version: 66.07.10.p01
glider: 574
mission: 4
dive: 191
start: 11 7 112 21 8 24
data:
$ID,574
$MISSION,4
$DIVE,191
$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,-6030.2119
$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,47
$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,170
$GPS1,071112,205607,-4210.803,-709.568,39,1.1,40,-21.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-65.8
$GPS2,071112,210729,-4210.898,-709.518,66,1.0,67,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.214,0.097
$KALMAN_X,-344606.3,131.6,4455.1,475840.6,-17492.2
$KALMAN_Y,268402.2,54.5,1226.1,-194273.4,-6227.3
$MHEAD_RNG_PITCHd_Wd,87.6,648,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.20,0.000,2,0.000,0.000,65,1919,2628,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.3,10,133,12.43,0.85,-22.48,0.000,4,0.264,0.098,2831,1416,3424,0,0,0,0,0,0
$GC,183,-0.52,-145.9,11.9,-9.1,25,190,0.00,0.77,0.00,0.000,6,0.000,0.041,2828,1915,3425,0,0,0,0,0,0
$GC,263,-0.49,-145.9,18.3,-8.1,38,270,0.10,0.00,0.00,0.000,6,0.182,0.000,2853,1916,3425,0,0,0,0,0,0
$GC,344,-0.55,-145.9,23.9,-5.8,51,351,0.00,0.90,0.00,0.000,4,0.000,0.060,2853,1373,3425,0,0,0,0,0,0
$GC,366,-0.62,-145.9,25.7,-6.7,54,374,0.08,0.82,0.00,0.000,6,0.070,0.040,2809,1910,3425,0,0,0,0,0,0
$GC,446,-0.62,-145.9,34.9,-11.6,67,451,0.00,2.22,0.00,0.000,4,0.000,0.053,2799,3317,3425,0,0,0,0,0,0
$GC,509,-0.59,-145.9,41.9,-10.7,78,517,0.05,2.25,0.00,0.000,6,0.151,0.047,2817,1915,3425,0,0,0,0,0,0
$GC,745,-0.67,-145.9,65.1,-8.8,119,750,0.08,2.30,0.00,0.000,4,0.133,0.063,2788,503,3425,0,0,0,0,0,0
$GC,768,-0.67,-145.9,67.3,-9.0,123,774,0.03,2.20,0.00,0.000,6,0.203,0.036,2787,1910,3425,0,0,0,0,0,0
$GC,1112,-0.67,-145.9,98.9,-8.7,184,1117,0.00,1.98,0.00,0.000,4,0.000,0.061,2787,696,3425,0,0,0,0,0,0
$GC,1146,-0.59,-145.9,102.2,-9.9,188,1151,0.08,1.90,0.00,0.000,6,0.153,0.037,2819,1909,3426,0,0,0,0,0,0
$GC,1478,-0.65,-145.9,127.1,-7.5,209,1482,0.00,2.22,0.00,0.000,4,0.000,0.049,2809,3329,3426,0,0,0,0,0,0
$GC,1562,-0.74,-145.9,134.2,-8.4,214,1566,0.05,2.22,0.00,0.000,6,0.079,0.042,2767,1913,3425,0,0,0,0,0,0
$GC,1889,-0.70,-145.9,163.7,-8.9,235,1893,0.08,0.70,0.00,0.000,4,0.187,0.044,2782,2373,3426,0,0,0,0,0,0
$GC,1934,-0.70,-145.9,167.9,-8.4,237,1939,0.00,0.73,0.00,0.000,6,0.000,0.047,2782,1899,3426,0,0,0,0,0,0
