version: 66.07.10.p01
glider: 574
mission: 4
dive: 460
start: 1 6 113 8 23 56
data:
$ID,574
$MISSION,4
$DIVE,460
$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,-7294.6475
$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,24
$R_STBD_OVSHOOT,54
$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,439
$GPS1,060113,082153,-4115.687,-506.435,42,2.7,61,-22.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-69.6
$GPS2,060113,082335,-4115.688,-506.458,38,1.9,38,-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,100.5,94861,-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,26,-0.69,-116.8,0.0,0.0,0,64,0.00,0.00,-36.58,0.000,2,0.000,0.000,69,1738,2052,0,0,0,0,0,0
$GC,67,-0.69,-116.8,3.1,-1.3,6,136,12.68,2.38,-45.83,0.000,4,0.261,0.075,2750,345,3304,0,0,0,0,0,0
$GC,216,-0.62,-116.8,17.2,-15.7,30,224,0.10,2.17,0.00,0.000,6,0.135,0.038,2776,1716,3305,0,0,0,0,0,0
$GC,298,-0.75,-116.8,28.8,-12.8,43,306,0.10,0.57,0.00,0.000,4,0.118,0.044,2736,2112,3305,0,0,0,0,0,0
$GC,338,-0.75,-116.8,34.6,-14.1,49,343,0.00,0.57,0.00,0.000,6,0.000,0.050,2736,1737,3305,0,0,0,0,0,0
$GC,575,-0.70,-116.8,59.0,-10.8,90,582,0.08,0.00,0.00,0.000,6,0.184,0.000,2753,1737,3305,0,0,0,0,0,0
$GC,801,-0.70,-116.8,79.4,-8.6,112,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1737,3305,0,0,0,0,0,0
$GC,1120,-0.73,-116.8,105.7,-8.3,140,1124,0.00,2.25,0.00,0.000,4,0.000,0.048,2745,3165,3305,0,0,0,0,0,0
$GC,1210,-0.81,-116.8,114.3,-9.6,145,1216,0.05,2.22,0.00,0.000,6,0.162,0.044,2716,1759,3306,0,0,0,0,0,0
$GC,1530,-0.77,-116.8,147.5,-10.6,166,1535,0.08,1.75,0.00,0.000,4,0.187,0.059,2734,689,3306,0,0,0,0,0,0
$GC,1592,-0.79,-116.8,154.4,-10.1,169,1598,0.00,1.67,0.00,0.000,6,0.000,0.035,2728,1760,3306,0,0,0,0,0,0
$GC,1912,-0.76,-116.8,186.7,-9.8,190,1915,0.00,1.25,0.00,0.000,4,0.000,0.047,2725,2562,3307,0,0,0,0,0,0
$GC,1980,-0.76,-116.8,193.5,-9.6,194,1984,0.00,1.30,0.00,0.000,6,0.000,0.045,2725,1743,3307,0,0,0,0,0,0
$GC,2310,-0.76,-116.8,225.7,-9.8,211,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1743,3308,0,0,0,0,0,0
$GC,2619,-0.76,-116.8,256.0,-9.5,226,2623,0.00,0.52,0.00,0.000,4,0.000,0.043,2722,2104,3308,0,0,0,0,0,0
$GC,2668,-0.76,-116.8,261.3,-9.7,228,2673,0.05,0.57,0.00,0.000,6,0.204,0.050,2734,1740,3308,0,0,0,0,0,0
$GC,2997,-0.76,-116.8,292.3,-9.7,244,3001,0.00,1.42,0.00,0.000,4,0.000,0.044,2729,2642,3309,0,0,0,0,0,0
$GC,3080,-0.76,-116.8,301.0,-10.0,247,3086,0.00,1.40,0.00,0.000,6,0.000,0.044,2729,1760,3309,0,0,0,0,0,0
$GC,3394,-0.76,-116.8,332.3,-10.2,258,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1760,3308,0,0,0,0,0,0
$GC,3700,-0.74,-116.8,362.4,-9.8,268,3705,0.08,1.40,0.00,0.000,4,0.189,0.043,2742,2634,3309,0,0,0,0,0,0
$GC,3768,-0.79,-116.8,368.7,-8.8,270,3771,0.00,1.40,0.00,0.000,6,0.000,0.044,2742,1751,3309,0,0,0,0,0,0
$GC,4109,-0.81,-116.8,400.4,-9.2,281,4113,0.05,0.57,0.00,0.000,4,0.171,0.044,2710,2134,3309,0,0,0,0,0,0
$GC,4181,-0.77,-116.8,407.4,-9.5,283,4185,0.08,0.60,0.00,0.000,6,0.132,0.049,2736,1743,3309,0,0,0,0,0,0
$GC,4515,-0.77,-116.8,436.6,-8.7,294,4519,0.00,0.80,0.00,0.000,4,0.000,0.042,2734,2274,3308,0,0,0,0,0,0
