version: 66.07.10.p01
glider: 574
mission: 4
dive: 85
start: 10 10 112 2 48 18
data:
$ID,574
$MISSION,4
$DIVE,85
$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,-5677.873
$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,58
$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,64
$GPS1,101012,023935,-4331.064,-813.140,39,1.5,39,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.4
$GPS2,101012,024724,-4331.090,-813.148,18,1.5,19,-21.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.017,0.234
$KALMAN_X,-60730.6,-148.1,-1340.9,111662.2,1461.8
$KALMAN_Y,-4506.7,80.0,-137.2,-68549.1,1201.3
$MHEAD_RNG_PITCHd_Wd,25.4,126424,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-66.03,0.000,2,0.000,0.000,66,1910,2761,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.1,-1.8,11,133,12.27,0.75,-17.65,0.000,4,0.270,0.097,2834,1446,3422,0,0,0,0,0,0
$GC,171,-0.47,-145.9,13.2,-14.7,23,178,0.05,0.70,0.00,0.000,6,0.149,0.044,2850,1896,3422,0,0,0,0,0,0
$GC,251,-0.47,-145.9,21.6,-9.9,36,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1896,3423,0,0,0,0,0,0
$GC,330,-0.47,-145.9,28.5,-9.0,49,337,0.00,0.38,0.00,0.000,4,0.000,0.062,2850,1653,3422,0,0,0,0,0,0
$GC,394,-0.47,-145.9,33.9,-8.4,60,401,0.00,0.38,0.00,0.000,6,0.000,0.048,2850,1915,3422,0,0,0,0,0,0
$GC,632,-0.47,-145.9,57.5,-8.3,101,637,0.00,0.75,0.00,0.000,4,0.000,0.057,2850,1446,3423,0,0,0,0,0,0
$GC,681,-0.47,-145.9,62.5,-9.5,110,687,0.00,0.73,0.00,0.000,6,0.000,0.040,2848,1917,3423,0,0,0,0,0,0
$GC,1025,-0.47,-145.9,98.4,-9.0,171,1031,0.00,1.33,0.00,0.000,4,0.000,0.060,2848,1099,3423,0,0,0,0,0,0
$GC,1080,-0.47,-145.9,103.7,-9.4,176,1085,0.00,1.27,0.00,0.000,6,0.000,0.038,2844,1910,3422,0,0,0,0,0,0
$GC,1406,-0.47,-145.9,134.8,-9.5,197,1411,0.03,0.95,0.00,0.000,4,0.279,0.057,2855,1324,3422,0,0,0,0,0,0
$GC,1457,-0.49,-145.9,139.6,-8.5,200,1461,0.00,0.90,0.00,0.000,6,0.000,0.040,2852,1917,3423,0,0,0,0,0,0
$GC,1788,-0.49,-145.9,170.7,-9.7,221,1792,0.00,0.95,0.00,0.000,4,0.000,0.057,2852,1315,3423,0,0,0,0,0,0
$GC,1840,-0.49,-145.9,175.7,-9.7,224,1844,0.00,0.90,0.00,0.000,6,0.000,0.040,2849,1906,3423,0,0,0,0,0,0
$GC,2171,-0.49,-145.9,207.8,-9.4,245,2175,0.00,0.40,0.00,0.000,4,0.000,0.059,2849,1638,3422,0,0,0,0,0,0
$GC,2214,-0.49,-145.9,212.1,-9.1,247,2217,0.00,0.43,0.00,0.000,6,0.000,0.044,2848,1931,3422,0,0,0,0,0,0
$GC,2531,-0.49,-145.9,241.2,-9.2,267,2534,0.00,0.82,0.00,0.000,4,0.000,0.056,2848,1407,3423,0,0,0,0,0,0
$GC,2574,-0.49,-145.9,245.5,-9.9,269,2580,0.00,0.77,0.00,0.000,6,0.000,0.038,2845,1915,3422,0,0,0,0,0,0
$GC,2895,-0.49,-145.9,273.8,-8.8,286,2899,0.00,1.35,0.00,0.000,4,0.000,0.058,2845,1074,3423,0,0,0,0,0,0
$GC,2949,-0.49,-145.9,278.7,-8.7,288,2954,0.00,1.30,0.00,0.000,6,0.000,0.038,2841,1910,3423,0,0,0,0,0,0
$GC,3271,-0.49,-145.9,307.1,-8.8,304,3275,0.00,0.77,0.00,0.000,4,0.000,0.054,2841,1414,3423,0,0,0,0,0,0
$GC,3320,-0.49,-145.9,311.8,-8.6,306,3324,0.00,0.77,0.00,0.000,6,0.000,0.039,2838,1922,3423,0,0,0,0,0,0
$GC,3647,-0.49,-145.9,341.1,-8.8,322,3651,0.00,1.45,0.00,0.000,4,0.000,0.057,2838,1017,3423,0,0,0,0,0,0
$GC,3701,-0.49,-145.9,346.5,-9.7,324,3707,0.08,1.38,0.00,0.000,6,0.187,0.035,2851,1910,3423,0,0,0,0,0,0
