version: 66.07.10.p01
glider: 574
mission: 4
dive: 277
start: 11 26 112 7 3 28
data:
$ID,574
$MISSION,4
$DIVE,277
$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,480
$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,0
$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,-6722.1069
$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,24
$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,27
$R_STBD_OVSHOOT,46
$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,256
$GPS1,261112,064939,-4143.141,-611.140,62,1.9,63,-22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.2
$GPS2,261112,070234,-4143.144,-611.088,42,0.9,46,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-5000.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.227,0.059
$KALMAN_X,-342103.5,1541.0,527.8,555142.5,-2286.1
$KALMAN_Y,16976.2,43.0,2.0,109783.4,-1677.7
$MHEAD_RNG_PITCHd_Wd,291.7,3618314,-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,-0.59,-145.9,0.0,0.0,0,52,0.00,0.00,-25.48,0.000,2,0.000,0.000,66,1925,2011,0,0,0,0,0,0
$GC,55,-0.59,-145.9,3.0,-1.9,4,134,12.60,1.75,-60.58,0.000,4,0.265,0.070,2806,3008,3423,0,0,0,0,0,0
$GC,161,-0.53,-145.9,7.6,-11.5,21,169,0.10,1.77,0.00,0.000,6,0.112,0.053,2841,1921,3423,0,0,0,0,0,0
$GC,242,-0.72,-145.9,13.9,-6.7,34,250,0.17,0.00,0.00,0.000,6,0.083,0.000,2770,1921,3423,0,0,0,0,0,0
$GC,323,-0.67,-145.9,21.0,-9.7,47,331,0.10,2.25,0.00,0.000,4,0.167,0.050,2786,3305,3423,0,0,0,0,0,0
$GC,381,-0.64,-145.9,27.5,-11.5,56,389,0.03,2.25,0.00,0.000,6,0.164,0.048,2796,1907,3423,0,0,0,0,0,0
$GC,460,-0.73,-145.9,35.0,-8.8,69,465,0.00,2.05,0.00,0.000,4,0.000,0.064,2796,647,3423,0,0,0,0,0,0
$GC,508,-0.78,-145.9,39.2,-8.5,77,514,0.10,1.95,0.00,0.000,6,0.113,0.038,2751,1901,3423,0,0,0,0,0,0
$GC,744,-0.70,-145.9,63.5,-10.2,118,750,0.12,0.32,0.00,0.000,4,0.167,0.060,2783,1690,3423,0,0,0,0,0,0
$GC,755,-0.62,-145.9,64.9,-10.1,120,763,0.08,0.35,0.00,0.000,6,0.138,0.048,2808,1939,3423,0,0,0,0,0,0
$GC,1102,-0.75,-145.9,90.7,-7.5,181,1107,0.12,2.15,0.00,0.000,4,0.096,0.052,2753,3308,3424,0,0,0,0,0,0
$GC,1154,-0.75,-145.9,95.5,-9.1,190,1160,0.08,2.20,0.00,0.000,6,0.178,0.044,2769,1902,3424,0,0,0,0,0,0
$GC,1489,-0.75,-145.9,122.8,-8.0,217,1493,0.00,2.25,0.00,0.000,4,0.000,0.061,2770,506,3425,0,0,0,0,0,0
$GC,1554,-0.67,-145.9,128.7,-9.3,221,1559,0.12,2.15,0.00,0.000,6,0.164,0.037,2792,1904,3424,0,0,0,0,0,0
