version: 66.07.10.p01
glider: 574
mission: 4
dive: 97
start: 10 13 112 9 2 36
data:
$ID,574
$MISSION,4
$DIVE,97
$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,-5717.2305
$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,31
$R_STBD_OVSHOOT,46
$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,76
$GPS1,131012,085405,-4253.453,-816.577,52,1.0,53,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.8
$GPS2,131012,090142,-4253.423,-816.599,18,1.0,19,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.162,0.170
$KALMAN_X,-112891.2,-179.1,1389.1,156429.5,-12168.7
$KALMAN_Y,10131.7,44.0,-211.0,-13312.2,2028.6
$MHEAD_RNG_PITCHd_Wd,65.2,63981,-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,-145.9,0.0,0.0,0,80,0.00,0.00,-53.90,0.000,2,0.000,0.000,70,1909,2663,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.2,-1.5,9,127,12.50,2.38,-20.88,0.000,4,0.275,0.080,2831,505,3424,0,0,0,0,0,0
$GC,247,-0.50,-145.9,22.2,-12.3,36,254,0.05,2.22,0.00,0.000,6,0.168,0.042,2841,1896,3425,0,0,0,0,0,0
$GC,327,-0.50,-145.9,30.0,-8.8,49,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1896,3425,0,0,0,0,0,0
$GC,561,-0.50,-145.9,53.8,-10.0,90,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1896,3425,0,0,0,0,0,0
$GC,793,-0.50,-145.9,78.9,-10.9,131,797,0.00,0.47,0.00,0.000,4,0.000,0.063,2841,1593,3425,0,0,0,0,0,0
$GC,882,-0.50,-145.9,89.0,-11.0,147,888,0.00,0.50,0.00,0.000,6,0.000,0.047,2840,1929,3425,0,0,0,0,0,0
$GC,1208,-0.50,-145.9,121.1,-9.7,180,1212,0.00,1.45,0.00,0.000,4,0.000,0.062,2840,1041,3425,0,0,0,0,0,0
$GC,1280,-0.50,-145.9,128.6,-10.3,184,1285,0.00,1.38,0.00,0.000,6,0.000,0.042,2836,1907,3425,0,0,0,0,0,0
$GC,1608,-0.48,-145.9,163.1,-10.7,205,1612,0.08,0.43,0.00,0.000,4,0.204,0.063,2853,1637,3425,0,0,0,0,0,0
$GC,1658,-0.50,-145.9,168.2,-9.0,208,1662,0.00,0.43,0.00,0.000,6,0.000,0.049,2853,1929,3425,0,0,0,0,0,0
$GC,1990,-0.52,-145.9,200.8,-10.6,229,1994,0.00,1.27,0.00,0.000,4,0.000,0.062,2853,1139,3425,0,0,0,0,0,0
$GC,2061,-0.54,-145.9,207.9,-9.7,233,2064,0.00,1.20,0.00,0.000,6,0.000,0.044,2851,1907,3425,0,0,0,0,0,0
$GC,2390,-0.54,-145.9,240.9,-9.5,254,2393,0.00,0.38,0.00,0.000,4,0.000,0.063,2851,1657,3425,0,0,0,0,0,0
$GC,2467,-0.54,-145.9,248.5,-9.0,258,2475,0.00,0.40,0.00,0.000,6,0.000,0.049,2850,1926,3425,0,0,0,0,0,0
$GC,2801,-0.54,-145.9,278.7,-9.0,275,2804,0.00,1.77,0.00,0.000,4,0.000,0.063,2850,805,3425,0,0,0,0,0,0
$GC,2869,-0.57,-145.9,285.1,-9.1,278,2872,0.00,1.67,0.00,0.000,6,0.000,0.040,2844,1911,3425,0,0,0,0,0,0
