version: 66.07.10.p01
glider: 574
mission: 4
dive: 476
start: 1 10 113 17 7 50
data:
$ID,574
$MISSION,4
$DIVE,476
$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,-7338.9077
$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,37
$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,455
$GPS1,100113,170605,-4103.677,-452.702,33,1.0,33,-22.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-74.4
$GPS2,100113,170730,-4103.680,-452.695,17,1.0,17,-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,114.5,73600,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-24.60,0.000,2,0.000,0.000,69,1713,1705,0,0,0,0,0,0
$GC,55,-0.72,-116.8,3.1,-1.7,4,135,12.23,2.33,-61.92,0.000,4,0.255,0.075,2747,324,3302,0,0,0,0,0,0
$GC,209,-0.70,-116.8,13.4,-11.6,29,217,0.00,2.17,0.00,0.000,6,0.000,0.037,2744,1696,3303,0,0,0,0,0,0
$GC,290,-0.67,-116.8,22.0,-10.7,42,298,0.10,2.35,0.00,0.000,4,0.171,0.051,2760,3140,3303,0,0,0,0,0,0
$GC,381,-0.76,-116.8,31.7,-10.5,57,387,0.05,2.25,0.00,0.000,6,0.162,0.047,2730,1735,3304,0,0,0,0,0,0
$GC,618,-0.76,-116.8,57.7,-10.5,98,625,0.00,0.55,0.00,0.000,4,0.000,0.060,2730,1384,3304,0,0,0,0,0,0
$GC,656,-0.76,-116.8,61.7,-10.8,103,660,0.00,0.55,0.00,0.000,6,0.000,0.039,2729,1754,3304,0,0,0,0,0,0
$GC,986,-0.76,-116.8,96.1,-9.7,134,989,0.00,1.58,0.00,0.000,4,0.000,0.046,2724,2756,3304,0,0,0,0,0,0
$GC,1058,-0.76,-116.8,103.4,-10.0,140,1062,0.00,1.65,0.00,0.000,6,0.000,0.046,2724,1725,3304,0,0,0,0,0,0
$GC,1385,-0.76,-116.8,134.1,-10.0,161,1389,0.00,0.80,0.00,0.000,4,0.000,0.042,2722,2253,3305,0,0,0,0,0,0
$GC,1456,-0.76,-116.8,141.1,-9.8,165,1461,0.03,0.82,0.00,0.000,6,0.159,0.048,2733,1728,3305,0,0,0,0,0,0
$GC,1787,-0.76,-116.8,177.8,-11.6,186,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1728,3306,0,0,0,0,0,0
$GC,2115,-0.76,-116.8,214.5,-10.8,205,2119,0.00,1.67,0.00,0.000,4,0.000,0.044,2727,2808,3306,0,0,0,0,0,0
$GC,2185,-0.76,-116.8,222.1,-11.0,208,2189,0.00,1.70,0.00,0.000,6,0.000,0.044,2726,1730,3306,0,0,0,0,0,0
$GC,2517,-0.76,-116.8,252.4,-8.1,224,2521,0.00,1.23,0.00,0.000,4,0.000,0.041,2723,2517,3307,0,0,0,0,0,0
$GC,2590,-0.76,-116.8,258.1,-7.8,227,2595,0.03,1.25,0.00,0.000,6,0.155,0.044,2733,1728,3307,0,0,0,0,0,0
$GC,2917,-0.76,-116.8,281.7,-7.3,243,2921,0.00,1.00,0.00,0.000,4,0.000,0.040,2730,2382,3307,0,0,0,0,0,0
$GC,3024,-0.79,-116.8,290.4,-8.3,247,3029,0.00,1.02,0.00,0.000,6,0.000,0.044,2730,1727,3307,0,0,0,0,0,0
$GC,3337,-0.79,-116.8,317.7,-9.4,260,3341,0.00,1.17,0.00,0.000,4,0.000,0.044,2727,2487,3307,0,0,0,0,0,0
$GC,3405,-0.79,-116.8,324.7,-10.5,262,3409,0.00,1.20,0.00,0.000,6,0.000,0.047,2728,1729,3307,0,0,0,0,0,0
$GC,3746,-0.82,-116.8,362.2,-11.4,273,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1729,3307,0,0,0,0,0,0
$GC,4053,-0.85,-116.8,397.4,-11.4,283,4056,0.00,0.90,0.00,0.000,4,0.000,0.042,2725,2318,3307,0,0,0,0,0,0
$GC,4102,-0.88,-116.8,403.1,-11.4,284,4107,0.05,0.93,0.00,0.000,6,0.073,0.044,2694,1724,3306,0,0,0,0,0,0
$GC,4427,-0.84,-116.8,437.0,-10.1,295,4429,0.08,0.00,0.00,0.000,6,0.184,0.000,2712,1724,3307,0,0,0,0,0,0
$GC,4733,-0.84,-116.8,462.5,-7.9,305,4736,0.00,0.40,0.00,0.000,4,0.000,0.045,2711,2011,3306,0,0,0,0,0,0
