version: 66.07.10.p01
glider: 574
mission: 4
dive: 282
start: 11 27 112 15 2 18
data:
$ID,574
$MISSION,4
$DIVE,282
$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,-6738.8384
$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,22
$R_STBD_OVSHOOT,75
$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,261
$GPS1,271112,145229,-4142.502,-617.129,41,1.0,41,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-75.9
$GPS2,271112,150123,-4142.584,-617.137,41,1.4,41,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.229,-0.051
$KALMAN_X,-353469.4,1216.6,-3230.3,562442.8,4951.0
$KALMAN_Y,14620.6,-514.5,2658.6,111077.9,-10058.4
$MHEAD_RNG_PITCHd_Wd,129.1,110955,-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,-0.59,-145.9,0.0,0.0,0,63,0.00,0.00,-36.45,0.000,2,0.000,0.000,71,1952,2296,0,0,0,0,0,0
$GC,65,-0.59,-145.9,3.0,-1.2,6,127,12.65,2.28,-41.55,0.000,4,0.264,0.077,2813,601,3421,0,0,0,0,0,0
$GC,171,-0.59,-145.9,8.6,-9.3,23,179,0.00,2.03,0.00,0.000,6,0.000,0.037,2809,1871,3422,0,0,0,0,0,0
$GC,252,-0.67,-145.9,15.9,-8.7,36,259,0.00,2.35,0.00,0.000,4,0.000,0.053,2802,3324,3422,0,0,0,0,0,0
$GC,332,-0.81,-145.9,23.2,-9.5,49,340,0.12,2.28,0.00,0.000,6,0.055,0.046,2741,1904,3423,0,0,0,0,0,0
$GC,411,-0.71,-145.9,32.1,-11.2,62,419,0.15,2.33,0.00,0.000,4,0.154,0.063,2780,508,3423,0,0,0,0,0,0
$GC,433,-0.65,-145.9,34.3,-11.0,65,439,0.12,2.20,0.00,0.000,6,0.161,0.036,2805,1925,3423,0,0,0,0,0,0
$GC,668,-0.77,-145.9,56.2,-9.0,106,676,0.12,0.40,0.00,0.000,4,0.093,0.057,2753,1667,3422,0,0,0,0,0,0
$GC,695,-0.83,-145.9,58.9,-10.0,110,702,0.00,0.38,0.00,0.000,6,0.000,0.047,2752,1928,3423,0,0,0,0,0,0
$GC,930,-0.79,-145.9,83.3,-10.4,151,934,0.00,0.47,0.00,0.000,4,0.000,0.048,2750,2266,3423,0,0,0,0,0,0
$GC,1188,-0.79,-145.9,110.6,-10.1,186,1193,0.00,0.57,0.00,0.000,6,0.000,0.048,2750,1894,3423,0,0,0,0,0,0
$GC,1516,-0.74,-145.9,142.6,-9.5,207,1521,0.10,1.02,0.00,0.000,4,0.168,0.059,2776,1259,3424,0,0,0,0,0,0
$GC,1543,-0.74,-145.9,145.6,-8.9,208,1551,0.00,1.02,0.00,0.000,6,0.000,0.037,2774,1918,3423,0,0,0,0,0,0
$GC,1865,-0.78,-145.9,173.7,-8.7,229,1869,0.00,1.17,0.00,0.000,4,0.000,0.047,2769,2679,3423,0,0,0,0,0,0
$GC,1926,-0.84,-145.9,179.3,-8.8,232,1934,0.05,1.20,0.00,0.000,6,0.075,0.044,2736,1916,3423,0,0,0,0,0,0
$GC,2248,-0.78,-145.9,209.6,-9.5,253,2252,0.10,2.03,0.00,0.000,4,0.171,0.047,2753,3198,3423,0,0,0,0,0,0
