version: 66.07.10.p01
glider: 574
mission: 4
dive: 423
start: 12 27 112 21 19 56
data:
$ID,574
$MISSION,4
$DIVE,423
$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,-7197.6523
$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,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,45
$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,402
$GPS1,271212,210435,-4126.633,-518.062,25,1.3,25,-22.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-71.0
$GPS2,271212,211935,-4126.596,-518.174,45,1.6,46,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-400.000
$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,115.7,108615,-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,-0.86,-145.9,0.0,0.0,0,98,0.00,0.00,-69.85,0.000,2,0.000,0.000,66,1817,2462,0,0,0,0,0,0
$GC,101,-0.86,-145.9,3.1,-1.1,12,151,11.98,2.22,-30.38,0.000,4,0.256,0.059,2712,3194,3422,0,0,0,0,0,0
$GC,226,-0.83,-145.9,17.5,-15.1,32,233,0.05,2.22,0.00,0.000,6,0.157,0.044,2730,1808,3423,0,0,0,0,0,0
$GC,306,-0.86,-145.9,27.9,-13.5,45,313,0.00,1.62,0.00,0.000,4,0.000,0.060,2730,813,3423,0,0,0,0,0,0
$GC,380,-0.89,-145.9,38.6,-14.3,57,384,0.00,1.52,0.00,0.000,6,0.000,0.034,2727,1791,3424,0,0,0,0,0,0
$GC,612,-0.91,-145.9,66.2,-11.9,98,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1792,3423,0,0,0,0,0,0
$GC,967,-0.96,-145.9,101.6,-9.6,159,972,0.10,2.33,0.00,0.000,4,0.109,0.058,2685,379,3424,0,0,0,0,0,0
$GC,1032,-0.88,-145.9,108.3,-10.9,163,1036,0.17,2.20,0.00,0.000,6,0.159,0.034,2722,1809,3424,0,0,0,0,0,0
$GC,1364,-0.93,-145.9,139.6,-9.9,184,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1809,3425,0,0,0,0,0,0
$GC,1674,-0.99,-145.9,172.4,-11.2,204,1678,0.10,1.67,0.00,0.000,4,0.109,0.054,2681,778,3425,0,0,0,0,0,0
$GC,1743,-0.94,-145.9,180.8,-12.7,208,1748,0.05,1.60,0.00,0.000,6,0.155,0.035,2699,1805,3425,0,0,0,0,0,0
$GC,2076,-0.94,-145.9,221.0,-12.1,229,2080,0.00,0.52,0.00,0.000,4,0.000,0.050,2699,1461,3425,0,0,0,0,0,0
$GC,2256,-0.94,-145.9,243.6,-12.3,239,2262,0.00,0.55,0.00,0.000,6,0.000,0.040,2698,1822,3425,0,0,0,0,0,0
$GC,2573,-0.94,-145.9,280.0,-11.0,256,2577,0.00,1.90,0.00,0.000,4,0.000,0.055,2698,643,3425,0,0,0,0,0,0
$GC,2643,-0.94,-145.9,287.4,-10.1,259,2647,0.00,1.77,0.00,0.000,6,0.000,0.034,2690,1789,3425,0,0,0,0,0,0
$GC,2977,-0.94,-145.9,324.6,-11.5,275,2980,0.00,0.75,0.00,0.000,4,0.000,0.050,2690,1318,3425,0,0,0,0,0,0
$GC,3060,-0.94,-145.9,334.8,-11.8,278,3068,0.00,0.77,0.00,0.000,6,0.000,0.036,2686,1819,3425,0,0,0,0,0,0
$GC,3376,-0.94,-145.9,370.3,-11.3,294,3381,0.03,1.95,0.00,0.000,4,0.282,0.055,2698,624,3425,0,0,0,0,0,0
$GC,3447,-0.94,-145.9,378.0,-12.2,297,3451,0.00,1.80,0.00,0.000,6,0.000,0.034,2691,1801,3425,0,0,0,0,0,0
$GC,3778,-0.94,-145.9,415.3,-11.3,311,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1801,3425,0,0,0,0,0,0
$GC,4084,-0.94,-145.9,450.0,-11.1,321,4088,0.00,2.20,0.00,0.000,4,0.000,0.056,2691,450,3425,0,0,0,0,0,0
$GC,4139,-0.92,-145.9,456.6,-11.3,322,4146,0.10,2.08,0.00,0.000,6,0.171,0.034,2706,1798,3425,0,0,0,0,0,0
$GC,4453,-0.96,-145.9,490.3,-10.8,333,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1798,3425,0,0,0,0,0,0
