version: 66.07.10.p01
glider: 574
mission: 4
dive: 205
start: 11 11 112 16 22 23
data:
$ID,574
$MISSION,4
$DIVE,205
$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,596.31458
$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,-6077.3511
$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,40
$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,184
$GPS1,111112,160553,-4209.505,-716.637,71,1.0,71,-21.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-77.4
$GPS2,111112,162129,-4209.614,-716.535,58,1.0,59,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.090,0.217
$KALMAN_X,-324106.8,616.9,-614.0,450405.2,-1418.2
$KALMAN_Y,243400.6,858.4,-312.8,-166162.1,-4688.7
$MHEAD_RNG_PITCHd_Wd,44.4,97718,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.12,0.000,2,0.000,0.000,66,1926,2431,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.5,9,133,12.45,2.35,-30.80,0.000,4,0.264,0.079,2834,512,3421,0,0,0,0,0,0
$GC,195,-0.52,-145.9,12.5,-11.0,27,203,0.03,2.22,0.00,0.000,6,0.183,0.043,2836,1896,3423,0,0,0,0,0,0
$GC,276,-0.60,-145.9,22.6,-12.1,40,283,0.00,0.25,0.00,0.000,4,0.000,0.067,2837,1728,3423,0,0,0,0,0,0
$GC,356,-0.69,-145.9,31.4,-10.0,53,362,0.10,0.30,0.00,0.000,6,0.066,0.052,2789,1939,3423,0,0,0,0,0,0
$GC,593,-0.63,-145.9,57.0,-11.5,94,600,0.08,2.05,0.00,0.000,4,0.189,0.060,2806,703,3423,0,0,0,0,0,0
$GC,635,-0.59,-145.9,60.7,-8.8,101,640,0.10,1.88,0.00,0.000,6,0.177,0.037,2823,1912,3423,0,0,0,0,0,0
$GC,978,-0.66,-145.9,89.9,-8.2,162,985,0.08,2.25,0.00,0.000,4,0.129,0.050,2786,3317,3423,0,0,0,0,0,0
$GC,1055,-0.66,-145.9,97.2,-10.1,175,1059,0.00,2.17,0.00,0.000,6,0.000,0.043,2786,1911,3423,0,0,0,0,0,0
$GC,1381,-0.66,-145.9,130.3,-10.4,199,1385,0.00,2.20,0.00,0.000,4,0.000,0.048,2777,3318,3423,0,0,0,0,0,0
$GC,1446,-0.60,-145.9,137.5,-11.0,203,1451,0.15,2.20,0.00,0.000,6,0.154,0.041,2818,1902,3423,0,0,0,0,0,0
$GC,1771,-0.69,-145.9,169.8,-9.8,224,1776,0.10,2.25,0.00,0.000,4,0.114,0.049,2771,3319,3423,0,0,0,0,0,0
$GC,1818,-0.62,-145.9,175.0,-11.7,227,1823,0.15,2.17,0.00,0.000,6,0.151,0.040,2811,1910,3424,0,0,0,0,0,0
$GC,2143,-0.68,-145.9,206.4,-8.9,248,2148,0.05,2.25,0.00,0.000,4,0.174,0.049,2782,3325,3424,0,0,0,0,0,0
$GC,2192,-0.63,-145.9,211.6,-10.6,251,2197,0.05,2.20,0.00,0.000,6,0.145,0.037,2799,1909,3424,0,0,0,0,0,0
$GC,2518,-0.69,-145.9,238.7,-8.0,272,2522,0.00,2.22,0.00,0.000,4,0.000,0.049,2791,3318,3424,0,0,0,0,0,0