$GC,2285,-0.78,-145.9,213.5,-8.9,255,2290,0.00,2.03,0.00,0.000,6,0.000,0.043,2753,1918,3423,0,0,0,0,0,0
$GC,2612,-0.74,-145.9,242.3,-8.8,276,2616,0.08,1.92,0.00,0.000,4,0.190,0.046,2763,3137,3423,0,0,0,0,0,0
$GC,2649,-0.74,-145.9,246.1,-9.1,278,2654,0.00,1.92,0.00,0.000,6,0.000,0.043,2764,1915,3424,0,0,0,0,0,0
$GC,2979,-0.74,-145.9,275.3,-8.9,295,2983,0.00,2.20,0.00,0.000,4,0.000,0.047,2755,3314,3424,0,0,0,0,0,0
$GC,3028,-0.74,-145.9,280.2,-9.0,297,3033,0.05,2.20,0.00,0.000,6,0.132,0.041,2772,1914,3423,0,0,0,0,0,0
$GC,3352,-0.77,-145.9,307.7,-8.6,313,3355,0.00,2.00,0.00,0.000,4,0.000,0.048,2766,3169,3424,0,0,0,0,0,0
$GC,3390,-0.79,-145.9,311.4,-9.1,314,3398,0.00,1.98,0.00,0.000,6,0.000,0.041,2766,1912,3424,0,0,0,0,0,0
$GC,3706,-0.79,-145.9,337.9,-8.2,330,3710,0.00,2.20,0.00,0.000,4,0.000,0.047,2757,3311,3424,0,0,0,0,0,0
$GC,3770,-0.79,-145.9,343.2,-8.7,333,3774,0.00,2.17,0.00,0.000,6,0.000,0.037,2757,1894,3423,0,0,0,0,0,0
$GC,4098,-0.79,-145.9,370.0,-8.3,349,4102,0.00,2.22,0.00,0.000,4,0.000,0.046,2748,3318,3424,0,0,0,0,0,0
$GC,4158,-0.79,-145.9,375.4,-8.6,351,4164,0.00,2.17,0.00,0.000,6,0.000,0.037,2748,1912,3424,0,0,0,0,0,0
$GC,4484,-0.79,-145.9,403.1,-9.0,367,4488,0.00,2.20,0.00,0.000,4,0.000,0.044,2741,3315,3424,0,0,0,0,0,0
$GC,4528,-0.79,-145.9,407.4,-9.4,368,4532,0.00,2.17,0.00,0.000,6,0.000,0.037,2740,1913,3423,0,0,0,0,0,0
$GC,4852,-0.79,-145.9,436.4,-9.0,379,4857,0.08,2.22,0.00,0.000,4,0.194,0.054,2757,509,3423,0,0,0,0,0,0
$GC,4947,-0.76,-145.9,445.6,-9.8,381,4952,0.00,2.17,0.00,0.000,6,0.000,0.034,2756,1913,3423,0,0,0,0,0,0
$GC,5259,-0.76,-145.9,473.2,-8.9,392,5263,0.00,2.17,0.00,0.000,4,0.000,0.045,2746,3318,3423,0,0,0,0,0,0
$GC,5320,-0.80,-145.9,479.1,-9.7,393,5326,0.00,2.17,0.00,0.000,6,0.000,0.037,2746,1917,3423,0,0,0,0,0,0
$GC,5633,-0.80,-145.9,507.6,-9.0,404,5637,0.00,2.20,0.00,0.000,4,0.000,0.045,2738,3317,3423,0,0,0,0,0,0
$GC,5694,-0.80,-145.9,513.3,-9.4,406,5699,0.08,2.17,0.00,0.000,6,0.170,0.037,2755,1898,3423,0,0,0,0,0,0
$GC,6028,-0.80,-145.9,542.2,-8.7,417,6032,0.00,2.22,0.00,0.000,4,0.000,0.046,2747,3313,3422,0,0,0,0,0,0
$GC,6071,-0.80,-145.9,546.3,-9.4,418,6076,0.00,2.17,0.00,0.000,6,0.000,0.036,2747,1914,3422,0,0,0,0,0,0
$GC,6396,-0.80,-145.9,575.3,-9.1,429,6400,0.00,2.20,0.00,0.000,4,0.000,0.045,2739,3315,3421,0,0,0,0,0,0
