version: 66.07.10.p01
glider: 574
mission: 4
dive: 55
start: 10 1 112 20 58 13
data:
$ID,574
$MISSION,4
$DIVE,55
$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,520
$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,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,-5580.8804
$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,27
$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,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,54
$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,34
$GPS1,011012,203529,-4251.585,-849.527,37,1.1,38,-21.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-67.4
$GPS2,011012,205723,-4251.615,-849.565,41,1.0,41,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.121,0.201
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,52.6,25148,-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,22,begin dive
$GC,23,-0.52,-145.9,0.0,0.0,0,92,0.00,0.00,-66.55,0.000,2,0.000,0.000,65,1889,2822,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.1,-1.3,11,127,12.38,2.28,-15.18,0.000,4,0.272,0.077,2831,498,3422,0,0,0,0,0,0
$GC,271,-0.48,-145.9,26.6,-9.4,40,279,0.08,2.17,0.00,0.000,6,0.146,0.037,2848,1871,3424,0,0,0,0,0,0
$GC,350,-0.43,-145.9,33.9,-10.5,53,356,0.10,0.43,0.00,0.000,4,0.176,0.049,2873,2176,3424,0,0,0,0,0,0
$GC,433,-0.47,-145.9,40.7,-7.7,67,438,0.00,0.43,0.00,0.000,6,0.000,0.057,2873,1899,3424,0,0,0,0,0,0
$GC,668,-0.51,-145.9,59.8,-8.2,108,676,0.08,0.30,0.00,0.000,4,0.131,0.053,2840,2118,3424,0,0,0,0,0,0
$GC,704,-0.51,-145.9,63.4,-9.8,114,712,0.00,0.32,0.00,0.000,6,0.000,0.061,2839,1897,3424,0,0,0,0,0,0
$GC,1058,-0.46,-145.9,101.2,-10.8,175,1063,0.10,0.62,0.00,0.000,4,0.176,0.063,2865,1495,3424,0,0,0,0,0,0
$GC,1109,-0.46,-145.9,106.2,-9.2,184,1116,0.00,0.62,0.00,0.000,6,0.000,0.040,2864,1921,3424,0,0,0,0,0,0
$GC,1462,-0.46,-145.9,136.8,-8.7,245,1467,0.00,0.55,0.00,0.000,4,0.000,0.058,2863,1565,3424,0,0,0,0,0,0
$GC,1513,-0.46,-145.9,141.4,-8.7,254,1520,0.00,0.47,0.00,0.000,6,0.000,0.043,2864,1893,3424,0,0,0,0,0,0
$GC,1865,-0.46,-145.9,171.5,-8.9,315,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1893,3423,0,0,0,0,0,0
$GC,2213,-0.46,-145.9,200.5,-8.1,376,2220,0.00,0.35,0.00,0.000,4,0.000,0.061,2863,1659,3424,0,0,0,0,0,0
$GC,2260,-0.46,-145.9,204.2,-7.6,384,2267,0.00,0.32,0.00,0.000,6,0.000,0.048,2863,1898,3424,0,0,0,0,0,0
$GC,2613,-0.48,-145.9,233.7,-8.3,445,2618,0.00,0.88,0.00,0.000,4,0.000,0.057,2863,1348,3424,0,0,0,0,0,0
$GC,2664,-0.50,-145.9,238.2,-8.6,454,2671,0.00,0.80,0.00,0.000,6,0.000,0.037,2861,1887,3424,0,0,0,0,0,0
$GC,3002,-0.52,-145.9,266.6,-8.9,497,3006,0.00,0.38,0.00,0.000,4,0.000,0.048,2860,2176,3424,0,0,0,0,0,0
$GC,3040,-0.55,-145.9,270.5,-8.7,500,3049,0.08,0.43,0.00,0.000,6,0.130,0.052,2824,1894,3424,0,0,0,0,0,0
$GC,3367,-0.48,-145.9,307.5,-11.6,531,3372,0.12,0.68,0.00,0.000,4,0.164,0.059,2857,1456,3424,0,0,0,0,0,0
$GC,3416,-0.48,-145.9,312.4,-9.7,535,3419,0.00,0.65,0.00,0.000,6,0.000,0.039,2857,1900,3424,0,0,0,0,0,0
$GC,3745,-0.48,-145.9,344.0,-9.5,566,3749,0.00,0.35,0.00,0.000,4,0.000,0.050,2855,2174,3424,0,0,0,0,0,0
$GC,3804,-0.50,-145.9,349.5,-9.6,571,3807,0.00,0.40,0.00,0.000,6,0.000,0.054,2854,1899,3424,0,0,0,0,0,0
$GC,4135,-0.50,-145.9,381.9,-9.8,602,4139,0.00,0.60,0.00,0.000,4,0.000,0.058,2855,1490,3424,0,0,0,0,0,0
