version: 66.07.10.p01
glider: 574
mission: 4
dive: 76
start: 10 7 112 15 11 12
data:
$ID,574
$MISSION,4
$DIVE,76
$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,-5648.8311
$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,47
$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,55
$GPS1,071012,150235,-4320.281,-824.018,31,1.9,32,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-74.8
$GPS2,071012,151018,-4320.312,-824.005,20,1.8,20,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,-0.089
$KALMAN_X,-45694.5,49.4,207.1,80138.5,-5847.0
$KALMAN_Y,-8061.9,19.5,-523.8,-44576.0,2296.4
$MHEAD_RNG_PITCHd_Wd,133.6,36856,-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,24,-0.52,-145.9,0.0,0.0,0,80,0.00,0.00,-54.30,0.000,2,0.000,0.000,67,1921,2707,0,0,0,0,0,0
$GC,82,-0.52,-145.9,3.1,-1.5,9,127,12.48,2.38,-21.50,0.000,4,0.276,0.081,2833,506,3424,0,0,0,0,0,0
$GC,270,-0.52,-145.9,20.7,-10.2,40,277,0.03,2.20,0.00,0.000,6,0.189,0.041,2834,1895,3425,0,0,0,0,0,0
$GC,350,-0.48,-145.9,28.3,-9.4,53,358,0.08,0.68,0.00,0.000,4,0.199,0.050,2851,2347,3424,0,0,0,0,0,0
$GC,424,-0.48,-145.9,34.7,-8.3,65,429,0.00,0.68,0.00,0.000,6,0.000,0.057,2851,1917,3425,0,0,0,0,0,0
$GC,658,-0.48,-145.9,54.7,-8.6,106,665,0.00,0.77,0.00,0.000,4,0.000,0.062,2851,1422,3425,0,0,0,0,0,0
$GC,739,-0.48,-145.9,61.8,-8.6,120,746,0.00,0.75,0.00,0.000,6,0.000,0.044,2849,1914,3424,0,0,0,0,0,0
$GC,1089,-0.48,-145.9,92.0,-8.6,181,1094,0.00,0.43,0.00,0.000,4,0.000,0.063,2849,1638,3424,0,0,0,0,0,0
$GC,1162,-0.48,-145.9,98.7,-8.9,194,1167,0.00,0.40,0.00,0.000,6,0.000,0.049,2848,1916,3425,0,0,0,0,0,0
$GC,1486,-0.48,-145.9,126.1,-8.4,226,1490,0.00,0.52,0.00,0.000,4,0.000,0.060,2848,1572,3425,0,0,0,0,0,0
$GC,1558,-0.48,-145.9,132.6,-8.5,232,1566,0.00,0.52,0.00,0.000,6,0.000,0.046,2847,1920,3425,0,0,0,0,0,0
$GC,1885,-0.48,-145.9,161.3,-9.3,263,1888,0.00,0.47,0.00,0.000,4,0.000,0.061,2847,1610,3425,0,0,0,0,0,0
$GC,1954,-0.48,-145.9,167.6,-8.8,269,1958,0.00,0.43,0.00,0.000,6,0.000,0.048,2845,1906,3424,0,0,0,0,0,0
$GC,2284,-0.48,-145.9,198.0,-9.5,300,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1906,3425,0,0,0,0,0,0
$GC,2603,-0.48,-145.9,227.8,-9.2,330,2606,0.00,0.30,0.00,0.000,4,0.000,0.065,2845,1699,3424,0,0,0,0,0,0
$GC,2686,-0.48,-145.9,235.7,-9.2,337,2688,0.00,0.32,0.00,0.000,6,0.000,0.052,2844,1923,3425,0,0,0,0,0,0
$GC,3002,-0.48,-145.9,263.9,-9.0,360,3005,0.00,0.47,0.00,0.000,4,0.000,0.060,2845,1610,3425,0,0,0,0,0,0
$GC,3072,-0.48,-145.9,270.0,-9.3,363,3075,0.00,0.43,0.00,0.000,6,0.000,0.048,2844,1904,3424,0,0,0,0,0,0
$GC,3405,-0.48,-145.9,301.9,-9.5,379,3409,0.00,0.75,0.00,0.000,4,0.000,0.060,2844,1432,3425,0,0,0,0,0,0
$GC,3476,-0.48,-145.9,309.4,-9.6,382,3482,0.05,0.75,0.00,0.000,6,0.225,0.043,2853,1922,3425,0,0,0,0,0,0
$GC,3804,-0.50,-145.9,339.3,-9.6,398,3808,0.00,0.45,0.00,0.000,4,0.000,0.060,2853,1621,3425,0,0,0,0,0,0
$GC,3875,-0.53,-145.9,346.0,-9.5,401,3878,0.00,0.43,0.00,0.000,6,0.000,0.048,2852,1916,3425,0,0,0,0,0,0
$GC,4209,-0.55,-145.9,376.2,-8.8,417,4212,0.00,1.05,0.00,0.000,4,0.000,0.059,2852,1254,3425,0,0,0,0,0,0
$GC,4301,-0.58,-145.9,383.9,-7.9,421,4306,0.05,1.00,0.00,0.000,6,0.077,0.041,2817,1910,3425,0,0,0,0,0,0
