version: 66.07.10.p01
glider: 574
mission: 4
dive: 452
start: 1 4 113 3 44 49
data:
$ID,574
$MISSION,4
$DIVE,452
$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,-7274.3145
$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,29
$R_STBD_OVSHOOT,65
$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,431
$GPS1,040113,034259,-4120.419,-509.312,54,1.0,54,-22.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-72.6
$GPS2,040113,034428,-4120.418,-509.300,23,1.0,24,-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,96.0,100866,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.69,-116.8,0.0,0.0,0,58,0.00,0.00,-30.35,0.000,2,0.000,0.000,69,1760,1870,0,0,0,0,0,0
$GC,60,-0.69,-116.8,3.0,-1.5,5,135,12.52,2.35,-54.97,0.000,4,0.256,0.073,2751,346,3303,0,0,0,0,0,0
$GC,250,-0.67,-116.8,18.8,-11.1,36,258,0.05,2.17,0.00,0.000,6,0.151,0.038,2760,1713,3304,0,0,0,0,0,0
$GC,332,-0.70,-116.8,27.0,-9.6,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1713,3305,0,0,0,0,0,0
$GC,409,-0.70,-116.8,34.7,-9.8,62,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1713,3305,0,0,0,0,0,0
$GC,648,-0.72,-116.8,58.7,-10.0,103,653,0.00,0.95,0.00,0.000,4,0.000,0.056,2760,1131,3305,0,0,0,0,0,0
$GC,908,-0.76,-116.8,81.9,-8.3,127,911,0.00,0.98,0.00,0.000,6,0.000,0.040,2758,1758,3305,0,0,0,0,0,0
$GC,1234,-0.81,-116.8,109.2,-8.3,154,1239,0.10,2.22,0.00,0.000,4,0.103,0.051,2699,3154,3305,0,0,0,0,0,0
$GC,1317,-0.74,-116.8,117.2,-10.0,159,1322,0.15,2.22,0.00,0.000,6,0.145,0.045,2740,1746,3305,0,0,0,0,0,0
$GC,1642,-0.74,-116.8,148.2,-9.6,180,1646,0.00,2.30,0.00,0.000,4,0.000,0.060,2741,334,3305,0,0,0,0,0,0
$GC,1732,-0.74,-116.8,157.4,-9.1,185,1738,0.00,2.22,0.00,0.000,6,0.000,0.037,2734,1751,3306,0,0,0,0,0,0
$GC,2052,-0.72,-116.8,186.6,-9.1,206,2054,0.08,0.00,0.00,0.000,6,0.190,0.000,2751,1751,3306,0,0,0,0,0,0
$GC,2373,-0.76,-116.8,214.6,-8.8,224,2377,0.00,2.33,0.00,0.000,4,0.000,0.061,2751,343,3307,0,0,0,0,0,0
$GC,2532,-0.82,-116.8,229.1,-9.2,231,2537,0.08,2.17,0.00,0.000,6,0.121,0.036,2710,1747,3307,0,0,0,0,0,0
$GC,2856,-0.77,-116.8,261.9,-10.6,247,2861,0.10,2.33,0.00,0.000,4,0.168,0.059,2737,339,3307,0,0,0,0,0,0
$GC,2965,-0.80,-116.8,273.2,-9.6,252,2969,0.00,2.17,0.00,0.000,6,0.000,0.034,2732,1764,3307,0,0,0,0,0,0
$GC,3297,-0.80,-116.8,306.7,-10.0,267,3301,0.00,0.52,0.00,0.000,4,0.000,0.054,2732,1422,3307,0,0,0,0,0,0
$GC,3554,-0.80,-116.8,332.6,-9.8,274,3558,0.00,0.52,0.00,0.000,6,0.000,0.039,2730,1771,3307,0,0,0,0,0,0
$GC,3873,-0.82,-116.8,363.0,-9.5,285,3877,0.00,2.15,0.00,0.000,4,0.000,0.047,2723,3148,3306,0,0,0,0,0,0
$GC,3985,-0.84,-116.8,374.0,-9.7,288,3989,0.00,2.17,0.00,0.000,6,0.000,0.041,2723,1745,3306,0,0,0,0,0,0
$GC,4308,-0.84,-116.8,402.8,-8.7,299,4312,0.00,2.20,0.00,0.000,4,0.000,0.047,2714,3147,3307,0,0,0,0,0,0
$GC,4379,-0.84,-116.8,409.5,-9.6,301,4384,0.00,2.20,0.00,0.000,6,0.000,0.041,2714,1750,3306,0,0,0,0,0,0
$GC,4709,-0.81,-116.8,438.2,-8.8,312,4713,0.00,2.17,0.00,0.000,4,0.000,0.046,2704,3143,3306,0,0,0,0,0,0
$GC,4815,-0.79,-116.8,448.2,-9.4,315,4820,0.10,2.20,0.00,0.000,6,0.151,0.041,2732,1735,3306,0,0,0,0,0,0
