version: 66.07.10.p01
glider: 574
mission: 4
dive: 211
start: 11 13 112 8 33 23
data:
$ID,574
$MISSION,4
$DIVE,211
$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,-6097.3965
$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,29
$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,190
$GPS1,131112,081623,-4207.315,-717.431,47,1.3,48,-21.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-71.2
$GPS2,131112,083229,-4207.301,-717.237,72,1.1,73,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.199,0.124
$KALMAN_X,-337230.4,1347.7,338.3,460877.4,-6568.0
$KALMAN_Y,215369.7,-143.8,-638.0,-132527.8,-4637.2
$MHEAD_RNG_PITCHd_Wd,79.9,95212,-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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,75,0.00,0.00,-48.30,0.000,2,0.000,0.000,67,1925,2543,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.2,-1.7,8,121,12.90,2.33,-25.25,0.000,4,0.275,0.074,2830,510,3420,0,0,0,0,0,0
$GC,195,-0.48,-145.9,14.6,-11.5,27,203,0.10,2.22,0.00,0.000,6,0.159,0.038,2852,1908,3422,0,0,0,0,0,0
$GC,276,-0.67,-145.9,22.9,-8.6,40,284,0.17,2.17,0.00,0.000,4,0.085,0.052,2782,3250,3422,0,0,0,0,0,0
$GC,345,-0.62,-145.9,30.5,-12.7,51,351,0.12,2.10,0.00,0.000,6,0.157,0.041,2814,1908,3422,0,0,0,0,0,0
$GC,580,-0.70,-145.9,49.0,-7.6,92,588,0.10,1.90,0.00,0.000,4,0.112,0.056,2777,734,3422,0,0,0,0,0,0
$GC,637,-0.60,-145.9,54.2,-10.3,101,642,0.17,1.85,0.00,0.000,6,0.167,0.034,2815,1931,3422,0,0,0,0,0,0
$GC,871,-0.67,-145.9,72.9,-7.7,142,877,0.05,1.62,0.00,0.000,4,0.171,0.054,2792,938,3422,0,0,0,0,0,0
$GC,906,-0.67,-145.9,76.1,-8.9,148,911,0.00,1.52,0.00,0.000,6,0.000,0.033,2785,1923,3422,0,0,0,0,0,0
$GC,1244,-0.69,-145.9,107.5,-9.1,199,1248,0.00,1.30,0.00,0.000,4,0.000,0.054,2785,1117,3422,0,0,0,0,0,0
$GC,1271,-0.69,-145.9,110.4,-9.3,200,1279,0.00,1.25,0.00,0.000,6,0.000,0.034,2781,1917,3423,0,0,0,0,0,0
$GC,1592,-0.69,-145.9,139.3,-8.8,221,1596,0.00,2.20,0.00,0.000,4,0.000,0.047,2771,3325,3423,0,0,0,0,0,0
$GC,1663,-0.65,-145.9,146.6,-10.4,225,1669,0.08,2.20,0.00,0.000,6,0.135,0.038,2796,1916,3422,0,0,0,0,0,0
$GC,1985,-0.68,-145.9,175.5,-9.5,246,1989,0.00,2.20,0.00,0.000,4,0.000,0.047,2788,3320,3423,0,0,0,0,0,0
$GC,2033,-0.68,-145.9,180.5,-10.3,249,2038,0.00,2.17,0.00,0.000,6,0.000,0.037,2788,1903,3423,0,0,0,0,0,0