$GC,4636,-0.52,-145.9,418.7,-10.7,437,4640,0.10,0.57,0.00,0.000,4,0.181,0.057,2842,1542,3425,0,0,0,0,0,0
$GC,4703,-0.52,-145.9,425.1,-8.3,440,4707,0.00,0.55,0.00,0.000,6,0.000,0.044,2840,1922,3425,0,0,0,0,0,0
$GC,5035,-0.52,-145.9,455.1,-9.1,456,5038,0.00,1.25,0.00,0.000,4,0.000,0.057,2840,1136,3425,0,0,0,0,0,0
$GC,5129,-0.52,-145.9,463.9,-8.7,460,5134,0.00,1.20,0.00,0.000,6,0.000,0.038,2837,1911,3424,0,0,0,0,0,0
$GC,5456,-0.52,-145.9,492.6,-8.7,476,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1911,3425,0,0,0,0,0,0
$GC,5774,-0.52,-145.9,521.3,-9.2,488,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1911,3424,0,0,0,0,0,0
$GC,6080,-0.52,-145.9,549.3,-9.1,498,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1911,3424,0,0,0,0,0,0
$GC,6386,-0.52,-145.9,577.5,-9.2,508,6390,0.00,0.80,0.00,0.000,4,0.000,0.057,2836,1401,3424,0,0,0,0,0,0
$GC,6463,-0.52,-145.9,584.8,-8.7,510,6467,0.00,0.80,0.00,0.000,6,0.000,0.042,2834,1921,3423,0,0,0,0,0,0
$GC,6792,-0.52,-145.9,614.7,-9.1,521,6796,0.00,0.77,0.00,0.000,4,0.000,0.056,2834,1424,3423,0,0,0,0,0,0
$GC,6874,-0.52,-145.9,622.4,-9.1,523,6879,0.00,0.75,0.00,0.000,6,0.000,0.042,2832,1913,3423,0,0,0,0,0,0
$GC,7198,-0.52,-145.9,651.2,-9.0,534,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1914,3423,0,0,0,0,0,0
$GC,7504,-0.52,-145.9,679.6,-9.3,544,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1914,3422,0,0,0,0,0,0
$GC,7810,-0.52,-145.9,708.4,-9.5,554,7814,0.00,0.57,0.00,0.000,4,0.000,0.057,2832,1536,3421,0,0,0,0,0,0
$GC,7877,-0.52,-145.9,714.6,-9.1,556,7881,0.00,0.55,0.00,0.000,6,0.000,0.046,2830,1907,3421,0,0,0,0,0,0
$GC,8217,-0.52,-145.9,747.5,-9.8,567,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1907,3421,0,0,0,0,0,0
$GC,8523,-0.52,-145.9,778.6,-10.5,577,8527,0.00,0.38,0.00,0.000,4,0.000,0.061,2830,1655,3419,0,0,0,0,0,0
$GC,8591,-0.52,-145.9,785.4,-9.7,579,8594,0.00,0.38,0.00,0.000,6,0.000,0.049,2829,1922,3420,0,0,0,0,0,0
$GC,8930,-0.52,-145.9,820.5,-10.2,590,8934,0.05,0.65,0.00,0.000,4,0.231,0.055,2840,1508,3419,0,0,0,0,0,0
$GC,9002,-0.54,-145.9,827.0,-8.6,592,9006,0.00,0.62,0.00,0.000,6,0.000,0.043,2839,1918,3419,0,0,0,0,0,0
$GC,9336,-0.54,-145.9,856.2,-8.5,603,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1918,3418,0,0,0,0,0,0
$GC,9643,-0.54,-145.9,882.1,-8.5,613,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1918,3417,0,0,0,0,0,0
$GC,9949,-0.56,-145.9,908.1,-8.2,623,9953,0.00,0.45,0.00,0.000,4,0.000,0.058,2839,1618,3416,0,0,0,0,0,0
$GC,10017,-0.59,-145.9,913.7,-8.0,625,10021,0.00,0.43,0.00,0.000,6,0.000,0.049,2838,1910,3416,0,0,0,0,0,0
$GC,10357,-0.61,-145.9,942.9,-8.5,636,10359,0.08,0.00,0.00,0.000,6,0.138,0.000,2809,1914,3416,0,0,0,0,0,0
$GC,10663,-0.56,-145.9,975.6,-10.8,646,10668,0.08,0.68,0.00,0.000,4,0.190,0.055,2826,1483,3415,0,0,0,0,0,0
$GC,10745,-0.56,-145.9,984.1,-10.1,648,10750,0.00,0.68,0.00,0.000,6,0.000,0.042,2824,1926,3415,0,0,0,0,0,0
$STATE,10916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10916,begin apogee
$GC,10920,-0.19,0.0,1001.2,10.3,654,11045,0.40,0.00,121.88,1.446,6,0.140,0.000,2946,1637,2827,0,0,0,0,0,0
$STATE,11046,end apogee,CONTROL_FINISHED_OK
$STATE,11046,begin climb
