version: 66.07.10.p01
glider: 574
mission: 4
dive: 93
start: 10 12 112 7 9 18
data:
$ID,574
$MISSION,4
$DIVE,93
$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,-5704.0522
$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,54
$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,72
$GPS1,121012,070023,-4305.161,-814.761,38,1.3,39,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-68.1
$GPS2,121012,070824,-4305.117,-814.807,19,1.3,20,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.232,0.036
$KALMAN_X,-92167.4,144.3,-619.8,139824.5,-4193.8
$KALMAN_Y,5794.4,37.7,-655.9,-30181.2,3599.7
$MHEAD_RNG_PITCHd_Wd,102.6,81672,-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,-145.9,0.0,0.0,0,99,0.00,0.00,-72.12,0.000,2,0.000,0.000,66,1915,2645,0,0,0,0,0,0
$GC,101,-0.52,-145.9,3.1,-1.5,12,145,12.27,2.25,-24.25,0.000,4,0.269,0.064,2826,3302,3422,0,0,0,0,0,0
$GC,279,-0.55,-145.9,18.8,-8.8,42,286,0.00,2.22,0.00,0.000,6,0.000,0.051,2826,1925,3423,0,0,0,0,0,0
$GC,359,-0.50,-145.9,25.8,-10.1,55,367,0.10,1.08,0.00,0.000,4,0.171,0.061,2852,1260,3423,0,0,0,0,0,0
$GC,456,-0.50,-145.9,35.3,-11.5,71,461,0.00,1.00,0.00,0.000,6,0.000,0.038,2849,1904,3423,0,0,0,0,0,0
$GC,690,-0.50,-145.9,60.9,-12.4,112,695,0.00,0.65,0.00,0.000,4,0.000,0.057,2850,1493,3423,0,0,0,0,0,0
$GC,758,-0.50,-145.9,69.7,-12.8,124,763,0.00,0.65,0.00,0.000,6,0.000,0.037,2847,1934,3424,0,0,0,0,0,0
$GC,1100,-0.50,-145.9,99.9,-10.0,185,1104,0.00,1.70,0.00,0.000,4,0.000,0.060,2847,863,3423,0,0,0,0,0,0
$GC,1188,-0.50,-145.9,109.8,-11.1,191,1193,0.00,1.62,0.00,0.000,6,0.000,0.036,2841,1900,3423,0,0,0,0,0,0
$GC,1513,-0.50,-145.9,143.1,-10.9,212,1517,0.00,0.65,0.00,0.000,4,0.000,0.057,2841,1487,3423,0,0,0,0,0,0
$GC,1585,-0.50,-145.9,151.1,-10.6,216,1589,0.00,0.68,0.00,0.000,6,0.000,0.037,2838,1932,3423,0,0,0,0,0,0
$GC,1911,-0.50,-145.9,184.8,-10.7,237,1915,0.00,1.75,0.00,0.000,4,0.000,0.060,2838,823,3423,0,0,0,0,0,0
$GC,1996,-0.50,-145.9,194.3,-10.4,242,2000,0.08,1.67,0.00,0.000,6,0.190,0.035,2849,1923,3423,0,0,0,0,0,0
$GC,2327,-0.50,-145.9,225.5,-9.5,263,2330,0.00,1.20,0.00,0.000,4,0.000,0.059,2850,1175,3424,0,0,0,0,0,0
$GC,2411,-0.50,-145.9,233.6,-9.3,268,2415,0.00,1.12,0.00,0.000,6,0.000,0.037,2846,1915,3424,0,0,0,0,0,0
$GC,2746,-0.50,-145.9,264.5,-9.0,287,2750,0.00,0.90,0.00,0.000,4,0.000,0.058,2846,1352,3424,0,0,0,0,0,0
