version: 66.07.10.p01
glider: 574
mission: 4
dive: 166
start: 11 1 112 0 28 17
data:
$ID,574
$MISSION,4
$DIVE,166
$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,-5945.9849
$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,63
$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,145
$GPS1,011112,001905,-4229.505,-719.620,25,1.6,26,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.7
$GPS2,011112,002723,-4229.504,-719.697,43,1.1,44,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.149,-0.181
$KALMAN_X,-264343.3,-128.6,394.4,386077.0,-7907.1
$KALMAN_Y,221157.3,-330.5,-886.5,-178982.3,8948.7
$MHEAD_RNG_PITCHd_Wd,162.3,77979,-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,-145.9,0.0,0.0,0,99,0.00,0.00,-72.18,0.000,2,0.000,0.000,70,1935,2500,0,0,0,0,0,0
$GC,101,-0.52,-145.9,3.0,-1.3,12,151,12.40,2.15,-30.73,0.000,4,0.267,0.077,2833,620,3423,0,0,0,0,0,0
$GC,213,-0.48,-145.9,11.5,-10.3,30,221,0.08,2.00,0.00,0.000,6,0.142,0.039,2853,1876,3424,0,0,0,0,0,0
$GC,294,-0.55,-145.9,18.4,-8.1,43,301,0.00,1.55,0.00,0.000,4,0.000,0.048,2851,2850,3424,0,0,0,0,0,0
$GC,344,-0.69,-145.9,22.7,-8.2,51,352,0.15,1.50,0.00,0.000,6,0.057,0.047,2782,1915,3425,0,0,0,0,0,0
$GC,425,-0.57,-145.9,30.7,-10.2,64,433,0.15,2.33,0.00,0.000,4,0.163,0.061,2821,508,3424,0,0,0,0,0,0
$GC,527,-0.54,-145.9,41.8,-10.8,81,533,0.10,2.17,0.00,0.000,6,0.168,0.037,2839,1924,3425,0,0,0,0,0,0
$GC,761,-0.63,-145.9,62.7,-8.3,122,767,0.10,2.20,0.00,0.000,4,0.111,0.049,2790,3317,3425,0,0,0,0,0,0
$GC,850,-0.58,-145.9,72.0,-11.2,138,858,0.08,2.22,0.00,0.000,6,0.140,0.043,2816,1910,3424,0,0,0,0,0,0
$GC,1198,-0.54,-145.9,106.5,-9.6,192,1202,0.08,2.25,0.00,0.000,4,0.204,0.059,2833,508,3424,0,0,0,0,0,0
$GC,1280,-0.54,-145.9,114.5,-9.2,197,1285,0.00,2.17,0.00,0.000,6,0.000,0.034,2825,1911,3424,0,0,0,0,0,0
$GC,1606,-0.60,-145.9,140.2,-7.7,218,1609,0.00,1.67,0.00,0.000,4,0.000,0.046,2818,3003,3424,0,0,0,0,0,0
$GC,1667,-0.71,-145.9,145.2,-8.4,221,1674,0.08,1.73,0.00,0.000,6,0.070,0.042,2779,1907,3424,0,0,0,0,0,0
$GC,1987,-0.60,-145.9,178.0,-11.6,242,1992,0.15,2.22,0.00,0.000,4,0.169,0.057,2819,504,3424,0,0,0,0,0,0
$GC,2093,-0.57,-145.9,189.3,-10.7,248,2102,0.05,2.17,0.00,0.000,6,0.154,0.034,2827,1912,3425,0,0,0,0,0,0
$GC,2415,-0.65,-145.9,218.4,-9.4,269,2420,0.08,1.83,0.00,0.000,4,0.132,0.046,2792,3077,3425,0,0,0,0,0,0
$GC,2475,-0.65,-145.9,225.4,-11.2,272,2483,0.00,1.83,0.00,0.000,6,0.000,0.040,2792,1907,3425,0,0,0,0,0,0
$GC,2799,-0.67,-145.9,260.2,-10.6,292,2803,0.00,2.20,0.00,0.000,4,0.000,0.046,2782,3316,3425,0,0,0,0,0,0
$GC,2894,-0.63,-145.9,271.6,-12.4,296,2899,0.08,2.17,0.00,0.000,6,0.138,0.038,2807,1913,3425,0,0,0,0,0,0
$GC,3215,-0.58,-145.9,306.3,-10.2,312,3220,0.05,2.22,0.00,0.000,4,0.236,0.057,2818,508,3425,0,0,0,0,0,0
$GC,3315,-0.55,-145.9,316.6,-9.4,316,3324,0.05,2.17,0.00,0.000,6,0.155,0.034,2827,1920,3425,0,0,0,0,0,0
$GC,3632,-0.65,-145.9,339.1,-6.2,332,3637,0.08,1.83,0.00,0.000,4,0.132,0.046,2788,3102,3425,0,0,0,0,0,0
$GC,3703,-0.62,-145.9,344.0,-7.1,335,3708,0.10,1.80,0.00,0.000,6,0.166,0.039,2814,1910,3425,0,0,0,0,0,0
