version: 66.07.10.p01
glider: 574
mission: 4
dive: 112
start: 10 17 112 10 11 29
data:
$ID,574
$MISSION,4
$DIVE,112
$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,-5766.8413
$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,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,91
$GPS1,171012,100234,-4233.561,-754.304,75,1.6,83,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-69.1
$GPS2,171012,101035,-4233.459,-754.320,33,1.6,33,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.093,-0.216
$KALMAN_X,-123788.5,96.1,419.4,198277.5,-3273.7
$KALMAN_Y,70461.3,-107.1,-1266.2,-35450.8,7865.3
$MHEAD_RNG_PITCHd_Wd,178.5,131531,-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,23,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,-59.88,0.000,2,0.000,0.000,67,1861,2615,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.0,-1.1,10,133,12.65,2.15,-24.12,0.000,4,0.277,0.070,2822,3164,3420,0,0,0,0,0,0
$GC,205,-0.52,-145.9,12.5,-10.1,29,213,0.05,2.05,0.00,0.000,6,0.141,0.055,2841,1914,3421,0,0,0,0,0,0
$GC,286,-0.50,-145.9,20.4,-7.9,42,293,0.00,0.30,0.00,0.000,4,0.000,0.072,2840,1710,3422,0,0,0,0,0,0
$GC,439,-0.50,-145.9,36.1,-10.1,68,446,0.00,0.30,0.00,0.000,6,0.000,0.054,2840,1917,3421,0,0,0,0,0,0
$GC,677,-0.50,-145.9,58.9,-10.3,109,682,0.00,1.08,0.00,0.000,4,0.000,0.065,2840,1270,3422,0,0,0,0,0,0
$GC,779,-0.50,-145.9,69.6,-10.2,127,784,0.00,1.00,0.00,0.000,6,0.000,0.043,2836,1907,3422,0,0,0,0,0,0
$GC,1118,-0.48,-145.9,103.6,-9.8,184,1123,0.08,0.88,0.00,0.000,4,0.200,0.062,2853,1378,3422,0,0,0,0,0,0
$GC,1196,-0.50,-145.9,110.6,-9.1,188,1204,0.00,0.85,0.00,0.000,6,0.000,0.044,2852,1914,3422,0,0,0,0,0,0
$GC,1517,-0.50,-145.9,140.6,-9.4,209,1521,0.00,1.02,0.00,0.000,4,0.000,0.062,2852,1279,3422,0,0,0,0,0,0
$GC,1606,-0.52,-145.9,149.4,-9.5,214,1610,0.00,1.02,0.00,0.000,6,0.000,0.043,2849,1925,3422,0,0,0,0,0,0
$GC,1932,-0.52,-145.9,178.5,-8.2,235,1936,0.00,1.05,0.00,0.000,4,0.000,0.062,2849,1277,3422,0,0,0,0,0,0
$GC,2026,-0.52,-145.9,186.2,-7.1,240,2035,0.00,1.02,0.00,0.000,6,0.000,0.042,2846,1925,3422,0,0,0,0,0,0
$GC,2348,-0.52,-145.9,211.4,-7.9,261,2351,0.00,1.20,0.00,0.000,4,0.000,0.062,2846,1183,3422,0,0,0,0,0,0
$GC,2458,-0.52,-145.9,220.9,-7.9,267,2464,0.00,1.15,0.00,0.000,6,0.000,0.041,2841,1915,3422,0,0,0,0,0,0
$GC,2779,-0.52,-145.9,248.5,-9.2,288,2783,0.00,1.15,0.00,0.000,4,0.000,0.062,2841,1198,3423,0,0,0,0,0,0
$GC,2872,-0.52,-145.9,257.4,-9.8,293,2875,0.00,1.10,0.00,0.000,6,0.000,0.042,2837,1908,3423,0,0,0,0,0,0
$GC,3205,-0.52,-145.9,290.7,-9.9,309,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1908,3423,0,0,0,0,0,0
$GC,3512,-0.52,-145.9,320.8,-9.7,324,3516,0.00,0.68,0.00,0.000,4,0.000,0.059,2837,1476,3422,0,0,0,0,0,0
$GC,3584,-0.52,-145.9,327.8,-9.0,327,3589,0.00,0.70,0.00,0.000,6,0.000,0.044,2835,1925,3423,0,0,0,0,0,0
$GC,3913,-0.52,-145.9,356.6,-8.6,343,3917,0.00,0.75,0.00,0.000,4,0.000,0.060,2835,1453,3423,0,0,0,0,0,0
$GC,3996,-0.52,-145.9,364.0,-8.4,346,4004,0.00,0.73,0.00,0.000,6,0.000,0.044,2832,1918,3423,0,0,0,0,0,0
$GC,4312,-0.52,-145.9,389.7,-8.4,362,4315,0.00,1.12,0.00,0.000,4,0.000,0.061,2832,1221,3423,0,0,0,0,0,0