$GC,4576,-0.77,-116.8,442.2,-8.3,295,4581,0.00,0.82,0.00,0.000,6,0.000,0.047,2734,1752,3308,0,0,0,0,0,0
$GC,4889,-0.79,-116.8,471.3,-9.6,306,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1752,3308,0,0,0,0,0,0
$GC,5196,-0.82,-116.8,500.0,-9.3,316,5199,0.00,1.45,0.00,0.000,4,0.000,0.058,2734,864,3308,0,0,0,0,0,0
$GC,5264,-0.85,-116.8,506.4,-8.6,318,5268,0.00,1.40,0.00,0.000,6,0.000,0.037,2727,1758,3308,0,0,0,0,0,0
$GC,5604,-0.85,-116.8,537.5,-9.0,329,5608,0.00,1.20,0.00,0.000,4,0.000,0.045,2722,2535,3308,0,0,0,0,0,0
$GC,5672,-0.85,-116.8,543.9,-9.2,331,5676,0.00,1.23,0.00,0.000,6,0.000,0.045,2722,1758,3308,0,0,0,0,0,0
$GC,6012,-0.85,-116.8,575.1,-9.1,342,6015,0.00,1.20,0.00,0.000,4,0.000,0.055,2723,1014,3307,0,0,0,0,0,0
$GC,6067,-0.85,-116.8,580.4,-9.4,343,6071,0.00,1.15,0.00,0.000,6,0.000,0.037,2718,1751,3307,0,0,0,0,0,0
$GC,6385,-0.85,-116.8,609.2,-9.1,354,6389,0.00,0.70,0.00,0.000,4,0.000,0.053,2718,1315,3307,0,0,0,0,0,0
$GC,6435,-0.85,-116.8,613.9,-9.2,355,6439,0.00,0.70,0.00,0.000,6,0.000,0.040,2715,1764,3306,0,0,0,0,0,0
$GC,6759,-0.85,-116.8,642.4,-8.7,366,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1764,3306,0,0,0,0,0,0
$GC,7065,-0.85,-116.8,668.7,-8.6,376,7069,0.00,0.52,0.00,0.000,4,0.000,0.054,2715,1424,3306,0,0,0,0,0,0
$GC,7104,-0.82,-116.8,672.0,-8.1,377,7108,0.00,0.50,0.00,0.000,6,0.000,0.044,2713,1753,3306,0,0,0,0,0,0
$GC,7439,-0.80,-116.8,700.4,-8.8,388,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1753,3306,0,0,0,0,0,0
$GC,7746,-0.78,-116.8,728.6,-9.3,398,7750,0.08,0.65,0.00,0.000,4,0.197,0.047,2730,2194,3305,0,0,0,0,0,0
$GC,7800,-0.81,-116.8,733.8,-9.1,399,7804,0.00,0.70,0.00,0.000,6,0.000,0.048,2730,1740,3305,0,0,0,0,0,0
$GC,8119,-0.81,-116.8,763.4,-9.4,410,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1740,3305,0,0,0,0,0,0
$GC,8425,-0.84,-116.8,792.3,-9.5,420,8429,0.00,0.75,0.00,0.000,4,0.000,0.045,2729,2230,3305,0,0,0,0,0,0
$GC,8486,-0.86,-116.8,798.2,-9.3,421,8492,0.05,0.75,0.00,0.000,6,0.078,0.047,2699,1750,3305,0,0,0,0,0,0
$GC,8799,-0.82,-116.8,828.3,-9.7,432,8801,0.08,0.00,0.00,0.000,6,0.189,0.000,2716,1750,3305,0,0,0,0,0,0
$GC,9105,-0.82,-116.8,856.9,-9.4,442,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1750,3305,0,0,0,0,0,0
$GC,9411,-0.82,-116.8,885.5,-9.5,452,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1750,3305,0,0,0,0,0,0
$GC,9718,-0.82,-116.8,915.1,-9.6,462,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1750,3305,0,0,0,0,0,0
$GC,10024,-0.82,-116.8,945.8,-10.2,472,10027,0.00,0.52,0.00,0.000,4,0.000,0.047,2715,2103,3305,0,0,0,0,0,0
$GC,10092,-0.82,-116.8,952.9,-10.0,474,10096,0.00,0.55,0.00,0.000,6,0.000,0.050,2715,1744,3304,0,0,0,0,0,0
$GC,10432,-0.82,-116.8,987.4,-10.0,485,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1744,3305,0,0,0,0,0,0
$STATE,10584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10584,begin apogee
$GC,10590,-0.25,0.0,1003.0,10.1,490,10698,0.62,0.00,105.00,1.485,6,0.124,0.000,2904,1612,2827,0,0,0,0,0,0
$STATE,10699,end apogee,CONTROL_FINISHED_OK
$STATE,10699,begin climb
$GC,10701,0.69,116.8,1011.2,0.0,493,10816,0.88,1.10,109.47,1.469,4,0.070,0.056,3205,1007,2350,0,0,0,0,0,0