$GC,4184,-0.50,-145.9,387.3,-9.8,606,4192,0.00,0.62,0.00,0.000,6,0.000,0.037,2852,1916,3424,0,0,0,0,0,0
$GC,4511,-0.50,-145.9,421.3,-10.3,637,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1916,3424,0,0,0,0,0,0
$GC,4830,-0.50,-145.9,453.3,-9.8,667,4833,0.00,0.70,0.00,0.000,4,0.000,0.054,2852,1457,3424,0,0,0,0,0,0
$GC,4889,-0.50,-145.9,459.2,-8.9,672,4897,0.00,0.68,0.00,0.000,6,0.000,0.038,2851,1906,3424,0,0,0,0,0,0
$GC,5216,-0.50,-145.9,489.2,-9.2,703,5220,0.00,0.43,0.00,0.000,4,0.000,0.058,2851,1616,3424,0,0,0,0,0,0
$GC,5272,-0.50,-145.9,494.6,-9.5,708,5276,0.00,0.40,0.00,0.000,6,0.000,0.044,2850,1903,3424,0,0,0,0,0,0
$GC,5612,-0.50,-145.9,527.2,-9.7,723,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1903,3424,0,0,0,0,0,0
$GC,5918,-0.50,-145.9,558.1,-9.7,733,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1903,3424,0,0,0,0,0,0
$GC,6225,-0.50,-145.9,586.8,-9.3,743,6228,0.00,0.70,0.00,0.000,4,0.000,0.054,2850,1445,3423,0,0,0,0,0,0
$GC,6279,-0.50,-145.9,592.0,-9.5,744,6283,0.00,0.70,0.00,0.000,6,0.000,0.038,2849,1908,3422,0,0,0,0,0,0
$GC,6597,-0.50,-145.9,620.5,-8.9,755,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1908,3422,0,0,0,0,0,0
$GC,6903,-0.50,-145.9,646.6,-8.2,765,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1908,3422,0,0,0,0,0,0
$GC,7209,-0.50,-145.9,672.0,-8.4,775,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1909,3421,0,0,0,0,0,0
$GC,7515,-0.50,-145.9,697.9,-8.3,785,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1908,3421,0,0,0,0,0,0
$GC,7821,-0.50,-145.9,721.7,-7.6,795,7825,0.00,0.35,0.00,0.000,4,0.000,0.059,2848,1669,3420,0,0,0,0,0,0
$GC,7870,-0.50,-145.9,725.6,-7.3,796,7874,0.00,0.35,0.00,0.000,6,0.000,0.047,2848,1915,3420,0,0,0,0,0,0
$GC,8194,-0.50,-145.9,748.5,-6.9,807,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1915,3419,0,0,0,0,0,0
$GC,8500,-0.50,-145.9,769.4,-7.0,817,8504,0.00,0.90,0.00,0.000,4,0.000,0.053,2847,1340,3418,0,0,0,0,0,0
$GC,8560,-0.50,-145.9,773.9,-7.5,818,8566,0.00,0.85,0.00,0.000,6,0.000,0.036,2846,1901,3418,0,0,0,0,0,0
$GC,8872,-0.50,-145.9,797.5,-7.5,829,8876,0.00,0.25,0.00,0.000,4,0.000,0.057,2845,2108,3417,0,0,0,0,0,0
$GC,8932,-0.53,-145.9,802.2,-7.8,830,8938,0.00,0.32,0.00,0.000,6,0.000,0.057,2845,1889,3417,0,0,0,0,0,0
$GC,9244,-0.53,-145.9,826.9,-8.2,841,9248,0.00,0.38,0.00,0.000,4,0.000,0.047,2845,2166,3417,0,0,0,0,0,0
$GC,9299,-0.55,-145.9,831.7,-8.4,842,9303,0.00,0.40,0.00,0.000,6,0.000,0.051,2845,1895,3416,0,0,0,0,0,0
$GC,9617,-0.55,-145.9,858.6,-8.8,853,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1895,3416,0,0,0,0,0,0
$GC,9923,-0.55,-145.9,887.4,-9.6,863,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1895,3416,0,0,0,0,0,0
$GC,10230,-0.58,-145.9,917.1,-9.8,873,10233,0.00,0.77,0.00,0.000,4,0.000,0.054,2845,1384,3415,0,0,0,0,0,0
$GC,10284,-0.58,-145.9,922.8,-10.1,874,10288,0.00,0.80,0.00,0.000,6,0.000,0.038,2844,1910,3415,0,0,0,0,0,0
$GC,10602,-0.58,-145.9,954.0,-9.9,885,10605,0.00,0.40,0.00,0.000,4,0.000,0.057,2843,1636,3415,0,0,0,0,0,0
$GC,10669,-0.58,-145.9,961.0,-9.8,887,10673,0.00,0.38,0.00,0.000,6,0.000,0.047,2843,1906,3415,0,0,0,0,0,0
$GC,11009,-0.58,-145.9,995.4,-9.9,898,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1906,3415,0,0,0,0,0,0
$STATE,11073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11073,begin apogee
