version: 66.07.10.p01
glider: 574
mission: 4
dive: 475
start: 1 10 113 10 20 20
data:
$ID,574
$MISSION,4
$DIVE,475
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,560
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,600
$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,170
$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,-7336.5747
$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,19
$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,1730
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,57
$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,454
$GPS1,100113,100353,-4104.576,-454.132,71,0.9,71,-22.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-74.1
$GPS2,100113,101959,-4104.417,-454.195,68,1.1,68,-22.6
$SPEED_LIMITS,0.110,0.202
$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,113.4,75662,-13.5,-6.346
$D_GRID,990
$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,-0.72,-116.8,0.0,0.0,0,35,0.00,0.00,-7.40,0.000,2,0.000,0.000,69,1726,1526,0,0,0,0,0,0
$GC,38,-0.72,-116.8,3.0,-0.0,1,129,11.73,2.22,-73.28,0.000,4,0.244,0.062,2738,3108,3301,0,0,0,0,0,0
$GC,186,-0.72,-116.8,10.0,-9.6,25,193,0.00,2.22,0.00,0.000,6,0.000,0.047,2738,1730,3302,0,0,0,0,0,0
$GC,267,-0.69,-116.8,17.7,-10.4,38,274,0.10,1.55,0.00,0.000,4,0.167,0.060,2764,797,3303,0,0,0,0,0,0
$GC,342,-0.75,-116.8,24.8,-9.5,50,350,0.03,1.42,0.00,0.000,6,0.101,0.037,2739,1706,3303,0,0,0,0,0,0
$GC,423,-0.72,-116.8,32.4,-9.6,63,428,0.00,1.12,0.00,0.000,4,0.000,0.046,2733,2435,3303,0,0,0,0,0,0
$GC,494,-0.72,-116.8,39.8,-10.7,75,500,0.05,1.15,0.00,0.000,6,0.134,0.047,2751,1710,3303,0,0,0,0,0,0
$GC,732,-0.72,-116.8,65.1,-10.5,113,736,0.00,0.73,0.00,0.000,4,0.000,0.057,2751,1254,3303,0,0,0,0,0,0
$GC,772,-0.72,-116.8,69.4,-11.0,116,777,0.00,0.75,0.00,0.000,6,0.000,0.040,2750,1740,3303,0,0,0,0,0,0
$GC,1097,-0.75,-116.8,100.5,-8.4,147,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1740,3303,0,0,0,0,0,0
$GC,1411,-0.80,-116.8,125.2,-7.9,167,1416,0.05,1.33,0.00,0.000,4,0.167,0.055,2716,942,3304,0,0,0,0,0,0
$GC,1463,-0.75,-116.8,129.7,-8.6,170,1467,0.08,1.23,0.00,0.000,6,0.135,0.035,2738,1728,3304,0,0,0,0,0,0
$GC,1796,-0.78,-116.8,158.7,-9.7,191,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1728,3304,0,0,0,0,0,0
$GC,2107,-0.78,-116.8,189.7,-9.7,211,2110,0.00,0.60,0.00,0.000,4,0.000,0.055,2738,1351,3304,0,0,0,0,0,0
$GC,2151,-0.78,-116.8,194.6,-9.9,213,2156,0.00,0.60,0.00,0.000,6,0.000,0.040,2738,1741,3304,0,0,0,0,0,0
$GC,2469,-0.78,-116.8,226.3,-10.3,230,2473,0.00,1.12,0.00,0.000,4,0.000,0.054,2737,1045,3304,0,0,0,0,0,0
$GC,2542,-0.83,-116.8,234.2,-10.3,233,2546,0.03,1.05,0.00,0.000,6,0.102,0.035,2709,1730,3305,0,0,0,0,0,0
$GC,2870,-0.80,-116.8,267.7,-10.0,249,2874,0.08,0.88,0.00,0.000,4,0.176,0.044,2725,2308,3304,0,0,0,0,0,0
$GC,2925,-0.80,-116.8,273.4,-9.6,251,2929,0.00,0.93,0.00,0.000,6,0.000,0.046,2725,1723,3305,0,0,0,0,0,0
$GC,3257,-0.80,-116.8,304.4,-9.4,267,3260,0.00,1.27,0.00,0.000,4,0.000,0.057,2725,939,3305,0,0,0,0,0,0
$GC,3318,-0.83,-116.8,310.1,-8.8,268,3323,0.00,1.23,0.00,0.000,6,0.000,0.036,2722,1724,3305,0,0,0,0,0,0
$GC,3630,-0.83,-116.8,335.8,-7.8,279,3634,0.00,0.40,0.00,0.000,4,0.000,0.055,2723,1461,3305,0,0,0,0,0,0
$GC,3674,-0.83,-116.8,339.5,-7.5,280,3678,0.00,0.43,0.00,0.000,6,0.000,0.043,2722,1747,3305,0,0,0,0,0,0