$GC,2573,-0.71,-145.9,243.9,-9.3,275,2579,0.00,2.20,0.00,0.000,6,0.000,0.038,2791,1906,3424,0,0,0,0,0,0
$GC,2908,-0.75,-145.9,271.5,-8.5,293,2912,0.00,2.22,0.00,0.000,4,0.000,0.047,2782,3321,3424,0,0,0,0,0,0
$GC,2951,-0.75,-145.9,275.1,-8.6,295,2955,0.00,2.15,0.00,0.000,6,0.000,0.037,2782,1901,3424,0,0,0,0,0,0
$GC,3278,-0.75,-145.9,304.2,-9.0,311,3282,0.00,2.20,0.00,0.000,4,0.000,0.047,2774,3308,3424,0,0,0,0,0,0
$GC,3316,-0.71,-145.9,308.1,-9.7,312,3325,0.00,2.17,0.00,0.000,6,0.000,0.037,2774,1907,3424,0,0,0,0,0,0
$GC,3632,-0.71,-145.9,339.7,-10.3,328,3636,0.00,2.22,0.00,0.000,4,0.000,0.047,2766,3324,3423,0,0,0,0,0,0
$GC,3699,-0.67,-145.9,347.4,-11.6,331,3704,0.08,2.17,0.00,0.000,6,0.139,0.036,2790,1917,3423,0,0,0,0,0,0
$GC,4028,-0.71,-145.9,379.0,-9.6,347,4032,0.00,2.20,0.00,0.000,4,0.000,0.047,2782,3322,3423,0,0,0,0,0,0
$GC,4066,-0.71,-145.9,383.3,-10.9,348,4074,0.00,2.17,0.00,0.000,6,0.000,0.035,2782,1918,3423,0,0,0,0,0,0
$GC,4391,-0.71,-145.9,414.9,-9.7,362,4395,0.00,2.20,0.00,0.000,4,0.000,0.047,2774,3326,3422,0,0,0,0,0,0
$GC,4428,-0.71,-145.9,419.0,-9.8,363,4433,0.00,2.20,0.00,0.000,6,0.000,0.036,2774,1908,3422,0,0,0,0,0,0
$GC,4764,-0.71,-145.9,450.6,-9.1,374,4768,0.00,2.22,0.00,0.000,4,0.000,0.045,2766,3326,3422,0,0,0,0,0,0
$GC,4859,-0.69,-145.9,459.6,-9.0,377,4864,0.10,2.15,0.00,0.000,6,0.165,0.036,2791,1907,3422,0,0,0,0,0,0
$GC,5194,-0.74,-145.9,486.3,-7.7,388,5198,0.00,2.22,0.00,0.000,4,0.000,0.047,2783,3320,3421,0,0,0,0,0,0
$GC,5248,-0.74,-145.9,490.9,-8.5,389,5254,0.00,2.17,0.00,0.000,6,0.000,0.035,2782,1918,3422,0,0,0,0,0,0
$GC,5562,-0.77,-145.9,515.8,-8.1,400,5566,0.00,2.20,0.00,0.000,4,0.000,0.047,2775,3324,3421,0,0,0,0,0,0
$GC,5610,-0.77,-145.9,520.3,-9.3,401,5616,0.00,2.17,0.00,0.000,6,0.000,0.035,2775,1917,3421,0,0,0,0,0,0
$GC,5935,-0.77,-145.9,549.0,-9.0,412,5939,0.00,2.22,0.00,0.000,4,0.000,0.047,2768,3329,3421,0,0,0,0,0,0
$GC,5989,-0.73,-145.9,554.5,-10.6,413,5995,0.00,2.20,0.00,0.000,6,0.000,0.034,2768,1907,3420,0,0,0,0,0,0
$GC,6302,-0.73,-145.9,585.1,-9.8,424,6306,0.00,2.22,0.00,0.000,4,0.000,0.054,2768,505,3420,0,0,0,0,0,0
$GC,6345,-0.59,-145.9,590.2,-12.0,425,6350,0.20,2.20,0.00,0.000,6,0.148,0.034,2818,1921,3419,0,0,0,0,0,0
$GC,6669,-0.72,-145.9,617.4,-8.4,436,6674,0.12,2.28,0.00,0.000,4,0.099,0.053,2770,508,3420,0,0,0,0,0,0
