version: 66.07.10.p01
glider: 574
mission: 4
dive: 413
start: 12 25 112 11 7 42
data:
$ID,574
$MISSION,4
$DIVE,413
$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,360
$T_MISSION,385
$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,2
$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,2
$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,-7167.5015
$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,3008
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1850
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,58
$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,392
$GPS1,251212,105305,-4125.435,-522.379,28,1.4,28,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-67.1
$GPS2,251212,110722,-4125.372,-522.284,76,1.1,91,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,176.8,71087,-17.1,-9.259
$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,24,begin dive
$GC,26,-0.78,-145.9,0.0,0.0,0,82,0.00,0.00,-53.20,0.000,2,0.000,0.000,66,1867,1983,0,0,0,0,0,0
$GC,84,-0.78,-145.9,3.0,-0.6,9,158,12.32,2.25,-52.78,0.000,4,0.263,0.069,2733,3232,3421,0,0,0,0,0,0
$GC,243,-0.83,-145.9,14.2,-10.1,35,250,0.00,2.22,0.00,0.000,6,0.000,0.049,2733,1856,3422,0,0,0,0,0,0
$GC,323,-0.83,-145.9,20.9,-8.6,48,330,0.00,1.17,0.00,0.000,4,0.000,0.060,2733,1136,3421,0,0,0,0,0,0
$GC,375,-0.83,-145.9,25.3,-8.4,56,382,0.00,1.10,0.00,0.000,6,0.000,0.039,2728,1840,3422,0,0,0,0,0,0
$GC,454,-0.83,-145.9,33.1,-8.9,69,459,0.00,0.98,0.00,0.000,4,0.000,0.049,2723,2478,3422,0,0,0,0,0,0
$GC,503,-0.85,-145.9,37.3,-8.8,77,508,0.00,1.00,0.00,0.000,6,0.000,0.049,2723,1849,3422,0,0,0,0,0,0
$GC,739,-0.88,-145.9,62.2,-10.8,118,744,0.00,2.30,0.00,0.000,4,0.000,0.061,2723,438,3422,0,0,0,0,0,0
$GC,809,-0.85,-145.9,70.2,-10.9,130,814,0.08,2.17,0.00,0.000,6,0.194,0.035,2730,1856,3422,0,0,0,0,0,0
$GC,1151,-0.90,-145.9,106.3,-9.7,183,1155,0.00,2.33,0.00,0.000,4,0.000,0.060,2730,440,3422,0,0,0,0,0,0
$GC,1251,-0.94,-145.9,116.0,-9.7,189,1255,0.00,2.15,0.00,0.000,6,0.000,0.037,2722,1847,3423,0,0,0,0,0,0
$GC,1578,-0.98,-145.9,151.4,-11.2,210,1583,0.10,2.17,0.00,0.000,4,0.110,0.059,2681,524,3423,0,0,0,0,0,0
$GC,1650,-0.90,-145.9,160.9,-12.1,214,1658,0.12,2.05,0.00,0.000,6,0.147,0.035,2711,1843,3423,0,0,0,0,0,0
$GC,1972,-0.92,-145.9,195.7,-10.3,235,1976,0.00,2.05,0.00,0.000,4,0.000,0.057,2711,578,3423,0,0,0,0,0,0
$GC,2044,-0.92,-145.9,203.7,-9.6,239,2049,0.00,1.98,0.00,0.000,6,0.000,0.034,2703,1848,3423,0,0,0,0,0,0
$GC,2371,-0.92,-145.9,236.7,-10.1,260,2374,0.00,1.48,0.00,0.000,4,0.000,0.054,2703,943,3424,0,0,0,0,0,0
$GC,2432,-0.92,-145.9,243.7,-10.6,263,2437,0.00,1.40,0.00,0.000,6,0.000,0.034,2697,1847,3424,0,0,0,0,0,0
$GC,2749,-0.92,-145.9,280.1,-12.4,280,2752,0.00,1.17,0.00,0.000,4,0.000,0.053,2697,1121,3424,0,0,0,0,0,0
$GC,2819,-0.92,-145.9,289.2,-12.7,283,2823,0.03,1.12,0.00,0.000,6,0.184,0.036,2701,1851,3425,0,0,0,0,0,0
$GC,3152,-0.92,-145.9,331.9,-12.7,299,3156,0.00,1.83,0.00,0.000,4,0.000,0.054,2701,714,3424,0,0,0,0,0,0
