version: 66.07.10.p01
glider: 574
mission: 4
dive: 202
start: 11 10 112 20 18 23
data:
$ID,574
$MISSION,4
$DIVE,202
$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,-6067.2856
$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,24
$R_STBD_OVSHOOT,37
$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,181
$GPS1,101112,200135,-4212.244,-716.401,34,1.2,35,-21.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-72.5
$GPS2,101112,201729,-4212.253,-716.578,43,1.0,44,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.106,0.209
$KALMAN_X,-318419.7,-82.6,-639.8,445409.4,2521.2
$KALMAN_Y,258980.5,153.4,-1778.7,-184465.6,1026.9
$MHEAD_RNG_PITCHd_Wd,48.8,101477,-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,-145.9,0.0,0.0,0,104,0.00,0.00,-77.20,0.000,2,0.000,0.000,66,1942,2317,0,0,0,0,0,0
$GC,106,-0.52,-145.9,3.0,-1.0,13,168,12.62,2.38,-43.08,0.000,4,0.269,0.074,2833,502,3421,0,0,0,0,0,0
$GC,223,-0.49,-145.9,9.1,-8.4,32,231,0.08,2.25,0.00,0.000,6,0.151,0.037,2850,1916,3423,0,0,0,0,0,0
$GC,304,-0.62,-145.9,15.4,-7.7,45,312,0.12,2.15,0.00,0.000,4,0.096,0.052,2794,3240,3423,0,0,0,0,0,0
$GC,361,-0.62,-145.9,21.4,-10.8,54,369,0.03,2.12,0.00,0.000,6,0.171,0.043,2804,1909,3423,0,0,0,0,0,0
$GC,442,-0.67,-145.9,29.0,-8.2,67,449,0.00,2.30,0.00,0.000,4,0.000,0.062,2804,511,3423,0,0,0,0,0,0
$GC,492,-0.62,-145.9,33.4,-9.1,75,497,0.00,2.20,0.00,0.000,6,0.000,0.037,2796,1921,3423,0,0,0,0,0,0
$GC,727,-0.54,-145.9,57.0,-10.3,116,735,0.15,0.40,0.00,0.000,4,0.164,0.058,2836,1661,3423,0,0,0,0,0,0
$GC,780,-0.54,-145.9,61.7,-8.5,125,784,0.00,0.38,0.00,0.000,6,0.000,0.047,2836,1925,3423,0,0,0,0,0,0
$GC,1122,-0.66,-145.9,88.0,-7.9,186,1130,0.10,1.17,0.00,0.000,4,0.112,0.047,2788,2672,3423,0,0,0,0,0,0
$GC,1169,-0.70,-145.9,92.2,-9.2,194,1174,0.00,1.20,0.00,0.000,6,0.000,0.045,2787,1910,3423,0,0,0,0,0,0
$GC,1495,-0.70,-145.9,121.2,-8.7,225,1499,0.00,2.20,0.00,0.000,4,0.000,0.047,2779,3313,3423,0,0,0,0,0,0
$GC,1574,-0.66,-145.9,128.9,-9.7,230,1579,0.08,2.17,0.00,0.000,6,0.180,0.039,2795,1903,3423,0,0,0,0,0,0
$GC,1901,-0.69,-145.9,158.1,-9.0,251,1905,0.00,2.20,0.00,0.000,4,0.000,0.047,2786,3308,3423,0,0,0,0,0,0
$GC,1964,-0.69,-145.9,164.2,-9.9,255,1968,0.00,2.15,0.00,0.000,6,0.000,0.037,2786,1906,3423,0,0,0,0,0,0
$GC,2287,-0.69,-145.9,193.6,-8.8,276,2291,0.00,2.20,0.00,0.000,4,0.000,0.047,2777,3306,3423,0,0,0,0,0,0
