version: 66.07.10.p01
glider: 574
mission: 4
dive: 171
start: 11 2 112 9 45 17
data:
$ID,574
$MISSION,4
$DIVE,171
$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,-5962.9058
$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,31
$R_STBD_OVSHOOT,62
$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,150
$GPS1,021112,093606,-4228.613,-722.023,26,1.7,27,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-74.8
$GPS2,021112,094422,-4228.583,-722.120,28,1.5,46,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.140,-0.189
$KALMAN_X,-288355.5,284.8,-253.9,407020.9,-6070.5
$KALMAN_Y,244123.6,77.3,-340.8,-201192.9,7431.7
$MHEAD_RNG_PITCHd_Wd,165.3,81486,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,80,0.00,0.00,-54.30,0.000,2,0.000,0.000,67,1926,2480,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.0,-1.4,9,133,12.18,2.35,-32.50,0.000,4,0.259,0.074,2836,505,3421,0,0,0,0,0,0
$GC,199,-0.49,-145.9,11.3,-9.9,28,207,0.05,2.17,0.00,0.000,6,0.155,0.036,2846,1878,3423,0,0,0,0,0,0
$GC,280,-0.49,-145.9,18.8,-9.2,41,287,0.00,1.23,0.00,0.000,4,0.000,0.044,2842,2665,3423,0,0,0,0,0,0
$GC,342,-0.52,-145.9,24.4,-9.0,51,349,0.00,1.20,0.00,0.000,6,0.000,0.046,2842,1915,3424,0,0,0,0,0,0
$GC,421,-0.64,-145.9,31.4,-8.5,64,428,0.10,2.35,0.00,0.000,4,0.110,0.062,2796,494,3424,0,0,0,0,0,0
$GC,515,-0.57,-145.9,41.6,-11.1,80,523,0.12,2.22,0.00,0.000,6,0.138,0.033,2826,1922,3423,0,0,0,0,0,0
$GC,754,-0.57,-145.9,64.0,-9.2,121,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1922,3424,0,0,0,0,0,0
$GC,1098,-0.57,-145.9,97.4,-10.0,182,1103,0.00,1.25,0.00,0.000,4,0.000,0.056,2826,1150,3424,0,0,0,0,0,0
$GC,1186,-0.54,-145.9,106.6,-10.7,191,1190,0.00,1.17,0.00,0.000,6,0.000,0.034,2822,1915,3424,0,0,0,0,0,0
$GC,1511,-0.52,-145.9,139.3,-10.1,212,1516,0.08,0.98,0.00,0.000,4,0.198,0.056,2840,1317,3424,0,0,0,0,0,0
$GC,1583,-0.52,-145.9,146.4,-9.3,216,1588,0.00,0.95,0.00,0.000,6,0.000,0.035,2837,1932,3424,0,0,0,0,0,0
$GC,1911,-0.62,-145.9,173.3,-8.1,237,1915,0.08,0.52,0.00,0.000,4,0.132,0.046,2801,2299,3424,0,0,0,0,0,0
$GC,2005,-0.66,-145.9,181.8,-9.4,242,2012,0.00,0.62,0.00,0.000,6,0.000,0.048,2801,1894,3424,0,0,0,0,0,0
$GC,2326,-0.69,-145.9,208.1,-8.1,263,2330,0.00,2.20,0.00,0.000,4,0.000,0.046,2791,3308,3425,0,0,0,0,0,0
$GC,2392,-0.65,-145.9,214.4,-9.3,267,2396,0.00,2.15,0.00,0.000,6,0.000,0.038,2791,1923,3424,0,0,0,0,0,0
