version: 66.07.10.p01
glider: 574
mission: 4
dive: 192
start: 11 8 112 3 47 58
data:
$ID,574
$MISSION,4
$DIVE,192
$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,-6034.27
$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,51
$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,171
$GPS1,081112,033659,-4210.176,-708.130,48,1.1,49,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.2
$GPS2,081112,034703,-4210.231,-707.898,18,1.9,18,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.231,0.042
$KALMAN_X,-339506.8,-38.0,-3851.4,481409.3,14372.4
$KALMAN_Y,269306.2,41.2,-969.4,-191736.2,2976.9
$MHEAD_RNG_PITCHd_Wd,302.3,3180,-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,-145.9,0.0,0.0,0,75,0.00,0.00,-48.55,0.000,2,0.000,0.000,71,1925,2167,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.1,-1.3,8,145,12.82,2.22,-48.62,0.000,4,0.275,0.068,2822,3300,3423,0,0,0,0,0,0
$GC,206,-0.66,-145.9,10.7,-10.7,29,214,0.03,2.25,0.00,0.000,6,0.112,0.054,2800,1925,3423,0,0,0,0,0,0
$GC,287,-0.61,-145.9,24.2,-18.0,42,295,0.03,0.52,0.00,0.000,4,0.264,0.073,2810,1603,3423,0,0,0,0,0,0
$GC,389,-0.56,-145.9,40.3,-12.0,59,395,0.05,0.45,0.00,0.000,6,0.164,0.050,2826,1892,3423,0,0,0,0,0,0
$GC,626,-0.52,-145.9,60.8,-7.1,100,631,0.08,0.00,0.00,0.000,6,0.191,0.000,2844,1892,3423,0,0,0,0,0,0
$GC,970,-0.67,-145.9,79.7,-9.7,161,975,0.15,2.28,0.00,0.000,4,0.091,0.053,2781,3322,3424,0,0,0,0,0,0
$GC,1042,-0.65,-145.9,88.6,-13.0,174,1050,0.05,2.25,0.00,0.000,6,0.149,0.046,2797,1908,3423,0,0,0,0,0,0
$GC,1376,-0.68,-145.9,122.2,-8.7,206,1380,0.00,2.28,0.00,0.000,4,0.000,0.066,2797,505,3424,0,0,0,0,0,0
$GC,1396,-0.68,-145.9,124.4,-9.1,207,1402,0.00,2.22,0.00,0.000,6,0.000,0.037,2789,1921,3424,0,0,0,0,0,0
$GC,1717,-0.68,-145.9,150.0,-7.6,228,1721,0.00,2.28,0.00,0.000,4,0.000,0.063,2788,508,3424,0,0,0,0,0,0
$GC,1780,-0.58,-145.9,155.6,-9.6,232,1784,0.17,2.17,0.00,0.000,6,0.160,0.039,2827,1912,3424,0,0,0,0,0,0
$GC,2106,-0.68,-145.9,180.3,-8.1,253,2110,0.10,1.98,0.00,0.000,4,0.115,0.049,2778,3190,3424,0,0,0,0,0,0
$GC,2157,-0.66,-145.9,185.7,-10.5,256,2161,0.08,1.98,0.00,0.000,6,0.184,0.040,2795,1907,3424,0,0,0,0,0,0
$GC,2489,-0.70,-145.9,219.4,-10.3,277,2493,0.00,2.22,0.00,0.000,4,0.000,0.048,2786,3322,3424,0,0,0,0,0,0
$GC,2540,-0.68,-145.9,225.2,-10.6,280,2544,0.00,2.17,0.00,0.000,6,0.000,0.038,2786,1906,3424,0,0,0,0,0,0