$GC,6746,-0.61,-145.9,625.8,-11.8,438,6751,0.15,2.17,0.00,0.000,6,0.144,0.034,2808,1908,3419,0,0,0,0,0,0
$GC,7070,-0.70,-145.9,651.9,-7.9,449,7072,0.05,0.00,0.00,0.000,6,0.171,0.000,2785,1908,3419,0,0,0,0,0,0
$GC,7376,-0.74,-145.9,676.9,-8.1,459,7380,0.00,2.17,0.00,0.000,4,0.000,0.047,2776,3315,3418,0,0,0,0,0,0
$GC,7459,-0.77,-145.9,684.1,-8.3,461,7464,0.00,2.17,0.00,0.000,6,0.000,0.036,2776,1913,3418,0,0,0,0,0,0
$GC,7778,-0.81,-145.9,709.9,-7.8,472,7782,0.08,1.25,0.00,0.000,4,0.138,0.051,2748,1122,3417,0,0,0,0,0,0
$GC,7799,-0.78,-145.9,711.9,-8.9,472,7803,0.05,1.23,0.00,0.000,6,0.173,0.034,2757,1918,3417,0,0,0,0,0,0
$GC,8118,-0.76,-145.9,739.1,-8.6,483,8121,0.00,1.98,0.00,0.000,4,0.000,0.046,2750,3191,3416,0,0,0,0,0,0
$GC,8172,-0.69,-145.9,744.3,-9.6,484,8177,0.10,1.98,0.00,0.000,6,0.147,0.034,2780,1915,3416,0,0,0,0,0,0
$GC,8491,-0.73,-145.9,769.2,-7.8,495,8495,0.00,2.20,0.00,0.000,4,0.000,0.046,2772,3318,3416,0,0,0,0,0,0
$GC,8568,-0.73,-145.9,776.1,-8.9,497,8572,0.00,2.17,0.00,0.000,6,0.000,0.035,2772,1918,3416,0,0,0,0,0,0
$GC,8892,-0.76,-145.9,805.1,-9.3,508,8896,0.00,2.25,0.00,0.000,4,0.000,0.054,2772,505,3416,0,0,0,0,0,0
$GC,8921,-0.73,-145.9,807.9,-10.0,509,8925,0.00,2.17,0.00,0.000,6,0.000,0.035,2767,1919,3416,0,0,0,0,0,0
$GC,9256,-0.64,-145.9,845.8,-11.1,520,9260,0.15,2.30,0.00,0.000,4,0.181,0.054,2806,505,3415,0,0,0,0,0,0
$GC,9315,-0.64,-145.9,851.7,-9.0,521,9321,0.00,2.17,0.00,0.000,6,0.000,0.033,2798,1908,3415,0,0,0,0,0,0
$GC,9629,-0.72,-145.9,875.5,-7.6,532,9633,0.00,2.17,0.00,0.000,4,0.000,0.047,2790,3298,3415,0,0,0,0,0,0
$GC,9691,-0.80,-145.9,880.6,-8.6,534,9696,0.10,2.15,0.00,0.000,6,0.116,0.036,2752,1900,3415,0,0,0,0,0,0
$GC,10025,-0.68,-145.9,916.8,-11.3,545,10030,0.15,2.22,0.00,0.000,4,0.184,0.054,2792,511,3415,0,0,0,0,0,0
$GC,10122,-0.65,-145.9,925.4,-7.3,548,10127,0.08,2.15,0.00,0.000,6,0.195,0.034,2801,1914,3414,0,0,0,0,0,0
$GC,10456,-0.73,-145.9,951.8,-7.5,559,10461,0.08,2.10,0.00,0.000,4,0.142,0.047,2769,3252,3415,0,0,0,0,0,0
$GC,10516,-0.73,-145.9,957.2,-8.8,560,10522,0.00,2.08,0.00,0.000,6,0.000,0.035,2769,1913,3414,0,0,0,0,0,0
$GC,10829,-0.77,-145.9,983.2,-8.4,571,10833,0.00,2.22,0.00,0.000,4,0.000,0.053,2769,508,3414,0,0,0,0,0,0
$GC,10850,-0.77,-145.9,985.3,-9.1,571,10856,0.00,2.17,0.00,0.000,6,0.000,0.035,2766,1903,3414,0,0,0,0,0,0
