version: 66.07.10.p01
glider: 574
mission: 4
dive: 91
start: 10 11 112 18 13 2
data:
$ID,574
$MISSION,4
$DIVE,91
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,450
$T_MISSION,520
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,1
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$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,-5697.6104
$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,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,58
$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,70
$GPS1,111012,180423,-4312.727,-811.712,39,0.8,40,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-71.8
$GPS2,111012,181208,-4312.702,-811.789,17,0.8,17,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.098,0.213
$KALMAN_X,-84111.2,116.3,681.3,134596.5,-8203.2
$KALMAN_Y,3687.5,-22.7,-954.2,-41755.7,5957.5
$MHEAD_RNG_PITCHd_Wd,46.0,93231,-13.9,-7.407
$D_GRID,1000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,87,0.00,0.00,-60.08,0.000,2,0.000,0.000,67,1914,2813,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.3,10,127,12.35,2.35,-16.23,0.000,4,0.272,0.080,2834,516,3424,0,0,0,0,0,0
$GC,235,-0.50,-145.9,19.3,-11.0,34,243,0.05,2.17,0.00,0.000,6,0.151,0.040,2847,1880,3425,0,0,0,0,0,0
$GC,315,-0.50,-145.9,27.1,-9.7,47,322,0.00,0.80,0.00,0.000,4,0.000,0.045,2844,2413,3425,0,0,0,0,0,0
$GC,366,-0.50,-145.9,31.7,-9.0,55,370,0.00,0.77,0.00,0.000,6,0.000,0.049,2844,1918,3425,0,0,0,0,0,0
$GC,600,-0.50,-145.9,53.3,-9.7,96,607,0.00,1.02,0.00,0.000,4,0.000,0.058,2844,1275,3425,0,0,0,0,0,0
$GC,658,-0.50,-145.9,59.0,-10.0,106,665,0.00,1.00,0.00,0.000,6,0.000,0.037,2841,1926,3425,0,0,0,0,0,0
$GC,891,-0.50,-145.9,82.3,-10.0,147,897,0.00,1.12,0.00,0.000,4,0.000,0.056,2841,1227,3425,0,0,0,0,0,0
$GC,950,-0.50,-145.9,88.2,-10.3,157,954,0.00,1.05,0.00,0.000,6,0.000,0.037,2838,1910,3425,0,0,0,0,0,0
$GC,1287,-0.47,-145.9,122.6,-10.3,192,1291,0.08,0.70,0.00,0.000,4,0.199,0.054,2855,1471,3425,0,0,0,0,0,0
$GC,1346,-0.47,-145.9,128.7,-9.8,195,1352,0.00,0.70,0.00,0.000,6,0.000,0.038,2853,1932,3425,0,0,0,0,0,0
$GC,1665,-0.47,-145.9,158.3,-9.6,216,1668,0.00,1.08,0.00,0.000,4,0.000,0.054,2853,1258,3426,0,0,0,0,0,0
$GC,1719,-0.47,-145.9,163.6,-9.6,219,1724,0.00,1.02,0.00,0.000,6,0.000,0.038,2850,1919,3425,0,0,0,0,0,0
$GC,2043,-0.47,-145.9,194.0,-9.3,240,2047,0.00,1.08,0.00,0.000,4,0.000,0.055,2850,1241,3425,0,0,0,0,0,0
$GC,2098,-0.47,-145.9,199.3,-9.5,243,2102,0.00,1.05,0.00,0.000,6,0.000,0.036,2847,1923,3425,0,0,0,0,0,0
$GC,2423,-0.47,-145.9,228.5,-9.0,264,2426,0.00,1.52,0.00,0.000,4,0.000,0.056,2847,973,3425,0,0,0,0,0,0
$GC,2482,-0.47,-145.9,234.5,-9.2,267,2489,0.05,1.45,0.00,0.000,6,0.225,0.034,2854,1912,3426,0,0,0,0,0,0
$GC,2801,-0.50,-145.9,262.0,-9.0,286,2805,0.00,1.33,0.00,0.000,4,0.000,0.056,2854,1073,3426,0,0,0,0,0,0
$GC,2856,-0.53,-145.9,267.4,-9.7,288,2861,0.00,1.30,0.00,0.000,6,0.000,0.034,2851,1923,3425,0,0,0,0,0,0
$GC,3178,-0.55,-145.9,299.4,-10.3,304,3182,0.00,0.93,0.00,0.000,4,0.000,0.054,2851,1337,3426,0,0,0,0,0,0
$GC,3238,-0.57,-145.9,305.9,-10.5,306,3247,0.08,0.90,0.00,0.000,6,0.128,0.037,2816,1926,3426,0,0,0,0,0,0