$GC,4024,-0.52,-145.9,371.7,-7.3,340,4028,0.00,0.95,0.00,0.000,4,0.000,0.055,2851,1309,3423,0,0,0,0,0,0
$GC,4074,-0.55,-145.9,375.7,-7.0,342,4078,0.00,0.93,0.00,0.000,6,0.000,0.037,2850,1914,3423,0,0,0,0,0,0
$GC,4401,-0.57,-145.9,401.0,-7.9,358,4405,0.08,1.50,0.00,0.000,4,0.127,0.057,2815,982,3423,0,0,0,0,0,0
$GC,4455,-0.51,-145.9,406.5,-9.9,360,4460,0.10,1.42,0.00,0.000,6,0.134,0.034,2843,1917,3423,0,0,0,0,0,0
$GC,4777,-0.51,-145.9,434.2,-8.7,376,4780,0.00,0.98,0.00,0.000,4,0.000,0.054,2843,1298,3424,0,0,0,0,0,0
$GC,4831,-0.51,-145.9,439.3,-9.2,378,4835,0.00,0.95,0.00,0.000,6,0.000,0.036,2840,1921,3424,0,0,0,0,0,0
$GC,5152,-0.51,-145.9,468.7,-9.5,394,5156,0.00,2.25,0.00,0.000,4,0.000,0.057,2840,502,3423,0,0,0,0,0,0
$GC,5219,-0.55,-145.9,475.5,-9.4,397,5223,0.00,2.15,0.00,0.000,6,0.000,0.034,2836,1911,3423,0,0,0,0,0,0
$GC,5545,-0.55,-145.9,507.3,-9.6,412,5549,0.00,0.77,0.00,0.000,4,0.000,0.050,2836,1404,3424,0,0,0,0,0,0
$GC,5582,-0.55,-145.9,510.9,-9.4,413,5587,0.00,0.80,0.00,0.000,6,0.000,0.037,2832,1936,3423,0,0,0,0,0,0
$GC,5917,-0.55,-145.9,541.0,-9.1,424,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1936,3423,0,0,0,0,0,0
$GC,6224,-0.55,-145.9,569.1,-9.2,434,6227,0.00,1.17,0.00,0.000,4,0.000,0.052,2833,1188,3423,0,0,0,0,0,0
$GC,6266,-0.55,-145.9,573.2,-9.1,435,6271,0.00,1.10,0.00,0.000,6,0.000,0.035,2829,1907,3423,0,0,0,0,0,0
$GC,6597,-0.53,-145.9,603.5,-9.5,446,6601,0.00,0.85,0.00,0.000,4,0.000,0.051,2829,1361,3422,0,0,0,0,0,0
$GC,6634,-0.53,-145.9,607.1,-8.8,447,6638,0.00,0.85,0.00,0.000,6,0.000,0.037,2826,1923,3422,0,0,0,0,0,0
$GC,6969,-0.50,-145.9,637.5,-9.2,458,6974,0.10,1.33,0.00,0.000,4,0.183,0.053,2852,1092,3422,0,0,0,0,0,0
$GC,7024,-0.54,-145.9,642.1,-8.1,459,7029,0.00,1.25,0.00,0.000,6,0.000,0.035,2849,1905,3421,0,0,0,0,0,0
$GC,7343,-0.57,-145.9,666.8,-7.8,470,7345,0.08,0.00,0.00,0.000,6,0.130,0.000,2817,1912,3421,0,0,0,0,0,0
$GC,7649,-0.53,-145.9,697.0,-9.9,480,7654,0.10,0.95,0.00,0.000,4,0.173,0.054,2842,1308,3420,0,0,0,0,0,0
$GC,7697,-0.55,-145.9,701.4,-8.2,481,7702,0.00,0.95,0.00,0.000,6,0.000,0.037,2839,1929,3420,0,0,0,0,0,0
$GC,8021,-0.55,-145.9,727.4,-8.3,492,8025,0.00,0.65,0.00,0.000,4,0.000,0.053,2839,1503,3420,0,0,0,0,0,0
$GC,8064,-0.55,-145.9,731.2,-8.5,493,8068,0.00,0.62,0.00,0.000,6,0.000,0.040,2837,1918,3419,0,0,0,0,0,0
$GC,8393,-0.55,-145.9,761.5,-9.4,504,8397,0.00,1.45,0.00,0.000,4,0.000,0.054,2837,1000,3418,0,0,0,0,0,0
$GC,8453,-0.55,-145.9,767.5,-9.4,505,8460,0.00,1.40,0.00,0.000,6,0.000,0.035,2832,1907,3418,0,0,0,0,0,0
$GC,8766,-0.55,-145.9,798.3,-10.0,516,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1907,3417,0,0,0,0,0,0
$GC,9072,-0.55,-145.9,828.6,-9.8,526,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1907,3417,0,0,0,0,0,0
$GC,9379,-0.55,-145.9,858.6,-9.8,536,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1907,3416,0,0,0,0,0,0
$GC,9685,-0.55,-145.9,886.0,-8.6,546,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1907,3415,0,0,0,0,0,0
$GC,9991,-0.55,-145.9,912.2,-8.5,556,9995,0.00,0.88,0.00,0.000,4,0.000,0.052,2832,1346,3415,0,0,0,0,0,0
$GC,10045,-0.55,-145.9,917.1,-9.6,557,10050,0.00,0.88,0.00,0.000,6,0.000,0.038,2830,1918,3414,0,0,0,0,0,0