$GC,2254,-0.70,-145.9,195.9,-9.0,258,2258,0.00,2.25,0.00,0.000,4,0.000,0.048,2773,3325,3426,0,0,0,0,0,0
$GC,2343,-0.61,-145.9,205.4,-10.6,263,2349,0.10,2.20,0.00,0.000,6,0.136,0.041,2814,1920,3425,0,0,0,0,0,0
$GC,2664,-0.68,-145.9,234.7,-9.7,284,2666,0.08,0.00,0.00,0.000,6,0.134,0.000,2785,1919,3425,0,0,0,0,0,0
$GC,2983,-0.68,-145.9,269.1,-10.9,302,2987,0.00,2.20,0.00,0.000,4,0.000,0.047,2777,3319,3425,0,0,0,0,0,0
$GC,2992,-0.68,-145.9,270.2,-10.7,302,3001,0.03,2.20,0.00,0.000,6,0.167,0.041,2785,1911,3425,0,0,0,0,0,0
$GC,3308,-0.68,-145.9,303.0,-10.2,318,3313,0.00,2.25,0.00,0.000,4,0.000,0.058,2785,505,3425,0,0,0,0,0,0
$GC,3363,-0.59,-145.9,309.4,-11.3,320,3372,0.12,2.17,0.00,0.000,6,0.144,0.033,2817,1914,3425,0,0,0,0,0,0
$GC,3681,-0.66,-145.9,334.3,-7.4,336,3686,0.05,2.08,0.00,0.000,4,0.169,0.047,2785,3255,3425,0,0,0,0,0,0
$GC,3745,-0.69,-145.9,339.5,-8.8,339,3749,0.00,2.08,0.00,0.000,6,0.000,0.038,2785,1901,3425,0,0,0,0,0,0
$GC,4074,-0.72,-145.9,365.6,-7.9,355,4078,0.00,2.20,0.00,0.000,4,0.000,0.047,2777,3311,3425,0,0,0,0,0,0
$GC,4168,-0.66,-145.9,374.2,-8.9,359,4173,0.05,2.17,0.00,0.000,6,0.147,0.037,2793,1908,3424,0,0,0,0,0,0
$GC,4506,-0.60,-145.9,403.8,-8.9,375,4511,0.10,2.20,0.00,0.000,4,0.195,0.056,2820,512,3424,0,0,0,0,0,0
$GC,4577,-0.60,-145.9,410.0,-8.7,377,4582,0.00,2.15,0.00,0.000,6,0.000,0.034,2811,1905,3424,0,0,0,0,0,0
$GC,4907,-0.67,-145.9,434.3,-7.6,388,4911,0.00,2.20,0.00,0.000,4,0.000,0.047,2804,3321,3424,0,0,0,0,0,0
$GC,4917,-0.74,-145.9,435.3,-7.8,388,4922,0.05,2.17,0.00,0.000,6,0.080,0.037,2773,1916,3423,0,0,0,0,0,0
$GC,5240,-0.74,-145.9,467.0,-10.1,399,5244,0.00,2.25,0.00,0.000,4,0.000,0.057,2773,501,3423,0,0,0,0,0,0
$GC,5306,-0.63,-145.9,475.0,-11.6,401,5311,0.10,2.17,0.00,0.000,6,0.157,0.034,2796,1910,3422,0,0,0,0,0,0
$GC,5642,-0.59,-145.9,509.9,-10.2,412,5646,0.10,0.60,0.00,0.000,4,0.190,0.044,2819,2322,3422,0,0,0,0,0,0
$GC,5686,-0.61,-145.9,513.8,-8.4,413,5690,0.00,0.65,0.00,0.000,6,0.000,0.044,2819,1895,3422,0,0,0,0,0,0
$GC,6016,-0.71,-145.9,539.7,-7.8,424,6020,0.10,1.12,0.00,0.000,4,0.114,0.043,2776,2614,3421,0,0,0,0,0,0
$GC,6076,-0.75,-145.9,545.2,-8.4,425,6081,0.00,1.10,0.00,0.000,6,0.000,0.040,2776,1902,3421,0,0,0,0,0,0
$GC,6388,-0.75,-145.9,573.0,-8.8,436,6392,0.00,2.20,0.00,0.000,4,0.000,0.055,2776,513,3421,0,0,0,0,0,0