$GC,2337,-0.65,-145.9,198.4,-9.5,279,2341,0.08,2.15,0.00,0.000,6,0.135,0.035,2801,1913,3423,0,0,0,0,0,0
$GC,2662,-0.72,-145.9,225.4,-8.4,300,2667,0.08,2.20,0.00,0.000,4,0.136,0.047,2765,3309,3423,0,0,0,0,0,0
$GC,2709,-0.63,-145.9,229.9,-10.3,303,2714,0.15,2.15,0.00,0.000,6,0.155,0.036,2804,1900,3423,0,0,0,0,0,0
$GC,3045,-0.70,-145.9,259.6,-9.1,323,3049,0.00,2.20,0.00,0.000,4,0.000,0.045,2795,3310,3423,0,0,0,0,0,0
$GC,3100,-0.76,-145.9,265.3,-10.0,325,3106,0.05,2.15,0.00,0.000,6,0.080,0.036,2764,1915,3423,0,0,0,0,0,0
$GC,3418,-0.73,-145.9,298.2,-10.3,341,3422,0.00,2.17,0.00,0.000,4,0.000,0.045,2755,3312,3423,0,0,0,0,0,0
$GC,3474,-0.63,-145.9,304.4,-11.0,343,3479,0.15,2.15,0.00,0.000,6,0.138,0.035,2802,1915,3423,0,0,0,0,0,0
$GC,3798,-0.70,-145.9,330.5,-7.9,359,3801,0.00,2.17,0.00,0.000,4,0.000,0.046,2793,3307,3423,0,0,0,0,0,0
$GC,3858,-0.79,-145.9,335.7,-8.4,361,3865,0.08,2.15,0.00,0.000,6,0.073,0.036,2754,1916,3423,0,0,0,0,0,0
$GC,4177,-0.74,-145.9,364.9,-9.4,377,4181,0.08,0.93,0.00,0.000,4,0.195,0.039,2766,2524,3422,0,0,0,0,0,0
$GC,4199,-0.70,-145.9,367.1,-8.7,378,4203,0.05,0.95,0.00,0.000,6,0.147,0.041,2783,1901,3423,0,0,0,0,0,0
$GC,4532,-0.73,-145.9,394.7,-8.5,394,4535,0.00,1.52,0.00,0.000,4,0.000,0.042,2778,2882,3422,0,0,0,0,0,0
$GC,4558,-0.75,-145.9,396.8,-8.9,395,4562,0.00,1.50,0.00,0.000,6,0.000,0.038,2777,1914,3422,0,0,0,0,0,0
$GC,4877,-0.75,-145.9,425.5,-9.0,406,4881,0.00,2.17,0.00,0.000,4,0.000,0.046,2769,3304,3422,0,0,0,0,0,0
$GC,4920,-0.70,-145.9,430.0,-10.4,407,4925,0.05,2.15,0.00,0.000,6,0.150,0.035,2784,1910,3421,0,0,0,0,0,0
$GC,5249,-0.73,-145.9,459.6,-8.9,418,5253,0.00,2.17,0.00,0.000,4,0.000,0.046,2775,3304,3421,0,0,0,0,0,0
$GC,5312,-0.69,-145.9,465.6,-9.8,420,5316,0.00,2.12,0.00,0.000,6,0.000,0.034,2776,1910,3421,0,0,0,0,0,0
$GC,5646,-0.69,-145.9,496.9,-9.4,431,5650,0.00,2.20,0.00,0.000,4,0.000,0.047,2768,3309,3420,0,0,0,0,0,0
$GC,5689,-0.65,-145.9,501.4,-10.9,432,5694,0.10,2.15,0.00,0.000,6,0.135,0.034,2799,1914,3420,0,0,0,0,0,0
$GC,6013,-0.72,-145.9,530.5,-9.1,443,6017,0.05,2.15,0.00,0.000,4,0.175,0.047,2772,3275,3420,0,0,0,0,0,0
$GC,6050,-0.70,-145.9,534.5,-10.6,444,6054,0.00,2.12,0.00,0.000,6,0.000,0.035,2771,1906,3420,0,0,0,0,0,0
$GC,6380,-0.70,-145.9,567.2,-9.9,455,6384,0.05,2.22,0.00,0.000,4,0.225,0.045,2772,3314,3419,0,0,0,0,0,0
