version: 66.07.10.p01
glider: 574
mission: 4
dive: 71
start: 10 6 112 6 31 18
data:
$ID,574
$MISSION,4
$DIVE,71
$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,-5632.7026
$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,28
$R_STBD_OVSHOOT,42
$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,50
$GPS1,061012,062123,-4309.678,-827.427,40,1.2,40,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.1
$GPS2,061012,063024,-4309.665,-827.419,18,1.5,18,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.187,-0.142
$KALMAN_X,-30818.0,102.5,619.0,60155.6,-4379.3
$KALMAN_Y,-12668.1,-60.0,233.5,-20931.0,182.1
$MHEAD_RNG_PITCHd_Wd,148.8,57053,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-65.68,0.000,2,0.000,0.000,67,1923,2821,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.2,-1.3,11,133,12.65,1.62,-15.73,0.000,4,0.280,0.070,2827,2918,3424,0,0,0,0,0,0
$GC,217,-0.52,-145.9,17.4,-12.0,31,225,0.03,1.62,0.00,0.000,6,0.173,0.054,2837,1920,3425,0,0,0,0,0,0
$GC,297,-0.48,-145.9,25.4,-9.7,44,305,0.08,0.50,0.00,0.000,4,0.198,0.067,2856,1600,3425,0,0,0,0,0,0
$GC,404,-0.48,-145.9,36.3,-10.0,62,411,0.00,0.47,0.00,0.000,6,0.000,0.048,2854,1914,3425,0,0,0,0,0,0
$GC,642,-0.48,-145.9,58.5,-9.1,103,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1914,3425,0,0,0,0,0,0
$GC,874,-0.48,-145.9,79.8,-8.5,144,881,0.00,0.45,0.00,0.000,4,0.000,0.066,2854,1630,3424,0,0,0,0,0,0
$GC,961,-0.48,-145.9,86.7,-7.4,159,968,0.00,0.43,0.00,0.000,6,0.000,0.047,2853,1917,3425,0,0,0,0,0,0
$GC,1299,-0.48,-145.9,117.0,-9.7,203,1302,0.00,0.85,0.00,0.000,4,0.000,0.063,2853,1393,3425,0,0,0,0,0,0
$GC,1381,-0.48,-145.9,125.5,-9.5,210,1389,0.00,0.82,0.00,0.000,6,0.000,0.046,2850,1915,3425,0,0,0,0,0,0
$GC,1708,-0.48,-145.9,155.6,-9.4,241,1712,0.00,0.82,0.00,0.000,4,0.000,0.065,2850,1405,3425,0,0,0,0,0,0
$GC,1791,-0.48,-145.9,163.8,-9.6,248,1799,0.00,0.80,0.00,0.000,6,0.000,0.045,2847,1915,3425,0,0,0,0,0,0
$GC,2118,-0.48,-145.9,194.3,-9.4,279,2122,0.00,0.70,0.00,0.000,4,0.000,0.063,2847,1476,3425,0,0,0,0,0,0
$GC,2210,-0.48,-145.9,203.3,-9.9,287,2214,0.00,0.65,0.00,0.000,6,0.000,0.044,2844,1906,3425,0,0,0,0,0,0
$GC,2541,-0.48,-145.9,236.6,-10.2,318,2545,0.00,0.57,0.00,0.000,4,0.000,0.062,2844,1537,3425,0,0,0,0,0,0
$GC,2622,-0.48,-145.9,244.7,-9.7,325,2626,0.00,0.57,0.00,0.000,6,0.000,0.045,2843,1922,3425,0,0,0,0,0,0
$GC,2946,-0.48,-145.9,277.2,-10.0,343,2949,0.00,0.60,0.00,0.000,4,0.000,0.060,2843,1536,3425,0,0,0,0,0,0
$GC,3028,-0.48,-145.9,285.5,-9.7,346,3037,0.08,0.60,0.00,0.000,6,0.187,0.044,2858,1929,3425,0,0,0,0,0,0
$GC,3345,-0.51,-145.9,310.1,-7.7,362,3348,0.00,1.08,0.00,0.000,4,0.000,0.060,2859,1260,3426,0,0,0,0,0,0
$GC,3445,-0.54,-145.9,318.4,-7.1,366,3450,0.03,1.00,0.00,0.000,6,0.107,0.041,2833,1908,3426,0,0,0,0,0,0
$GC,3766,-0.51,-145.9,351.9,-11.0,382,3768,0.05,0.00,0.00,0.000,6,0.222,0.000,2844,1908,3426,0,0,0,0,0,0
$GC,4077,-0.51,-145.9,381.8,-9.5,397,4081,0.00,1.10,0.00,0.000,4,0.000,0.061,2844,1223,3426,0,0,0,0,0,0
$GC,4171,-0.51,-145.9,391.3,-9.8,401,4176,0.00,1.08,0.00,0.000,6,0.000,0.041,2842,1915,3427,0,0,0,0,0,0
$GC,4501,-0.51,-145.9,423.4,-10.0,417,4504,0.00,0.62,0.00,0.000,4,0.000,0.058,2842,1516,3427,0,0,0,0,0,0
