version: 66.07.10.p01
glider: 574
mission: 4
dive: 208
start: 11 12 112 12 27 53
data:
$ID,574
$MISSION,4
$DIVE,208
$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,-6087.3149
$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,26
$R_STBD_OVSHOOT,56
$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,187
$GPS1,121112,121430,-4207.944,-716.455,42,1.2,43,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-67.9
$GPS2,121112,122659,-4207.982,-716.341,40,1.4,41,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,0.186
$KALMAN_X,-326758.7,379.7,-1616.1,454550.8,2185.3
$KALMAN_Y,229707.7,-143.3,891.7,-149647.3,-8294.4
$MHEAD_RNG_PITCHd_Wd,59.6,95288,-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,-145.9,0.0,0.0,0,117,0.00,0.00,-89.35,0.000,2,0.000,0.000,67,1947,2574,0,0,0,0,0,0
$GC,119,-0.52,-145.9,3.1,-1.3,15,164,12.88,2.35,-25.20,0.000,4,0.275,0.071,2834,508,3423,0,0,0,0,0,0
$GC,231,-0.50,-145.9,13.8,-10.3,33,239,0.05,2.20,0.00,0.000,6,0.159,0.038,2844,1885,3424,0,0,0,0,0,0
$GC,312,-0.64,-145.9,20.8,-7.5,46,320,0.12,2.05,0.00,0.000,4,0.093,0.052,2788,3151,3424,0,0,0,0,0,0
$GC,370,-0.64,-145.9,26.3,-10.1,55,377,0.03,1.98,0.00,0.000,6,0.167,0.044,2797,1915,3424,0,0,0,0,0,0
$GC,447,-0.64,-145.9,34.4,-9.9,68,454,0.00,2.33,0.00,0.000,4,0.000,0.061,2797,502,3424,0,0,0,0,0,0
$GC,506,-0.56,-145.9,40.7,-11.3,78,514,0.10,2.25,0.00,0.000,6,0.146,0.037,2822,1925,3424,0,0,0,0,0,0
$GC,744,-0.64,-145.9,61.5,-8.2,119,749,0.00,2.33,0.00,0.000,4,0.000,0.059,2823,500,3424,0,0,0,0,0,0
$GC,791,-0.66,-145.9,65.6,-9.1,127,796,0.00,2.20,0.00,0.000,6,0.000,0.036,2816,1918,3424,0,0,0,0,0,0
$GC,1134,-0.74,-145.9,94.5,-8.1,188,1140,0.12,2.22,0.00,0.000,4,0.099,0.049,2758,3326,3424,0,0,0,0,0,0
$GC,1205,-0.65,-145.9,101.4,-11.2,199,1210,0.15,2.20,0.00,0.000,6,0.160,0.039,2797,1904,3424,0,0,0,0,0,0
$GC,1529,-0.69,-145.9,129.9,-8.3,220,1533,0.00,2.22,0.00,0.000,4,0.000,0.056,2797,507,3424,0,0,0,0,0,0
$GC,1584,-0.63,-145.9,135.5,-10.0,223,1591,0.05,2.17,0.00,0.000,6,0.159,0.031,2805,1922,3425,0,0,0,0,0,0
$GC,1904,-0.68,-145.9,161.2,-7.9,244,1908,0.00,2.15,0.00,0.000,4,0.000,0.046,2797,3319,3425,0,0,0,0,0,0
$GC,1976,-0.78,-145.9,167.6,-8.5,248,1984,0.08,2.17,0.00,0.000,6,0.073,0.035,2758,1911,3425,0,0,0,0,0,0
$GC,2298,-0.71,-145.9,198.0,-9.7,269,2303,0.10,2.20,0.00,0.000,4,0.188,0.044,2772,3311,3425,0,0,0,0,0,0
