version: 66.07.10.p01
glider: 574
mission: 4
dive: 84
start: 10 9 112 20 6 18
data:
$ID,574
$MISSION,4
$DIVE,84
$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,-5674.7554
$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,29
$R_STBD_OVSHOOT,64
$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,63
$GPS1,091012,195723,-4334.211,-813.105,70,0.8,71,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-74.9
$GPS2,091012,200524,-4334.211,-813.056,17,1.0,18,-21.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.149,0.181
$KALMAN_X,-58581.9,-100.6,632.6,107606.1,-2994.6
$KALMAN_Y,-5750.5,-151.2,425.3,-73405.0,-651.8
$MHEAD_RNG_PITCHd_Wd,60.7,131999,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.17,0.000,2,0.000,0.000,67,1926,2715,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.7,9,121,12.23,2.33,-19.67,0.000,4,0.267,0.078,2835,511,3419,0,0,0,0,0,0
$GC,228,-0.52,-145.9,17.8,-10.0,33,235,0.00,2.17,0.00,0.000,6,0.000,0.040,2829,1880,3420,0,0,0,0,0,0
$GC,308,-0.46,-145.9,25.9,-10.7,46,316,0.12,0.50,0.00,0.000,4,0.164,0.049,2860,2225,3420,0,0,0,0,0,0
$GC,347,-0.46,-145.9,29.6,-9.2,52,354,0.00,0.47,0.00,0.000,6,0.000,0.055,2860,1914,3420,0,0,0,0,0,0
$GC,425,-0.49,-145.9,36.3,-8.4,65,430,0.00,0.38,0.00,0.000,4,0.000,0.066,2860,1654,3419,0,0,0,0,0,0
$GC,496,-0.51,-145.9,42.2,-8.4,77,501,0.00,0.40,0.00,0.000,6,0.000,0.047,2860,1927,3420,0,0,0,0,0,0
$GC,731,-0.53,-145.9,62.4,-8.3,118,736,0.00,0.80,0.00,0.000,4,0.000,0.057,2860,1428,3420,0,0,0,0,0,0
$GC,787,-0.56,-145.9,67.3,-8.9,128,793,0.05,0.75,0.00,0.000,6,0.077,0.041,2823,1923,3420,0,0,0,0,0,0
$GC,1134,-0.50,-145.9,105.7,-11.6,184,1138,0.10,1.20,0.00,0.000,4,0.169,0.058,2849,1186,3420,0,0,0,0,0,0
$GC,1202,-0.50,-145.9,112.6,-9.8,188,1205,0.00,1.10,0.00,0.000,6,0.000,0.041,2846,1902,3419,0,0,0,0,0,0
$GC,1533,-0.50,-145.9,144.3,-9.4,209,1536,0.00,0.65,0.00,0.000,4,0.000,0.057,2846,1481,3420,0,0,0,0,0,0
$GC,1593,-0.50,-145.9,150.2,-8.9,212,1600,0.00,0.68,0.00,0.000,6,0.000,0.041,2844,1923,3420,0,0,0,0,0,0
$GC,1913,-0.50,-145.9,177.5,-8.3,233,1917,0.00,1.27,0.00,0.000,4,0.000,0.057,2844,1125,3420,0,0,0,0,0,0
$GC,1983,-0.50,-145.9,183.3,-7.9,237,1986,0.00,1.20,0.00,0.000,6,0.000,0.038,2839,1908,3420,0,0,0,0,0,0
$GC,2312,-0.50,-145.9,210.9,-8.2,258,2315,0.00,0.98,0.00,0.000,4,0.000,0.056,2839,1291,3421,0,0,0,0,0,0