$GC,4568,-0.51,-145.9,430.4,-10.1,420,4572,0.00,0.60,0.00,0.000,6,0.000,0.044,2839,1919,3426,0,0,0,0,0,0
$GC,4900,-0.51,-145.9,462.5,-9.7,436,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1919,3427,0,0,0,0,0,0
$GC,5211,-0.51,-145.9,491.9,-9.2,451,5215,0.00,0.57,0.00,0.000,4,0.000,0.060,2839,1545,3427,0,0,0,0,0,0
$GC,5293,-0.51,-145.9,500.5,-9.7,454,5301,0.00,0.57,0.00,0.000,6,0.000,0.045,2837,1920,3427,0,0,0,0,0,0
$GC,5605,-0.51,-145.9,530.4,-9.6,465,5609,0.00,1.17,0.00,0.000,4,0.000,0.060,2837,1186,3427,0,0,0,0,0,0
$GC,5710,-0.51,-145.9,540.8,-9.6,468,5716,0.05,1.12,0.00,0.000,6,0.227,0.041,2844,1910,3427,0,0,0,0,0,0
$GC,6046,-0.51,-145.9,570.1,-8.8,479,6049,0.00,0.62,0.00,0.000,4,0.000,0.059,2845,1508,3427,0,0,0,0,0,0
$GC,6122,-0.51,-145.9,576.9,-8.5,481,6126,0.00,0.62,0.00,0.000,6,0.000,0.044,2844,1915,3426,0,0,0,0,0,0
$GC,6451,-0.51,-145.9,605.5,-9.0,492,6455,0.00,0.45,0.00,0.000,4,0.000,0.061,2844,1620,3426,0,0,0,0,0,0
$GC,6523,-0.51,-145.9,612.2,-8.8,494,6527,0.00,0.45,0.00,0.000,6,0.000,0.048,2844,1917,3425,0,0,0,0,0,0
$GC,6857,-0.51,-145.9,641.2,-8.7,505,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1917,3425,0,0,0,0,0,0
$GC,7164,-0.51,-145.9,669.3,-9.3,515,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1917,3425,0,0,0,0,0,0
$GC,7470,-0.51,-145.9,697.6,-9.3,525,7473,0.00,1.25,0.00,0.000,4,0.000,0.060,2843,1137,3424,0,0,0,0,0,0
$GC,7574,-0.51,-145.9,707.8,-9.9,528,7579,0.00,1.23,0.00,0.000,6,0.000,0.043,2838,1916,3424,0,0,0,0,0,0
$GC,7910,-0.51,-145.9,739.7,-9.3,539,7913,0.00,0.43,0.00,0.000,4,0.000,0.063,2838,1635,3424,0,0,0,0,0,0
$GC,7977,-0.51,-145.9,746.0,-8.6,541,7981,0.00,0.43,0.00,0.000,6,0.000,0.050,2837,1926,3423,0,0,0,0,0,0
$GC,8317,-0.51,-145.9,775.7,-8.6,552,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1926,3423,0,0,0,0,0,0
$GC,8623,-0.51,-145.9,804.0,-9.3,562,8627,0.00,0.68,0.00,0.000,4,0.000,0.058,2837,1491,3422,0,0,0,0,0,0
$GC,8716,-0.51,-145.9,813.6,-10.4,564,8722,0.00,0.65,0.00,0.000,6,0.000,0.045,2836,1911,3422,0,0,0,0,0,0
$GC,9029,-0.51,-145.9,844.9,-10.2,575,9032,0.00,0.35,0.00,0.000,4,0.000,0.062,2835,1675,3422,0,0,0,0,0,0
$GC,9100,-0.51,-145.9,852.2,-10.1,577,9102,0.00,0.38,0.00,0.000,6,0.000,0.051,2834,1927,3422,0,0,0,0,0,0
$GC,9431,-0.51,-145.9,884.0,-9.8,588,9435,0.00,0.68,0.00,0.000,4,0.000,0.058,2834,1491,3421,0,0,0,0,0,0
$GC,9507,-0.51,-145.9,892.0,-10.1,590,9512,0.08,0.65,0.00,0.000,6,0.193,0.045,2848,1912,3421,0,0,0,0,0,0
$GC,9836,-0.55,-145.9,921.2,-8.6,601,9840,0.00,0.85,0.00,0.000,4,0.000,0.057,2848,1374,3421,0,0,0,0,0,0
$GC,9924,-0.59,-145.9,929.1,-8.7,603,9929,0.08,0.85,0.00,0.000,6,0.138,0.044,2817,1919,3421,0,0,0,0,0,0
$GC,10242,-0.55,-145.9,961.2,-9.9,614,10247,0.05,0.98,0.00,0.000,4,0.220,0.057,2827,1312,3420,0,0,0,0,0,0
$GC,10342,-0.55,-145.9,970.6,-8.9,617,10346,0.00,0.93,0.00,0.000,6,0.000,0.043,2824,1913,3420,0,0,0,0,0,0
$STATE,10684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10684,begin apogee
$GC,10688,-0.19,0.0,1001.5,9.0,628,10814,0.40,0.00,122.97,1.476,6,0.142,0.000,2946,1628,2827,0,0,0,0,0,0
$STATE,10815,end apogee,CONTROL_FINISHED_OK