$GC,2868,-0.68,-145.9,259.4,-10.6,300,2872,0.00,2.22,0.00,0.000,4,0.000,0.058,2786,509,3425,0,0,0,0,0,0
$GC,2957,-0.60,-145.9,270.0,-11.6,304,2962,0.10,2.17,0.00,0.000,6,0.145,0.035,2809,1913,3425,0,0,0,0,0,0
$GC,3284,-0.67,-145.9,299.5,-8.8,320,3288,0.00,2.17,0.00,0.000,4,0.000,0.047,2800,3315,3425,0,0,0,0,0,0
$GC,3362,-0.77,-145.9,306.9,-9.3,323,3368,0.08,2.17,0.00,0.000,6,0.078,0.037,2761,1908,3425,0,0,0,0,0,0
$GC,3681,-0.72,-145.9,340.6,-10.7,339,3685,0.08,2.20,0.00,0.000,4,0.195,0.046,2769,3314,3424,0,0,0,0,0,0
$GC,3735,-0.65,-145.9,347.0,-10.5,341,3740,0.08,2.17,0.00,0.000,6,0.146,0.037,2793,1908,3424,0,0,0,0,0,0
$GC,4058,-0.69,-145.9,375.3,-8.9,357,4062,0.00,2.22,0.00,0.000,4,0.000,0.056,2793,499,3425,0,0,0,0,0,0
$GC,4153,-0.64,-145.9,385.3,-10.2,361,4158,0.05,2.20,0.00,0.000,6,0.155,0.034,2801,1921,3425,0,0,0,0,0,0
$GC,4489,-0.69,-145.9,414.3,-8.6,375,4493,0.00,2.17,0.00,0.000,4,0.000,0.048,2792,3322,3424,0,0,0,0,0,0
$GC,4566,-0.74,-145.9,421.7,-9.8,377,4571,0.03,2.17,0.00,0.000,6,0.108,0.037,2773,1913,3424,0,0,0,0,0,0
$GC,4890,-0.74,-145.9,455.9,-10.7,388,4894,0.00,2.20,0.00,0.000,4,0.000,0.047,2764,3315,3424,0,0,0,0,0,0
$GC,4952,-0.67,-145.9,463.2,-11.4,390,4957,0.12,2.15,0.00,0.000,6,0.160,0.035,2795,1899,3423,0,0,0,0,0,0
$GC,5286,-0.71,-145.9,497.8,-10.3,401,5290,0.00,2.22,0.00,0.000,4,0.000,0.047,2787,3319,3423,0,0,0,0,0,0
$GC,5341,-0.77,-145.9,503.7,-10.1,402,5348,0.03,2.15,0.00,0.000,6,0.112,0.033,2769,1917,3423,0,0,0,0,0,0
$GC,5654,-0.77,-145.9,538.2,-11.2,413,5658,0.00,2.17,0.00,0.000,4,0.000,0.044,2758,3315,3423,0,0,0,0,0,0
$GC,5719,-0.68,-145.9,546.2,-12.3,415,5725,0.10,2.15,0.00,0.000,6,0.142,0.034,2790,1914,3423,0,0,0,0,0,0
$GC,6055,-0.61,-145.9,582.2,-10.6,426,6056,0.10,0.00,0.00,0.000,6,0.189,0.000,2816,1913,3423,0,0,0,0,0,0
$GC,6361,-0.70,-145.9,608.2,-8.2,436,6365,0.10,1.45,0.00,0.000,4,0.116,0.051,2779,997,3422,0,0,0,0,0,0
$GC,6414,-0.70,-145.9,613.4,-10.2,437,6419,0.00,1.42,0.00,0.000,6,0.000,0.032,2772,1919,3422,0,0,0,0,0,0
$GC,6733,-0.70,-145.9,642.7,-9.3,448,6737,0.00,2.25,0.00,0.000,4,0.000,0.054,2772,511,3422,0,0,0,0,0,0
$GC,6816,-0.61,-145.9,651.8,-11.0,450,6821,0.15,2.15,0.00,0.000,6,0.146,0.033,2810,1903,3422,0,0,0,0,0,0
$GC,7140,-0.69,-145.9,676.8,-7.5,461,7145,0.05,2.20,0.00,0.000,4,0.174,0.048,2779,3316,3421,0,0,0,0,0,0
$GC,7211,-0.69,-145.9,683.1,-9.1,463,7216,0.00,2.17,0.00,0.000,6,0.000,0.037,2778,1919,3421,0,0,0,0,0,0
