version: 66.07.10.p01
glider: 574
mission: 4
dive: 77
start: 10 7 112 21 25 55
data:
$ID,574
$MISSION,4
$DIVE,77
$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,-5652.0732
$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,30
$R_STBD_OVSHOOT,50
$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,56
$GPS1,071012,211723,-4320.930,-821.460,41,1.1,42,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-73.2
$GPS2,071012,212501,-4320.907,-821.505,18,1.3,19,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.054,-0.228
$KALMAN_X,-48765.4,432.5,497.7,85917.5,-6588.4
$KALMAN_Y,-7352.1,-136.8,199.1,-46955.3,1192.1
$MHEAD_RNG_PITCHd_Wd,188.0,35418,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-65.95,0.000,2,0.000,0.000,67,1914,2799,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.0,-1.1,11,133,12.77,2.28,-16.60,0.000,4,0.283,0.071,2824,3303,3424,0,0,0,0,0,0
$GC,241,-0.54,-145.9,18.9,-9.1,35,248,0.00,2.25,0.00,0.000,6,0.000,0.055,2824,1920,3425,0,0,0,0,0,0
$GC,320,-0.47,-145.9,28.0,-12.1,48,328,0.12,0.68,0.00,0.000,4,0.166,0.067,2857,1500,3425,0,0,0,0,0,0
$GC,410,-0.47,-145.9,37.3,-9.7,63,415,0.00,0.62,0.00,0.000,6,0.000,0.047,2857,1901,3425,0,0,0,0,0,0
$GC,644,-0.47,-145.9,57.6,-8.2,104,651,0.00,0.32,0.00,0.000,4,0.000,0.068,2856,1691,3425,0,0,0,0,0,0
$GC,731,-0.47,-145.9,64.4,-7.9,119,736,0.00,0.32,0.00,0.000,6,0.000,0.053,2856,1922,3425,0,0,0,0,0,0
$GC,1076,-0.47,-145.9,92.6,-8.1,180,1083,0.00,0.93,0.00,0.000,4,0.000,0.063,2856,1351,3425,0,0,0,0,0,0
$GC,1168,-0.47,-145.9,100.6,-9.0,196,1171,0.00,0.85,0.00,0.000,6,0.000,0.044,2852,1904,3425,0,0,0,0,0,0
$GC,1500,-0.47,-145.9,130.2,-9.3,227,1503,0.00,0.55,0.00,0.000,4,0.000,0.063,2851,1551,3425,0,0,0,0,0,0
$GC,1579,-0.47,-145.9,137.8,-9.3,234,1582,0.00,0.55,0.00,0.000,6,0.000,0.045,2850,1922,3425,0,0,0,0,0,0
$GC,1910,-0.47,-145.9,169.9,-9.8,265,1914,0.00,0.65,0.00,0.000,4,0.000,0.061,2850,1507,3425,0,0,0,0,0,0
$GC,1989,-0.47,-145.9,177.9,-9.7,272,1993,0.00,0.60,0.00,0.000,6,0.000,0.045,2848,1908,3425,0,0,0,0,0,0
$GC,2321,-0.47,-145.9,211.5,-9.8,303,2324,0.00,0.65,0.00,0.000,4,0.000,0.062,2848,1494,3425,0,0,0,0,0,0
$GC,2393,-0.47,-145.9,219.2,-9.5,309,2398,0.00,0.65,0.00,0.000,6,0.000,0.044,2846,1917,3425,0,0,0,0,0,0
$GC,2727,-0.47,-145.9,252.8,-10.3,340,2731,0.00,0.85,0.00,0.000,4,0.000,0.060,2845,1385,3425,0,0,0,0,0,0