$GC,2717,-0.57,-145.9,246.6,-10.3,288,2722,0.12,2.22,0.00,0.000,4,0.176,0.057,2824,520,3425,0,0,0,0,0,0
$GC,2788,-0.57,-145.9,253.7,-9.2,292,2793,0.00,2.12,0.00,0.000,6,0.000,0.032,2816,1902,3425,0,0,0,0,0,0
$GC,3111,-0.63,-145.9,278.8,-7.1,308,3114,0.00,0.80,0.00,0.000,4,0.000,0.052,2816,1392,3425,0,0,0,0,0,0
$GC,3136,-0.66,-145.9,280.3,-6.9,309,3140,0.00,0.80,0.00,0.000,6,0.000,0.037,2812,1928,3425,0,0,0,0,0,0
$GC,3470,-0.73,-145.9,305.1,-7.8,325,3475,0.10,2.30,0.00,0.000,4,0.112,0.057,2773,503,3425,0,0,0,0,0,0
$GC,3570,-0.61,-145.9,316.4,-11.7,329,3577,0.12,2.15,0.00,0.000,6,0.144,0.034,2805,1897,3425,0,0,0,0,0,0
$GC,3888,-0.57,-145.9,347.9,-10.3,345,3890,0.08,0.00,0.00,0.000,6,0.204,0.000,2822,1899,3425,0,0,0,0,0,0
$GC,4195,-0.57,-145.9,377.4,-9.9,360,4199,0.00,0.52,0.00,0.000,4,0.000,0.053,2823,1550,3425,0,0,0,0,0,0
$GC,4272,-0.57,-145.9,385.3,-9.6,363,4277,0.00,0.57,0.00,0.000,6,0.000,0.039,2821,1939,3425,0,0,0,0,0,0
$GC,4613,-0.57,-145.9,418.9,-10.1,377,4617,0.00,2.30,0.00,0.000,4,0.000,0.056,2821,505,3425,0,0,0,0,0,0
$GC,4678,-0.57,-145.9,426.2,-10.3,379,4683,0.00,2.15,0.00,0.000,6,0.000,0.033,2811,1896,3425,0,0,0,0,0,0
$GC,5014,-0.63,-145.9,457.9,-9.2,390,5018,0.00,1.33,0.00,0.000,4,0.000,0.044,2806,2767,3425,0,0,0,0,0,0
$GC,5069,-0.72,-145.9,463.1,-9.1,391,5074,0.05,1.33,0.00,0.000,6,0.084,0.040,2778,1912,3425,0,0,0,0,0,0
$GC,5387,-0.72,-145.9,493.5,-9.6,402,5390,0.00,1.60,0.00,0.000,4,0.000,0.044,2771,2933,3425,0,0,0,0,0,0
$GC,5430,-0.66,-145.9,498.0,-10.0,403,5435,0.08,1.58,0.00,0.000,6,0.144,0.037,2794,1911,3424,0,0,0,0,0,0
$GC,5760,-0.70,-145.9,526.9,-8.6,414,5764,0.00,2.10,0.00,0.000,4,0.000,0.055,2795,570,3424,0,0,0,0,0,0
$GC,5826,-0.64,-145.9,533.7,-10.0,416,5831,0.03,2.08,0.00,0.000,6,0.179,0.034,2796,1917,3424,0,0,0,0,0,0
$GC,6162,-0.68,-145.9,563.0,-8.6,427,6166,0.00,1.20,0.00,0.000,4,0.000,0.043,2791,2711,3423,0,0,0,0,0,0
$GC,6217,-0.74,-145.9,568.1,-9.5,428,6221,0.00,1.23,0.00,0.000,6,0.000,0.039,2791,1910,3423,0,0,0,0,0,0
$GC,6536,-0.78,-145.9,596.3,-8.9,439,6540,0.10,2.22,0.00,0.000,4,0.116,0.046,2745,3324,3423,0,0,0,0,0,0
$GC,6597,-0.67,-145.9,603.0,-11.5,441,6602,0.17,2.15,0.00,0.000,6,0.161,0.037,2791,1918,3422,0,0,0,0,0,0
$GC,6932,-0.61,-145.9,636.5,-10.0,452,6936,0.10,2.22,0.00,0.000,4,0.192,0.056,2817,509,3422,0,0,0,0,0,0