$GC,6428,-0.70,-145.9,572.2,-10.6,456,6433,0.00,2.17,0.00,0.000,6,0.000,0.036,2773,1914,3419,0,0,0,0,0,0
$GC,6747,-0.70,-145.9,601.8,-9.3,467,6751,0.00,2.17,0.00,0.000,4,0.000,0.045,2764,3304,3419,0,0,0,0,0,0
$GC,6809,-0.65,-145.9,607.9,-10.0,469,6814,0.15,2.12,0.00,0.000,6,0.152,0.035,2804,1913,3418,0,0,0,0,0,0
$GC,7143,-0.74,-145.9,634.0,-7.5,480,7147,0.10,1.40,0.00,0.000,4,0.116,0.043,2763,2799,3417,0,0,0,0,0,0
$GC,7164,-0.76,-145.9,636.0,-8.3,480,7169,0.00,1.38,0.00,0.000,6,0.000,0.038,2763,1910,3417,0,0,0,0,0,0
$GC,7483,-0.76,-145.9,662.7,-8.3,491,7487,0.00,2.20,0.00,0.000,4,0.000,0.045,2754,3312,3417,0,0,0,0,0,0
$GC,7566,-0.69,-145.9,670.5,-9.7,493,7571,0.10,2.17,0.00,0.000,6,0.141,0.036,2785,1909,3416,0,0,0,0,0,0
$GC,7884,-0.74,-145.9,694.1,-7.4,504,7888,0.00,2.17,0.00,0.000,4,0.000,0.045,2777,3307,3416,0,0,0,0,0,0
$GC,7962,-0.77,-145.9,700.5,-8.9,506,7966,0.00,2.15,0.00,0.000,6,0.000,0.035,2777,1916,3415,0,0,0,0,0,0
$GC,8286,-0.80,-145.9,727.6,-8.4,517,8291,0.08,2.20,0.00,0.000,4,0.139,0.045,2741,3310,3415,0,0,0,0,0,0
$GC,8324,-0.70,-145.9,731.5,-10.6,518,8329,0.17,2.17,0.00,0.000,6,0.162,0.035,2786,1910,3415,0,0,0,0,0,0
$GC,8654,-0.75,-145.9,759.5,-8.7,529,8657,0.00,1.35,0.00,0.000,4,0.000,0.051,2786,1049,3415,0,0,0,0,0,0
$GC,8675,-0.80,-145.9,761.6,-9.0,529,8680,0.05,1.33,0.00,0.000,6,0.090,0.033,2757,1915,3415,0,0,0,0,0,0
$GC,8993,-0.80,-145.9,793.0,-10.0,540,8996,0.00,2.17,0.00,0.000,4,0.000,0.046,2747,3315,3414,0,0,0,0,0,0
$GC,9059,-0.71,-145.9,800.3,-11.2,542,9064,0.10,2.17,0.00,0.000,6,0.145,0.036,2777,1920,3414,0,0,0,0,0,0
$GC,9394,-0.64,-145.9,836.3,-10.8,553,9399,0.10,2.25,0.00,0.000,4,0.198,0.054,2803,498,3414,0,0,0,0,0,0
$GC,9459,-0.64,-145.9,843.1,-10.0,555,9464,0.00,2.17,0.00,0.000,6,0.000,0.033,2795,1901,3414,0,0,0,0,0,0
$GC,9795,-0.71,-145.9,871.8,-8.2,566,9799,0.00,2.20,0.00,0.000,4,0.000,0.047,2786,3322,3413,0,0,0,0,0,0
$GC,9866,-0.79,-145.9,877.9,-8.1,568,9872,0.08,2.20,0.00,0.000,6,0.076,0.036,2748,1906,3414,0,0,0,0,0,0
$GC,10196,-0.76,-145.9,907.6,-9.0,579,10200,0.08,1.83,0.00,0.000,4,0.195,0.044,2757,3061,3413,0,0,0,0,0,0
$GC,10233,-0.71,-145.9,911.1,-9.6,580,10238,0.08,1.77,0.00,0.000,6,0.147,0.036,2780,1915,3413,0,0,0,0,0,0
$GC,10568,-0.77,-145.9,935.3,-7.2,591,10572,0.00,2.20,0.00,0.000,4,0.000,0.046,2771,3323,3413,0,0,0,0,0,0
$GC,10651,-0.77,-145.9,942.4,-9.1,593,10656,0.00,2.20,0.00,0.000,6,0.000,0.035,2771,1906,3413,0,0,0,0,0,0