$GC,2810,-0.47,-145.9,261.4,-10.0,343,2817,0.05,0.82,0.00,0.000,6,0.223,0.043,2855,1915,3425,0,0,0,0,0,0
$GC,3128,-0.50,-145.9,289.4,-8.8,359,3132,0.00,0.55,0.00,0.000,4,0.000,0.063,2854,1553,3426,0,0,0,0,0,0
$GC,3200,-0.52,-145.9,295.9,-8.8,362,3204,0.00,0.55,0.00,0.000,6,0.000,0.044,2853,1919,3424,0,0,0,0,0,0
$GC,3527,-0.55,-145.9,323.2,-8.2,378,3531,0.00,0.98,0.00,0.000,4,0.000,0.061,2853,1313,3425,0,0,0,0,0,0
$GC,3618,-0.57,-145.9,330.5,-8.4,382,3622,0.03,0.90,0.00,0.000,6,0.106,0.043,2824,1902,3425,0,0,0,0,0,0
$GC,3950,-0.52,-145.9,361.9,-9.3,398,3954,0.08,0.62,0.00,0.000,4,0.188,0.060,2842,1515,3425,0,0,0,0,0,0
$GC,4032,-0.52,-145.9,368.8,-8.0,401,4038,0.00,0.62,0.00,0.000,6,0.000,0.044,2840,1923,3426,0,0,0,0,0,0
$GC,4350,-0.52,-145.9,393.1,-8.0,417,4353,0.00,0.62,0.00,0.000,4,0.000,0.060,2840,1522,3425,0,0,0,0,0,0
$GC,4421,-0.52,-145.9,399.1,-7.3,420,4425,0.00,0.60,0.00,0.000,6,0.000,0.044,2837,1914,3425,0,0,0,0,0,0
$GC,4748,-0.52,-145.9,424.0,-7.5,436,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1914,3425,0,0,0,0,0,0
$GC,5059,-0.52,-145.9,448.1,-8.2,451,5063,0.00,0.65,0.00,0.000,4,0.000,0.060,2837,1502,3425,0,0,0,0,0,0
$GC,5136,-0.52,-145.9,454.9,-8.3,454,5140,0.00,0.62,0.00,0.000,6,0.000,0.044,2834,1913,3425,0,0,0,0,0,0
$GC,5457,-0.52,-145.9,482.4,-8.6,470,5461,0.00,0.65,0.00,0.000,4,0.000,0.060,2834,1498,3425,0,0,0,0,0,0
$GC,5551,-0.52,-145.9,490.7,-8.4,474,5556,0.00,0.65,0.00,0.000,6,0.000,0.044,2832,1921,3425,0,0,0,0,0,0
$GC,5886,-0.52,-145.9,519.9,-9.0,487,5890,0.00,0.60,0.00,0.000,4,0.000,0.060,2832,1535,3425,0,0,0,0,0,0
$GC,5963,-0.52,-145.9,526.9,-8.6,489,5967,0.00,0.57,0.00,0.000,6,0.000,0.045,2830,1913,3425,0,0,0,0,0,0
$GC,6292,-0.52,-145.9,557.0,-9.3,500,6296,0.00,0.75,0.00,0.000,4,0.000,0.060,2830,1440,3424,0,0,0,0,0,0
$GC,6393,-0.52,-145.9,566.4,-8.8,503,6397,0.00,0.73,0.00,0.000,6,0.000,0.045,2827,1919,3424,0,0,0,0,0,0
$GC,6733,-0.50,-145.9,599.4,-9.5,514,6737,0.10,0.73,0.00,0.000,4,0.175,0.060,2852,1465,3424,0,0,0,0,0,0
$GC,6816,-0.54,-145.9,606.2,-8.2,516,6820,0.00,0.70,0.00,0.000,6,0.000,0.044,2851,1918,3424,0,0,0,0,0,0
$GC,7140,-0.57,-145.9,632.0,-8.2,527,7144,0.08,0.32,0.00,0.000,4,0.129,0.067,2818,1702,3423,0,0,0,0,0,0
$GC,7211,-0.52,-145.9,639.6,-11.5,529,7216,0.10,0.32,0.00,0.000,6,0.184,0.054,2841,1926,3423,0,0,0,0,0,0