$GC,7541,-0.69,-145.9,711.4,-8.4,474,7545,0.00,2.20,0.00,0.000,4,0.000,0.047,2769,3315,3421,0,0,0,0,0,0
$GC,7589,-0.69,-145.9,716.2,-9.5,475,7595,0.05,2.17,0.00,0.000,6,0.151,0.036,2785,1909,3421,0,0,0,0,0,0
$GC,7908,-0.72,-145.9,744.8,-9.2,486,7912,0.00,0.70,0.00,0.000,4,0.000,0.044,2783,2382,3421,0,0,0,0,0,0
$GC,8059,-0.76,-145.9,759.2,-9.7,490,8063,0.00,0.73,0.00,0.000,6,0.000,0.044,2783,1908,3420,0,0,0,0,0,0
$GC,8383,-0.80,-145.9,791.4,-10.0,501,8387,0.10,2.22,0.00,0.000,4,0.117,0.048,2739,3321,3420,0,0,0,0,0,0
$GC,8420,-0.69,-145.9,796.2,-12.3,502,8425,0.15,2.20,0.00,0.000,6,0.147,0.038,2784,1907,3420,0,0,0,0,0,0
$GC,8750,-0.63,-145.9,832.6,-11.0,513,8754,0.10,2.12,0.00,0.000,4,0.191,0.047,2801,3262,3420,0,0,0,0,0,0
$GC,8793,-0.67,-145.9,837.1,-9.5,514,8797,0.00,2.10,0.00,0.000,6,0.000,0.037,2801,1907,3420,0,0,0,0,0,0
$GC,9117,-0.75,-145.9,866.4,-8.8,525,9122,0.10,2.25,0.00,0.000,4,0.121,0.056,2760,502,3419,0,0,0,0,0,0
$GC,9228,-0.63,-145.9,879.4,-12.1,528,9233,0.20,2.17,0.00,0.000,6,0.168,0.037,2805,1913,3419,0,0,0,0,0,0
$GC,9545,-0.63,-145.9,908.1,-8.8,539,9549,0.00,0.38,0.00,0.000,4,0.000,0.057,2805,1658,3419,0,0,0,0,0,0
$GC,9622,-0.63,-145.9,914.7,-8.3,541,9626,0.00,0.40,0.00,0.000,6,0.000,0.047,2805,1929,3419,0,0,0,0,0,0
$GC,9951,-0.63,-145.9,941.9,-8.3,552,9956,0.00,2.28,0.00,0.000,4,0.000,0.056,2804,506,3419,0,0,0,0,0,0
$GC,10029,-0.61,-145.9,948.7,-8.4,554,10034,0.05,2.17,0.00,0.000,6,0.152,0.037,2812,1898,3419,0,0,0,0,0,0
$GC,10353,-0.73,-145.9,970.3,-6.4,565,10357,0.10,0.55,0.00,0.000,4,0.128,0.049,2776,2271,3419,0,0,0,0,0,0
$GC,10435,-0.78,-145.9,976.5,-7.7,567,10440,0.00,0.57,0.00,0.000,6,0.000,0.047,2776,1896,3419,0,0,0,0,0,0
$STATE,10759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10759,begin apogee
$GC,10763,-0.19,0.0,1000.4,7.7,578,10891,0.57,0.00,124.72,1.521,6,0.129,0.000,2950,1654,2827,0,0,0,0,0,0
$STATE,10892,end apogee,CONTROL_FINISHED_OK
$STATE,10892,begin climb
$GC,10894,0.52,145.9,1007.4,0.0,582,11034,0.68,2.55,131.10,1.492,4,0.076,0.047,3174,3052,2231,0,0,0,0,0,0
$GC,11185,0.33,145.9,999.4,8.3,591,11190,0.17,2.35,0.00,0.000,6,0.183,0.047,3124,1663,2227,0,0,0,0,0,0
$GC,11520,0.27,219.4,982.5,4.9,602,11590,0.08,1.20,64.50,1.476,4,0.225,0.063,3111,976,1932,0,0,0,0,0,0
$GC,11624,0.31,291.2,977.1,5.0,605,11695,0.00,1.10,66.00,1.470,6,0.000,0.037,3111,1652,1640,0,0,0,0,0,0
