version: 66.07.10.p01
glider: 574
mission: 4
dive: 158
start: 10 29 112 20 3 30
data:
$ID,574
$MISSION,4
$DIVE,158
$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,-5918.9614
$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,48
$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,137
$GPS1,291012,195435,-4222.143,-716.170,37,1.3,38,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-74.0
$GPS2,291012,200236,-4222.119,-716.224,41,1.4,42,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.069,-0.224
$KALMAN_X,-237252.0,-16.4,-1327.3,365307.8,2112.1
$KALMAN_Y,190839.0,-22.4,-563.6,-135627.7,5703.5
$MHEAD_RNG_PITCHd_Wd,218.9,85610,-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,-145.9,0.0,0.0,0,69,0.00,0.00,-42.12,0.000,2,0.000,0.000,67,1903,2248,0,0,0,0,0,0
$GC,71,-0.52,-145.9,3.1,-1.3,7,139,12.20,2.30,-46.65,0.000,4,0.259,0.068,2827,3304,3423,0,0,0,0,0,0
$GC,206,-0.52,-145.9,10.9,-9.1,29,214,0.03,2.22,0.00,0.000,6,0.162,0.045,2837,1915,3424,0,0,0,0,0,0
$GC,287,-0.52,-145.9,18.1,-9.0,42,294,0.00,1.55,0.00,0.000,4,0.000,0.061,2838,970,3424,0,0,0,0,0,0
$GC,378,-0.52,-145.9,26.9,-9.2,57,386,0.00,1.48,0.00,0.000,6,0.000,0.041,2833,1898,3425,0,0,0,0,0,0
$GC,455,-0.52,-145.9,34.2,-9.3,70,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1898,3424,0,0,0,0,0,0
$GC,693,-0.52,-145.9,56.3,-9.4,111,698,0.00,0.75,0.00,0.000,4,0.000,0.057,2833,1434,3425,0,0,0,0,0,0
$GC,768,-0.50,-145.9,63.9,-9.9,124,773,0.03,0.75,0.00,0.000,6,0.184,0.043,2840,1923,3424,0,0,0,0,0,0
$GC,1112,-0.50,-145.9,94.3,-8.6,185,1116,0.00,1.95,0.00,0.000,4,0.000,0.060,2840,718,3425,0,0,0,0,0,0
$GC,1174,-0.50,-145.9,100.0,-9.0,196,1179,0.00,1.83,0.00,0.000,6,0.000,0.037,2836,1911,3424,0,0,0,0,0,0
$GC,1495,-0.59,-145.9,126.3,-8.3,217,1499,0.00,2.17,0.00,0.000,4,0.000,0.049,2827,3315,3425,0,0,0,0,0,0
$GC,1578,-0.72,-145.9,133.8,-8.6,222,1583,0.10,2.20,0.00,0.000,6,0.066,0.041,2769,1905,3424,0,0,0,0,0,0
$GC,1905,-0.59,-145.9,173.7,-13.0,243,1909,0.20,2.17,0.00,0.000,4,0.164,0.058,2823,547,3424,0,0,0,0,0,0
$GC,1983,-0.59,-145.9,182.2,-9.2,248,1987,0.00,2.10,0.00,0.000,6,0.000,0.035,2814,1921,3425,0,0,0,0,0,0
$GC,2309,-0.56,-145.9,212.9,-9.6,269,2313,0.05,1.02,0.00,0.000,4,0.226,0.044,2821,2592,3425,0,0,0,0,0,0
$GC,2369,-0.56,-145.9,219.0,-9.3,272,2377,0.00,1.08,0.00,0.000,6,0.000,0.043,2821,1911,3425,0,0,0,0,0,0
