version: 66.07.10.p01
glider: 574
mission: 4
dive: 160
start: 10 30 112 9 19 37
data:
$ID,574
$MISSION,4
$DIVE,160
$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,-5925.7188
$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,30
$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,139
$GPS1,301012,091105,-4224.588,-718.106,41,0.8,42,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-71.6
$GPS2,301012,091843,-4224.559,-718.126,20,1.3,21,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.059,-0.227
$KALMAN_X,-242158.1,-18.3,-723.9,367036.1,-1067.7
$KALMAN_Y,197367.5,49.4,-410.6,-146896.0,5476.1
$MHEAD_RNG_PITCHd_Wd,187.3,83517,-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,25,-0.52,-145.9,0.0,0.0,0,81,0.00,0.00,-54.40,0.000,2,0.000,0.000,67,1916,2444,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.1,-1.1,9,140,12.65,2.35,-33.88,0.000,4,0.272,0.077,2834,515,3424,0,0,0,0,0,0
$GC,254,-0.52,-145.9,17.0,-9.9,37,262,0.03,2.20,0.00,0.000,6,0.179,0.037,2835,1903,3424,0,0,0,0,0,0
$GC,334,-0.52,-145.9,24.7,-9.5,50,341,0.00,0.70,0.00,0.000,4,0.000,0.045,2833,2378,3424,0,0,0,0,0,0
$GC,391,-0.52,-145.9,29.9,-8.8,59,398,0.00,0.73,0.00,0.000,6,0.000,0.053,2833,1917,3425,0,0,0,0,0,0
$GC,467,-0.52,-145.9,37.4,-9.5,72,474,0.00,0.62,0.00,0.000,4,0.000,0.058,2833,1514,3425,0,0,0,0,0,0
$GC,545,-0.52,-145.9,44.8,-9.6,85,550,0.00,0.62,0.00,0.000,6,0.000,0.041,2830,1929,3425,0,0,0,0,0,0
$GC,777,-0.52,-145.9,67.2,-9.2,126,785,0.00,0.80,0.00,0.000,4,0.000,0.054,2830,1439,3425,0,0,0,0,0,0
$GC,870,-0.52,-145.9,75.8,-9.3,142,875,0.00,0.73,0.00,0.000,6,0.000,0.042,2827,1915,3425,0,0,0,0,0,0
$GC,1220,-0.52,-145.9,107.2,-9.1,195,1224,0.08,1.33,0.00,0.000,4,0.204,0.057,2843,1107,3425,0,0,0,0,0,0
$GC,1297,-0.52,-145.9,114.2,-8.3,199,1303,0.00,1.25,0.00,0.000,6,0.000,0.035,2839,1913,3425,0,0,0,0,0,0
$GC,1618,-0.62,-145.9,139.0,-7.7,220,1623,0.08,0.35,0.00,0.000,4,0.129,0.061,2805,1679,3425,0,0,0,0,0,0
$GC,1628,-0.69,-145.9,140.2,-8.0,220,1636,0.00,0.35,0.00,0.000,6,0.000,0.047,2803,1926,3425,0,0,0,0,0,0
$GC,1949,-0.72,-145.9,169.4,-9.2,241,1954,0.08,2.15,0.00,0.000,4,0.129,0.047,2765,3303,3425,0,0,0,0,0,0
$GC,2032,-0.64,-145.9,178.8,-11.3,246,2037,0.10,2.17,0.00,0.000,6,0.146,0.041,2804,1913,3426,0,0,0,0,0,0
$GC,2359,-0.59,-145.9,211.9,-10.3,267,2363,0.08,1.75,0.00,0.000,4,0.207,0.057,2821,809,3426,0,0,0,0,0,0