$GC,6471,-0.65,-145.9,582.0,-11.1,438,6476,0.08,2.17,0.00,0.000,6,0.159,0.034,2792,1910,3420,0,0,0,0,0,0
$GC,6795,-0.59,-145.9,612.8,-9.3,449,6799,0.10,0.90,0.00,0.000,4,0.190,0.043,2815,2507,3420,0,0,0,0,0,0
$GC,6854,-0.59,-145.9,617.7,-7.6,450,6860,0.00,0.93,0.00,0.000,6,0.000,0.041,2815,1912,3420,0,0,0,0,0,0
$GC,7168,-0.70,-145.9,640.8,-7.6,461,7173,0.08,2.25,0.00,0.000,4,0.135,0.048,2773,3326,3419,0,0,0,0,0,0
$GC,7263,-0.65,-145.9,649.5,-9.7,464,7268,0.10,2.17,0.00,0.000,6,0.168,0.037,2799,1909,3418,0,0,0,0,0,0
$GC,7598,-0.61,-145.9,678.9,-8.9,475,7602,0.03,2.22,0.00,0.000,4,0.286,0.056,2808,509,3418,0,0,0,0,0,0
$GC,7660,-0.59,-145.9,684.5,-9.5,477,7664,0.10,2.17,0.00,0.000,6,0.173,0.035,2824,1927,3418,0,0,0,0,0,0
$GC,7994,-0.73,-145.9,710.6,-8.1,488,7998,0.15,0.60,0.00,0.000,4,0.093,0.053,2768,1547,3417,0,0,0,0,0,0
$GC,8009,-0.81,-145.9,712.1,-8.3,488,8013,0.00,0.57,0.00,0.000,6,0.000,0.043,2767,1923,3417,0,0,0,0,0,0
$GC,8332,-0.81,-145.9,745.1,-10.4,499,8336,0.00,2.08,0.00,0.000,4,0.000,0.048,2758,3254,3417,0,0,0,0,0,0
$GC,8400,-0.73,-145.9,752.4,-10.8,501,8405,0.08,2.08,0.00,0.000,6,0.187,0.038,2773,1904,3416,0,0,0,0,0,0
$GC,8735,-0.65,-145.9,790.6,-11.5,512,8739,0.10,1.98,0.00,0.000,4,0.196,0.055,2800,654,3416,0,0,0,0,0,0
$GC,8794,-0.63,-145.9,797.2,-10.5,513,8801,0.03,1.95,0.00,0.000,6,0.194,0.036,2801,1904,3416,0,0,0,0,0,0
$GC,9107,-0.63,-145.9,829.0,-10.3,524,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1904,3416,0,0,0,0,0,0
$GC,9413,-0.63,-145.9,859.9,-10.1,534,9417,0.00,0.25,0.00,0.000,4,0.000,0.061,2801,1721,3416,0,0,0,0,0,0
$GC,9496,-0.63,-145.9,868.3,-9.7,536,9500,0.00,0.30,0.00,0.000,6,0.000,0.049,2801,1933,3415,0,0,0,0,0,0
$GC,9820,-0.63,-145.9,899.5,-9.6,547,9823,0.00,0.90,0.00,0.000,4,0.000,0.050,2801,1365,3415,0,0,0,0,0,0
$GC,9880,-0.63,-145.9,905.6,-10.1,548,9886,0.00,0.85,0.00,0.000,6,0.000,0.037,2798,1918,3415,0,0,0,0,0,0
$GC,10193,-0.63,-145.9,933.9,-9.1,559,10196,0.00,0.32,0.00,0.000,4,0.000,0.060,2797,1691,3415,0,0,0,0,0,0
$GC,10253,-0.63,-145.9,939.9,-9.8,560,10258,0.00,0.32,0.00,0.000,6,0.000,0.049,2795,1917,3415,0,0,0,0,0,0
$GC,10565,-0.63,-145.9,969.2,-9.5,571,10569,0.00,0.93,0.00,0.000,4,0.000,0.052,2796,1333,3414,0,0,0,0,0,0
$GC,10637,-0.60,-145.9,976.3,-9.7,573,10642,0.10,0.90,0.00,0.000,6,0.181,0.038,2818,1913,3414,0,0,0,0,0,0