$GC,10364,-0.55,-145.9,944.4,-8.7,568,10367,0.00,0.55,0.00,0.000,4,0.000,0.054,2829,1550,3414,0,0,0,0,0,0
$GC,10423,-0.55,-145.9,950.0,-8.9,569,10429,0.00,0.55,0.00,0.000,6,0.000,0.043,2828,1919,3414,0,0,0,0,0,0
$GC,10736,-0.55,-145.9,978.1,-9.2,580,10739,0.00,0.68,0.00,0.000,4,0.000,0.053,2828,1477,3413,0,0,0,0,0,0
$GC,10784,-0.55,-145.9,982.6,-8.9,581,10789,0.00,0.68,0.00,0.000,6,0.000,0.039,2826,1925,3414,0,0,0,0,0,0
$STATE,10985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10985,begin apogee
$GC,10989,-0.19,0.0,1000.1,8.7,588,11113,0.40,0.00,121.28,1.433,6,0.138,0.000,2947,1634,2827,0,0,0,0,0,0
$STATE,11114,end apogee,CONTROL_FINISHED_OK
$STATE,11114,begin climb
$GC,11115,0.52,145.9,1004.8,0.0,592,11251,0.70,2.50,126.30,1.418,4,0.090,0.064,3179,256,2231,0,0,0,0,0,0
$GC,11357,0.35,145.9,997.1,8.3,599,11362,0.15,2.28,0.00,0.000,6,0.172,0.035,3130,1643,2228,0,0,0,0,0,0
$GC,11675,0.30,197.9,978.5,5.6,610,11725,0.08,1.12,45.53,1.373,4,0.210,0.038,3113,2370,2019,0,0,0,0,0,0
$GC,11786,0.30,244.6,972.2,5.8,613,11833,0.00,1.17,42.30,1.355,6,0.000,0.047,3116,1658,1828,0,0,0,0,0,0
$GC,12162,0.35,314.8,951.8,5.0,626,12227,0.00,0.00,62.38,1.367,6,0.000,0.000,3116,1658,1543,0,0,0,0,0,0
$GC,12529,0.61,363.6,932.2,5.7,638,12579,0.28,2.20,44.17,1.388,4,0.089,0.065,3216,383,1344,0,0,0,0,0,0
$GC,12628,0.53,363.6,924.3,10.2,641,12634,0.10,2.05,0.00,0.000,6,0.154,0.034,3188,1653,1339,0,0,0,0,0,0
$GC,12963,0.53,363.6,895.6,9.3,652,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1654,1337,0,0,0,0,0,0
$GC,13270,0.53,363.6,866.1,9.9,662,13273,0.00,0.77,0.00,0.000,4,0.000,0.061,3188,1179,1336,0,0,0,0,0,0
$GC,13329,0.53,363.6,860.1,9.1,663,13335,0.00,0.75,0.00,0.000,6,0.000,0.037,3188,1669,1335,0,0,0,0,0,0
$GC,13642,0.53,363.6,827.6,10.7,674,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1669,1335,0,0,0,0,0,0
$GC,13948,0.53,363.6,797.7,9.4,684,13952,0.00,0.57,0.00,0.000,4,0.000,0.061,3188,1308,1335,0,0,0,0,0,0
$GC,13996,0.53,363.6,793.1,7.9,685,14001,0.00,0.52,0.00,0.000,6,0.000,0.041,3188,1666,1336,0,0,0,0,0,0
$GC,14320,0.53,363.6,764.2,9.0,696,14323,0.00,0.30,0.00,0.000,4,0.000,0.069,3188,1461,1336,0,0,0,0,0,0
$GC,14374,0.53,363.6,759.2,8.8,697,14376,0.00,0.25,0.00,0.000,6,0.000,0.055,3188,1641,1335,0,0,0,0,0,0
$GC,14688,0.53,363.6,730.2,9.5,708,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1641,1336,0,0,0,0,0,0
$GC,14994,0.53,363.6,699.6,10.0,718,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1641,1335,0,0,0,0,0,0
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$STATE,22548,end climb,SURFACE_DEPTH_REACHED
$STATE,22548,begin surface coast
$FINISH,1.5,1.026755
$STATE,22562,end surface coast,CONTROL_FINISHED_OK
$STATE,22562,begin surface
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$TT8_MAMPS,0.026964
$HUMID,45.11
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$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.3,22.561
$10V_AH,10.3,19.913
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354600
$DATA_FILE_SIZE,70336,1202
$CAP_FILE_SIZE,189188,0
$CFSIZE,2097086464,2081587200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,101012,090729,-4328.153,-814.563,80,1.1,81,-21.3