$GC,7002,-0.61,-145.9,643.5,-10.0,454,7008,0.00,2.17,0.00,0.000,6,0.000,0.034,2809,1915,3422,0,0,0,0,0,0
$GC,7333,-0.67,-145.9,671.6,-8.6,465,7337,0.00,0.80,0.00,0.000,4,0.000,0.043,2806,2460,3421,0,0,0,0,0,0
$GC,7416,-0.77,-145.9,678.9,-9.0,467,7421,0.12,0.88,0.00,0.000,6,0.102,0.041,2760,1897,3422,0,0,0,0,0,0
$GC,7740,-0.64,-145.9,716.1,-12.4,478,7744,0.17,2.22,0.00,0.000,4,0.168,0.055,2806,511,3421,0,0,0,0,0,0
$GC,7845,-0.62,-145.9,726.8,-9.3,481,7850,0.05,2.12,0.00,0.000,6,0.224,0.034,2809,1917,3421,0,0,0,0,0,0
$GC,8174,-0.69,-145.9,754.1,-8.2,492,8176,0.05,0.00,0.00,0.000,6,0.172,0.000,2786,1921,3421,0,0,0,0,0,0
$GC,8480,-0.72,-145.9,780.6,-8.5,502,8484,0.00,2.25,0.00,0.000,4,0.000,0.055,2786,509,3420,0,0,0,0,0,0
$GC,8580,-0.66,-145.9,791.0,-10.6,505,8585,0.05,2.17,0.00,0.000,6,0.164,0.035,2794,1913,3420,0,0,0,0,0,0
$GC,8915,-0.61,-145.9,821.6,-9.0,516,8920,0.08,0.52,0.00,0.000,4,0.210,0.053,2813,1573,3420,0,0,0,0,0,0
$GC,8982,-0.61,-145.9,827.0,-7.9,518,8986,0.00,0.50,0.00,0.000,6,0.000,0.044,2811,1921,3420,0,0,0,0,0,0
$GC,9322,-0.61,-145.9,854.7,-8.4,529,9326,0.00,0.93,0.00,0.000,4,0.000,0.052,2811,1336,3420,0,0,0,0,0,0
$GC,9399,-0.61,-145.9,861.7,-8.2,531,9403,0.00,0.90,0.00,0.000,6,0.000,0.037,2809,1918,3419,0,0,0,0,0,0
$GC,9728,-0.61,-145.9,889.9,-8.7,542,9732,0.00,1.27,0.00,0.000,4,0.000,0.052,2809,1121,3419,0,0,0,0,0,0
$GC,9816,-0.61,-145.9,897.9,-9.2,544,9821,0.00,1.23,0.00,0.000,6,0.000,0.035,2804,1910,3419,0,0,0,0,0,0
$GC,10135,-0.61,-145.9,925.6,-8.5,555,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1910,3418,0,0,0,0,0,0
$GC,10441,-0.61,-145.9,950.8,-8.1,565,10445,0.00,1.25,0.00,0.000,4,0.000,0.052,2804,1126,3418,0,0,0,0,0,0
$GC,10546,-0.61,-145.9,959.7,-8.1,568,10551,0.00,1.23,0.00,0.000,6,0.000,0.036,2799,1913,3418,0,0,0,0,0,0
$GC,10882,-0.61,-145.9,987.4,-8.1,579,10886,0.00,1.42,0.00,0.000,4,0.000,0.054,2799,1027,3418,0,0,0,0,0,0
$GC,10976,-0.59,-145.9,995.3,-8.5,581,10983,0.05,1.35,0.00,0.000,6,0.154,0.036,2813,1902,3418,0,0,0,0,0,0
$STATE,11045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11045,begin apogee
$GC,11049,-0.19,0.0,1000.1,7.3,584,11177,0.45,0.00,125.05,1.583,6,0.133,0.000,2950,1647,2827,0,0,0,0,0,0
$STATE,11178,end apogee,CONTROL_FINISHED_OK
$STATE,11178,begin climb
$GC,11180,0.52,145.9,1005.8,0.0,588,11320,0.68,2.22,130.85,1.531,4,0.077,0.063,3180,454,2232,0,0,0,0,0,0
