version: 66.07.10.p01
glider: 574
mission: 4
dive: 285
start: 11 28 112 11 2 30
data:
$ID,574
$MISSION,4
$DIVE,285
$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,-6749.1797
$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,28
$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,4
$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,264
$GPS1,281112,105229,-4142.797,-620.988,41,1.0,41,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-76.7
$GPS2,281112,110135,-4142.784,-620.966,44,1.1,44,-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,-0.052
$KALMAN_X,-379329.9,170.3,1157.3,579713.3,-12352.1
$KALMAN_Y,21494.7,-485.7,2344.4,104127.6,-4314.4
$MHEAD_RNG_PITCHd_Wd,128.2,115906,-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,-145.9,0.0,0.0,0,57,0.00,0.00,-30.58,0.000,2,0.000,0.000,68,1903,2138,0,0,0,0,0,0
$GC,60,-0.59,-145.9,3.1,-1.5,5,128,12.35,1.50,-51.20,0.000,4,0.258,0.082,2820,1020,3423,0,0,0,0,0,0
$GC,179,-0.63,-145.9,8.3,-8.1,24,186,0.00,1.40,0.00,0.000,6,0.000,0.038,2816,1902,3425,0,0,0,0,0,0
$GC,260,-0.72,-145.9,15.1,-8.6,37,268,0.10,2.30,0.00,0.000,4,0.105,0.054,2762,3318,3424,0,0,0,0,0,0
$GC,335,-0.72,-145.9,22.7,-10.4,49,343,0.03,2.25,0.00,0.000,6,0.162,0.046,2771,1916,3424,0,0,0,0,0,0
$GC,414,-0.75,-145.9,31.0,-10.1,62,421,0.00,2.33,0.00,0.000,4,0.000,0.063,2771,506,3424,0,0,0,0,0,0
$GC,493,-0.63,-145.9,39.7,-11.9,75,499,0.15,2.20,0.00,0.000,6,0.165,0.037,2802,1925,3424,0,0,0,0,0,0
$GC,727,-0.74,-145.9,62.7,-9.8,116,733,0.10,2.35,0.00,0.000,4,0.109,0.061,2759,494,3425,0,0,0,0,0,0
$GC,808,-0.62,-145.9,72.1,-12.4,130,814,0.22,2.20,0.00,0.000,6,0.152,0.035,2811,1919,3425,0,0,0,0,0,0
$GC,1155,-0.76,-145.9,104.4,-9.0,186,1160,0.12,2.20,0.00,0.000,4,0.093,0.049,2756,3315,3425,0,0,0,0,0,0
$GC,1238,-0.76,-145.9,113.3,-10.2,191,1243,0.00,2.22,0.00,0.000,6,0.000,0.043,2756,1905,3425,0,0,0,0,0,0
$GC,1565,-0.76,-145.9,146.2,-10.0,212,1569,0.00,2.25,0.00,0.000,4,0.000,0.058,2756,502,3425,0,0,0,0,0,0
$GC,1648,-0.68,-145.9,155.0,-11.2,217,1653,0.15,2.17,0.00,0.000,6,0.155,0.034,2786,1927,3426,0,0,0,0,0,0
$GC,1974,-0.78,-145.9,184.5,-8.8,238,1978,0.08,0.95,0.00,0.000,4,0.129,0.054,2751,1344,3426,0,0,0,0,0,0
$GC,2009,-0.74,-145.9,188.0,-9.6,240,2013,0.05,0.88,0.00,0.000,6,0.156,0.038,2765,1917,3426,0,0,0,0,0,0