$GC,11069,0.43,430.5,1035.4,-5.2,505,11376,0.28,0.95,297.52,1.450,6,0.194,0.039,3132,1630,1071,0,0,0,0,0,0
$GC,11706,0.67,430.5,997.3,8.9,526,11711,0.20,2.33,0.00,0.000,4,0.093,0.065,3200,223,1062,0,0,0,0,0,0
$GC,11851,0.84,430.5,984.1,9.0,530,11856,0.17,2.15,0.00,0.000,6,0.096,0.034,3262,1621,1058,0,0,0,0,0,0
$GC,12175,0.75,430.5,950.7,10.4,541,12180,0.12,2.15,0.00,0.000,4,0.174,0.045,3231,3011,1059,0,0,0,0,0,0
$GC,12237,0.75,430.5,944.2,11.8,543,12241,0.00,2.17,0.00,0.000,6,0.000,0.044,3240,1626,1058,0,0,0,0,0,0
$GC,12577,0.70,430.5,909.5,10.1,554,12582,0.10,0.57,0.00,0.000,4,0.187,0.042,3215,2020,1057,0,0,0,0,0,0
$GC,12701,0.70,430.5,898.0,9.1,557,12705,0.00,0.65,0.00,0.000,6,0.000,0.055,3215,1612,1057,0,0,0,0,0,0
$GC,13019,0.70,430.5,869.1,9.1,568,13023,0.00,1.98,0.00,0.000,4,0.000,0.044,3215,2864,1057,0,0,0,0,0,0
$GC,13091,0.73,430.5,862.3,10.1,570,13096,0.00,2.00,0.00,0.000,6,0.000,0.047,3219,1627,1056,0,0,0,0,0,0
$GC,13427,0.73,430.5,829.4,10.0,581,13430,0.00,0.80,0.00,0.000,4,0.000,0.042,3219,2154,1056,0,0,0,0,0,0
$GC,13510,0.75,430.5,821.0,9.8,583,13514,0.00,0.88,0.00,0.000,6,0.000,0.053,3221,1610,1056,0,0,0,0,0,0
$GC,13834,0.75,430.5,789.6,9.7,594,13838,0.00,0.88,0.00,0.000,4,0.000,0.043,3221,2181,1056,0,0,0,0,0,0
$GC,13895,0.75,430.5,783.7,10.0,595,13900,0.00,0.93,0.00,0.000,6,0.000,0.050,3223,1612,1056,0,0,0,0,0,0
$GC,14208,0.75,430.5,754.4,9.2,606,14209,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1612,1056,0,0,0,0,0,0
$GC,14514,0.75,430.5,726.7,8.9,616,14518,0.00,0.80,0.00,0.000,4,0.000,0.042,3223,2138,1056,0,0,0,0,0,0
$GC,14585,0.75,430.5,720.2,9.3,618,14589,0.00,0.85,0.00,0.000,6,0.000,0.051,3224,1618,1056,0,0,0,0,0,0
$GC,14921,0.75,430.5,690.5,8.9,629,14925,0.00,0.77,0.00,0.000,4,0.000,0.042,3224,2126,1056,0,0,0,0,0,0
$GC,14992,0.75,430.5,683.9,9.1,631,14997,0.00,0.82,0.00,0.000,6,0.000,0.052,3226,1619,1056,0,0,0,0,0,0
$GC,15328,0.75,430.5,653.0,9.5,642,15332,0.00,1.08,0.00,0.000,4,0.000,0.041,3226,2314,1056,0,0,0,0,0,0
$GC,15400,0.75,430.5,645.7,9.6,644,15404,0.00,1.12,0.00,0.000,6,0.000,0.050,3227,1618,1056,0,0,0,0,0,0
$GC,15736,0.75,430.5,612.4,10.1,655,15740,0.00,0.70,0.00,0.000,4,0.000,0.042,3226,2081,1056,0,0,0,0,0,0
$GC,15804,0.75,430.5,605.5,9.6,657,15807,0.00,0.75,0.00,0.000,6,0.000,0.053,3226,1613,1056,0,0,0,0,0,0
$GC,16144,0.75,430.5,572.0,9.7,668,16148,0.00,1.20,0.00,0.000,4,0.000,0.041,3226,2381,1056,0,0,0,0,0,0
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$STATE,22449,end climb,SURFACE_DEPTH_REACHED
$STATE,22449,begin surface coast
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$STATE,22486,end surface coast,CONTROL_FINISHED_OK
$STATE,22487,begin surface
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$10V_AH,9.8,65.140
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$FG_AHR_10Vo,0.000
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$MEM,354584
$DATA_FILE_SIZE,63594,1030
$CAP_FILE_SIZE,180450,0
$CFSIZE,2097086464,2031648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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