version: 66.07.10.p01
glider: 574
mission: 4
dive: 86
start: 10 10 112 9 20 24
data:
$ID,574
$MISSION,4
$DIVE,86
$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,-5681.1772
$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,32
$R_STBD_OVSHOOT,47
$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,65
$GPS1,101012,090729,-4328.153,-814.563,80,1.1,81,-21.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-70.5
$GPS2,101012,091930,-4328.212,-814.540,19,1.8,20,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.198,0.127
$KALMAN_X,-64777.1,-363.4,480.1,112222.7,-3712.8
$KALMAN_Y,-4766.0,-221.1,-604.8,-62177.3,2277.0
$MHEAD_RNG_PITCHd_Wd,78.6,121782,-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,-145.9,0.0,0.0,0,86,0.00,0.00,-60.12,0.000,2,0.000,0.000,65,1913,2789,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.2,-2.0,10,120,12.18,0.00,-15.43,0.000,6,0.265,0.000,2835,1911,3423,0,0,0,0,0,0
$GC,193,-0.47,-145.9,16.9,-11.9,27,200,0.10,0.00,0.00,0.000,6,0.177,0.000,2860,1912,3425,0,0,0,0,0,0
$GC,272,-0.47,-145.9,25.7,-10.4,40,279,0.00,0.95,0.00,0.000,4,0.000,0.063,2860,1326,3425,0,0,0,0,0,0
$GC,339,-0.47,-145.9,31.8,-8.3,51,345,0.00,0.90,0.00,0.000,6,0.000,0.041,2859,1903,3425,0,0,0,0,0,0
$GC,574,-0.47,-145.9,50.4,-7.9,92,581,0.00,0.52,0.00,0.000,4,0.000,0.058,2859,1567,3425,0,0,0,0,0,0
$GC,645,-0.47,-145.9,54.9,-6.0,104,652,0.00,0.52,0.00,0.000,6,0.000,0.043,2858,1921,3424,0,0,0,0,0,0
$GC,880,-0.49,-145.9,74.9,-10.7,145,884,0.00,0.28,0.00,0.000,4,0.000,0.064,2859,1726,3425,0,0,0,0,0,0
$GC,1035,-0.51,-145.9,88.8,-6.0,172,1040,0.00,0.25,0.00,0.000,6,0.000,0.054,2858,1915,3425,0,0,0,0,0,0
$GC,1364,-0.54,-145.9,118.2,-9.8,209,1368,0.05,1.75,0.00,0.000,4,0.168,0.060,2830,817,3425,0,0,0,0,0,0
$GC,1441,-0.50,-145.9,127.5,-11.6,213,1448,0.05,1.67,0.00,0.000,6,0.155,0.037,2842,1890,3425,0,0,0,0,0,0
$GC,1760,-0.50,-145.9,163.3,-11.2,234,1764,0.00,0.73,0.00,0.000,4,0.000,0.055,2842,1434,3425,0,0,0,0,0,0
$GC,1828,-0.50,-145.9,170.6,-10.3,238,1832,0.00,0.75,0.00,0.000,6,0.000,0.041,2841,1932,3425,0,0,0,0,0,0
$GC,2159,-0.50,-145.9,203.5,-9.8,259,2163,0.00,1.38,0.00,0.000,4,0.000,0.057,2840,1074,3425,0,0,0,0,0,0
$GC,2232,-0.50,-145.9,211.1,-10.3,263,2236,0.00,1.27,0.00,0.000,6,0.000,0.037,2836,1900,3425,0,0,0,0,0,0
$GC,2558,-0.48,-145.9,243.0,-9.8,284,2562,0.08,0.47,0.00,0.000,4,0.194,0.057,2853,1588,3425,0,0,0,0,0,0
$GC,2612,-0.50,-145.9,248.2,-8.8,287,2617,0.00,0.50,0.00,0.000,6,0.000,0.041,2853,1929,3425,0,0,0,0,0,0
