version: 66.07.10.p01
glider: 574
mission: 4
dive: 82
start: 10 9 112 6 42 27
data:
$ID,574
$MISSION,4
$DIVE,82
$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,-5668.165
$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,38
$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,61
$GPS1,091012,063259,-4333.761,-815.446,68,2.0,69,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-69.5
$GPS2,091012,064133,-4333.722,-815.411,18,2.3,37,-21.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.029,-0.233
$KALMAN_X,-57114.7,355.2,628.2,102485.7,-4759.7
$KALMAN_Y,-6648.4,-254.4,564.1,-71641.1,-1143.2
$MHEAD_RNG_PITCHd_Wd,194.1,13153,-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,-60.10,0.000,2,0.000,0.000,66,1904,2803,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.2,-1.8,10,121,12.48,0.40,-15.30,0.000,4,0.275,0.148,2836,1659,3424,0,0,0,0,0,0
$GC,188,-0.44,-145.9,15.9,-13.0,26,196,0.08,0.38,0.00,0.000,6,0.138,0.050,2862,1919,3425,0,0,0,0,0,0
$GC,268,-0.44,-145.9,23.6,-9.4,39,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1919,3425,0,0,0,0,0,0
$GC,345,-0.47,-145.9,31.9,-10.7,52,352,0.00,0.80,0.00,0.000,4,0.000,0.061,2862,1418,3425,0,0,0,0,0,0
$GC,450,-0.49,-145.9,39.4,-6.3,70,457,0.00,0.75,0.00,0.000,6,0.000,0.043,2861,1907,3425,0,0,0,0,0,0
$GC,689,-0.52,-145.9,54.1,-7.6,111,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1907,3425,0,0,0,0,0,0
$GC,923,-0.54,-145.9,72.8,-7.0,152,929,0.08,0.98,0.00,0.000,4,0.129,0.060,2826,1309,3425,0,0,0,0,0,0
$GC,1015,-0.48,-145.9,81.5,-9.3,168,1022,0.08,0.93,0.00,0.000,6,0.151,0.042,2848,1908,3425,0,0,0,0,0,0
$GC,1355,-0.48,-145.9,114.6,-9.5,215,1359,0.00,0.52,0.00,0.000,4,0.000,0.059,2848,1570,3425,0,0,0,0,0,0
$GC,1457,-0.48,-145.9,123.4,-9.1,224,1461,0.00,0.52,0.00,0.000,6,0.000,0.044,2847,1930,3425,0,0,0,0,0,0
$GC,1789,-0.48,-145.9,152.8,-9.1,255,1793,0.00,1.52,0.00,0.000,4,0.000,0.060,2848,983,3425,0,0,0,0,0,0
$GC,1891,-0.48,-145.9,162.3,-9.2,264,1895,0.00,1.42,0.00,0.000,6,0.000,0.041,2842,1898,3425,0,0,0,0,0,0
$GC,2222,-0.48,-145.9,194.4,-9.6,295,2227,0.03,0.40,0.00,0.000,4,0.272,0.060,2853,1640,3425,0,0,0,0,0,0
$GC,2301,-0.48,-145.9,201.5,-8.5,302,2305,0.00,0.40,0.00,0.000,6,0.000,0.047,2852,1924,3424,0,0,0,0,0,0
$GC,2633,-0.48,-145.9,228.6,-8.0,333,2636,0.00,1.12,0.00,0.000,4,0.000,0.059,2852,1221,3425,0,0,0,0,0,0
$GC,2725,-0.48,-145.9,236.2,-8.2,341,2728,0.00,1.05,0.00,0.000,6,0.000,0.041,2850,1907,3425,0,0,0,0,0,0
$GC,3063,-0.48,-145.9,264.6,-8.5,365,3066,0.00,0.45,0.00,0.000,4,0.000,0.058,2850,1603,3425,0,0,0,0,0,0
$GC,3140,-0.48,-145.9,271.4,-8.3,368,3144,0.00,0.47,0.00,0.000,6,0.000,0.043,2849,1927,3425,0,0,0,0,0,0
$GC,3461,-0.48,-145.9,298.6,-8.7,384,3464,0.00,0.85,0.00,0.000,4,0.000,0.056,2849,1386,3425,0,0,0,0,0,0
$GC,3543,-0.48,-145.9,306.1,-9.3,387,3549,0.00,0.80,0.00,0.000,6,0.000,0.039,2846,1910,3425,0,0,0,0,0,0
$GC,3861,-0.48,-145.9,335.0,-9.2,403,3864,0.00,0.45,0.00,0.000,4,0.000,0.057,2846,1609,3425,0,0,0,0,0,0
$GC,3928,-0.48,-145.9,341.5,-8.9,406,3932,0.00,0.43,0.00,0.000,6,0.000,0.045,2844,1913,3425,0,0,0,0,0,0
$GC,4260,-0.48,-145.9,373.0,-9.6,422,4263,0.00,0.47,0.00,0.000,4,0.000,0.057,2844,1593,3425,0,0,0,0,0,0