$GC,1886,-0.76,-145.9,155.7,-8.5,242,1890,0.08,0.55,0.00,0.000,4,0.129,0.055,2760,1558,3425,0,0,0,0,0,0
$GC,1905,-0.83,-145.9,157.3,-8.2,243,1909,0.00,0.55,0.00,0.000,6,0.000,0.043,2757,1928,3425,0,0,0,0,0,0
$GC,2237,-0.80,-145.9,188.5,-9.5,264,2241,0.00,2.15,0.00,0.000,4,0.000,0.049,2748,3311,3425,0,0,0,0,0,0
$GC,2250,-0.77,-145.9,189.7,-9.6,265,2254,0.00,2.15,0.00,0.000,6,0.000,0.041,2748,1913,3425,0,0,0,0,0,0
$GC,2583,-0.72,-145.9,223.2,-10.1,286,2587,0.12,2.28,0.00,0.000,4,0.168,0.059,2781,505,3425,0,0,0,0,0,0
$GC,2631,-0.69,-145.9,227.9,-9.4,289,2635,0.00,2.15,0.00,0.000,6,0.000,0.035,2773,1910,3425,0,0,0,0,0,0
$GC,2963,-0.75,-145.9,258.8,-9.2,309,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1910,3426,0,0,0,0,0,0
$GC,3269,-0.79,-145.9,286.0,-8.6,324,3273,0.00,2.28,0.00,0.000,4,0.000,0.058,2773,504,3426,0,0,0,0,0,0
$GC,3313,-0.74,-145.9,290.1,-9.2,326,3317,0.00,2.15,0.00,0.000,6,0.000,0.033,2764,1915,3426,0,0,0,0,0,0
$GC,3641,-0.77,-145.9,318.1,-8.5,342,3644,0.00,0.77,0.00,0.000,4,0.000,0.043,2760,2452,3426,0,0,0,0,0,0
$GC,3802,-0.84,-145.9,332.8,-9.3,349,3807,0.03,0.85,0.00,0.000,6,0.109,0.046,2739,1900,3426,0,0,0,0,0,0
$GC,4138,-0.78,-145.9,369.3,-11.6,365,4142,0.08,0.77,0.00,0.000,4,0.184,0.056,2757,1409,3426,0,0,0,0,0,0
$GC,4153,-0.74,-145.9,371.7,-12.0,365,4159,0.08,0.77,0.00,0.000,6,0.187,0.036,2771,1920,3426,0,0,0,0,0,0
$GC,4489,-0.78,-145.9,409.0,-11.3,381,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1920,3426,0,0,0,0,0,0
$GC,4795,-0.84,-145.9,445.4,-11.7,391,4800,0.10,2.10,0.00,0.000,4,0.111,0.057,2729,619,3427,0,0,0,0,0,0
$GC,4833,-0.69,-145.9,450.6,-13.9,392,4838,0.20,1.98,0.00,0.000,6,0.148,0.033,2780,1904,3427,0,0,0,0,0,0
$GC,5163,-0.77,-145.9,486.1,-10.5,403,5167,0.00,1.77,0.00,0.000,4,0.000,0.055,2780,790,3426,0,0,0,0,0,0
$GC,5203,-0.81,-145.9,490.4,-10.4,404,5207,0.08,1.73,0.00,0.000,6,0.130,0.035,2744,1917,3427,0,0,0,0,0,0
$GC,5537,-0.78,-145.9,525.8,-10.3,415,5542,0.08,2.30,0.00,0.000,4,0.187,0.057,2761,503,3426,0,0,0,0,0,0
$GC,5633,-0.75,-145.9,536.0,-10.2,418,5637,0.08,2.17,0.00,0.000,6,0.187,0.034,2769,1927,3426,0,0,0,0,0,0
$GC,5967,-0.81,-145.9,565.7,-8.5,429,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1927,3426,0,0,0,0,0,0
$GC,6273,-0.87,-145.9,589.9,-7.9,439,6278,0.12,1.40,0.00,0.000,4,0.101,0.053,2717,1059,3426,0,0,0,0,0,0
$GC,6295,-0.82,-145.9,591.9,-8.8,439,6299,0.10,1.33,0.00,0.000,6,0.156,0.036,2741,1917,3426,0,0,0,0,0,0