$GC,2353,-0.65,-145.9,203.4,-9.1,272,2361,0.08,2.15,0.00,0.000,6,0.143,0.034,2796,1911,3425,0,0,0,0,0,0
$GC,2675,-0.69,-145.9,227.2,-7.3,293,2679,0.00,2.17,0.00,0.000,4,0.000,0.047,2788,3310,3425,0,0,0,0,0,0
$GC,2729,-0.69,-145.9,231.9,-8.0,296,2737,0.00,2.15,0.00,0.000,6,0.000,0.035,2788,1914,3424,0,0,0,0,0,0
$GC,3053,-0.72,-145.9,257.4,-8.2,316,3057,0.00,2.20,0.00,0.000,4,0.000,0.046,2779,3319,3425,0,0,0,0,0,0
$GC,3097,-0.69,-145.9,261.5,-9.4,318,3102,0.00,2.15,0.00,0.000,6,0.000,0.034,2779,1918,3425,0,0,0,0,0,0
$GC,3425,-0.69,-145.9,292.4,-9.7,334,3429,0.00,2.15,0.00,0.000,4,0.000,0.046,2770,3311,3425,0,0,0,0,0,0
$GC,3480,-0.64,-145.9,298.6,-11.7,336,3488,0.08,2.15,0.00,0.000,6,0.138,0.034,2795,1913,3425,0,0,0,0,0,0
$GC,3796,-0.69,-145.9,329.3,-9.8,352,3800,0.00,2.17,0.00,0.000,4,0.000,0.046,2787,3312,3425,0,0,0,0,0,0
$GC,3845,-0.72,-145.9,334.9,-10.9,354,3850,0.00,2.15,0.00,0.000,6,0.000,0.035,2787,1920,3424,0,0,0,0,0,0
$GC,4167,-0.75,-145.9,367.7,-9.9,370,4171,0.00,2.20,0.00,0.000,4,0.000,0.046,2780,3322,3424,0,0,0,0,0,0
$GC,4211,-0.75,-145.9,372.5,-10.6,372,4215,0.00,2.17,0.00,0.000,6,0.000,0.034,2780,1910,3424,0,0,0,0,0,0
$GC,4528,-0.75,-145.9,403.6,-9.9,387,4532,0.00,2.17,0.00,0.000,4,0.000,0.044,2771,3313,3424,0,0,0,0,0,0
$GC,4594,-0.72,-145.9,410.6,-10.3,389,4598,0.00,2.15,0.00,0.000,6,0.000,0.034,2771,1916,3424,0,0,0,0,0,0
$GC,4929,-0.72,-145.9,443.1,-9.4,400,4933,0.00,2.20,0.00,0.000,4,0.000,0.045,2763,3319,3424,0,0,0,0,0,0
$GC,4972,-0.65,-145.9,447.5,-10.0,401,4977,0.10,2.17,0.00,0.000,6,0.138,0.034,2795,1907,3424,0,0,0,0,0,0
$GC,5297,-0.71,-145.9,474.1,-8.0,412,5301,0.00,2.20,0.00,0.000,4,0.000,0.045,2787,3315,3424,0,0,0,0,0,0
$GC,5352,-0.74,-145.9,479.0,-9.3,413,5356,0.00,2.17,0.00,0.000,6,0.000,0.034,2786,1906,3423,0,0,0,0,0,0
$GC,5671,-0.78,-145.9,505.9,-8.7,424,5675,0.08,2.15,0.00,0.000,4,0.138,0.045,2749,3265,3424,0,0,0,0,0,0
$GC,5708,-0.69,-145.9,510.0,-11.3,425,5713,0.12,2.10,0.00,0.000,6,0.145,0.034,2786,1907,3423,0,0,0,0,0,0
$GC,6037,-0.73,-145.9,540.0,-9.1,436,6041,0.00,2.20,0.00,0.000,4,0.000,0.046,2778,3317,3423,0,0,0,0,0,0
$GC,6120,-0.76,-145.9,548.1,-9.3,438,6125,0.00,2.17,0.00,0.000,6,0.000,0.034,2778,1908,3422,0,0,0,0,0,0
$GC,6444,-0.76,-145.9,578.2,-9.2,449,6448,0.00,2.20,0.00,0.000,4,0.000,0.045,2770,3310,3422,0,0,0,0,0,0
$GC,6488,-0.73,-145.9,582.8,-10.0,450,6492,0.00,2.15,0.00,0.000,6,0.000,0.035,2770,1915,3422,0,0,0,0,0,0
