version: 66.07.10.p01
glider: 574
mission: 4
dive: 479
start: 1 11 113 13 52 52
data:
$ID,574
$MISSION,4
$DIVE,479
$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,560
$T_MISSION,600
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3000
$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,-7346.4932
$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,2980
$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,31
$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,458
$GPS1,110113,133929,-4100.913,-448.803,73,1.1,73,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-73.8
$GPS2,110113,135235,-4100.934,-448.713,30,0.9,30,-22.6
$SPEED_LIMITS,0.102,0.196
$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,118.9,68417,-12.5,-5.893
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.66,-116.8,0.0,0.0,0,53,0.00,0.00,-24.42,0.000,2,0.000,0.000,69,1740,1770,0,0,0,0,0,0
$GC,56,-0.66,-116.8,3.1,-1.3,4,136,12.18,2.25,-60.22,0.000,4,0.258,0.065,2748,3105,3304,0,0,0,0,0,0
$GC,216,-0.66,-116.8,13.1,-10.3,30,224,0.05,2.22,0.00,0.000,6,0.139,0.048,2765,1734,3305,0,0,0,0,0,0
$GC,298,-0.71,-116.8,21.3,-10.2,43,305,0.00,1.67,0.00,0.000,4,0.000,0.062,2765,722,3305,0,0,0,0,0,0
$GC,396,-0.78,-116.8,31.3,-9.9,59,402,0.08,1.55,0.00,0.000,6,0.062,0.037,2715,1706,3305,0,0,0,0,0,0
$GC,632,-0.70,-116.8,56.6,-10.6,100,640,0.12,0.60,0.00,0.000,4,0.154,0.047,2748,2104,3305,0,0,0,0,0,0
$GC,684,-0.70,-116.8,62.2,-10.0,107,689,0.00,0.62,0.00,0.000,6,0.000,0.050,2748,1712,3305,0,0,0,0,0,0
$GC,1012,-0.73,-116.8,91.8,-8.2,138,1016,0.00,2.25,0.00,0.000,4,0.000,0.063,2748,326,3306,0,0,0,0,0,0
$GC,1213,-0.79,-116.8,108.4,-9.2,153,1217,0.00,2.20,0.00,0.000,6,0.000,0.038,2742,1732,3306,0,0,0,0,0,0
$GC,1538,-0.79,-116.8,143.3,-11.1,174,1541,0.00,1.45,0.00,0.000,4,0.000,0.056,2742,850,3307,0,0,0,0,0,0
$GC,1686,-0.81,-116.8,159.2,-10.3,182,1694,0.05,1.40,0.00,0.000,6,0.076,0.037,2708,1740,3306,0,0,0,0,0,0
$GC,2008,-0.75,-116.8,191.9,-9.8,203,2010,0.10,0.00,0.00,0.000,6,0.164,0.000,2735,1740,3306,0,0,0,0,0,0
$GC,2328,-0.75,-116.8,220.3,-8.6,220,2332,0.00,1.67,0.00,0.000,4,0.000,0.057,2735,713,3307,0,0,0,0,0,0
$GC,2412,-0.77,-116.8,228.2,-8.9,223,2417,0.00,1.58,0.00,0.000,6,0.000,0.036,2730,1725,3307,0,0,0,0,0,0
$GC,2728,-0.77,-116.8,257.7,-9.6,239,2732,0.00,0.88,0.00,0.000,4,0.000,0.054,2730,1186,3306,0,0,0,0,0,0
$GC,2799,-0.77,-116.8,264.7,-9.1,242,2804,0.00,0.88,0.00,0.000,6,0.000,0.037,2730,1745,3307,0,0,0,0,0,0
$GC,3127,-0.77,-116.8,297.2,-10.1,258,3131,0.00,0.77,0.00,0.000,4,0.000,0.054,2730,1269,3307,0,0,0,0,0,0
$GC,3205,-0.77,-116.8,305.3,-10.3,261,3209,0.00,0.73,0.00,0.000,6,0.000,0.037,2730,1734,3307,0,0,0,0,0,0
$GC,3535,-0.77,-116.8,339.7,-10.7,272,3538,0.00,1.08,0.00,0.000,4,0.000,0.054,2730,1077,3307,0,0,0,0,0,0
$GC,3637,-0.77,-116.8,350.7,-10.7,275,3640,0.00,1.00,0.00,0.000,6,0.000,0.037,2730,1724,3307,0,0,0,0,0,0
$GC,3977,-0.77,-116.8,387.5,-10.7,286,3981,0.00,0.55,0.00,0.000,4,0.000,0.054,2730,1379,3307,0,0,0,0,0,0
$GC,4088,-0.77,-116.8,399.4,-10.2,289,4092,0.00,0.55,0.00,0.000,6,0.000,0.041,2730,1737,3306,0,0,0,0,0,0
$GC,4418,-0.77,-116.8,433.6,-10.3,300,4422,0.00,0.93,0.00,0.000,4,0.000,0.053,2730,1164,3306,0,0,0,0,0,0