$GC,2341,-0.78,-145.9,217.9,-9.1,261,2345,0.00,1.48,0.00,0.000,4,0.000,0.047,2760,2872,3426,0,0,0,0,0,0
$GC,2396,-0.82,-145.9,223.8,-9.7,264,2400,0.00,1.50,0.00,0.000,6,0.000,0.043,2759,1915,3426,0,0,0,0,0,0
$GC,2733,-0.82,-145.9,255.3,-9.5,285,2737,0.00,1.92,0.00,0.000,4,0.000,0.045,2752,3130,3426,0,0,0,0,0,0
$GC,2793,-0.82,-145.9,261.8,-10.1,287,2799,0.00,1.92,0.00,0.000,6,0.000,0.040,2752,1901,3426,0,0,0,0,0,0
$GC,3112,-0.80,-145.9,294.0,-10.1,303,3116,0.00,1.65,0.00,0.000,4,0.000,0.056,2752,872,3426,0,0,0,0,0,0
$GC,3149,-0.73,-145.9,298.6,-11.1,304,3158,0.08,1.60,0.00,0.000,6,0.145,0.034,2769,1911,3426,0,0,0,0,0,0
$GC,3466,-0.78,-145.9,328.6,-9.5,320,3470,0.00,0.75,0.00,0.000,4,0.000,0.043,2767,2423,3426,0,0,0,0,0,0
$GC,3582,-0.87,-145.9,339.4,-9.5,325,3586,0.08,0.80,0.00,0.000,6,0.062,0.047,2722,1904,3426,0,0,0,0,0,0
$GC,3917,-0.78,-145.9,374.6,-10.3,341,3921,0.15,2.20,0.00,0.000,4,0.161,0.044,2754,3314,3426,0,0,0,0,0,0
$GC,3985,-0.81,-145.9,381.7,-9.6,344,3989,0.00,2.15,0.00,0.000,6,0.000,0.037,2753,1914,3426,0,0,0,0,0,0
$GC,4310,-0.81,-145.9,412.8,-9.6,358,4313,0.00,1.23,0.00,0.000,4,0.000,0.052,2753,1125,3426,0,0,0,0,0,0
$GC,4344,-0.77,-145.9,416.2,-9.8,359,4348,0.03,1.20,0.00,0.000,6,0.183,0.034,2757,1915,3426,0,0,0,0,0,0
$GC,4684,-0.80,-145.9,449.2,-9.8,370,4688,0.00,0.70,0.00,0.000,4,0.000,0.043,2755,2404,3426,0,0,0,0,0,0
$GC,4820,-0.86,-145.9,463.0,-10.6,374,4825,0.03,0.75,0.00,0.000,6,0.106,0.044,2729,1906,3426,0,0,0,0,0,0
$GC,5161,-0.79,-145.9,500.2,-10.7,385,5165,0.10,2.00,0.00,0.000,4,0.174,0.043,2746,3177,3426,0,0,0,0,0,0
$GC,5228,-0.79,-145.9,507.4,-10.1,387,5232,0.00,1.95,0.00,0.000,6,0.000,0.038,2746,1909,3425,0,0,0,0,0,0
$GC,5568,-0.79,-145.9,543.3,-10.6,398,5572,0.00,2.20,0.00,0.000,4,0.000,0.044,2738,3312,3424,0,0,0,0,0,0
$GC,5665,-0.76,-145.9,553.7,-11.0,401,5669,0.10,2.15,0.00,0.000,6,0.159,0.037,2763,1910,3425,0,0,0,0,0,0
$GC,5999,-0.83,-145.9,586.9,-9.9,412,6003,0.00,2.20,0.00,0.000,4,0.000,0.045,2755,3312,3424,0,0,0,0,0,0
$GC,6076,-0.88,-145.9,594.9,-10.3,414,6081,0.05,2.17,0.00,0.000,6,0.076,0.036,2722,1913,3424,0,0,0,0,0,0
$GC,6400,-0.81,-145.9,629.1,-10.4,425,6405,0.12,2.20,0.00,0.000,4,0.168,0.043,2746,3313,3424,0,0,0,0,0,0
$GC,6477,-0.83,-145.9,637.0,-10.4,427,6481,0.00,2.17,0.00,0.000,6,0.000,0.036,2746,1912,3423,0,0,0,0,0,0
