version: 66.07.10.p01
glider: 574
mission: 4
dive: 489
start: 1 14 113 17 47 41
data:
$ID,574
$MISSION,4
$DIVE,489
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,4200
$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,3
$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,-7373.3901
$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,27
$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,468
$GPS1,140113,174552,-4054.042,-440.341,27,1.9,43,-22.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-70.7
$GPS2,140113,174718,-4054.031,-440.341,15,1.9,15,-22.6
$SPEED_LIMITS,0.099,0.194
$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,132.4,59866,-12.0,-5.690
$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,-0.64,-116.8,0.0,0.0,0,41,0.00,0.00,-12.85,0.000,2,0.000,0.000,71,1729,1348,0,0,0,0,0,0
$GC,44,-0.64,-116.8,3.0,-0.3,2,141,12.43,2.35,-77.30,0.000,4,0.259,0.073,2762,321,3303,0,0,0,0,0,0
$GC,245,-0.72,-116.8,15.8,-9.4,35,252,0.00,2.20,0.00,0.000,6,0.000,0.038,2757,1703,3304,0,0,0,0,0,0
$GC,326,-0.72,-116.8,23.9,-10.2,48,333,0.00,0.52,0.00,0.000,4,0.000,0.050,2756,2066,3304,0,0,0,0,0,0
$GC,383,-0.72,-116.8,29.9,-10.2,57,390,0.00,0.52,0.00,0.000,6,0.000,0.052,2755,1726,3304,0,0,0,0,0,0
$GC,460,-0.72,-116.8,37.8,-10.2,70,465,0.00,0.73,0.00,0.000,4,0.000,0.060,2755,1275,3305,0,0,0,0,0,0
$GC,556,-0.76,-116.8,47.2,-9.5,87,562,0.03,0.73,0.00,0.000,6,0.106,0.041,2729,1744,3305,0,0,0,0,0,0
$GC,783,-0.69,-116.8,69.6,-9.8,119,787,0.10,1.48,0.00,0.000,4,0.164,0.057,2755,871,3305,0,0,0,0,0,0
$GC,878,-0.76,-116.8,78.1,-7.8,127,883,0.03,1.33,0.00,0.000,6,0.106,0.037,2733,1715,3305,0,0,0,0,0,0
$GC,1203,-0.73,-116.8,110.6,-10.3,155,1207,0.00,0.70,0.00,0.000,4,0.000,0.055,2732,1284,3306,0,0,0,0,0,0
$GC,1289,-0.73,-116.8,119.5,-9.9,160,1293,0.00,0.70,0.00,0.000,6,0.000,0.040,2730,1741,3307,0,0,0,0,0,0
$GC,1621,-0.73,-116.8,150.5,-8.9,181,1625,0.00,1.65,0.00,0.000,4,0.000,0.057,2730,749,3307,0,0,0,0,0,0
$GC,1758,-0.73,-116.8,161.5,-8.5,187,1762,0.00,1.52,0.00,0.000,6,0.000,0.037,2730,1719,3307,0,0,0,0,0,0
$GC,2091,-0.73,-116.8,188.3,-8.3,203,2094,0.00,1.77,0.00,0.000,4,0.000,0.057,2730,636,3308,0,0,0,0,0,0
$GC,2181,-0.73,-116.8,196.7,-9.8,207,2185,0.00,1.70,0.00,0.000,6,0.000,0.035,2730,1734,3308,0,0,0,0,0,0
$GC,2501,-0.73,-116.8,228.3,-10.3,218,2504,0.00,0.90,0.00,0.000,4,0.000,0.054,2730,1181,3308,0,0,0,0,0,0
$GC,2584,-0.73,-116.8,237.8,-10.9,220,2588,0.00,0.85,0.00,0.000,6,0.000,0.035,2730,1737,3308,0,0,0,0,0,0
$GC,2908,-0.73,-116.8,273.7,-11.0,231,2912,0.00,2.25,0.00,0.000,4,0.000,0.057,2730,377,3309,0,0,0,0,0,0
$GC,3019,-0.77,-116.8,286.0,-11.1,234,3023,0.00,2.10,0.00,0.000,6,0.000,0.034,2730,1734,3309,0,0,0,0,0,0
$GC,3343,-0.77,-116.8,317.5,-9.6,245,3347,0.00,1.92,0.00,0.000,4,0.000,0.056,2730,579,3309,0,0,0,0,0,0
$GC,3437,-0.80,-116.8,326.4,-8.4,247,3442,0.00,1.80,0.00,0.000,6,0.000,0.035,2730,1720,3309,0,0,0,0,0,0
$GC,3750,-0.83,-116.8,354.3,-9.0,258,3754,0.00,0.40,0.00,0.000,4,0.000,0.048,2729,2015,3309,0,0,0,0,0,0
$GC,3828,-0.83,-116.8,361.6,-9.0,260,3832,0.00,0.47,0.00,0.000,6,0.000,0.049,2729,1714,3309,0,0,0,0,0,0