$STATE,11010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11010,begin apogee
$GC,11014,-0.19,0.0,1001.7,10.5,577,11142,0.62,0.00,125.00,1.554,6,0.145,0.000,2948,1647,2827,0,0,0,0,0,0
$STATE,11143,end apogee,CONTROL_FINISHED_OK
$STATE,11143,begin climb
$GC,11145,0.52,145.9,1008.5,0.0,581,11285,0.70,2.58,132.27,1.503,4,0.076,0.063,3185,259,2232,0,0,0,0,0,0
$GC,11481,0.32,169.0,1001.7,6.6,591,11509,0.25,2.25,21.38,1.401,6,0.184,0.036,3125,1652,2138,0,0,0,0,0,0
$GC,11833,0.28,261.2,986.4,4.3,603,11925,0.08,2.42,82.12,1.480,4,0.218,0.044,3108,3060,1760,0,0,0,0,0,0
$GC,12015,0.38,312.6,977.4,5.6,608,12070,0.08,2.30,47.17,1.439,6,0.124,0.042,3140,1661,1553,0,0,0,0,0,0
$GC,12394,0.54,341.0,954.4,6.4,621,12426,0.15,2.10,26.12,1.411,4,0.093,0.060,3199,414,1436,0,0,0,0,0,0
$GC,12495,0.47,341.0,945.4,9.7,624,12499,0.12,1.98,0.00,0.000,6,0.173,0.036,3170,1659,1433,0,0,0,0,0,0
$GC,12828,0.47,341.0,918.3,7.9,635,12832,0.00,1.50,0.00,0.000,4,0.000,0.044,3170,2615,1430,0,0,0,0,0,0
$GC,12878,0.45,341.0,913.8,9.3,636,12883,0.03,1.55,0.00,0.000,6,0.203,0.047,3165,1653,1429,0,0,0,0,0,0
$GC,13202,0.45,341.0,885.7,8.9,647,13205,0.00,0.77,0.00,0.000,4,0.000,0.060,3166,1163,1429,0,0,0,0,0,0
$GC,13239,0.45,341.0,882.2,8.9,648,13244,0.00,0.77,0.00,0.000,6,0.000,0.037,3166,1665,1429,0,0,0,0,0,0
$GC,13574,0.45,341.0,851.5,9.2,659,13577,0.00,0.93,0.00,0.000,4,0.000,0.060,3167,1095,1428,0,0,0,0,0,0
$GC,13617,0.45,341.0,847.2,9.8,660,13621,0.00,0.88,0.00,0.000,6,0.000,0.037,3167,1660,1428,0,0,0,0,0,0
$GC,13947,0.45,341.0,816.1,9.4,671,13951,0.00,0.55,0.00,0.000,4,0.000,0.046,3167,2046,1428,0,0,0,0,0,0
$GC,13984,0.45,341.0,812.2,9.6,672,13988,0.00,0.65,0.00,0.000,6,0.000,0.054,3168,1646,1428,0,0,0,0,0,0
$GC,14319,0.45,341.0,781.2,9.1,683,14323,0.00,0.28,0.00,0.000,4,0.000,0.053,3168,1860,1428,0,0,0,0,0,0
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$STATE,23179,end climb,SURFACE_DEPTH_REACHED
$STATE,23179,begin surface coast
$FINISH,1.6,1.015452
$STATE,23216,end surface coast,CONTROL_FINISHED_OK
$STATE,23216,begin surface
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$10V_AH,10.1,36.561
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354588
$DATA_FILE_SIZE,73699,1194
$CAP_FILE_SIZE,229296,0
$CFSIZE,2097086464,2065170432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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