$GC,6812,-0.73,-145.9,613.6,-9.3,461,6816,0.00,2.17,0.00,0.000,4,0.000,0.045,2762,3312,3421,0,0,0,0,0,0
$GC,6873,-0.68,-145.9,619.7,-10.5,463,6878,0.12,2.15,0.00,0.000,6,0.161,0.035,2793,1906,3422,0,0,0,0,0,0
$GC,7208,-0.74,-145.9,648.3,-8.4,474,7212,0.08,2.03,0.00,0.000,4,0.136,0.044,2759,3184,3421,0,0,0,0,0,0
$GC,7245,-0.70,-145.9,652.0,-10.0,475,7250,0.08,1.98,0.00,0.000,6,0.146,0.035,2783,1911,3421,0,0,0,0,0,0
$GC,7580,-0.74,-145.9,679.3,-7.9,486,7584,0.00,2.20,0.00,0.000,4,0.000,0.046,2774,3317,3421,0,0,0,0,0,0
$GC,7640,-0.74,-145.9,684.8,-9.2,487,7646,0.00,2.17,0.00,0.000,6,0.000,0.034,2774,1910,3421,0,0,0,0,0,0
$GC,7953,-0.74,-145.9,711.3,-8.8,498,7957,0.00,2.20,0.00,0.000,4,0.000,0.046,2766,3315,3421,0,0,0,0,0,0
$GC,8008,-0.70,-145.9,716.5,-9.2,499,8014,0.05,2.17,0.00,0.000,6,0.149,0.034,2783,1909,3421,0,0,0,0,0,0
$GC,8321,-0.75,-145.9,744.3,-9.1,510,8325,0.00,2.20,0.00,0.000,4,0.000,0.046,2774,3318,3420,0,0,0,0,0,0
$GC,8387,-0.75,-145.9,751.2,-10.3,512,8392,0.00,2.17,0.00,0.000,6,0.000,0.034,2774,1915,3420,0,0,0,0,0,0
$GC,8723,-0.77,-145.9,784.9,-10.0,523,8727,0.00,2.15,0.00,0.000,4,0.000,0.047,2768,3281,3420,0,0,0,0,0,0
$GC,8766,-0.75,-145.9,789.7,-10.5,524,8770,0.00,2.12,0.00,0.000,6,0.000,0.035,2768,1910,3420,0,0,0,0,0,0
$GC,9090,-0.75,-145.9,821.3,-9.6,535,9094,0.00,2.20,0.00,0.000,4,0.000,0.047,2759,3318,3419,0,0,0,0,0,0
$GC,9152,-0.70,-145.9,827.5,-10.5,537,9157,0.10,2.15,0.00,0.000,6,0.171,0.035,2782,1900,3419,0,0,0,0,0,0
$GC,9486,-0.75,-145.9,855.7,-8.1,548,9490,0.00,2.20,0.00,0.000,4,0.000,0.047,2775,3308,3419,0,0,0,0,0,0
$GC,9549,-0.78,-145.9,861.0,-7.6,550,9553,0.00,2.15,0.00,0.000,6,0.000,0.035,2775,1908,3419,0,0,0,0,0,0
$GC,9884,-0.81,-145.9,887.8,-8.1,561,9888,0.08,2.05,0.00,0.000,4,0.142,0.047,2741,3201,3418,0,0,0,0,0,0
$GC,9921,-0.72,-145.9,891.4,-10.4,562,9926,0.10,2.00,0.00,0.000,6,0.148,0.037,2772,1918,3418,0,0,0,0,0,0
$GC,10256,-0.64,-145.9,924.0,-9.8,573,10261,0.12,2.25,0.00,0.000,4,0.187,0.054,2805,507,3418,0,0,0,0,0,0
$GC,10332,-0.64,-145.9,930.9,-8.1,575,10337,0.00,2.17,0.00,0.000,6,0.000,0.034,2797,1906,3418,0,0,0,0,0,0
$GC,10658,-0.73,-145.9,953.6,-6.8,586,10661,0.00,2.05,0.00,0.000,4,0.000,0.047,2794,3218,3418,0,0,0,0,0,0
$GC,10726,-0.84,-145.9,958.2,-7.2,588,10731,0.17,2.03,0.00,0.000,6,0.093,0.037,2731,1899,3417,0,0,0,0,0,0