$GC,4402,-0.52,-145.9,398.2,-9.9,366,4406,0.03,1.08,0.00,0.000,6,0.182,0.043,2837,1915,3422,0,0,0,0,0,0
$GC,4733,-0.52,-145.9,429.6,-9.7,382,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1915,3422,0,0,0,0,0,0
$GC,5044,-0.52,-145.9,459.5,-9.8,397,5048,0.00,0.93,0.00,0.000,4,0.000,0.060,2838,1338,3421,0,0,0,0,0,0
$GC,5136,-0.52,-145.9,468.2,-9.6,401,5140,0.00,0.90,0.00,0.000,6,0.000,0.045,2836,1917,3421,0,0,0,0,0,0
$GC,5470,-0.52,-145.9,501.4,-10.5,417,5474,0.00,0.85,0.00,0.000,4,0.000,0.060,2835,1382,3421,0,0,0,0,0,0
$GC,5557,-0.52,-145.9,511.3,-10.8,419,5562,0.00,0.85,0.00,0.000,6,0.000,0.043,2832,1926,3421,0,0,0,0,0,0
$GC,5876,-0.52,-145.9,542.7,-9.7,430,5880,0.00,0.60,0.00,0.000,4,0.000,0.060,2832,1541,3420,0,0,0,0,0,0
$GC,5947,-0.52,-145.9,549.6,-9.0,432,5951,0.00,0.57,0.00,0.000,6,0.000,0.045,2830,1915,3420,0,0,0,0,0,0
$GC,6282,-0.52,-145.9,578.7,-8.4,443,6286,0.00,0.70,0.00,0.000,4,0.000,0.059,2830,1472,3420,0,0,0,0,0,0
$GC,6364,-0.52,-145.9,585.6,-8.1,445,6369,0.05,0.70,0.00,0.000,6,0.220,0.042,2838,1927,3419,0,0,0,0,0,0
$GC,6688,-0.52,-145.9,607.1,-6.5,456,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1927,3418,0,0,0,0,0,0
$GC,6994,-0.52,-145.9,625.6,-6.4,466,6998,0.00,1.83,0.00,0.000,4,0.000,0.062,2838,806,3418,0,0,0,0,0,0
$GC,7077,-0.55,-145.9,631.3,-7.0,468,7081,0.00,1.73,0.00,0.000,6,0.000,0.042,2834,1910,3418,0,0,0,0,0,0
$GC,7401,-0.55,-145.9,653.6,-7.0,479,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1910,3417,0,0,0,0,0,0
$GC,7707,-0.55,-145.9,677.4,-8.0,489,7711,0.00,0.32,0.00,0.000,4,0.000,0.062,2834,1684,3417,0,0,0,0,0,0
$GC,7795,-0.55,-145.9,684.9,-9.4,491,7799,0.00,0.38,0.00,0.000,6,0.000,0.050,2833,1933,3417,0,0,0,0,0,0
$GC,8112,-0.55,-145.9,710.5,-8.1,502,8116,0.00,1.23,0.00,0.000,4,0.000,0.057,2833,1170,3415,0,0,0,0,0,0
$GC,8213,-0.55,-145.9,718.9,-8.3,505,8217,0.00,1.12,0.00,0.000,6,0.000,0.042,2829,1896,3416,0,0,0,0,0,0
$GC,8553,-0.55,-145.9,749.1,-9.0,516,8557,0.00,0.25,0.00,0.000,4,0.000,0.067,2829,1721,3415,0,0,0,0,0,0
$GC,8654,-0.55,-145.9,758.2,-8.5,519,8658,0.00,0.28,0.00,0.000,6,0.000,0.054,2828,1922,3415,0,0,0,0,0,0
$GC,8994,-0.55,-145.9,791.0,-9.8,530,8997,0.00,1.05,0.00,0.000,4,0.000,0.057,2828,1262,3415,0,0,0,0,0,0
$GC,9087,-0.55,-145.9,800.4,-10.5,532,9093,0.00,1.02,0.00,0.000,6,0.000,0.041,2824,1918,3415,0,0,0,0,0,0
$GC,9400,-0.55,-145.9,832.4,-10.1,543,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1918,3414,0,0,0,0,0,0
$GC,9706,-0.55,-145.9,861.2,-9.2,553,9710,0.00,0.88,0.00,0.000,4,0.000,0.056,2824,1365,3414,0,0,0,0,0,0
$GC,9794,-0.55,-145.9,868.8,-8.0,555,9799,0.00,0.88,0.00,0.000,6,0.000,0.042,2820,1925,3414,0,0,0,0,0,0
$GC,10113,-0.55,-145.9,893.9,-7.6,566,10116,0.00,0.50,0.00,0.000,4,0.000,0.057,2820,1591,3414,0,0,0,0,0,0
$GC,10206,-0.55,-145.9,901.3,-7.5,568,10212,0.00,0.50,0.00,0.000,6,0.000,0.047,2819,1918,3413,0,0,0,0,0,0
$GC,10518,-0.55,-145.9,927.1,-8.3,579,10523,0.05,0.85,0.00,0.000,4,0.227,0.056,2832,1386,3414,0,0,0,0,0,0
$GC,10607,-0.58,-145.9,933.9,-7.6,581,10611,0.00,0.82,0.00,0.000,6,0.000,0.043,2829,1913,3413,0,0,0,0,0,0
$GC,10925,-0.58,-145.9,961.1,-9.3,592,10928,0.00,0.52,0.00,0.000,4,0.000,0.056,2829,1560,3413,0,0,0,0,0,0