$GC,2828,-0.50,-145.9,272.5,-9.7,290,2837,0.00,0.88,0.00,0.000,6,0.000,0.036,2844,1924,3424,0,0,0,0,0,0
$GC,3144,-0.50,-145.9,300.8,-9.3,306,3148,0.00,1.33,0.00,0.000,4,0.000,0.059,2844,1100,3424,0,0,0,0,0,0
$GC,3227,-0.50,-145.9,308.9,-9.5,309,3233,0.00,1.25,0.00,0.000,6,0.000,0.035,2839,1912,3424,0,0,0,0,0,0
$GC,3545,-0.50,-145.9,338.5,-9.3,325,3549,0.00,1.27,0.00,0.000,4,0.000,0.059,2839,1119,3424,0,0,0,0,0,0
$GC,3616,-0.50,-145.9,345.4,-8.7,328,3622,0.08,1.23,0.00,0.000,6,0.192,0.037,2853,1913,3424,0,0,0,0,0,0
$GC,3945,-0.53,-145.9,368.7,-6.9,344,3949,0.00,2.25,0.00,0.000,4,0.000,0.063,2852,499,3425,0,0,0,0,0,0
$GC,4022,-0.58,-145.9,374.9,-8.1,347,4029,0.03,2.17,0.00,0.000,6,0.108,0.035,2823,1916,3424,0,0,0,0,0,0
$GC,4341,-0.54,-145.9,408.9,-11.7,363,4344,0.00,0.28,0.00,0.000,4,0.000,0.053,2821,2139,3424,0,0,0,0,0,0
$GC,4412,-0.51,-145.9,418.2,-12.4,366,4417,0.10,0.38,0.00,0.000,6,0.169,0.057,2846,1888,3424,0,0,0,0,0,0
$GC,4738,-0.51,-145.9,451.3,-10.4,382,4742,0.00,0.45,0.00,0.000,4,0.000,0.058,2846,1576,3424,0,0,0,0,0,0
$GC,4816,-0.53,-145.9,459.8,-10.8,385,4820,0.00,0.52,0.00,0.000,6,0.000,0.041,2845,1936,3424,0,0,0,0,0,0
$GC,5140,-0.55,-145.9,494.6,-10.4,401,5143,0.00,1.88,0.00,0.000,4,0.000,0.057,2845,765,3424,0,0,0,0,0,0
$GC,5217,-0.58,-145.9,503.1,-10.1,404,5222,0.00,1.73,0.00,0.000,6,0.000,0.034,2838,1894,3424,0,0,0,0,0,0
$GC,5547,-0.58,-145.9,534.6,-9.1,415,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1894,3424,0,0,0,0,0,0
$GC,5853,-0.58,-145.9,561.2,-8.6,425,5856,0.00,0.73,0.00,0.000,4,0.000,0.054,2838,1429,3424,0,0,0,0,0,0
$GC,5935,-0.58,-145.9,568.7,-9.1,427,5939,0.00,0.75,0.00,0.000,6,0.000,0.037,2836,1925,3424,0,0,0,0,0,0
$GC,6259,-0.58,-145.9,595.2,-8.2,438,6262,0.00,2.00,0.00,0.000,4,0.000,0.058,2836,649,3424,0,0,0,0,0,0
$GC,6341,-0.58,-145.9,602.5,-8.5,440,6346,0.00,1.92,0.00,0.000,6,0.000,0.034,2830,1905,3424,0,0,0,0,0,0
$GC,6665,-0.58,-145.9,629.7,-8.4,451,6669,0.00,0.43,0.00,0.000,4,0.000,0.054,2830,1610,3424,0,0,0,0,0,0
$GC,6725,-0.58,-145.9,634.9,-8.2,452,6731,0.00,0.47,0.00,0.000,6,0.000,0.040,2827,1940,3424,0,0,0,0,0,0
$GC,7037,-0.58,-145.9,661.0,-8.7,463,7041,0.00,1.17,0.00,0.000,4,0.000,0.053,2828,1188,3423,0,0,0,0,0,0
$GC,7114,-0.58,-145.9,668.0,-8.9,465,7119,0.00,1.10,0.00,0.000,6,0.000,0.034,2823,1907,3423,0,0,0,0,0,0
$GC,7444,-0.55,-145.9,699.9,-10.1,476,7447,0.00,0.45,0.00,0.000,4,0.000,0.056,2823,1604,3423,0,0,0,0,0,0