$GC,2690,-0.56,-145.9,249.1,-9.7,293,2694,0.00,1.65,0.00,0.000,4,0.000,0.057,2821,844,3424,0,0,0,0,0,0
$GC,2760,-0.53,-145.9,256.1,-10.2,297,2764,0.10,1.65,0.00,0.000,6,0.168,0.034,2840,1914,3425,0,0,0,0,0,0
$GC,3094,-0.65,-145.9,283.2,-7.9,313,3098,0.12,2.20,0.00,0.000,4,0.100,0.047,2782,3324,3425,0,0,0,0,0,0
$GC,3155,-0.61,-145.9,289.4,-10.5,316,3160,0.12,2.17,0.00,0.000,6,0.159,0.039,2815,1907,3424,0,0,0,0,0,0
$GC,3482,-0.59,-145.9,319.3,-9.0,332,3486,0.00,2.22,0.00,0.000,4,0.000,0.057,2815,506,3424,0,0,0,0,0,0
$GC,3571,-0.59,-145.9,327.9,-9.4,336,3576,0.00,2.17,0.00,0.000,6,0.000,0.034,2808,1914,3424,0,0,0,0,0,0
$GC,3899,-0.55,-145.9,357.5,-8.9,352,3903,0.10,0.70,0.00,0.000,4,0.187,0.052,2833,1473,3424,0,0,0,0,0,0
$GC,3970,-0.55,-145.9,363.5,-7.5,355,3974,0.00,0.68,0.00,0.000,6,0.000,0.037,2831,1926,3424,0,0,0,0,0,0
$GC,4300,-0.68,-145.9,386.6,-6.4,371,4304,0.12,1.60,0.00,0.000,4,0.098,0.044,2775,2953,3424,0,0,0,0,0,0
$GC,4354,-0.63,-145.9,391.5,-9.0,373,4359,0.08,1.60,0.00,0.000,6,0.145,0.039,2800,1918,3423,0,0,0,0,0,0
$GC,4684,-0.59,-145.9,421.8,-9.4,386,4688,0.08,2.03,0.00,0.000,4,0.203,0.056,2818,639,3424,0,0,0,0,0,0
$GC,4754,-0.59,-145.9,428.9,-8.9,388,4759,0.00,1.95,0.00,0.000,6,0.000,0.034,2810,1909,3424,0,0,0,0,0,0
$GC,5090,-0.56,-145.9,460.2,-9.6,399,5092,0.08,0.00,0.00,0.000,6,0.202,0.000,2827,1910,3423,0,0,0,0,0,0
$GC,5396,-0.56,-145.9,487.1,-8.8,409,5400,0.00,0.95,0.00,0.000,4,0.000,0.051,2828,1307,3423,0,0,0,0,0,0
$GC,5467,-0.56,-145.9,493.6,-8.5,411,5472,0.00,0.95,0.00,0.000,6,0.000,0.036,2824,1925,3423,0,0,0,0,0,0
$GC,5803,-0.56,-145.9,525.5,-10.0,422,5806,0.00,1.58,0.00,0.000,4,0.000,0.054,2824,946,3422,0,0,0,0,0,0
$GC,5874,-0.56,-145.9,533.2,-11.3,424,5879,0.00,1.50,0.00,0.000,6,0.000,0.036,2819,1906,3422,0,0,0,0,0,0
$GC,6210,-0.64,-145.9,564.4,-8.8,435,6214,0.00,1.70,0.00,0.000,4,0.000,0.057,2819,829,3422,0,0,0,0,0,0
$GC,6254,-0.67,-145.9,568.8,-10.1,436,6258,0.00,1.67,0.00,0.000,6,0.000,0.037,2813,1911,3421,0,0,0,0,0,0
$GC,6584,-0.74,-145.9,598.5,-8.9,447,6588,0.10,2.28,0.00,0.000,4,0.116,0.057,2770,501,3421,0,0,0,0,0,0
$GC,6683,-0.64,-145.9,611.0,-12.5,450,6688,0.12,2.20,0.00,0.000,6,0.150,0.037,2800,1910,3421,0,0,0,0,0,0
$GC,7018,-0.60,-145.9,646.8,-10.4,461,7020,0.05,0.00,0.00,0.000,6,0.236,0.000,2811,1911,3420,0,0,0,0,0,0
