version: 66.07.10.p01
glider: 574
mission: 4
dive: 458
start: 1 5 113 19 17 16
data:
$ID,574
$MISSION,4
$DIVE,458
$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,-7288.3086
$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,49
$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,437
$GPS1,050113,191534,-4116.838,-507.746,42,1.0,42,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-72.7
$GPS2,050113,191655,-4116.837,-507.736,17,1.0,17,-22.5
$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,99.4,97064,-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,-116.8,0.0,0.0,0,51,0.00,0.00,-24.27,0.000,2,0.000,0.000,69,1752,1787,0,0,0,0,0,0
$GC,54,-0.69,-116.8,3.0,-2.2,4,140,12.35,2.38,-64.55,0.000,4,0.252,0.074,2749,350,3301,0,0,0,0,0,0
$GC,208,-0.69,-116.8,12.4,-11.1,29,215,0.00,2.20,0.00,0.000,6,0.000,0.040,2744,1730,3302,0,0,0,0,0,0
$GC,289,-0.66,-116.8,20.1,-9.5,42,296,0.10,0.00,0.00,0.000,6,0.177,0.000,2768,1730,3302,0,0,0,0,0,0
$GC,370,-0.70,-116.8,27.9,-9.1,55,378,0.00,0.88,0.00,0.000,4,0.000,0.055,2768,1193,3302,0,0,0,0,0,0
$GC,640,-0.79,-116.8,53.2,-9.3,101,646,0.10,0.88,0.00,0.000,6,0.061,0.041,2716,1758,3303,0,0,0,0,0,0
$GC,867,-0.73,-116.8,76.8,-9.9,127,871,0.12,0.85,0.00,0.000,4,0.157,0.056,2751,1244,3303,0,0,0,0,0,0
$GC,1056,-0.78,-116.8,93.2,-7.7,144,1060,0.00,0.77,0.00,0.000,6,0.000,0.037,2750,1754,3303,0,0,0,0,0,0
$GC,1380,-0.83,-116.8,120.3,-8.8,167,1385,0.10,1.00,0.00,0.000,4,0.106,0.054,2703,1146,3303,0,0,0,0,0,0
$GC,1442,-0.75,-116.8,126.7,-9.6,170,1450,0.10,0.93,0.00,0.000,6,0.137,0.037,2733,1748,3303,0,0,0,0,0,0
$GC,1764,-0.75,-116.8,156.8,-9.4,191,1768,0.00,1.17,0.00,0.000,4,0.000,0.055,2733,1028,3304,0,0,0,0,0,0
$GC,1819,-0.75,-116.8,162.4,-9.0,194,1824,0.00,1.12,0.00,0.000,6,0.000,0.035,2730,1757,3304,0,0,0,0,0,0
$GC,2146,-0.75,-116.8,191.4,-9.0,215,2150,0.00,1.45,0.00,0.000,4,0.000,0.047,2724,2679,3304,0,0,0,0,0,0
$GC,2207,-0.75,-116.8,197.5,-9.5,218,2216,0.03,1.48,0.00,0.000,6,0.165,0.044,2734,1752,3304,0,0,0,0,0,0
$GC,2538,-0.75,-116.8,228.0,-9.5,235,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1752,3304,0,0,0,0,0,0
$GC,2846,-0.75,-116.8,258.8,-10.3,250,2849,0.00,1.52,0.00,0.000,4,0.000,0.060,2734,820,3305,0,0,0,0,0,0
$GC,2906,-0.75,-116.8,265.4,-10.0,252,2914,0.00,1.45,0.00,0.000,6,0.000,0.036,2729,1745,3305,0,0,0,0,0,0
$GC,3224,-0.75,-116.8,297.5,-10.1,268,3228,0.00,0.38,0.00,0.000,4,0.000,0.050,2729,2022,3305,0,0,0,0,0,0
$GC,3279,-0.75,-116.8,303.3,-10.0,270,3284,0.00,0.45,0.00,0.000,6,0.000,0.051,2729,1731,3305,0,0,0,0,0,0
$GC,3598,-0.75,-116.8,333.6,-9.5,281,3601,0.00,1.17,0.00,0.000,4,0.000,0.057,2729,1006,3305,0,0,0,0,0,0
$GC,3715,-0.79,-116.8,344.4,-9.2,284,3719,0.00,1.15,0.00,0.000,6,0.000,0.036,2729,1750,3305,0,0,0,0,0,0
$GC,4039,-0.81,-116.8,371.4,-8.0,295,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1750,3304,0,0,0,0,0,0
$GC,4345,-0.81,-116.8,393.5,-6.9,305,4349,0.00,1.50,0.00,0.000,4,0.000,0.056,2729,832,3305,0,0,0,0,0,0