$GC,3201,-0.57,-145.9,314.4,-8.7,294,3204,0.00,0.28,0.00,0.000,4,0.000,0.067,2844,1723,3425,0,0,0,0,0,0
$GC,3278,-0.57,-145.9,321.0,-8.2,297,3280,0.00,0.30,0.00,0.000,6,0.000,0.052,2842,1930,3425,0,0,0,0,0,0
$GC,3597,-0.57,-145.9,345.9,-7.9,313,3601,0.00,1.92,0.00,0.000,4,0.000,0.063,2843,742,3425,0,0,0,0,0,0
$GC,3669,-0.59,-145.9,352.4,-8.6,316,3674,0.00,1.80,0.00,0.000,6,0.000,0.038,2838,1908,3425,0,0,0,0,0,0
$GC,3996,-0.59,-145.9,381.9,-9.2,332,4000,0.00,0.60,0.00,0.000,4,0.000,0.058,2838,1524,3425,0,0,0,0,0,0
$GC,4056,-0.59,-145.9,387.8,-9.4,334,4064,0.00,0.60,0.00,0.000,6,0.000,0.042,2836,1922,3425,0,0,0,0,0,0
$GC,4372,-0.59,-145.9,416.0,-8.7,350,4376,0.00,0.93,0.00,0.000,4,0.000,0.058,2837,1342,3425,0,0,0,0,0,0
$GC,4426,-0.59,-145.9,420.9,-8.6,352,4431,0.00,0.88,0.00,0.000,6,0.000,0.039,2834,1911,3425,0,0,0,0,0,0
$GC,4748,-0.59,-145.9,448.1,-8.2,368,4752,0.00,0.50,0.00,0.000,4,0.000,0.059,2834,1585,3425,0,0,0,0,0,0
$GC,4831,-0.59,-145.9,455.2,-8.3,371,4836,0.00,0.50,0.00,0.000,6,0.000,0.043,2832,1923,3425,0,0,0,0,0,0
$GC,5148,-0.59,-145.9,482.2,-8.8,387,5152,0.00,2.28,0.00,0.000,4,0.000,0.063,2832,508,3425,0,0,0,0,0,0
$GC,5225,-0.59,-145.9,489.6,-9.1,390,5230,0.00,2.15,0.00,0.000,6,0.000,0.037,2824,1899,3425,0,0,0,0,0,0
$GC,5555,-0.56,-145.9,520.9,-9.8,403,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1899,3424,0,0,0,0,0,0
$GC,5861,-0.53,-145.9,551.7,-9.9,413,5865,0.03,0.43,0.00,0.000,4,0.296,0.060,2834,1625,3423,0,0,0,0,0,0
$GC,5921,-0.53,-145.9,557.4,-8.7,414,5927,0.00,0.45,0.00,0.000,6,0.000,0.044,2832,1930,3424,0,0,0,0,0,0
$GC,6233,-0.53,-145.9,584.4,-8.7,425,6237,0.00,1.52,0.00,0.000,4,0.000,0.059,2833,985,3423,0,0,0,0,0,0
$GC,6304,-0.53,-145.9,591.2,-8.9,427,6309,0.00,1.45,0.00,0.000,6,0.000,0.039,2828,1908,3423,0,0,0,0,0,0
$GC,6640,-0.53,-145.9,623.7,-9.7,438,6644,0.00,0.40,0.00,0.000,4,0.000,0.062,2828,1643,3422,0,0,0,0,0,0
$GC,6717,-0.51,-145.9,631.8,-10.9,440,6722,0.08,0.43,0.00,0.000,6,0.194,0.047,2844,1930,3422,0,0,0,0,0,0
$GC,7046,-0.54,-145.9,661.9,-9.4,451,7050,0.00,1.88,0.00,0.000,4,0.000,0.062,2844,750,3422,0,0,0,0,0,0
$GC,7114,-0.57,-145.9,668.6,-9.8,453,7118,0.00,1.77,0.00,0.000,6,0.000,0.040,2838,1910,3422,0,0,0,0,0,0
$GC,7454,-0.57,-145.9,702.7,-10.1,464,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1910,3421,0,0,0,0,0,0
$GC,7760,-0.57,-145.9,732.6,-9.6,474,7764,0.00,1.77,0.00,0.000,4,0.000,0.061,2838,796,3420,0,0,0,0,0,0
$GC,7832,-0.59,-145.9,739.9,-9.9,476,7836,0.00,1.75,0.00,0.000,6,0.000,0.041,2836,1918,3420,0,0,0,0,0,0
