version: 66.07.10.p01
glider: 574
mission: 4
dive: 204
start: 11 11 112 9 40 53
data:
$ID,574
$MISSION,4
$DIVE,204
$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,-6073.9106
$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,21
$R_STBD_OVSHOOT,60
$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,183
$GPS1,111112,092735,-4211.146,-716.305,33,1.3,34,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-67.5
$GPS2,111112,093959,-4211.063,-716.227,40,1.3,41,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.067,0.225
$KALMAN_X,-321968.4,66.6,74.0,448553.7,39.6
$KALMAN_Y,248394.5,-578.7,-467.5,-172227.4,-3839.1
$MHEAD_RNG_PITCHd_Wd,38.4,99473,-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,-145.9,0.0,0.0,0,100,0.00,0.00,-72.25,0.000,2,0.000,0.000,66,1928,2186,0,0,0,0,0,0
$GC,102,-0.52,-145.9,3.1,-0.9,12,170,12.55,2.35,-48.00,0.000,4,0.266,0.073,2831,501,3420,0,0,0,0,0,0
$GC,179,-0.42,-145.9,5.9,-7.2,24,187,0.12,2.20,0.00,0.000,6,0.125,0.037,2870,1878,3421,0,0,0,0,0,0
$GC,261,-0.70,-145.9,12.4,-6.3,37,268,0.25,2.30,0.00,0.000,4,0.106,0.061,2782,505,3422,0,0,0,0,0,0
$GC,353,-0.58,-145.9,23.3,-13.5,52,361,0.15,2.22,0.00,0.000,6,0.138,0.037,2820,1908,3422,0,0,0,0,0,0
$GC,434,-0.56,-145.9,30.7,-8.4,65,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1908,3422,0,0,0,0,0,0
$GC,667,-0.62,-145.9,50.4,-9.3,106,675,0.00,0.45,0.00,0.000,4,0.000,0.050,2819,2229,3423,0,0,0,0,0,0
$GC,897,-0.70,-145.9,71.4,-10.3,146,902,0.08,0.50,0.00,0.000,6,0.072,0.050,2780,1897,3422,0,0,0,0,0,0
$GC,1246,-0.70,-145.9,108.5,-10.0,199,1250,0.00,2.25,0.00,0.000,4,0.000,0.063,2780,512,3422,0,0,0,0,0,0
$GC,1301,-0.60,-145.9,114.7,-10.8,202,1310,0.12,2.17,0.00,0.000,6,0.148,0.036,2810,1909,3422,0,0,0,0,0,0
$GC,1624,-0.65,-145.9,139.9,-7.6,223,1628,0.00,2.22,0.00,0.000,4,0.000,0.050,2800,3328,3423,0,0,0,0,0,0
$GC,1684,-0.73,-145.9,145.2,-7.8,226,1693,0.05,2.22,0.00,0.000,6,0.083,0.042,2770,1917,3423,0,0,0,0,0,0
$GC,2006,-0.70,-145.9,174.1,-9.3,247,2011,0.08,0.35,0.00,0.000,4,0.189,0.061,2787,1673,3423,0,0,0,0,0,0
$GC,2056,-0.70,-145.9,179.1,-9.0,250,2060,0.00,0.35,0.00,0.000,6,0.000,0.045,2786,1934,3423,0,0,0,0,0,0
$GC,2388,-0.70,-145.9,208.4,-8.8,271,2392,0.00,2.12,0.00,0.000,4,0.000,0.049,2776,3296,3423,0,0,0,0,0,0
$GC,2459,-0.70,-145.9,215.9,-10.5,275,2465,0.00,2.15,0.00,0.000,6,0.000,0.039,2776,1915,3423,0,0,0,0,0,0