$GC,4158,-0.83,-116.8,392.9,-9.9,271,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1714,3310,0,0,0,0,0,0
$GC,4464,-0.83,-116.8,424.9,-10.7,281,4467,0.00,0.50,0.00,0.000,4,0.000,0.056,2729,1387,3310,0,0,0,0,0,0
$GC,4547,-0.83,-116.8,434.0,-10.6,283,4551,0.00,0.55,0.00,0.000,6,0.000,0.040,2729,1746,3310,0,0,0,0,0,0
$GC,4871,-0.83,-116.8,468.5,-10.8,294,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1746,3310,0,0,0,0,0,0
$GC,5177,-0.83,-116.8,500.6,-10.3,304,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1746,3310,0,0,0,0,0,0
$GC,5484,-0.83,-116.8,529.8,-9.1,314,5487,0.00,1.65,0.00,0.000,4,0.000,0.057,2729,751,3310,0,0,0,0,0,0
$GC,5573,-0.88,-116.8,537.6,-7.9,316,5577,0.08,1.52,0.00,0.000,6,0.067,0.036,2686,1721,3310,0,0,0,0,0,0
$GC,5891,-0.81,-116.8,565.6,-8.9,327,5893,0.12,0.00,0.00,0.000,6,0.147,0.000,2722,1721,3309,0,0,0,0,0,0
$GC,6197,-0.81,-116.8,590.1,-7.9,337,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1721,3310,0,0,0,0,0,0
$GC,6503,-0.81,-116.8,616.8,-8.9,347,6506,0.00,1.62,0.00,0.000,4,0.000,0.058,2722,714,3310,0,0,0,0,0,0
$GC,6615,-0.86,-116.8,626.9,-9.0,350,6618,0.00,1.60,0.00,0.000,6,0.000,0.037,2717,1730,3310,0,0,0,0,0,0
$GC,6944,-0.86,-116.8,659.2,-10.1,361,6948,0.00,1.98,0.00,0.000,4,0.000,0.058,2717,552,3310,0,0,0,0,0,0
$GC,7201,-0.91,-116.8,685.7,-10.8,368,7206,0.08,1.88,0.00,0.000,6,0.068,0.036,2666,1738,3309,0,0,0,0,0,0
$GC,7520,-0.80,-116.8,721.4,-11.4,379,7524,0.20,0.50,0.00,0.000,4,0.140,0.056,2726,1429,3309,0,0,0,0,0,0
$GC,7722,-0.85,-116.8,742.4,-9.5,385,7727,0.03,0.45,0.00,0.000,6,0.093,0.046,2701,1735,3310,0,0,0,0,0,0
$GC,8065,-0.81,-116.8,776.9,-9.9,396,8069,0.05,0.85,0.00,0.000,4,0.209,0.054,2715,1223,3309,0,0,0,0,0,0
$GC,8147,-0.81,-116.8,785.5,-9.8,398,8152,0.00,0.80,0.00,0.000,6,0.000,0.041,2714,1727,3309,0,0,0,0,0,0
$GC,8473,-0.84,-116.8,815.3,-9.1,409,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1727,3309,0,0,0,0,0,0
$GC,8780,-0.84,-116.8,843.0,-8.7,419,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1727,3309,0,0,0,0,0,0
$GC,9085,-0.72,-116.8,875.6,-10.2,429,9090,0.12,2.38,0.00,0.000,4,0.155,0.060,2751,328,3309,0,0,0,0,0,0
$GC,9151,-0.36,-116.8,883.2,-14.4,431,9157,0.57,2.20,0.00,0.000,6,0.268,0.037,2853,1725,3308,0,0,0,0,0,0
$GC,9481,-0.67,-116.8,915.3,-10.2,442,9486,0.28,2.35,0.00,0.000,4,0.096,0.061,2762,327,3309,0,0,0,0,0,0
$GC,9671,-0.87,-116.8,934.2,-9.6,447,9678,0.20,2.22,0.00,0.000,6,0.093,0.038,2694,1737,3309,0,0,0,0,0,0
$GC,9984,-0.87,-116.8,966.3,-10.3,458,9988,0.00,0.75,0.00,0.000,4,0.000,0.056,2694,1277,3309,0,0,0,0,0,0
$GC,10053,-0.84,-116.8,973.1,-9.8,460,10057,0.03,0.73,0.00,0.000,6,0.167,0.046,2701,1734,3309,0,0,0,0,0,0
$STATE,10238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10238,begin apogee
$GC,10243,-0.26,0.0,992.1,10.1,466,10352,0.62,0.00,104.95,1.477,6,0.116,0.000,2893,1637,2827,0,0,0,0,0,0
$STATE,10352,end apogee,CONTROL_FINISHED_OK
$STATE,10352,begin loiter
$GC,10638,-0.25,246.5,1026.1,-8.1,479,10869,0.00,2.53,221.70,1.473,4,0.000,0.046,2891,3010,1820,0,0,0,0,0,0
$GC,10942,-0.31,246.5,1030.4,5.2,488,10947,0.00,2.28,0.00,0.000,6,0.000,0.044,2891,1652,1816,0,0,0,0,0,0
$GC,11255,-0.39,246.5,1014.5,5.5,499,11260,0.12,2.33,0.00,0.000,4,0.106,0.062,2847,232,1813,0,0,0,0,0,0