$GC,2444,-0.59,-145.9,220.6,-9.3,272,2448,0.00,1.67,0.00,0.000,6,0.000,0.034,2814,1917,3426,0,0,0,0,0,0
$GC,2764,-0.56,-145.9,253.3,-11.1,292,2768,0.08,0.52,0.00,0.000,4,0.203,0.054,2832,1578,3426,0,0,0,0,0,0
$GC,2846,-0.56,-145.9,261.7,-9.6,295,2852,0.00,0.52,0.00,0.000,6,0.000,0.040,2831,1934,3426,0,0,0,0,0,0
$GC,3164,-0.56,-145.9,289.9,-9.1,311,3168,0.00,2.30,0.00,0.000,4,0.000,0.058,2830,497,3426,0,0,0,0,0,0
$GC,3240,-0.56,-145.9,297.8,-9.5,314,3245,0.00,2.15,0.00,0.000,6,0.000,0.032,2822,1891,3426,0,0,0,0,0,0
$GC,3563,-0.63,-145.9,325.9,-8.5,330,3567,0.00,2.20,0.00,0.000,4,0.000,0.046,2813,3315,3426,0,0,0,0,0,0
$GC,3629,-0.71,-145.9,332.1,-8.7,333,3634,0.05,2.17,0.00,0.000,6,0.080,0.037,2781,1908,3426,0,0,0,0,0,0
$GC,3958,-0.71,-145.9,363.5,-9.2,349,3962,0.00,2.22,0.00,0.000,4,0.000,0.056,2781,504,3425,0,0,0,0,0,0
$GC,4081,-0.63,-145.9,377.0,-10.4,354,4086,0.10,2.17,0.00,0.000,6,0.149,0.034,2803,1914,3426,0,0,0,0,0,0
$GC,4413,-0.59,-145.9,409.0,-9.8,369,4414,0.08,0.00,0.00,0.000,6,0.212,0.000,2820,1914,3426,0,0,0,0,0,0
$GC,4718,-0.59,-145.9,436.1,-8.8,379,4722,0.00,1.38,0.00,0.000,4,0.000,0.054,2820,1056,3426,0,0,0,0,0,0
$GC,4806,-0.59,-145.9,444.9,-10.3,381,4811,0.00,1.35,0.00,0.000,6,0.000,0.034,2815,1923,3426,0,0,0,0,0,0
$GC,5125,-0.59,-145.9,475.6,-9.5,392,5129,0.00,0.55,0.00,0.000,4,0.000,0.053,2815,1559,3425,0,0,0,0,0,0
$GC,5219,-0.57,-145.9,485.0,-10.2,394,5225,0.05,0.55,0.00,0.000,6,0.221,0.041,2824,1930,3426,0,0,0,0,0,0
$GC,5532,-0.57,-145.9,513.0,-8.9,405,5535,0.00,1.65,0.00,0.000,4,0.000,0.054,2824,909,3425,0,0,0,0,0,0
$GC,5603,-0.57,-145.9,520.0,-9.0,407,5608,0.00,1.55,0.00,0.000,6,0.000,0.034,2819,1902,3425,0,0,0,0,0,0
$GC,5939,-0.66,-145.9,548.2,-8.4,418,5943,0.05,1.65,0.00,0.000,4,0.171,0.055,2791,874,3424,0,0,0,0,0,0
$GC,6006,-0.61,-145.9,554.8,-10.4,420,6010,0.08,1.60,0.00,0.000,6,0.145,0.037,2819,1907,3424,0,0,0,0,0,0
$GC,6347,-0.69,-145.9,583.9,-8.5,431,6351,0.10,2.20,0.00,0.000,4,0.112,0.050,2772,3311,3424,0,0,0,0,0,0
$GC,6423,-0.64,-145.9,592.2,-10.9,433,6428,0.08,2.17,0.00,0.000,6,0.146,0.039,2797,1911,3423,0,0,0,0,0,0
$GC,6748,-0.59,-145.9,625.9,-10.5,444,6752,0.08,1.90,0.00,0.000,4,0.211,0.056,2814,711,3424,0,0,0,0,0,0
$GC,6829,-0.59,-145.9,634.5,-10.3,446,6835,0.00,1.85,0.00,0.000,6,0.000,0.037,2806,1909,3423,0,0,0,0,0,0
