version: 66.07.10.p01
glider: 574
mission: 4
dive: 512
start: 1 22 113 5 4 59
data:
$ID,574
$MISSION,4
$DIVE,512
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,160
$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,-7431.1567
$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,1580
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,47
$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,491
$GPS1,220113,050305,-4059.547,-427.447,35,1.0,35,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-74.1
$GPS2,220113,050436,-4059.532,-427.441,16,1.8,16,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4108.884,-420.270
$TGT_RADIUS,1852.000
$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,172.6,20000,-12.6,-5.632
$D_GRID,980
$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,-0.67,-107.0,0.0,0.0,0,52,0.00,0.00,-24.85,0.000,2,0.000,0.000,70,1586,1901,0,0,0,0,0,0
$GC,55,-0.67,-107.0,3.2,-1.4,4,118,12.50,1.70,-43.03,0.000,4,0.262,0.063,2748,2644,3266,0,0,0,0,0,0
$GC,158,-0.65,-107.0,10.0,-9.0,20,165,0.05,1.73,0.00,0.000,6,0.146,0.049,2765,1585,3267,0,0,0,0,0,0
$GC,239,-0.67,-107.0,18.7,-11.0,33,246,0.00,2.17,0.00,0.000,4,0.000,0.065,2765,291,3267,0,0,0,0,0,0
$GC,392,-0.79,-107.0,36.0,-11.1,59,397,0.12,2.00,0.00,0.000,6,0.089,0.036,2710,1570,3267,0,0,0,0,0,0
$GC,628,-0.74,-107.0,63.0,-11.9,99,633,0.12,1.33,0.00,0.000,4,0.151,0.057,2745,783,3268,0,0,0,0,0,0
$GC,719,-0.77,-107.0,73.5,-11.5,107,723,0.00,1.25,0.00,0.000,6,0.000,0.035,2742,1586,3268,0,0,0,0,0,0
$GC,1055,-0.82,-107.0,108.7,-10.4,136,1060,0.08,1.98,0.00,0.000,4,0.125,0.058,2704,402,3268,0,0,0,0,0,0
$GC,1218,-0.82,-107.0,125.4,-9.5,145,1223,0.00,1.85,0.00,0.000,6,0.000,0.034,2701,1575,3268,0,0,0,0,0,0
$GC,1556,-0.78,-107.0,157.5,-9.8,166,1560,0.10,2.03,0.00,0.000,4,0.169,0.058,2731,367,3268,0,0,0,0,0,0
$GC,1814,-0.85,-107.0,184.4,-10.2,177,1819,0.08,1.88,0.00,0.000,6,0.121,0.034,2694,1589,3269,0,0,0,0,0,0
$GC,2154,-0.81,-107.0,218.4,-9.9,191,2159,0.10,2.40,0.00,0.000,4,0.160,0.058,2721,166,3269,0,0,0,0,0,0
$GC,2411,-0.90,-107.0,243.0,-9.6,198,2417,0.08,2.22,0.00,0.000,6,0.120,0.034,2681,1587,3270,0,0,0,0,0,0
$GC,2725,-0.82,-107.0,273.2,-9.9,209,2730,0.12,2.40,0.00,0.000,4,0.152,0.058,2718,173,3270,0,0,0,0,0,0
$GC,2740,-0.77,-107.0,275.0,-10.1,209,2745,0.08,2.20,0.00,0.000,6,0.170,0.033,2728,1583,3270,0,0,0,0,0,0
$GC,3054,-0.80,-107.0,303.4,-9.2,219,3057,0.00,1.77,0.00,0.000,4,0.000,0.045,2722,2719,3270,0,0,0,0,0,0
