version: 66.07.10.p01
glider: 574
mission: 4
dive: 65
start: 10 4 112 14 37 30
data:
$ID,574
$MISSION,4
$DIVE,65
$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,-5613.2925
$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,31
$R_STBD_OVSHOOT,49
$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,44
$GPS1,041012,142736,-4258.221,-837.571,26,1.2,26,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.4
$GPS2,041012,143636,-4258.215,-837.511,54,0.9,55,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.234,-0.022
$KALMAN_X,-19599.2,-166.2,989.8,35143.1,-5131.4
$KALMAN_Y,-17744.4,366.1,352.2,4794.1,-3235.5
$MHEAD_RNG_PITCHd_Wd,116.8,80864,-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,23,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,-60.10,0.000,2,0.000,0.000,65,1920,2627,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.0,-1.3,10,133,12.52,2.25,-24.17,0.000,4,0.277,0.069,2828,3295,3423,0,0,0,0,0,0
$GC,270,-0.52,-145.9,18.1,-7.8,40,277,0.03,2.22,0.00,0.000,6,0.163,0.051,2838,1920,3424,0,0,0,0,0,0
$GC,351,-0.46,-145.9,26.3,-11.9,53,358,0.08,0.82,0.00,0.000,4,0.196,0.059,2857,1401,3424,0,0,0,0,0,0
$GC,424,-0.46,-145.9,32.8,-8.1,65,429,0.00,0.77,0.00,0.000,6,0.000,0.044,2857,1901,3424,0,0,0,0,0,0
$GC,658,-0.46,-145.9,53.0,-8.0,106,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1901,3424,0,0,0,0,0,0
$GC,893,-0.46,-145.9,70.7,-8.5,147,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1901,3424,0,0,0,0,0,0
$GC,1245,-0.46,-145.9,103.8,-10.7,206,1248,0.00,0.85,0.00,0.000,4,0.000,0.060,2857,1371,3424,0,0,0,0,0,0
$GC,1305,-0.46,-145.9,110.8,-10.6,211,1311,0.00,0.85,0.00,0.000,6,0.000,0.042,2853,1918,3424,0,0,0,0,0,0
$GC,1631,-0.46,-145.9,142.9,-9.4,242,1635,0.00,0.90,0.00,0.000,4,0.000,0.059,2853,1354,3424,0,0,0,0,0,0
$GC,1712,-0.46,-145.9,150.8,-9.5,249,1716,0.00,0.85,0.00,0.000,6,0.000,0.041,2851,1910,3424,0,0,0,0,0,0
$GC,2042,-0.46,-145.9,183.1,-9.4,280,2045,0.00,0.28,0.00,0.000,4,0.000,0.065,2851,1721,3424,0,0,0,0,0,0
$GC,2113,-0.46,-145.9,190.4,-9.5,286,2115,0.00,0.30,0.00,0.000,6,0.000,0.050,2850,1935,3425,0,0,0,0,0,0
$GC,2434,-0.46,-145.9,222.0,-10.3,316,2437,0.00,0.93,0.00,0.000,4,0.000,0.056,2850,1352,3425,0,0,0,0,0,0
$GC,2514,-0.46,-145.9,230.2,-10.9,323,2518,0.00,0.82,0.00,0.000,6,0.000,0.040,2847,1900,3425,0,0,0,0,0,0
$GC,2851,-0.46,-145.9,267.1,-11.1,348,2853,0.05,0.00,0.00,0.000,6,0.224,0.000,2858,1901,3425,0,0,0,0,0,0
$GC,3162,-0.49,-145.9,297.4,-9.4,363,3166,0.00,1.02,0.00,0.000,4,0.000,0.057,2858,1250,3426,0,0,0,0,0,0
$GC,3233,-0.51,-145.9,304.4,-9.0,366,3238,0.00,1.02,0.00,0.000,6,0.000,0.038,2858,1914,3426,0,0,0,0,0,0
$GC,3561,-0.53,-145.9,331.6,-8.0,382,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1914,3426,0,0,0,0,0,0
$GC,3872,-0.56,-145.9,358.7,-9.1,397,3877,0.08,1.12,0.00,0.000,4,0.131,0.056,2822,1208,3427,0,0,0,0,0,0
$GC,3956,-0.49,-145.9,368.7,-12.2,400,3964,0.12,1.10,0.00,0.000,6,0.168,0.037,2850,1921,3427,0,0,0,0,0,0
$GC,4272,-0.49,-145.9,397.9,-8.4,416,4275,0.00,0.55,0.00,0.000,4,0.000,0.047,2849,2312,3427,0,0,0,0,0,0
$GC,4342,-0.52,-145.9,403.6,-8.5,419,4345,0.00,0.62,0.00,0.000,6,0.000,0.050,2849,1894,3427,0,0,0,0,0,0
$GC,4675,-0.52,-145.9,435.6,-9.9,435,4679,0.00,0.43,0.00,0.000,4,0.000,0.061,2849,1592,3428,0,0,0,0,0,0
