version: 66.07.10.p01
glider: 574
mission: 4
dive: 216
start: 11 14 112 18 17 29
data:
$ID,574
$MISSION,4
$DIVE,216
$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,-6113.9014
$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,68
$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,1
$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,195
$GPS1,141112,180329,-4206.738,-715.873,30,2.5,50,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-66.1
$GPS2,141112,181635,-4206.728,-715.655,35,1.2,36,-22.0
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.075,0.222
$KALMAN_X,-345943.0,-771.0,-709.6,474904.1,-113.1
$KALMAN_Y,188655.4,921.3,224.9,-106677.5,-8358.5
$MHEAD_RNG_PITCHd_Wd,3.3,92935,-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,-89.53,0.000,2,0.000,0.000,66,1929,2573,0,0,0,0,0,0
$GC,119,-0.52,-145.9,3.1,-1.1,15,164,13.32,0.30,-23.17,0.000,4,0.285,0.151,2831,2135,3424,0,0,0,0,0,0
$GC,178,-0.30,-145.9,8.3,-8.0,24,186,0.25,0.35,0.00,0.000,6,0.121,0.060,2912,1908,3424,0,0,0,0,0,0
$GC,259,-0.65,-145.9,13.4,-6.8,37,267,0.30,0.55,0.00,0.000,4,0.093,0.056,2803,1552,3425,0,0,0,0,0,0
$GC,311,-0.69,-145.9,17.8,-7.4,45,318,0.00,0.50,0.00,0.000,6,0.000,0.044,2801,1889,3424,0,0,0,0,0,0
$GC,391,-0.69,-145.9,25.3,-9.4,58,398,0.00,1.17,0.00,0.000,4,0.000,0.049,2796,2641,3424,0,0,0,0,0,0
$GC,424,-0.67,-145.9,29.2,-11.1,63,432,0.00,1.15,0.00,0.000,6,0.000,0.047,2796,1924,3424,0,0,0,0,0,0
$GC,501,-0.67,-145.9,36.8,-8.6,76,508,0.00,2.35,0.00,0.000,4,0.000,0.063,2796,505,3424,0,0,0,0,0,0
$GC,525,-0.63,-145.9,39.3,-9.5,80,533,0.05,2.20,0.00,0.000,6,0.161,0.037,2804,1895,3424,0,0,0,0,0,0
$GC,765,-0.68,-145.9,62.9,-9.4,121,770,0.00,2.28,0.00,0.000,4,0.000,0.061,2804,504,3425,0,0,0,0,0,0
$GC,835,-0.62,-145.9,70.1,-9.8,133,840,0.00,2.20,0.00,0.000,6,0.000,0.037,2796,1918,3424,0,0,0,0,0,0
$GC,1178,-0.67,-145.9,98.1,-7.4,194,1183,0.00,1.80,0.00,0.000,4,0.000,0.048,2789,3073,3425,0,0,0,0,0,0
$GC,1239,-0.72,-145.9,102.9,-8.0,201,1245,0.00,1.85,0.00,0.000,6,0.000,0.043,2789,1902,3424,0,0,0,0,0,0
$GC,1560,-0.76,-145.9,128.4,-8.1,222,1564,0.05,2.28,0.00,0.000,4,0.177,0.049,2757,3329,3425,0,0,0,0,0,0
$GC,1608,-0.67,-145.9,132.6,-9.6,225,1613,0.15,2.20,0.00,0.000,6,0.158,0.042,2795,1913,3425,0,0,0,0,0,0
$GC,1934,-0.73,-145.9,160.8,-9.1,246,1939,0.05,2.25,0.00,0.000,4,0.174,0.049,2766,3325,3425,0,0,0,0,0,0