$GC,4759,-1.01,-145.9,523.2,-10.8,343,4763,0.10,1.52,0.00,0.000,4,0.111,0.054,2665,873,3424,0,0,0,0,0,0
$GC,4814,-0.95,-145.9,529.9,-11.7,344,4818,0.10,1.45,0.00,0.000,6,0.144,0.035,2691,1799,3424,0,0,0,0,0,0
$GC,5131,-0.95,-145.9,563.8,-10.5,355,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1799,3423,0,0,0,0,0,0
$GC,5437,-0.95,-145.9,594.8,-10.1,365,5441,0.00,1.58,0.00,0.000,4,0.000,0.054,2691,839,3423,0,0,0,0,0,0
$GC,5492,-0.95,-145.9,600.7,-10.2,366,5497,0.00,1.50,0.00,0.000,6,0.000,0.034,2685,1801,3423,0,0,0,0,0,0
$GC,5811,-0.95,-145.9,633.3,-10.4,377,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1801,3422,0,0,0,0,0,0
$GC,6117,-0.95,-145.9,666.0,-10.8,387,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1801,3422,0,0,0,0,0,0
$GC,6424,-0.95,-145.9,699.5,-10.9,397,6427,0.00,1.35,0.00,0.000,4,0.000,0.053,2685,972,3421,0,0,0,0,0,0
$GC,6480,-0.95,-145.9,705.9,-11.3,398,6484,0.05,1.30,0.00,0.000,6,0.155,0.037,2696,1800,3421,0,0,0,0,0,0
$GC,6798,-0.99,-145.9,739.1,-10.2,409,6801,0.00,0.43,0.00,0.000,4,0.000,0.054,2697,1520,3420,0,0,0,0,0,0
$GC,6870,-1.01,-145.9,746.7,-10.3,411,6874,0.00,0.45,0.00,0.000,6,0.000,0.043,2696,1817,3420,0,0,0,0,0,0
$GC,7206,-1.04,-145.9,778.3,-9.2,422,7208,0.08,0.00,0.00,0.000,6,0.131,0.000,2664,1817,3420,0,0,0,0,0,0
$GC,7512,-1.00,-145.9,807.9,-9.8,432,7513,0.08,0.00,0.00,0.000,6,0.193,0.000,2681,1817,3420,0,0,0,0,0,0
$GC,7817,-1.00,-145.9,838.2,-10.3,442,7822,0.00,2.35,0.00,0.000,4,0.000,0.057,2681,382,3419,0,0,0,0,0,0
$GC,7873,-0.95,-145.9,844.5,-10.9,443,7879,0.10,2.17,0.00,0.000,6,0.175,0.033,2696,1796,3419,0,0,0,0,0,0
$GC,8186,-1.00,-145.9,876.5,-10.7,454,8190,0.00,0.82,0.00,0.000,4,0.000,0.043,2693,2354,3419,0,0,0,0,0,0
$GC,8230,-1.04,-145.9,881.5,-10.4,455,8234,0.03,0.88,0.00,0.000,6,0.101,0.043,2670,1785,3419,0,0,0,0,0,0
$GC,8560,-1.02,-145.9,919.4,-11.6,466,8563,0.00,1.77,0.00,0.000,4,0.000,0.053,2670,670,3419,0,0,0,0,0,0
$GC,8609,-0.96,-145.9,925.6,-12.1,467,8614,0.10,1.75,0.00,0.000,6,0.148,0.034,2693,1798,3419,0,0,0,0,0,0
$GC,8933,-1.00,-145.9,961.1,-11.1,478,8937,0.00,0.88,0.00,0.000,4,0.000,0.043,2690,2388,3419,0,0,0,0,0,0
$GC,8977,-1.05,-145.9,966.3,-11.4,479,8982,0.05,0.90,0.00,0.000,6,0.084,0.041,2661,1802,3419,0,0,0,0,0,0
$STATE,9276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9276,begin apogee
$GC,9282,-0.25,0.0,1001.4,11.9,489,9415,0.88,0.00,130.07,1.488,6,0.136,0.000,2920,1594,2827,0,0,0,0,0,0
$STATE,9416,end apogee,CONTROL_FINISHED_OK
$STATE,9416,begin climb
$GC,9418,0.86,145.9,1012.2,0.0,493,9564,1.10,2.55,136.32,1.457,4,0.075,0.060,3289,224,2232,0,0,0,0,0,0
$GC,9755,0.48,267.9,1016.9,4.1,503,9873,0.52,2.17,110.18,1.437,6,0.215,0.034,3168,1616,1734,0,0,0,0,0,0
$GC,10198,0.51,297.1,985.1,8.0,518,10231,0.00,2.33,26.75,1.379,4,0.000,0.063,3173,271,1614,0,0,0,0,0,0
$GC,10289,0.56,297.1,977.1,9.4,520,10294,0.00,2.10,0.00,0.000,6,0.000,0.033,3173,1621,1611,0,0,0,0,0,0
$GC,10602,0.62,312.2,950.3,8.6,531,10622,0.10,2.38,14.25,1.294,4,0.113,0.064,3219,214,1554,0,0,0,0,0,0
$GC,10696,0.57,312.2,941.4,9.3,533,10702,0.10,2.17,0.00,0.000,6,0.197,0.034,3195,1619,1551,0,0,0,0,0,0