$GC,5144,-0.79,-116.8,478.6,-9.6,326,5148,0.00,2.22,0.00,0.000,4,0.000,0.057,2731,348,3305,0,0,0,0,0,0
$GC,5284,-0.79,-116.8,492.4,-10.3,330,5288,0.00,2.15,0.00,0.000,6,0.000,0.033,2729,1732,3305,0,0,0,0,0,0
$GC,5614,-0.79,-116.8,525.0,-9.9,341,5617,0.00,0.43,0.00,0.000,4,0.000,0.047,2728,2046,3305,0,0,0,0,0,0
$GC,5663,-0.79,-116.8,530.2,-10.2,342,5667,0.00,0.47,0.00,0.000,6,0.000,0.050,2728,1739,3305,0,0,0,0,0,0
$GC,5987,-0.81,-116.8,561.7,-9.4,353,5991,0.00,2.25,0.00,0.000,4,0.000,0.057,2728,346,3305,0,0,0,0,0,0
$GC,6071,-0.84,-116.8,569.6,-8.9,355,6075,0.00,2.17,0.00,0.000,6,0.000,0.034,2727,1764,3305,0,0,0,0,0,0
$GC,6390,-0.88,-116.8,597.6,-8.8,366,6394,0.08,2.33,0.00,0.000,4,0.125,0.055,2693,349,3304,0,0,0,0,0,0
$GC,6486,-0.79,-116.8,606.9,-9.4,369,6491,0.15,2.15,0.00,0.000,6,0.152,0.034,2726,1753,3304,0,0,0,0,0,0
$GC,6821,-0.81,-116.8,635.8,-8.8,380,6825,0.00,2.28,0.00,0.000,4,0.000,0.056,2726,356,3303,0,0,0,0,0,0
$GC,6917,-0.81,-116.8,644.5,-9.2,383,6921,0.00,2.15,0.00,0.000,6,0.000,0.033,2718,1757,3303,0,0,0,0,0,0
$GC,7252,-0.78,-116.8,676.0,-9.6,394,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1757,3302,0,0,0,0,0,0
$GC,7558,-0.78,-116.8,706.9,-10.2,404,7561,0.00,0.82,0.00,0.000,4,0.000,0.051,2718,1239,3302,0,0,0,0,0,0
$GC,7652,-0.75,-116.8,716.7,-10.4,406,7658,0.08,0.77,0.00,0.000,6,0.135,0.037,2741,1759,3302,0,0,0,0,0,0
$GC,7966,-0.84,-116.8,746.3,-9.4,417,7970,0.10,2.33,0.00,0.000,4,0.105,0.056,2697,346,3302,0,0,0,0,0,0
$GC,8096,-0.79,-116.8,759.3,-9.5,421,8101,0.15,2.15,0.00,0.000,6,0.153,0.033,2728,1746,3301,0,0,0,0,0,0
$GC,8431,-0.83,-116.8,791.0,-9.3,432,8435,0.00,2.28,0.00,0.000,4,0.000,0.056,2728,350,3300,0,0,0,0,0,0
$GC,8549,-0.88,-116.8,801.7,-8.7,435,8553,0.08,2.17,0.00,0.000,6,0.127,0.034,2698,1758,3300,0,0,0,0,0,0
$GC,8872,-0.84,-116.8,831.8,-9.3,446,8876,0.00,2.28,0.00,0.000,4,0.000,0.054,2698,346,3299,0,0,0,0,0,0
$GC,8961,-0.78,-116.8,840.3,-9.0,448,8967,0.15,2.15,0.00,0.000,6,0.153,0.033,2729,1757,3299,0,0,0,0,0,0
$GC,9275,-0.84,-116.8,866.7,-8.7,459,9279,0.00,2.28,0.00,0.000,4,0.000,0.055,2729,349,3299,0,0,0,0,0,0
$GC,9375,-0.89,-116.8,876.0,-8.5,462,9379,0.10,2.17,0.00,0.000,6,0.110,0.034,2691,1755,3299,0,0,0,0,0,0
$GC,9710,-0.85,-116.8,909.9,-10.3,473,9715,0.08,2.30,0.00,0.000,4,0.197,0.054,2708,355,3297,0,0,0,0,0,0
$GC,9806,-0.81,-116.8,919.7,-10.2,476,9811,0.10,2.15,0.00,0.000,6,0.169,0.034,2727,1748,3298,0,0,0,0,0,0
$GC,10141,-0.86,-116.8,951.6,-9.7,487,10145,0.05,0.82,0.00,0.000,4,0.174,0.051,2705,1240,3297,0,0,0,0,0,0
$GC,10212,-0.86,-116.8,958.9,-10.4,489,10216,0.00,0.80,0.00,0.000,6,0.000,0.037,2701,1760,3297,0,0,0,0,0,0
$GC,10548,-0.84,-116.8,992.4,-10.0,500,10552,0.00,1.48,0.00,0.000,4,0.000,0.052,2701,854,3296,0,0,0,0,0,0
$STATE,10618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10618,begin apogee
$GC,10624,-0.25,0.0,1000.0,9.6,502,10731,0.65,0.00,102.80,1.480,6,0.132,0.000,2899,1619,2827,0,0,0,0,0,0
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10731,begin climb
$GC,10733,0.69,116.8,1007.7,0.0,505,10850,0.93,2.47,109.03,1.464,4,0.073,0.046,3204,3027,2350,0,0,0,0,0,0
