version: 66.07.10.p01
glider: 574
mission: 4
dive: 466
start: 1 7 113 22 54 22
data:
$ID,574
$MISSION,4
$DIVE,466
$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,-7310.9297
$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,26
$R_STBD_OVSHOOT,58
$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,445
$GPS1,070113,225235,-4111.474,-502.648,57,1.6,57,-22.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-67.9
$GPS2,070113,225401,-4111.466,-502.630,21,1.6,21,-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,104.7,88244,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-24.58,0.000,2,0.000,0.000,69,1740,1668,0,0,0,0,0,0
$GC,55,-0.69,-116.8,3.0,-1.0,4,141,12.52,2.35,-67.15,0.000,4,0.259,0.076,2750,338,3303,0,0,0,0,0,0
$GC,151,-0.44,-116.8,6.2,-7.1,19,159,0.30,2.22,0.00,0.000,6,0.125,0.042,2836,1720,3304,0,0,0,0,0,0
$GC,233,-0.63,-116.8,18.5,-14.2,32,241,0.17,2.35,0.00,0.000,4,0.083,0.064,2767,339,3305,0,0,0,0,0,0
$GC,250,-0.80,-116.8,20.3,-12.9,34,258,0.08,2.25,0.00,0.000,6,0.063,0.038,2720,1755,3304,0,0,0,0,0,0
$GC,331,-0.72,-116.8,29.9,-12.3,47,339,0.12,2.40,0.00,0.000,4,0.158,0.063,2753,338,3304,0,0,0,0,0,0
$GC,405,-0.75,-116.8,35.3,-7.0,59,410,0.00,2.22,0.00,0.000,6,0.000,0.037,2753,1763,3304,0,0,0,0,0,0
$GC,640,-0.75,-116.8,58.2,-9.5,100,647,0.00,0.93,0.00,0.000,4,0.000,0.048,2751,2370,3304,0,0,0,0,0,0
$GC,690,-0.75,-116.8,63.2,-9.4,106,696,0.00,1.00,0.00,0.000,6,0.000,0.047,2751,1748,3304,0,0,0,0,0,0
$GC,1018,-0.78,-116.8,94.0,-10.0,137,1022,0.00,2.33,0.00,0.000,4,0.000,0.063,2751,337,3305,0,0,0,0,0,0
$GC,1133,-0.82,-116.8,106.3,-10.3,145,1138,0.08,2.20,0.00,0.000,6,0.123,0.036,2710,1755,3305,0,0,0,0,0,0
$GC,1459,-0.74,-116.8,141.7,-10.3,166,1463,0.12,1.85,0.00,0.000,4,0.158,0.058,2744,635,3305,0,0,0,0,0,0
$GC,1537,-0.77,-116.8,149.7,-9.5,170,1544,0.00,1.75,0.00,0.000,6,0.000,0.037,2743,1745,3305,0,0,0,0,0,0
$GC,1858,-0.77,-116.8,181.0,-10.0,191,1862,0.00,1.80,0.00,0.000,4,0.000,0.057,2743,649,3306,0,0,0,0,0,0
$GC,1953,-0.80,-116.8,191.2,-9.8,196,1961,0.00,1.73,0.00,0.000,6,0.000,0.036,2743,1754,3306,0,0,0,0,0,0
$GC,2283,-0.83,-116.8,223.4,-9.8,214,2287,0.08,2.05,0.00,0.000,4,0.128,0.059,2707,511,3307,0,0,0,0,0,0
$GC,2349,-0.76,-116.8,230.8,-10.4,217,2354,0.15,1.95,0.00,0.000,6,0.151,0.035,2741,1758,3307,0,0,0,0,0,0
$GC,2678,-0.78,-116.8,262.7,-9.6,233,2682,0.00,1.70,0.00,0.000,4,0.000,0.056,2741,706,3307,0,0,0,0,0,0
$GC,2751,-0.82,-116.8,270.3,-9.4,236,2755,0.03,1.62,0.00,0.000,6,0.106,0.037,2719,1741,3307,0,0,0,0,0,0
$GC,3087,-0.79,-116.8,303.6,-10.0,252,3092,0.00,2.30,0.00,0.000,4,0.000,0.059,2719,337,3307,0,0,0,0,0,0
$GC,3184,-0.79,-116.8,313.7,-10.5,255,3188,0.00,2.20,0.00,0.000,6,0.000,0.034,2715,1769,3307,0,0,0,0,0,0
$GC,3519,-0.76,-116.8,346.3,-9.6,266,3523,0.10,1.48,0.00,0.000,4,0.173,0.054,2742,878,3307,0,0,0,0,0,0
$GC,3602,-0.81,-116.8,354.0,-9.1,268,3606,0.03,1.35,0.00,0.000,6,0.106,0.035,2720,1744,3307,0,0,0,0,0,0
$GC,3925,-0.81,-116.8,383.7,-9.1,279,3929,0.00,2.33,0.00,0.000,4,0.000,0.059,2720,329,3307,0,0,0,0,0,0
$GC,3991,-0.81,-116.8,390.2,-9.7,281,3995,0.00,2.20,0.00,0.000,6,0.000,0.034,2714,1760,3307,0,0,0,0,0,0
