version: 66.07.10.p01
glider: 574
mission: 4
dive: 212
start: 11 13 112 15 18 54
data:
$ID,574
$MISSION,4
$DIVE,212
$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,-6100.6753
$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,28
$R_STBD_OVSHOOT,65
$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,191
$GPS1,131112,150459,-4206.479,-716.270,42,1.7,43,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-68.5
$GPS2,131112,151759,-4206.456,-716.268,41,1.5,42,-22.0
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.006,0.235
$KALMAN_X,-339360.9,-650.9,463.0,466195.7,-4633.3
$KALMAN_Y,210506.4,405.7,1953.9,-129240.5,-11143.1
$MHEAD_RNG_PITCHd_Wd,23.4,93150,-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,-145.9,0.0,0.0,0,116,0.00,0.00,-89.60,0.000,2,0.000,0.000,66,1927,2536,0,0,0,0,0,0
$GC,119,-0.52,-145.9,3.0,-1.5,15,169,12.55,2.38,-27.88,0.000,4,0.266,0.074,2832,508,3424,0,0,0,0,0,0
$GC,196,-0.48,-145.9,8.8,-9.1,27,204,0.08,2.20,0.00,0.000,6,0.148,0.038,2849,1883,3424,0,0,0,0,0,0
$GC,277,-0.60,-145.9,15.4,-7.7,40,284,0.10,2.03,0.00,0.000,4,0.108,0.050,2799,3134,3424,0,0,0,0,0,0
$GC,328,-0.60,-145.9,20.1,-9.3,48,335,0.05,1.95,0.00,0.000,6,0.148,0.043,2815,1913,3424,0,0,0,0,0,0
$GC,409,-0.68,-145.9,27.3,-8.9,61,416,0.08,0.55,0.00,0.000,4,0.132,0.060,2787,1556,3424,0,0,0,0,0,0
$GC,425,-0.74,-145.9,28.8,-8.2,63,433,0.03,0.55,0.00,0.000,6,0.112,0.041,2766,1929,3424,0,0,0,0,0,0
$GC,502,-0.65,-145.9,37.0,-11.0,76,510,0.12,1.30,0.00,0.000,4,0.168,0.047,2792,2752,3424,0,0,0,0,0,0
$GC,539,-0.60,-145.9,40.9,-10.1,82,547,0.05,1.33,0.00,0.000,6,0.144,0.044,2811,1913,3424,0,0,0,0,0,0
$GC,777,-0.67,-145.9,63.8,-10.0,123,783,0.00,2.30,0.00,0.000,4,0.000,0.060,2811,504,3424,0,0,0,0,0,0
$GC,836,-0.67,-145.9,69.9,-10.7,133,840,0.00,2.17,0.00,0.000,6,0.000,0.035,2803,1911,3424,0,0,0,0,0,0
$GC,1178,-0.72,-145.9,101.4,-8.4,192,1183,0.08,2.20,0.00,0.000,4,0.133,0.049,2767,3314,3424,0,0,0,0,0,0
$GC,1240,-0.66,-145.9,107.6,-9.9,196,1245,0.12,2.17,0.00,0.000,6,0.160,0.038,2798,1904,3424,0,0,0,0,0,0
$GC,1566,-0.71,-145.9,133.4,-7.5,217,1570,0.00,2.22,0.00,0.000,4,0.000,0.047,2790,3316,3424,0,0,0,0,0,0
$GC,1617,-0.71,-145.9,137.6,-8.2,220,1621,0.00,2.12,0.00,0.000,6,0.000,0.037,2790,1913,3424,0,0,0,0,0,0
$GC,1943,-0.73,-145.9,162.0,-7.5,241,1947,0.00,2.20,0.00,0.000,4,0.000,0.046,2780,3314,3424,0,0,0,0,0,0