$STATE,10815,begin climb
$GC,10816,0.52,145.9,1006.4,0.0,632,10951,0.70,1.98,126.43,1.440,4,0.091,0.067,3176,558,2231,0,0,0,0,0,0
$GC,11052,0.37,145.9,998.9,8.6,639,11057,0.12,1.83,0.00,0.000,6,0.168,0.044,3142,1648,2227,0,0,0,0,0,0
$GC,11376,0.30,190.4,978.7,5.9,650,11418,0.12,0.00,39.12,1.390,6,0.193,0.000,3111,1652,2050,0,0,0,0,0,0
$GC,11712,0.32,260.1,961.7,5.0,661,11778,0.00,0.75,61.67,1.401,4,0.000,0.048,3111,2096,1765,0,0,0,0,0,0
$GC,11839,0.39,321.2,955.2,5.3,665,11900,0.08,0.75,55.20,1.418,6,0.123,0.058,3140,1656,1517,0,0,0,0,0,0
$GC,12235,0.45,363.2,931.5,6.0,678,12280,0.05,1.12,37.80,1.366,4,0.167,0.067,3166,1019,1346,0,0,0,0,0,0
$GC,12341,0.50,367.2,923.9,7.3,681,12351,0.00,1.02,4.55,0.942,6,0.000,0.043,3165,1655,1329,0,0,0,0,0,0
$GC,12670,0.53,368.9,900.4,7.3,692,12674,0.05,0.65,0.00,0.000,4,0.169,0.070,3187,1267,1326,0,0,0,0,0,0
$GC,12741,0.53,368.9,893.7,10.2,694,12745,0.00,0.62,0.00,0.000,6,0.000,0.047,3187,1661,1326,0,0,0,0,0,0
$GC,13075,0.53,368.9,861.2,9.9,705,13079,0.00,0.85,0.00,0.000,4,0.000,0.069,3188,1141,1326,0,0,0,0,0,0
$GC,13143,0.53,368.9,854.8,9.5,707,13146,0.00,0.80,0.00,0.000,6,0.000,0.047,3187,1655,1325,0,0,0,0,0,0
$GC,13482,0.53,368.9,820.7,10.1,718,13486,0.00,0.82,0.00,0.000,4,0.000,0.068,3188,1147,1325,0,0,0,0,0,0
$GC,13559,0.53,368.9,812.9,9.3,720,13563,0.00,0.80,0.00,0.000,6,0.000,0.047,3188,1653,1325,0,0,0,0,0,0
$GC,13888,0.53,368.9,780.3,10.0,731,13892,0.00,0.70,0.00,0.000,4,0.000,0.069,3188,1216,1325,0,0,0,0,0,0
$GC,13948,0.53,368.9,774.1,10.2,732,13954,0.00,0.70,0.00,0.000,6,0.000,0.047,3188,1664,1325,0,0,0,0,0,0
$GC,14261,0.53,368.9,742.2,10.3,743,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1664,1325,0,0,0,0,0,0
$GC,14567,0.53,368.9,710.1,10.6,753,14570,0.00,0.50,0.00,0.000,4,0.000,0.070,3188,1349,1325,0,0,0,0,0,0
$GC,14638,0.53,368.9,702.4,11.3,755,14642,0.00,0.47,0.00,0.000,6,0.000,0.053,3188,1654,1325,0,0,0,0,0,0
$GC,14972,0.53,368.9,666.3,10.9,766,14976,0.00,0.62,0.00,0.000,4,0.000,0.070,3189,1261,1325,0,0,0,0,0,0
$GC,15040,0.53,368.9,659.2,11.3,768,15043,0.00,0.60,0.00,0.000,6,0.000,0.051,3189,1655,1325,0,0,0,0,0,0
$GC,15380,0.53,368.9,623.9,10.3,779,15383,0.00,0.62,0.00,0.000,4,0.000,0.068,3192,1260,1325,0,0,0,0,0,0
$GC,15439,0.53,368.9,617.7,9.8,780,15445,0.00,0.62,0.00,0.000,6,0.000,0.050,3192,1661,1325,0,0,0,0,0,0
$GC,15752,0.51,368.9,587.8,9.5,791,15756,0.00,0.45,0.00,0.000,4,0.000,0.070,3193,1373,1325,0,0,0,0,0,0
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$STATE,21858,end climb,SURFACE_DEPTH_REACHED
$STATE,21858,begin surface coast
$FINISH,1.4,1.015293
$STATE,21895,end surface coast,CONTROL_FINISHED_OK
$STATE,21895,begin surface
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$HUMID,45.07
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$XPDR_PINGS,0
$24V_AH,23.2,19.821
$10V_AH,10.2,17.779
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$FG_AHR_10Vo,0.000
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$MEM,354460
$DATA_FILE_SIZE,73616,1268
$CAP_FILE_SIZE,193790,0
$CFSIZE,2097086464,2083422208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061012,123835,-4311.427,-825.856,34,1.1,35,-21.4