0.000,0.055,2821,1573,3422,0,0,0,0,0,0
$GC,8433,-0.54,-145.9,707.7,-8.3,521,8438,0.05,0.52,0.00,0.000,6,0.225,0.044,2831,1927,3422,0,0,0,0,0,0
$GC,8768,-0.54,-145.9,731.6,-7.1,532,8771,0.00,0.90,0.00,0.000,4,0.000,0.054,2831,1357,3421,0,0,0,0,0,0
$GC,8856,-0.57,-145.9,738.1,-7.6,534,8860,0.00,0.85,0.00,0.000,6,0.000,0.040,2829,1904,3421,0,0,0,0,0,0
$GC,9174,-0.57,-145.9,762.3,-7.7,545,9178,0.00,0.60,0.00,0.000,4,0.000,0.053,2829,1508,3421,0,0,0,0,0,0
$GC,9242,-0.57,-145.9,767.4,-7.6,547,9246,0.00,0.60,0.00,0.000,6,0.000,0.041,2826,1911,3421,0,0,0,0,0,0
$GC,9581,-0.57,-145.9,792.7,-7.5,558,9585,0.00,1.10,0.00,0.000,4,0.000,0.054,2826,1221,3421,0,0,0,0,0,0
$GC,9675,-0.57,-145.9,800.0,-7.5,560,9681,0.00,1.08,0.00,0.000,6,0.000,0.038,2822,1911,3421,0,0,0,0,0,0
$GC,9988,-0.57,-145.9,824.0,-7.6,571,9991,0.00,0.52,0.00,0.000,4,0.000,0.054,2822,1565,3420,0,0,0,0,0,0
$GC,10064,-0.57,-145.9,830.2,-8.0,573,10069,0.00,0.55,0.00,0.000,6,0.000,0.044,2821,1926,3420,0,0,0,0,0,0
$GC,10393,-0.57,-145.9,856.8,-8.2,584,10397,0.00,0.90,0.00,0.000,4,0.000,0.054,2821,1357,3420,0,0,0,0,0,0
$GC,10475,-0.57,-145.9,864.0,-8.6,586,10480,0.00,0.88,0.00,0.000,6,0.000,0.041,2818,1920,3420,0,0,0,0,0,0
$GC,10799,-0.57,-145.9,891.5,-8.6,597,10803,0.00,0.75,0.00,0.000,4,0.000,0.054,2818,1439,3420,0,0,0,0,0,0
$GC,10882,-0.57,-145.9,898.8,-9.3,599,10886,0.00,0.75,0.00,0.000,6,0.000,0.042,2815,1923,3419,0,0,0,0,0,0
$GC,11205,-0.57,-145.9,927.4,-9.1,610,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1923,3419,0,0,0,0,0,0
$GC,11512,-0.57,-145.9,956.1,-9.2,620,11515,0.00,0.52,0.00,0.000,4,0.000,0.054,2815,1576,3419,0,0,0,0,0,0
$GC,11594,-0.57,-145.9,964.0,-9.2,622,11599,0.05,0.52,0.00,0.000,6,0.220,0.046,2823,1925,3418,0,0,0,0,0,0
$GC,11917,-0.57,-145.9,990.5,-8.1,633,11921,0.00,0.47,0.00,0.000,4,0.000,0.056,2824,1607,3418,0,0,0,0,0,0
$GC,12005,-0.57,-145.9,997.8,-7.9,635,12009,0.00,0.47,0.00,0.000,6,0.000,0.047,2823,1917,3418,0,0,0,0,0,0
$STATE,12047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12047,begin apogee
$GC,12051,-0.19,0.0,1001.1,7.9,637,12178,0.43,0.00,123.78,1.518,6,0.135,0.000,2953,1646,2827,0,0,0,0,0,0
$STATE,12179,end apogee,CONTROL_FINISHED_OK
$STATE,12179,begin climb
$GC,12180,0.52,145.9,1006.6,0.0,641,12318,0.70,0.55,129.60,1.489,4,0.076,0.046,3179,1956,2232,0,0,0,0,0,0
$GC,12362,0.34,189.0,1006.6,5.9,647,12408,0.22,0.52,40.25,1.462,6,0.184,0.056,3130,1658,2055,0,0,0,0,0,0
$GC,12721,0.31,189.0,981.1,7.4,659,12722,0.05,0.00,0.00,0.000,6,0.236,0.000,3120,1658,2049,0,0,0,0,0,0
$GC,13027,0.31,206.9,960.3,6.8,669,13046,0.00,0.57,15.85,1.362,4,0.000,0.041,3119,2058,1982,0,0,0,0,0,0
$GC,13112,0.31,218.5,953.9,7.0,671,13128,0.00,0.68,11.12,1.295,6,0.000,0.054,3120,1649,1936,0,0,0,0,0,0
$GC,13464,0.31,230.6,928.9,7.0,683,13479,0.00,0.75,12.25,1.317,4,0.000,0.044,3120,2113,1886,0,0,0,0,0,0
$GC,13540,0.31,230.6,923.2,7.5,685,13544,0.00,0.77,0.00,0.000,6,0.000,0.053,3119,1642,1884,0,0,0,0,0,0
$GC,13864,0.31,243.6,900.1,7.0,696,13883,0.00,0.98,13.18,1.322,4,0.000,0.043,3120,2246,1833,0,0,0,0,0,0
$GC,13944,0.31,255.5,894.2,7.0,698,13960,0.00,0.98,11.90,1.307,6,0.000,0.050,3121,1650,1785,0,0,0,0,0,0
$GC,14267,0.35,279.6,872.6,6.6,709,14295,0.00,0.00,22.73,1.375,6,0.000,0.000,3121,1650,1686,0,0,0,0,0,0
$GC,14602,0.41,308.6,851.2,6.4,720,14632,0.08,0.00,27.42,1.369,6,0.127,0.000,3155,1650,1568,0,0,0,0,0,0
$GC,14938,0.41,308.6,823.6,8.4,731,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1650,1561,0,0,0,0,0,0
$GC,15244,0.41,308.6,797.9,8.3,741,15245,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1651,1560,0,0,0,0,0,0
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$GC,15857,0.41,308.6,745.8,8.7,761,15858,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1650,1559,0,0,0,0,0,0
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$STATE,25004,end climb,SURFACE_DEPTH_REACHED
$STATE,25004,begin surface coast
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$STATE,25053,end surface coast,CONTROL_FINISHED_OK
$STATE,25053,begin surface
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$HUMID,45.43
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$10V_AH,10.2,26.122
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$FG_AHR_10Vo,0.000
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$MEM,354344
$DATA_FILE_SIZE,76955,1323
$CAP_FILE_SIZE,202966,0
$CFSIZE,2097086464,2075787264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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