$GC,1987,-0.67,-145.9,166.1,-8.5,243,1993,0.00,2.17,0.00,0.000,6,0.000,0.035,2780,1903,3424,0,0,0,0,0,0
$GC,2306,-0.67,-145.9,194.9,-9.9,264,2310,0.00,2.20,0.00,0.000,4,0.000,0.054,2780,513,3424,0,0,0,0,0,0
$GC,2370,-0.58,-145.9,201.9,-11.7,268,2374,0.17,2.12,0.00,0.000,6,0.155,0.031,2818,1921,3425,0,0,0,0,0,0
$GC,2696,-0.69,-145.9,232.4,-9.5,289,2701,0.08,1.15,0.00,0.000,4,0.131,0.044,2782,2666,3424,0,0,0,0,0,0
$GC,2747,-0.73,-145.9,237.9,-11.1,292,2750,0.00,1.15,0.00,0.000,6,0.000,0.041,2782,1915,3424,0,0,0,0,0,0
$GC,3079,-0.73,-145.9,272.5,-10.3,310,3083,0.00,1.60,0.00,0.000,4,0.000,0.044,2777,2932,3424,0,0,0,0,0,0
$GC,3104,-0.73,-145.9,274.9,-10.6,311,3108,0.00,1.58,0.00,0.000,6,0.000,0.040,2776,1920,3425,0,0,0,0,0,0
$GC,3438,-0.73,-145.9,308.2,-9.4,327,3441,0.00,1.92,0.00,0.000,4,0.000,0.045,2769,3159,3424,0,0,0,0,0,0
$GC,3470,-0.73,-145.9,311.7,-9.7,328,3475,0.00,1.92,0.00,0.000,6,0.000,0.036,2769,1911,3424,0,0,0,0,0,0
$GC,3792,-0.73,-145.9,341.1,-8.9,344,3796,0.00,2.20,0.00,0.000,4,0.000,0.046,2760,3314,3424,0,0,0,0,0,0
$GC,3846,-0.68,-145.9,346.4,-9.9,346,3855,0.10,2.17,0.00,0.000,6,0.133,0.035,2791,1904,3425,0,0,0,0,0,0
$GC,4163,-0.72,-145.9,371.5,-7.8,362,4167,0.00,2.20,0.00,0.000,4,0.000,0.045,2783,3307,3424,0,0,0,0,0,0
$GC,4206,-0.72,-145.9,375.5,-8.9,364,4211,0.00,2.15,0.00,0.000,6,0.000,0.035,2783,1916,3423,0,0,0,0,0,0
$GC,4544,-0.75,-145.9,402.9,-8.0,380,4547,0.00,1.55,0.00,0.000,4,0.000,0.043,2778,2903,3423,0,0,0,0,0,0
$GC,4565,-0.78,-145.9,404.8,-8.1,380,4569,0.00,1.52,0.00,0.000,6,0.000,0.037,2778,1913,3423,0,0,0,0,0,0
$GC,4883,-0.78,-145.9,431.3,-8.6,391,4887,0.00,2.20,0.00,0.000,4,0.000,0.046,2769,3309,3423,0,0,0,0,0,0
$GC,4927,-0.74,-145.9,435.4,-9.4,392,4931,0.00,2.15,0.00,0.000,6,0.000,0.035,2769,1917,3423,0,0,0,0,0,0
$GC,5251,-0.74,-145.9,464.6,-9.1,403,5255,0.00,2.20,0.00,0.000,4,0.000,0.047,2761,3314,3422,0,0,0,0,0,0
$GC,5300,-0.67,-145.9,469.5,-10.5,404,5305,0.10,2.17,0.00,0.000,6,0.135,0.034,2792,1901,3422,0,0,0,0,0,0
$GC,5618,-0.73,-145.9,496.7,-8.6,415,5622,0.00,2.20,0.00,0.000,4,0.000,0.046,2784,3306,3422,0,0,0,0,0,0
$GC,5668,-0.77,-145.9,501.5,-9.4,416,5673,0.03,2.15,0.00,0.000,6,0.109,0.035,2763,1918,3422,0,0,0,0,0,0
$GC,5991,-0.77,-145.9,533.8,-9.9,427,5995,0.00,2.17,0.00,0.000,4,0.000,0.046,2754,3307,3422,0,0,0,0,0,0
$GC,6045,-0.72,-145.9,539.8,-10.9,428,6052,0.08,2.15,0.00,0.000,6,0.141,0.035,2778,1913,3421,0,0,0,0,0,0
