version: 66.07.10.p01
glider: 574
mission: 4
dive: 194
start: 11 8 112 16 18 27
data:
$ID,574
$MISSION,4
$DIVE,194
$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,-6040.7734
$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,36
$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,173
$GPS1,081112,160153,-4210.765,-706.580,111,1.1,111,-21.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.7
$GPS2,081112,161733,-4210.794,-706.677,43,1.1,44,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.230,0.045
$KALMAN_X,-336460.9,1096.9,-2750.5,477781.5,8525.2
$KALMAN_Y,268042.0,351.2,130.0,-192924.7,-1008.1
$MHEAD_RNG_PITCHd_Wd,302.9,4535,-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,-145.9,0.0,0.0,0,58,0.00,0.00,-31.17,0.000,2,0.000,0.000,65,1904,2550,0,0,0,0,0,0
$GC,60,-0.52,-145.9,3.2,-1.9,5,104,12.62,0.55,-25.05,0.000,4,0.267,0.103,2837,2259,3424,0,0,0,0,0,0
$GC,119,-0.30,-145.9,8.8,-9.8,14,126,0.22,0.55,0.00,0.000,6,0.135,0.055,2907,1912,3424,0,0,0,0,0,0
$GC,200,-0.65,-145.9,17.5,-11.0,27,208,0.30,1.02,0.00,0.000,4,0.098,0.060,2801,1285,3425,0,0,0,0,0,0
$GC,257,-0.63,-145.9,24.4,-11.6,36,264,0.00,1.00,0.00,0.000,6,0.000,0.040,2797,1921,3425,0,0,0,0,0,0
$GC,337,-0.58,-145.9,33.4,-10.5,49,342,0.10,1.05,0.00,0.000,4,0.173,0.046,2818,2593,3425,0,0,0,0,0,0
$GC,374,-0.54,-145.9,37.3,-10.6,55,380,0.03,1.08,0.00,0.000,6,0.166,0.047,2828,1921,3425,0,0,0,0,0,0
$GC,609,-0.64,-145.9,57.5,-7.3,96,617,0.08,2.25,0.00,0.000,4,0.132,0.050,2790,3305,3425,0,0,0,0,0,0
$GC,669,-0.60,-145.9,62.6,-8.7,106,676,0.10,2.20,0.00,0.000,6,0.169,0.043,2815,1902,3425,0,0,0,0,0,0
$GC,1013,-0.57,-145.9,93.8,-8.1,167,1018,0.00,2.25,0.00,0.000,4,0.000,0.050,2806,3315,3425,0,0,0,0,0,0
$GC,1085,-0.57,-145.9,99.8,-8.2,180,1093,0.05,2.20,0.00,0.000,6,0.135,0.041,2824,1915,3425,0,0,0,0,0,0
$GC,1407,-0.66,-145.9,124.5,-8.3,201,1412,0.08,2.28,0.00,0.000,4,0.131,0.059,2794,502,3426,0,0,0,0,0,0
$GC,1452,-0.58,-145.9,129.6,-11.6,204,1457,0.15,2.17,0.00,0.000,6,0.161,0.035,2825,1917,3426,0,0,0,0,0,0
$GC,1779,-0.67,-145.9,160.1,-9.2,225,1784,0.10,1.27,0.00,0.000,4,0.114,0.046,2782,2732,3426,0,0,0,0,0,0
$GC,1830,-0.70,-145.9,165.4,-10.4,228,1833,0.00,1.27,0.00,0.000,6,0.000,0.043,2782,1914,3426,0,0,0,0,0,0
$GC,2161,-0.70,-145.9,196.0,-8.4,249,2165,0.00,2.25,0.00,0.000,4,0.000,0.057,2782,501,3427,0,0,0,0,0,0
$GC,2262,-0.60,-145.9,205.5,-9.3,255,2266,0.17,2.17,0.00,0.000,6,0.160,0.036,2819,1917,3427,0,0,0,0,0,0
