version: 66.07.10.p01
glider: 574
mission: 4
dive: 63
start: 10 4 112 1 18 55
data:
$ID,574
$MISSION,4
$DIVE,63
$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,-5606.8164
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,53
$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,42
$GPS1,041012,011005,-4251.020,-838.537,27,1.0,28,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-73.4
$GPS2,041012,011801,-4251.051,-838.470,18,1.0,19,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.082,-0.220
$KALMAN_X,-16466.4,-316.8,1483.1,30352.8,-6230.0
$KALMAN_Y,-16635.9,-247.6,1217.0,16713.2,-6097.7
$MHEAD_RNG_PITCHd_Wd,181.2,93970,-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,-0.52,-145.9,0.0,0.0,0,87,0.00,0.00,-60.25,0.000,2,0.000,0.000,67,1926,2748,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.5,10,127,12.60,1.52,-17.60,0.000,4,0.279,0.064,2828,2881,3420,0,0,0,0,0,0
$GC,217,-0.50,-145.9,17.4,-10.0,31,225,0.05,1.55,0.00,0.000,6,0.142,0.051,2845,1920,3422,0,0,0,0,0,0
$GC,298,-0.47,-145.9,23.7,-7.7,44,306,0.05,0.77,0.00,0.000,4,0.228,0.061,2857,1438,3422,0,0,0,0,0,0
$GC,391,-0.47,-145.9,30.4,-6.9,59,396,0.00,0.73,0.00,0.000,6,0.000,0.044,2856,1908,3422,0,0,0,0,0,0
$GC,625,-0.47,-145.9,51.7,-10.5,100,632,0.00,0.38,0.00,0.000,4,0.000,0.063,2856,1666,3422,0,0,0,0,0,0
$GC,672,-0.47,-145.9,57.2,-11.4,108,679,0.00,0.38,0.00,0.000,6,0.000,0.047,2855,1931,3422,0,0,0,0,0,0
$GC,907,-0.47,-145.9,79.1,-8.7,149,912,0.00,0.70,0.00,0.000,4,0.000,0.057,2855,1487,3422,0,0,0,0,0,0
$GC,980,-0.47,-145.9,85.9,-9.4,162,987,0.00,0.62,0.00,0.000,6,0.000,0.040,2852,1911,3422,0,0,0,0,0,0
$GC,1321,-0.47,-145.9,120.9,-10.3,205,1325,0.00,0.80,0.00,0.000,4,0.000,0.057,2852,1408,3422,0,0,0,0,0,0
$GC,1415,-0.47,-145.9,131.2,-9.9,213,1421,0.00,0.77,0.00,0.000,6,0.000,0.040,2850,1913,3422,0,0,0,0,0,0
$GC,1740,-0.47,-145.9,164.5,-9.8,244,1744,0.00,0.50,0.00,0.000,4,0.000,0.058,2850,1582,3422,0,0,0,0,0,0
$GC,1821,-0.47,-145.9,172.6,-10.3,251,1825,0.00,0.47,0.00,0.000,6,0.000,0.044,2848,1916,3422,0,0,0,0,0,0
$GC,2152,-0.47,-145.9,205.7,-10.3,282,2156,0.00,0.95,0.00,0.000,4,0.000,0.056,2849,1316,3422,0,0,0,0,0,0
$GC,2243,-0.47,-145.9,214.8,-9.7,290,2246,0.00,0.90,0.00,0.000,6,0.000,0.038,2845,1912,3422,0,0,0,0,0,0
$GC,2575,-0.45,-145.9,247.3,-9.9,321,2577,0.10,0.00,0.00,0.000,6,0.173,0.000,2870,1913,3422,0,0,0,0,0,0