$GC,3213,-0.92,-145.9,340.1,-12.4,301,3219,0.00,1.75,0.00,0.000,6,0.000,0.035,2694,1843,3424,0,0,0,0,0,0
$GC,3532,-0.92,-145.9,375.8,-10.7,317,3536,0.05,1.12,0.00,0.000,4,0.233,0.053,2708,1157,3424,0,0,0,0,0,0
$GC,3599,-0.92,-145.9,382.8,-10.3,320,3603,0.00,1.08,0.00,0.000,6,0.000,0.037,2703,1854,3424,0,0,0,0,0,0
$GC,3941,-0.95,-145.9,413.0,-8.4,334,3945,0.00,2.30,0.00,0.000,4,0.000,0.057,2704,427,3424,0,0,0,0,0,0
$GC,4007,-0.95,-145.9,418.7,-8.5,336,4011,0.00,2.20,0.00,0.000,6,0.000,0.033,2693,1863,3424,0,0,0,0,0,0
$GC,4343,-0.95,-145.9,445.0,-7.9,347,4346,0.00,1.65,0.00,0.000,4,0.000,0.053,2693,851,3424,0,0,0,0,0,0
$GC,4403,-0.95,-145.9,450.3,-8.1,348,4409,0.00,1.55,0.00,0.000,6,0.000,0.034,2686,1847,3424,0,0,0,0,0,0
$GC,4716,-0.95,-145.9,477.0,-8.9,359,4721,0.05,0.62,0.00,0.000,4,0.239,0.051,2700,1458,3423,0,0,0,0,0,0
$GC,4974,-0.95,-145.9,501.8,-10.5,366,4978,0.00,0.62,0.00,0.000,6,0.000,0.039,2698,1865,3423,0,0,0,0,0,0
$GC,5292,-0.95,-145.9,535.3,-11.1,377,5296,0.00,2.33,0.00,0.000,4,0.000,0.056,2698,436,3422,0,0,0,0,0,0
$GC,5381,-0.95,-145.9,545.9,-12.2,379,5387,0.00,2.17,0.00,0.000,6,0.000,0.033,2688,1841,3422,0,0,0,0,0,0
$GC,5694,-0.95,-145.9,583.8,-12.5,390,5698,0.00,0.80,0.00,0.000,4,0.000,0.050,2688,1339,3422,0,0,0,0,0,0
$GC,5811,-0.95,-145.9,599.0,-12.9,393,5816,0.08,0.80,0.00,0.000,6,0.194,0.039,2702,1851,3421,0,0,0,0,0,0
$GC,6135,-0.98,-145.9,637.4,-11.7,404,6140,0.00,2.28,0.00,0.000,4,0.000,0.054,2702,435,3421,0,0,0,0,0,0
$GC,6218,-0.98,-145.9,647.5,-11.9,406,6223,0.00,2.20,0.00,0.000,6,0.000,0.033,2693,1850,3420,0,0,0,0,0,0
$GC,6537,-0.98,-145.9,683.2,-11.1,417,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1850,3420,0,0,0,0,0,0
$GC,6843,-0.98,-145.9,714.7,-10.0,427,6847,0.00,2.28,0.00,0.000,4,0.000,0.053,2693,437,3420,0,0,0,0,0,0
$GC,6921,-0.98,-145.9,722.6,-9.7,429,6925,0.00,2.20,0.00,0.000,6,0.000,0.033,2683,1849,3420,0,0,0,0,0,0
$GC,7246,-0.98,-145.9,752.5,-9.2,440,7249,0.00,0.77,0.00,0.000,4,0.000,0.048,2683,1358,3420,0,0,0,0,0,0
$GC,7334,-0.96,-145.9,761.0,-9.5,442,7339,0.05,0.75,0.00,0.000,6,0.163,0.037,2696,1857,3419,0,0,0,0,0,0
$GC,7653,-1.00,-145.9,787.7,-8.5,453,7657,0.00,1.40,0.00,0.000,4,0.000,0.050,2696,991,3419,0,0,0,0,0,0
$GC,7721,-1.00,-145.9,793.6,-8.7,455,7725,0.00,1.33,0.00,0.000,6,0.000,0.034,2690,1847,3419,0,0,0,0,0,0
$GC,8062,-1.00,-145.9,825.9,-10.2,466,8065,0.00,0.47,0.00,0.000,4,0.000,0.050,2690,1528,3419,0,0,0,0,0,0
$GC,8133,-1.00,-145.9,833.9,-10.4,468,8138,0.00,0.50,0.00,0.000,6,0.000,0.042,2688,1857,3419,0,0,0,0,0,0
$GC,8469,-1.02,-145.9,871.0,-11.6,479,8473,0.00,1.48,0.00,0.000,4,0.000,0.050,2688,949,3419,0,0,0,0,0,0
$GC,8530,-1.02,-145.9,878.4,-12.0,480,8535,0.00,1.40,0.00,0.000,6,0.000,0.035,2682,1843,3418,0,0,0,0,0,0
$GC,8843,-1.02,-145.9,914.5,-11.5,491,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1844,3418,0,0,0,0,0,0
$GC,9149,-1.02,-145.9,949.1,-11.0,501,9153,0.00,1.90,0.00,0.000,4,0.000,0.051,2682,653,3418,0,0,0,0,0,0
$GC,9204,-0.97,-145.9,955.6,-12.0,502,9209,0.05,1.88,0.00,0.000,6,0.160,0.035,2689,1855,3418,0,0,0,0,0,0