$GC,2930,-0.50,-145.9,276.2,-9.2,303,2934,0.00,1.10,0.00,0.000,4,0.000,0.056,2852,1230,3425,0,0,0,0,0,0
$GC,3001,-0.50,-145.9,283.7,-10.3,306,3006,0.00,1.05,0.00,0.000,6,0.000,0.037,2849,1908,3425,0,0,0,0,0,0
$GC,3329,-0.50,-145.9,317.6,-10.9,322,3332,0.00,0.95,0.00,0.000,4,0.000,0.054,2849,1307,3425,0,0,0,0,0,0
$GC,3400,-0.50,-145.9,325.6,-10.2,325,3405,0.00,0.95,0.00,0.000,6,0.000,0.037,2845,1926,3425,0,0,0,0,0,0
$GC,3730,-0.50,-145.9,357.0,-9.3,341,3733,0.00,0.73,0.00,0.000,4,0.000,0.054,2846,1459,3425,0,0,0,0,0,0
$GC,3801,-0.50,-145.9,364.6,-9.8,344,3805,0.00,0.70,0.00,0.000,6,0.000,0.038,2844,1921,3425,0,0,0,0,0,0
$GC,4128,-0.50,-145.9,396.1,-9.9,360,4131,0.00,1.42,0.00,0.000,4,0.000,0.056,2844,1028,3425,0,0,0,0,0,0
$GC,4205,-0.50,-145.9,403.7,-8.9,363,4210,0.00,1.38,0.00,0.000,6,0.000,0.036,2840,1919,3425,0,0,0,0,0,0
$GC,4529,-0.50,-145.9,435.3,-9.9,379,4533,0.00,0.75,0.00,0.000,4,0.000,0.054,2840,1439,3425,0,0,0,0,0,0
$GC,4600,-0.50,-145.9,442.9,-10.5,382,4605,0.00,0.73,0.00,0.000,6,0.000,0.037,2837,1921,3425,0,0,0,0,0,0
$GC,4927,-0.50,-145.9,477.5,-10.8,398,4931,0.00,1.02,0.00,0.000,4,0.000,0.053,2838,1270,3425,0,0,0,0,0,0
$GC,4987,-0.50,-145.9,484.3,-10.4,400,4996,0.08,0.98,0.00,0.000,6,0.186,0.036,2852,1910,3425,0,0,0,0,0,0
$GC,5312,-0.53,-145.9,512.9,-8.3,414,5316,0.00,0.30,0.00,0.000,4,0.000,0.060,2852,1697,3425,0,0,0,0,0,0
$GC,5383,-0.57,-145.9,518.6,-7.6,416,5388,0.08,0.32,0.00,0.000,6,0.123,0.047,2817,1933,3425,0,0,0,0,0,0
$GC,5718,-0.52,-145.9,550.8,-9.8,427,5723,0.10,2.05,0.00,0.000,4,0.173,0.054,2843,631,3425,0,0,0,0,0,0
$GC,5794,-0.55,-145.9,557.7,-8.0,429,5799,0.00,1.92,0.00,0.000,6,0.000,0.032,2837,1893,3425,0,0,0,0,0,0
$GC,6124,-0.55,-145.9,585.3,-8.3,440,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1893,3425,0,0,0,0,0,0
$GC,6430,-0.55,-145.9,612.0,-9.0,450,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1893,3425,0,0,0,0,0,0
$GC,6737,-0.55,-145.9,640.1,-9.3,460,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1893,3424,0,0,0,0,0,0
$GC,7043,-0.55,-145.9,667.7,-8.8,470,7047,0.00,1.48,0.00,0.000,4,0.000,0.054,2838,959,3423,0,0,0,0,0,0
$GC,7119,-0.55,-145.9,674.8,-9.5,472,7125,0.00,1.48,0.00,0.000,6,0.000,0.034,2833,1917,3423,0,0,0,0,0,0
$GC,7449,-0.55,-145.9,704.5,-9.2,483,7453,0.00,0.40,0.00,0.000,4,0.000,0.056,2833,1641,3423,0,0,0,0,0,0
$GC,7505,-0.55,-145.9,709.8,-9.6,484,7509,0.00,0.38,0.00,0.000,6,0.000,0.047,2831,1916,3422,0,0,0,0,0,0