$GC,4800,-0.84,-116.8,467.9,-7.9,307,4804,0.00,0.43,0.00,0.000,6,0.000,0.053,2711,1727,3307,0,0,0,0,0,0
$GC,5141,-0.84,-116.8,495.0,-8.4,318,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1727,3307,0,0,0,0,0,0
$GC,5447,-0.84,-116.8,524.9,-10.4,328,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1727,3306,0,0,0,0,0,0
$GC,5753,-0.84,-116.8,561.0,-12.3,338,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1727,3305,0,0,0,0,0,0
$GC,6060,-0.84,-116.8,599.9,-12.7,348,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1727,3304,0,0,0,0,0,0
$GC,6366,-0.84,-116.8,636.7,-11.5,358,6370,0.00,0.45,0.00,0.000,4,0.000,0.060,2711,1431,3303,0,0,0,0,0,0
$GC,6403,-0.84,-116.8,641.0,-10.4,359,6407,0.00,0.45,0.00,0.000,6,0.000,0.041,2710,1736,3303,0,0,0,0,0,0
$GC,6739,-0.82,-116.8,673.6,-9.0,370,6743,0.00,1.52,0.00,0.000,4,0.000,0.044,2703,2707,3303,0,0,0,0,0,0
$GC,6800,-0.79,-116.8,679.3,-9.4,371,6806,0.05,1.55,0.00,0.000,6,0.133,0.043,2722,1736,3303,0,0,0,0,0,0
$GC,7113,-0.79,-116.8,703.1,-7.5,382,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1735,3303,0,0,0,0,0,0
$GC,7419,-0.79,-116.8,727.0,-8.2,392,7423,0.00,2.03,0.00,0.000,4,0.000,0.046,2714,3010,3302,0,0,0,0,0,0
$GC,7491,-0.83,-116.8,733.8,-10.0,394,7495,0.00,2.03,0.00,0.000,6,0.000,0.041,2714,1721,3301,0,0,0,0,0,0
$GC,7826,-0.83,-116.8,766.2,-10.0,405,7830,0.00,2.03,0.00,0.000,4,0.000,0.044,2708,3013,3301,0,0,0,0,0,0
$GC,7898,-0.83,-116.8,774.4,-11.4,407,7902,0.00,2.03,0.00,0.000,6,0.000,0.040,2708,1733,3301,0,0,0,0,0,0
$GC,8234,-0.81,-116.8,812.6,-11.5,418,8238,0.03,2.22,0.00,0.000,4,0.269,0.044,2709,3124,3300,0,0,0,0,0,0
$GC,8317,-0.84,-116.8,822.6,-12.2,420,8321,0.00,2.20,0.00,0.000,6,0.000,0.039,2709,1724,3300,0,0,0,0,0,0
$GC,8629,-0.84,-116.8,859.0,-11.6,430,8633,0.00,1.48,0.00,0.000,4,0.000,0.043,2703,2659,3299,0,0,0,0,0,0
$GC,8701,-0.84,-116.8,867.5,-11.2,432,8705,0.00,1.48,0.00,0.000,6,0.000,0.041,2703,1726,3299,0,0,0,0,0,0
$GC,9037,-0.84,-116.8,905.2,-11.3,443,9041,0.00,2.22,0.00,0.000,4,0.000,0.046,2693,3118,3298,0,0,0,0,0,0
$GC,9114,-0.84,-116.8,913.9,-11.5,445,9119,0.05,2.20,0.00,0.000,6,0.134,0.040,2712,1735,3298,0,0,0,0,0,0
$GC,9438,-0.84,-116.8,946.3,-9.6,456,9441,0.00,2.00,0.00,0.000,4,0.000,0.044,2704,3012,3297,0,0,0,0,0,0
$GC,9505,-0.84,-116.8,952.9,-9.1,458,9509,0.00,2.03,0.00,0.000,6,0.000,0.040,2704,1723,3297,0,0,0,0,0,0
$GC,9846,-0.84,-116.8,984.9,-9.3,469,9850,0.00,2.20,0.00,0.000,4,0.000,0.046,2698,3115,3297,0,0,0,0,0,0
$STATE,9898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9899,begin apogee
$GC,9906,-0.26,0.0,990.2,9.5,470,10012,0.62,0.00,102.55,1.480,6,0.129,0.000,2889,1638,2827,0,0,0,0,0,0
$STATE,10013,end apogee,CONTROL_FINISHED_OK
$STATE,10013,begin loiter
$GC,10310,-0.25,186.4,1017.7,-6.8,484,10482,0.00,2.42,165.20,1.472,4,0.000,0.041,2886,3034,2065,0,0,0,0,0,0
$STATE,10603,end loiter,LOITER_COMPLETE
$STATE,10603,begin climb
$GC,10605,0.72,116.8,1021.9,0.0,493,10611,1.02,2.22,0.00,0.000,6,0.106,0.043,3208,1641,2059,0,0,0,0,0,0
$GC,10925,0.45,206.4,1011.6,3.1,504,10950,0.28,2.28,17.92,1.352,4,0.192,0.045,3138,3024,1984,0,0,0,0,0,0