$GC,2379,-0.50,-145.9,216.5,-8.2,262,2383,0.00,0.95,0.00,0.000,6,0.000,0.038,2836,1919,3420,0,0,0,0,0,0
$GC,2711,-0.47,-145.9,243.7,-7.9,283,2716,0.10,1.05,0.00,0.000,4,0.177,0.057,2862,1266,3421,0,0,0,0,0,0
$GC,2772,-0.52,-145.9,248.1,-6.0,286,2780,0.00,0.98,0.00,0.000,6,0.000,0.038,2861,1913,3421,0,0,0,0,0,0
$GC,3101,-0.56,-145.9,268.8,-6.3,303,3105,0.08,0.98,0.00,0.000,4,0.127,0.054,2825,1299,3421,0,0,0,0,0,0
$GC,3161,-0.51,-145.9,274.5,-9.0,305,3168,0.10,0.95,0.00,0.000,6,0.173,0.037,2847,1920,3421,0,0,0,0,0,0
$GC,3480,-0.51,-145.9,298.0,-7.3,321,3483,0.00,1.30,0.00,0.000,4,0.000,0.056,2847,1096,3421,0,0,0,0,0,0
$GC,3540,-0.51,-145.9,302.8,-7.5,323,3546,0.00,1.25,0.00,0.000,6,0.000,0.036,2843,1908,3421,0,0,0,0,0,0
$GC,3858,-0.51,-145.9,329.0,-8.7,339,3862,0.00,0.82,0.00,0.000,4,0.000,0.054,2844,1382,3421,0,0,0,0,0,0
$GC,3918,-0.51,-145.9,334.7,-8.8,341,3924,0.00,0.82,0.00,0.000,6,0.000,0.037,2840,1926,3421,0,0,0,0,0,0
$GC,4236,-0.51,-145.9,364.0,-9.6,357,4239,0.00,1.50,0.00,0.000,4,0.000,0.057,2840,987,3421,0,0,0,0,0,0
$GC,4307,-0.51,-145.9,371.7,-9.8,360,4312,0.00,1.42,0.00,0.000,6,0.000,0.035,2836,1910,3421,0,0,0,0,0,0
$GC,4634,-0.51,-145.9,402.5,-9.6,376,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1910,3421,0,0,0,0,0,0
$GC,4946,-0.51,-145.9,432.3,-9.4,391,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1910,3421,0,0,0,0,0,0
$GC,5253,-0.51,-145.9,459.7,-8.6,406,5257,0.00,0.38,0.00,0.000,4,0.000,0.057,2836,1653,3422,0,0,0,0,0,0
$GC,5307,-0.51,-145.9,464.5,-8.5,408,5310,0.00,0.40,0.00,0.000,6,0.000,0.044,2835,1931,3421,0,0,0,0,0,0
$GC,5625,-0.51,-145.9,492.6,-9.5,424,5629,0.00,2.25,0.00,0.000,4,0.000,0.058,2835,510,3422,0,0,0,0,0,0
$GC,5701,-0.51,-145.9,500.5,-9.6,427,5709,0.03,2.12,0.00,0.000,6,0.185,0.034,2838,1897,3421,0,0,0,0,0,0
$GC,6015,-0.51,-145.9,530.7,-9.5,438,6018,0.00,0.25,0.00,0.000,4,0.000,0.063,2838,1716,3421,0,0,0,0,0,0
$GC,6091,-0.51,-145.9,538.4,-9.4,440,6093,0.00,0.30,0.00,0.000,6,0.000,0.050,2838,1932,3421,0,0,0,0,0,0
$GC,6417,-0.51,-145.9,568.8,-9.1,451,6420,0.00,1.55,0.00,0.000,4,0.000,0.054,2838,957,3421,0,0,0,0,0,0
$GC,6488,-0.51,-145.9,575.5,-8.9,453,6493,0.00,1.48,0.00,0.000,6,0.000,0.035,2834,1909,3421,0,0,0,0,0,0
$GC,6823,-0.51,-145.9,605.6,-8.9,464,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1910,3420,0,0,0,0,0,0
$GC,7129,-0.51,-145.9,633.3,-9.1,474,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1910,3420,0,0,0,0,0,0