$GC,7822,-0.55,-145.9,738.4,-9.0,495,7826,0.00,1.65,0.00,0.000,4,0.000,0.056,2832,853,3422,0,0,0,0,0,0
$GC,7899,-0.55,-145.9,745.6,-8.9,497,7904,0.00,1.62,0.00,0.000,6,0.000,0.036,2829,1901,3421,0,0,0,0,0,0
$GC,8229,-0.55,-145.9,775.7,-9.3,508,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1901,3421,0,0,0,0,0,0
$GC,8535,-0.55,-145.9,804.1,-9.1,518,8539,0.00,0.35,0.00,0.000,4,0.000,0.060,2828,1659,3421,0,0,0,0,0,0
$GC,8640,-0.55,-145.9,814.1,-8.7,521,8642,0.00,0.40,0.00,0.000,6,0.000,0.046,2827,1936,3420,0,0,0,0,0,0
$GC,8971,-0.55,-145.9,844.9,-9.5,532,8974,0.00,1.98,0.00,0.000,4,0.000,0.056,2827,674,3420,0,0,0,0,0,0
$GC,9053,-0.55,-145.9,853.4,-9.7,534,9058,0.00,1.88,0.00,0.000,6,0.000,0.035,2821,1892,3419,0,0,0,0,0,0
$GC,9378,-0.52,-145.9,886.6,-10.4,545,9380,0.10,0.00,0.00,0.000,6,0.188,0.000,2846,1893,3418,0,0,0,0,0,0
$GC,9684,-0.56,-145.9,911.7,-8.0,555,9688,0.00,0.32,0.00,0.000,4,0.000,0.051,2845,2148,3418,0,0,0,0,0,0
$GC,9728,-0.61,-145.9,915.3,-7.0,556,9732,0.10,0.38,0.00,0.000,6,0.117,0.055,2806,1893,3417,0,0,0,0,0,0
$GC,10057,-0.55,-145.9,950.6,-10.9,567,10061,0.10,0.35,0.00,0.000,4,0.182,0.063,2830,1652,3417,0,0,0,0,0,0
$GC,10134,-0.55,-145.9,958.1,-9.0,569,10136,0.00,0.40,0.00,0.000,6,0.000,0.046,2831,1927,3416,0,0,0,0,0,0
$GC,10459,-0.55,-145.9,988.0,-9.6,580,10463,0.00,0.88,0.00,0.000,4,0.000,0.053,2830,1367,3416,0,0,0,0,0,0
$GC,10527,-0.55,-145.9,994.2,-8.8,582,10530,0.00,0.80,0.00,0.000,6,0.000,0.040,2829,1900,3416,0,0,0,0,0,0
$STATE,10591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10591,begin apogee
$GC,10595,-0.19,0.0,1000.1,9.0,584,10720,0.40,0.00,122.35,1.478,6,0.142,0.000,2949,1658,2827,0,0,0,0,0,0
$STATE,10721,end apogee,CONTROL_FINISHED_OK
$STATE,10721,begin climb
$GC,10722,0.52,145.9,1005.8,0.0,588,10858,0.70,1.62,126.97,1.462,4,0.095,0.060,3178,766,2231,0,0,0,0,0,0
$GC,10930,0.36,177.7,1002.8,6.3,594,10966,0.15,1.45,29.30,1.382,6,0.165,0.035,3137,1656,2102,0,0,0,0,0,0
$GC,11278,0.32,195.4,979.8,6.8,606,11298,0.08,0.70,15.95,1.317,4,0.217,0.037,3121,2137,2031,0,0,0,0,0,0
$GC,11370,0.32,219.4,974.1,6.6,608,11396,0.00,0.80,22.45,1.355,6,0.000,0.051,3121,1654,1932,0,0,0,0,0,0
$GC,11710,0.35,247.6,952.4,6.4,620,11738,0.00,0.00,26.00,1.366,6,0.000,0.000,3121,1654,1817,0,0,0,0,0,0
$GC,12045,0.40,284.8,931.7,6.1,631,12085,0.05,0.82,33.28,1.378,4,0.162,0.040,3145,2160,1666,0,0,0,0,0,0
$GC,12129,0.40,284.8,925.4,7.7,633,12133,0.00,0.85,0.00,0.000,6,0.000,0.051,3146,1650,1663,0,0,0,0,0,0