$GC,11112,0.32,293.8,1005.7,3.1,509,11200,0.22,2.20,80.57,1.438,6,0.177,0.044,3089,1637,1628,0,0,0,0,0,0
$GC,11519,0.45,318.7,984.8,5.4,523,11548,0.12,0.00,23.05,1.365,6,0.102,0.000,3140,1637,1527,0,0,0,0,0,0
$GC,11855,0.50,318.7,962.5,7.0,534,11859,0.00,1.77,0.00,0.000,4,0.000,0.042,3140,2756,1522,0,0,0,0,0,0
$GC,11938,0.50,318.7,956.6,7.4,536,11943,0.00,1.80,0.00,0.000,6,0.000,0.046,3145,1640,1520,0,0,0,0,0,0
$GC,12263,0.52,318.7,933.3,7.5,547,12267,0.00,0.60,0.00,0.000,4,0.000,0.043,3145,2046,1520,0,0,0,0,0,0
$GC,12520,0.55,318.7,914.5,6.6,554,12524,0.00,0.65,0.00,0.000,6,0.000,0.054,3145,1638,1519,0,0,0,0,0,0
$GC,12839,0.58,318.7,893.7,6.5,565,12843,0.08,0.95,0.00,0.000,4,0.129,0.041,3175,2259,1519,0,0,0,0,0,0
$GC,12917,0.52,338.0,888.5,5.6,567,12942,0.08,1.00,18.00,1.311,6,0.155,0.050,3158,1631,1448,0,0,0,0,0,0
$GC,13278,0.55,338.9,865.0,6.3,579,13281,0.00,1.23,0.00,0.000,4,0.000,0.041,3158,2413,1446,0,0,0,0,0,0
$GC,13389,0.55,352.8,858.2,5.8,582,13410,0.00,1.25,15.27,1.265,6,0.000,0.050,3158,1640,1388,0,0,0,0,0,0
$GC,13717,0.59,352.8,836.2,6.9,593,13721,0.00,0.43,0.00,0.000,4,0.000,0.045,3158,1942,1386,0,0,0,0,0,0
$GC,13774,0.63,374.8,832.4,5.5,594,13800,0.05,0.47,22.10,1.296,6,0.074,0.057,3189,1641,1298,0,0,0,0,0,0
$GC,14119,0.63,374.8,804.2,8.4,606,14122,0.00,0.77,0.00,0.000,4,0.000,0.043,3190,2150,1294,0,0,0,0,0,0
$GC,14196,0.63,374.8,797.4,8.0,608,14201,0.00,0.85,0.00,0.000,6,0.000,0.051,3193,1630,1294,0,0,0,0,0,0
$GC,14526,0.63,374.8,766.8,9.5,619,14530,0.00,1.40,0.00,0.000,4,0.000,0.043,3193,2519,1293,0,0,0,0,0,0
$GC,14598,0.59,374.8,759.7,9.6,621,14603,0.05,1.42,0.00,0.000,6,0.161,0.050,3182,1639,1292,0,0,0,0,0,0
$GC,14934,0.61,374.8,727.1,10.0,632,14937,0.00,0.50,0.00,0.000,4,0.000,0.045,3182,1983,1293,0,0,0,0,0,0
$GC,15017,0.61,374.8,718.9,9.4,634,15021,0.00,0.57,0.00,0.000,6,0.000,0.056,3182,1635,1292,0,0,0,0,0,0
$GC,15341,0.61,374.8,686.8,10.0,645,15344,0.00,1.58,0.00,0.000,4,0.000,0.044,3182,2626,1292,0,0,0,0,0,0
$GC,15413,0.61,374.8,679.9,9.2,647,15417,0.00,1.60,0.00,0.000,6,0.000,0.048,3186,1638,1292,0,0,0,0,0,0
$GC,15748,0.61,374.8,651.3,8.1,658,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1638,1292,0,0,0,0,0,0
$GC,16055,0.61,374.8,630.2,6.6,668,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1638,1292,0,0,0,0,0,0
$GC,16361,0.61,382.5,611.3,6.1,678,16372,0.00,0.73,7.60,0.999,4,0.000,0.044,3186,2089,1266,0,0,0,0,0,0
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$STATE,23926,end climb,SURFACE_DEPTH_REACHED
$STATE,23926,begin surface coast
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$STATE,23963,end surface coast,CONTROL_FINISHED_OK
$STATE,23963,begin surface
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$10V_AH,9.8,67.110
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$FG_AHR_10Vo,0.000
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$MEM,354612
$DATA_FILE_SIZE,67001,1113
$CAP_FILE_SIZE,200061,0
$CFSIZE,2097086464,2029486080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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