version: 66.07.10.p01
glider: 574
mission: 4
dive: 83
start: 10 9 112 13 38 35
data:
$ID,574
$MISSION,4
$DIVE,83
$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,-5671.3936
$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,37
$R_STBD_OVSHOOT,55
$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,62
$GPS1,091012,132605,-4336.961,-815.963,41,0.8,42,-21.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-74.5
$GPS2,091012,133741,-4336.944,-815.974,20,1.3,22,-21.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.165,0.167
$KALMAN_X,-57859.4,62.0,190.6,103198.9,-2540.3
$KALMAN_Y,-5481.7,211.0,-721.4,-77961.8,2740.6
$MHEAD_RNG_PITCHd_Wd,65.9,137892,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.72,0.000,2,0.000,0.000,66,1928,2833,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.3,-1.8,9,116,12.65,2.33,-14.65,0.000,4,0.278,0.078,2833,518,3422,0,0,0,0,0,0
$GC,241,-0.50,-145.9,21.3,-10.8,35,249,0.05,2.17,0.00,0.000,6,0.154,0.038,2845,1890,3423,0,0,0,0,0,0
$GC,322,-0.50,-145.9,29.3,-9.8,48,329,0.00,0.45,0.00,0.000,4,0.000,0.049,2844,2211,3423,0,0,0,0,0,0
$GC,376,-0.50,-145.9,34.6,-9.7,57,381,0.00,0.45,0.00,0.000,6,0.000,0.054,2844,1917,3423,0,0,0,0,0,0
$GC,611,-0.50,-145.9,57.6,-9.2,98,618,0.00,0.32,0.00,0.000,4,0.000,0.066,2844,1690,3423,0,0,0,0,0,0
$GC,686,-0.50,-145.9,64.7,-9.4,111,692,0.00,0.35,0.00,0.000,6,0.000,0.050,2844,1936,3423,0,0,0,0,0,0
$GC,1029,-0.50,-145.9,97.3,-10.5,172,1034,0.00,1.58,0.00,0.000,4,0.000,0.060,2844,968,3423,0,0,0,0,0,0
$GC,1097,-0.50,-145.9,103.9,-9.4,180,1101,0.00,1.45,0.00,0.000,6,0.000,0.039,2838,1898,3423,0,0,0,0,0,0
$GC,1429,-0.48,-145.9,135.8,-9.8,201,1431,0.08,0.00,0.00,0.000,6,0.195,0.000,2856,1898,3423,0,0,0,0,0,0
$GC,1741,-0.48,-145.9,163.7,-9.3,221,1745,0.00,0.32,0.00,0.000,4,0.000,0.062,2856,1679,3423,0,0,0,0,0,0
$GC,1796,-0.50,-145.9,169.2,-9.3,224,1800,0.00,0.38,0.00,0.000,6,0.000,0.047,2856,1938,3423,0,0,0,0,0,0
$GC,2123,-0.52,-145.9,196.5,-8.6,245,2127,0.00,1.25,0.00,0.000,4,0.000,0.057,2856,1156,3423,0,0,0,0,0,0
$GC,2194,-0.54,-145.9,202.4,-8.1,249,2197,0.00,1.15,0.00,0.000,6,0.000,0.039,2852,1907,3423,0,0,0,0,0,0
$GC,2523,-0.54,-145.9,233.2,-8.9,270,2526,0.00,0.73,0.00,0.000,4,0.000,0.055,2852,1442,3423,0,0,0,0,0,0
$GC,2583,-0.54,-145.9,238.7,-9.0,273,2589,0.00,0.73,0.00,0.000,6,0.000,0.040,2850,1920,3423,0,0,0,0,0,0