$GC,4038,-0.68,-145.9,364.8,-6.2,351,4042,0.08,0.50,0.00,0.000,4,0.135,0.057,2787,1571,3424,0,0,0,0,0,0
$GC,4053,-0.71,-145.9,366.2,-6.4,351,4058,0.00,0.55,0.00,0.000,6,0.000,0.041,2784,1941,3425,0,0,0,0,0,0
$GC,4370,-0.71,-145.9,390.5,-8.3,367,4374,0.00,0.45,0.00,0.000,4,0.000,0.047,2782,2273,3425,0,0,0,0,0,0
$GC,4442,-0.73,-145.9,397.1,-8.4,370,4447,0.00,0.57,0.00,0.000,6,0.000,0.048,2782,1899,3425,0,0,0,0,0,0
$GC,4756,-0.73,-145.9,425.3,-9.4,381,4760,0.00,2.20,0.00,0.000,4,0.000,0.057,2782,510,3425,0,0,0,0,0,0
$GC,4773,-0.73,-145.9,427.0,-9.5,381,4777,0.00,2.12,0.00,0.000,6,0.000,0.033,2773,1907,3425,0,0,0,0,0,0
$GC,5085,-0.62,-145.9,465.7,-12.8,391,5090,0.15,2.20,0.00,0.000,4,0.183,0.046,2801,3315,3424,0,0,0,0,0,0
$GC,5184,-0.62,-145.9,476.6,-10.3,394,5189,0.00,2.15,0.00,0.000,6,0.000,0.038,2801,1928,3424,0,0,0,0,0,0
$GC,5520,-0.67,-145.9,510.0,-9.7,405,5524,0.00,2.17,0.00,0.000,4,0.000,0.047,2792,3317,3424,0,0,0,0,0,0
$GC,5568,-0.67,-145.9,515.4,-10.9,406,5573,0.00,2.17,0.00,0.000,6,0.000,0.037,2792,1909,3423,0,0,0,0,0,0
$GC,5888,-0.71,-145.9,545.9,-9.4,417,5891,0.00,0.35,0.00,0.000,4,0.000,0.060,2792,1656,3423,0,0,0,0,0,0
$GC,5897,-0.73,-145.9,547.0,-9.3,417,5902,0.00,0.40,0.00,0.000,6,0.000,0.046,2791,1929,3423,0,0,0,0,0,0
$GC,6227,-0.76,-145.9,574.5,-8.0,428,6232,0.08,2.12,0.00,0.000,4,0.135,0.047,2755,3305,3422,0,0,0,0,0,0
$GC,6241,-0.76,-145.9,575.9,-8.2,428,6246,0.00,2.15,0.00,0.000,6,0.000,0.037,2756,1917,3422,0,0,0,0,0,0
$GC,6561,-0.61,-145.9,613.1,-12.2,439,6565,0.20,2.17,0.00,0.000,4,0.175,0.047,2798,3301,3422,0,0,0,0,0,0
$GC,6627,-0.61,-145.9,619.4,-8.7,441,6631,0.00,2.12,0.00,0.000,6,0.000,0.037,2799,1913,3421,0,0,0,0,0,0
$GC,6962,-0.67,-145.9,647.5,-8.5,452,6966,0.00,0.70,0.00,0.000,4,0.000,0.053,2799,1444,3422,0,0,0,0,0,0
$GC,6982,-0.71,-145.9,649.6,-9.2,452,6987,0.00,0.73,0.00,0.000,6,0.000,0.040,2797,1918,3422,0,0,0,0,0,0
$GC,7301,-0.76,-145.9,678.3,-9.0,463,7306,0.10,2.28,0.00,0.000,4,0.117,0.057,2760,501,3421,0,0,0,0,0,0
$GC,7418,-0.64,-145.9,693.3,-13.0,466,7423,0.15,2.17,0.00,0.000,6,0.153,0.037,2805,1897,3421,0,0,0,0,0,0
$GC,7736,-0.61,-145.9,725.8,-10.3,477,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1896,3421,0,0,0,0,0,0
$GC,8042,-0.59,-145.9,754.6,-9.0,487,8046,0.05,0.45,0.00,0.000,4,0.246,0.057,2817,1606,3420,0,0,0,0,0,0
$GC,8118,-0.59,-145.9,760.5,-7.6,489,8122,0.00,0.47,0.00,0.000,6,0.000,0.044,2815,1929,3420,0,0,0,0,0,0
$GC,8448,-0.59,-145.9,782.1,-6.4,500,8451,0.00,1.38,0.00,0.000,4,0.000,0.054,2816,1075,3420,0,0,0,0,0,0
$GC,8536,-0.59,-145.9,788.2,-6.6,502,8541,0.00,1.27,0.00,0.000,6,0.000,0.037,2810,1895,3420,0,0,0,0,0,0
$GC,8855,-0.59,-145.9,809.5,-6.8,513,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1895,3419,0,0,0,0,0,0
$GC,9161,-0.59,-145.9,831.5,-7.3,523,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1895,3419,0,0,0,0,0,0
$GC,9467,-0.59,-145.9,855.0,-8.0,533,9470,0.00,0.80,0.00,0.000,4,0.000,0.054,2810,1389,3419,0,0,0,0,0,0