$GC,2360,-0.70,-145.9,217.9,-11.7,270,2363,0.00,1.88,0.00,0.000,4,0.000,0.045,2781,3109,3423,0,0,0,0,0,0
$GC,2394,-0.70,-145.9,222.2,-11.9,272,2397,0.00,1.85,0.00,0.000,6,0.000,0.039,2781,1903,3423,0,0,0,0,0,0
$GC,2722,-0.70,-145.9,257.9,-10.2,292,2726,0.00,2.22,0.00,0.000,4,0.000,0.047,2773,3318,3423,0,0,0,0,0,0
$GC,2772,-0.66,-145.9,263.2,-10.8,294,2777,0.08,2.17,0.00,0.000,6,0.141,0.035,2796,1904,3423,0,0,0,0,0,0
$GC,3093,-0.71,-145.9,290.2,-8.1,310,3097,0.00,2.12,0.00,0.000,4,0.000,0.046,2788,3255,3423,0,0,0,0,0,0
$GC,3133,-0.71,-145.9,293.6,-8.7,312,3137,0.00,2.05,0.00,0.000,6,0.000,0.037,2788,1914,3423,0,0,0,0,0,0
$GC,3459,-0.75,-145.9,320.5,-8.5,328,3463,0.00,1.85,0.00,0.000,4,0.000,0.044,2781,3102,3423,0,0,0,0,0,0
$GC,3497,-0.75,-145.9,324.1,-9.0,329,3503,0.00,1.85,0.00,0.000,6,0.000,0.037,2781,1907,3423,0,0,0,0,0,0
$GC,3815,-0.75,-145.9,351.7,-8.9,345,3819,0.00,2.10,0.00,0.000,4,0.000,0.045,2773,3262,3422,0,0,0,0,0,0
$GC,3863,-0.73,-145.9,356.0,-9.9,347,3867,0.00,2.05,0.00,0.000,6,0.000,0.036,2773,1906,3422,0,0,0,0,0,0
$GC,4191,-0.73,-145.9,386.9,-9.5,363,4195,0.00,1.70,0.00,0.000,4,0.000,0.043,2768,2990,3422,0,0,0,0,0,0
$GC,4222,-0.73,-145.9,390.4,-9.9,364,4227,0.00,1.67,0.00,0.000,6,0.000,0.037,2767,1908,3422,0,0,0,0,0,0
$GC,4552,-0.73,-145.9,423.1,-10.0,377,4556,0.00,2.20,0.00,0.000,4,0.000,0.045,2759,3314,3422,0,0,0,0,0,0
$GC,4596,-0.67,-145.9,427.9,-11.0,378,4601,0.10,2.17,0.00,0.000,6,0.136,0.035,2791,1909,3422,0,0,0,0,0,0
$GC,4920,-0.72,-145.9,457.4,-9.1,389,4924,0.00,2.20,0.00,0.000,4,0.000,0.045,2782,3314,3422,0,0,0,0,0,0
$GC,4963,-0.72,-145.9,461.7,-9.6,390,4968,0.00,2.17,0.00,0.000,6,0.000,0.034,2782,1906,3421,0,0,0,0,0,0
$GC,5293,-0.75,-145.9,491.3,-8.8,401,5297,0.00,1.33,0.00,0.000,4,0.000,0.041,2779,2758,3421,0,0,0,0,0,0
$GC,5320,-0.79,-145.9,494.0,-9.5,401,5326,0.03,1.30,0.00,0.000,6,0.108,0.038,2759,1915,3421,0,0,0,0,0,0
$GC,5633,-0.76,-145.9,525.0,-10.0,412,5637,0.00,2.17,0.00,0.000,4,0.000,0.045,2750,3314,3420,0,0,0,0,0,0
$GC,5695,-0.67,-145.9,531.6,-10.7,414,5700,0.17,2.15,0.00,0.000,6,0.154,0.035,2796,1904,3420,0,0,0,0,0,0
$GC,6030,-0.73,-145.9,561.4,-8.8,425,6034,0.05,1.62,0.00,0.000,4,0.176,0.043,2770,2927,3419,0,0,0,0,0,0
$GC,6063,-0.73,-145.9,564.7,-10.0,426,6067,0.00,1.58,0.00,0.000,6,0.000,0.037,2770,1910,3419,0,0,0,0,0,0
$GC,6403,-0.73,-145.9,598.2,-9.8,437,6407,0.00,1.42,0.00,0.000,4,0.000,0.043,2765,2817,3419,0,0,0,0,0,0