$GC,10970,-0.81,-145.9,968.4,-8.2,604,10974,0.00,2.22,0.00,0.000,4,0.000,0.054,2771,511,3412,0,0,0,0,0,0
$GC,10991,-0.81,-145.9,970.4,-9.0,604,10997,0.00,2.17,0.00,0.000,6,0.000,0.034,2766,1914,3413,0,0,0,0,0,0
$STATE,11273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11273,begin apogee
$GC,11277,-0.19,0.0,1001.2,11.2,614,11405,0.62,0.00,124.03,1.546,6,0.146,0.000,2947,1641,2827,0,0,0,0,0,0
$STATE,11406,end apogee,CONTROL_FINISHED_OK
$STATE,11406,begin climb
$GC,11407,0.52,145.9,1008.7,0.0,618,11548,0.70,1.40,131.98,1.509,4,0.073,0.040,3180,2423,2232,0,0,0,0,0,0
$GC,11610,0.32,200.3,1011.2,5.5,624,11666,0.25,1.30,50.83,1.470,6,0.174,0.047,3121,1662,2010,0,0,0,0,0,0
$GC,11990,0.37,283.3,994.3,4.6,637,12070,0.00,2.47,74.32,1.473,4,0.000,0.064,3121,245,1670,0,0,0,0,0,0
$GC,12182,0.61,347.2,984.0,5.2,643,12249,0.22,2.28,59.17,1.450,6,0.079,0.032,3202,1663,1411,0,0,0,0,0,0
$GC,12579,0.66,347.2,953.0,7.8,656,12584,0.08,2.22,0.00,0.000,4,0.131,0.044,3232,3043,1404,0,0,0,0,0,0
$GC,12641,0.52,347.2,946.5,11.2,658,12646,0.22,2.25,0.00,0.000,6,0.181,0.044,3184,1641,1402,0,0,0,0,0,0
$GC,12975,0.49,347.2,918.7,8.4,669,12979,0.00,1.05,0.00,0.000,4,0.000,0.062,3186,994,1402,0,0,0,0,0,0
$GC,13019,0.44,347.2,914.9,8.9,670,13024,0.10,1.02,0.00,0.000,6,0.182,0.036,3162,1650,1401,0,0,0,0,0,0
$GC,13349,0.60,347.4,890.8,7.4,681,13353,0.12,1.15,0.00,0.000,4,0.098,0.041,3213,2404,1400,0,0,0,0,0,0
$GC,13374,0.60,347.4,888.5,8.6,681,13380,0.00,1.23,0.00,0.000,6,0.000,0.049,3216,1648,1401,0,0,0,0,0,0
$GC,13688,0.50,347.4,856.3,10.4,692,13692,0.15,1.85,0.00,0.000,4,0.194,0.063,3186,498,1400,0,0,0,0,0,0
$GC,13748,0.46,347.4,850.5,9.1,693,13754,0.08,1.77,0.00,0.000,6,0.155,0.034,3163,1645,1400,0,0,0,0,0,0
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$STATE,23324,end climb,SURFACE_DEPTH_REACHED
$STATE,23325,begin surface coast
$FINISH,1.8,1.002189
$STATE,23374,end surface coast,CONTROL_FINISHED_OK
$STATE,23374,begin surface
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$HUMID,47.24
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$10V_AH,10.2,36.135
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354592
$DATA_FILE_SIZE,76984,1236
$CAP_FILE_SIZE,246225,0
$CFSIZE,2097086464,2065891328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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