$GC,1983,-0.66,-145.9,165.7,-10.2,249,1988,0.12,2.20,0.00,0.000,6,0.166,0.041,2797,1905,3425,0,0,0,0,0,0
$GC,2309,-0.72,-145.9,198.0,-9.9,270,2313,0.00,2.22,0.00,0.000,4,0.000,0.057,2797,506,3425,0,0,0,0,0,0
$GC,2371,-0.66,-145.9,205.1,-11.4,274,2375,0.00,2.15,0.00,0.000,6,0.000,0.033,2789,1929,3425,0,0,0,0,0,0
$GC,2698,-0.70,-145.9,237.6,-9.7,295,2701,0.00,2.15,0.00,0.000,4,0.000,0.047,2779,3320,3425,0,0,0,0,0,0
$GC,2770,-0.74,-145.9,245.5,-10.3,299,2774,0.00,2.17,0.00,0.000,6,0.000,0.037,2780,1914,3425,0,0,0,0,0,0
$GC,3098,-0.78,-145.9,276.4,-9.1,316,3102,0.00,2.20,0.00,0.000,4,0.000,0.047,2770,3318,3425,0,0,0,0,0,0
$GC,3146,-0.78,-145.9,281.1,-9.1,318,3151,0.00,2.17,0.00,0.000,6,0.000,0.036,2770,1914,3425,0,0,0,0,0,0
$GC,3469,-0.78,-145.9,311.0,-9.2,334,3472,0.00,2.20,0.00,0.000,4,0.000,0.047,2761,3315,3425,0,0,0,0,0,0
$GC,3524,-0.73,-145.9,316.5,-10.2,336,3532,0.00,2.17,0.00,0.000,6,0.000,0.036,2761,1910,3424,0,0,0,0,0,0
$GC,3840,-0.70,-145.9,346.7,-9.9,352,3845,0.10,2.22,0.00,0.000,4,0.186,0.046,2776,3318,3425,0,0,0,0,0,0
$GC,3906,-0.70,-145.9,353.4,-9.1,355,3910,0.00,2.17,0.00,0.000,6,0.000,0.036,2776,1914,3425,0,0,0,0,0,0
$GC,4236,-0.72,-145.9,383.6,-9.2,371,4240,0.00,1.92,0.00,0.000,4,0.000,0.045,2769,3129,3424,0,0,0,0,0,0
$GC,4273,-0.72,-145.9,387.6,-9.9,372,4282,0.00,1.90,0.00,0.000,6,0.000,0.036,2769,1903,3424,0,0,0,0,0,0
$GC,4608,-0.72,-145.9,419.2,-9.5,386,4612,0.00,2.20,0.00,0.000,4,0.000,0.047,2760,3311,3424,0,0,0,0,0,0
$GC,4663,-0.69,-145.9,424.8,-10.2,387,4669,0.08,2.17,0.00,0.000,6,0.138,0.037,2785,1906,3424,0,0,0,0,0,0
$GC,4976,-0.74,-145.9,452.8,-8.9,398,4980,0.00,2.20,0.00,0.000,4,0.000,0.047,2776,3311,3424,0,0,0,0,0,0
$GC,5031,-0.74,-145.9,458.3,-9.9,399,5036,0.00,2.17,0.00,0.000,6,0.000,0.036,2776,1910,3424,0,0,0,0,0,0
$GC,5350,-0.74,-145.9,487.8,-9.3,410,5354,0.00,2.10,0.00,0.000,4,0.000,0.047,2769,3265,3424,0,0,0,0,0,0
$GC,5393,-0.71,-145.9,492.2,-9.6,411,5397,0.00,2.10,0.00,0.000,6,0.000,0.036,2768,1906,3423,0,0,0,0,0,0
$GC,5717,-0.71,-145.9,522.3,-9.2,422,5722,0.05,2.22,0.00,0.000,4,0.230,0.046,2770,3310,3422,0,0,0,0,0,0
$GC,5779,-0.71,-145.9,528.2,-9.4,424,5783,0.00,2.15,0.00,0.000,6,0.000,0.037,2770,1905,3423,0,0,0,0,0,0
$GC,6119,-0.71,-145.9,559.8,-9.1,435,6122,0.00,1.50,0.00,0.000,4,0.000,0.044,2765,2857,3422,0,0,0,0,0,0
$GC,6152,-0.71,-145.9,562.9,-9.3,436,6157,0.05,1.48,0.00,0.000,6,0.143,0.040,2781,1909,3422,0,0,0,0,0,0