$GC,7546,-0.52,-145.9,670.6,-9.3,540,7549,0.00,0.75,0.00,0.000,4,0.000,0.060,2842,1448,3422,0,0,0,0,0,0
$GC,7639,-0.52,-145.9,679.5,-9.3,542,7645,0.00,0.73,0.00,0.000,6,0.000,0.044,2839,1919,3422,0,0,0,0,0,0
$GC,7952,-0.52,-145.9,709.5,-9.8,553,7955,0.00,0.52,0.00,0.000,4,0.000,0.060,2839,1576,3422,0,0,0,0,0,0
$GC,8039,-0.52,-145.9,718.1,-10.0,555,8043,0.00,0.52,0.00,0.000,6,0.000,0.047,2837,1922,3422,0,0,0,0,0,0
$GC,8357,-0.52,-145.9,748.1,-9.4,566,8361,0.00,0.93,0.00,0.000,4,0.000,0.059,2837,1341,3421,0,0,0,0,0,0
$GC,8458,-0.52,-145.9,757.4,-8.5,569,8462,0.00,0.88,0.00,0.000,6,0.000,0.044,2833,1911,3421,0,0,0,0,0,0
$GC,8798,-0.52,-145.9,786.8,-8.3,580,8801,0.00,0.80,0.00,0.000,4,0.000,0.059,2833,1405,3420,0,0,0,0,0,0
$GC,8891,-0.52,-145.9,794.8,-8.3,582,8897,0.00,0.80,0.00,0.000,6,0.000,0.044,2830,1919,3420,0,0,0,0,0,0
$GC,9204,-0.52,-145.9,821.6,-8.6,593,9207,0.00,0.50,0.00,0.000,4,0.000,0.060,2830,1592,3419,0,0,0,0,0,0
$GC,9271,-0.52,-145.9,827.3,-8.2,595,9275,0.03,0.47,0.00,0.000,6,0.184,0.050,2837,1917,3419,0,0,0,0,0,0
$GC,9610,-0.52,-145.9,853.0,-7.3,606,9614,0.00,0.32,0.00,0.000,4,0.000,0.065,2838,1694,3417,0,0,0,0,0,0
$GC,9712,-0.52,-145.9,860.5,-6.7,609,9716,0.00,0.30,0.00,0.000,6,0.000,0.057,2837,1906,3417,0,0,0,0,0,0
$GC,10051,-0.52,-145.9,885.7,-7.4,620,10055,0.00,0.80,0.00,0.000,4,0.000,0.060,2837,1399,3416,0,0,0,0,0,0
$GC,10134,-0.52,-145.9,892.0,-6.6,622,10139,0.00,0.82,0.00,0.000,6,0.000,0.045,2834,1927,3416,0,0,0,0,0,0
$GC,10458,-0.52,-145.9,917.1,-8.2,633,10462,0.00,1.00,0.00,0.000,4,0.000,0.060,2834,1300,3416,0,0,0,0,0,0
$GC,10563,-0.52,-145.9,926.2,-9.5,636,10567,0.00,0.98,0.00,0.000,6,0.000,0.044,2830,1923,3416,0,0,0,0,0,0
$GC,10898,-0.52,-145.9,955.9,-9.0,647,10901,0.00,0.47,0.00,0.000,4,0.000,0.061,2830,1612,3415,0,0,0,0,0,0
$GC,10965,-0.52,-145.9,962.2,-8.6,649,10968,0.00,0.45,0.00,0.000,6,0.000,0.051,2829,1915,3416,0,0,0,0,0,0
$GC,11305,-0.52,-145.9,994.3,-9.5,660,11306,0.05,0.00,0.00,0.000,6,0.234,0.000,2839,1916,3415,0,0,0,0,0,0
$STATE,11396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11397,begin apogee
$GC,11400,-0.19,0.0,1002.3,8.8,663,11525,0.35,0.00,121.85,1.438,6,0.138,0.000,2946,1632,2827,0,0,0,0,0,0
$STATE,11526,end apogee,CONTROL_FINISHED_OK
$STATE,11526,begin climb
$GC,11527,0.52,145.9,1008.7,0.0,667,11660,0.70,0.65,126.70,1.433,4,0.093,0.067,3173,1277,2232,0,0,0,0,0,0