$GC,11404,0.33,145.9,1002.9,7.6,595,11408,0.22,1.98,0.00,0.000,6,0.185,0.037,3127,1659,2228,0,0,0,0,0,0
$GC,11738,0.27,206.5,984.9,5.3,606,11800,0.10,2.17,53.62,1.496,4,0.205,0.045,3104,2947,1983,0,0,0,0,0,0
$GC,11872,0.27,239.5,977.6,6.3,610,11908,0.00,2.12,30.20,1.460,6,0.000,0.045,3109,1668,1849,0,0,0,0,0,0
$GC,12238,0.40,310.3,957.3,5.0,622,12308,0.10,0.73,63.65,1.490,4,0.111,0.043,3148,2101,1560,0,0,0,0,0,0
$GC,12358,0.53,337.4,950.1,6.5,625,12389,0.10,0.77,25.90,1.443,6,0.105,0.053,3183,1645,1450,0,0,0,0,0,0
$GC,12702,0.60,348.0,925.4,7.0,637,12715,0.08,0.00,9.90,1.300,6,0.137,0.000,3213,1645,1408,0,0,0,0,0,0
$GC,13008,0.51,348.0,895.3,10.5,647,13012,0.12,0.80,0.00,0.000,4,0.187,0.063,3185,1158,1406,0,0,0,0,0,0
$GC,13056,0.46,348.0,890.9,8.8,648,13062,0.10,0.80,0.00,0.000,6,0.181,0.040,3163,1676,1406,0,0,0,0,0,0
$GC,13379,0.46,348.0,866.1,7.7,659,13383,0.00,0.38,0.00,0.000,4,0.000,0.047,3163,1954,1406,0,0,0,0,0,0
$GC,13434,0.46,348.0,861.7,7.8,660,13438,0.00,0.50,0.00,0.000,6,0.000,0.060,3163,1642,1405,0,0,0,0,0,0
$GC,13752,0.46,348.0,834.6,8.9,671,13753,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1642,1406,0,0,0,0,0,0
$GC,14058,0.46,348.0,805.3,9.5,681,14062,0.00,0.30,0.00,0.000,4,0.000,0.050,3163,1865,1406,0,0,0,0,0,0
$GC,14101,0.46,348.0,801.0,10.0,682,14105,0.00,0.35,0.00,0.000,6,0.000,0.063,3163,1650,1405,0,0,0,0,0,0
$GC,14430,0.46,348.0,770.3,9.2,693,14434,0.00,0.47,0.00,0.000,4,0.000,0.046,3162,1978,1406,0,0,0,0,0,0
$GC,14479,0.46,348.0,765.9,8.4,694,14483,0.00,0.55,0.00,0.000,6,0.000,0.057,3163,1641,1406,0,0,0,0,0,0
$GC,14803,0.46,348.0,738.2,8.4,705,14806,0.00,0.43,0.00,0.000,4,0.000,0.047,3163,1939,1406,0,0,0,0,0,0
$GC,14851,0.46,348.0,734.0,8.2,706,14855,0.00,0.47,0.00,0.000,6,0.000,0.060,3163,1646,1406,0,0,0,0,0,0
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$STATE,22726,end climb,SURFACE_DEPTH_REACHED
$STATE,22727,begin surface coast
$FINISH,1.4,1.026522
$STATE,22752,end surface coast,CONTROL_FINISHED_OK
$STATE,22752,begin surface
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$10V_AH,10.2,31.895
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70319,1165
$CAP_FILE_SIZE,213152,0
$CFSIZE,2097086464,2070249472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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