$GC,4736,-0.52,-145.9,441.9,-9.4,437,4741,0.00,0.50,0.00,0.000,6,0.000,0.044,2847,1930,3427,0,0,0,0,0,0
$GC,5053,-0.52,-145.9,471.2,-9.8,453,5057,0.00,0.93,0.00,0.000,4,0.000,0.056,2847,1336,3428,0,0,0,0,0,0
$GC,5135,-0.52,-145.9,479.9,-10.1,456,5143,0.00,0.88,0.00,0.000,6,0.000,0.037,2844,1908,3428,0,0,0,0,0,0
$GC,5470,-0.52,-145.9,512.6,-10.0,471,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1908,3428,0,0,0,0,0,0
$GC,5777,-0.52,-145.9,542.3,-9.6,481,5780,0.00,0.38,0.00,0.000,4,0.000,0.057,2844,1644,3428,0,0,0,0,0,0
$GC,5864,-0.52,-145.9,550.9,-10.3,483,5868,0.00,0.40,0.00,0.000,6,0.000,0.047,2844,1919,3428,0,0,0,0,0,0
$GC,6182,-0.52,-145.9,578.6,-8.5,494,6186,0.00,0.30,0.00,0.000,4,0.000,0.061,2844,1706,3428,0,0,0,0,0,0
$GC,6265,-0.52,-145.9,586.0,-9.7,496,6269,0.00,0.30,0.00,0.000,6,0.000,0.052,2843,1919,3428,0,0,0,0,0,0
$GC,6588,-0.52,-145.9,615.0,-8.8,507,6592,0.00,0.62,0.00,0.000,4,0.000,0.055,2843,1511,3428,0,0,0,0,0,0
$GC,6665,-0.52,-145.9,621.7,-8.4,509,6669,0.00,0.60,0.00,0.000,6,0.000,0.042,2840,1912,3427,0,0,0,0,0,0
$GC,6994,-0.52,-145.9,650.8,-9.2,520,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1912,3427,0,0,0,0,0,0
$GC,7300,-0.52,-145.9,679.2,-9.3,530,7304,0.00,0.45,0.00,0.000,4,0.000,0.056,2840,1607,3426,0,0,0,0,0,0
$GC,7382,-0.52,-145.9,687.3,-9.7,532,7386,0.00,0.45,0.00,0.000,6,0.000,0.045,2838,1913,3427,0,0,0,0,0,0
$GC,7706,-0.52,-145.9,719.3,-10.0,543,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1913,3427,0,0,0,0,0,0
$GC,8012,-0.52,-145.9,748.3,-9.3,553,8016,0.00,0.40,0.00,0.000,4,0.000,0.057,2838,1641,3426,0,0,0,0,0,0
$GC,8083,-0.52,-145.9,755.3,-9.6,555,8087,0.00,0.40,0.00,0.000,6,0.000,0.048,2837,1912,3426,0,0,0,0,0,0
$GC,8418,-0.52,-145.9,786.0,-9.0,566,8421,0.00,0.47,0.00,0.000,4,0.000,0.055,2838,1592,3426,0,0,0,0,0,0
$GC,8494,-0.52,-145.9,793.0,-8.9,568,8496,0.00,0.47,0.00,0.000,6,0.000,0.046,2836,1915,3426,0,0,0,0,0,0
$GC,8820,-0.52,-145.9,822.7,-9.3,579,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1915,3426,0,0,0,0,0,0
$GC,9126,-0.52,-145.9,851.4,-9.4,589,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1915,3425,0,0,0,0,0,0
$GC,9432,-0.52,-145.9,881.5,-10.1,599,9436,0.00,0.38,0.00,0.000,4,0.000,0.059,2836,1657,3425,0,0,0,0,0,0
$GC,9502,-0.52,-145.9,888.6,-10.1,601,9505,0.00,0.38,0.00,0.000,6,0.000,0.050,2836,1915,3425,0,0,0,0,0,0
$GC,9834,-0.52,-145.9,920.6,-9.7,612,9838,0.00,0.38,0.00,0.000,4,0.000,0.060,2836,1660,3424,0,0,0,0,0,0
$GC,9928,-0.52,-145.9,930.1,-9.9,614,9930,0.00,0.38,0.00,0.000,6,0.000,0.051,2835,1915,3425,0,0,0,0,0,0
$GC,10236,-0.52,-145.9,959.1,-9.1,624,10239,0.00,0.30,0.00,0.000,4,0.000,0.063,2835,1704,3425,0,0,0,0,0,0
$GC,10329,-0.52,-145.9,967.5,-9.3,626,10332,0.00,0.30,0.00,0.000,6,0.000,0.054,2834,1911,3425,0,0,0,0,0,0
$GC,10637,-0.52,-145.9,993.7,-8.7,636,10641,0.00,0.65,0.00,0.000,4,0.000,0.055,2834,1488,3425,0,0,0,0,0,0
$STATE,10712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10712,begin apogee
$GC,10716,-0.19,0.0,1000.0,9.5,638,10842,0.35,0.00,123.57,1.430,6,0.138,0.000,2946,1676,2827,0,0,0,0,0,0
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10844,0.52,145.9,1005.6,0.0,642,10980,0.70,1.85,126.32,1.415,4,0.092,0.063,3173,664,2231,0,0,0,0,0,0