$GC,2780,-0.70,-145.9,246.1,-9.6,296,2784,0.00,2.15,0.00,0.000,4,0.000,0.048,2767,3295,3423,0,0,0,0,0,0
$GC,2851,-0.66,-145.9,253.7,-10.0,300,2856,0.08,2.15,0.00,0.000,6,0.142,0.039,2793,1912,3423,0,0,0,0,0,0
$GC,3174,-0.70,-145.9,281.4,-8.3,316,3178,0.00,2.22,0.00,0.000,4,0.000,0.055,2793,504,3423,0,0,0,0,0,0
$GC,3200,-0.70,-145.9,284.1,-9.2,317,3205,0.00,2.15,0.00,0.000,6,0.000,0.035,2784,1888,3423,0,0,0,0,0,0
$GC,3524,-0.70,-145.9,312.6,-8.6,333,3528,0.00,0.45,0.00,0.000,4,0.000,0.047,2782,2217,3423,0,0,0,0,0,0
$GC,3715,-0.74,-145.9,329.3,-8.8,341,3719,0.00,0.47,0.00,0.000,6,0.000,0.049,2782,1903,3423,0,0,0,0,0,0
$GC,4038,-0.76,-145.9,357.2,-9.0,357,4042,0.00,0.62,0.00,0.000,4,0.000,0.043,2781,2323,3423,0,0,0,0,0,0
$GC,4269,-0.80,-145.9,379.6,-9.5,367,4274,0.08,0.62,0.00,0.000,6,0.134,0.046,2752,1913,3423,0,0,0,0,0,0
$GC,4595,-0.75,-145.9,416.1,-11.5,381,4600,0.08,2.25,0.00,0.000,4,0.189,0.057,2768,509,3423,0,0,0,0,0,0
$GC,4638,-0.63,-145.9,421.5,-12.5,382,4643,0.15,2.17,0.00,0.000,6,0.146,0.034,2805,1915,3422,0,0,0,0,0,0
$GC,4962,-0.72,-145.9,451.5,-8.9,393,4966,0.08,1.70,0.00,0.000,4,0.133,0.048,2769,3023,3423,0,0,0,0,0,0
$GC,5016,-0.72,-145.9,457.1,-10.2,394,5020,0.00,1.73,0.00,0.000,6,0.000,0.038,2769,1912,3422,0,0,0,0,0,0
$GC,5334,-0.72,-145.9,487.4,-9.3,405,5338,0.00,2.22,0.00,0.000,4,0.000,0.048,2761,3319,3422,0,0,0,0,0,0
$GC,5389,-0.66,-145.9,492.9,-10.4,406,5396,0.10,2.17,0.00,0.000,6,0.138,0.035,2792,1911,3422,0,0,0,0,0,0
$GC,5702,-0.72,-145.9,519.2,-8.3,417,5706,0.00,2.22,0.00,0.000,4,0.000,0.048,2784,3319,3422,0,0,0,0,0,0
$GC,5763,-0.76,-145.9,524.8,-9.4,418,5769,0.03,2.17,0.00,0.000,6,0.107,0.036,2765,1910,3421,0,0,0,0,0,0
$GC,6075,-0.76,-145.9,554.5,-9.7,429,6079,0.00,2.22,0.00,0.000,4,0.000,0.046,2756,3324,3421,0,0,0,0,0,0
$GC,6125,-0.69,-145.9,559.9,-10.8,430,6129,0.08,2.17,0.00,0.000,6,0.139,0.035,2780,1917,3421,0,0,0,0,0,0
$GC,6443,-0.73,-145.9,590.4,-9.7,441,6447,0.00,2.20,0.00,0.000,4,0.000,0.047,2772,3321,3421,0,0,0,0,0,0
$GC,6498,-0.73,-145.9,596.4,-11.6,442,6502,0.00,2.17,0.00,0.000,6,0.000,0.035,2771,1914,3421,0,0,0,0,0,0
$GC,6817,-0.73,-145.9,629.0,-10.3,453,6821,0.00,2.22,0.00,0.000,4,0.000,0.047,2763,3324,3420,0,0,0,0,0,0
$GC,6866,-0.68,-145.9,634.5,-11.8,454,6871,0.08,2.17,0.00,0.000,6,0.141,0.036,2787,1920,3420,0,0,0,0,0,0