$GC,4496,-0.77,-116.8,441.6,-10.1,302,4500,0.00,0.90,0.00,0.000,6,0.000,0.039,2730,1734,3306,0,0,0,0,0,0
$GC,4826,-0.77,-116.8,473.1,-9.4,313,4829,0.00,1.12,0.00,0.000,4,0.000,0.054,2730,1047,3306,0,0,0,0,0,0
$GC,4909,-0.77,-116.8,481.0,-9.7,315,4913,0.00,1.08,0.00,0.000,6,0.000,0.037,2729,1734,3306,0,0,0,0,0,0
$GC,5233,-0.77,-116.8,510.0,-9.0,326,5237,0.00,0.80,0.00,0.000,4,0.000,0.055,2729,1243,3306,0,0,0,0,0,0
$GC,5327,-0.77,-116.8,518.7,-8.8,328,5332,0.00,0.77,0.00,0.000,6,0.000,0.038,2729,1738,3306,0,0,0,0,0,0
$GC,5640,-0.77,-116.8,546.4,-9.0,339,5644,0.00,0.77,0.00,0.000,4,0.000,0.054,2729,1258,3306,0,0,0,0,0,0
$GC,5728,-0.77,-116.8,554.8,-9.4,341,5733,0.00,0.75,0.00,0.000,6,0.000,0.040,2728,1735,3306,0,0,0,0,0,0
$GC,6047,-0.77,-116.8,584.6,-9.6,352,6051,0.00,0.50,0.00,0.000,4,0.000,0.055,2729,1419,3305,0,0,0,0,0,0
$GC,6119,-0.77,-116.8,591.8,-9.2,354,6123,0.00,0.50,0.00,0.000,6,0.000,0.044,2729,1741,3305,0,0,0,0,0,0
$GC,6455,-0.77,-116.8,623.8,-9.5,365,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1742,3304,0,0,0,0,0,0
$GC,6761,-0.77,-116.8,653.2,-9.5,375,6765,0.00,0.95,0.00,0.000,4,0.000,0.047,2727,2366,3304,0,0,0,0,0,0
$GC,6850,-0.81,-116.8,661.8,-9.7,377,6853,0.00,1.00,0.00,0.000,6,0.000,0.047,2726,1732,3303,0,0,0,0,0,0
$GC,7168,-0.81,-116.8,692.6,-9.8,388,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1732,3303,0,0,0,0,0,0
$GC,7474,-0.81,-116.8,723.3,-10.1,398,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1732,3303,0,0,0,0,0,0
$GC,7780,-0.81,-116.8,755.2,-10.5,408,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1732,3302,0,0,0,0,0,0
$GC,8087,-0.81,-116.8,787.1,-10.5,418,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1732,3302,0,0,0,0,0,0
$GC,8393,-0.81,-116.8,816.9,-9.4,428,8397,0.00,0.60,0.00,0.000,4,0.000,0.056,2727,1350,3301,0,0,0,0,0,0
$GC,8454,-0.81,-116.8,822.5,-9.1,429,8459,0.00,0.60,0.00,0.000,6,0.000,0.041,2725,1732,3301,0,0,0,0,0,0
$GC,8766,-0.81,-116.8,850.0,-8.7,440,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1732,3301,0,0,0,0,0,0
$GC,9073,-0.81,-116.8,875.1,-8.0,450,9076,0.00,1.90,0.00,0.000,4,0.000,0.057,2725,575,3301,0,0,0,0,0,0
$GC,9145,-0.84,-116.8,881.3,-8.0,452,9149,0.00,1.83,0.00,0.000,6,0.000,0.036,2723,1727,3301,0,0,0,0,0,0
$GC,9480,-0.84,-116.8,908.1,-8.3,463,9484,0.00,2.25,0.00,0.000,4,0.000,0.047,2712,3143,3300,0,0,0,0,0,0
$GC,9563,-0.89,-116.8,915.8,-9.8,465,9568,0.05,2.25,0.00,0.000,6,0.162,0.041,2687,1722,3300,0,0,0,0,0,0
$GC,9876,-0.84,-116.8,946.0,-10.0,475,9878,0.08,0.00,0.00,0.000,6,0.188,0.000,2705,1721,3300,0,0,0,0,0,0
$GC,10182,-0.84,-116.8,976.8,-10.0,485,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1721,3300,0,0,0,0,0,0
$STATE,10333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10333,begin apogee
$GC,10339,-0.26,0.0,992.3,10.1,490,10445,0.60,0.00,102.80,1.473,6,0.122,0.000,2888,1626,2827,0,0,0,0,0,0
$STATE,10445,end apogee,CONTROL_FINISHED_OK
$STATE,10446,begin loiter
$GC,10733,-0.25,237.8,1026.2,-8.1,503,10950,0.00,0.00,213.48,1.467,6,0.000,0.000,2888,1626,1857,0,0,0,0,0,0
$GC,11250,-0.33,237.8,1022.2,4.3,520,11254,0.00,2.28,0.00,0.000,4,0.000,0.061,2888,237,1847,0,0,0,0,0,0
