version: 66.07.10.p01
glider: 574
mission: 4
dive: 451
start: 1 3 113 21 32 56
data:
$ID,574
$MISSION,4
$DIVE,451
$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,520
$T_MISSION,550
$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,120
$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,200
$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,-7271.9863
$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,2985
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,74
$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,430
$GPS1,030113,211759,-4120.739,-509.924,58,1.8,58,-22.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.6
$GPS2,030113,213235,-4120.826,-509.791,38,1.3,38,-22.4
$SPEED_LIMITS,0.111,0.202
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-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,95.7,101738,-13.7,-6.410
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.69,-116.8,0.0,0.0,0,59,0.00,0.00,-30.67,0.000,2,0.000,0.000,67,1771,2028,0,0,0,0,0,0
$GC,62,-0.69,-116.8,3.0,-0.9,5,130,12.15,2.42,-47.78,0.000,4,0.251,0.077,2753,350,3303,0,0,0,0,0,0
$GC,245,-0.65,-116.8,16.8,-11.9,35,253,0.05,2.15,0.00,0.000,6,0.131,0.039,2769,1704,3304,0,0,0,0,0,0
$GC,327,-0.74,-116.8,25.8,-11.1,48,334,0.08,0.62,0.00,0.000,4,0.124,0.047,2730,2126,3304,0,0,0,0,0,0
$GC,423,-0.69,-116.8,36.4,-10.2,64,430,0.10,0.57,0.00,0.000,6,0.136,0.049,2762,1748,3304,0,0,0,0,0,0
$GC,664,-0.72,-116.8,60.2,-9.5,105,667,0.00,1.52,0.00,0.000,4,0.000,0.060,2762,810,3304,0,0,0,0,0,0
$GC,732,-0.75,-116.8,66.5,-8.2,111,736,0.00,1.48,0.00,0.000,6,0.000,0.034,2758,1764,3304,0,0,0,0,0,0
$GC,1064,-0.80,-116.8,93.8,-8.4,142,1068,0.10,0.70,0.00,0.000,4,0.105,0.051,2710,1329,3305,0,0,0,0,0,0
$GC,1237,-0.73,-116.8,110.6,-9.7,154,1242,0.10,0.65,0.00,0.000,6,0.133,0.037,2742,1762,3305,0,0,0,0,0,0
$GC,1565,-0.73,-116.8,141.9,-10.1,175,1569,0.00,2.33,0.00,0.000,4,0.000,0.058,2742,345,3305,0,0,0,0,0,0
$GC,1653,-0.73,-116.8,151.5,-9.6,180,1661,0.00,2.17,0.00,0.000,6,0.000,0.034,2742,1737,3306,0,0,0,0,0,0
$GC,1975,-0.75,-116.8,184.8,-10.6,201,1979,0.00,1.17,0.00,0.000,4,0.000,0.053,2742,1009,3306,0,0,0,0,0,0
$GC,2061,-0.78,-116.8,193.9,-10.2,206,2064,0.00,1.15,0.00,0.000,6,0.000,0.036,2741,1755,3306,0,0,0,0,0,0
$GC,2395,-0.78,-116.8,229.1,-10.6,223,2399,0.00,2.30,0.00,0.000,4,0.000,0.057,2741,353,3306,0,0,0,0,0,0
$GC,2480,-0.78,-116.8,238.1,-10.2,227,2484,0.00,2.15,0.00,0.000,6,0.000,0.034,2736,1750,3306,0,0,0,0,0,0
$GC,2806,-0.78,-116.8,271.0,-10.0,243,2810,0.00,1.48,0.00,0.000,4,0.000,0.056,2736,846,3306,0,0,0,0,0,0
$GC,2884,-0.78,-116.8,278.7,-9.3,246,2888,0.00,1.40,0.00,0.000,6,0.000,0.034,2736,1750,3306,0,0,0,0,0,0
$GC,3215,-0.78,-116.8,309.6,-9.6,261,3219,0.00,1.75,0.00,0.000,4,0.000,0.055,2736,659,3306,0,0,0,0,0,0
$GC,3287,-0.80,-116.8,316.7,-9.5,263,3291,0.00,1.70,0.00,0.000,6,0.000,0.034,2735,1754,3306,0,0,0,0,0,0
$GC,3623,-0.80,-116.8,348.4,-9.6,274,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1754,3306,0,0,0,0,0,0
$GC,3929,-0.83,-116.8,378.8,-10.0,284,3933,0.00,1.77,0.00,0.000,4,0.000,0.056,2735,653,3306,0,0,0,0,0,0
$GC,4018,-0.87,-116.8,387.9,-10.1,286,4023,0.05,1.70,0.00,0.000,6,0.075,0.034,2698,1754,3306,0,0,0,0,0,0