$GC,2589,-0.69,-145.9,224.4,-5.5,276,2594,0.10,2.20,0.00,0.000,4,0.109,0.048,2772,3315,3427,0,0,0,0,0,0
$GC,2644,-0.64,-145.9,228.5,-7.4,279,2650,0.12,2.17,0.00,0.000,6,0.161,0.038,2804,1898,3426,0,0,0,0,0,0
$GC,2966,-0.71,-145.9,250.0,-7.2,300,2970,0.05,1.67,0.00,0.000,4,0.172,0.056,2783,847,3427,0,0,0,0,0,0
$GC,2990,-0.71,-145.9,251.9,-7.2,301,2994,0.00,1.65,0.00,0.000,6,0.000,0.034,2776,1912,3427,0,0,0,0,0,0
$GC,3325,-0.71,-145.9,283.8,-10.1,317,3329,0.00,2.17,0.00,0.000,4,0.000,0.047,2766,3319,3427,0,0,0,0,0,0
$GC,3418,-0.63,-145.9,294.3,-12.0,321,3422,0.15,2.15,0.00,0.000,6,0.155,0.037,2805,1915,3427,0,0,0,0,0,0
$GC,3747,-0.70,-145.9,326.1,-9.2,337,3751,0.00,2.22,0.00,0.000,4,0.000,0.056,2805,509,3427,0,0,0,0,0,0
$GC,3794,-0.70,-145.9,330.9,-9.8,339,3798,0.00,2.15,0.00,0.000,6,0.000,0.033,2798,1922,3427,0,0,0,0,0,0
$GC,4122,-0.74,-145.9,361.0,-8.6,355,4127,0.08,2.17,0.00,0.000,4,0.135,0.046,2760,3322,3427,0,0,0,0,0,0
$GC,4199,-0.65,-145.9,369.1,-10.6,358,4204,0.10,2.17,0.00,0.000,6,0.142,0.037,2791,1917,3427,0,0,0,0,0,0
$GC,4520,-0.69,-145.9,394.2,-7.6,374,4524,0.00,2.22,0.00,0.000,4,0.000,0.055,2791,506,3427,0,0,0,0,0,0
$GC,4530,-0.72,-145.9,395.1,-7.8,374,4538,0.00,2.17,0.00,0.000,6,0.000,0.034,2783,1911,3427,0,0,0,0,0,0
$GC,4844,-0.72,-145.9,420.6,-8.2,386,4848,0.00,2.10,0.00,0.000,4,0.000,0.054,2783,592,3427,0,0,0,0,0,0
$GC,4876,-0.67,-145.9,423.7,-9.4,387,4881,0.05,2.03,0.00,0.000,6,0.164,0.032,2789,1910,3427,0,0,0,0,0,0
$GC,5211,-0.70,-145.9,452.8,-9.0,398,5215,0.00,1.38,0.00,0.000,4,0.000,0.043,2784,2810,3427,0,0,0,0,0,0
$GC,5260,-0.76,-145.9,457.6,-9.2,399,5265,0.00,1.40,0.00,0.000,6,0.000,0.040,2784,1905,3427,0,0,0,0,0,0
$GC,5585,-0.79,-145.9,490.6,-10.8,410,5589,0.08,2.25,0.00,0.000,4,0.137,0.046,2746,3324,3426,0,0,0,0,0,0
$GC,5628,-0.67,-145.9,496.0,-13.0,411,5633,0.15,2.20,0.00,0.000,6,0.144,0.038,2792,1911,3426,0,0,0,0,0,0
$GC,5952,-0.62,-145.9,533.7,-11.4,422,5957,0.08,2.22,0.00,0.000,4,0.207,0.056,2811,508,3426,0,0,0,0,0,0
$GC,6023,-0.59,-145.9,541.9,-11.2,424,6028,0.00,2.17,0.00,0.000,6,0.000,0.034,2802,1916,3426,0,0,0,0,0,0
$GC,6359,-0.65,-145.9,574.7,-9.6,435,6363,0.00,2.17,0.00,0.000,4,0.000,0.047,2793,3314,3425,0,0,0,0,0,0
$GC,6431,-0.77,-145.9,582.1,-9.9,437,6436,0.05,2.17,0.00,0.000,6,0.083,0.034,2762,1904,3425,0,0,0,0,0,0