$STATE,10941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10941,begin apogee
$GC,10945,-0.19,0.0,1000.5,7.8,583,11073,0.43,0.00,124.22,1.528,6,0.132,0.000,2947,1641,2827,0,0,0,0,0,0
$STATE,11073,end apogee,CONTROL_FINISHED_OK
$STATE,11074,begin climb
$GC,11075,0.52,145.9,1007.5,0.0,587,11213,0.70,0.43,131.65,1.496,4,0.077,0.062,3178,1407,2232,0,0,0,0,0,0
$GC,11251,0.36,188.4,1009.4,6.0,592,11297,0.20,0.40,40.35,1.459,6,0.179,0.044,3133,1653,2058,0,0,0,0,0,0
$GC,11627,0.31,205.7,985.2,6.8,605,11648,0.08,1.75,15.50,1.362,4,0.213,0.043,3117,2740,1989,0,0,0,0,0,0
$GC,11715,0.29,216.8,978.5,7.0,607,11731,0.00,1.75,11.43,1.308,6,0.000,0.047,3118,1662,1943,0,0,0,0,0,0
$GC,12056,0.29,228.5,953.7,7.0,619,12069,0.00,0.00,11.55,1.304,6,0.000,0.000,3118,1663,1895,0,0,0,0,0,0
$GC,12395,0.29,251.3,930.2,6.6,630,12418,0.00,0.00,21.85,1.401,6,0.000,0.000,3118,1662,1802,0,0,0,0,0,0
$GC,12701,0.41,284.4,910.5,6.3,640,12737,0.08,2.40,30.27,1.418,4,0.131,0.067,3147,243,1667,0,0,0,0,0,0
$GC,12804,0.44,296.7,903.2,7.0,643,12825,0.00,2.25,12.75,1.316,6,0.000,0.035,3147,1645,1617,0,0,0,0,0,0
$GC,13132,0.53,304.3,880.2,7.1,654,13146,0.10,1.58,7.60,1.175,4,0.112,0.044,3188,2622,1585,0,0,0,0,0,0
$GC,13198,0.44,304.3,874.2,9.7,656,13202,0.10,1.58,0.00,0.000,6,0.168,0.050,3159,1654,1584,0,0,0,0,0,0
$GC,13537,0.44,304.3,847.1,8.0,667,13541,0.00,1.12,0.00,0.000,4,0.000,0.062,3160,959,1584,0,0,0,0,0,0
$GC,13586,0.44,304.3,843.3,7.7,668,13591,0.00,1.10,0.00,0.000,6,0.000,0.037,3159,1655,1583,0,0,0,0,0,0
$GC,13910,0.44,304.3,817.8,7.9,679,13914,0.00,0.35,0.00,0.000,4,0.000,0.051,3159,1920,1583,0,0,0,0,0,0
$GC,13944,0.44,304.3,814.9,7.6,680,13948,0.00,0.43,0.00,0.000,6,0.000,0.062,3159,1646,1582,0,0,0,0,0,0
$GC,14284,0.44,304.3,786.8,8.2,691,14285,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1646,1582,0,0,0,0,0,0
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$STATE,23137,end climb,SURFACE_DEPTH_REACHED
$STATE,23137,begin surface coast
$FINISH,1.5,1.026555
$STATE,23156,end surface coast,CONTROL_FINISHED_OK
$STATE,23156,begin surface
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$10V_AH,10.1,34.619
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70237,1167
$CAP_FILE_SIZE,227576,0
$CFSIZE,2097086464,2067562496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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