$GC,11061,-0.69,-145.9,992.5,-11.0,599,11066,0.20,2.28,0.00,0.000,4,0.175,0.047,2774,3322,3417,0,0,0,0,0,0
$STATE,11156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11157,begin apogee
$GC,11163,-0.19,0.0,1000.1,6.7,602,11292,0.60,0.00,125.75,1.547,6,0.143,0.000,2950,1658,2827,0,0,0,0,0,0
$STATE,11293,end apogee,CONTROL_FINISHED_OK
$STATE,11293,begin climb
$GC,11294,0.52,145.9,1006.7,0.0,606,11435,0.68,1.58,133.60,1.525,4,0.076,0.060,3173,804,2232,0,0,0,0,0,0
$GC,11508,0.34,183.8,1005.1,6.1,612,11549,0.15,1.42,35.85,1.454,6,0.171,0.034,3134,1664,2077,0,0,0,0,0,0
$GC,11879,0.29,258.0,985.6,4.9,625,11953,0.10,2.40,66.35,1.478,4,0.203,0.044,3110,3051,1773,0,0,0,0,0,0
$GC,12054,0.39,328.4,976.7,5.0,630,12126,0.08,2.30,64.62,1.455,6,0.125,0.042,3141,1650,1488,0,0,0,0,0,0
$GC,12439,0.57,347.4,951.3,6.8,643,12461,0.17,0.80,17.58,1.367,4,0.092,0.039,3205,2150,1410,0,0,0,0,0,0
$GC,12477,0.57,347.4,947.9,8.5,644,12481,0.00,0.85,0.00,0.000,6,0.000,0.048,3206,1639,1409,0,0,0,0,0,0
$GC,12807,0.55,347.4,915.9,9.8,655,12811,0.08,1.48,0.00,0.000,4,0.203,0.041,3190,2568,1405,0,0,0,0,0,0
$GC,12850,0.59,347.4,911.8,9.2,656,12854,0.00,1.48,0.00,0.000,6,0.000,0.046,3193,1647,1404,0,0,0,0,0,0
$GC,13180,0.66,347.4,882.8,8.7,667,13184,0.10,1.42,0.00,0.000,4,0.109,0.060,3235,780,1404,0,0,0,0,0,0
$GC,13239,0.50,347.4,876.4,11.7,668,13246,0.20,1.35,0.00,0.000,6,0.169,0.037,3177,1650,1403,0,0,0,0,0,0
$GC,13552,0.50,347.4,849.4,8.2,679,13556,0.00,0.57,0.00,0.000,4,0.000,0.045,3178,2049,1402,0,0,0,0,0,0
$GC,13590,0.47,347.4,846.2,8.2,680,13594,0.00,0.65,0.00,0.000,6,0.000,0.052,3179,1647,1402,0,0,0,0,0,0
$GC,13926,0.45,349.0,820.5,7.4,691,13931,0.08,1.12,0.00,0.000,4,0.210,0.061,3167,958,1402,0,0,0,0,0,0
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$STATE,22476,end climb,SURFACE_DEPTH_REACHED
$STATE,22477,begin surface coast
$FINISH,1.6,1.025560
$STATE,22514,end surface coast,CONTROL_FINISHED_OK
$STATE,22514,begin surface
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$TCM_TEMP,11.60
$XPDR_PINGS,0
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$10V_AH,10.2,36.991
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354604
$DATA_FILE_SIZE,73623,1184
$CAP_FILE_SIZE,238769,0
$CFSIZE,2097086464,2064908288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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