version: 66.07.10.p01
glider: 574
mission: 4
dive: 424
start: 12 28 112 2 50 2
data:
$ID,574
$MISSION,4
$DIVE,424
$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,360
$T_MISSION,385
$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,2
$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,2
$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,-7199.978
$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,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,84
$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,403
$GPS1,281212,024823,-4126.455,-517.669,42,1.0,42,-22.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-71.3
$GPS2,281212,024942,-4126.458,-517.656,17,1.0,17,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,115.9,107913,-17.1,-9.259
$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,25,-0.86,-145.9,0.0,0.0,0,87,0.00,0.00,-59.83,0.000,2,0.000,0.000,68,1832,2332,0,0,0,0,0,0
$GC,90,-0.86,-145.9,3.2,-1.6,10,140,12.20,2.35,-30.48,0.000,4,0.262,0.074,2721,400,3423,0,0,0,0,0,0
$GC,237,-0.86,-145.9,22.5,-12.3,34,244,0.00,2.12,0.00,0.000,6,0.000,0.036,2713,1753,3424,0,0,0,0,0,0
$GC,318,-0.83,-145.9,31.2,-10.7,47,323,0.10,0.52,0.00,0.000,4,0.184,0.045,2737,2114,3423,0,0,0,0,0,0
$GC,378,-0.83,-145.9,38.4,-12.8,57,383,0.00,0.47,0.00,0.000,6,0.000,0.050,2737,1798,3424,0,0,0,0,0,0
$GC,613,-0.89,-145.9,66.3,-10.7,98,618,0.00,2.28,0.00,0.000,4,0.000,0.060,2737,399,3425,0,0,0,0,0,0
$GC,735,-1.03,-145.9,79.7,-10.6,120,742,0.12,2.20,0.00,0.000,6,0.059,0.035,2667,1804,3425,0,0,0,0,0,0
$GC,1081,-0.96,-145.9,120.8,-11.7,161,1085,0.10,1.40,0.00,0.000,4,0.184,0.053,2692,951,3426,0,0,0,0,0,0
$GC,1151,-0.94,-145.9,128.5,-10.0,165,1155,0.03,1.33,0.00,0.000,6,0.184,0.034,2697,1808,3426,0,0,0,0,0,0
$GC,1481,-0.94,-145.9,162.2,-10.3,186,1485,0.00,1.30,0.00,0.000,4,0.000,0.053,2697,1008,3427,0,0,0,0,0,0
$GC,1542,-0.94,-145.9,169.3,-11.0,189,1548,0.00,1.23,0.00,0.000,6,0.000,0.034,2692,1798,3427,0,0,0,0,0,0
$GC,1862,-0.94,-145.9,206.1,-12.0,210,1866,0.00,0.45,0.00,0.000,4,0.000,0.050,2692,1500,3428,0,0,0,0,0,0
$GC,2122,-0.94,-145.9,236.2,-11.6,225,2126,0.00,0.47,0.00,0.000,6,0.000,0.037,2690,1823,3428,0,0,0,0,0,0
$GC,2446,-0.94,-145.9,271.0,-10.9,243,2451,0.00,2.33,0.00,0.000,4,0.000,0.057,2690,395,3428,0,0,0,0,0,0
$GC,2564,-0.94,-145.9,284.4,-10.6,248,2569,0.05,2.15,0.00,0.000,6,0.155,0.033,2698,1781,3428,0,0,0,0,0,0
$GC,2886,-0.97,-145.9,316.4,-9.8,264,2890,0.00,2.22,0.00,0.000,4,0.000,0.056,2698,401,3428,0,0,0,0,0,0
$GC,2998,-1.02,-145.9,328.0,-10.0,269,3002,0.00,2.15,0.00,0.000,6,0.000,0.032,2689,1805,3429,0,0,0,0,0,0
$GC,3327,-1.02,-145.9,362.2,-10.7,285,3331,0.00,1.75,0.00,0.000,4,0.000,0.054,2689,735,3428,0,0,0,0,0,0
$GC,3410,-1.02,-145.9,371.6,-10.5,288,3419,0.00,1.65,0.00,0.000,6,0.000,0.034,2685,1795,3429,0,0,0,0,0,0
$GC,3747,-1.02,-145.9,408.2,-11.1,304,3750,0.00,1.85,0.00,0.000,4,0.000,0.054,2685,647,3429,0,0,0,0,0,0
$GC,3815,-1.02,-145.9,415.8,-10.7,306,3819,0.00,1.77,0.00,0.000,6,0.000,0.034,2677,1811,3429,0,0,0,0,0,0
$GC,4155,-1.02,-145.9,451.3,-10.2,317,4159,0.00,2.28,0.00,0.000,4,0.000,0.056,2677,388,3428,0,0,0,0,0,0
