version: 66.07.10.p01
glider: 574
mission: 4
dive: 113
start: 10 17 112 16 41 32
data:
$ID,574
$MISSION,4
$DIVE,113
$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,-5770.0942
$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,29
$R_STBD_OVSHOOT,41
$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,92
$GPS1,171012,163227,-4235.788,-752.495,40,1.8,41,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-68.7
$GPS2,171012,164038,-4235.774,-752.455,26,1.9,26,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.082,-0.220
$KALMAN_X,-123982.6,540.2,259.4,200704.8,-2413.3
$KALMAN_Y,71682.9,-412.6,-788.9,-41130.6,6444.2
$MHEAD_RNG_PITCHd_Wd,181.2,126644,-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,-60.15,0.000,2,0.000,0.000,67,1916,2585,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.3,-1.3,10,133,12.50,2.28,-22.80,0.000,4,0.274,0.067,2819,3308,3424,0,0,0,0,0,0
$GC,205,-0.52,-145.9,17.8,-13.6,29,212,0.05,2.25,0.00,0.000,6,0.143,0.053,2837,1925,3425,0,0,0,0,0,0
$GC,285,-0.52,-145.9,25.2,-8.3,42,292,0.00,0.65,0.00,0.000,4,0.000,0.063,2837,1514,3425,0,0,0,0,0,0
$GC,387,-0.52,-145.9,34.8,-8.3,59,392,0.00,0.60,0.00,0.000,6,0.000,0.044,2836,1904,3425,0,0,0,0,0,0
$GC,621,-0.50,-145.9,56.0,-9.9,100,628,0.00,0.60,0.00,0.000,4,0.000,0.062,2836,1532,3425,0,0,0,0,0,0
$GC,711,-0.47,-145.9,64.6,-9.2,115,715,0.05,0.57,0.00,0.000,6,0.155,0.044,2852,1915,3425,0,0,0,0,0,0
$GC,1054,-0.47,-145.9,93.8,-7.3,176,1059,0.00,1.25,0.00,0.000,4,0.000,0.061,2852,1150,3425,0,0,0,0,0,0
$GC,1148,-0.49,-145.9,101.9,-8.8,191,1154,0.00,1.20,0.00,0.000,6,0.000,0.038,2850,1914,3425,0,0,0,0,0,0
$GC,1467,-0.49,-145.9,126.4,-7.3,212,1471,0.00,0.47,0.00,0.000,4,0.000,0.061,2850,1603,3425,0,0,0,0,0,0
$GC,1545,-0.49,-145.9,132.7,-7.5,216,1553,0.00,0.47,0.00,0.000,6,0.000,0.043,2849,1924,3425,0,0,0,0,0,0
$GC,1866,-0.49,-145.9,158.1,-8.4,237,1869,0.00,0.80,0.00,0.000,4,0.000,0.059,2849,1421,3425,0,0,0,0,0,0
$GC,1969,-0.49,-145.9,167.1,-9.3,243,1973,0.00,0.73,0.00,0.000,6,0.000,0.039,2846,1903,3426,0,0,0,0,0,0
$GC,2299,-0.49,-145.9,197.4,-9.5,264,2303,0.00,0.90,0.00,0.000,4,0.000,0.060,2846,1341,3425,0,0,0,0,0,0
$GC,2387,-0.49,-145.9,205.9,-9.5,269,2391,0.00,0.88,0.00,0.000,6,0.000,0.038,2843,1917,3426,0,0,0,0,0,0
$GC,2718,-0.49,-145.9,237.7,-9.4,290,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1917,3426,0,0,0,0,0,0