$GC,4337,-0.81,-116.8,421.5,-10.7,297,4341,0.10,1.70,0.00,0.000,4,0.162,0.055,2725,708,3306,0,0,0,0,0,0
$GC,4408,-0.81,-116.8,429.2,-10.0,299,4412,0.00,1.60,0.00,0.000,6,0.000,0.034,2720,1740,3307,0,0,0,0,0,0
$GC,4743,-0.81,-116.8,462.4,-10.0,310,4747,0.00,1.77,0.00,0.000,4,0.000,0.055,2720,642,3306,0,0,0,0,0,0
$GC,4812,-0.78,-116.8,468.9,-9.2,312,4816,0.08,1.70,0.00,0.000,6,0.178,0.034,2730,1754,3306,0,0,0,0,0,0
$GC,5152,-0.78,-116.8,500.7,-9.3,323,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1754,3306,0,0,0,0,0,0
$GC,5458,-0.78,-116.8,530.4,-9.7,333,5462,0.00,0.77,0.00,0.000,4,0.000,0.052,2731,1269,3306,0,0,0,0,0,0
$GC,5569,-0.81,-116.8,541.9,-10.2,336,5573,0.00,0.73,0.00,0.000,6,0.000,0.039,2730,1746,3305,0,0,0,0,0,0
$GC,5899,-0.81,-116.8,576.3,-10.6,347,5902,0.00,1.67,0.00,0.000,4,0.000,0.055,2730,703,3305,0,0,0,0,0,0
$GC,5967,-0.81,-116.8,583.7,-11.0,349,5970,0.00,1.62,0.00,0.000,6,0.000,0.035,2729,1748,3305,0,0,0,0,0,0
$GC,6307,-0.81,-116.8,621.5,-11.2,360,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1748,3305,0,0,0,0,0,0
$GC,6613,-0.81,-116.8,654.1,-10.5,370,6617,0.00,0.98,0.00,0.000,4,0.000,0.054,2729,1139,3304,0,0,0,0,0,0
$GC,6668,-0.81,-116.8,659.8,-10.4,371,6672,0.00,0.98,0.00,0.000,6,0.000,0.037,2728,1761,3304,0,0,0,0,0,0
$GC,6987,-0.81,-116.8,690.5,-9.6,382,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1761,3304,0,0,0,0,0,0
$GC,7293,-0.81,-116.8,719.6,-9.4,392,7297,0.00,0.98,0.00,0.000,4,0.000,0.053,2728,1151,3304,0,0,0,0,0,0
$GC,7370,-0.83,-116.8,727.0,-9.8,394,7374,0.00,0.93,0.00,0.000,6,0.000,0.038,2727,1753,3303,0,0,0,0,0,0
$GC,7700,-0.83,-116.8,756.5,-8.9,405,7704,0.00,0.60,0.00,0.000,4,0.000,0.053,2728,1371,3303,0,0,0,0,0,0
$GC,7822,-0.83,-116.8,767.6,-9.5,408,7826,0.00,0.60,0.00,0.000,6,0.000,0.040,2727,1761,3303,0,0,0,0,0,0
$GC,8141,-0.86,-116.8,793.9,-8.0,419,8145,0.05,0.82,0.00,0.000,4,0.170,0.052,2700,1256,3303,0,0,0,0,0,0
$GC,8191,-0.80,-116.8,798.1,-8.5,420,8196,0.08,0.75,0.00,0.000,6,0.138,0.039,2722,1746,3303,0,0,0,0,0,0
$GC,8515,-0.80,-116.8,822.5,-7.4,431,8519,0.00,0.80,0.00,0.000,4,0.000,0.052,2722,1249,3303,0,0,0,0,0,0
$GC,8582,-0.80,-116.8,827.6,-7.4,433,8586,0.00,0.75,0.00,0.000,6,0.000,0.040,2722,1741,3302,0,0,0,0,0,0
$GC,8923,-0.80,-116.8,853.7,-7.9,444,8927,0.00,2.03,0.00,0.000,4,0.000,0.056,2722,494,3302,0,0,0,0,0,0
$GC,8991,-0.80,-116.8,859.4,-7.8,446,8994,0.00,1.92,0.00,0.000,6,0.000,0.034,2713,1750,3302,0,0,0,0,0,0
$GC,9331,-0.80,-116.8,889.7,-9.3,457,9336,0.03,0.95,0.00,0.000,4,0.277,0.051,2723,1166,3302,0,0,0,0,0,0
$GC,9391,-0.80,-116.8,895.7,-9.9,458,9397,0.00,0.90,0.00,0.000,6,0.000,0.035,2722,1758,3302,0,0,0,0,0,0
$GC,9704,-0.80,-116.8,926.4,-10.3,469,9708,0.00,0.85,0.00,0.000,4,0.000,0.050,2722,1229,3302,0,0,0,0,0,0
$GC,9782,-0.80,-116.8,935.0,-10.1,471,9786,0.00,0.82,0.00,0.000,6,0.000,0.036,2719,1764,3302,0,0,0,0,0,0
$GC,10112,-0.80,-116.8,969.8,-10.6,482,10116,0.00,2.30,0.00,0.000,4,0.000,0.056,2720,349,3302,0,0,0,0,0,0
$GC,10174,-0.76,-116.8,976.5,-10.8,484,10179,0.10,2.15,0.00,0.000,6,0.174,0.034,2739,1739,3302,0,0,0,0,0,0
$STATE,10416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10416,begin apogee