$GC,3555,-0.51,-145.9,345.1,-12.6,322,3559,0.12,0.77,0.00,0.000,4,0.162,0.054,2850,1440,3426,0,0,0,0,0,0
$GC,3600,-0.53,-145.9,349.8,-9.4,324,3603,0.00,0.70,0.00,0.000,6,0.000,0.038,2850,1915,3426,0,0,0,0,0,0
$GC,3932,-0.55,-145.9,381.7,-9.3,340,3936,0.00,2.12,0.00,0.000,4,0.000,0.057,2850,578,3426,0,0,0,0,0,0
$GC,3996,-0.61,-145.9,387.4,-8.8,343,4001,0.08,2.03,0.00,0.000,6,0.127,0.032,2810,1922,3426,0,0,0,0,0,0
$GC,4324,-0.54,-145.9,424.9,-11.5,359,4329,0.10,1.10,0.00,0.000,4,0.183,0.051,2835,1222,3426,0,0,0,0,0,0
$GC,4378,-0.54,-145.9,430.8,-9.4,361,4383,0.00,1.08,0.00,0.000,6,0.000,0.032,2831,1932,3426,0,0,0,0,0,0
$GC,4702,-0.54,-145.9,458.9,-8.8,377,4706,0.00,0.25,0.00,0.000,4,0.000,0.053,2830,2145,3426,0,0,0,0,0,0
$GC,4733,-0.54,-145.9,461.9,-8.5,378,4735,0.00,0.38,0.00,0.000,6,0.000,0.051,2829,1889,3426,0,0,0,0,0,0
$GC,5051,-0.51,-145.9,487.2,-7.7,394,5053,0.05,0.00,0.00,0.000,6,0.216,0.000,2841,1887,3426,0,0,0,0,0,0
$GC,5359,-0.51,-145.9,509.3,-7.1,407,5363,0.00,0.93,0.00,0.000,4,0.000,0.052,2841,1284,3426,0,0,0,0,0,0
$GC,5413,-0.51,-145.9,513.4,-7.2,408,5418,0.00,0.95,0.00,0.000,6,0.000,0.033,2838,1913,3426,0,0,0,0,0,0
$GC,5732,-0.51,-145.9,538.2,-8.1,419,5736,0.00,0.55,0.00,0.000,4,0.000,0.051,2838,1544,3426,0,0,0,0,0,0
$GC,5803,-0.51,-145.9,544.3,-8.2,421,5807,0.00,0.55,0.00,0.000,6,0.000,0.038,2836,1919,3426,0,0,0,0,0,0
$GC,6138,-0.51,-145.9,571.2,-8.0,432,6142,0.00,2.22,0.00,0.000,4,0.000,0.055,2836,512,3426,0,0,0,0,0,0
$GC,6205,-0.53,-145.9,576.6,-7.5,434,6209,0.00,2.10,0.00,0.000,6,0.000,0.033,2828,1900,3426,0,0,0,0,0,0
$GC,6540,-0.51,-145.9,605.1,-8.5,445,6545,0.08,0.25,0.00,0.000,4,0.200,0.063,2844,1721,3425,0,0,0,0,0,0
$GC,6595,-0.51,-145.9,609.5,-8.2,446,6599,0.00,0.28,0.00,0.000,6,0.000,0.048,2844,1934,3425,0,0,0,0,0,0
$GC,6913,-0.53,-145.9,633.4,-7.8,457,6916,0.00,1.12,0.00,0.000,4,0.000,0.051,2844,1207,3424,0,0,0,0,0,0
$GC,6973,-0.55,-145.9,638.6,-8.5,458,6979,0.00,1.08,0.00,0.000,6,0.000,0.033,2839,1915,3425,0,0,0,0,0,0
$GC,7286,-0.55,-145.9,664.6,-8.7,469,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1915,3424,0,0,0,0,0,0
$GC,7592,-0.55,-145.9,690.7,-8.5,479,7595,0.00,0.93,0.00,0.000,4,0.000,0.051,2839,1316,3424,0,0,0,0,0,0
$GC,7651,-0.55,-145.9,695.8,-8.5,480,7657,0.00,0.93,0.00,0.000,6,0.000,0.035,2837,1923,3424,0,0,0,0,0,0
$GC,7964,-0.55,-145.9,721.1,-8.2,491,7968,0.00,1.00,0.00,0.000,4,0.000,0.051,2837,1279,3423,0,0,0,0,0,0
$GC,8024,-0.55,-145.9,726.2,-8.0,492,8030,0.00,0.98,0.00,0.000,6,0.000,0.035,2835,1917,3423,0,0,0,0,0,0
$GC,8337,-0.55,-145.9,752.6,-8.7,503,8341,0.00,0.62,0.00,0.000,4,0.000,0.051,2835,1500,3422,0,0,0,0,0,0
$GC,8391,-0.55,-145.9,757.7,-8.8,504,8395,0.00,0.62,0.00,0.000,6,0.000,0.038,2832,1920,3422,0,0,0,0,0,0
$GC,8709,-0.55,-145.9,785.0,-8.4,515,8713,0.00,1.77,0.00,0.000,4,0.000,0.053,2832,788,3422,0,0,0,0,0,0
$GC,8777,-0.55,-145.9,791.1,-8.9,517,8780,0.00,1.70,0.00,0.000,6,0.000,0.035,2827,1913,3422,0,0,0,0,0,0
$GC,9116,-0.55,-145.9,821.2,-8.7,528,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1913,3421,0,0,0,0,0,0