$GC,6761,-0.65,-145.9,618.6,-11.9,448,6765,0.15,2.22,0.00,0.000,4,0.174,0.044,2791,3315,3425,0,0,0,0,0,0
$GC,6856,-0.65,-145.9,628.2,-9.8,451,6860,0.00,2.15,0.00,0.000,6,0.000,0.034,2790,1902,3424,0,0,0,0,0,0
$GC,7190,-0.68,-145.9,655.9,-7.9,462,7194,0.00,2.22,0.00,0.000,4,0.000,0.045,2781,3323,3425,0,0,0,0,0,0
$GC,7268,-0.65,-145.9,662.8,-9.0,464,7273,0.05,2.17,0.00,0.000,6,0.145,0.035,2797,1917,3424,0,0,0,0,0,0
$GC,7592,-0.71,-145.9,686.8,-7.2,475,7596,0.00,1.83,0.00,0.000,4,0.000,0.052,2798,750,3424,0,0,0,0,0,0
$GC,7627,-0.74,-145.9,689.3,-7.5,476,7630,0.00,1.80,0.00,0.000,6,0.000,0.036,2792,1924,3424,0,0,0,0,0,0
$GC,7967,-0.78,-145.9,714.2,-7.5,487,7972,0.10,2.20,0.00,0.000,4,0.117,0.048,2746,3319,3424,0,0,0,0,0,0
$GC,7995,-0.75,-145.9,716.7,-9.3,488,8000,0.10,2.15,0.00,0.000,6,0.177,0.034,2769,1908,3423,0,0,0,0,0,0
$GC,8329,-0.65,-145.9,752.4,-11.2,499,8334,0.12,2.22,0.00,0.000,4,0.190,0.044,2791,3314,3423,0,0,0,0,0,0
$GC,8378,-0.67,-145.9,757.3,-9.8,500,8383,0.00,2.15,0.00,0.000,6,0.000,0.034,2792,1920,3423,0,0,0,0,0,0
$GC,8697,-0.63,-145.9,788.1,-9.7,511,8702,0.08,2.25,0.00,0.000,4,0.204,0.051,2809,498,3423,0,0,0,0,0,0
$GC,8773,-0.63,-145.9,795.9,-10.5,513,8778,0.00,2.20,0.00,0.000,6,0.000,0.034,2801,1918,3423,0,0,0,0,0,0
$GC,9098,-0.70,-145.9,825.0,-9.1,524,9102,0.00,2.20,0.00,0.000,4,0.000,0.047,2791,3322,3423,0,0,0,0,0,0
$GC,9152,-0.70,-145.9,830.4,-10.1,525,9158,0.00,2.17,0.00,0.000,6,0.000,0.033,2791,1912,3423,0,0,0,0,0,0
$GC,9465,-0.74,-145.9,860.5,-9.5,536,9469,0.00,2.20,0.00,0.000,4,0.000,0.045,2782,3315,3423,0,0,0,0,0,0
$GC,9567,-0.74,-145.9,870.8,-10.2,539,9571,0.00,2.15,0.00,0.000,6,0.000,0.034,2782,1903,3423,0,0,0,0,0,0
$GC,9901,-0.68,-145.9,905.9,-10.5,550,9905,0.00,2.20,0.00,0.000,4,0.000,0.052,2782,513,3423,0,0,0,0,0,0
$GC,9979,-0.64,-145.9,914.7,-11.7,552,9984,0.10,2.17,0.00,0.000,6,0.142,0.034,2805,1908,3423,0,0,0,0,0,0
$GC,10302,-0.64,-145.9,942.6,-8.1,563,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1908,3423,0,0,0,0,0,0
$GC,10608,-0.64,-145.9,965.9,-7.4,573,10612,0.00,1.12,0.00,0.000,4,0.000,0.049,2805,1195,3423,0,0,0,0,0,0
$GC,10663,-0.64,-145.9,970.1,-7.4,574,10668,0.00,1.12,0.00,0.000,6,0.000,0.032,2802,1933,3424,0,0,0,0,0,0
$GC,10982,-0.64,-145.9,991.7,-6.6,585,10986,0.00,1.65,0.00,0.000,4,0.000,0.050,2802,905,3424,0,0,0,0,0,0
$GC,11037,-0.64,-145.9,995.8,-7.2,586,11041,0.00,1.55,0.00,0.000,6,0.000,0.035,2796,1905,3424,0,0,0,0,0,0