$GC,4239,-0.97,-145.9,460.1,-10.0,319,4243,0.10,2.17,0.00,0.000,6,0.177,0.033,2692,1806,3428,0,0,0,0,0,0
$GC,4557,-0.97,-145.9,489.1,-9.1,330,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1806,3428,0,0,0,0,0,0
$GC,4863,-0.97,-145.9,517.6,-9.5,340,4867,0.00,2.10,0.00,0.000,4,0.000,0.055,2692,491,3428,0,0,0,0,0,0
$GC,4925,-0.97,-145.9,523.6,-9.6,342,4929,0.00,2.00,0.00,0.000,6,0.000,0.032,2684,1805,3428,0,0,0,0,0,0
$GC,5265,-0.97,-145.9,557.6,-10.2,353,5269,0.00,0.75,0.00,0.000,4,0.000,0.050,2684,1332,3428,0,0,0,0,0,0
$GC,5428,-0.97,-145.9,575.1,-10.7,357,5433,0.00,0.73,0.00,0.000,6,0.000,0.037,2681,1809,3427,0,0,0,0,0,0
$GC,5740,-0.97,-145.9,609.9,-11.4,368,5744,0.00,1.92,0.00,0.000,4,0.000,0.054,2681,619,3427,0,0,0,0,0,0
$GC,5796,-0.94,-145.9,616.6,-12.2,369,5800,0.08,1.83,0.00,0.000,6,0.149,0.034,2698,1797,3427,0,0,0,0,0,0
$GC,6114,-0.99,-145.9,651.6,-11.0,380,6117,0.00,1.10,0.00,0.000,4,0.000,0.050,2698,1113,3426,0,0,0,0,0,0
$GC,6192,-0.95,-145.9,661.3,-13.9,382,6196,0.00,1.08,0.00,0.000,6,0.000,0.041,2694,1803,3426,0,0,0,0,0,0
$GC,6522,-0.98,-145.9,695.3,-10.9,393,6525,0.00,0.90,0.00,0.000,4,0.000,0.052,2694,1244,3426,0,0,0,0,0,0
$GC,6589,-0.98,-145.9,702.7,-10.1,395,6593,0.00,0.85,0.00,0.000,6,0.000,0.037,2690,1802,3426,0,0,0,0,0,0
$GC,6930,-1.01,-145.9,738.1,-10.2,406,6934,0.00,2.28,0.00,0.000,4,0.000,0.057,2690,393,3425,0,0,0,0,0,0
$GC,7008,-0.98,-145.9,746.8,-11.2,408,7012,0.00,2.17,0.00,0.000,6,0.000,0.033,2683,1805,3425,0,0,0,0,0,0
$GC,7332,-0.98,-145.9,781.0,-11.0,419,7336,0.00,2.28,0.00,0.000,4,0.000,0.054,2683,399,3424,0,0,0,0,0,0
$GC,7398,-0.94,-145.9,788.6,-10.8,421,7403,0.10,2.15,0.00,0.000,6,0.178,0.032,2698,1802,3424,0,0,0,0,0,0
$GC,7734,-1.00,-145.9,824.1,-10.8,432,7737,0.00,1.20,0.00,0.000,4,0.000,0.050,2699,1057,3423,0,0,0,0,0,0
$GC,7795,-1.04,-145.9,831.2,-11.1,433,7801,0.05,1.15,0.00,0.000,6,0.083,0.035,2664,1801,3423,0,0,0,0,0,0
$GC,8108,-1.02,-145.9,866.9,-11.1,444,8112,0.00,2.17,0.00,0.000,4,0.000,0.045,2654,3205,3423,0,0,0,0,0,0
$GC,8185,-0.96,-145.9,876.1,-12.3,446,8190,0.15,2.17,0.00,0.000,6,0.162,0.037,2693,1800,3423,0,0,0,0,0,0
$GC,8503,-1.02,-145.9,908.2,-10.0,457,8507,0.00,2.20,0.00,0.000,4,0.000,0.044,2684,3205,3422,0,0,0,0,0,0
$GC,8581,-1.05,-145.9,916.3,-10.0,459,8586,0.05,2.17,0.00,0.000,6,0.166,0.037,2661,1801,3421,0,0,0,0,0,0
$GC,8899,-1.03,-145.9,949.9,-10.5,470,8903,0.00,2.22,0.00,0.000,4,0.000,0.045,2650,3205,3421,0,0,0,0,0,0
$GC,8966,-0.98,-145.9,957.1,-9.7,472,8971,0.10,2.22,0.00,0.000,6,0.148,0.037,2692,1794,3421,0,0,0,0,0,0
$GC,9301,-1.05,-145.9,987.8,-9.0,483,9306,0.08,2.28,0.00,0.000,4,0.138,0.054,2666,388,3421,0,0,0,0,0,0
$GC,9390,-0.98,-145.9,997.3,-10.8,485,9396,0.12,2.17,0.00,0.000,6,0.179,0.033,2686,1803,3421,0,0,0,0,0,0
$STATE,9428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9428,begin apogee
$GC,9433,-0.25,0.0,1000.6,9.9,487,9567,0.77,0.00,130.95,1.489,6,0.127,0.000,2923,1590,2827,0,0,0,0,0,0
$STATE,9568,end apogee,CONTROL_FINISHED_OK
$STATE,9568,begin climb