$GC,7324,-0.60,-145.9,678.5,-10.2,471,7327,0.00,0.98,0.00,0.000,4,0.000,0.054,2811,1299,3420,0,0,0,0,0,0
$GC,7412,-0.60,-145.9,688.0,-10.9,473,7416,0.00,0.98,0.00,0.000,6,0.000,0.037,2808,1926,3419,0,0,0,0,0,0
$GC,7730,-0.60,-145.9,723.2,-11.4,484,7734,0.00,1.20,0.00,0.000,4,0.000,0.053,2808,1174,3419,0,0,0,0,0,0
$GC,7831,-0.60,-145.9,734.7,-11.1,487,7835,0.00,1.12,0.00,0.000,6,0.000,0.037,2803,1908,3418,0,0,0,0,0,0
$GC,8172,-0.58,-145.9,772.0,-10.8,498,8176,0.08,0.43,0.00,0.000,4,0.197,0.055,2820,1629,3418,0,0,0,0,0,0
$GC,8253,-0.58,-145.9,780.1,-9.2,500,8258,0.00,0.45,0.00,0.000,6,0.000,0.044,2819,1933,3418,0,0,0,0,0,0
$GC,8577,-0.58,-145.9,807.6,-8.1,511,8581,0.00,1.38,0.00,0.000,4,0.000,0.053,2819,1075,3417,0,0,0,0,0,0
$GC,8665,-0.58,-145.9,814.7,-8.7,513,8670,0.00,1.30,0.00,0.000,6,0.000,0.038,2815,1900,3417,0,0,0,0,0,0
$GC,8984,-0.58,-145.9,837.8,-7.3,524,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1900,3416,0,0,0,0,0,0
$GC,9290,-0.58,-145.9,861.1,-7.7,534,9294,0.00,0.55,0.00,0.000,4,0.000,0.054,2814,1542,3416,0,0,0,0,0,0
$GC,9361,-0.58,-145.9,866.9,-7.8,536,9366,0.00,0.57,0.00,0.000,6,0.000,0.044,2812,1922,3416,0,0,0,0,0,0
$GC,9696,-0.58,-145.9,896.2,-9.3,547,9700,0.00,0.85,0.00,0.000,4,0.000,0.054,2812,1386,3415,0,0,0,0,0,0
$GC,9779,-0.58,-145.9,904.4,-10.1,549,9784,0.08,0.82,0.00,0.000,6,0.187,0.040,2826,1917,3415,0,0,0,0,0,0
$GC,10103,-0.62,-145.9,930.7,-7.9,560,10107,0.00,0.90,0.00,0.000,4,0.000,0.054,2827,1348,3415,0,0,0,0,0,0
$GC,10186,-0.65,-145.9,937.6,-8.1,562,10191,0.08,0.88,0.00,0.000,6,0.139,0.040,2799,1913,3415,0,0,0,0,0,0
$GC,10510,-0.63,-145.9,967.7,-9.2,573,10513,0.00,0.30,0.00,0.000,4,0.000,0.061,2799,1703,3415,0,0,0,0,0,0
$GC,10621,-0.60,-145.9,977.8,-8.6,576,10625,0.08,0.32,0.00,0.000,6,0.194,0.050,2814,1932,3414,0,0,0,0,0,0
$STATE,10921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10921,begin apogee
$GC,10925,-0.19,0.0,1000.7,7.7,586,11052,0.45,0.00,123.78,1.524,6,0.136,0.000,2951,1644,2827,0,0,0,0,0,0
$STATE,11052,end apogee,CONTROL_FINISHED_OK
$STATE,11053,begin climb
$GC,11054,0.52,145.9,1006.1,0.0,590,11189,0.68,0.00,130.38,1.491,6,0.083,0.000,3171,1644,2231,0,0,0,0,0,0
$GC,11482,0.37,176.2,991.8,6.4,604,11512,0.15,0.00,27.52,1.424,6,0.184,0.000,3137,1644,2108,0,0,0,0,0,0
$GC,11818,0.30,228.5,973.3,5.6,615,11870,0.10,0.82,46.67,1.463,4,0.206,0.044,3113,2136,1894,0,0,0,0,0,0