$GC,11047,0.52,145.9,1007.7,0.0,658,11182,0.70,2.05,126.50,1.433,4,0.086,0.065,3173,516,2231,0,0,0,0,0,0
$GC,11272,0.37,171.1,1004.7,6.5,665,11302,0.12,1.88,23.25,1.328,6,0.167,0.040,3140,1644,2129,0,0,0,0,0,0
$GC,11637,0.31,206.0,983.1,6.2,677,11673,0.10,0.62,31.42,1.356,4,0.201,0.047,3116,2033,1986,0,0,0,0,0,0
$GC,11745,0.32,258.2,976.9,5.6,680,11795,0.00,0.62,46.97,1.369,6,0.000,0.057,3117,1658,1773,0,0,0,0,0,0
$GC,12131,0.38,313.6,954.7,5.5,693,12186,0.00,0.40,49.22,1.361,4,0.000,0.050,3117,1905,1547,0,0,0,0,0,0
$GC,12236,0.48,384.0,948.8,5.0,696,12307,0.15,0.43,64.80,1.353,6,0.086,0.062,3171,1649,1261,0,0,0,0,0,0
$GC,12625,0.52,384.0,918.3,7.6,709,12629,0.00,1.12,0.00,0.000,4,0.000,0.067,3172,972,1250,0,0,0,0,0,0
$GC,12680,0.56,402.2,914.3,6.8,710,12701,0.05,1.08,16.15,1.240,6,0.086,0.038,3197,1658,1186,0,0,0,0,0,0
$GC,13030,0.56,402.2,882.3,9.4,722,13034,0.00,0.52,0.00,0.000,4,0.000,0.066,3198,1335,1181,0,0,0,0,0,0
$GC,13084,0.56,402.2,877.2,9.0,723,13087,0.00,0.50,0.00,0.000,6,0.000,0.046,3198,1664,1181,0,0,0,0,0,0
$GC,13399,0.56,402.2,846.2,10.1,734,13402,0.00,0.77,0.00,0.000,4,0.000,0.067,3199,1185,1180,0,0,0,0,0,0
$GC,13453,0.56,402.2,840.6,9.8,735,13457,0.00,0.73,0.00,0.000,6,0.000,0.043,3199,1654,1179,0,0,0,0,0,0
$GC,13771,0.56,402.2,807.3,10.7,746,13775,0.00,0.68,0.00,0.000,4,0.000,0.067,3199,1237,1179,0,0,0,0,0,0
$GC,13838,0.56,402.2,800.3,10.2,748,13842,0.00,0.62,0.00,0.000,6,0.000,0.044,3199,1658,1179,0,0,0,0,0,0
$GC,14178,0.56,402.2,766.2,9.7,759,14182,0.00,0.77,0.00,0.000,4,0.000,0.067,3199,1175,1178,0,0,0,0,0,0
$GC,14238,0.56,402.2,760.2,10.5,760,14243,0.00,0.73,0.00,0.000,6,0.000,0.044,3199,1651,1179,0,0,0,0,0,0
$GC,14550,0.56,402.2,730.9,9.2,771,14554,0.00,0.85,0.00,0.000,4,0.000,0.067,3199,1125,1178,0,0,0,0,0,0
$GC,14610,0.56,402.2,725.3,9.3,772,14616,0.00,0.82,0.00,0.000,6,0.000,0.044,3199,1657,1178,0,0,0,0,0,0
$GC,14922,0.56,402.2,697.8,8.6,783,14923,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1658,1178,0,0,0,0,0,0
$GC,15229,0.56,402.2,671.6,8.7,793,15232,0.00,0.62,0.00,0.000,4,0.000,0.068,3199,1266,1178,0,0,0,0,0,0
$GC,15284,0.56,402.2,667.0,8.1,794,15288,0.00,0.57,0.00,0.000,6,0.000,0.047,3199,1654,1178,0,0,0,0,0,0
$GC,15601,0.56,402.2,640.0,8.6,805,15605,0.00,0.30,0.00,0.000,4,0.000,0.073,3199,1455,1178,0,0,0,0,0,0
$GC,15678,0.56,402.2,633.0,9.1,807,15680,0.00,0.30,0.00,0.000,6,0.000,0.055,3199,1654,1178,0,0,0,0,0,0
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$STATE,21779,end climb,SURFACE_DEPTH_REACHED
$STATE,21779,begin surface coast
$FINISH,1.4,1.026738
$STATE,21822,end surface coast,CONTROL_FINISHED_OK
$STATE,21822,begin surface
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$10V_AH,10.3,18.557
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.125,58.500,480.200,0.000,0.000,25.100,43.973,277.969,0.250,0.000,23.280,3242.861,14512.842,530.922,3926.459,138.333,33.381,1973.151,0.000,3521.645,0.000,2.833,0.000
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$MEM,354492
$DATA_FILE_SIZE,73622,1269
$CAP_FILE_SIZE,196014,0
$CFSIZE,2097086464,2082766848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071012,211723,-4320.930,-821.460,41,1.1,42,-21.3