$GC,11077,-0.19,0.0,1001.3,9.8,900,11202,0.35,0.00,121.80,1.469,6,0.137,0.000,2950,1631,2827,0,0,0,0,0,0
$STATE,11202,end apogee,CONTROL_FINISHED_OK
$STATE,11203,begin climb
$GC,11204,0.52,145.9,1008.1,0.0,904,11339,0.70,1.88,126.65,1.448,4,0.092,0.060,3177,593,2232,0,0,0,0,0,0
$GC,11424,0.37,145.9,1004.6,7.9,911,11429,0.17,1.67,0.00,0.000,6,0.180,0.034,3136,1637,2227,0,0,0,0,0,0
$GC,11765,0.31,178.5,983.5,6.3,922,11800,0.10,1.42,28.42,1.370,4,0.201,0.041,3112,2496,2098,0,0,0,0,0,0
$GC,11877,0.31,214.3,976.8,6.2,925,11913,0.00,1.42,32.30,1.383,6,0.000,0.046,3116,1635,1952,0,0,0,0,0,0
$GC,12227,0.34,235.4,953.9,6.7,937,12248,0.00,0.00,19.25,1.324,6,0.000,0.000,3116,1635,1867,0,0,0,0,0,0
$GC,12532,0.38,245.2,932.1,7.1,947,12544,0.00,0.00,9.73,1.204,6,0.000,0.000,3116,1635,1826,0,0,0,0,0,0
$GC,12839,0.43,250.3,909.6,7.2,957,12848,0.10,0.50,5.80,1.017,4,0.109,0.036,3157,1978,1806,0,0,0,0,0,0
$GC,12905,0.39,250.3,903.6,9.1,959,12910,0.05,0.55,0.00,0.000,6,0.171,0.058,3143,1630,1806,0,0,0,0,0,0
$GC,13245,0.39,250.3,874.6,8.3,970,13249,0.00,0.77,0.00,0.000,4,0.000,0.062,3144,1143,1805,0,0,0,0,0,0
$GC,13322,0.39,250.3,868.1,8.7,972,13326,0.00,0.75,0.00,0.000,6,0.000,0.037,3144,1636,1805,0,0,0,0,0,0
$GC,13651,0.39,250.3,841.3,7.9,983,13652,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1637,1804,0,0,0,0,0,0
$GC,13957,0.39,250.3,816.9,7.9,993,13958,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1637,1804,0,0,0,0,0,0
$GC,14263,0.39,250.3,792.9,7.7,1003,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1638,1804,0,0,0,0,0,0
$GC,14570,0.39,250.3,769.2,7.7,1013,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1638,1804,0,0,0,0,0,0
$GC,14876,0.39,251.6,746.3,7.4,1023,14877,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1638,1803,0,0,0,0,0,0
$GC,15182,0.39,258.2,724.0,7.2,1033,15193,0.00,0.50,8.02,1.102,4,0.000,0.064,3144,1340,1774,0,0,0,0,0,0
$GC,15248,0.39,278.6,719.3,6.7,1035,15271,0.00,0.43,19.52,1.247,6,0.000,0.044,3144,1632,1691,0,0,0,0,0,0
$GC,15577,0.42,289.2,695.8,7.0,1045,15589,0.00,0.00,10.30,1.122,6,0.000,0.000,3144,1632,1648,0,0,0,0,0,0
$GC,15883,0.44,290.6,673.6,7.4,1055,15884,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1632,1647,0,0,0,0,0,0
$GC,16189,0.48,291.2,650.9,7.4,1065,16191,0.08,0.00,0.00,0.000,6,0.133,0.000,3177,1633,1646,0,0,0,0,0,0
$GC,16495,0.44,291.2,622.3,9.3,1075,16500,0.08,0.47,0.00,0.000,4,0.200,0.068,3161,1337,1645,0,0,0,0,0,0
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$STATE,23648,end climb,SURFACE_DEPTH_REACHED
$STATE,23648,begin surface coast
$FINISH,1.3,1.018569
$STATE,23673,end surface coast,CONTROL_FINISHED_OK
$STATE,23673,begin surface
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$TCM_TEMP,12.70
$XPDR_PINGS,0
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$10V_AH,10.3,14.985
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.375,45.500,493.625,0.000,0.000,117.979,226.163,601.650,0.500,0.000,44.576,4432.890,14208.938,566.006,5674.964,163.815,29.242,2228.377,0.000,4630.776,0.000,5.663,0.000
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$MEM,354740
$DATA_FILE_SIZE,110125,1851
$CAP_FILE_SIZE,221208,0
$CFSIZE,2097086464,2085617664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021012,033535,-4249.807,-849.887,61,1.2,62,-21.5