$GC,2902,-0.54,-145.9,267.8,-9.6,291,2906,0.00,0.88,0.00,0.000,4,0.000,0.055,2850,1367,3423,0,0,0,0,0,0
$GC,2962,-0.54,-145.9,274.2,-9.8,293,2968,0.00,0.85,0.00,0.000,6,0.000,0.039,2848,1920,3423,0,0,0,0,0,0
$GC,3280,-0.54,-145.9,304.2,-9.9,309,3284,0.00,0.93,0.00,0.000,4,0.000,0.054,2849,1334,3423,0,0,0,0,0,0
$GC,3340,-0.54,-145.9,310.5,-10.4,311,3346,0.00,0.90,0.00,0.000,6,0.000,0.037,2846,1923,3423,0,0,0,0,0,0
$GC,3658,-0.54,-145.9,341.9,-10.1,327,3661,0.00,0.65,0.00,0.000,4,0.000,0.054,2846,1500,3423,0,0,0,0,0,0
$GC,3706,-0.54,-145.9,347.4,-9.7,329,3711,0.00,0.62,0.00,0.000,6,0.000,0.040,2843,1916,3424,0,0,0,0,0,0
$GC,4035,-0.54,-145.9,380.1,-9.9,345,4039,0.00,1.48,0.00,0.000,4,0.000,0.057,2843,991,3424,0,0,0,0,0,0
$GC,4107,-0.54,-145.9,387.5,-9.0,348,4112,0.00,1.42,0.00,0.000,6,0.000,0.036,2838,1913,3424,0,0,0,0,0,0
$GC,4434,-0.54,-145.9,417.4,-8.8,364,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1913,3424,0,0,0,0,0,0
$GC,4746,-0.54,-145.9,444.3,-8.5,379,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1912,3424,0,0,0,0,0,0
$GC,5053,-0.54,-145.9,470.7,-8.7,394,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1913,3424,0,0,0,0,0,0
$GC,5364,-0.54,-145.9,497.8,-8.6,409,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1913,3423,0,0,0,0,0,0
$GC,5679,-0.54,-145.9,524.5,-8.5,420,5682,0.00,0.88,0.00,0.000,4,0.000,0.055,2838,1352,3424,0,0,0,0,0,0
$GC,5738,-0.54,-145.9,529.7,-8.1,421,5744,0.00,0.88,0.00,0.000,6,0.000,0.037,2835,1926,3424,0,0,0,0,0,0
$GC,6051,-0.54,-145.9,559.1,-9.7,432,6055,0.00,1.33,0.00,0.000,4,0.000,0.057,2836,1095,3423,0,0,0,0,0,0
$GC,6118,-0.54,-145.9,565.9,-10.4,434,6122,0.00,1.23,0.00,0.000,6,0.000,0.035,2830,1903,3423,0,0,0,0,0,0
$GC,6459,-0.52,-145.9,601.4,-10.8,445,6462,0.00,0.45,0.00,0.000,4,0.000,0.056,2830,1602,3422,0,0,0,0,0,0
$GC,6513,-0.52,-145.9,607.5,-11.1,446,6517,0.00,0.47,0.00,0.000,6,0.000,0.043,2828,1927,3422,0,0,0,0,0,0
$GC,6831,-0.50,-145.9,641.1,-10.7,457,6835,0.08,0.77,0.00,0.000,4,0.203,0.054,2846,1438,3421,0,0,0,0,0,0
$GC,6885,-0.52,-145.9,646.6,-9.5,458,6889,0.00,0.73,0.00,0.000,6,0.000,0.037,2843,1921,3421,0,0,0,0,0,0
$GC,7203,-0.52,-145.9,676.9,-9.8,469,7207,0.00,0.57,0.00,0.000,4,0.000,0.053,2844,1534,3421,0,0,0,0,0,0
$GC,7263,-0.52,-145.9,682.9,-9.5,470,7268,0.00,0.57,0.00,0.000,6,0.000,0.041,2842,1922,3420,0,0,0,0,0,0