$GC,2883,-0.50,-145.9,271.4,-7.7,338,2887,0.05,1.02,0.00,0.000,4,0.168,0.057,2845,1274,3422,0,0,0,0,0,0
$GC,2976,-0.50,-145.9,280.4,-10.0,342,2981,0.00,1.00,0.00,0.000,6,0.000,0.038,2841,1925,3422,0,0,0,0,0,0
$GC,3304,-0.48,-145.9,311.7,-9.6,358,3308,0.08,0.32,0.00,0.000,4,0.194,0.054,2858,2172,3422,0,0,0,0,0,0
$GC,3358,-0.51,-145.9,316.4,-7.5,360,3362,0.00,0.43,0.00,0.000,6,0.000,0.054,2858,1889,3422,0,0,0,0,0,0
$GC,3680,-0.53,-145.9,344.0,-9.0,376,3683,0.00,0.35,0.00,0.000,4,0.000,0.063,2858,1639,3422,0,0,0,0,0,0
$GC,3740,-0.55,-145.9,349.7,-9.4,378,3749,0.08,0.43,0.00,0.000,6,0.126,0.044,2822,1934,3422,0,0,0,0,0,0
$GC,4056,-0.49,-145.9,386.4,-11.7,394,4060,0.12,1.00,0.00,0.000,4,0.161,0.055,2856,1305,3422,0,0,0,0,0,0
$GC,4156,-0.51,-145.9,396.1,-9.8,398,4160,0.00,0.93,0.00,0.000,6,0.000,0.037,2853,1910,3423,0,0,0,0,0,0
$GC,4477,-0.51,-145.9,423.9,-8.8,414,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1910,3422,0,0,0,0,0,0
$GC,4789,-0.51,-145.9,451.0,-8.7,429,4792,0.00,0.68,0.00,0.000,4,0.000,0.055,2853,1473,3422,0,0,0,0,0,0
$GC,4888,-0.51,-145.9,460.0,-8.4,433,4892,0.00,0.68,0.00,0.000,6,0.000,0.040,2850,1920,3422,0,0,0,0,0,0
$GC,5211,-0.51,-145.9,488.0,-8.6,449,5215,0.00,0.38,0.00,0.000,4,0.000,0.059,2851,1657,3421,0,0,0,0,0,0
$GC,5294,-0.51,-145.9,495.5,-8.1,452,5296,0.00,0.38,0.00,0.000,6,0.000,0.047,2850,1920,3421,0,0,0,0,0,0
$GC,5603,-0.51,-145.9,521.3,-8.4,463,5606,0.00,0.65,0.00,0.000,4,0.000,0.054,2849,1489,3421,0,0,0,0,0,0
$GC,5690,-0.51,-145.9,529.0,-8.6,465,5695,0.00,0.62,0.00,0.000,6,0.000,0.040,2847,1908,3421,0,0,0,0,0,0
$GC,6008,-0.51,-145.9,556.9,-8.9,476,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1909,3420,0,0,0,0,0,0
$GC,6315,-0.51,-145.9,583.7,-8.7,486,6318,0.00,0.30,0.00,0.000,4,0.000,0.061,2847,1691,3420,0,0,0,0,0,0
$GC,6425,-0.51,-145.9,593.5,-9.4,489,6427,0.00,0.32,0.00,0.000,6,0.000,0.049,2846,1924,3419,0,0,0,0,0,0
$GC,6750,-0.51,-145.9,621.9,-8.5,500,6754,0.00,0.68,0.00,0.000,4,0.000,0.055,2846,1484,3418,0,0,0,0,0,0
$GC,6844,-0.51,-145.9,630.3,-8.3,502,6850,0.00,0.65,0.00,0.000,6,0.000,0.041,2844,1915,3418,0,0,0,0,0,0
$GC,7156,-0.51,-145.9,657.1,-8.6,513,7160,0.00,0.52,0.00,0.000,4,0.000,0.055,2844,1568,3417,0,0,0,0,0,0
$GC,7250,-0.51,-145.9,665.4,-8.3,515,7255,0.00,0.52,0.00,0.000,6,0.000,0.044,2843,1922,3416,0,0,0,0,0,0