$GC,6801,-0.83,-145.9,667.3,-9.7,438,6805,0.00,1.35,0.00,0.000,4,0.000,0.041,2741,2791,3423,0,0,0,0,0,0
$GC,6862,-0.85,-145.9,673.7,-10.3,439,6867,0.00,1.38,0.00,0.000,6,0.000,0.038,2742,1902,3422,0,0,0,0,0,0
$GC,7174,-0.85,-145.9,704.1,-9.6,450,7178,0.00,2.20,0.00,0.000,4,0.000,0.044,2732,3312,3422,0,0,0,0,0,0
$GC,7251,-0.85,-145.9,712.1,-10.9,452,7256,0.00,2.17,0.00,0.000,6,0.000,0.036,2732,1911,3422,0,0,0,0,0,0
$GC,7576,-0.83,-145.9,745.3,-10.4,463,7580,0.00,2.20,0.00,0.000,4,0.000,0.047,2724,3314,3421,0,0,0,0,0,0
$GC,7642,-0.77,-145.9,752.6,-10.4,465,7647,0.10,2.17,0.00,0.000,6,0.135,0.036,2756,1913,3421,0,0,0,0,0,0
$GC,7978,-0.82,-145.9,783.6,-9.1,476,7982,0.00,2.20,0.00,0.000,4,0.000,0.046,2749,3307,3421,0,0,0,0,0,0
$GC,8056,-0.86,-145.9,791.0,-9.2,478,8060,0.00,2.17,0.00,0.000,6,0.000,0.036,2749,1909,3420,0,0,0,0,0,0
$GC,8380,-0.86,-145.9,820.5,-9.2,489,8384,0.00,2.22,0.00,0.000,4,0.000,0.047,2741,3317,3420,0,0,0,0,0,0
$GC,8434,-0.84,-145.9,825.9,-9.4,490,8440,0.00,2.20,0.00,0.000,6,0.000,0.036,2741,1908,3420,0,0,0,0,0,0
$GC,8747,-0.84,-145.9,854.0,-9.0,501,8751,0.00,2.20,0.00,0.000,4,0.000,0.046,2733,3305,3420,0,0,0,0,0,0
$GC,8809,-0.84,-145.9,860.0,-9.8,503,8813,0.00,2.12,0.00,0.000,6,0.000,0.037,2733,1909,3419,0,0,0,0,0,0
$GC,9144,-0.84,-145.9,891.9,-9.7,514,9148,0.00,2.22,0.00,0.000,4,0.000,0.046,2724,3318,3419,0,0,0,0,0,0
$GC,9206,-0.77,-145.9,898.2,-9.7,516,9211,0.15,2.17,0.00,0.000,6,0.149,0.037,2764,1907,3419,0,0,0,0,0,0
$GC,9541,-0.82,-145.9,928.4,-9.2,527,9545,0.00,1.95,0.00,0.000,4,0.000,0.045,2757,3148,3418,0,0,0,0,0,0
$GC,9584,-0.82,-145.9,932.9,-9.9,528,9589,0.00,1.92,0.00,0.000,6,0.000,0.037,2757,1911,3418,0,0,0,0,0,0
$GC,9915,-0.85,-145.9,966.0,-10.4,539,9919,0.05,2.22,0.00,0.000,4,0.176,0.046,2724,3312,3418,0,0,0,0,0,0
$GC,9963,-0.76,-145.9,971.8,-12.2,540,9968,0.10,2.17,0.00,0.000,6,0.135,0.036,2756,1914,3418,0,0,0,0,0,0
$STATE,10251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10251,begin apogee
$GC,10256,-0.21,0.0,1001.1,10.1,550,10388,0.60,0.00,129.00,1.527,6,0.127,0.000,2941,1640,2827,0,0,0,0,0,0
$STATE,10389,end apogee,CONTROL_FINISHED_OK
$STATE,10389,begin climb
$GC,10390,0.59,145.9,1011.5,0.0,554,10535,0.77,2.50,135.05,1.502,4,0.073,0.060,3200,260,2233,0,0,0,0,0,0
