version: 66.07.10.p01
glider: 574
mission: 4
dive: 109
start: 10 16 112 14 34 59
data:
$ID,574
$MISSION,4
$DIVE,109
$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,-5757.1006
$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,27
$R_STBD_OVSHOOT,44
$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,88
$GPS1,161012,142505,-4227.947,-752.561,26,1.3,27,-21.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-73.5
$GPS2,161012,143405,-4227.932,-752.507,43,1.4,44,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.086,-0.218
$KALMAN_X,-119175.6,79.7,40.3,196523.8,1240.3
$KALMAN_Y,63017.8,-509.8,-658.5,-17973.2,9198.5
$MHEAD_RNG_PITCHd_Wd,223.3,140396,-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,-145.9,0.0,0.0,0,69,0.00,0.00,-42.28,0.000,2,0.000,0.000,69,1919,2611,0,0,0,0,0,0
$GC,71,-0.52,-145.9,3.1,-1.5,7,115,12.43,2.25,-23.48,0.000,4,0.272,0.062,2823,3310,3423,0,0,0,0,0,0
$GC,223,-0.52,-145.9,17.6,-9.0,32,230,0.05,2.28,0.00,0.000,6,0.144,0.053,2840,1913,3424,0,0,0,0,0,0
$GC,303,-0.50,-145.9,24.9,-9.7,45,310,0.00,0.75,0.00,0.000,4,0.000,0.063,2840,1443,3424,0,0,0,0,0,0
$GC,354,-0.47,-145.9,29.9,-9.2,53,362,0.05,0.73,0.00,0.000,6,0.158,0.044,2854,1910,3424,0,0,0,0,0,0
$GC,431,-0.47,-145.9,35.3,-6.2,66,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1910,3424,0,0,0,0,0,0
$GC,668,-0.49,-145.9,53.7,-8.3,107,673,0.00,1.62,0.00,0.000,4,0.000,0.067,2854,898,3424,0,0,0,0,0,0
$GC,760,-0.52,-145.9,61.6,-8.6,123,766,0.00,1.60,0.00,0.000,6,0.000,0.043,2851,1903,3424,0,0,0,0,0,0
$GC,1104,-0.52,-145.9,90.7,-9.0,184,1109,0.00,0.28,0.00,0.000,4,0.000,0.069,2851,1723,3424,0,0,0,0,0,0
$GC,1249,-0.52,-145.9,104.0,-9.1,205,1254,0.00,0.30,0.00,0.000,6,0.000,0.054,2850,1926,3424,0,0,0,0,0,0
$GC,1569,-0.52,-145.9,131.9,-8.6,226,1572,0.00,1.70,0.00,0.000,4,0.000,0.067,2850,865,3424,0,0,0,0,0,0
$GC,1663,-0.52,-145.9,140.7,-8.9,231,1669,0.00,1.65,0.00,0.000,6,0.000,0.043,2844,1900,3424,0,0,0,0,0,0
$GC,1984,-0.52,-145.9,168.2,-8.5,252,1987,0.00,0.62,0.00,0.000,4,0.000,0.062,2844,1506,3425,0,0,0,0,0,0
$GC,2044,-0.52,-145.9,173.6,-8.5,255,2050,0.00,0.65,0.00,0.000,6,0.000,0.045,2842,1927,3424,0,0,0,0,0,0
$GC,2364,-0.52,-145.9,200.8,-8.8,276,2368,0.00,1.35,0.00,0.000,4,0.000,0.063,2842,1101,3425,0,0,0,0,0,0
$GC,2469,-0.52,-145.9,210.6,-8.9,282,2474,0.00,1.27,0.00,0.000,6,0.000,0.042,2837,1906,3425,0,0,0,0,0,0
$GC,2796,-0.52,-145.9,238.4,-8.4,303,2800,0.00,0.98,0.00,0.000,4,0.000,0.061,2837,1301,3425,0,0,0,0,0,0
$GC,2881,-0.52,-145.9,245.4,-7.6,308,2884,0.00,0.95,0.00,0.000,6,0.000,0.046,2834,1910,3425,0,0,0,0,0,0
$GC,3215,-0.52,-145.9,275.3,-9.4,325,3218,0.00,0.35,0.00,0.000,4,0.000,0.064,2834,1680,3425,0,0,0,0,0,0
$GC,3297,-0.52,-145.9,283.3,-9.4,328,3305,0.00,0.38,0.00,0.000,6,0.000,0.051,2832,1929,3425,0,0,0,0,0,0
$GC,3612,-0.52,-145.9,312.0,-9.3,344,3616,0.00,1.65,0.00,0.000,4,0.000,0.064,2832,920,3425,0,0,0,0,0,0
$GC,3706,-0.52,-145.9,321.0,-8.5,348,3712,0.05,1.55,0.00,0.000,6,0.224,0.041,2839,1903,3425,0,0,0,0,0,0