$GC,7575,-0.52,-145.9,711.4,-9.0,481,7579,0.00,1.00,0.00,0.000,4,0.000,0.053,2842,1284,3420,0,0,0,0,0,0
$GC,7651,-0.52,-145.9,718.5,-8.9,483,7656,0.00,0.95,0.00,0.000,6,0.000,0.035,2838,1910,3420,0,0,0,0,0,0
$GC,7980,-0.52,-145.9,745.4,-7.9,494,7984,0.00,0.70,0.00,0.000,4,0.000,0.052,2838,1456,3418,0,0,0,0,0,0
$GC,8040,-0.52,-145.9,750.6,-8.7,495,8046,0.00,0.70,0.00,0.000,6,0.000,0.038,2836,1920,3418,0,0,0,0,0,0
$GC,8353,-0.52,-145.9,776.8,-8.6,506,8356,0.00,1.27,0.00,0.000,4,0.000,0.053,2837,1113,3418,0,0,0,0,0,0
$GC,8424,-0.52,-145.9,783.2,-8.2,508,8429,0.00,1.23,0.00,0.000,6,0.000,0.036,2832,1908,3417,0,0,0,0,0,0
$GC,8759,-0.52,-145.9,813.5,-9.0,519,8763,0.00,0.30,0.00,0.000,4,0.000,0.059,2832,1697,3417,0,0,0,0,0,0
$GC,8819,-0.52,-145.9,819.2,-9.1,520,8821,0.00,0.32,0.00,0.000,6,0.000,0.049,2830,1928,3416,0,0,0,0,0,0
$GC,9127,-0.52,-145.9,848.2,-9.4,530,9131,0.00,1.60,0.00,0.000,4,0.000,0.054,2830,924,3416,0,0,0,0,0,0
$GC,9204,-0.52,-145.9,855.7,-9.0,532,9209,0.03,1.52,0.00,0.000,6,0.181,0.035,2835,1908,3415,0,0,0,0,0,0
$GC,9534,-0.52,-145.9,884.5,-8.5,543,9537,0.00,0.30,0.00,0.000,4,0.000,0.059,2836,1696,3415,0,0,0,0,0,0
$GC,9576,-0.52,-145.9,888.4,-8.7,544,9579,0.00,0.32,0.00,0.000,6,0.000,0.050,2835,1926,3415,0,0,0,0,0,0
$GC,9902,-0.52,-145.9,915.8,-8.4,555,9905,0.00,1.58,0.00,0.000,4,0.000,0.055,2835,939,3414,0,0,0,0,0,0
$GC,9973,-0.52,-145.9,921.8,-8.1,557,9978,0.00,1.50,0.00,0.000,6,0.000,0.035,2830,1906,3414,0,0,0,0,0,0
$GC,10308,-0.52,-145.9,948.4,-7.8,568,10312,0.00,0.80,0.00,0.000,4,0.000,0.052,2830,1391,3413,0,0,0,0,0,0
$GC,10380,-0.52,-145.9,953.9,-6.7,570,10385,0.00,0.82,0.00,0.000,6,0.000,0.039,2828,1931,3413,0,0,0,0,0,0
$GC,10715,-0.52,-145.9,978.8,-7.5,581,10719,0.00,1.52,0.00,0.000,4,0.000,0.054,2828,973,3413,0,0,0,0,0,0
$GC,10786,-0.52,-145.9,984.1,-7.2,583,10792,0.05,1.42,0.00,0.000,6,0.155,0.036,2840,1904,3413,0,0,0,0,0,0
$STATE,11060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11060,begin apogee
$GC,11064,-0.19,0.0,1000.1,5.9,592,11188,0.35,0.00,121.55,1.450,6,0.134,0.000,2949,1643,2827,0,0,0,0,0,0
$STATE,11189,end apogee,CONTROL_FINISHED_OK
$STATE,11189,begin climb
$GC,11190,0.52,145.9,1002.8,0.0,596,11326,0.70,2.53,127.03,1.450,4,0.090,0.067,3181,264,2231,0,0,0,0,0,0
$GC,11448,0.35,145.9,989.4,11.0,604,11454,0.17,2.28,0.00,0.000,6,0.171,0.037,3133,1646,2228,0,0,0,0,0,0