$GC,7435,-0.51,-145.9,660.3,-8.7,484,7439,0.00,0.43,0.00,0.000,4,0.000,0.056,2834,1621,3419,0,0,0,0,0,0
$GC,7484,-0.51,-145.9,664.6,-8.7,485,7488,0.00,0.45,0.00,0.000,6,0.000,0.044,2832,1930,3419,0,0,0,0,0,0
$GC,7807,-0.51,-145.9,690.1,-7.8,496,7811,0.00,1.25,0.00,0.000,4,0.000,0.054,2832,1140,3418,0,0,0,0,0,0
$GC,7877,-0.51,-145.9,695.6,-7.8,498,7883,0.08,1.17,0.00,0.000,6,0.194,0.036,2846,1906,3418,0,0,0,0,0,0
$GC,8213,-0.54,-145.9,717.3,-6.5,509,8217,0.00,0.98,0.00,0.000,4,0.000,0.053,2847,1285,3417,0,0,0,0,0,0
$GC,8280,-0.57,-145.9,721.9,-6.3,511,8284,0.03,0.95,0.00,0.000,6,0.106,0.038,2822,1917,3417,0,0,0,0,0,0
$GC,8621,-0.54,-145.9,751.9,-9.1,522,8624,0.00,1.17,0.00,0.000,4,0.000,0.054,2823,1171,3417,0,0,0,0,0,0
$GC,8688,-0.51,-145.9,758.3,-9.1,524,8692,0.08,1.12,0.00,0.000,6,0.141,0.037,2843,1916,3416,0,0,0,0,0,0
$GC,9028,-0.54,-145.9,783.8,-7.7,535,9032,0.00,1.25,0.00,0.000,4,0.000,0.054,2843,1120,3416,0,0,0,0,0,0
$GC,9099,-0.56,-145.9,789.6,-8.3,537,9104,0.00,1.23,0.00,0.000,6,0.000,0.037,2839,1916,3416,0,0,0,0,0,0
$GC,9434,-0.56,-145.9,817.9,-8.7,548,9438,0.00,0.38,0.00,0.000,4,0.000,0.057,2839,1657,3416,0,0,0,0,0,0
$GC,9477,-0.56,-145.9,822.0,-9.0,549,9479,0.00,0.40,0.00,0.000,6,0.000,0.047,2838,1931,3415,0,0,0,0,0,0
$GC,9803,-0.56,-145.9,850.4,-8.8,560,9806,0.00,0.73,0.00,0.000,4,0.000,0.052,2838,1462,3415,0,0,0,0,0,0
$GC,9863,-0.59,-145.9,855.8,-8.9,561,9869,0.00,0.70,0.00,0.000,6,0.000,0.042,2837,1921,3414,0,0,0,0,0,0
$GC,10175,-0.59,-145.9,882.2,-8.6,572,10179,0.00,0.45,0.00,0.000,4,0.000,0.056,2837,1616,3415,0,0,0,0,0,0
$GC,10224,-0.59,-145.9,886.5,-8.3,573,10228,0.00,0.45,0.00,0.000,6,0.000,0.047,2836,1918,3414,0,0,0,0,0,0
$GC,10547,-0.59,-145.9,914.7,-9.0,584,10551,0.00,0.35,0.00,0.000,4,0.000,0.058,2836,1674,3413,0,0,0,0,0,0
$GC,10618,-0.59,-145.9,921.3,-9.0,586,10621,0.00,0.35,0.00,0.000,6,0.000,0.049,2836,1917,3413,0,0,0,0,0,0
$GC,10949,-0.59,-145.9,949.2,-8.4,597,10953,0.00,0.62,0.00,0.000,4,0.000,0.053,2836,1509,3413,0,0,0,0,0,0
$GC,11009,-0.59,-145.9,954.4,-8.8,598,11015,0.00,0.62,0.00,0.000,6,0.000,0.044,2836,1920,3413,0,0,0,0,0,0
$GC,11321,-0.59,-145.9,979.7,-8.0,609,11325,0.00,0.77,0.00,0.000,4,0.000,0.053,2836,1421,3413,0,0,0,0,0,0
$GC,11381,-0.59,-145.9,984.6,-7.9,610,11387,0.00,0.75,0.00,0.000,6,0.000,0.041,2835,1911,3413,0,0,0,0,0,0
$STATE,11602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11602,begin apogee