$GC,11002,-0.60,-145.9,968.5,-9.3,594,11006,0.00,0.55,0.00,0.000,6,0.000,0.046,2828,1918,3413,0,0,0,0,0,0
$STATE,11331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11331,begin apogee
$GC,11335,-0.19,0.0,1001.0,10.0,605,11461,0.40,0.00,122.95,1.582,6,0.137,0.000,2949,1634,2827,0,0,0,0,0,0
$STATE,11462,end apogee,CONTROL_FINISHED_OK
$STATE,11462,begin climb
$GC,11464,0.52,145.9,1008.6,0.0,609,11599,0.68,0.32,130.10,1.543,4,0.082,0.060,3172,1445,2233,0,0,0,0,0,0
$GC,11626,0.38,248.5,1012.4,3.9,614,11728,0.15,0.35,95.28,1.509,6,0.187,0.049,3141,1658,1813,0,0,0,0,0,0
$GC,12046,0.38,276.4,987.6,6.5,628,12076,0.00,0.68,25.55,1.454,4,0.000,0.041,3141,2074,1698,0,0,0,0,0,0
$GC,12125,0.38,276.4,982.1,7.5,630,12130,0.00,0.73,0.00,0.000,6,0.000,0.056,3140,1650,1695,0,0,0,0,0,0
$GC,12449,0.38,290.5,959.6,6.9,641,12464,0.00,0.00,13.23,1.369,6,0.000,0.000,3140,1650,1642,0,0,0,0,0,0
$GC,12756,0.41,293.5,937.1,7.3,651,12762,0.00,0.00,3.90,0.868,6,0.000,0.000,3141,1650,1630,0,0,0,0,0,0
$GC,13062,0.45,305.1,915.8,7.0,661,13076,0.00,0.00,12.45,1.310,6,0.000,0.000,3140,1651,1583,0,0,0,0,0,0
$GC,13368,0.49,323.1,894.9,6.8,671,13389,0.10,0.00,17.95,1.421,6,0.107,0.000,3180,1650,1509,0,0,0,0,0,0
$GC,13674,0.45,323.1,865.2,10.0,681,13676,0.08,0.00,0.00,0.000,6,0.199,0.000,3165,1650,1506,0,0,0,0,0,0
$GC,13980,0.45,323.1,837.3,9.2,691,13984,0.00,0.32,0.00,0.000,4,0.000,0.070,3165,1436,1505,0,0,0,0,0,0
$GC,14040,0.45,323.1,831.7,9.2,692,14045,0.00,0.32,0.00,0.000,6,0.000,0.050,3165,1651,1504,0,0,0,0,0,0
$GC,14352,0.45,323.1,803.1,9.1,703,14355,0.00,0.60,0.00,0.000,4,0.000,0.067,3166,1274,1504,0,0,0,0,0,0
$GC,14406,0.45,323.1,798.0,9.2,704,14410,0.00,0.60,0.00,0.000,6,0.000,0.044,3166,1664,1504,0,0,0,0,0,0
$GC,14724,0.45,323.1,767.7,9.8,715,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1664,1504,0,0,0,0,0,0
$GC,15030,0.45,323.1,735.9,10.6,725,15034,0.00,0.60,0.00,0.000,4,0.000,0.066,3166,1285,1504,0,0,0,0,0,0
$GC,15079,0.45,323.1,730.4,11.1,726,15083,0.00,0.57,0.00,0.000,6,0.000,0.046,3166,1657,1503,0,0,0,0,0,0
$GC,15402,0.45,323.1,694.0,11.1,737,15406,0.00,0.65,0.00,0.000,4,0.000,0.063,3167,1248,1503,0,0,0,0,0,0
$GC,15457,0.45,323.1,687.8,11.4,738,15461,0.00,0.62,0.00,0.000,6,0.000,0.046,3166,1652,1503,0,0,0,0,0,0
$GC,15775,0.45,323.1,656.2,8.0,749,15778,0.00,0.47,0.00,0.000,4,0.000,0.067,3167,1349,1503,0,0,0,0,0,0
$GC,15829,0.45,323.1,651.9,7.5,750,15833,0.00,0.45,0.00,0.000,6,0.000,0.049,3167,1646,1503,0,0,0,0,0,0
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$STATE,22676,end climb,SURFACE_DEPTH_REACHED
$STATE,22677,begin surface coast
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$STATE,22708,end surface coast,CONTROL_FINISHED_OK
$STATE,22708,begin surface
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$10V_AH,10.2,23.768
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$FG_AHR_10Vo,0.000
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$MEM,354428
$DATA_FILE_SIZE,70321,1190
$CAP_FILE_SIZE,193270,0
$CFSIZE,2097086464,2078048256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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