$GC,4329,-0.48,-145.9,379.6,-9.5,425,4333,0.00,0.45,0.00,0.000,6,0.000,0.044,2843,1910,3425,0,0,0,0,0,0
$GC,4663,-0.48,-145.9,413.2,-10.4,441,4667,0.00,0.98,0.00,0.000,4,0.000,0.056,2843,1294,3426,0,0,0,0,0,0
$GC,4745,-0.48,-145.9,422.4,-10.1,444,4754,0.08,0.95,0.00,0.000,6,0.184,0.038,2857,1913,3426,0,0,0,0,0,0
$GC,5062,-0.52,-145.9,451.0,-8.8,460,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1912,3426,0,0,0,0,0,0
$GC,5373,-0.56,-145.9,477.4,-8.0,475,5377,0.10,0.45,0.00,0.000,4,0.109,0.057,2815,1614,3426,0,0,0,0,0,0
$GC,5478,-0.50,-145.9,488.7,-11.3,479,5484,0.12,0.45,0.00,0.000,6,0.161,0.044,2847,1922,3426,0,0,0,0,0,0
$GC,5791,-0.50,-145.9,516.8,-8.5,492,5795,0.00,1.12,0.00,0.000,4,0.000,0.057,2847,1211,3426,0,0,0,0,0,0
$GC,5892,-0.50,-145.9,525.2,-7.8,495,5896,0.00,1.05,0.00,0.000,6,0.000,0.038,2844,1901,3426,0,0,0,0,0,0
$GC,6232,-0.50,-145.9,552.7,-7.8,506,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1901,3426,0,0,0,0,0,0
$GC,6538,-0.50,-145.9,576.5,-8.0,516,6542,0.00,0.75,0.00,0.000,4,0.000,0.055,2844,1420,3425,0,0,0,0,0,0
$GC,6626,-0.50,-145.9,584.0,-9.1,518,6631,0.00,0.77,0.00,0.000,6,0.000,0.039,2841,1929,3425,0,0,0,0,0,0
$GC,6944,-0.50,-145.9,609.1,-7.7,529,6947,0.00,0.57,0.00,0.000,4,0.000,0.056,2840,1549,3425,0,0,0,0,0,0
$GC,7031,-0.50,-145.9,616.5,-8.5,531,7036,0.00,0.55,0.00,0.000,6,0.000,0.042,2838,1916,3425,0,0,0,0,0,0
$GC,7349,-0.50,-145.9,644.7,-9.3,542,7353,0.00,0.38,0.00,0.000,4,0.000,0.057,2838,1660,3424,0,0,0,0,0,0
$GC,7443,-0.50,-145.9,653.5,-9.9,544,7445,0.00,0.38,0.00,0.000,6,0.000,0.048,2838,1917,3424,0,0,0,0,0,0
$GC,7751,-0.50,-145.9,681.6,-9.2,554,7755,0.00,0.57,0.00,0.000,4,0.000,0.055,2838,1539,3424,0,0,0,0,0,0
$GC,7838,-0.50,-145.9,690.0,-9.8,556,7842,0.00,0.57,0.00,0.000,6,0.000,0.043,2836,1922,3423,0,0,0,0,0,0
$GC,8156,-0.50,-145.9,721.5,-10.3,567,8160,0.00,0.57,0.00,0.000,4,0.000,0.054,2837,1540,3422,0,0,0,0,0,0
$GC,8243,-0.50,-145.9,731.2,-11.4,569,8248,0.00,0.57,0.00,0.000,6,0.000,0.042,2836,1923,3422,0,0,0,0,0,0
$GC,8561,-0.50,-145.9,767.7,-11.4,580,8565,0.00,0.88,0.00,0.000,4,0.000,0.054,2835,1364,3422,0,0,0,0,0,0
$GC,8662,-0.50,-145.9,778.8,-10.8,583,8666,0.03,0.82,0.00,0.000,6,0.184,0.039,2843,1917,3422,0,0,0,0,0,0
$GC,9002,-0.50,-145.9,810.3,-9.0,594,9006,0.00,0.68,0.00,0.000,4,0.000,0.054,2843,1477,3421,0,0,0,0,0,0
$GC,9090,-0.50,-145.9,818.4,-9.6,596,9095,0.00,0.68,0.00,0.000,6,0.000,0.039,2841,1927,3421,0,0,0,0,0,0
$GC,9408,-0.50,-145.9,845.0,-8.0,607,9411,0.00,1.50,0.00,0.000,4,0.000,0.055,2841,987,3421,0,0,0,0,0,0
$GC,9510,-0.52,-145.9,852.8,-7.1,610,9514,0.00,1.40,0.00,0.000,6,0.000,0.037,2837,1899,3420,0,0,0,0,0,0
$GC,9850,-0.52,-145.9,877.6,-7.3,621,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1899,3419,0,0,0,0,0,0
$GC,10156,-0.52,-145.9,899.9,-7.5,631,10159,0.00,0.32,0.00,0.000,4,0.000,0.060,2837,1670,3418,0,0,0,0,0,0
$GC,10238,-0.52,-145.9,906.2,-7.8,633,10242,0.00,0.38,0.00,0.000,6,0.000,0.047,2836,1931,3418,0,0,0,0,0,0
$GC,10561,-0.52,-145.9,930.1,-7.5,644,10565,0.00,0.95,0.00,0.000,4,0.000,0.052,2836,1323,3417,0,0,0,0,0,0