$GC,9570,0.86,145.9,1009.2,0.0,491,9717,1.08,1.15,138.12,1.467,4,0.072,0.038,3274,2232,2232,0,0,0,0,0,0
$GC,9852,0.53,232.7,1011.1,5.6,500,9939,0.38,1.00,79.50,1.434,6,0.203,0.047,3186,1615,1877,0,0,0,0,0,0
$GC,10263,0.47,259.1,979.2,8.1,514,10295,0.12,2.38,23.80,1.362,4,0.196,0.063,3161,214,1769,0,0,0,0,0,0
$GC,10390,0.49,274.9,969.0,8.6,517,10410,0.00,2.17,15.12,1.302,6,0.000,0.033,3161,1623,1706,0,0,0,0,0,0
$GC,10730,0.54,319.3,943.0,7.4,529,10776,0.00,1.80,41.58,1.395,4,0.000,0.060,3161,590,1524,0,0,0,0,0,0
$GC,10834,0.66,363.0,935.3,7.4,532,10881,0.12,1.60,41.45,1.382,6,0.069,0.032,3223,1617,1347,0,0,0,0,0,0
$GC,11186,0.66,380.6,904.3,8.5,543,11208,0.00,2.38,16.33,1.296,4,0.000,0.063,3227,206,1275,0,0,0,0,0,0
$GC,11293,0.64,395.1,895.6,8.6,546,11315,0.05,2.17,15.32,1.277,6,0.226,0.033,3216,1620,1216,0,0,0,0,0,0
$GC,11622,0.72,437.6,870.5,7.5,557,11669,0.08,2.22,40.97,1.359,4,0.129,0.042,3247,3002,1042,0,0,0,0,0,0
$GC,11719,0.75,467.2,862.3,8.0,560,11754,0.00,2.22,29.20,1.327,6,0.000,0.044,3254,1606,921,0,0,0,0,0,0
$GC,12085,0.84,469.3,830.2,9.2,572,12089,0.05,0.57,0.00,0.000,4,0.168,0.061,3282,1244,913,0,0,0,0,0,0
$GC,12119,0.86,469.3,826.8,9.9,573,12122,0.00,0.52,0.00,0.000,6,0.000,0.039,3282,1621,913,0,0,0,0,0,0
$GC,12459,0.86,469.3,792.0,10.5,584,12463,0.00,0.75,0.00,0.000,4,0.000,0.039,3282,2131,912,0,0,0,0,0,0
$GC,12497,0.86,469.3,788.0,10.9,585,12501,0.00,0.85,0.00,0.000,6,0.000,0.053,3284,1609,912,0,0,0,0,0,0
$GC,12833,0.86,469.3,752.9,10.5,596,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1609,911,0,0,0,0,0,0
$GC,13139,0.86,469.3,721.2,10.2,606,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1609,911,0,0,0,0,0,0
$GC,13445,0.86,469.3,689.8,10.3,616,13449,0.00,0.68,0.00,0.000,4,0.000,0.060,3288,1176,911,0,0,0,0,0,0
$GC,13485,0.86,469.3,685.8,10.2,617,13488,0.00,0.62,0.00,0.000,6,0.000,0.039,3288,1607,911,0,0,0,0,0,0
$GC,13819,0.86,469.3,650.0,10.8,628,13823,0.00,0.50,0.00,0.000,4,0.000,0.063,3289,1291,911,0,0,0,0,0,0
$GC,13869,0.86,469.3,644.5,10.7,629,13873,0.00,0.47,0.00,0.000,6,0.000,0.041,3289,1607,911,0,0,0,0,0,0
$GC,14193,0.86,469.3,608.9,11.2,640,14196,0.00,0.43,0.00,0.000,4,0.000,0.063,3290,1337,911,0,0,0,0,0,0
$GC,14248,0.86,469.3,602.5,11.2,641,14252,0.00,0.40,0.00,0.000,6,0.000,0.043,3290,1618,911,0,0,0,0,0,0
$GC,14566,0.86,469.3,565.3,11.5,652,14567,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1618,911,0,0,0,0,0,0
$GC,14872,0.86,469.3,530.1,11.5,662,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1618,911,0,0,0,0,0,0
$GC,15179,0.86,469.3,495.9,11.1,672,15182,0.00,0.95,0.00,0.000,4,0.000,0.060,3293,1034,911,0,0,0,0,0,0
$GC,15217,0.83,469.3,491.5,10.8,673,15222,0.05,0.88,0.00,0.000,6,0.162,0.037,3278,1621,910,0,0,0,0,0,0
$GC,15553,0.86,469.3,457.2,10.3,684,15557,0.00,1.05,0.00,0.000,4,0.000,0.041,3278,2312,910,0,0,0,0,0,0
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$10V_AH,9.9,60.805
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,60328,1013
$CAP_FILE_SIZE,176320,0
$CFSIZE,2097086464,2036367360
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