$GC,7511,-0.52,-145.9,706.6,-10.1,478,7515,0.05,0.45,0.00,0.000,6,0.158,0.043,2838,1928,3422,0,0,0,0,0,0
$GC,7851,-0.52,-145.9,736.6,-8.5,489,7855,0.00,1.42,0.00,0.000,4,0.000,0.055,2838,1035,3422,0,0,0,0,0,0
$GC,7944,-0.52,-145.9,744.7,-8.9,491,7951,0.00,1.35,0.00,0.000,6,0.000,0.036,2834,1909,3421,0,0,0,0,0,0
$GC,8258,-0.52,-145.9,771.4,-8.6,502,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1908,3421,0,0,0,0,0,0
$GC,8564,-0.52,-145.9,796.9,-8.0,512,8567,0.00,0.38,0.00,0.000,4,0.000,0.057,2834,1650,3421,0,0,0,0,0,0
$GC,8640,-0.52,-145.9,803.1,-8.3,514,8644,0.00,0.40,0.00,0.000,6,0.000,0.045,2832,1927,3421,0,0,0,0,0,0
$GC,8969,-0.52,-145.9,828.6,-7.7,525,8973,0.00,1.23,0.00,0.000,4,0.000,0.055,2832,1157,3420,0,0,0,0,0,0
$GC,9057,-0.52,-145.9,836.2,-8.3,527,9063,0.05,1.15,0.00,0.000,6,0.228,0.036,2840,1906,3420,0,0,0,0,0,0
$GC,9376,-0.55,-145.9,861.0,-7.9,538,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1906,3419,0,0,0,0,0,0
$GC,9682,-0.57,-145.9,886.8,-8.7,548,9686,0.00,1.20,0.00,0.000,4,0.000,0.055,2840,1151,3418,0,0,0,0,0,0
$GC,9784,-0.60,-145.9,895.3,-8.4,551,9788,0.03,1.15,0.00,0.000,6,0.125,0.037,2819,1911,3418,0,0,0,0,0,0
$GC,10124,-0.58,-145.9,930.8,-10.7,562,10127,0.00,1.50,0.00,0.000,4,0.000,0.056,2819,974,3418,0,0,0,0,0,0
$GC,10212,-0.58,-145.9,940.6,-11.9,564,10217,0.00,1.45,0.00,0.000,6,0.000,0.035,2815,1909,3417,0,0,0,0,0,0
$GC,10531,-0.54,-145.9,976.3,-11.4,575,10535,0.08,0.28,0.00,0.000,4,0.214,0.062,2831,1723,3417,0,0,0,0,0,0
$GC,10641,-0.54,-145.9,988.3,-10.5,578,10643,0.00,0.28,0.00,0.000,6,0.000,0.050,2831,1925,3417,0,0,0,0,0,0
$STATE,10753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10753,begin apogee
$GC,10757,-0.19,0.0,1000.1,10.7,582,10882,0.40,0.00,122.00,1.436,6,0.140,0.000,2952,1652,2827,0,0,0,0,0,0
$STATE,10883,end apogee,CONTROL_FINISHED_OK
$STATE,10883,begin climb
$GC,10884,0.52,145.9,1008.2,0.0,586,11018,0.73,1.58,126.90,1.421,4,0.089,0.040,3181,2583,2232,0,0,0,0,0,0
$GC,11096,0.34,192.6,1009.1,5.8,592,11144,0.20,1.55,42.58,1.366,6,0.177,0.047,3133,1668,2041,0,0,0,0,0,0
$GC,11449,0.32,231.2,989.1,6.1,603,11486,0.08,0.00,33.83,1.344,6,0.213,0.000,3118,1668,1884,0,0,0,0,0,0
$GC,11787,0.36,262.2,967.8,6.3,614,11818,0.00,0.50,28.08,1.329,4,0.000,0.063,3118,1374,1757,0,0,0,0,0,0
$GC,11862,0.41,262.2,962.5,7.5,616,11867,0.10,0.43,0.00,0.000,6,0.111,0.041,3153,1660,1753,0,0,0,0,0,0