$GC,7154,-0.57,-145.9,666.1,-9.8,457,7156,0.08,0.00,0.00,0.000,6,0.204,0.000,2824,1911,3423,0,0,0,0,0,0
$GC,7460,-0.57,-145.9,692.5,-8.5,467,7464,0.00,0.65,0.00,0.000,4,0.000,0.054,2825,1490,3423,0,0,0,0,0,0
$GC,7527,-0.57,-145.9,698.1,-8.3,469,7532,0.00,0.65,0.00,0.000,6,0.000,0.042,2822,1925,3423,0,0,0,0,0,0
$GC,7867,-0.57,-145.9,724.9,-7.6,480,7871,0.00,1.20,0.00,0.000,4,0.000,0.054,2822,1177,3422,0,0,0,0,0,0
$GC,7944,-0.57,-145.9,731.0,-7.6,482,7949,0.00,1.15,0.00,0.000,6,0.000,0.037,2817,1915,3422,0,0,0,0,0,0
$GC,8275,-0.57,-145.9,755.5,-7.3,493,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1915,3422,0,0,0,0,0,0
$GC,8581,-0.57,-145.9,777.0,-7.0,503,8584,0.00,1.45,0.00,0.000,4,0.000,0.055,2817,1016,3422,0,0,0,0,0,0
$GC,8658,-0.57,-145.9,782.7,-7.0,505,8662,0.00,1.38,0.00,0.000,6,0.000,0.037,2812,1903,3421,0,0,0,0,0,0
$GC,8987,-0.57,-145.9,807.3,-7.6,516,8989,0.03,0.00,0.00,0.000,6,0.278,0.000,2821,1903,3421,0,0,0,0,0,0
$GC,9294,-0.57,-145.9,830.0,-7.4,526,9298,0.00,0.52,0.00,0.000,4,0.000,0.055,2821,1559,3421,0,0,0,0,0,0
$GC,9366,-0.59,-145.9,835.7,-7.5,528,9370,0.00,0.55,0.00,0.000,6,0.000,0.044,2820,1924,3421,0,0,0,0,0,0
$GC,9701,-0.59,-145.9,861.0,-7.6,539,9704,0.00,1.27,0.00,0.000,4,0.000,0.054,2819,1122,3421,0,0,0,0,0,0
$GC,9789,-0.59,-145.9,868.0,-7.9,541,9793,0.00,1.23,0.00,0.000,6,0.000,0.037,2814,1906,3421,0,0,0,0,0,0
$GC,10107,-0.59,-145.9,894.7,-8.9,552,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1906,3421,0,0,0,0,0,0
$GC,10414,-0.59,-145.9,922.7,-9.2,562,10417,0.00,0.93,0.00,0.000,4,0.000,0.053,2814,1323,3420,0,0,0,0,0,0
$GC,10502,-0.59,-145.9,930.9,-9.0,564,10506,0.00,0.93,0.00,0.000,6,0.000,0.037,2810,1921,3421,0,0,0,0,0,0
$GC,10820,-0.59,-145.9,959.8,-9.3,575,10824,0.00,0.50,0.00,0.000,4,0.000,0.054,2811,1585,3420,0,0,0,0,0,0
$GC,10891,-0.59,-145.9,966.9,-9.9,577,10895,0.00,0.50,0.00,0.000,6,0.000,0.044,2809,1920,3420,0,0,0,0,0,0
$GC,11226,-0.59,-145.9,998.4,-9.2,588,11230,0.00,1.17,0.00,0.000,4,0.000,0.053,2809,1183,3420,0,0,0,0,0,0
$STATE,11248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11248,begin apogee
$GC,11253,-0.19,0.0,1000.6,9.6,588,11383,0.45,0.00,124.97,1.533,6,0.136,0.000,2949,1664,2827,0,0,0,0,0,0
$STATE,11384,end apogee,CONTROL_FINISHED_OK
$STATE,11384,begin climb
$GC,11386,0.52,145.9,1008.8,0.0,593,11523,0.68,0.95,130.70,1.491,4,0.076,0.058,3176,1160,2232,0,0,0,0,0,0