$GC,3115,-0.83,-107.0,309.2,-9.2,220,3120,0.00,1.85,0.00,0.000,6,0.000,0.043,2721,1542,3270,0,0,0,0,0,0
$GC,3428,-0.86,-107.0,338.0,-9.2,231,3432,0.00,2.28,0.00,0.000,4,0.000,0.057,2722,167,3270,0,0,0,0,0,0
$GC,3685,-0.90,-107.0,363.0,-10.4,238,3691,0.08,2.20,0.00,0.000,6,0.122,0.031,2681,1595,3270,0,0,0,0,0,0
$GC,3998,-0.83,-107.0,395.5,-10.6,249,4003,0.10,2.38,0.00,0.000,4,0.165,0.055,2711,176,3270,0,0,0,0,0,0
$GC,4221,-0.87,-107.0,418.6,-9.8,255,4227,0.00,2.15,0.00,0.000,6,0.000,0.031,2703,1590,3270,0,0,0,0,0,0
$GC,4534,-0.87,-107.0,447.6,-9.0,266,4538,0.00,2.35,0.00,0.000,4,0.000,0.056,2703,170,3270,0,0,0,0,0,0
$GC,4791,-0.90,-107.0,472.2,-9.8,273,4797,0.00,2.17,0.00,0.000,6,0.000,0.031,2702,1579,3269,0,0,0,0,0,0
$GC,5104,-0.90,-107.0,503.3,-10.2,284,5108,0.00,2.22,0.00,0.000,4,0.000,0.054,2702,230,3269,0,0,0,0,0,0
$GC,5305,-0.92,-107.0,525.0,-11.0,290,5309,0.05,2.08,0.00,0.000,6,0.166,0.032,2678,1590,3268,0,0,0,0,0,0
$GC,5640,-0.88,-107.0,561.2,-11.1,301,5644,0.08,2.35,0.00,0.000,4,0.185,0.055,2699,173,3269,0,0,0,0,0,0
$GC,5897,-0.91,-107.0,591.0,-12.1,308,5902,0.00,2.15,0.00,0.000,6,0.000,0.031,2690,1579,3268,0,0,0,0,0,0
$GC,6210,-0.87,-107.0,627.2,-11.7,319,6214,0.00,2.25,0.00,0.000,4,0.000,0.055,2690,209,3268,0,0,0,0,0,0
$GC,6356,-0.87,-107.0,644.6,-12.2,323,6360,0.00,2.10,0.00,0.000,6,0.000,0.032,2688,1579,3268,0,0,0,0,0,0
$GC,6675,-0.83,-107.0,681.0,-11.3,334,6677,0.08,0.00,0.00,0.000,6,0.192,0.000,2708,1579,3268,0,0,0,0,0,0
$GC,6981,-0.83,-107.0,713.4,-10.3,344,6984,0.00,1.85,0.00,0.000,4,0.000,0.054,2708,449,3267,0,0,0,0,0,0
$GC,7109,-0.86,-107.0,727.0,-10.8,347,7114,0.00,1.75,0.00,0.000,6,0.000,0.033,2704,1575,3267,0,0,0,0,0,0
$GC,7422,-0.86,-107.0,758.0,-10.1,358,7426,0.00,1.42,0.00,0.000,4,0.000,0.052,2704,700,3266,0,0,0,0,0,0
$GC,7574,-0.86,-107.0,773.6,-10.6,362,7578,0.00,1.38,0.00,0.000,6,0.000,0.034,2701,1581,3266,0,0,0,0,0,0
$GC,7897,-0.86,-107.0,805.7,-10.0,373,7901,0.00,2.35,0.00,0.000,4,0.000,0.055,2701,172,3266,0,0,0,0,0,0
$GC,8087,-0.89,-107.0,825.7,-9.0,378,8092,0.00,2.20,0.00,0.000,6,0.000,0.034,2701,1581,3265,0,0,0,0,0,0
$GC,8400,-0.89,-107.0,857.5,-10.3,389,8404,0.00,2.25,0.00,0.000,4,0.000,0.057,2701,217,3265,0,0,0,0,0,0
$GC,8535,-0.92,-107.0,872.4,-11.0,393,8539,0.00,2.12,0.00,0.000,6,0.000,0.034,2701,1582,3265,0,0,0,0,0,0
$GC,8864,-0.92,-107.0,906.4,-10.3,404,8867,0.00,1.55,0.00,0.000,4,0.000,0.053,2701,643,3264,0,0,0,0,0,0