$GC,6429,-0.73,-145.9,601.0,-10.4,437,6436,0.00,1.42,0.00,0.000,6,0.000,0.037,2765,1906,3418,0,0,0,0,0,0
$GC,6743,-0.73,-145.9,632.3,-9.8,448,6747,0.00,2.22,0.00,0.000,4,0.000,0.046,2756,3322,3418,0,0,0,0,0,0
$GC,6833,-0.65,-145.9,641.9,-10.9,450,6839,0.17,2.17,0.00,0.000,6,0.158,0.036,2802,1905,3417,0,0,0,0,0,0
$GC,7145,-0.75,-145.9,667.2,-8.0,461,7150,0.10,2.22,0.00,0.000,4,0.114,0.047,2756,3311,3417,0,0,0,0,0,0
$GC,7241,-0.72,-145.9,676.3,-10.0,464,7245,0.10,2.15,0.00,0.000,6,0.171,0.036,2779,1911,3416,0,0,0,0,0,0
$GC,7575,-0.75,-145.9,704.4,-8.5,475,7579,0.00,2.20,0.00,0.000,4,0.000,0.047,2771,3319,3416,0,0,0,0,0,0
$GC,7629,-0.75,-145.9,709.5,-9.6,476,7633,0.00,2.17,0.00,0.000,6,0.000,0.035,2771,1915,3416,0,0,0,0,0,0
$GC,7947,-0.75,-145.9,738.3,-9.2,487,7951,0.00,2.20,0.00,0.000,4,0.000,0.047,2764,3316,3416,0,0,0,0,0,0
$GC,8024,-0.75,-145.9,746.4,-11.5,489,8029,0.00,2.17,0.00,0.000,6,0.000,0.036,2764,1918,3415,0,0,0,0,0,0
$GC,8349,-0.75,-145.9,779.6,-10.5,500,8353,0.00,2.20,0.00,0.000,4,0.000,0.047,2755,3313,3415,0,0,0,0,0,0
$GC,8431,-0.69,-145.9,789.2,-12.0,502,8436,0.10,2.17,0.00,0.000,6,0.142,0.036,2786,1917,3415,0,0,0,0,0,0
$GC,8749,-0.64,-145.9,824.3,-10.9,513,8754,0.05,2.28,0.00,0.000,4,0.244,0.054,2799,503,3414,0,0,0,0,0,0
$GC,8826,-0.62,-145.9,833.1,-11.2,515,8831,0.05,2.20,0.00,0.000,6,0.163,0.034,2809,1916,3414,0,0,0,0,0,0
$GC,9150,-0.74,-145.9,862.6,-9.0,526,9152,0.10,0.00,0.00,0.000,6,0.118,0.000,2770,1921,3414,0,0,0,0,0,0
$GC,9456,-0.74,-145.9,891.8,-9.4,536,9460,0.00,2.20,0.00,0.000,4,0.000,0.047,2762,3321,3414,0,0,0,0,0,0
$GC,9561,-0.71,-145.9,902.5,-10.8,539,9566,0.05,2.20,0.00,0.000,6,0.148,0.036,2777,1908,3414,0,0,0,0,0,0
$GC,9890,-0.76,-145.9,931.8,-8.7,550,9894,0.00,2.22,0.00,0.000,4,0.000,0.047,2769,3315,3414,0,0,0,0,0,0
$GC,9962,-0.76,-145.9,938.6,-9.6,552,9966,0.00,2.17,0.00,0.000,6,0.000,0.035,2769,1914,3413,0,0,0,0,0,0
$GC,10292,-0.79,-145.9,967.9,-8.8,563,10296,0.00,2.22,0.00,0.000,4,0.000,0.047,2762,3320,3413,0,0,0,0,0,0
$GC,10387,-0.75,-145.9,976.9,-8.7,566,10391,0.00,2.17,0.00,0.000,6,0.000,0.037,2762,1909,3412,0,0,0,0,0,0
$STATE,10629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10630,begin apogee
$GC,10634,-0.19,0.0,1003.1,10.9,574,10761,0.65,0.00,124.10,1.535,6,0.145,0.000,2950,1638,2827,0,0,0,0,0,0