$GC,12447,0.40,284.8,899.8,8.3,644,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1650,1660,0,0,0,0,0,0
$GC,12754,0.42,284.8,873.8,8.3,654,12755,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1650,1659,0,0,0,0,0,0
$GC,13059,0.42,284.8,848.7,8.2,664,13063,0.00,0.28,0.00,0.000,4,0.000,0.068,3145,1453,1658,0,0,0,0,0,0
$GC,13114,0.44,284.8,844.2,7.8,665,13118,0.00,0.30,0.00,0.000,6,0.000,0.048,3145,1664,1658,0,0,0,0,0,0
$GC,13432,0.46,284.8,818.5,8.1,676,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1664,1658,0,0,0,0,0,0
$GC,13738,0.46,284.8,795.3,7.5,686,13741,0.00,0.82,0.00,0.000,4,0.000,0.064,3145,1147,1657,0,0,0,0,0,0
$GC,13798,0.49,297.2,791.0,7.0,687,13814,0.08,0.77,11.00,1.211,6,0.129,0.039,3176,1660,1615,0,0,0,0,0,0
$GC,14144,0.46,297.2,759.5,9.3,699,14148,0.05,0.40,0.00,0.000,4,0.233,0.069,3165,1407,1613,0,0,0,0,0,0
$GC,14198,0.46,297.2,754.5,8.5,700,14200,0.00,0.35,0.00,0.000,6,0.000,0.049,3166,1642,1613,0,0,0,0,0,0
$GC,14512,0.46,297.2,726.8,8.8,711,14515,0.00,0.30,0.00,0.000,4,0.000,0.069,3166,1442,1613,0,0,0,0,0,0
$GC,14583,0.46,297.2,720.4,8.5,713,14587,0.00,0.32,0.00,0.000,6,0.000,0.051,3166,1664,1613,0,0,0,0,0,0
$GC,14918,0.46,297.2,690.2,8.8,724,14921,0.00,0.43,0.00,0.000,4,0.000,0.067,3166,1386,1613,0,0,0,0,0,0
$GC,14985,0.46,297.2,684.6,7.7,726,14988,0.00,0.38,0.00,0.000,6,0.000,0.048,3166,1654,1612,0,0,0,0,0,0
$GC,15324,0.46,297.2,657.3,7.8,737,15326,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1654,1612,0,0,0,0,0,0
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$STATE,23063,end climb,SURFACE_DEPTH_REACHED
$STATE,23063,begin surface coast
$FINISH,1.3,1.014037
$STATE,23107,end surface coast,CONTROL_FINISHED_OK
$STATE,23107,begin surface
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$HUMID,44.72
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$XPDR_PINGS,0
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$10V_AH,10.3,20.059
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.625,65.575,515.675,0.000,0.000,54.306,83.064,392.566,0.250,0.000,21.938,3093.993,16091.724,557.267,4005.439,148.431,33.354,1989.897,0.000,3406.128,0.000,3.191,0.000
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$MEM,354584
$DATA_FILE_SIZE,73694,1240
$CAP_FILE_SIZE,202701,0
$CFSIZE,2097086464,2081423360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101012,154805,-4325.232,-812.950,46,0.8,47,-21.3