$GC,9009,-0.92,-107.0,922.3,-11.1,408,9013,0.00,1.45,0.00,0.000,6,0.000,0.033,2701,1572,3264,0,0,0,0,0,0
$GC,9339,-0.94,-107.0,957.1,-10.5,419,9344,0.08,1.75,0.00,0.000,4,0.137,0.054,2673,536,3264,0,0,0,0,0,0
$GC,9444,-0.89,-107.0,969.2,-11.9,422,9449,0.05,1.65,0.00,0.000,6,0.145,0.034,2687,1586,3263,0,0,0,0,0,0
$STATE,9563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9563,begin apogee
$GC,9568,-0.26,0.0,982.0,10.9,426,9666,0.68,0.00,94.57,1.468,6,0.119,0.000,2891,1494,2827,0,0,0,0,0,0
$STATE,9667,end apogee,CONTROL_FINISHED_OK
$STATE,9667,begin loiter
$GC,9961,-0.25,237.2,1018.0,-8.4,439,10182,0.00,1.05,211.80,1.452,4,0.000,0.056,2891,933,1860,0,0,0,0,0,0
$GC,10435,-0.34,237.2,1016.8,4.7,453,10441,0.05,0.90,0.00,0.000,6,0.096,0.035,2869,1523,1852,0,0,0,0,0,0
$GC,10748,-0.38,237.2,1000.6,5.2,464,10752,0.00,2.25,0.00,0.000,4,0.000,0.060,2869,170,1849,0,0,0,0,0,0
$GC,10838,-0.35,237.2,995.9,5.2,466,10843,0.00,2.03,0.00,0.000,6,0.000,0.033,2863,1487,1848,0,0,0,0,0,0
$GC,11151,-0.37,237.2,980.5,5.0,477,11155,0.00,2.22,0.00,0.000,4,0.000,0.044,2862,2911,1848,0,0,0,0,0,0
$GC,11369,-0.42,237.2,969.6,4.9,483,11373,0.05,2.25,0.00,0.000,6,0.165,0.044,2838,1500,1847,0,0,0,0,0,0
$GC,11682,-0.39,237.2,955.6,4.4,493,11686,0.00,2.22,0.00,0.000,4,0.000,0.043,2829,2907,1847,0,0,0,0,0,0
$GC,11833,-0.35,237.2,948.8,4.8,497,11838,0.12,2.28,0.00,0.000,6,0.158,0.044,2860,1493,1847,0,0,0,0,0,0
$GC,12146,-0.35,237.2,936.5,3.9,507,12150,0.00,2.20,0.00,0.000,4,0.000,0.060,2861,166,1847,0,0,0,0,0,0
$GC,12242,-0.30,237.2,932.6,4.2,510,12247,0.10,2.08,0.00,0.000,6,0.171,0.034,2877,1512,1847,0,0,0,0,0,0
$GC,12577,-0.36,237.2,921.0,3.4,521,12581,0.00,2.15,0.00,0.000,4,0.000,0.045,2874,2882,1847,0,0,0,0,0,0
$GC,12835,-0.43,237.2,912.4,3.5,528,12841,0.10,2.20,0.00,0.000,6,0.108,0.045,2835,1501,1847,0,0,0,0,0,0
$GC,13148,-0.37,237.2,902.7,3.2,539,13153,0.10,2.25,0.00,0.000,4,0.183,0.042,2849,2907,1847,0,0,0,0,0,0
$GC,13405,-0.37,237.2,894.3,3.0,546,13411,0.00,2.30,0.00,0.000,6,0.000,0.044,2849,1497,1847,0,0,0,0,0,0
$GC,13719,-0.35,237.2,884.3,3.1,557,13724,0.08,2.25,0.00,0.000,4,0.203,0.042,2857,2904,1847,0,0,0,0,0,0
$STATE,13855,end loiter,LOITER_COMPLETE
$STATE,13855,begin climb
$GC,13857,0.67,107.0,880.2,0.0,561,13863,1.12,2.28,0.00,0.000,6,0.113,0.044,3193,1490,1848,0,0,0,0,0,0
$GC,14184,0.40,160.2,868.0,3.7,572,14189,0.30,2.33,0.00,0.000,4,0.184,0.043,3113,2908,1848,0,0,0,0,0,0