$GC,11344,-0.28,246.5,1009.1,6.1,501,11350,0.17,2.20,0.00,0.000,6,0.161,0.035,2883,1648,1810,0,0,0,0,0,0
$GC,11657,-0.34,246.5,991.3,5.9,512,11661,0.00,1.50,0.00,0.000,4,0.000,0.060,2882,745,1810,0,0,0,0,0,0
$GC,11785,-0.34,246.5,983.5,6.5,515,11791,0.00,1.40,0.00,0.000,6,0.000,0.036,2878,1648,1809,0,0,0,0,0,0
$GC,12099,-0.39,246.5,965.7,5.6,526,12103,0.08,0.98,0.00,0.000,4,0.135,0.042,2840,2298,1809,0,0,0,0,0,0
$GC,12142,-0.39,246.5,963.3,5.0,527,12146,0.00,1.05,0.00,0.000,6,0.000,0.048,2840,1635,1808,0,0,0,0,0,0
$GC,12472,-0.34,246.5,946.6,5.0,538,12477,0.10,2.30,0.00,0.000,4,0.177,0.061,2865,237,1808,0,0,0,0,0,0
$GC,12556,-0.27,246.5,942.9,4.9,540,12560,0.10,2.17,0.00,0.000,6,0.176,0.036,2887,1636,1807,0,0,0,0,0,0
$GC,12869,-0.33,246.5,931.3,3.4,550,12873,0.00,2.20,0.00,0.000,4,0.000,0.044,2879,3042,1807,0,0,0,0,0,0
$GC,12924,-0.38,246.5,929.5,3.6,551,12930,0.08,2.22,0.00,0.000,6,0.129,0.044,2849,1642,1807,0,0,0,0,0,0
$GC,13238,-0.36,246.5,920.4,2.9,562,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1642,1807,0,0,0,0,0,0
$GC,13543,-0.32,246.5,911.5,3.0,572,13548,0.10,1.45,0.00,0.000,4,0.183,0.058,2874,757,1807,0,0,0,0,0,0
$GC,13717,-0.28,246.5,905.9,3.5,577,13721,0.03,1.38,0.00,0.000,6,0.182,0.036,2878,1642,1807,0,0,0,0,0,0
$GC,14052,-0.33,246.5,892.3,4.5,588,14056,0.00,2.35,0.00,0.000,4,0.000,0.062,2879,234,1807,0,0,0,0,0,0
$GC,14089,-0.33,246.5,890.4,5.3,589,14094,0.00,2.22,0.00,0.000,6,0.000,0.035,2877,1638,1806,0,0,0,0,0,0
$GC,14420,-0.35,246.5,873.6,5.3,600,14424,0.00,2.20,0.00,0.000,4,0.000,0.045,2868,3042,1807,0,0,0,0,0,0
$GC,14458,-0.37,246.5,871.4,6.0,601,14462,0.00,2.25,0.00,0.000,6,0.000,0.045,2868,1637,1806,0,0,0,0,0,0
$STATE,14540,end loiter,LOITER_COMPLETE
$STATE,14540,begin climb
$GC,14543,0.64,116.8,867.3,0.0,604,14548,0.98,2.35,0.00,0.000,4,0.115,0.063,3174,236,1807,0,0,0,0,0,0
$GC,14707,0.43,116.8,857.4,5.7,609,14712,0.20,2.20,0.00,0.000,6,0.181,0.037,3126,1644,1806,0,0,0,0,0,0
$GC,15044,0.35,131.0,839.5,5.2,620,15045,0.12,0.00,0.00,0.000,6,0.180,0.000,3094,1656,1807,0,0,0,0,0,0
$GC,15348,0.35,158.3,824.7,4.8,630,15349,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1656,1807,0,0,0,0,0,0
$GC,15655,0.35,208.4,811.3,4.0,640,15658,0.00,1.50,0.00,0.000,4,0.000,0.060,3099,748,1807,0,0,0,0,0,0
$GC,15814,0.36,270.3,805.5,3.7,644,15839,0.00,1.40,20.67,1.305,6,0.000,0.037,3099,1648,1723,0,0,0,0,0,0
$GC,16159,0.36,321.1,791.5,4.0,656,16211,0.00,0.82,48.58,1.339,4,0.000,0.060,3099,1177,1517,0,0,0,0,0,0
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$STATE,26375,end climb,SURFACE_DEPTH_REACHED
$STATE,26375,begin surface coast
$FINISH,1.8,1.021444
$STATE,26412,end surface coast,CONTROL_FINISHED_OK
$STATE,26413,begin surface
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$TCM_TEMP,13.10
$XPDR_PINGS,0
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$10V_AH,9.8,68.850
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354648
$DATA_FILE_SIZE,66939,1136
$CAP_FILE_SIZE,235165,0
$CFSIZE,2097086464,2027421696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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