$GC,6473,-0.84,-145.9,582.9,-9.9,431,6477,0.00,2.17,0.00,0.000,6,0.000,0.036,2739,1911,3421,0,0,0,0,0,0
$GC,6797,-0.79,-145.9,615.5,-10.5,442,6802,0.08,2.05,0.00,0.000,4,0.193,0.044,2747,3227,3421,0,0,0,0,0,0
$GC,6840,-0.79,-145.9,620.5,-11.6,443,6845,0.00,2.05,0.00,0.000,6,0.000,0.036,2747,1913,3421,0,0,0,0,0,0
$GC,7164,-0.79,-145.9,654.9,-10.7,454,7168,0.00,2.17,0.00,0.000,4,0.000,0.045,2739,3314,3421,0,0,0,0,0,0
$GC,7208,-0.76,-145.9,659.8,-11.7,455,7213,0.08,2.17,0.00,0.000,6,0.129,0.036,2764,1911,3420,0,0,0,0,0,0
$GC,7532,-0.79,-145.9,690.8,-9.4,466,7536,0.00,2.22,0.00,0.000,4,0.000,0.045,2756,3324,3420,0,0,0,0,0,0
$GC,7581,-0.84,-145.9,695.8,-9.6,467,7585,0.00,2.20,0.00,0.000,6,0.000,0.036,2756,1905,3420,0,0,0,0,0,0
$GC,7900,-0.87,-145.9,723.4,-8.3,478,7904,0.08,2.22,0.00,0.000,4,0.130,0.046,2710,3313,3420,0,0,0,0,0,0
$GC,7965,-0.78,-145.9,730.0,-9.0,480,7970,0.12,2.17,0.00,0.000,6,0.132,0.036,2752,1914,3419,0,0,0,0,0,0
$GC,8300,-0.82,-145.9,757.3,-8.0,491,8304,0.00,2.20,0.00,0.000,4,0.000,0.045,2743,3318,3419,0,0,0,0,0,0
$GC,8355,-0.84,-145.9,762.2,-8.2,492,8361,0.00,2.17,0.00,0.000,6,0.000,0.036,2743,1918,3419,0,0,0,0,0,0
$GC,8668,-0.84,-145.9,788.1,-8.4,503,8672,0.00,2.20,0.00,0.000,4,0.000,0.046,2736,3321,3418,0,0,0,0,0,0
$GC,8739,-0.84,-145.9,794.8,-9.0,505,8744,0.00,2.20,0.00,0.000,6,0.000,0.036,2736,1910,3418,0,0,0,0,0,0
$GC,9069,-0.84,-145.9,826.6,-10.2,516,9073,0.00,2.22,0.00,0.000,4,0.000,0.046,2726,3324,3418,0,0,0,0,0,0
$GC,9131,-0.80,-145.9,833.5,-11.9,518,9135,0.10,2.17,0.00,0.000,6,0.161,0.036,2752,1907,3418,0,0,0,0,0,0
$GC,9465,-0.80,-145.9,868.9,-10.8,529,9468,0.00,1.52,0.00,0.000,4,0.000,0.043,2747,2875,3418,0,0,0,0,0,0
$GC,9498,-0.80,-145.9,872.7,-11.6,530,9502,0.00,1.50,0.00,0.000,6,0.000,0.038,2747,1910,3418,0,0,0,0,0,0
$GC,9839,-0.80,-145.9,911.0,-11.4,541,9842,0.00,1.25,0.00,0.000,4,0.000,0.041,2744,2709,3418,0,0,0,0,0,0
$GC,9865,-0.80,-145.9,914.3,-12.0,541,9871,0.00,1.25,0.00,0.000,6,0.000,0.037,2743,1908,3418,0,0,0,0,0,0
$GC,10178,-0.80,-145.9,948.6,-10.9,552,10182,0.00,2.22,0.00,0.000,4,0.000,0.046,2738,3319,3417,0,0,0,0,0,0
$GC,10233,-0.80,-145.9,954.7,-10.8,553,10240,0.05,2.17,0.00,0.000,6,0.137,0.036,2755,1920,3418,0,0,0,0,0,0
$GC,10546,-0.82,-145.9,984.1,-9.2,564,10550,0.00,2.20,0.00,0.000,4,0.000,0.046,2747,3314,3417,0,0,0,0,0,0