$GC,4418,-0.85,-116.8,398.6,-6.1,307,4421,0.00,1.42,0.00,0.000,6,0.000,0.036,2729,1746,3305,0,0,0,0,0,0
$GC,4753,-0.85,-116.8,421.2,-6.9,318,4756,0.00,1.30,0.00,0.000,4,0.000,0.045,2723,2585,3304,0,0,0,0,0,0
$GC,4824,-0.85,-116.8,426.5,-7.1,320,4829,0.00,1.30,0.00,0.000,6,0.000,0.044,2723,1762,3304,0,0,0,0,0,0
$GC,5160,-0.85,-116.8,452.9,-8.6,331,5164,0.00,2.30,0.00,0.000,4,0.000,0.057,2724,344,3304,0,0,0,0,0,0
$GC,5237,-0.85,-116.8,460.1,-9.6,333,5241,0.00,2.20,0.00,0.000,6,0.000,0.033,2715,1758,3304,0,0,0,0,0,0
$GC,5561,-0.85,-116.8,491.7,-10.3,344,5565,0.00,0.73,0.00,0.000,4,0.000,0.044,2712,2264,3303,0,0,0,0,0,0
$GC,5633,-0.85,-116.8,499.6,-10.9,346,5637,0.00,0.82,0.00,0.000,6,0.000,0.045,2712,1743,3303,0,0,0,0,0,0
$GC,5969,-0.85,-116.8,535.7,-10.9,357,5972,0.00,0.50,0.00,0.000,4,0.000,0.057,2712,1407,3303,0,0,0,0,0,0
$GC,6181,-0.85,-116.8,558.6,-10.7,363,6185,0.00,0.55,0.00,0.000,6,0.000,0.041,2710,1769,3302,0,0,0,0,0,0
$GC,6511,-0.85,-116.8,592.0,-10.0,374,6515,0.00,2.30,0.00,0.000,4,0.000,0.057,2710,367,3302,0,0,0,0,0,0
$GC,6587,-0.85,-116.8,599.6,-9.7,376,6592,0.00,2.12,0.00,0.000,6,0.000,0.034,2701,1732,3302,0,0,0,0,0,0
$GC,6912,-0.81,-116.8,630.1,-9.5,387,6917,0.08,0.60,0.00,0.000,4,0.198,0.052,2719,1361,3302,0,0,0,0,0,0
$GC,7007,-0.81,-116.8,638.5,-9.1,389,7012,0.00,0.62,0.00,0.000,6,0.000,0.039,2717,1769,3302,0,0,0,0,0,0
$GC,7320,-0.81,-116.8,666.6,-9.4,400,7323,0.00,0.80,0.00,0.000,4,0.000,0.051,2717,1270,3301,0,0,0,0,0,0
$GC,7369,-0.81,-116.8,671.5,-10.4,401,7373,0.00,0.75,0.00,0.000,6,0.000,0.037,2715,1756,3301,0,0,0,0,0,0
$GC,7694,-0.79,-116.8,701.3,-9.3,412,7698,0.03,0.50,0.00,0.000,4,0.286,0.046,2725,2107,3300,0,0,0,0,0,0
$GC,7776,-0.79,-116.8,709.1,-9.6,414,7780,0.00,0.57,0.00,0.000,6,0.000,0.048,2725,1738,3300,0,0,0,0,0,0
$GC,8101,-0.79,-116.8,739.2,-9.5,425,8104,0.00,0.77,0.00,0.000,4,0.000,0.052,2725,1240,3300,0,0,0,0,0,0
$GC,8155,-0.79,-116.8,744.6,-9.6,426,8160,0.00,0.80,0.00,0.000,6,0.000,0.038,2722,1754,3300,0,0,0,0,0,0
$GC,8474,-0.79,-116.8,774.0,-9.3,437,8477,0.00,0.55,0.00,0.000,4,0.000,0.053,2722,1402,3299,0,0,0,0,0,0
$GC,8523,-0.79,-116.8,778.8,-9.7,438,8527,0.00,0.55,0.00,0.000,6,0.000,0.041,2720,1765,3299,0,0,0,0,0,0
$GC,8847,-0.79,-116.8,806.8,-8.6,449,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1765,3298,0,0,0,0,0,0
$GC,9153,-0.79,-116.8,832.5,-8.3,459,9157,0.00,0.93,0.00,0.000,4,0.000,0.054,2720,1193,3298,0,0,0,0,0,0
$GC,9214,-0.79,-116.8,837.6,-8.3,460,9220,0.00,0.88,0.00,0.000,6,0.000,0.038,2715,1753,3298,0,0,0,0,0,0
$GC,9527,-0.79,-116.8,862.3,-8.0,471,9531,0.03,0.98,0.00,0.000,4,0.274,0.043,2722,2393,3298,0,0,0,0,0,0
$GC,9594,-0.79,-116.8,867.6,-7.4,473,9598,0.00,1.00,0.00,0.000,6,0.000,0.044,2723,1749,3297,0,0,0,0,0,0
$GC,9935,-0.79,-116.8,892.9,-7.4,484,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1749,3297,0,0,0,0,0,0
$GC,10241,-0.79,-116.8,915.8,-7.5,494,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1749,3297,0,0,0,0,0,0
$GC,10547,-0.79,-116.8,939.6,-7.8,504,10551,0.00,0.77,0.00,0.000,4,0.000,0.045,2720,2259,3296,0,0,0,0,0,0