$GC,11784,0.29,159.9,965.1,6.9,615,11801,0.10,0.68,12.32,1.238,4,0.205,0.044,3110,2077,2175,0,0,0,0,0,0
$GC,11900,0.29,201.5,957.9,6.0,618,11943,0.00,0.70,37.58,1.360,6,0.000,0.053,3112,1652,2006,0,0,0,0,0,0
$GC,12250,0.32,237.9,936.2,6.2,630,12285,0.00,0.38,32.42,1.336,4,0.000,0.049,3111,1887,1855,0,0,0,0,0,0
$GC,12335,0.37,263.4,930.5,6.5,632,12363,0.05,0.40,23.58,1.310,6,0.159,0.060,3135,1648,1753,0,0,0,0,0,0
$GC,12676,0.40,289.5,908.1,6.5,644,12707,0.00,0.77,24.00,1.296,4,0.000,0.063,3135,1192,1646,0,0,0,0,0,0
$GC,12762,0.44,315.8,902.5,6.5,646,12792,0.00,0.73,24.67,1.306,6,0.000,0.040,3136,1660,1539,0,0,0,0,0,0
$GC,13111,0.50,351.0,880.9,6.2,658,13148,0.12,0.77,32.38,1.304,4,0.097,0.063,3183,1220,1396,0,0,0,0,0,0
$GC,13208,0.50,351.0,872.3,9.9,661,13213,0.00,0.70,0.00,0.000,6,0.000,0.040,3183,1658,1392,0,0,0,0,0,0
$GC,13543,0.50,351.0,841.4,9.3,672,13547,0.00,0.30,0.00,0.000,4,0.000,0.067,3183,1465,1389,0,0,0,0,0,0
$GC,13614,0.50,351.0,834.5,9.5,674,13618,0.00,0.30,0.00,0.000,6,0.000,0.053,3183,1668,1388,0,0,0,0,0,0
$GC,13949,0.50,351.0,803.0,9.4,685,13953,0.00,0.52,0.00,0.000,4,0.000,0.066,3183,1333,1388,0,0,0,0,0,0
$GC,13997,0.50,351.0,798.4,9.4,686,14002,0.00,0.50,0.00,0.000,6,0.000,0.045,3183,1662,1387,0,0,0,0,0,0
$GC,14321,0.50,351.0,768.5,9.3,697,14325,0.00,0.38,0.00,0.000,4,0.000,0.070,3183,1415,1387,0,0,0,0,0,0
$GC,14403,0.50,351.0,760.8,8.7,699,14405,0.00,0.35,0.00,0.000,6,0.000,0.050,3183,1648,1387,0,0,0,0,0,0
$GC,14722,0.50,351.0,731.1,9.3,710,14726,0.00,0.55,0.00,0.000,4,0.000,0.066,3184,1300,1387,0,0,0,0,0,0
$GC,14782,0.50,351.0,725.5,9.3,711,14788,0.00,0.55,0.00,0.000,6,0.000,0.045,3184,1666,1386,0,0,0,0,0,0
$GC,15094,0.50,351.0,695.8,9.7,722,15098,0.00,0.43,0.00,0.000,4,0.000,0.067,3185,1387,1386,0,0,0,0,0,0
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$STATE,22530,end climb,SURFACE_DEPTH_REACHED
$STATE,22530,begin surface coast
$FINISH,1.3,1.026738
$STATE,22549,end surface coast,CONTROL_FINISHED_OK
$STATE,22550,begin surface
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$TCM_TEMP,12.90
$XPDR_PINGS,0
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$10V_AH,10.2,19.631
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354608
$DATA_FILE_SIZE,73386,1217
$CAP_FILE_SIZE,197805,0
$CFSIZE,2097086464,2081816576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,091012,195723,-4334.211,-813.105,70,0.8,71,-21.2