$GC,10601,-0.82,-145.9,989.7,-9.4,565,10607,0.00,2.17,0.00,0.000,6,0.000,0.036,2747,1913,3417,0,0,0,0,0,0
$STATE,10730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10730,begin apogee
$GC,10735,-0.21,0.0,1001.0,9.0,570,10868,0.65,0.00,130.25,1.489,6,0.126,0.000,2945,1640,2827,0,0,0,0,0,0
$STATE,10869,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10871,0.59,145.9,1008.5,0.0,574,11012,0.75,0.00,136.10,1.481,6,0.073,0.000,3193,1640,2232,0,0,0,0,0,0
$GC,11299,0.38,161.4,993.1,6.9,588,11319,0.22,1.00,14.70,1.315,4,0.186,0.043,3139,2264,2168,0,0,0,0,0,0
$GC,11400,0.29,185.9,987.1,6.6,591,11431,0.10,0.98,23.27,1.388,6,0.155,0.047,3111,1653,2068,0,0,0,0,0,0
$GC,11738,0.33,251.3,969.1,5.2,602,11803,0.00,1.92,59.40,1.448,4,0.000,0.063,3113,542,1802,0,0,0,0,0,0
$GC,11848,0.46,294.4,962.5,5.9,605,11895,0.10,1.77,40.42,1.407,6,0.067,0.032,3160,1667,1626,0,0,0,0,0,0
$GC,12201,0.51,311.6,937.9,6.8,617,12222,0.00,2.20,16.02,1.312,4,0.000,0.042,3160,3035,1555,0,0,0,0,0,0
$GC,12317,0.51,311.6,929.0,7.5,620,12321,0.00,2.20,0.00,0.000,6,0.000,0.044,3160,1657,1552,0,0,0,0,0,0
$GC,12636,0.59,328.7,906.8,6.8,631,12656,0.12,0.73,16.58,1.297,4,0.096,0.059,3213,1219,1486,0,0,0,0,0,0
$GC,12672,0.51,328.7,903.8,8.1,632,12677,0.12,0.68,0.00,0.000,6,0.178,0.040,3184,1660,1484,0,0,0,0,0,0
$GC,13003,0.55,328.7,879.3,7.5,643,13007,0.00,1.90,0.00,0.000,4,0.000,0.044,3184,2856,1482,0,0,0,0,0,0
$GC,13063,0.55,328.7,874.1,8.4,644,13069,0.00,1.92,0.00,0.000,6,0.000,0.046,3186,1657,1481,0,0,0,0,0,0
$GC,13376,0.61,328.7,849.7,7.8,655,13381,0.08,1.23,0.00,0.000,4,0.130,0.042,3220,2426,1480,0,0,0,0,0,0
$GC,13411,0.53,328.7,846.7,9.6,656,13415,0.12,1.25,0.00,0.000,6,0.158,0.050,3188,1641,1480,0,0,0,0,0,0
$GC,13750,0.53,328.7,818.2,8.5,667,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1641,1480,0,0,0,0,0,0
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$STATE,22925,end climb,SURFACE_DEPTH_REACHED
$STATE,22925,begin surface coast
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$STATE,22956,end surface coast,CONTROL_FINISHED_OK
$STATE,22957,begin surface
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$10V_AH,10.1,45.159
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73654,1189
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$CFSIZE,2097086464,2055045120
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