$GC,11561,0.34,199.7,1010.6,5.6,598,11617,0.17,0.82,50.03,1.448,6,0.186,0.037,3132,1661,2012,0,0,0,0,0,0
$GC,11936,0.31,233.7,988.4,6.2,611,11971,0.08,0.90,30.25,1.427,4,0.211,0.037,3115,2224,1874,0,0,0,0,0,0
$GC,12026,0.31,259.9,982.6,6.5,613,12056,0.00,0.93,24.95,1.399,6,0.000,0.049,3118,1660,1766,0,0,0,0,0,0
$GC,12370,0.35,270.6,959.1,7.0,625,12382,0.00,0.00,9.98,1.270,6,0.000,0.000,3118,1660,1724,0,0,0,0,0,0
$GC,12676,0.39,275.1,936.9,7.3,635,12685,0.08,0.45,5.72,1.079,4,0.131,0.037,3149,1969,1704,0,0,0,0,0,0
$GC,12724,0.37,275.1,932.6,8.6,636,12729,0.08,0.52,0.00,0.000,6,0.201,0.056,3136,1645,1704,0,0,0,0,0,0
$GC,13047,0.37,275.1,906.2,8.1,647,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1645,1703,0,0,0,0,0,0
$GC,13354,0.37,283.1,883.5,7.1,657,13367,0.00,0.45,8.57,1.210,4,0.000,0.047,3136,1943,1672,0,0,0,0,0,0
$GC,13412,0.37,284.0,879.1,7.4,658,13418,0.00,0.47,0.00,0.000,6,0.000,0.058,3135,1648,1672,0,0,0,0,0,0
$GC,13725,0.37,284.0,855.9,7.4,669,13729,0.00,0.32,0.00,0.000,4,0.000,0.050,3136,1880,1671,0,0,0,0,0,0
$GC,13773,0.37,284.0,852.2,7.6,670,13778,0.00,0.38,0.00,0.000,6,0.000,0.061,3136,1651,1671,0,0,0,0,0,0
$GC,14097,0.37,312.9,830.4,6.4,681,14131,0.00,0.32,28.48,1.377,4,0.000,0.050,3136,1863,1551,0,0,0,0,0,0
$GC,14176,0.41,365.4,825.3,5.6,683,14230,0.00,0.32,48.80,1.395,6,0.000,0.063,3136,1657,1336,0,0,0,0,0,0
$GC,14561,0.72,372.9,799.8,7.2,696,14575,0.30,2.28,6.85,1.101,4,0.093,0.046,3239,3037,1305,0,0,0,0,0,0
$GC,14642,0.58,372.9,791.6,11.9,698,14647,0.15,2.20,0.00,0.000,6,0.185,0.049,3206,1658,1304,0,0,0,0,0,0
$GC,14966,0.52,372.9,761.0,9.7,709,14970,0.10,1.60,0.00,0.000,4,0.201,0.063,3187,692,1303,0,0,0,0,0,0
$GC,15014,0.50,372.9,756.4,8.6,710,15019,0.00,1.48,0.00,0.000,6,0.000,0.039,3187,1630,1301,0,0,0,0,0,0
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$STATE,23274,end climb,SURFACE_DEPTH_REACHED
$STATE,23274,begin surface coast
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$10V_AH,10.1,30.379
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$FG_AHR_10Vo,0.000
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$MEM,354248
$DATA_FILE_SIZE,70374,1206
$CAP_FILE_SIZE,205612,0
$CFSIZE,2097086464,2071724032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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