$GC,4004,-0.83,-116.8,367.5,-8.6,291,4007,0.00,0.60,0.00,0.000,4,0.000,0.052,2721,1362,3305,0,0,0,0,0,0
$GC,4053,-0.83,-116.8,372.0,-8.0,292,4057,0.00,0.55,0.00,0.000,6,0.000,0.038,2719,1731,3305,0,0,0,0,0,0
$GC,4377,-0.83,-116.8,402.5,-9.9,303,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1731,3305,0,0,0,0,0,0
$GC,4683,-0.83,-116.8,433.6,-10.0,313,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1731,3305,0,0,0,0,0,0
$GC,4990,-0.83,-116.8,464.1,-9.7,323,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1731,3305,0,0,0,0,0,0
$GC,5296,-0.83,-116.8,493.9,-9.7,333,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1731,3305,0,0,0,0,0,0
$GC,5602,-0.83,-116.8,523.8,-9.7,343,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1731,3305,0,0,0,0,0,0
$GC,5908,-0.83,-116.8,554.0,-9.8,353,5912,0.00,0.55,0.00,0.000,4,0.000,0.054,2719,1379,3305,0,0,0,0,0,0
$GC,5976,-0.83,-116.8,560.7,-10.0,355,5980,0.00,0.50,0.00,0.000,6,0.000,0.043,2717,1718,3305,0,0,0,0,0,0
$GC,6317,-0.83,-116.8,594.3,-10.0,366,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1718,3304,0,0,0,0,0,0
$GC,6623,-0.83,-116.8,625.5,-10.2,376,6627,0.00,0.80,0.00,0.000,4,0.000,0.046,2715,2258,3304,0,0,0,0,0,0
$GC,6684,-0.83,-116.8,631.9,-10.4,377,6689,0.00,0.85,0.00,0.000,6,0.000,0.047,2715,1723,3304,0,0,0,0,0,0
$GC,6997,-0.83,-116.8,663.0,-9.5,388,7001,0.00,1.10,0.00,0.000,4,0.000,0.057,2715,1044,3304,0,0,0,0,0,0
$GC,7053,-0.83,-116.8,668.6,-10.0,389,7057,0.00,1.05,0.00,0.000,6,0.000,0.038,2715,1714,3304,0,0,0,0,0,0
$GC,7371,-0.83,-116.8,698.1,-9.2,400,7375,0.00,1.17,0.00,0.000,4,0.000,0.047,2710,2473,3304,0,0,0,0,0,0
$GC,7432,-0.83,-116.8,704.0,-9.8,401,7437,0.00,1.17,0.00,0.000,6,0.000,0.047,2710,1730,3304,0,0,0,0,0,0
$GC,7745,-0.83,-116.8,731.1,-8.4,412,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1730,3304,0,0,0,0,0,0
$GC,8051,-0.83,-116.8,756.9,-8.4,422,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1730,3304,0,0,0,0,0,0
$GC,8357,-0.83,-116.8,783.1,-8.7,432,8361,0.00,1.25,0.00,0.000,4,0.000,0.057,2711,965,3303,0,0,0,0,0,0
$GC,8402,-0.81,-116.8,787.4,-9.6,433,8406,0.05,1.20,0.00,0.000,6,0.148,0.037,2724,1728,3303,0,0,0,0,0,0
$GC,8731,-0.81,-116.8,817.2,-9.5,444,8734,0.00,0.73,0.00,0.000,4,0.000,0.046,2721,2218,3304,0,0,0,0,0,0
$GC,8799,-0.83,-116.8,823.9,-9.5,446,8802,0.00,0.75,0.00,0.000,6,0.000,0.047,2721,1733,3304,0,0,0,0,0,0
$GC,9140,-0.83,-116.8,858.6,-10.3,457,9143,0.00,1.05,0.00,0.000,4,0.000,0.055,2721,1070,3303,0,0,0,0,0,0
$GC,9183,-0.83,-116.8,863.5,-10.6,458,9187,0.00,1.02,0.00,0.000,6,0.000,0.037,2717,1730,3303,0,0,0,0,0,0
$GC,9513,-0.83,-116.8,898.7,-10.7,469,9517,0.00,1.90,0.00,0.000,4,0.000,0.047,2713,2942,3304,0,0,0,0,0,0
$GC,9582,-0.87,-116.8,906.3,-11.5,471,9586,0.00,1.92,0.00,0.000,6,0.000,0.041,2713,1734,3303,0,0,0,0,0,0
$GC,9922,-0.87,-116.8,942.8,-10.7,482,9926,0.00,0.57,0.00,0.000,4,0.000,0.045,2712,2121,3303,0,0,0,0,0,0
$GC,10005,-0.87,-116.8,951.7,-10.6,484,10010,0.00,0.62,0.00,0.000,6,0.000,0.047,2712,1723,3304,0,0,0,0,0,0
$GC,10330,-0.87,-116.8,984.6,-10.0,495,10334,0.00,2.25,0.00,0.000,4,0.000,0.047,2704,3128,3304,0,0,0,0,0,0
$STATE,10383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10383,begin apogee
$GC,10390,-0.26,0.0,990.4,10.6,496,10498,0.62,0.00,104.45,1.486,6,0.128,0.000,2895,1638,2827,0,0,0,0,0,0
$STATE,10499,end apogee,CONTROL_FINISHED_OK