$GC,10615,-0.79,-116.8,944.8,-7.3,506,10619,0.00,0.77,0.00,0.000,6,0.000,0.047,2720,1755,3296,0,0,0,0,0,0
$GC,10956,-0.79,-116.8,971.5,-7.9,517,10960,0.00,0.45,0.00,0.000,4,0.000,0.046,2718,2071,3296,0,0,0,0,0,0
$GC,11067,-0.79,-116.8,980.7,-8.5,520,11071,0.00,0.52,0.00,0.000,6,0.000,0.050,2717,1734,3295,0,0,0,0,0,0
$STATE,11304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11304,begin apogee
$GC,11309,-0.25,0.0,1001.0,8.7,528,11416,0.60,0.00,103.15,1.491,6,0.125,0.000,2899,1602,2827,0,0,0,0,0,0
$STATE,11417,end apogee,CONTROL_FINISHED_OK
$STATE,11417,begin climb
$GC,11419,0.69,116.8,1008.1,0.0,531,11534,0.90,1.42,108.95,1.463,4,0.072,0.042,3201,2403,2350,0,0,0,0,0,0
$GC,11642,0.42,406.5,1022.1,-4.3,538,11928,0.30,1.25,276.38,1.440,6,0.187,0.047,3129,1635,1169,0,0,0,0,0,0
$GC,12258,0.64,406.5,982.6,8.0,559,12263,0.17,2.33,0.00,0.000,4,0.092,0.066,3191,216,1161,0,0,0,0,0,0
$GC,12313,0.74,406.5,977.9,7.8,560,12319,0.10,2.17,0.00,0.000,6,0.119,0.034,3226,1623,1159,0,0,0,0,0,0
$GC,12626,0.70,406.5,951.0,8.3,571,12630,0.00,2.17,0.00,0.000,4,0.000,0.045,3226,3013,1159,0,0,0,0,0,0
$GC,12715,0.62,406.5,943.7,8.3,573,12720,0.17,2.20,0.00,0.000,6,0.166,0.045,3189,1623,1159,0,0,0,0,0,0
$GC,13028,0.68,406.5,922.0,6.8,583,13032,0.00,0.70,0.00,0.000,4,0.000,0.043,3189,2091,1159,0,0,0,0,0,0
$GC,13123,0.73,406.5,915.2,7.2,585,13129,0.05,0.75,0.00,0.000,6,0.078,0.053,3217,1618,1159,0,0,0,0,0,0
$GC,13436,0.71,406.5,891.2,7.8,596,13440,0.00,1.05,0.00,0.000,4,0.000,0.042,3217,2299,1159,0,0,0,0,0,0
$GC,13493,0.71,406.5,886.5,8.2,597,13496,0.00,1.10,0.00,0.000,6,0.000,0.050,3221,1615,1158,0,0,0,0,0,0
$GC,13811,0.67,406.5,859.8,8.6,608,13813,0.08,0.00,0.00,0.000,6,0.207,0.000,3206,1613,1158,0,0,0,0,0,0
$GC,14117,0.67,406.5,833.0,9.1,618,14120,0.00,0.70,0.00,0.000,4,0.000,0.044,3206,2077,1159,0,0,0,0,0,0
$GC,14189,0.67,406.5,826.5,9.2,620,14193,0.00,0.75,0.00,0.000,6,0.000,0.053,3208,1618,1159,0,0,0,0,0,0
$GC,14524,0.67,406.5,795.9,9.1,631,14528,0.00,0.85,0.00,0.000,4,0.000,0.042,3208,2177,1159,0,0,0,0,0,0
$GC,14585,0.67,406.5,790.2,8.8,632,14590,0.00,0.93,0.00,0.000,6,0.000,0.051,3210,1608,1159,0,0,0,0,0,0
$GC,14898,0.67,406.5,763.1,8.5,643,14902,0.00,1.27,0.00,0.000,4,0.000,0.043,3211,2422,1159,0,0,0,0,0,0
$GC,14970,0.67,406.5,756.9,7.9,645,14974,0.00,1.27,0.00,0.000,6,0.000,0.049,3211,1627,1159,0,0,0,0,0,0
$GC,15305,0.67,406.5,730.3,7.8,656,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1627,1159,0,0,0,0,0,0
$GC,15611,0.67,406.5,706.8,7.8,666,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1627,1159,0,0,0,0,0,0
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$STATE,23703,end climb,SURFACE_DEPTH_REACHED
$STATE,23703,begin surface coast
$FINISH,1.7,1.021671
$STATE,23734,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,64.907
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,67203,1111
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$CFSIZE,2097086464,2031878144
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