$GC,6613,-0.79,-145.9,617.6,-8.0,450,6618,0.05,2.20,0.00,0.000,4,0.238,0.047,2745,3318,3425,0,0,0,0,0,0
$GC,6690,-0.79,-145.9,624.0,-8.3,452,6694,0.00,2.17,0.00,0.000,6,0.000,0.037,2745,1918,3426,0,0,0,0,0,0
$GC,7015,-0.77,-145.9,650.1,-8.2,463,7019,0.08,1.10,0.00,0.000,4,0.196,0.054,2761,1231,3425,0,0,0,0,0,0
$GC,7035,-0.77,-145.9,652.0,-9.1,463,7039,0.00,1.08,0.00,0.000,6,0.000,0.034,2757,1927,3425,0,0,0,0,0,0
$GC,7354,-0.80,-145.9,679.5,-9.1,474,7358,0.00,2.12,0.00,0.000,4,0.000,0.046,2748,3315,3425,0,0,0,0,0,0
$GC,7403,-0.82,-145.9,684.5,-10.4,475,7407,0.00,2.17,0.00,0.000,6,0.000,0.037,2748,1917,3424,0,0,0,0,0,0
$GC,7721,-0.82,-145.9,716.9,-10.4,486,7725,0.00,2.17,0.00,0.000,4,0.000,0.045,2740,3307,3424,0,0,0,0,0,0
$GC,7784,-0.79,-145.9,723.6,-10.9,488,7788,0.08,2.15,0.00,0.000,6,0.174,0.037,2757,1906,3424,0,0,0,0,0,0
$GC,8118,-0.82,-145.9,756.6,-9.8,499,8122,0.00,2.20,0.00,0.000,4,0.000,0.046,2750,3306,3424,0,0,0,0,0,0
$GC,8161,-0.80,-145.9,761.3,-10.9,500,8166,0.00,2.15,0.00,0.000,6,0.000,0.037,2750,1918,3423,0,0,0,0,0,0
$GC,8486,-0.83,-145.9,793.0,-9.7,511,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1918,3423,0,0,0,0,0,0
$GC,8791,-0.83,-145.9,822.2,-9.7,521,8795,0.00,2.20,0.00,0.000,4,0.000,0.048,2742,3310,3423,0,0,0,0,0,0
$GC,8840,-0.83,-145.9,827.0,-10.2,522,8845,0.00,2.17,0.00,0.000,6,0.000,0.037,2742,1913,3423,0,0,0,0,0,0
$GC,9160,-0.81,-145.9,858.3,-9.6,533,9164,0.00,2.25,0.00,0.000,4,0.000,0.054,2741,502,3423,0,0,0,0,0,0
$GC,9215,-0.70,-145.9,864.5,-11.5,534,9221,0.12,2.20,0.00,0.000,6,0.144,0.035,2779,1913,3423,0,0,0,0,0,0
$GC,9528,-0.79,-145.9,890.4,-8.2,545,9532,0.08,2.22,0.00,0.000,4,0.135,0.048,2742,3317,3423,0,0,0,0,0,0
$GC,9582,-0.79,-145.9,895.8,-9.5,546,9588,0.00,2.20,0.00,0.000,6,0.000,0.038,2742,1907,3423,0,0,0,0,0,0
$GC,9895,-0.79,-145.9,925.0,-9.2,557,9899,0.00,2.22,0.00,0.000,4,0.000,0.055,2742,508,3423,0,0,0,0,0,0
$GC,9909,-0.79,-145.9,926.6,-9.3,557,9915,0.05,2.20,0.00,0.000,6,0.161,0.035,2749,1914,3423,0,0,0,0,0,0
$GC,10233,-0.79,-145.9,954.3,-8.4,568,10237,0.00,1.75,0.00,0.000,4,0.000,0.054,2749,838,3422,0,0,0,0,0,0
$GC,10260,-0.75,-145.9,956.8,-9.4,568,10266,0.05,1.67,0.00,0.000,6,0.157,0.035,2760,1911,3422,0,0,0,0,0,0
$GC,10573,-0.78,-145.9,981.6,-7.8,579,10577,0.00,2.20,0.00,0.000,4,0.000,0.048,2752,3315,3422,0,0,0,0,0,0
$GC,10656,-0.81,-145.9,988.4,-8.7,581,10661,0.00,2.20,0.00,0.000,6,0.000,0.038,2752,1905,3421,0,0,0,0,0,0