$GC,9423,-0.55,-145.9,848.1,-8.7,538,9426,0.00,0.28,0.00,0.000,4,0.000,0.059,2826,1713,3421,0,0,0,0,0,0
$GC,9460,-0.55,-145.9,851.5,-8.7,539,9462,0.00,0.30,0.00,0.000,6,0.000,0.048,2825,1930,3421,0,0,0,0,0,0
$GC,9791,-0.55,-145.9,881.2,-9.2,550,9795,0.00,1.23,0.00,0.000,4,0.000,0.051,2825,1154,3421,0,0,0,0,0,0
$GC,9850,-0.55,-145.9,886.9,-9.0,551,9856,0.00,1.15,0.00,0.000,6,0.000,0.035,2823,1900,3421,0,0,0,0,0,0
$GC,10163,-0.53,-145.9,918.5,-10.6,562,10165,0.08,0.00,0.00,0.000,6,0.206,0.000,2839,1901,3420,0,0,0,0,0,0
$GC,10470,-0.56,-145.9,947.1,-9.3,572,10473,0.00,0.62,0.00,0.000,4,0.000,0.051,2839,1491,3419,0,0,0,0,0,0
$GC,10518,-0.59,-145.9,951.9,-9.2,573,10523,0.00,0.65,0.00,0.000,6,0.000,0.038,2837,1925,3420,0,0,0,0,0,0
$GC,10843,-0.61,-145.9,982.4,-9.3,584,10847,0.08,1.05,0.00,0.000,4,0.142,0.051,2809,1269,3419,0,0,0,0,0,0
$GC,10902,-0.57,-145.9,989.1,-11.8,585,10909,0.10,0.98,0.00,0.000,6,0.181,0.036,2830,1911,3419,0,0,0,0,0,0
$STATE,11033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11033,begin apogee
$GC,11037,-0.19,0.0,1001.1,9.3,590,11163,0.38,0.00,123.30,1.475,6,0.138,0.000,2945,1649,2827,0,0,0,0,0,0
$STATE,11164,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11165,0.52,145.9,1006.3,0.0,594,11301,0.70,2.08,127.28,1.449,4,0.086,0.060,3179,509,2231,0,0,0,0,0,0
$GC,11395,0.35,145.9,1000.3,8.2,601,11400,0.17,1.88,0.00,0.000,6,0.171,0.034,3132,1651,2227,0,0,0,0,0,0
$GC,11725,0.29,171.8,979.0,6.5,612,11752,0.10,0.73,22.80,1.363,4,0.200,0.042,3108,2109,2126,0,0,0,0,0,0
$GC,11814,0.29,197.8,973.3,6.5,613,11844,0.00,0.73,24.23,1.366,6,0.000,0.052,3110,1661,2020,0,0,0,0,0,0
$GC,12158,0.32,228.4,951.4,6.4,625,12187,0.00,0.00,27.67,1.374,6,0.000,0.000,3109,1661,1894,0,0,0,0,0,0
$GC,12494,0.37,243.4,928.7,6.9,636,12513,0.08,0.52,14.27,1.286,4,0.127,0.043,3142,1996,1834,0,0,0,0,0,0
$GC,12559,0.37,243.4,923.3,9.4,638,12562,0.00,0.55,0.00,0.000,6,0.000,0.056,3143,1651,1833,0,0,0,0,0,0
$GC,12898,0.37,243.4,894.6,8.4,649,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1652,1830,0,0,0,0,0,0
$GC,13205,0.37,245.4,870.8,7.3,659,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1652,1829,0,0,0,0,0,0
$GC,13511,0.38,259.9,849.4,6.9,669,13528,0.00,0.00,15.38,1.278,6,0.000,0.000,3143,1652,1767,0,0,0,0,0,0
$GC,13817,0.38,268.1,827.6,7.1,679,13828,0.00,0.35,8.18,1.131,4,0.000,0.068,3143,1438,1734,0,0,0,0,0,0
$GC,13883,0.38,268.1,822.5,8.0,681,13885,0.00,0.32,0.00,0.000,6,0.000,0.047,3143,1663,1734,0,0,0,0,0,0
$GC,14214,0.38,270.8,798.3,7.3,692,14223,0.00,0.57,4.15,0.841,4,0.000,0.061,3145,1314,1722,0,0,0,0,0,0
$GC,14285,0.38,284.4,793.2,6.9,694,14302,0.00,0.52,13.98,1.230,6,0.000,0.037,3145,1671,1667,0,0,0,0,0,0
$GC,14615,0.40,313.4,771.0,6.4,705,14646,0.00,0.77,27.05,1.293,4,0.000,0.060,3145,1216,1549,0,0,0,0,0,0
$GC,14702,0.44,348.2,765.6,6.2,707,14738,0.00,0.65,32.72,1.301,6,0.000,0.035,3145,1658,1407,0,0,0,0,0,0
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$STATE,22743,end climb,SURFACE_DEPTH_REACHED
$STATE,22744,begin surface coast
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