$GC,9549,-0.59,-145.9,861.4,-7.4,535,9554,0.00,0.82,0.00,0.000,6,0.000,0.041,2807,1919,3419,0,0,0,0,0,0
$GC,9873,-0.59,-145.9,886.1,-7.7,546,9877,0.00,1.25,0.00,0.000,4,0.000,0.054,2807,1139,3418,0,0,0,0,0,0
$GC,9975,-0.59,-145.9,894.0,-6.7,549,9980,0.05,1.20,0.00,0.000,6,0.151,0.039,2820,1914,3418,0,0,0,0,0,0
$GC,10316,-0.61,-145.9,919.0,-7.6,560,10319,0.00,0.75,0.00,0.000,4,0.000,0.053,2821,1431,3418,0,0,0,0,0,0
$GC,10387,-0.65,-145.9,924.8,-7.7,562,10392,0.00,0.77,0.00,0.000,6,0.000,0.043,2819,1927,3418,0,0,0,0,0,0
$GC,10723,-0.78,-145.9,950.3,-7.5,573,10727,0.17,0.60,0.00,0.000,4,0.093,0.049,2756,2329,3418,0,0,0,0,0,0
$GC,10800,-0.74,-145.9,957.5,-9.6,575,10805,0.08,0.65,0.00,0.000,6,0.194,0.046,2770,1901,3418,0,0,0,0,0,0
$GC,11129,-0.66,-145.9,992.2,-11.1,586,11134,0.10,1.38,0.00,0.000,4,0.200,0.054,2795,1048,3417,0,0,0,0,0,0
$STATE,11211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11211,begin apogee
$GC,11216,-0.19,0.0,1000.6,9.6,588,11344,0.50,0.00,124.62,1.538,6,0.141,0.000,2947,1662,2827,0,0,0,0,0,0
$STATE,11345,end apogee,CONTROL_FINISHED_OK
$STATE,11345,begin climb
$GC,11346,0.52,145.9,1006.2,0.0,592,11483,0.70,0.82,131.68,1.493,4,0.080,0.043,3174,2138,2232,0,0,0,0,0,0
$GC,11539,0.34,193.9,1007.6,5.8,599,11590,0.17,0.82,44.42,1.448,6,0.188,0.053,3134,1666,2036,0,0,0,0,0,0
$GC,11903,0.30,229.3,985.1,6.2,611,11938,0.10,0.65,31.30,1.427,4,0.204,0.044,3111,2057,1891,0,0,0,0,0,0
$GC,11996,0.32,281.6,979.6,5.6,614,12049,0.00,0.68,47.90,1.486,6,0.000,0.054,3111,1646,1678,0,0,0,0,0,0
$GC,12362,0.52,294.3,954.6,7.0,626,12381,0.20,2.42,11.35,1.351,4,0.083,0.068,3185,240,1628,0,0,0,0,0,0
$GC,12393,0.52,294.3,951.9,9.0,627,12397,0.00,2.25,0.00,0.000,6,0.000,0.038,3185,1645,1627,0,0,0,0,0,0
$GC,12727,0.44,294.3,916.1,11.2,638,12732,0.12,2.35,0.00,0.000,4,0.181,0.068,3160,242,1624,0,0,0,0,0,0
$GC,12815,0.44,294.3,906.6,10.8,640,12821,0.00,2.22,0.00,0.000,6,0.000,0.037,3161,1648,1623,0,0,0,0,0,0
$GC,13128,0.42,294.3,874.9,10.2,651,13132,0.00,0.40,0.00,0.000,4,0.000,0.050,3161,1939,1623,0,0,0,0,0,0
$GC,13172,0.39,294.3,870.4,9.3,652,13177,0.08,0.47,0.00,0.000,6,0.221,0.061,3146,1649,1623,0,0,0,0,0,0
$GC,13501,0.39,294.3,840.0,9.4,663,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1649,1622,0,0,0,0,0,0
$GC,13807,0.39,294.3,811.5,9.1,673,13809,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1649,1622,0,0,0,0,0,0
$GC,14114,0.39,294.3,785.1,8.5,683,14117,0.00,0.77,0.00,0.000,4,0.000,0.046,3145,2157,1622,0,0,0,0,0,0
$GC,14162,0.39,294.3,780.8,9.1,684,14167,0.00,0.82,0.00,0.000,6,0.000,0.055,3146,1648,1622,0,0,0,0,0,0
$GC,14486,0.39,294.3,752.5,8.8,695,14490,0.00,0.30,0.00,0.000,4,0.000,0.054,3146,1864,1622,0,0,0,0,0,0
$GC,14529,0.39,294.3,748.6,8.8,696,14533,0.00,0.35,0.00,0.000,6,0.000,0.064,3146,1649,1622,0,0,0,0,0,0
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$STATE,23618,end climb,SURFACE_DEPTH_REACHED
$STATE,23618,begin surface coast
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$STATE,23661,end surface coast,CONTROL_FINISHED_OK
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