$STATE,10827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10827,begin apogee
$GC,10831,-0.21,0.0,1001.6,7.7,587,10965,0.62,0.00,130.40,1.507,6,0.128,0.000,2942,1645,2827,0,0,0,0,0,0
$STATE,10966,end apogee,CONTROL_FINISHED_OK
$STATE,10966,begin climb
$GC,10968,0.59,145.9,1008.4,0.0,591,11113,0.77,2.60,135.20,1.481,4,0.070,0.063,3209,254,2231,0,0,0,0,0,0
$GC,11235,0.34,145.9,1003.1,8.0,599,11240,0.30,2.30,0.00,0.000,6,0.188,0.037,3125,1653,2227,0,0,0,0,0,0
$GC,11560,0.30,211.7,986.0,5.2,610,11624,0.00,2.45,58.72,1.441,4,0.000,0.064,3132,258,1962,0,0,0,0,0,0
$GC,11725,0.30,241.5,976.0,6.4,615,11760,0.05,2.22,27.55,1.380,6,0.151,0.036,3116,1651,1842,0,0,0,0,0,0
$GC,12090,0.40,307.6,955.9,5.1,627,12156,0.10,2.28,59.88,1.418,4,0.109,0.043,3156,3046,1571,0,0,0,0,0,0
$GC,12234,0.40,312.1,946.6,7.3,631,12246,0.03,2.25,4.88,0.902,6,0.198,0.044,3152,1665,1553,0,0,0,0,0,0
$GC,12554,0.53,361.6,927.9,5.7,642,12608,0.10,2.47,46.40,1.398,4,0.111,0.063,3193,241,1351,0,0,0,0,0,0
$GC,12649,0.56,379.5,921.3,6.8,645,12673,0.00,2.22,17.42,1.294,6,0.000,0.034,3193,1652,1280,0,0,0,0,0,0
$GC,12987,0.65,385.4,897.0,7.2,656,12999,0.10,2.20,6.18,1.041,4,0.111,0.041,3234,3049,1255,0,0,0,0,0,0
$GC,13061,0.53,385.4,889.8,10.3,658,13066,0.22,2.22,0.00,0.000,6,0.180,0.046,3186,1652,1254,0,0,0,0,0,0
$GC,13384,0.67,385.4,864.4,7.7,669,13389,0.12,2.22,0.00,0.000,4,0.097,0.043,3240,3054,1251,0,0,0,0,0,0
$GC,13490,0.55,385.4,853.0,11.2,672,13495,0.20,2.22,0.00,0.000,6,0.175,0.045,3195,1646,1251,0,0,0,0,0,0
$GC,13814,0.66,385.4,825.9,8.1,683,13818,0.10,2.22,0.00,0.000,4,0.108,0.044,3240,3048,1251,0,0,0,0,0,0
$GC,13919,0.53,385.4,814.2,11.0,686,13924,0.22,2.22,0.00,0.000,6,0.174,0.045,3189,1642,1251,0,0,0,0,0,0
$GC,14243,0.67,385.4,786.4,8.6,697,14247,0.12,2.22,0.00,0.000,4,0.095,0.044,3243,3048,1251,0,0,0,0,0,0
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$STATE,22574,end climb,SURFACE_DEPTH_REACHED
$STATE,22574,begin surface coast
$FINISH,1.7,1.015923
$STATE,22593,end surface coast,CONTROL_FINISHED_OK
$STATE,22593,begin surface
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$10V_AH,10.1,44.477
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73600,1175
$CAP_FILE_SIZE,233998,0
$CFSIZE,2097086464,2055766016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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