$GC,10677,0.35,193.0,1012.3,5.8,563,10727,0.28,2.22,44.22,1.467,6,0.189,0.034,3134,1648,2040,0,0,0,0,0,0
$GC,11046,0.35,258.4,993.9,5.2,575,11110,0.00,1.70,59.35,1.470,4,0.000,0.039,3133,2705,1773,0,0,0,0,0,0
$GC,11182,0.38,278.1,985.3,6.7,579,11207,0.00,1.73,18.80,1.351,6,0.000,0.044,3137,1658,1693,0,0,0,0,0,0
$GC,11538,0.48,295.5,961.0,6.8,591,11562,0.10,1.92,16.73,1.335,4,0.108,0.042,3176,2828,1621,0,0,0,0,0,0
$GC,11619,0.48,295.5,954.4,8.0,593,11623,0.00,1.90,0.00,0.000,6,0.000,0.046,3180,1643,1621,0,0,0,0,0,0
$GC,11943,0.51,295.5,927.8,8.3,604,11947,0.00,2.20,0.00,0.000,4,0.000,0.044,3180,3048,1619,0,0,0,0,0,0
$GC,12020,0.47,295.5,921.0,8.1,606,12025,0.08,2.22,0.00,0.000,6,0.202,0.045,3171,1642,1618,0,0,0,0,0,0
$GC,12344,0.53,295.5,895.8,7.7,617,12348,0.00,2.00,0.00,0.000,4,0.000,0.043,3171,2920,1618,0,0,0,0,0,0
$GC,12394,0.50,309.9,891.8,6.9,618,12413,0.00,2.03,14.30,1.283,6,0.000,0.045,3174,1648,1563,0,0,0,0,0,0
$GC,12751,0.55,309.9,864.5,7.5,630,12754,0.00,0.85,0.00,0.000,4,0.000,0.060,3174,1113,1560,0,0,0,0,0,0
$GC,12772,0.59,336.1,862.9,6.5,630,12803,0.05,0.82,25.12,1.340,6,0.083,0.035,3202,1673,1457,0,0,0,0,0,0
$GC,13121,0.59,336.1,834.8,7.9,642,13124,0.00,0.30,0.00,0.000,4,0.000,0.048,3202,1907,1453,0,0,0,0,0,0
$GC,13283,0.59,336.1,821.7,8.5,646,13288,0.00,0.43,0.00,0.000,6,0.000,0.058,3202,1644,1452,0,0,0,0,0,0
$GC,13595,0.59,336.1,795.7,8.5,657,13599,0.00,2.25,0.00,0.000,4,0.000,0.064,3211,251,1452,0,0,0,0,0,0
$GC,13662,0.53,336.1,789.2,9.7,659,13666,0.08,2.15,0.00,0.000,6,0.154,0.034,3188,1633,1450,0,0,0,0,0,0
$GC,13997,0.57,336.1,761.6,8.3,670,14001,0.00,0.25,0.00,0.000,4,0.000,0.054,3188,1846,1450,0,0,0,0,0,0
$GC,14255,0.63,336.1,739.9,7.8,677,14259,0.08,0.32,0.00,0.000,6,0.129,0.063,3220,1642,1450,0,0,0,0,0,0
$GC,14572,0.63,336.1,710.1,9.4,688,14576,0.00,2.28,0.00,0.000,4,0.000,0.064,3227,241,1450,0,0,0,0,0,0
$GC,14668,0.52,336.1,700.3,10.1,691,14673,0.17,2.17,0.00,0.000,6,0.167,0.037,3182,1649,1449,0,0,0,0,0,0
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$STATE,22473,end climb,SURFACE_DEPTH_REACHED
$STATE,22473,begin surface coast
$FINISH,1.7,1.005152
$STATE,22510,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,45.587
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,83710,1176
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