$GC,14442,0.28,234.1,860.1,3.0,579,14448,0.20,2.30,0.00,0.000,6,0.171,0.046,3072,1491,1849,0,0,0,0,0,0
$GC,14755,0.28,321.7,852.2,2.5,590,14839,0.00,1.00,78.65,1.385,4,0.000,0.040,3072,2083,1514,0,0,0,0,0,0
$GC,15044,0.38,345.4,838.3,4.8,598,15071,0.05,0.95,22.73,1.310,6,0.073,0.051,3104,1499,1417,0,0,0,0,0,0
$GC,15388,0.44,345.4,818.4,5.8,610,15389,0.05,0.00,0.00,0.000,6,0.168,0.000,3132,1499,1413,0,0,0,0,0,0
$GC,15691,0.44,345.4,799.8,6.1,620,15694,0.00,1.02,0.00,0.000,4,0.000,0.041,3132,2157,1411,0,0,0,0,0,0
$GC,15949,0.44,348.9,783.6,5.5,627,15953,0.00,1.08,0.00,0.000,6,0.000,0.052,3132,1499,1411,0,0,0,0,0,0
$GC,16267,0.44,348.9,763.6,6.3,638,16271,0.00,1.58,0.00,0.000,4,0.000,0.042,3132,2484,1410,0,0,0,0,0,0
$GC,16456,0.44,348.9,751.3,6.1,643,16461,0.00,1.62,0.00,0.000,6,0.000,0.050,3132,1494,1409,0,0,0,0,0,0
$GC,16775,0.44,348.9,729.4,7.0,654,16776,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1494,1409,0,0,0,0,0,0
$GC,17081,0.44,348.9,706.7,7.4,664,17085,0.00,0.43,0.00,0.000,4,0.000,0.045,3132,1787,1409,0,0,0,0,0,0
$GC,17159,0.44,348.9,700.9,8.1,666,17163,0.00,0.47,0.00,0.000,6,0.000,0.058,3132,1495,1409,0,0,0,0,0,0
$GC,17489,0.44,348.9,676.3,7.5,677,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1495,1409,0,0,0,0,0,0
$GC,17795,0.44,348.9,653.0,7.6,687,17796,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1495,1409,0,0,0,0,0,0
$GC,18101,0.44,348.9,630.8,7.0,697,18105,0.00,2.17,0.00,0.000,4,0.000,0.065,3132,198,1409,0,0,0,0,0,0
$GC,18359,0.48,348.9,614.3,6.7,704,18364,0.00,2.03,0.00,0.000,6,0.000,0.037,3133,1499,1407,0,0,0,0,0,0
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$STATE,26774,end climb,SURFACE_DEPTH_REACHED
$STATE,26774,begin surface coast
$FINISH,1.7,1.025435
$STATE,26828,end surface coast,CONTROL_FINISHED_OK
$STATE,26828,begin surface
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$10V_AH,9.8,71.890
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.525,176.550,434.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,18.719,3204.210,18770.654,520.519,4204.887,280.539,0.000,2436.214,0.000,4112.561,0.000,1.012,0.000
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$MEM,354568
$DATA_FILE_SIZE,66831,1163
$CAP_FILE_SIZE,238895,0
$CFSIZE,2097086464,2023653376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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