$STATE,10762,end apogee,CONTROL_FINISHED_OK
$STATE,10762,begin climb
$GC,10764,0.52,145.9,1010.3,0.0,578,10904,0.70,0.70,132.77,1.515,4,0.079,0.039,3176,2039,2232,0,0,0,0,0,0
$GC,10960,0.35,209.4,1012.8,5.2,584,11026,0.17,0.68,59.95,1.471,6,0.174,0.048,3134,1649,1972,0,0,0,0,0,0
$GC,11351,0.32,274.3,992.4,5.2,597,11414,0.05,0.45,58.55,1.470,4,0.246,0.043,3123,1943,1708,0,0,0,0,0,0
$GC,11453,0.47,325.0,986.7,5.7,600,11505,0.12,0.50,48.05,1.459,6,0.093,0.053,3166,1649,1501,0,0,0,0,0,0
$GC,11812,0.56,328.0,961.1,7.3,612,11816,0.08,1.85,0.00,0.000,4,0.132,0.063,3199,551,1494,0,0,0,0,0,0
$GC,11879,0.48,328.0,955.2,9.5,614,11883,0.12,1.73,0.00,0.000,6,0.182,0.035,3171,1657,1492,0,0,0,0,0,0
$GC,12219,0.46,328.0,927.7,8.4,625,12222,0.00,0.85,0.00,0.000,4,0.000,0.041,3171,2229,1492,0,0,0,0,0,0
$GC,12257,0.43,328.0,924.3,8.3,626,12262,0.08,0.95,0.00,0.000,6,0.210,0.049,3158,1641,1491,0,0,0,0,0,0
$GC,12592,0.56,328.0,897.4,8.0,637,12596,0.10,2.03,0.00,0.000,4,0.112,0.064,3198,403,1491,0,0,0,0,0,0
$GC,12635,0.51,328.0,893.4,10.1,638,12640,0.05,1.92,0.00,0.000,6,0.171,0.034,3184,1649,1490,0,0,0,0,0,0
$GC,12965,0.54,328.0,864.4,8.6,649,12968,0.00,1.00,0.00,0.000,4,0.000,0.041,3183,2317,1490,0,0,0,0,0,0
$GC,13025,0.59,328.0,859.0,8.3,650,13031,0.00,1.08,0.00,0.000,6,0.000,0.050,3186,1636,1490,0,0,0,0,0,0
$GC,13338,0.66,328.0,833.5,7.9,661,13343,0.12,2.25,0.00,0.000,4,0.099,0.045,3235,3050,1490,0,0,0,0,0,0
$GC,13410,0.50,328.0,825.5,11.2,663,13415,0.22,2.25,0.00,0.000,6,0.173,0.047,3181,1647,1489,0,0,0,0,0,0
$GC,13739,0.45,328.0,797.5,8.7,674,13743,0.08,1.88,0.00,0.000,4,0.220,0.064,3172,494,1489,0,0,0,0,0,0
$GC,13806,0.42,328.0,791.4,9.2,676,13811,0.05,1.80,0.00,0.000,6,0.158,0.037,3156,1654,1489,0,0,0,0,0,0
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$STATE,23289,end climb,SURFACE_DEPTH_REACHED
$STATE,23289,begin surface coast
$FINISH,1.4,1.026566
$STATE,23303,end surface coast,CONTROL_FINISHED_OK
$STATE,23303,begin surface
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$TCM_TEMP,11.90
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$10V_AH,10.1,37.432
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354552
$DATA_FILE_SIZE,76857,1246
$CAP_FILE_SIZE,236305,0
$CFSIZE,2097086464,2064154624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131112,150459,-4206.479,-716.270,42,1.7,43,-22.0