$STATE,11110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11110,begin apogee
$GC,11114,-0.19,0.0,1000.7,6.8,589,11243,0.50,0.00,126.43,1.526,6,0.137,0.000,2946,1648,2827,0,0,0,0,0,0
$STATE,11244,end apogee,CONTROL_FINISHED_OK
$STATE,11244,begin climb
$GC,11246,0.52,145.9,1004.6,0.0,593,11386,0.70,2.58,131.75,1.503,4,0.076,0.063,3180,262,2232,0,0,0,0,0,0
$GC,11504,0.33,145.9,995.9,8.5,601,11509,0.25,2.28,0.00,0.000,6,0.182,0.034,3121,1657,2227,0,0,0,0,0,0
$GC,11840,0.28,206.5,976.4,5.3,612,11901,0.05,2.15,53.70,1.466,4,0.250,0.044,3110,2936,1984,0,0,0,0,0,0
$GC,11962,0.28,240.5,969.1,6.2,615,11999,0.00,2.10,31.38,1.427,6,0.000,0.044,3117,1664,1846,0,0,0,0,0,0
$GC,12306,0.37,278.0,947.9,6.1,627,12346,0.00,1.25,33.90,1.428,4,0.000,0.061,3117,934,1693,0,0,0,0,0,0
$GC,12370,0.54,301.9,943.6,6.6,629,12401,0.17,1.15,23.20,1.385,6,0.063,0.034,3188,1658,1596,0,0,0,0,0,0
$GC,12708,0.54,301.9,915.2,8.5,640,12712,0.00,2.17,0.00,0.000,4,0.000,0.042,3188,3050,1590,0,0,0,0,0,0
$GC,12830,0.46,301.9,903.2,9.5,643,12835,0.10,2.25,0.00,0.000,6,0.167,0.044,3168,1655,1588,0,0,0,0,0,0
$GC,13148,0.43,301.9,878.9,7.6,654,13153,0.05,2.33,0.00,0.000,4,0.249,0.066,3161,236,1587,0,0,0,0,0,0
$GC,13202,0.43,301.9,874.6,8.5,655,13209,0.00,2.20,0.00,0.000,6,0.000,0.035,3161,1639,1586,0,0,0,0,0,0
$GC,13515,0.43,301.9,851.2,7.7,666,13519,0.00,1.52,0.00,0.000,4,0.000,0.043,3161,2619,1586,0,0,0,0,0,0
$GC,13565,0.40,301.9,847.1,7.8,667,13570,0.08,1.55,0.00,0.000,6,0.160,0.048,3143,1651,1586,0,0,0,0,0,0
$GC,13888,0.48,301.9,822.9,7.7,678,13893,0.08,0.68,0.00,0.000,4,0.129,0.060,3174,1214,1586,0,0,0,0,0,0
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$STATE,22933,end climb,SURFACE_DEPTH_REACHED
$STATE,22933,begin surface coast
$FINISH,1.5,1.014715
$STATE,22970,end surface coast,CONTROL_FINISHED_OK
$STATE,22970,begin surface
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$10V_AH,10.1,35.023
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.150,207.925,512.600,0.000,0.000,48.844,94.235,568.947,0.250,0.000,46.474,3120.233,15854.270,591.936,4204.539,209.687,33.359,2112.739,0.000,3392.196,0.000,2.833,0.000
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$MEM,354572
$DATA_FILE_SIZE,73564,1197
$CAP_FILE_SIZE,234920,0
$CFSIZE,2097086464,2067103744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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