$GC,9523,-1.01,-145.9,987.4,-9.9,513,9527,0.00,0.85,0.00,0.000,4,0.000,0.049,2689,1321,3418,0,0,0,0,0,0
$GC,9617,-1.01,-145.9,996.9,-9.9,515,9623,0.00,0.85,0.00,0.000,6,0.000,0.039,2688,1860,3418,0,0,0,0,0,0
$STATE,9654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9654,begin apogee
$GC,9659,-0.23,0.0,1000.3,9.7,517,9793,0.82,0.00,130.50,1.497,6,0.133,0.000,2934,1572,2827,0,0,0,0,0,0
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9796,0.78,145.9,1009.1,0.0,521,9938,1.00,0.00,137.65,1.463,6,0.068,0.000,3259,1572,2232,0,0,0,0,0,0
$GC,10232,0.49,226.6,1001.5,5.8,536,10314,0.35,2.42,72.50,1.439,4,0.209,0.046,3175,2992,1902,0,0,0,0,0,0
$GC,10432,0.43,248.2,986.4,8.3,542,10458,0.15,2.20,19.70,1.336,6,0.190,0.044,3149,1609,1815,0,0,0,0,0,0
$GC,10766,0.49,279.1,959.7,7.9,553,10800,0.00,1.02,28.33,1.380,4,0.000,0.061,3149,1008,1688,0,0,0,0,0,0
$GC,10840,0.60,313.3,953.8,7.8,555,10880,0.12,0.93,32.72,1.386,6,0.067,0.037,3201,1615,1548,0,0,0,0,0,0
$GC,11199,0.63,321.9,921.5,8.9,567,11212,0.00,1.23,8.05,1.148,4,0.000,0.042,3201,2378,1514,0,0,0,0,0,0
$GC,11252,0.63,332.2,916.6,8.8,568,11267,0.00,1.25,11.27,1.235,6,0.000,0.050,3204,1602,1472,0,0,0,0,0,0
$GC,11604,0.67,346.1,885.7,8.7,580,11624,0.05,0.62,13.77,1.261,4,0.166,0.063,3226,1227,1416,0,0,0,0,0,0
$GC,11663,0.67,349.5,880.1,9.1,581,11673,0.00,0.55,4.85,0.923,6,0.000,0.042,3226,1597,1401,0,0,0,0,0,0
$GC,12009,0.67,361.0,849.1,8.8,593,12025,0.00,0.70,12.12,1.223,4,0.000,0.043,3226,2041,1355,0,0,0,0,0,0
$GC,12082,0.70,363.0,842.6,9.2,595,12086,0.00,0.70,0.00,0.000,6,0.000,0.055,3226,1608,1354,0,0,0,0,0,0
$GC,12412,0.72,379.0,814.0,8.6,606,12432,0.00,0.00,18.42,1.271,6,0.000,0.000,3226,1608,1281,0,0,0,0,0,0
$GC,12718,0.77,379.6,786.3,9.2,616,12720,0.10,0.00,0.00,0.000,6,0.112,0.000,3262,1607,1277,0,0,0,0,0,0
$GC,13024,0.74,379.6,754.2,10.6,626,13029,0.08,1.67,0.00,0.000,4,0.213,0.065,3254,598,1277,0,0,0,0,0,0
$GC,13062,0.71,379.6,750.0,11.1,627,13067,0.05,1.52,0.00,0.000,6,0.167,0.039,3240,1585,1275,0,0,0,0,0,0
$GC,13397,0.71,379.6,715.5,10.3,638,13401,0.00,0.65,0.00,0.000,4,0.000,0.044,3240,2030,1275,0,0,0,0,0,0
$GC,13441,0.71,379.6,711.0,10.1,639,13445,0.00,0.73,0.00,0.000,6,0.000,0.055,3241,1588,1274,0,0,0,0,0,0
$GC,13771,0.71,379.6,677.8,10.0,650,13775,0.00,1.10,0.00,0.000,4,0.000,0.063,3245,910,1274,0,0,0,0,0,0
$GC,13809,0.71,379.6,673.8,10.2,651,13813,0.00,1.10,0.00,0.000,6,0.000,0.039,3245,1618,1274,0,0,0,0,0,0
$GC,14144,0.71,379.6,640.1,10.0,662,14148,0.00,1.45,0.00,0.000,4,0.000,0.044,3245,2548,1274,0,0,0,0,0,0
$GC,14199,0.71,379.6,634.3,9.9,663,14204,0.03,1.52,0.00,0.000,6,0.182,0.050,3243,1607,1273,0,0,0,0,0,0
$GC,14517,0.71,379.6,600.7,10.8,674,14521,0.00,0.45,0.00,0.000,4,0.000,0.047,3243,1920,1273,0,0,0,0,0,0
$GC,14561,0.71,379.6,595.8,11.2,675,14565,0.00,0.52,0.00,0.000,6,0.000,0.059,3243,1593,1273,0,0,0,0,0,0
$GC,14891,0.71,379.6,560.2,10.9,686,14894,0.00,0.47,0.00,0.000,4,0.000,0.047,3243,1920,1273,0,0,0,0,0,0
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