$GC,11687,0.36,222.7,1009.7,4.8,672,11763,0.17,0.65,70.03,1.395,6,0.182,0.046,3134,1661,1918,0,0,0,0,0,0
$GC,12076,0.36,244.2,985.5,6.7,685,12100,0.00,1.23,19.65,1.294,4,0.000,0.047,3134,2397,1830,0,0,0,0,0,0
$GC,12174,0.37,256.6,978.9,7.0,688,12190,0.00,1.23,11.95,1.220,6,0.000,0.056,3134,1661,1781,0,0,0,0,0,0
$GC,12509,0.39,264.8,955.4,7.1,699,12519,0.00,0.00,8.20,1.112,6,0.000,0.000,3134,1661,1747,0,0,0,0,0,0
$GC,12843,0.42,273.9,931.3,7.1,710,12857,0.00,0.50,9.60,1.151,4,0.000,0.051,3134,1985,1710,0,0,0,0,0,0
$GC,12919,0.45,273.9,925.7,7.6,712,12923,0.08,0.57,0.00,0.000,6,0.125,0.061,3163,1640,1709,0,0,0,0,0,0
$GC,13248,0.42,273.9,896.8,9.0,723,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1640,1708,0,0,0,0,0,0
$GC,13554,0.39,273.9,869.4,8.7,733,13556,0.10,0.00,0.00,0.000,6,0.189,0.000,3141,1639,1708,0,0,0,0,0,0
$GC,13861,0.42,274.4,846.8,7.4,743,13862,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1639,1708,0,0,0,0,0,0
$GC,14167,0.44,274.4,823.9,7.6,753,14170,0.00,0.28,0.00,0.000,4,0.000,0.059,3141,1839,1708,0,0,0,0,0,0
$GC,14221,0.46,274.4,819.5,8.0,754,14226,0.08,0.30,0.00,0.000,6,0.125,0.074,3171,1650,1708,0,0,0,0,0,0
$GC,14539,0.42,274.4,789.1,9.6,765,14544,0.10,0.38,0.00,0.000,4,0.188,0.055,3148,1906,1708,0,0,0,0,0,0
$GC,14598,0.42,274.4,783.9,8.0,766,14604,0.00,0.43,0.00,0.000,6,0.000,0.067,3149,1641,1708,0,0,0,0,0,0
$GC,14911,0.42,274.4,758.8,8.0,777,14914,0.00,0.40,0.00,0.000,4,0.000,0.053,3148,1927,1708,0,0,0,0,0,0
$GC,14959,0.42,290.0,755.0,6.9,778,14980,0.00,0.45,15.90,1.181,6,0.000,0.067,3148,1646,1643,0,0,0,0,0,0
$GC,15316,0.44,290.0,727.1,7.7,790,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1646,1641,0,0,0,0,0,0
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$STATE,24004,end climb,SURFACE_DEPTH_REACHED
$STATE,24004,begin surface coast
$FINISH,1.2,1.013357
$STATE,24059,end surface coast,CONTROL_FINISHED_OK
$STATE,24059,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.2,18.717
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$FG_AHR_10Vo,0.000
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$MEM,354544
$DATA_FILE_SIZE,83482,1391
$CAP_FILE_SIZE,212128,0
$CFSIZE,2097086464,2082603008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081012,040922,-4324.803,-822.245,29,1.1,41,-21.3