$GC,10422,-0.25,0.0,1001.2,10.0,492,10529,0.52,0.00,104.47,1.485,6,0.121,0.000,2900,1610,2827,0,0,0,0,0,0
$STATE,10530,end apogee,CONTROL_FINISHED_OK
$STATE,10530,begin climb
$GC,10532,0.69,116.8,1009.5,0.0,495,10648,0.90,2.45,108.85,1.470,4,0.074,0.062,3210,252,2351,0,0,0,0,0,0
$GC,10902,0.40,417.6,1033.0,-4.7,507,11195,0.38,2.12,284.58,1.454,6,0.200,0.034,3118,1626,1124,0,0,0,0,0,0
$GC,11503,0.67,417.6,992.1,9.6,527,11507,0.25,1.42,0.00,0.000,4,0.089,0.056,3204,769,1114,0,0,0,0,0,0
$GC,11574,0.73,417.6,985.2,9.0,529,11578,0.00,1.30,0.00,0.000,6,0.000,0.034,3204,1621,1113,0,0,0,0,0,0
$GC,11910,0.78,417.6,953.7,9.3,540,11915,0.10,1.02,0.00,0.000,4,0.112,0.040,3244,2313,1113,0,0,0,0,0,0
$GC,11972,0.72,417.6,947.3,10.8,541,11977,0.08,1.08,0.00,0.000,6,0.149,0.050,3224,1632,1112,0,0,0,0,0,0
$GC,12284,0.72,417.6,916.4,9.9,552,12288,0.00,0.38,0.00,0.000,4,0.000,0.046,3224,1907,1112,0,0,0,0,0,0
$GC,12367,0.72,417.6,908.0,10.3,554,12371,0.00,0.47,0.00,0.000,6,0.000,0.057,3224,1610,1112,0,0,0,0,0,0
$GC,12691,0.72,417.6,876.1,9.8,565,12695,0.00,0.70,0.00,0.000,4,0.000,0.042,3224,2079,1111,0,0,0,0,0,0
$GC,12746,0.72,417.6,870.2,9.6,566,12750,0.00,0.75,0.00,0.000,6,0.000,0.053,3224,1618,1111,0,0,0,0,0,0
$GC,13065,0.72,417.6,838.2,10.2,577,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1618,1111,0,0,0,0,0,0
$GC,13371,0.72,417.6,807.7,9.9,587,13375,0.00,1.27,0.00,0.000,4,0.000,0.042,3224,2429,1111,0,0,0,0,0,0
$GC,13427,0.70,417.6,802.2,9.8,588,13431,0.03,1.30,0.00,0.000,6,0.189,0.050,3219,1619,1110,0,0,0,0,0,0
$GC,13745,0.70,417.6,771.7,9.6,599,13749,0.00,0.45,0.00,0.000,4,0.000,0.048,3219,1934,1110,0,0,0,0,0,0
$GC,13800,0.70,417.6,766.4,9.8,600,13804,0.00,0.52,0.00,0.000,6,0.000,0.057,3220,1609,1110,0,0,0,0,0,0
$GC,14119,0.70,417.6,736.1,9.4,611,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1609,1110,0,0,0,0,0,0
$GC,14425,0.70,417.6,706.6,9.7,621,14429,0.00,1.08,0.00,0.000,4,0.000,0.043,3220,2299,1110,0,0,0,0,0,0
$GC,14492,0.70,417.6,699.7,11.2,623,14496,0.00,1.08,0.00,0.000,6,0.000,0.051,3224,1627,1110,0,0,0,0,0,0
$GC,14833,0.70,417.6,664.9,10.3,634,14837,0.00,0.45,0.00,0.000,4,0.000,0.064,3225,1331,1110,0,0,0,0,0,0
$GC,14876,0.70,417.6,660.4,9.8,635,14880,0.00,0.43,0.00,0.000,6,0.000,0.044,3224,1626,1110,0,0,0,0,0,0
$GC,15206,0.70,417.6,625.8,10.6,646,15207,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1626,1110,0,0,0,0,0,0
$GC,15512,0.70,417.6,593.4,10.4,656,15513,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1626,1110,0,0,0,0,0,0
$GC,15819,0.70,417.6,562.7,10.0,666,15822,0.00,0.77,0.00,0.000,4,0.000,0.061,3227,1140,1110,0,0,0,0,0,0
$GC,15873,0.70,417.6,557.2,9.2,667,15878,0.08,0.73,0.00,0.000,6,0.175,0.040,3209,1622,1110,0,0,0,0,0,0
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$STATE,21994,end climb,SURFACE_DEPTH_REACHED
$STATE,21994,begin surface coast
$FINISH,1.7,1.014636
$STATE,22037,end surface coast,CONTROL_FINISHED_OK
$STATE,22038,begin surface
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$10V_AH,9.9,64.034
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,63623,1038
$CAP_FILE_SIZE,194275,0
$CFSIZE,2097086464,2032828416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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