$GC,7185,-0.74,-145.9,664.7,-9.4,465,7188,0.00,2.20,0.00,0.000,4,0.000,0.047,2779,3315,3420,0,0,0,0,0,0
$GC,7228,-0.74,-145.9,669.2,-10.2,466,7233,0.00,2.17,0.00,0.000,6,0.000,0.034,2779,1910,3420,0,0,0,0,0,0
$GC,7552,-0.77,-145.9,699.1,-9.0,477,7556,0.00,2.22,0.00,0.000,4,0.000,0.047,2770,3319,3419,0,0,0,0,0,0
$GC,7596,-0.74,-145.9,703.6,-9.9,478,7600,0.00,2.17,0.00,0.000,6,0.000,0.035,2770,1917,3419,0,0,0,0,0,0
$GC,7920,-0.64,-145.9,737.8,-10.7,489,7925,0.12,2.00,0.00,0.000,4,0.181,0.051,2804,654,3419,0,0,0,0,0,0
$GC,7964,-0.64,-145.9,742.0,-8.9,490,7969,0.00,1.95,0.00,0.000,6,0.000,0.032,2796,1916,3419,0,0,0,0,0,0
$GC,8294,-0.70,-145.9,767.4,-7.6,501,8298,0.00,2.20,0.00,0.000,4,0.000,0.047,2787,3322,3419,0,0,0,0,0,0
$GC,8366,-0.82,-145.9,773.3,-8.4,503,8371,0.08,2.20,0.00,0.000,6,0.075,0.035,2747,1905,3419,0,0,0,0,0,0
$GC,8695,-0.75,-145.9,804.7,-9.7,514,8700,0.10,2.22,0.00,0.000,4,0.189,0.053,2771,511,3419,0,0,0,0,0,0
$GC,8772,-0.67,-145.9,812.8,-10.5,516,8777,0.08,2.20,0.00,0.000,6,0.157,0.036,2787,1920,3418,0,0,0,0,0,0
$GC,9096,-0.62,-145.9,841.9,-9.0,527,9100,0.10,1.35,0.00,0.000,4,0.188,0.044,2807,2786,3418,0,0,0,0,0,0
$GC,9145,-0.66,-145.9,845.8,-7.0,528,9149,0.00,1.35,0.00,0.000,6,0.000,0.037,2807,1908,3418,0,0,0,0,0,0
$GC,9469,-0.77,-145.9,869.3,-7.2,539,9474,0.12,2.25,0.00,0.000,4,0.106,0.048,2752,3314,3417,0,0,0,0,0,0
$GC,9518,-0.70,-145.9,873.9,-10.2,540,9523,0.10,2.17,0.00,0.000,6,0.140,0.035,2783,1916,3417,0,0,0,0,0,0
$GC,9836,-0.66,-145.9,902.4,-8.8,551,9841,0.08,2.00,0.00,0.000,4,0.213,0.052,2800,660,3417,0,0,0,0,0,0
$GC,9885,-0.66,-145.9,906.9,-8.7,552,9890,0.00,1.95,0.00,0.000,6,0.000,0.035,2793,1911,3417,0,0,0,0,0,0
$GC,10210,-0.73,-145.9,932.4,-8.0,563,10214,0.00,1.90,0.00,0.000,4,0.000,0.047,2785,3129,3417,0,0,0,0,0,0
$GC,10270,-0.81,-145.9,937.6,-9.0,564,10277,0.08,1.90,0.00,0.000,6,0.078,0.036,2748,1906,3416,0,0,0,0,0,0
$GC,10584,-0.75,-145.9,968.9,-10.1,575,10588,0.10,2.25,0.00,0.000,4,0.190,0.053,2771,504,3416,0,0,0,0,0,0
$GC,10660,-0.68,-145.9,977.8,-11.6,577,10665,0.08,2.20,0.00,0.000,6,0.160,0.035,2787,1914,3416,0,0,0,0,0,0
$STATE,10892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10892,begin apogee
$GC,10897,-0.19,0.0,1001.3,10.3,585,11025,0.55,0.00,125.65,1.558,6,0.139,0.000,2951,1637,2827,0,0,0,0,0,0
$STATE,11026,end apogee,CONTROL_FINISHED_OK
$STATE,11026,begin climb