$GC,7562,-0.51,-145.9,690.3,-7.8,526,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1923,3416,0,0,0,0,0,0
$GC,7868,-0.51,-145.9,713.4,-7.5,536,7872,0.00,1.00,0.00,0.000,4,0.000,0.055,2843,1288,3415,0,0,0,0,0,0
$GC,7961,-0.51,-145.9,721.2,-8.8,538,7967,0.00,0.95,0.00,0.000,6,0.000,0.037,2839,1910,3415,0,0,0,0,0,0
$GC,8274,-0.51,-145.9,748.7,-9.2,549,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1910,3414,0,0,0,0,0,0
$GC,8580,-0.51,-145.9,777.6,-9.4,559,8584,0.00,0.32,0.00,0.000,4,0.000,0.060,2839,1683,3414,0,0,0,0,0,0
$GC,8633,-0.51,-145.9,783.1,-10.0,560,8636,0.00,0.35,0.00,0.000,6,0.000,0.049,2838,1930,3414,0,0,0,0,0,0
$GC,8948,-0.51,-145.9,811.3,-8.7,571,8951,0.00,0.45,0.00,0.000,4,0.000,0.057,2838,1627,3413,0,0,0,0,0,0
$GC,9015,-0.51,-145.9,816.9,-8.2,573,9018,0.00,0.40,0.00,0.000,6,0.000,0.047,2837,1911,3413,0,0,0,0,0,0
$GC,9354,-0.51,-145.9,846.3,-8.7,584,9358,0.00,0.50,0.00,0.000,4,0.000,0.054,2837,1576,3412,0,0,0,0,0,0
$GC,9455,-0.51,-145.9,854.9,-8.4,587,9459,0.00,0.47,0.00,0.000,6,0.000,0.046,2836,1909,3412,0,0,0,0,0,0
$GC,9795,-0.51,-145.9,883.5,-8.5,598,9799,0.00,0.32,0.00,0.000,4,0.000,0.059,2836,1682,3412,0,0,0,0,0,0
$GC,9889,-0.51,-145.9,891.7,-8.5,600,9891,0.00,0.35,0.00,0.000,6,0.000,0.050,2834,1928,3412,0,0,0,0,0,0
$GC,10197,-0.51,-145.9,917.9,-8.5,610,10200,0.00,0.93,0.00,0.000,4,0.000,0.054,2834,1338,3411,0,0,0,0,0,0
$GC,10290,-0.51,-145.9,926.3,-8.4,612,10296,0.05,0.88,0.00,0.000,6,0.226,0.039,2842,1910,3411,0,0,0,0,0,0
$GC,10603,-0.54,-145.9,951.2,-8.2,623,10606,0.00,0.32,0.00,0.000,4,0.000,0.060,2843,1682,3410,0,0,0,0,0,0
$GC,10679,-0.54,-145.9,957.7,-8.1,625,10681,0.00,0.35,0.00,0.000,6,0.000,0.050,2843,1927,3411,0,0,0,0,0,0
$GC,11005,-0.56,-145.9,983.2,-8.0,636,11009,0.00,1.08,0.00,0.000,4,0.000,0.054,2842,1245,3410,0,0,0,0,0,0
$GC,11116,-0.59,-145.9,992.5,-8.4,639,11121,0.00,1.02,0.00,0.000,6,0.000,0.037,2840,1914,3410,0,0,0,0,0,0
$STATE,11233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11233,begin apogee
$GC,11237,-0.19,0.0,1001.4,7.8,643,11360,0.35,0.00,120.43,1.436,6,0.137,0.000,2947,1654,2827,0,0,0,0,0,0
$STATE,11361,end apogee,CONTROL_FINISHED_OK
$STATE,11361,begin climb
$GC,11362,0.52,145.9,1006.7,0.0,647,11498,0.70,2.53,126.32,1.424,4,0.089,0.065,3180,260,2231,0,0,0,0,0,0
$GC,11598,0.35,145.9,998.6,8.7,654,11603,0.20,2.28,0.00,0.000,6,0.175,0.037,3133,1636,2227,0,0,0,0,0,0