$GC,11009,0.60,329.8,914.5,8.5,544,11033,0.00,2.25,17.12,1.310,4,0.000,0.044,3195,3003,1482,0,0,0,0,0,0
$GC,11109,0.62,329.8,905.6,9.5,547,11113,0.00,2.20,0.00,0.000,6,0.000,0.045,3204,1625,1480,0,0,0,0,0,0
$GC,11446,0.65,343.4,876.4,8.7,558,11461,0.00,0.00,14.00,1.258,6,0.000,0.000,3204,1625,1426,0,0,0,0,0,0
$GC,11750,0.69,376.8,851.8,7.8,568,11790,0.08,2.30,32.55,1.340,4,0.130,0.044,3232,3013,1289,0,0,0,0,0,0
$GC,11852,0.69,407.8,842.9,7.9,571,11887,0.00,2.25,30.48,1.331,6,0.000,0.044,3241,1609,1163,0,0,0,0,0,0
$GC,12213,0.73,423.9,812.4,8.6,583,12232,0.00,0.73,15.60,1.247,4,0.000,0.035,3241,2081,1096,0,0,0,0,0,0
$GC,12314,0.79,443.3,803.7,8.4,586,12338,0.00,0.75,19.67,1.274,6,0.000,0.054,3241,1615,1018,0,0,0,0,0,0
$GC,12653,0.87,443.3,773.1,9.3,597,12658,0.12,2.12,0.00,0.000,4,0.097,0.043,3290,2953,1014,0,0,0,0,0,0
$GC,12702,0.82,443.3,767.5,11.3,598,12707,0.12,2.15,0.00,0.000,6,0.189,0.046,3271,1599,1013,0,0,0,0,0,0
$GC,13020,0.82,443.3,733.2,11.1,609,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1599,1012,0,0,0,0,0,0
$GC,13326,0.82,443.3,697.1,11.9,619,13327,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1599,1011,0,0,0,0,0,0
$GC,13632,0.82,443.3,659.6,12.3,629,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1599,1011,0,0,0,0,0,0
$GC,13938,0.82,443.3,621.7,12.3,639,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1599,1010,0,0,0,0,0,0
$GC,14245,0.82,443.3,585.1,11.6,649,14248,0.00,0.80,0.00,0.000,4,0.000,0.041,3271,2126,1010,0,0,0,0,0,0
$GC,14300,0.82,443.3,578.6,11.8,650,14304,0.00,0.85,0.00,0.000,6,0.000,0.051,3273,1606,1009,0,0,0,0,0,0
$GC,14618,0.82,443.3,542.8,11.3,661,14622,0.00,0.80,0.00,0.000,4,0.000,0.042,3273,2130,1010,0,0,0,0,0,0
$GC,14686,0.82,443.3,535.4,11.0,663,14690,0.00,0.82,0.00,0.000,6,0.000,0.054,3275,1613,1009,0,0,0,0,0,0
$GC,15027,0.82,443.3,500.1,10.1,674,15030,0.00,1.35,0.00,0.000,4,0.000,0.042,3275,2468,1009,0,0,0,0,0,0
$GC,15087,0.82,443.3,493.9,9.4,675,15093,0.00,1.38,0.00,0.000,6,0.000,0.049,3280,1616,1009,0,0,0,0,0,0
$GC,15400,0.82,443.3,462.2,9.9,686,15401,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1616,1009,0,0,0,0,0,0
$GC,15706,0.82,443.3,430.1,10.9,696,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1616,1009,0,0,0,0,0,0
$GC,16027,0.82,443.3,393.9,11.5,707,16028,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1617,1009,0,0,0,0,0,0
$GC,16333,0.82,443.3,355.6,12.9,722,16336,0.00,1.15,0.00,0.000,4,0.000,0.061,3281,904,1009,0,0,0,0,0,0
$GC,16378,0.82,443.3,349.7,12.2,724,16382,0.00,1.08,0.00,0.000,6,0.000,0.036,3281,1611,1008,0,0,0,0,0,0
$GC,16711,0.82,443.3,307.8,12.3,740,16712,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1613,1008,0,0,0,0,0,0
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$STATE,19516,end climb,SURFACE_DEPTH_REACHED
$STATE,19516,begin surface coast
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$10V_AH,9.9,60.690
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$FG_AHR_10Vo,0.000
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$MEM,354720
$DATA_FILE_SIZE,60389,1016
$CAP_FILE_SIZE,177753,0
$CFSIZE,2097086464,2036498432
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