$GC,6493,-0.75,-145.9,592.0,-8.5,447,6497,0.00,0.62,0.00,0.000,4,0.000,0.044,2780,2329,3422,0,0,0,0,0,0
$GC,6508,-0.80,-145.9,593.6,-8.9,447,6513,0.08,0.65,0.00,0.000,6,0.138,0.046,2753,1906,3422,0,0,0,0,0,0
$GC,6832,-0.77,-145.9,625.0,-9.8,458,6836,0.00,2.20,0.00,0.000,4,0.000,0.047,2743,3301,3422,0,0,0,0,0,0
$GC,6876,-0.66,-145.9,629.7,-10.9,459,6881,0.15,2.15,0.00,0.000,6,0.143,0.036,2789,1914,3422,0,0,0,0,0,0
$GC,7200,-0.73,-145.9,656.9,-8.5,470,7204,0.00,2.20,0.00,0.000,4,0.000,0.047,2781,3310,3422,0,0,0,0,0,0
$GC,7244,-0.76,-145.9,661.0,-9.6,471,7248,0.00,2.17,0.00,0.000,6,0.000,0.036,2781,1913,3421,0,0,0,0,0,0
$GC,7568,-0.81,-145.9,689.3,-8.7,482,7572,0.10,1.75,0.00,0.000,4,0.119,0.044,2739,3027,3420,0,0,0,0,0,0
$GC,7606,-0.71,-145.9,693.4,-10.7,483,7611,0.12,1.73,0.00,0.000,6,0.145,0.037,2777,1913,3421,0,0,0,0,0,0
$GC,7941,-0.75,-145.9,724.2,-9.1,494,7945,0.00,1.83,0.00,0.000,4,0.000,0.044,2771,3095,3421,0,0,0,0,0,0
$GC,7980,-0.75,-145.9,728.1,-9.6,495,7984,0.00,1.83,0.00,0.000,6,0.000,0.037,2771,1906,3420,0,0,0,0,0,0
$GC,8315,-0.77,-145.9,760.3,-9.8,506,8319,0.00,1.60,0.00,0.000,4,0.000,0.044,2766,2921,3420,0,0,0,0,0,0
$GC,8349,-0.77,-145.9,763.6,-9.7,507,8352,0.00,1.58,0.00,0.000,6,0.000,0.037,2766,1906,3420,0,0,0,0,0,0
$GC,8689,-0.77,-145.9,798.2,-10.2,518,8692,0.00,1.62,0.00,0.000,4,0.000,0.044,2760,2943,3420,0,0,0,0,0,0
$GC,8723,-0.77,-145.9,801.6,-10.9,519,8726,0.00,1.60,0.00,0.000,6,0.000,0.037,2760,1911,3420,0,0,0,0,0,0
$GC,9063,-0.77,-145.9,835.6,-9.7,530,9066,0.00,1.67,0.00,0.000,4,0.000,0.044,2754,2984,3419,0,0,0,0,0,0
$GC,9100,-0.74,-145.9,839.2,-9.8,531,9106,0.05,1.67,0.00,0.000,6,0.155,0.036,2770,1904,3419,0,0,0,0,0,0
$GC,9436,-0.78,-145.9,868.6,-8.7,542,9440,0.00,1.75,0.00,0.000,4,0.000,0.045,2764,3024,3419,0,0,0,0,0,0
$GC,9475,-0.78,-145.9,872.2,-9.0,543,9479,0.00,1.70,0.00,0.000,6,0.000,0.037,2764,1913,3419,0,0,0,0,0,0
$GC,9810,-0.80,-145.9,900.0,-8.2,554,9814,0.00,2.03,0.00,0.000,4,0.000,0.046,2756,3195,3418,0,0,0,0,0,0
$GC,9854,-0.75,-145.9,904.0,-9.1,555,9858,0.00,2.00,0.00,0.000,6,0.000,0.035,2756,1911,3418,0,0,0,0,0,0
$GC,10183,-0.75,-145.9,932.1,-8.6,566,10187,0.00,2.22,0.00,0.000,4,0.000,0.047,2748,3318,3418,0,0,0,0,0,0
$GC,10246,-0.67,-145.9,938.1,-10.4,568,10250,0.17,2.17,0.00,0.000,6,0.158,0.036,2793,1904,3418,0,0,0,0,0,0