$GC,4327,-0.79,-116.8,421.1,-9.2,292,4330,0.00,1.12,0.00,0.000,4,0.000,0.054,2714,1068,3307,0,0,0,0,0,0
$GC,4382,-0.76,-116.8,426.3,-9.3,293,4386,0.05,1.05,0.00,0.000,6,0.150,0.037,2731,1746,3307,0,0,0,0,0,0
$GC,4700,-0.76,-116.8,453.5,-8.6,304,4704,0.00,1.02,0.00,0.000,4,0.000,0.054,2731,1114,3306,0,0,0,0,0,0
$GC,4772,-0.76,-116.8,459.9,-8.6,306,4776,0.00,0.98,0.00,0.000,6,0.000,0.037,2730,1746,3306,0,0,0,0,0,0
$GC,5108,-0.76,-116.8,490.3,-9.3,317,5111,0.00,0.93,0.00,0.000,4,0.000,0.054,2730,1175,3305,0,0,0,0,0,0
$GC,5179,-0.76,-116.8,497.7,-9.9,319,5184,0.00,0.90,0.00,0.000,6,0.000,0.037,2729,1754,3305,0,0,0,0,0,0
$GC,5515,-0.76,-116.8,533.1,-11.0,330,5519,0.00,1.20,0.00,0.000,4,0.000,0.055,2729,1021,3305,0,0,0,0,0,0
$GC,5587,-0.76,-116.8,541.4,-10.9,332,5591,0.00,1.12,0.00,0.000,6,0.000,0.037,2729,1742,3304,0,0,0,0,0,0
$GC,5923,-0.76,-116.8,578.8,-11.0,343,5926,0.00,1.58,0.00,0.000,4,0.000,0.056,2729,786,3304,0,0,0,0,0,0
$GC,5983,-0.76,-116.8,585.8,-11.2,344,5989,0.00,1.50,0.00,0.000,6,0.000,0.036,2729,1747,3304,0,0,0,0,0,0
$GC,6296,-0.76,-116.8,617.8,-9.8,355,6300,0.00,0.55,0.00,0.000,4,0.000,0.054,2729,1395,3304,0,0,0,0,0,0
$GC,6390,-0.76,-116.8,626.8,-8.6,357,6396,0.00,0.57,0.00,0.000,6,0.000,0.041,2729,1767,3303,0,0,0,0,0,0
$GC,6704,-0.76,-116.8,653.8,-8.4,368,6708,0.00,2.35,0.00,0.000,4,0.000,0.058,2729,339,3302,0,0,0,0,0,0
$GC,6770,-0.76,-116.8,659.9,-9.1,370,6774,0.00,2.20,0.00,0.000,6,0.000,0.034,2729,1739,3302,0,0,0,0,0,0
$GC,7105,-0.76,-116.8,687.6,-8.4,381,7109,0.00,0.50,0.00,0.000,4,0.000,0.054,2729,1417,3302,0,0,0,0,0,0
$GC,7233,-0.76,-116.8,698.6,-8.4,384,7239,0.00,0.52,0.00,0.000,6,0.000,0.044,2729,1762,3301,0,0,0,0,0,0
$GC,7546,-0.76,-116.8,726.1,-9.1,395,7550,0.00,1.52,0.00,0.000,4,0.000,0.054,2729,837,3301,0,0,0,0,0,0
$GC,7607,-0.76,-116.8,732.1,-9.2,396,7613,0.00,1.40,0.00,0.000,6,0.000,0.035,2729,1733,3300,0,0,0,0,0,0
$GC,7920,-0.76,-116.8,762.4,-10.1,407,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1733,3299,0,0,0,0,0,0
$GC,8226,-0.76,-116.8,794.7,-10.8,417,8230,0.00,1.23,0.00,0.000,4,0.000,0.054,2729,987,3298,0,0,0,0,0,0
$GC,8287,-0.76,-116.8,801.5,-11.2,418,8292,0.00,1.20,0.00,0.000,6,0.000,0.037,2728,1754,3298,0,0,0,0,0,0
$GC,8600,-0.76,-116.8,834.2,-10.3,429,8604,0.00,1.02,0.00,0.000,4,0.000,0.054,2728,1122,3298,0,0,0,0,0,0
$GC,8649,-0.76,-116.8,839.5,-10.6,430,8653,0.00,1.00,0.00,0.000,6,0.000,0.037,2728,1765,3298,0,0,0,0,0,0
$GC,8973,-0.76,-116.8,870.0,-9.1,441,8977,0.00,0.88,0.00,0.000,4,0.000,0.053,2729,1225,3297,0,0,0,0,0,0
$GC,9041,-0.76,-116.8,876.0,-8.4,443,9045,0.00,0.80,0.00,0.000,6,0.000,0.039,2728,1747,3297,0,0,0,0,0,0
$GC,9382,-0.76,-116.8,904.4,-8.1,454,9385,0.00,1.02,0.00,0.000,4,0.000,0.052,2729,1114,3297,0,0,0,0,0,0
$GC,9436,-0.76,-116.8,909.2,-8.2,455,9441,0.00,0.98,0.00,0.000,6,0.000,0.037,2728,1748,3297,0,0,0,0,0,0
$GC,9755,-0.76,-116.8,934.9,-8.4,466,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1749,3296,0,0,0,0,0,0
$GC,10061,-0.76,-116.8,961.5,-8.7,476,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1748,3296,0,0,0,0,0,0
$GC,10368,-0.76,-116.8,988.7,-8.9,486,10372,0.00,1.50,0.00,0.000,4,0.000,0.053,2728,837,3296,0,0,0,0,0,0