$STATE,10499,begin loiter
$GC,10794,-0.25,219.6,1023.9,-8.0,510,10997,0.00,1.05,197.65,1.476,4,0.000,0.035,2892,2276,1930,0,0,0,0,0,0
$STATE,11084,end loiter,LOITER_COMPLETE
$STATE,11084,begin climb
$GC,11086,0.72,116.8,1028.0,0.0,518,11091,1.00,1.05,0.00,0.000,6,0.107,0.046,3213,1635,1924,0,0,0,0,0,0
$GC,11405,0.47,147.1,1011.7,5.2,529,11410,0.28,2.30,0.00,0.000,4,0.184,0.060,3150,233,1922,0,0,0,0,0,0
$GC,11523,0.37,240.3,1006.6,2.9,532,11549,0.17,2.20,18.45,1.359,6,0.177,0.035,3107,1652,1847,0,0,0,0,0,0
$GC,11873,0.37,299.0,992.1,4.2,544,11935,0.00,2.42,55.05,1.430,4,0.000,0.063,3107,234,1606,0,0,0,0,0,0
$GC,12074,0.53,329.6,982.0,5.2,550,12110,0.15,2.17,28.55,1.377,6,0.093,0.034,3161,1652,1483,0,0,0,0,0,0
$GC,12440,0.53,336.4,960.1,6.1,562,12453,0.00,2.25,6.88,1.109,4,0.000,0.044,3162,3031,1454,0,0,0,0,0,0
$GC,12561,0.53,370.0,953.0,5.1,565,12602,0.00,2.20,33.75,1.390,6,0.000,0.046,3168,1642,1317,0,0,0,0,0,0
$GC,12910,0.57,370.0,930.0,6.7,577,12914,0.00,2.17,0.00,0.000,4,0.000,0.045,3168,3031,1311,0,0,0,0,0,0
$GC,13099,0.66,370.0,916.7,6.8,582,13104,0.08,2.22,0.00,0.000,6,0.124,0.047,3199,1635,1310,0,0,0,0,0,0
$GC,13418,0.63,370.0,892.3,7.8,593,13421,0.00,1.50,0.00,0.000,4,0.000,0.043,3199,2584,1310,0,0,0,0,0,0
$GC,13486,0.57,370.0,886.8,7.7,595,13490,0.10,1.52,0.00,0.000,6,0.151,0.050,3171,1642,1309,0,0,0,0,0,0
$GC,13826,0.61,370.0,860.6,7.9,606,13830,0.00,0.75,0.00,0.000,4,0.000,0.043,3171,2139,1309,0,0,0,0,0,0
$GC,13932,0.64,370.0,852.0,7.9,609,13937,0.03,0.80,0.00,0.000,6,0.103,0.053,3192,1640,1308,0,0,0,0,0,0
$GC,14267,0.64,370.0,823.7,8.4,620,14271,0.00,2.22,0.00,0.000,4,0.000,0.046,3191,3031,1308,0,0,0,0,0,0
$GC,14383,0.64,370.0,814.0,6.9,623,14387,0.00,2.25,0.00,0.000,6,0.000,0.046,3199,1644,1308,0,0,0,0,0,0
$GC,14702,0.61,370.0,787.9,8.1,634,14707,0.08,1.02,0.00,0.000,4,0.204,0.042,3184,2309,1308,0,0,0,0,0,0
$GC,14791,0.61,370.0,780.9,6.8,636,14795,0.00,1.08,0.00,0.000,6,0.000,0.050,3186,1640,1308,0,0,0,0,0,0
$GC,15110,0.61,370.0,756.1,7.9,647,15113,0.00,1.10,0.00,0.000,4,0.000,0.042,3186,2351,1308,0,0,0,0,0,0
$GC,15221,0.61,370.0,747.2,7.8,650,15225,0.00,1.15,0.00,0.000,6,0.000,0.050,3186,1637,1308,0,0,0,0,0,0
$GC,15551,0.61,370.0,720.0,8.5,661,15555,0.00,0.88,0.00,0.000,4,0.000,0.044,3186,2210,1308,0,0,0,0,0,0
$GC,15634,0.61,370.0,712.9,8.1,663,15638,0.00,0.95,0.00,0.000,6,0.000,0.051,3186,1630,1307,0,0,0,0,0,0
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$STATE,24186,end climb,SURFACE_DEPTH_REACHED
$STATE,24186,begin surface coast
$FINISH,1.7,1.026161
$STATE,24199,end surface coast,CONTROL_FINISHED_OK
$STATE,24199,begin surface
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$HUMID,50.31
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$TCM_TEMP,12.10
$XPDR_PINGS,0
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$10V_AH,9.8,66.986
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.450,128.075,499.375,0.000,0.000,25.067,57.383,615.856,0.000,0.000,72.101,2928.760,17372.590,584.316,3990.186,355.163,0.000,2057.897,0.000,3177.098,0.000,1.015,0.000
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$MEM,354540
$DATA_FILE_SIZE,66922,1104
$CAP_FILE_SIZE,213792,0
$CFSIZE,2097086464,2029617152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,100113,170605,-4103.677,-452.702,33,1.0,33,-22.6