$GC,6358,-0.75,-145.9,568.7,-9.2,439,6362,0.00,2.20,0.00,0.000,4,0.000,0.047,2770,3307,3421,0,0,0,0,0,0
$GC,6407,-0.75,-145.9,573.8,-10.9,440,6412,0.00,2.15,0.00,0.000,6,0.000,0.035,2770,1917,3421,0,0,0,0,0,0
$GC,6726,-0.75,-145.9,604.6,-9.6,451,6730,0.00,2.20,0.00,0.000,4,0.000,0.047,2761,3317,3421,0,0,0,0,0,0
$GC,6788,-0.72,-145.9,610.9,-10.7,453,6793,0.08,2.15,0.00,0.000,6,0.181,0.036,2778,1898,3420,0,0,0,0,0,0
$GC,7122,-0.75,-145.9,642.7,-9.5,464,7126,0.00,1.67,0.00,0.000,4,0.000,0.044,2772,2972,3420,0,0,0,0,0,0
$GC,7148,-0.75,-145.9,645.7,-10.5,464,7154,0.00,1.62,0.00,0.000,6,0.000,0.036,2772,1918,3420,0,0,0,0,0,0
$GC,7461,-0.75,-145.9,674.7,-9.3,475,7465,0.00,2.17,0.00,0.000,4,0.000,0.047,2764,3307,3420,0,0,0,0,0,0
$GC,7505,-0.70,-145.9,679.4,-10.4,476,7510,0.05,2.15,0.00,0.000,6,0.151,0.035,2781,1915,3419,0,0,0,0,0,0
$GC,7835,-0.74,-145.9,709.6,-8.9,487,7839,0.00,2.20,0.00,0.000,4,0.000,0.047,2772,3306,3419,0,0,0,0,0,0
$GC,7872,-0.74,-145.9,713.5,-10.3,488,7877,0.00,2.15,0.00,0.000,6,0.000,0.035,2772,1920,3418,0,0,0,0,0,0
$GC,8203,-0.77,-145.9,743.2,-9.1,499,8206,0.00,2.17,0.00,0.000,4,0.000,0.047,2764,3307,3418,0,0,0,0,0,0
$GC,8240,-0.77,-145.9,747.1,-9.9,500,8245,0.00,2.17,0.00,0.000,6,0.000,0.035,2764,1904,3418,0,0,0,0,0,0
$GC,8576,-0.77,-145.9,778.1,-9.2,511,8580,0.00,2.22,0.00,0.000,4,0.000,0.046,2756,3312,3418,0,0,0,0,0,0
$GC,8630,-0.72,-145.9,783.8,-10.9,512,8637,0.05,2.17,0.00,0.000,6,0.149,0.035,2772,1912,3418,0,0,0,0,0,0
$GC,8944,-0.75,-145.9,811.7,-8.9,523,8948,0.00,2.20,0.00,0.000,4,0.000,0.047,2765,3312,3417,0,0,0,0,0,0
$GC,9015,-0.72,-145.9,818.7,-9.2,525,9020,0.00,2.17,0.00,0.000,6,0.000,0.035,2765,1907,3417,0,0,0,0,0,0
$GC,9345,-0.72,-145.9,849.3,-9.3,536,9349,0.00,2.22,0.00,0.000,4,0.000,0.046,2756,3314,3416,0,0,0,0,0,0
$GC,9394,-0.68,-145.9,854.3,-10.8,537,9398,0.10,2.17,0.00,0.000,6,0.132,0.035,2788,1910,3416,0,0,0,0,0,0
$GC,9712,-0.75,-145.9,881.2,-8.5,548,9716,0.00,2.22,0.00,0.000,4,0.000,0.047,2780,3315,3416,0,0,0,0,0,0
$GC,9761,-0.75,-145.9,885.6,-9.5,549,9766,0.00,2.17,0.00,0.000,6,0.000,0.034,2780,1916,3415,0,0,0,0,0,0
$GC,10080,-0.79,-145.9,912.0,-8.3,560,10085,0.08,2.22,0.00,0.000,4,0.138,0.047,2743,3312,3415,0,0,0,0,0,0
$GC,10135,-0.69,-145.9,917.6,-10.1,561,10141,0.12,2.17,0.00,0.000,6,0.145,0.036,2781,1913,3415,0,0,0,0,0,0