$GC,11104,0.39,406.7,1027.9,-4.3,517,11386,0.38,2.22,273.33,1.458,6,0.195,0.044,3120,1625,1168,0,0,0,0,0,0
$GC,11706,0.65,406.7,985.5,9.6,537,11711,0.22,2.22,0.00,0.000,4,0.091,0.043,3197,3032,1159,0,0,0,0,0,0
$GC,11769,0.68,406.7,978.9,10.3,539,11773,0.00,2.25,0.00,0.000,6,0.000,0.044,3200,1615,1158,0,0,0,0,0,0
$GC,12104,0.70,406.7,945.0,10.1,550,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1614,1158,0,0,0,0,0,0
$GC,12410,0.70,406.7,914.4,9.9,560,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1614,1158,0,0,0,0,0,0
$GC,12716,0.73,406.7,884.6,9.8,570,12720,0.05,0.45,0.00,0.000,4,0.169,0.043,3228,1931,1158,0,0,0,0,0,0
$GC,12772,0.68,406.7,878.9,10.0,571,12776,0.05,0.52,0.00,0.000,6,0.154,0.056,3211,1609,1157,0,0,0,0,0,0
$GC,13089,0.68,406.7,848.0,9.5,582,13093,0.00,0.60,0.00,0.000,4,0.000,0.062,3213,1224,1158,0,0,0,0,0,0
$GC,13133,0.68,406.7,843.8,9.5,583,13137,0.00,0.62,0.00,0.000,6,0.000,0.039,3212,1648,1157,0,0,0,0,0,0
$GC,13463,0.68,406.7,815.3,8.5,594,13467,0.00,0.75,0.00,0.000,4,0.000,0.060,3213,1181,1157,0,0,0,0,0,0
$GC,13523,0.68,406.7,810.2,8.2,595,13529,0.00,0.65,0.00,0.000,6,0.000,0.040,3212,1620,1157,0,0,0,0,0,0
$GC,13837,0.68,406.7,786.0,7.7,606,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1622,1157,0,0,0,0,0,0
$GC,14143,0.68,406.7,763.0,7.5,616,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1622,1157,0,0,0,0,0,0
$GC,14449,0.68,406.7,738.8,8.1,626,14450,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1622,1157,0,0,0,0,0,0
$GC,14755,0.68,406.7,711.4,9.2,636,14759,0.00,0.65,0.00,0.000,4,0.000,0.044,3212,2062,1157,0,0,0,0,0,0
$GC,14824,0.65,406.7,704.9,9.6,638,14828,0.03,0.70,0.00,0.000,6,0.188,0.054,3205,1622,1157,0,0,0,0,0,0
$GC,15164,0.65,406.7,672.4,9.7,649,15167,0.00,0.90,0.00,0.000,4,0.000,0.043,3205,2207,1157,0,0,0,0,0,0
$GC,15247,0.65,406.7,663.6,10.2,651,15251,0.00,0.95,0.00,0.000,6,0.000,0.051,3208,1622,1157,0,0,0,0,0,0
$GC,15571,0.65,406.7,630.2,10.4,662,15575,0.00,1.00,0.00,0.000,4,0.000,0.043,3208,2267,1157,0,0,0,0,0,0
$GC,15639,0.65,406.7,623.2,10.4,664,15644,0.03,1.05,0.00,0.000,6,0.172,0.052,3203,1611,1157,0,0,0,0,0,0
$GC,15979,0.65,406.7,590.0,9.5,675,15982,0.00,0.88,0.00,0.000,4,0.000,0.042,3203,2185,1157,0,0,0,0,0,0
$GC,16081,0.65,406.7,580.3,8.8,678,16084,0.00,0.90,0.00,0.000,6,0.000,0.054,3204,1624,1157,0,0,0,0,0,0
$GC,16421,0.65,406.7,549.3,8.9,689,16425,0.00,1.45,0.00,0.000,4,0.000,0.043,3204,2541,1157,0,0,0,0,0,0
$GC,16489,0.65,406.7,543.1,10.4,691,16493,0.00,1.50,0.00,0.000,6,0.000,0.052,3210,1619,1157,0,0,0,0,0,0
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$STATE,22715,end climb,SURFACE_DEPTH_REACHED
$STATE,22715,begin surface coast
$FINISH,2.1,1.026229
$STATE,22723,end surface coast,CONTROL_FINISHED_OK
$STATE,22723,begin surface
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$10V_AH,9.9,64.154
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$FG_AHR_10Vo,0.000
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$MEM,354720
$DATA_FILE_SIZE,63618,1065
$CAP_FILE_SIZE,196235,0
$CFSIZE,2097086464,2032697344
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