$GC,12014,0.57,312.1,951.4,6.7,618,12039,0.25,2.28,19.30,1.382,4,0.090,0.044,3196,3050,1554,0,0,0,0,0,0
$GC,12101,0.47,312.1,943.1,10.3,620,12106,0.12,2.28,0.00,0.000,6,0.194,0.045,3172,1649,1552,0,0,0,0,0,0
$GC,12413,0.44,312.1,915.0,8.9,630,12418,0.08,2.05,0.00,0.000,4,0.220,0.064,3160,390,1549,0,0,0,0,0,0
$GC,12461,0.44,312.1,910.5,8.7,631,12466,0.00,1.98,0.00,0.000,6,0.000,0.035,3160,1647,1548,0,0,0,0,0,0
$GC,12780,0.44,312.1,885.0,7.9,642,12784,0.00,1.50,0.00,0.000,4,0.000,0.044,3159,2608,1547,0,0,0,0,0,0
$GC,12836,0.41,312.1,880.3,8.5,643,12840,0.03,1.55,0.00,0.000,6,0.214,0.051,3153,1649,1547,0,0,0,0,0,0
$GC,13153,0.41,312.1,854.8,8.3,654,13157,0.00,0.75,0.00,0.000,4,0.000,0.062,3154,1175,1547,0,0,0,0,0,0
$GC,13190,0.41,312.1,851.7,8.0,655,13195,0.00,0.75,0.00,0.000,6,0.000,0.039,3154,1663,1547,0,0,0,0,0,0
$GC,13526,0.41,312.1,822.4,8.9,666,13529,0.00,0.38,0.00,0.000,4,0.000,0.064,3154,1423,1547,0,0,0,0,0,0
$GC,13559,0.41,312.1,819.5,8.3,667,13563,0.00,0.32,0.00,0.000,6,0.000,0.050,3154,1660,1547,0,0,0,0,0,0
$GC,13899,0.41,312.1,790.4,8.5,678,13903,0.00,1.27,0.00,0.000,4,0.000,0.065,3154,882,1546,0,0,0,0,0,0
$GC,13938,0.41,312.1,787.1,8.5,679,13942,0.00,1.17,0.00,0.000,6,0.000,0.038,3153,1638,1545,0,0,0,0,0,0
$GC,14273,0.41,314.9,760.7,7.3,690,14276,0.00,1.23,0.00,0.000,4,0.000,0.044,3154,2432,1546,0,0,0,0,0,0
$GC,14316,0.41,314.9,757.2,7.5,691,14321,0.00,1.27,0.00,0.000,6,0.000,0.050,3158,1644,1545,0,0,0,0,0,0
$GC,14646,0.41,314.9,732.3,7.5,702,14650,0.00,1.73,0.00,0.000,4,0.000,0.067,3158,568,1545,0,0,0,0,0,0
$GC,14690,0.41,318.2,729.2,7.3,703,14700,0.00,1.70,5.12,0.968,6,0.000,0.039,3158,1650,1530,0,0,0,0,0,0
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$STATE,22407,end climb,SURFACE_DEPTH_REACHED
$STATE,22408,begin surface coast
$FINISH,1.7,1.012253
$STATE,22433,end surface coast,CONTROL_FINISHED_OK
$STATE,22433,begin surface
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$HUMID,47.12
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$TCM_TEMP,11.60
$XPDR_PINGS,0
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$10V_AH,10.1,34.755
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354596
$DATA_FILE_SIZE,70239,1175
$CAP_FILE_SIZE,222573,0
$CFSIZE,2097086464,2067398656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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