$GC,11028,0.52,145.9,1009.5,0.0,589,11168,0.68,0.98,132.43,1.513,4,0.076,0.057,3173,1104,2232,0,0,0,0,0,0
$GC,11218,0.36,227.6,1013.9,4.6,595,11300,0.15,0.90,75.93,1.481,6,0.173,0.035,3135,1661,1899,0,0,0,0,0,0
$GC,11613,0.34,289.8,993.9,5.3,608,11672,0.00,0.38,56.62,1.460,4,0.000,0.065,3135,1446,1644,0,0,0,0,0,0
$GC,11711,0.36,317.5,987.7,6.5,611,11741,0.00,0.30,26.38,1.404,6,0.000,0.047,3135,1646,1531,0,0,0,0,0,0
$GC,12078,0.53,327.3,962.8,7.1,623,12092,0.15,2.35,8.85,1.231,4,0.096,0.067,3193,264,1492,0,0,0,0,0,0
$GC,12193,0.46,327.3,951.8,10.7,626,12198,0.08,2.20,0.00,0.000,6,0.164,0.036,3170,1645,1490,0,0,0,0,0,0
$GC,12517,0.46,327.3,925.4,8.2,637,12520,0.00,0.32,0.00,0.000,4,0.000,0.049,3170,1893,1489,0,0,0,0,0,0
$GC,12543,0.44,327.3,923.0,8.6,637,12549,0.05,0.38,0.00,0.000,6,0.241,0.060,3161,1658,1489,0,0,0,0,0,0
$GC,12856,0.44,329.9,899.8,7.3,648,12860,0.00,1.50,0.00,0.000,4,0.000,0.063,3165,736,1488,0,0,0,0,0,0
$GC,12911,0.42,348.4,895.6,6.8,649,12936,0.05,1.42,20.30,1.374,6,0.161,0.036,3150,1661,1405,0,0,0,0,0,0
$GC,13261,0.60,375.0,872.0,6.5,661,13292,0.17,1.05,25.33,1.411,4,0.083,0.037,3222,2363,1297,0,0,0,0,0,0
$GC,13303,0.54,375.0,868.2,8.9,662,13308,0.10,1.15,0.00,0.000,6,0.161,0.047,3197,1658,1297,0,0,0,0,0,0
$GC,13633,0.62,375.0,842.1,7.8,673,13636,0.00,1.55,0.00,0.000,4,0.000,0.042,3197,2635,1292,0,0,0,0,0,0
$GC,13667,0.66,375.0,839.4,8.4,674,13671,0.05,1.58,0.00,0.000,6,0.086,0.047,3225,1659,1292,0,0,0,0,0,0
$GC,14007,0.57,375.0,803.0,11.3,685,14011,0.10,2.33,0.00,0.000,4,0.199,0.065,3213,242,1291,0,0,0,0,0,0
$GC,14095,0.51,375.0,792.9,11.2,687,14101,0.10,2.20,0.00,0.000,6,0.161,0.036,3183,1646,1289,0,0,0,0,0,0
$GC,14407,0.51,375.0,762.9,9.8,698,14411,0.00,0.85,0.00,0.000,4,0.000,0.058,3186,1121,1289,0,0,0,0,0,0
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$STATE,22877,end climb,SURFACE_DEPTH_REACHED
$STATE,22877,begin surface coast
$FINISH,1.5,1.002778
$STATE,22920,end surface coast,CONTROL_FINISHED_OK
$STATE,22920,begin surface
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$10V_AH,10.2,36.419
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354588
$DATA_FILE_SIZE,73607,1202
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$CFSIZE,2097086464,2065563648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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