$GC,10666,-0.52,-145.9,938.0,-7.4,647,10671,0.00,0.90,0.00,0.000,6,0.000,0.038,2835,1910,3417,0,0,0,0,0,0
$GC,11002,-0.52,-145.9,963.2,-7.7,658,11005,0.00,1.05,0.00,0.000,4,0.000,0.053,2835,1243,3417,0,0,0,0,0,0
$GC,11106,-0.52,-145.9,971.8,-7.8,661,11111,0.00,1.02,0.00,0.000,6,0.000,0.037,2831,1914,3416,0,0,0,0,0,0
$STATE,11442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11442,begin apogee
$GC,11446,-0.19,0.0,1000.7,8.9,672,11571,0.38,0.00,122.38,1.454,6,0.138,0.000,2946,1637,2826,0,0,0,0,0,0
$STATE,11572,end apogee,CONTROL_FINISHED_OK
$STATE,11572,begin climb
$GC,11573,0.52,145.9,1006.4,0.0,676,11707,0.73,1.30,127.20,1.434,4,0.090,0.060,3177,910,2232,0,0,0,0,0,0
$GC,11774,0.36,150.6,1005.1,7.2,682,11784,0.15,1.20,5.05,0.922,6,0.168,0.034,3137,1651,2213,0,0,0,0,0,0
$GC,12120,0.30,227.9,988.3,4.8,694,12192,0.10,0.00,69.53,1.388,6,0.200,0.000,3113,1652,1896,0,0,0,0,0,0
$GC,12486,0.35,287.3,969.8,5.4,706,12544,0.00,0.00,52.88,1.369,6,0.000,0.000,3113,1652,1655,0,0,0,0,0,0
$GC,12851,0.57,299.9,946.6,7.0,718,12868,0.25,2.35,11.18,1.192,4,0.083,0.064,3200,249,1604,0,0,0,0,0,0
$GC,12930,0.50,299.9,939.0,10.7,720,12934,0.10,2.20,0.00,0.000,6,0.181,0.037,3178,1643,1603,0,0,0,0,0,0
$GC,13253,0.46,299.9,908.1,9.5,731,13257,0.05,0.52,0.00,0.000,4,0.247,0.044,3168,2009,1601,0,0,0,0,0,0
$GC,13312,0.46,299.9,902.6,8.7,732,13318,0.00,0.57,0.00,0.000,6,0.000,0.056,3168,1653,1601,0,0,0,0,0,0
$GC,13624,0.46,299.9,874.0,9.5,743,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1653,1600,0,0,0,0,0,0
$GC,13931,0.44,299.9,844.3,9.9,753,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1653,1600,0,0,0,0,0,0
$GC,14237,0.42,299.9,814.2,9.9,763,14239,0.08,0.00,0.00,0.000,6,0.207,0.000,3153,1653,1599,0,0,0,0,0,0
$GC,14543,0.42,299.9,785.5,9.4,773,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1653,1599,0,0,0,0,0,0
$GC,14849,0.42,299.9,757.5,8.8,783,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1653,1599,0,0,0,0,0,0
$GC,15155,0.42,299.9,732.7,8.0,793,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1653,1599,0,0,0,0,0,0
$GC,15462,0.42,299.9,709.4,7.5,803,15465,0.00,0.43,0.00,0.000,4,0.000,0.063,3154,1371,1600,0,0,0,0,0,0
$GC,15517,0.42,308.9,705.2,7.1,804,15531,0.00,0.43,8.62,1.038,6,0.000,0.046,3154,1668,1567,0,0,0,0,0,0
$GC,15867,0.44,308.9,677.6,8.2,816,15870,0.00,0.40,0.00,0.000,4,0.000,0.064,3155,1400,1566,0,0,0,0,0,0
$GC,15916,0.47,308.9,673.5,8.4,817,15919,0.00,0.38,0.00,0.000,6,0.000,0.047,3155,1657,1566,0,0,0,0,0,0
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$STATE,24026,end climb,SURFACE_DEPTH_REACHED
$STATE,24026,begin surface coast
$FINISH,1.3,1.010702
$STATE,24068,end surface coast,CONTROL_FINISHED_OK
$STATE,24069,begin surface
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$TT8_MAMPS,0.026964
$HUMID,44.29
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$XPDR_PINGS,0
$24V_AH,23.3,21.962
$10V_AH,10.3,19.487
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354556
$DATA_FILE_SIZE,83390,1409
$CAP_FILE_SIZE,202066,0
$CFSIZE,2097086464,2081947648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091012,132605,-4336.961,-815.963,41,0.8,42,-21.2