$GC,3043,-0.49,-145.9,267.1,-8.8,308,3047,0.00,2.15,0.00,0.000,4,0.000,0.065,2843,590,3426,0,0,0,0,0,0
$GC,3137,-0.52,-145.9,275.6,-8.8,312,3141,0.00,2.05,0.00,0.000,6,0.000,0.036,2836,1914,3426,0,0,0,0,0,0
$GC,3458,-0.52,-145.9,305.1,-9.7,328,3462,0.00,0.60,0.00,0.000,4,0.000,0.044,2833,2336,3426,0,0,0,0,0,0
$GC,3513,-0.52,-145.9,310.6,-9.2,330,3517,0.00,0.70,0.00,0.000,6,0.000,0.050,2833,1889,3426,0,0,0,0,0,0
$GC,3834,-0.52,-145.9,343.5,-10.9,346,3838,0.00,1.00,0.00,0.000,4,0.000,0.059,2833,1255,3426,0,0,0,0,0,0
$GC,3934,-0.52,-145.9,354.4,-10.5,350,3940,0.05,1.02,0.00,0.000,6,0.223,0.038,2841,1915,3426,0,0,0,0,0,0
$GC,4256,-0.52,-145.9,383.5,-8.7,366,4259,0.00,0.77,0.00,0.000,4,0.000,0.059,2841,1428,3426,0,0,0,0,0,0
$GC,4339,-0.52,-145.9,390.6,-8.3,369,4345,0.00,0.75,0.00,0.000,6,0.000,0.040,2838,1918,3426,0,0,0,0,0,0
$GC,4657,-0.52,-145.9,415.3,-7.9,385,4661,0.00,1.23,0.00,0.000,4,0.000,0.060,2839,1158,3426,0,0,0,0,0,0
$GC,4751,-0.52,-145.9,423.1,-8.2,389,4756,0.00,1.17,0.00,0.000,6,0.000,0.038,2835,1912,3426,0,0,0,0,0,0
$GC,5080,-0.52,-145.9,449.8,-7.9,405,5084,0.00,0.62,0.00,0.000,4,0.000,0.059,2835,1516,3426,0,0,0,0,0,0
$GC,5163,-0.52,-145.9,456.7,-8.0,408,5171,0.00,0.62,0.00,0.000,6,0.000,0.041,2833,1927,3426,0,0,0,0,0,0
$GC,5479,-0.52,-145.9,483.7,-9.0,424,5482,0.00,1.38,0.00,0.000,4,0.000,0.060,2833,1076,3426,0,0,0,0,0,0
$GC,5594,-0.52,-145.9,494.1,-9.0,429,5598,0.00,1.27,0.00,0.000,6,0.000,0.039,2829,1901,3425,0,0,0,0,0,0
$GC,5933,-0.52,-145.9,526.4,-9.4,441,5938,0.05,0.40,0.00,0.000,4,0.234,0.062,2840,1645,3425,0,0,0,0,0,0
$GC,6038,-0.52,-145.9,535.7,-8.9,444,6042,0.00,0.43,0.00,0.000,6,0.000,0.045,2839,1934,3425,0,0,0,0,0,0
$GC,6373,-0.52,-145.9,565.2,-9.2,455,6377,0.00,1.17,0.00,0.000,4,0.000,0.058,2839,1203,3424,0,0,0,0,0,0
$GC,6474,-0.52,-145.9,574.4,-9.2,458,6478,0.00,1.08,0.00,0.000,6,0.000,0.040,2836,1900,3424,0,0,0,0,0,0
$GC,6814,-0.52,-145.9,604.6,-8.4,469,6817,0.00,0.43,0.00,0.000,4,0.000,0.060,2836,1622,3424,0,0,0,0,0,0
$GC,6896,-0.52,-145.9,612.1,-8.6,471,6900,0.00,0.45,0.00,0.000,6,0.000,0.047,2834,1925,3424,0,0,0,0,0,0
$GC,7220,-0.52,-145.9,640.8,-9.1,482,7223,0.00,1.00,0.00,0.000,4,0.000,0.057,2834,1299,3423,0,0,0,0,0,0
$GC,7313,-0.52,-145.9,650.6,-10.3,484,7319,0.00,0.95,0.00,0.000,6,0.000,0.039,2830,1912,3423,0,0,0,0,0,0
$GC,7626,-0.52,-145.9,684.6,-10.9,495,7630,0.00,0.28,0.00,0.000,4,0.000,0.066,2830,1723,3423,0,0,0,0,0,0