$GC,11606,-0.19,0.0,1001.2,7.5,618,11730,0.38,0.00,121.50,1.440,6,0.142,0.000,2948,1637,2827,0,0,0,0,0,0
$STATE,11731,end apogee,CONTROL_FINISHED_OK
$STATE,11731,begin climb
$GC,11732,0.52,145.9,1005.2,0.0,622,11867,0.73,1.15,126.97,1.426,4,0.088,0.060,3179,1005,2231,0,0,0,0,0,0
$GC,11917,0.34,145.9,1001.5,7.7,628,11923,0.20,1.08,0.00,0.000,6,0.174,0.037,3130,1657,2227,0,0,0,0,0,0
$GC,12247,0.29,177.0,980.2,6.3,639,12278,0.10,0.95,27.25,1.343,4,0.197,0.042,3108,2235,2105,0,0,0,0,0,0
$GC,12347,0.29,220.5,974.4,5.9,642,12391,0.00,0.95,39.28,1.372,6,0.000,0.050,3110,1652,1927,0,0,0,0,0,0
$GC,12715,0.33,270.9,952.9,5.7,654,12762,0.00,0.00,45.15,1.368,6,0.000,0.000,3110,1653,1721,0,0,0,0,0,0
$GC,13052,0.54,275.5,930.6,7.2,665,13062,0.22,2.25,4.65,0.900,4,0.080,0.046,3193,3038,1703,0,0,0,0,0,0
$GC,13173,0.45,275.5,917.3,11.9,668,13180,0.12,2.25,0.00,0.000,6,0.162,0.050,3164,1658,1702,0,0,0,0,0,0
$GC,13486,0.42,275.5,887.5,9.6,679,13490,0.00,0.70,0.00,0.000,4,0.000,0.065,3165,1215,1701,0,0,0,0,0,0
$GC,13547,0.39,275.5,881.5,10.5,680,13553,0.10,0.68,0.00,0.000,6,0.190,0.044,3142,1653,1700,0,0,0,0,0,0
$GC,13860,0.41,275.5,855.4,8.2,691,13863,0.00,0.52,0.00,0.000,4,0.000,0.047,3143,2010,1699,0,0,0,0,0,0
$GC,13908,0.41,275.5,851.1,8.6,692,13912,0.00,0.60,0.00,0.000,6,0.000,0.059,3143,1641,1699,0,0,0,0,0,0
$GC,14232,0.44,275.5,823.0,8.9,703,14233,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1641,1699,0,0,0,0,0,0
$GC,14538,0.44,275.5,795.5,9.0,713,14541,0.00,0.98,0.00,0.000,4,0.000,0.045,3143,2273,1699,0,0,0,0,0,0
$GC,14586,0.44,275.5,791.1,9.5,714,14591,0.00,1.00,0.00,0.000,6,0.000,0.054,3145,1652,1698,0,0,0,0,0,0
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$STATE,23425,end climb,SURFACE_DEPTH_REACHED
$STATE,23425,begin surface coast
$FINISH,1.4,1.002778
$STATE,23450,end surface coast,CONTROL_FINISHED_OK
$STATE,23450,begin surface
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$HUMID,45.39
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$TCM_TEMP,12.80
$XPDR_PINGS,0
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$10V_AH,10.3,19.775
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354600
$DATA_FILE_SIZE,73682,1233
$CAP_FILE_SIZE,209935,0
$CFSIZE,2097086464,2081685504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101012,023935,-4331.064,-813.140,39,1.5,39,-21.2