$GC,10580,-0.77,-145.9,965.1,-8.1,579,10585,0.10,2.25,0.00,0.000,4,0.123,0.047,2754,3313,3418,0,0,0,0,0,0
$GC,10651,-0.71,-145.9,972.3,-9.7,581,10656,0.08,2.17,0.00,0.000,6,0.151,0.035,2778,1917,3418,0,0,0,0,0,0
$STATE,10980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10980,begin apogee
$GC,10985,-0.19,0.0,1003.0,9.7,592,11114,0.55,0.00,125.88,1.561,6,0.127,0.000,2947,1643,2827,0,0,0,0,0,0
$STATE,11114,end apogee,CONTROL_FINISHED_OK
$STATE,11114,begin climb
$GC,11116,0.52,145.9,1013.3,0.0,596,11257,0.70,2.55,133.00,1.530,4,0.080,0.063,3174,259,2232,0,0,0,0,0,0
$GC,11391,0.35,218.5,1015.2,4.9,604,11467,0.20,2.25,66.93,1.514,6,0.184,0.033,3128,1648,1936,0,0,0,0,0,0
$GC,11802,0.39,285.8,996.0,5.1,618,11868,0.00,2.33,60.40,1.517,4,0.000,0.041,3128,3050,1661,0,0,0,0,0,0
$GC,11963,0.48,290.2,985.9,7.3,623,11973,0.10,2.25,4.55,0.978,6,0.108,0.042,3167,1659,1643,0,0,0,0,0,0
$GC,12297,0.48,290.2,959.8,8.1,634,12301,0.00,2.33,0.00,0.000,4,0.000,0.063,3172,236,1641,0,0,0,0,0,0
$GC,12385,0.44,290.2,951.8,9.0,636,12391,0.05,2.22,0.00,0.000,6,0.155,0.034,3157,1654,1639,0,0,0,0,0,0
$GC,12698,0.49,290.2,925.8,8.3,647,12702,0.00,1.50,0.00,0.000,4,0.000,0.041,3157,2626,1639,0,0,0,0,0,0
$GC,12766,0.55,290.2,919.8,9.1,649,12770,0.05,1.55,0.00,0.000,6,0.086,0.046,3185,1656,1638,0,0,0,0,0,0
$GC,13105,0.55,290.2,888.2,9.3,660,13109,0.00,2.17,0.00,0.000,4,0.000,0.044,3185,3052,1638,0,0,0,0,0,0
$GC,13201,0.46,290.2,878.3,10.9,663,13206,0.12,2.20,0.00,0.000,6,0.188,0.045,3163,1650,1638,0,0,0,0,0,0
$GC,13541,0.53,290.2,849.6,8.3,674,13546,0.08,2.30,0.00,0.000,4,0.129,0.064,3199,244,1638,0,0,0,0,0,0
$GC,13637,0.41,290.2,840.3,10.3,677,13642,0.20,2.17,0.00,0.000,6,0.171,0.034,3147,1655,1638,0,0,0,0,0,0
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$STATE,23809,end climb,SURFACE_DEPTH_REACHED
$STATE,23809,begin surface coast
$FINISH,1.6,1.015051
$STATE,23851,end surface coast,CONTROL_FINISHED_OK
$STATE,23851,begin surface
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$TCM_TEMP,11.60
$XPDR_PINGS,0
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$10V_AH,10.2,38.153
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354516
$DATA_FILE_SIZE,76879,1246
$CAP_FILE_SIZE,242232,0
$CFSIZE,2097086464,2063597568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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