$GC,10448,-0.64,-145.9,946.4,-9.1,572,10452,0.10,2.28,0.00,0.000,4,0.197,0.054,2806,502,3415,0,0,0,0,0,0
$GC,10507,-0.64,-145.9,951.5,-8.4,573,10513,0.00,2.17,0.00,0.000,6,0.000,0.032,2799,1908,3415,0,0,0,0,0,0
$GC,10821,-0.74,-145.9,972.2,-6.4,584,10825,0.08,0.65,0.00,0.000,4,0.144,0.050,2773,1497,3415,0,0,0,0,0,0
$GC,10831,-0.83,-145.9,973.0,-6.4,584,10836,0.05,0.65,0.00,0.000,6,0.097,0.037,2747,1928,3415,0,0,0,0,0,0
$GC,11160,-0.83,-145.9,999.8,-8.6,595,11165,0.00,1.23,0.00,0.000,4,0.000,0.050,2747,1155,3415,0,0,0,0,0,0
$STATE,11168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11168,begin apogee
$GC,11173,-0.19,0.0,1000.7,8.5,595,11301,0.68,0.00,125.05,1.536,6,0.147,0.000,2943,1655,2827,0,0,0,0,0,0
$STATE,11302,end apogee,CONTROL_FINISHED_OK
$STATE,11302,begin climb
$GC,11304,0.52,145.9,1007.5,0.0,599,11444,0.75,2.33,133.50,1.515,4,0.076,0.041,3181,2985,2233,0,0,0,0,0,0
$GC,11530,0.31,165.2,1006.1,6.7,607,11555,0.30,2.22,18.75,1.383,6,0.190,0.043,3117,1658,2153,0,0,0,0,0,0
$GC,11868,0.32,234.4,988.6,5.0,618,11937,0.00,2.50,61.55,1.472,4,0.000,0.061,3117,242,1870,0,0,0,0,0,0
$GC,12045,0.39,265.8,978.1,6.3,623,12080,0.05,2.20,28.75,1.424,6,0.170,0.032,3136,1645,1744,0,0,0,0,0,0
$GC,12399,0.47,303.4,956.1,6.1,635,12439,0.10,2.30,34.30,1.434,4,0.110,0.042,3173,3046,1589,0,0,0,0,0,0
$GC,12539,0.41,303.4,944.7,8.5,639,12544,0.10,2.28,0.00,0.000,6,0.158,0.044,3152,1653,1587,0,0,0,0,0,0
$GC,12869,0.51,332.5,923.2,6.4,650,12903,0.08,2.17,26.65,1.405,4,0.126,0.063,3184,360,1471,0,0,0,0,0,0
$GC,12942,0.47,332.5,917.6,7.9,652,12947,0.08,2.03,0.00,0.000,6,0.189,0.034,3170,1649,1468,0,0,0,0,0,0
$GC,13272,0.56,344.5,894.4,7.0,663,13291,0.08,2.28,11.60,1.281,4,0.127,0.045,3201,3045,1422,0,0,0,0,0,0
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$STATE,23534,end climb,SURFACE_DEPTH_REACHED
$STATE,23534,begin surface coast
$FINISH,1.5,1.013939
$STATE,23566,end surface coast,CONTROL_FINISHED_OK
$STATE,23566,begin surface
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$TCM_TEMP,11.40
$XPDR_PINGS,0
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$10V_AH,10.2,37.578
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354592
$DATA_FILE_SIZE,76910,1230
$CAP_FILE_SIZE,249841,0
$CFSIZE,2097086464,2064252928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131112,215405,-4206.731,-716.807,35,1.2,36,-22.0