$GC,12185,0.41,262.2,932.7,9.6,627,12189,0.00,0.35,0.00,0.000,4,0.000,0.066,3154,1434,1750,0,0,0,0,0,0
$GC,12239,0.41,262.2,927.2,10.3,628,12242,0.00,0.30,0.00,0.000,6,0.000,0.048,3154,1639,1750,0,0,0,0,0,0
$GC,12554,0.39,262.2,896.8,9.7,639,12558,0.00,0.52,0.00,0.000,4,0.000,0.063,3154,1307,1749,0,0,0,0,0,0
$GC,12621,0.39,262.2,890.3,10.5,641,12625,0.03,0.50,0.00,0.000,6,0.191,0.041,3147,1657,1749,0,0,0,0,0,0
$GC,12960,0.39,262.2,861.7,7.9,652,12964,0.00,0.52,0.00,0.000,4,0.000,0.063,3147,1320,1748,0,0,0,0,0,0
$GC,13020,0.39,262.2,857.1,7.8,653,13026,0.00,0.50,0.00,0.000,6,0.000,0.040,3147,1663,1748,0,0,0,0,0,0
$GC,13333,0.39,266.3,834.6,7.3,664,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1664,1747,0,0,0,0,0,0
$GC,13639,0.39,272.3,812.7,7.2,674,13652,0.00,0.70,8.52,1.098,4,0.000,0.062,3147,1240,1716,0,0,0,0,0,0
$GC,13725,0.40,297.2,806.4,6.6,676,13752,0.00,0.62,23.75,1.252,6,0.000,0.038,3147,1661,1615,0,0,0,0,0,0
$GC,14071,0.42,302.3,781.2,7.2,688,14080,0.00,0.00,5.25,0.906,6,0.000,0.000,3147,1661,1593,0,0,0,0,0,0
$GC,14411,0.46,312.4,757.0,7.1,699,14425,0.00,0.52,10.57,1.133,4,0.000,0.056,3147,1331,1553,0,0,0,0,0,0
$GC,14478,0.50,333.6,752.4,6.7,701,14503,0.05,0.45,20.65,1.200,6,0.080,0.042,3176,1647,1465,0,0,0,0,0,0
$GC,14815,0.50,333.6,723.0,8.8,712,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1647,1460,0,0,0,0,0,0
$GC,15121,0.50,333.6,695.3,9.3,722,15125,0.00,0.57,0.00,0.000,4,0.000,0.061,3178,1281,1460,0,0,0,0,0,0
$GC,15181,0.50,333.6,689.7,8.7,723,15186,0.00,0.57,0.00,0.000,6,0.000,0.041,3178,1663,1460,0,0,0,0,0,0
$GC,15493,0.50,333.6,661.4,9.0,734,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1663,1459,0,0,0,0,0,0
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$STATE,22807,end climb,SURFACE_DEPTH_REACHED
$STATE,22807,begin surface coast
$FINISH,1.5,1.012161
$STATE,22844,end surface coast,CONTROL_FINISHED_OK
$STATE,22844,begin surface
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$HUMID,45.15
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$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,23.2,24.182
$10V_AH,10.3,21.056
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,73587,1223
$CAP_FILE_SIZE,202460,0
$CFSIZE,2097086464,2080505856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,121012,133229,-4303.794,-812.883,39,1.1,40,-21.4