$GC,4033,-0.52,-145.9,349.7,-9.0,364,4037,0.00,0.40,0.00,0.000,4,0.000,0.063,2839,1640,3425,0,0,0,0,0,0
$GC,4088,-0.52,-145.9,354.7,-8.9,366,4092,0.00,0.43,0.00,0.000,6,0.000,0.047,2838,1926,3425,0,0,0,0,0,0
$GC,4409,-0.52,-145.9,381.4,-7.9,382,4412,0.00,1.17,0.00,0.000,4,0.000,0.061,2838,1198,3425,0,0,0,0,0,0
$GC,4492,-0.52,-145.9,387.9,-6.9,385,4498,0.00,1.12,0.00,0.000,6,0.000,0.041,2835,1914,3425,0,0,0,0,0,0
$GC,4810,-0.52,-145.9,412.4,-8.4,401,4814,0.00,0.77,0.00,0.000,4,0.000,0.060,2836,1430,3425,0,0,0,0,0,0
$GC,4886,-0.52,-145.9,419.4,-8.4,404,4891,0.00,0.77,0.00,0.000,6,0.000,0.044,2832,1926,3424,0,0,0,0,0,0
$GC,5208,-0.52,-145.9,448.7,-9.6,420,5211,0.00,1.52,0.00,0.000,4,0.000,0.063,2832,993,3424,0,0,0,0,0,0
$GC,5307,-0.52,-145.9,458.8,-10.5,424,5313,0.05,1.45,0.00,0.000,6,0.226,0.040,2839,1914,3424,0,0,0,0,0,0
$GC,5629,-0.52,-145.9,488.2,-9.4,440,5632,0.00,0.60,0.00,0.000,4,0.000,0.060,2838,1534,3424,0,0,0,0,0,0
$GC,5699,-0.52,-145.9,494.2,-8.6,443,5702,0.00,0.57,0.00,0.000,6,0.000,0.046,2837,1918,3424,0,0,0,0,0,0
$GC,6028,-0.52,-145.9,523.3,-9.0,455,6031,0.00,0.93,0.00,0.000,4,0.000,0.060,2838,1340,3423,0,0,0,0,0,0
$GC,6110,-0.52,-145.9,531.0,-10.0,457,6115,0.00,0.90,0.00,0.000,6,0.000,0.043,2834,1914,3423,0,0,0,0,0,0
$GC,6434,-0.52,-145.9,560.0,-8.9,468,6438,0.00,1.02,0.00,0.000,4,0.000,0.060,2834,1278,3422,0,0,0,0,0,0
$GC,6517,-0.52,-145.9,567.3,-8.8,470,6521,0.00,1.00,0.00,0.000,6,0.000,0.042,2830,1916,3422,0,0,0,0,0,0
$GC,6841,-0.52,-145.9,595.5,-9.1,481,6844,0.00,0.35,0.00,0.000,4,0.000,0.064,2830,1683,3422,0,0,0,0,0,0
$GC,6957,-0.52,-145.9,605.5,-8.8,484,6959,0.00,0.35,0.00,0.000,6,0.000,0.052,2830,1920,3422,0,0,0,0,0,0
$GC,7276,-0.52,-145.9,631.9,-8.4,495,7280,0.00,1.50,0.00,0.000,4,0.000,0.061,2830,996,3421,0,0,0,0,0,0
$GC,7364,-0.52,-145.9,639.3,-8.4,497,7370,0.08,1.42,0.00,0.000,6,0.192,0.039,2843,1904,3421,0,0,0,0,0,0
$GC,7683,-0.55,-145.9,661.8,-7.3,508,7687,0.00,0.47,0.00,0.000,4,0.000,0.061,2843,1593,3421,0,0,0,0,0,0
$GC,7755,-0.59,-145.9,667.7,-7.9,510,7760,0.05,0.50,0.00,0.000,6,0.171,0.047,2818,1923,3421,0,0,0,0,0,0
$GC,8090,-0.56,-145.9,702.0,-10.9,521,8094,0.00,1.02,0.00,0.000,4,0.000,0.059,2818,1284,3420,0,0,0,0,0,0
$GC,8173,-0.54,-145.9,711.5,-10.7,523,8178,0.08,0.98,0.00,0.000,6,0.199,0.041,2833,1910,3420,0,0,0,0,0,0
$GC,8496,-0.54,-145.9,745.0,-10.0,534,8500,0.00,0.65,0.00,0.000,4,0.000,0.058,2833,1497,3420,0,0,0,0,0,0
$GC,8578,-0.54,-145.9,753.7,-10.3,536,8583,0.00,0.65,0.00,0.000,6,0.000,0.044,2831,1918,3420,0,0,0,0,0,0
$GC,8902,-0.54,-145.9,785.1,-10.0,547,8906,0.00,0.73,0.00,0.000,4,0.000,0.058,2831,1459,3419,0,0,0,0,0,0
$GC,8973,-0.54,-145.9,792.1,-9.7,549,8978,0.00,0.73,0.00,0.000,6,0.000,0.046,2829,1920,3419,0,0,0,0,0,0
$GC,9308,-0.54,-145.9,821.7,-8.3,560,9312,0.00,0.62,0.00,0.000,4,0.000,0.059,2829,1524,3419,0,0,0,0,0,0
$GC,9379,-0.54,-145.9,827.5,-8.5,562,9384,0.00,0.62,0.00,0.000,6,0.000,0.046,2828,1925,3419,0,0,0,0,0,0
$GC,9714,-0.54,-145.9,853.2,-7.6,573,9718,0.00,0.82,0.00,0.000,4,0.000,0.060,2828,1406,3418,0,0,0,0,0,0