$GC,7703,-0.52,-145.9,693.1,-10.3,497,7705,0.00,0.28,0.00,0.000,6,0.000,0.054,2829,1915,3423,0,0,0,0,0,0
$GC,8028,-0.52,-145.9,724.5,-9.5,508,8032,0.00,0.98,0.00,0.000,4,0.000,0.057,2830,1305,3422,0,0,0,0,0,0
$GC,8133,-0.52,-145.9,734.7,-8.8,511,8139,0.08,0.95,0.00,0.000,6,0.190,0.041,2843,1917,3422,0,0,0,0,0,0
$GC,8469,-0.56,-145.9,760.7,-7.3,522,8473,0.00,0.65,0.00,0.000,4,0.000,0.057,2844,1502,3422,0,0,0,0,0,0
$GC,8558,-0.61,-145.9,766.9,-7.2,524,8563,0.08,0.65,0.00,0.000,6,0.133,0.044,2813,1925,3422,0,0,0,0,0,0
$GC,8876,-0.57,-145.9,795.9,-9.6,535,8880,0.00,0.75,0.00,0.000,4,0.000,0.057,2813,1449,3421,0,0,0,0,0,0
$GC,8964,-0.54,-145.9,804.8,-9.5,537,8969,0.10,0.73,0.00,0.000,6,0.174,0.043,2835,1917,3422,0,0,0,0,0,0
$GC,9283,-0.57,-145.9,828.9,-7.2,548,9287,0.00,0.88,0.00,0.000,4,0.000,0.056,2835,1360,3421,0,0,0,0,0,0
$GC,9385,-0.60,-145.9,835.8,-6.3,551,9389,0.00,0.85,0.00,0.000,6,0.000,0.043,2834,1914,3421,0,0,0,0,0,0
$GC,9726,-0.62,-145.9,856.8,-6.4,562,9730,0.08,0.50,0.00,0.000,4,0.131,0.059,2805,1588,3421,0,0,0,0,0,0
$GC,9808,-0.57,-145.9,864.8,-10.4,564,9813,0.10,0.50,0.00,0.000,6,0.184,0.046,2827,1923,3421,0,0,0,0,0,0
$GC,10131,-0.57,-145.9,895.0,-9.9,575,10135,0.00,0.40,0.00,0.000,4,0.000,0.060,2828,1653,3420,0,0,0,0,0,0
$GC,10208,-0.57,-145.9,903.0,-10.1,577,10212,0.00,0.40,0.00,0.000,6,0.000,0.048,2827,1926,3420,0,0,0,0,0,0
$GC,10537,-0.57,-145.9,932.9,-8.6,588,10541,0.00,1.08,0.00,0.000,4,0.000,0.057,2827,1250,3420,0,0,0,0,0,0
$GC,10642,-0.57,-145.9,941.7,-8.6,591,10647,0.00,1.02,0.00,0.000,6,0.000,0.040,2823,1903,3420,0,0,0,0,0,0
$GC,10978,-0.57,-145.9,966.4,-6.7,602,10981,0.00,0.45,0.00,0.000,4,0.000,0.060,2823,1606,3419,0,0,0,0,0,0
$GC,11072,-0.57,-145.9,971.9,-6.3,604,11078,0.00,0.47,0.00,0.000,6,0.000,0.047,2822,1920,3419,0,0,0,0,0,0
$GC,11384,-0.57,-145.9,991.1,-7.8,615,11388,0.00,0.68,0.00,0.000,4,0.000,0.056,2822,1487,3419,0,0,0,0,0,0
$GC,11461,-0.57,-145.9,999.3,-10.7,617,11465,0.00,0.65,0.00,0.000,6,0.000,0.043,2820,1911,3419,0,0,0,0,0,0
$STATE,11471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11471,begin apogee
$GC,11475,-0.19,0.0,1000.3,11.0,617,11605,0.40,0.00,124.65,1.607,6,0.142,0.000,2945,1644,2827,0,0,0,0,0,0
$STATE,11606,end apogee,CONTROL_FINISHED_OK
$STATE,11606,begin climb