$GC,11075,0.38,153.1,999.9,7.2,649,11087,0.12,1.60,7.30,1.095,6,0.166,0.037,3139,1639,2202,0,0,0,0,0,0
$GC,11400,0.31,166.1,978.2,7.0,660,11417,0.10,0.43,12.75,1.240,4,0.193,0.050,3116,1917,2149,0,0,0,0,0,0
$GC,11530,0.31,169.6,969.5,7.3,664,11539,0.00,0.43,4.35,0.842,6,0.000,0.060,3116,1649,2135,0,0,0,0,0,0
$GC,11868,0.32,205.1,947.8,6.2,675,11904,0.00,0.55,32.50,1.350,4,0.000,0.047,3115,1987,1990,0,0,0,0,0,0
$GC,11976,0.32,226.3,940.9,6.7,678,12001,0.00,0.55,19.62,1.311,6,0.000,0.057,3117,1652,1904,0,0,0,0,0,0
$GC,12332,0.36,247.9,917.4,6.7,690,12356,0.00,0.93,19.75,1.295,4,0.000,0.045,3118,2225,1816,0,0,0,0,0,0
$GC,12414,0.40,271.7,912.0,6.6,692,12440,0.05,0.93,22.27,1.310,6,0.080,0.054,3146,1657,1719,0,0,0,0,0,0
$GC,12763,0.40,271.7,883.5,8.2,704,12767,0.00,0.60,0.00,0.000,4,0.000,0.064,3146,1280,1714,0,0,0,0,0,0
$GC,12834,0.40,271.7,877.8,8.4,706,12839,0.00,0.60,0.00,0.000,6,0.000,0.044,3146,1670,1714,0,0,0,0,0,0
$GC,13169,0.40,287.7,853.7,6.9,717,13186,0.00,0.00,14.82,1.239,6,0.000,0.000,3145,1670,1653,0,0,0,0,0,0
$GC,13476,0.42,304.4,832.7,6.8,727,13495,0.00,0.00,16.52,1.246,6,0.000,0.000,3146,1670,1584,0,0,0,0,0,0
$GC,13782,0.46,325.6,812.2,6.7,737,13807,0.00,0.82,19.77,1.242,4,0.000,0.065,3146,1180,1498,0,0,0,0,0,0
$GC,13865,0.52,369.8,806.7,5.9,739,13911,0.08,0.73,41.50,1.293,6,0.066,0.041,3185,1652,1318,0,0,0,0,0,0
$GC,14216,0.52,369.8,773.4,9.9,751,14220,0.00,0.77,0.00,0.000,4,0.000,0.066,3185,1179,1312,0,0,0,0,0,0
$GC,14284,0.52,369.8,766.8,10.4,753,14287,0.00,0.73,0.00,0.000,6,0.000,0.042,3185,1652,1310,0,0,0,0,0,0
$GC,14623,0.52,369.8,732.7,10.0,764,14627,0.00,1.17,0.00,0.000,4,0.000,0.066,3186,941,1309,0,0,0,0,0,0
$GC,14694,0.52,369.8,725.3,9.7,766,14699,0.00,1.12,0.00,0.000,6,0.000,0.042,3186,1648,1308,0,0,0,0,0,0
$GC,15030,0.52,369.8,692.1,9.7,777,15034,0.00,0.75,0.00,0.000,4,0.000,0.067,3186,1190,1308,0,0,0,0,0,0
$GC,15097,0.52,369.8,685.6,9.4,779,15101,0.00,0.70,0.00,0.000,6,0.000,0.046,3186,1652,1307,0,0,0,0,0,0
$GC,15437,0.52,369.8,652.0,9.6,790,15441,0.00,0.80,0.00,0.000,4,0.000,0.067,3186,1155,1307,0,0,0,0,0,0
$GC,15504,0.52,369.8,645.8,9.1,792,15508,0.00,0.75,0.00,0.000,6,0.000,0.044,3186,1650,1307,0,0,0,0,0,0
$GC,15844,0.52,369.8,614.6,9.2,803,15848,0.00,0.38,0.00,0.000,4,0.000,0.071,3186,1407,1307,0,0,0,0,0,0
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$STATE,22560,end climb,SURFACE_DEPTH_REACHED
$STATE,22560,begin surface coast
$FINISH,1.4,1.016011
$STATE,22673,end surface coast,CONTROL_FINISHED_OK
$STATE,22673,begin surface
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$HUMID,44.48
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$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.0,7.5
$24V_AH,23.3,18.607
$10V_AH,10.3,16.840
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.025,63.600,532.400,0.000,0.000,27.863,37.058,319.625,0.500,0.000,57.452,3369.291,14940.236,573.414,4215.381,181.432,33.356,2125.818,0.000,3750.807,0.000,5.468,0.000
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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,354544
$DATA_FILE_SIZE,77033,1307
$CAP_FILE_SIZE,209740,0
$CFSIZE,2097086464,2084175872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041012,205804,-4258.043,-833.969,48,1.2,54,-21.4