$GC,9791,-0.54,-145.9,859.4,-7.2,575,9796,0.00,0.80,0.00,0.000,6,0.000,0.044,2824,1917,3418,0,0,0,0,0,0
$GC,10121,-0.54,-145.9,883.0,-7.3,586,10125,0.00,1.08,0.00,0.000,4,0.000,0.060,2824,1251,3418,0,0,0,0,0,0
$GC,10215,-0.54,-145.9,890.3,-7.6,588,10221,0.08,1.05,0.00,0.000,6,0.193,0.044,2838,1915,3418,0,0,0,0,0,0
$GC,10528,-0.58,-145.9,911.1,-6.9,599,10532,0.00,0.68,0.00,0.000,4,0.000,0.059,2838,1488,3417,0,0,0,0,0,0
$GC,10600,-0.61,-145.9,916.5,-7.1,601,10605,0.08,0.68,0.00,0.000,6,0.132,0.047,2808,1920,3417,0,0,0,0,0,0
$GC,10935,-0.58,-145.9,948.3,-9.9,612,10939,0.05,1.23,0.00,0.000,4,0.213,0.060,2821,1166,3416,0,0,0,0,0,0
$GC,11036,-0.58,-145.9,957.8,-9.1,615,11039,0.00,1.15,0.00,0.000,6,0.000,0.044,2816,1904,3417,0,0,0,0,0,0
$GC,11375,-0.58,-145.9,989.8,-9.4,626,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1904,3416,0,0,0,0,0,0
$STATE,11498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11498,begin apogee
$GC,11502,-0.19,0.0,1000.9,9.0,630,11628,0.45,0.00,123.65,1.568,6,0.142,0.000,2952,1643,2827,0,0,0,0,0,0
$STATE,11629,end apogee,CONTROL_FINISHED_OK
$STATE,11629,begin climb
$GC,11631,0.52,145.9,1005.9,0.0,634,11769,0.73,0.98,129.77,1.538,4,0.081,0.049,3182,2184,2232,0,0,0,0,0,0
$GC,11813,0.33,145.9,1003.4,8.5,640,11819,0.28,0.95,0.00,0.000,6,0.183,0.059,3121,1652,2228,0,0,0,0,0,0
$GC,12144,0.29,169.4,981.4,6.6,651,12167,0.00,0.00,21.33,1.457,6,0.000,0.000,3120,1652,2136,0,0,0,0,0,0
$GC,12449,0.26,175.3,959.3,7.2,661,12459,0.08,0.30,6.40,1.175,4,0.216,0.044,3105,1871,2112,0,0,0,0,0,0
$GC,12559,0.27,233.6,952.5,5.4,664,12616,0.00,0.38,53.17,1.496,6,0.000,0.068,3105,1649,1874,0,0,0,0,0,0
$GC,12946,0.32,288.4,930.4,5.5,677,13000,0.00,0.55,49.08,1.483,4,0.000,0.050,3105,1972,1651,0,0,0,0,0,0
$GC,13023,0.43,345.6,926.0,5.5,679,13082,0.10,0.57,53.58,1.456,6,0.063,0.061,3152,1634,1416,0,0,0,0,0,0
$GC,13406,0.59,363.6,899.4,6.8,692,13430,0.15,2.47,16.33,1.377,4,0.090,0.078,3216,237,1343,0,0,0,0,0,0
$GC,13492,0.53,363.6,890.7,11.8,694,13497,0.12,2.30,0.00,0.000,6,0.177,0.044,3187,1654,1340,0,0,0,0,0,0
$GC,13804,0.53,363.6,858.2,10.1,704,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1655,1339,0,0,0,0,0,0
$GC,14110,0.53,363.6,827.2,10.1,714,14114,0.00,0.45,0.00,0.000,4,0.000,0.070,3187,1376,1338,0,0,0,0,0,0
$GC,14153,0.53,363.6,823.0,10.1,715,14157,0.00,0.45,0.00,0.000,6,0.000,0.050,3187,1665,1338,0,0,0,0,0,0
$GC,14482,0.53,363.6,790.7,9.8,726,14483,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1665,1338,0,0,0,0,0,0
$GC,14788,0.53,363.6,760.7,10.0,736,14790,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1666,1338,0,0,0,0,0,0
$GC,15095,0.53,363.6,729.7,10.1,746,15098,0.00,0.68,0.00,0.000,4,0.000,0.070,3187,1241,1338,0,0,0,0,0,0
$GC,15143,0.53,363.6,724.9,9.3,747,15147,0.00,0.65,0.00,0.000,6,0.000,0.049,3187,1655,1338,0,0,0,0,0,0
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$STATE,22971,end climb,SURFACE_DEPTH_REACHED
$STATE,22971,begin surface coast
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