$GC,10423,-0.76,-116.8,993.8,-9.3,487,10427,0.00,1.42,0.00,0.000,6,0.000,0.036,2728,1745,3295,0,0,0,0,0,0
$STATE,10497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10497,begin apogee
$GC,10503,-0.25,0.0,1000.1,8.8,490,10608,0.57,0.00,102.32,1.481,6,0.124,0.000,2900,1598,2827,0,0,0,0,0,0
$STATE,10609,end apogee,CONTROL_FINISHED_OK
$STATE,10609,begin climb
$GC,10611,0.69,116.8,1007.4,0.0,493,10728,0.90,1.62,107.85,1.459,4,0.072,0.059,3212,706,2351,0,0,0,0,0,0
$GC,10907,0.40,398.4,1024.6,-4.0,502,11180,0.32,1.45,264.55,1.460,6,0.190,0.036,3120,1640,1202,0,0,0,0,0,0
$GC,11511,0.64,398.4,982.2,9.3,522,11513,0.22,0.00,0.00,0.000,6,0.088,0.000,3198,1642,1194,0,0,0,0,0,0
$GC,11815,0.64,398.4,952.9,9.6,532,11819,0.00,2.17,0.00,0.000,4,0.000,0.046,3198,3014,1193,0,0,0,0,0,0
$GC,12062,0.71,398.4,930.4,8.9,539,12066,0.00,2.20,0.00,0.000,6,0.000,0.046,3199,1632,1191,0,0,0,0,0,0
$GC,12380,0.71,398.4,903.1,8.5,550,12384,0.00,1.30,0.00,0.000,4,0.000,0.041,3199,2463,1191,0,0,0,0,0,0
$GC,12458,0.71,398.4,896.7,7.0,552,12462,0.00,1.35,0.00,0.000,6,0.000,0.049,3199,1622,1192,0,0,0,0,0,0
$GC,12788,0.71,398.4,871.0,7.6,563,12791,0.00,0.90,0.00,0.000,4,0.000,0.041,3199,2214,1191,0,0,0,0,0,0
$GC,12871,0.74,408.3,864.7,6.0,565,12887,0.03,0.95,8.88,1.159,6,0.107,0.051,3220,1619,1162,0,0,0,0,0,0
$GC,13195,0.71,408.3,838.3,8.3,576,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1619,1161,0,0,0,0,0,0
$GC,13501,0.69,408.3,811.8,8.7,586,13504,0.00,2.20,0.00,0.000,4,0.000,0.045,3220,3006,1161,0,0,0,0,0,0
$GC,13617,0.69,408.3,801.5,8.8,589,13622,0.05,2.22,0.00,0.000,6,0.137,0.045,3211,1623,1160,0,0,0,0,0,0
$GC,13941,0.69,408.3,771.3,9.9,600,13945,0.00,1.02,0.00,0.000,4,0.000,0.042,3211,2290,1160,0,0,0,0,0,0
$GC,14018,0.69,408.3,763.8,9.3,602,14023,0.00,1.08,0.00,0.000,6,0.000,0.050,3213,1620,1160,0,0,0,0,0,0
$GC,14348,0.69,408.3,732.5,9.4,613,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1620,1160,0,0,0,0,0,0
$GC,14655,0.69,408.3,705.0,8.6,623,14659,0.00,2.22,0.00,0.000,4,0.000,0.046,3213,3011,1160,0,0,0,0,0,0
$GC,14754,0.69,408.3,696.7,8.7,626,14759,0.00,2.25,0.00,0.000,6,0.000,0.046,3213,1622,1161,0,0,0,0,0,0
$GC,15090,0.69,408.3,670.4,7.7,637,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1622,1160,0,0,0,0,0,0
$GC,15397,0.69,408.3,646.4,8.0,647,15398,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1622,1160,0,0,0,0,0,0
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$STATE,23153,end climb,SURFACE_DEPTH_REACHED
$STATE,23153,begin surface coast
$FINISH,1.7,1.009885
$STATE,23184,end surface coast,CONTROL_FINISHED_OK
$STATE,23184,begin surface
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$HUMID,49.84
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$TCM_TEMP,12.90
$XPDR_PINGS,0
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$10V_AH,9.9,65.866
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354572
$DATA_FILE_SIZE,66915,1088
$CAP_FILE_SIZE,195565,0
$CFSIZE,2097086464,2030829568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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