$GC,11608,0.52,145.9,1010.1,0.0,622,11744,0.70,0.32,130.02,1.539,4,0.089,0.040,3172,1845,2231,0,0,0,0,0,0
$GC,11782,0.35,267.9,1014.5,3.2,627,11900,0.17,0.35,112.22,1.526,6,0.187,0.064,3134,1653,1733,0,0,0,0,0,0
$GC,12218,0.38,267.9,977.6,12.0,642,12222,0.00,0.85,0.00,0.000,4,0.000,0.042,3134,2192,1725,0,0,0,0,0,0
$GC,12278,0.38,267.9,970.4,10.8,643,12284,0.00,0.93,0.00,0.000,6,0.000,0.055,3134,1641,1724,0,0,0,0,0,0
$GC,12592,0.40,272.8,944.0,7.2,654,12595,0.00,0.38,0.00,0.000,4,0.000,0.069,3134,1397,1723,0,0,0,0,0,0
$GC,12635,0.43,323.2,941.6,5.7,655,12690,0.00,0.38,49.05,1.512,6,0.000,0.049,3133,1649,1509,0,0,0,0,0,0
$GC,13025,0.50,351.6,919.6,6.4,668,13055,0.12,0.00,26.60,1.438,6,0.099,0.000,3179,1649,1393,0,0,0,0,0,0
$GC,13361,0.50,351.6,884.4,10.9,679,13365,0.00,0.38,0.00,0.000,4,0.000,0.068,3179,1409,1388,0,0,0,0,0,0
$GC,13437,0.50,351.6,876.5,11.0,681,13441,0.00,0.38,0.00,0.000,6,0.000,0.048,3179,1657,1387,0,0,0,0,0,0
$GC,13766,0.50,351.6,843.8,10.1,692,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1658,1386,0,0,0,0,0,0
$GC,14072,0.50,351.6,815.7,9.5,702,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1658,1386,0,0,0,0,0,0
$GC,14379,0.50,351.6,782.1,11.5,712,14383,0.00,1.12,0.00,0.000,4,0.000,0.066,3180,970,1386,0,0,0,0,0,0
$GC,14433,0.50,351.6,775.3,11.4,713,14438,0.00,1.08,0.00,0.000,6,0.000,0.041,3180,1655,1385,0,0,0,0,0,0
$GC,14752,0.50,351.6,740.6,10.4,724,14755,0.00,0.65,0.00,0.000,4,0.000,0.064,3180,1253,1385,0,0,0,0,0,0
$GC,14812,0.50,351.6,734.5,9.5,725,14817,0.00,0.62,0.00,0.000,6,0.000,0.044,3180,1660,1385,0,0,0,0,0,0
$GC,15124,0.50,351.6,707.2,7.8,736,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1660,1385,0,0,0,0,0,0
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$STATE,23009,end climb,SURFACE_DEPTH_REACHED
$STATE,23009,begin surface coast
$FINISH,1.7,1.014123
$STATE,23041,end surface coast,CONTROL_FINISHED_OK
$STATE,23041,begin surface
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$HUMID,45.39
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$TCM_TEMP,11.50
$XPDR_PINGS,0
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$10V_AH,10.2,23.917
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354392
$DATA_FILE_SIZE,76852,1256
$CAP_FILE_SIZE,202007,0
$CFSIZE,2097086464,2077884416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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