$GC,11922,0.29,164.5,976.9,6.8,665,11942,0.10,0.73,16.42,1.277,4,0.194,0.044,3108,2094,2156,0,0,0,0,0,0
$GC,12009,0.29,213.2,971.7,5.7,667,12059,0.00,0.73,44.08,1.373,6,0.000,0.053,3110,1657,1956,0,0,0,0,0,0
$GC,12383,0.34,286.7,951.9,4.9,680,12453,0.00,0.55,64.72,1.376,4,0.000,0.040,3110,2003,1658,0,0,0,0,0,0
$GC,12486,0.46,341.8,946.9,5.5,683,12542,0.15,0.60,50.92,1.369,6,0.089,0.054,3166,1648,1433,0,0,0,0,0,0
$GC,12877,0.59,359.9,920.2,6.8,696,12902,0.12,2.45,16.38,1.308,4,0.099,0.070,3220,241,1358,0,0,0,0,0,0
$GC,12990,0.54,359.9,908.6,11.1,699,12996,0.10,2.28,0.00,0.000,6,0.156,0.039,3191,1646,1354,0,0,0,0,0,0
$GC,13315,0.52,359.9,875.9,10.4,710,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1647,1354,0,0,0,0,0,0
$GC,13621,0.49,359.9,843.5,10.7,720,13623,0.08,0.00,0.00,0.000,6,0.211,0.000,3176,1656,1353,0,0,0,0,0,0
$GC,13927,0.49,359.9,812.7,9.9,730,13930,0.00,0.62,0.00,0.000,4,0.000,0.067,3176,1264,1352,0,0,0,0,0,0
$GC,13975,0.49,359.9,807.9,10.1,731,13980,0.00,0.62,0.00,0.000,6,0.000,0.044,3176,1673,1352,0,0,0,0,0,0
$GC,14299,0.49,359.9,779.8,8.2,742,14302,0.00,0.65,0.00,0.000,4,0.000,0.065,3177,1268,1352,0,0,0,0,0,0
$GC,14353,0.49,363.4,775.5,7.3,743,14357,0.00,0.60,0.00,0.000,6,0.000,0.044,3177,1665,1352,0,0,0,0,0,0
$GC,14671,0.49,363.4,750.8,7.6,754,14675,0.00,0.40,0.00,0.000,4,0.000,0.069,3178,1402,1352,0,0,0,0,0,0
$GC,14731,0.49,363.4,746.1,7.9,755,14737,0.00,0.35,0.00,0.000,6,0.000,0.050,3178,1638,1352,0,0,0,0,0,0
$GC,15043,0.49,363.4,722.4,7.6,766,15047,0.00,0.40,0.00,0.000,4,0.000,0.069,3179,1378,1352,0,0,0,0,0,0
$GC,15103,0.49,363.5,717.9,7.4,767,15109,0.00,0.43,0.00,0.000,6,0.000,0.048,3179,1665,1352,0,0,0,0,0,0
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$STATE,23186,end climb,SURFACE_DEPTH_REACHED
$STATE,23186,begin surface coast
$FINISH,1.4,1.026828
$STATE,23211,end surface coast,CONTROL_FINISHED_OK
$STATE,23211,begin surface
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$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1001.4,7.4
$24V_AH,23.4,18.199
$10V_AH,10.3,16.531
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354512
$DATA_FILE_SIZE,80160,1345
$CAP_FILE_SIZE,208927,0
$CFSIZE,2097086464,2084438016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041012,074835,-4254.707,-838.521,61,0.9,62,-21.5