$GC,11353,-0.28,237.8,1017.7,4.9,523,11357,0.00,2.20,0.00,0.000,6,0.000,0.036,2882,1652,1846,0,0,0,0,0,0
$GC,11693,-0.33,237.8,1003.5,4.4,534,11697,0.00,1.35,0.00,0.000,4,0.000,0.043,2877,2524,1844,0,0,0,0,0,0
$GC,11951,-0.40,237.8,992.6,4.1,541,11955,0.05,1.40,0.00,0.000,6,0.085,0.047,2849,1651,1844,0,0,0,0,0,0
$GC,12269,-0.36,237.8,978.0,4.7,552,12273,0.00,1.58,0.00,0.000,4,0.000,0.042,2843,2646,1843,0,0,0,0,0,0
$GC,12459,-0.31,237.8,968.8,5.1,557,12464,0.10,1.62,0.00,0.000,6,0.134,0.047,2875,1635,1842,0,0,0,0,0,0
$GC,12778,-0.31,237.8,954.3,4.5,568,12781,0.00,1.12,0.00,0.000,4,0.000,0.060,2875,943,1842,0,0,0,0,0,0
$GC,12913,-0.31,237.8,947.7,4.5,572,12917,0.00,1.08,0.00,0.000,6,0.000,0.037,2875,1640,1842,0,0,0,0,0,0
$GC,13254,-0.34,237.8,931.9,4.6,583,13258,0.00,1.88,0.00,0.000,4,0.000,0.061,2875,517,1842,0,0,0,0,0,0
$GC,13371,-0.29,237.8,926.4,4.8,586,13375,0.00,1.75,0.00,0.000,6,0.000,0.035,2867,1635,1841,0,0,0,0,0,0
$STATE,13448,end loiter,LOITER_COMPLETE
$STATE,13448,begin climb
$GC,13450,0.66,116.8,923.0,0.0,589,13456,1.00,2.22,0.00,0.000,4,0.117,0.044,3175,3042,1841,0,0,0,0,0,0
$GC,13590,0.46,138.8,916.0,5.1,593,13595,0.20,2.25,0.00,0.000,6,0.184,0.047,3136,1633,1842,0,0,0,0,0,0
$GC,13915,0.39,186.4,901.9,4.3,604,13919,0.10,1.20,0.00,0.000,4,0.202,0.043,3111,2395,1842,0,0,0,0,0,0
$GC,14155,0.37,229.3,891.9,4.4,611,14159,0.03,1.23,0.00,0.000,6,0.185,0.050,3106,1633,1842,0,0,0,0,0,0
$GC,14490,0.37,283.6,878.4,4.0,622,14536,0.00,2.12,41.00,1.383,4,0.000,0.044,3106,2936,1670,0,0,0,0,0,0
$GC,14712,0.41,283.6,866.1,6.1,628,14717,0.00,2.08,0.00,0.000,6,0.000,0.047,3106,1639,1667,0,0,0,0,0,0
$GC,15025,0.46,283.6,846.2,6.6,639,15029,0.08,0.40,0.00,0.000,4,0.128,0.050,3141,1920,1664,0,0,0,0,0,0
$GC,15119,0.42,283.6,839.5,6.6,641,15125,0.08,0.47,0.00,0.000,6,0.195,0.058,3119,1626,1664,0,0,0,0,0,0
$GC,15432,0.44,283.6,817.2,7.2,652,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1626,1664,0,0,0,0,0,0
$GC,15738,0.44,283.6,794.7,7.3,662,15741,0.00,0.80,0.00,0.000,4,0.000,0.043,3119,2155,1664,0,0,0,0,0,0
$GC,15843,0.44,283.6,787.0,8.0,665,15848,0.00,0.85,0.00,0.000,6,0.000,0.052,3119,1635,1664,0,0,0,0,0,0
$GC,16179,0.44,283.6,764.1,6.7,676,16183,0.00,0.62,0.00,0.000,4,0.000,0.044,3119,2056,1664,0,0,0,0,0,0
$GC,16357,0.44,283.6,752.4,6.3,681,16361,0.00,0.70,0.00,0.000,6,0.000,0.054,3119,1630,1664,0,0,0,0,0,0
$GC,16687,0.44,291.6,733.0,5.6,692,16697,0.00,0.00,7.78,1.068,6,0.000,0.000,3119,1630,1638,0,0,0,0,0,0
$GC,16994,0.47,301.0,716.0,5.6,702,17008,0.00,0.85,10.48,1.129,4,0.000,0.039,3119,2174,1599,0,0,0,0,0,0
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$STATE,27462,end climb,SURFACE_DEPTH_REACHED
$STATE,27462,begin surface coast
$FINISH,1.8,1.015023
$STATE,27499,end surface coast,CONTROL_FINISHED_OK
$STATE,27500,begin surface
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$10V_AH,9.8,67.508
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354512
$DATA_FILE_SIZE,76929,1254
$CAP_FILE_SIZE,231516,0
$CFSIZE,2097086464,2029060096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,110113,213346,-4100.319,-447.374,29,1.6,41,-22.6