$GC,11913,0.30,259.3,968.0,6.4,618,11946,0.00,0.80,28.67,1.425,6,0.000,0.053,3114,1657,1769,0,0,0,0,0,0
$GC,12275,0.35,323.5,947.8,5.2,630,12336,0.00,0.60,57.35,1.453,4,0.000,0.044,3114,2017,1507,0,0,0,0,0,0
$GC,12364,0.48,362.5,943.1,6.1,632,12406,0.12,0.60,37.12,1.416,6,0.061,0.055,3172,1653,1349,0,0,0,0,0,0
$GC,12735,0.59,391.5,919.4,6.4,645,12769,0.10,2.35,26.42,1.397,4,0.113,0.047,3212,3033,1229,0,0,0,0,0,0
$GC,12832,0.52,391.5,910.6,10.5,648,12837,0.12,2.25,0.00,0.000,6,0.187,0.047,3185,1654,1227,0,0,0,0,0,0
$GC,13166,0.52,391.5,883.3,8.3,659,13170,0.00,0.82,0.00,0.000,4,0.000,0.060,3185,1140,1224,0,0,0,0,0,0
$GC,13209,0.52,391.5,879.6,8.4,660,13213,0.00,0.80,0.00,0.000,6,0.000,0.037,3185,1657,1223,0,0,0,0,0,0
$GC,13539,0.52,391.5,851.3,8.6,671,13542,0.00,0.45,0.00,0.000,4,0.000,0.063,3185,1373,1222,0,0,0,0,0,0
$GC,13582,0.52,391.5,847.6,8.1,672,13586,0.00,0.43,0.00,0.000,6,0.000,0.044,3185,1664,1222,0,0,0,0,0,0
$GC,13911,0.52,391.5,817.9,9.4,683,13915,0.00,0.32,0.00,0.000,4,0.000,0.067,3185,1448,1222,0,0,0,0,0,0
$GC,13948,0.52,391.5,814.3,9.4,684,13952,0.00,0.28,0.00,0.000,6,0.000,0.053,3185,1641,1222,0,0,0,0,0,0
$GC,14283,0.52,391.5,782.0,9.6,695,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1641,1222,0,0,0,0,0,0
$GC,14589,0.52,391.5,751.6,9.9,705,14593,0.00,0.50,0.00,0.000,4,0.000,0.065,3185,1321,1222,0,0,0,0,0,0
$GC,14627,0.52,391.5,747.7,11.3,706,14631,0.00,0.52,0.00,0.000,6,0.000,0.045,3185,1669,1222,0,0,0,0,0,0
$GC,14962,0.52,391.5,714.8,9.6,717,14965,0.00,0.50,0.00,0.000,4,0.000,0.067,3185,1349,1222,0,0,0,0,0,0
$GC,15005,0.52,391.5,710.6,8.9,718,15009,0.00,0.45,0.00,0.000,6,0.000,0.047,3184,1648,1221,0,0,0,0,0,0
$GC,15334,0.52,391.5,678.5,9.8,729,15337,0.00,0.62,0.00,0.000,4,0.000,0.064,3185,1253,1222,0,0,0,0,0,0
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$STATE,22685,end climb,SURFACE_DEPTH_REACHED
$STATE,22685,begin surface coast
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$STATE,22722,end surface coast,CONTROL_FINISHED_OK
$STATE,22722,begin surface
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$10V_AH,10.2,30.106
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70314,1194
$CAP_FILE_SIZE,209609,0
$CFSIZE,2097086464,2071986176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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