$GC,8167,-0.59,-145.9,770.7,-9.3,487,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1918,3419,0,0,0,0,0,0
$GC,8473,-0.59,-145.9,797.8,-8.6,497,8477,0.00,0.35,0.00,0.000,4,0.000,0.063,2836,1682,3418,0,0,0,0,0,0
$GC,8555,-0.59,-145.9,804.9,-9.1,499,8558,0.00,0.38,0.00,0.000,6,0.000,0.050,2836,1934,3418,0,0,0,0,0,0
$GC,8875,-0.59,-145.9,830.1,-7.8,510,8879,0.00,2.15,0.00,0.000,4,0.000,0.061,2836,597,3417,0,0,0,0,0,0
$GC,8941,-0.63,-145.9,835.7,-8.3,512,8947,0.03,2.03,0.00,0.000,6,0.111,0.041,2809,1892,3417,0,0,0,0,0,0
$GC,9277,-0.58,-145.9,868.8,-10.3,523,9281,0.05,0.70,0.00,0.000,4,0.221,0.058,2820,1455,3416,0,0,0,0,0,0
$GC,9325,-0.56,-145.9,873.9,-10.0,524,9330,0.00,0.73,0.00,0.000,6,0.000,0.044,2818,1924,3417,0,0,0,0,0,0
$GC,9650,-0.53,-145.9,907.6,-10.6,535,9651,0.08,0.00,0.00,0.000,6,0.205,0.000,2836,1925,3416,0,0,0,0,0,0
$GC,9956,-0.56,-145.9,934.8,-8.5,545,9960,0.00,0.57,0.00,0.000,4,0.000,0.059,2836,1543,3415,0,0,0,0,0,0
$GC,10016,-0.58,-145.9,940.1,-8.1,546,10022,0.00,0.57,0.00,0.000,6,0.000,0.047,2837,1916,3415,0,0,0,0,0,0
$GC,10329,-0.61,-145.9,965.8,-8.3,557,10333,0.05,1.20,0.00,0.000,4,0.182,0.060,2816,1174,3415,0,0,0,0,0,0
$GC,10401,-0.58,-145.9,972.9,-9.9,559,10405,0.00,1.15,0.00,0.000,6,0.000,0.041,2811,1911,3415,0,0,0,0,0,0
$STATE,10705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10705,begin apogee
$GC,10709,-0.19,0.0,1001.9,9.3,569,10834,0.45,0.00,122.20,1.450,6,0.144,0.000,2947,1645,2827,0,0,0,0,0,0
$STATE,10835,end apogee,CONTROL_FINISHED_OK
$STATE,10835,begin climb
$GC,10837,0.52,145.9,1006.4,0.0,573,10973,0.70,1.52,127.57,1.418,4,0.088,0.065,3179,822,2231,0,0,0,0,0,0
$GC,11034,0.35,145.9,1001.0,8.8,579,11039,0.17,1.38,0.00,0.000,6,0.171,0.041,3134,1649,2228,0,0,0,0,0,0
$GC,11364,0.28,156.3,977.6,7.1,590,11376,0.10,0.00,9.93,1.175,6,0.200,0.000,3110,1650,2189,0,0,0,0,0,0
$GC,11669,0.28,218.8,960.2,5.3,600,11730,0.00,0.43,55.20,1.377,4,0.000,0.042,3110,1927,1934,0,0,0,0,0,0
$GC,11799,0.32,290.9,953.6,4.9,604,11868,0.00,0.45,64.55,1.373,6,0.000,0.063,3111,1653,1641,0,0,0,0,0,0
$GC,12198,0.55,367.5,933.5,4.8,617,12273,0.22,1.27,69.22,1.361,4,0.088,0.065,3190,930,1327,0,0,0,0,0,0
$GC,12301,0.66,401.4,927.0,6.2,620,12338,0.08,1.17,31.95,1.314,6,0.079,0.039,3223,1654,1189,0,0,0,0,0,0
$GC,12656,0.60,401.4,890.3,10.9,632,12660,0.08,0.65,0.00,0.000,4,0.195,0.045,3208,2083,1180,0,0,0,0,0,0
$GC,12699,0.57,401.4,885.6,10.6,633,12704,0.05,0.73,0.00,0.000,6,0.238,0.057,3201,1647,1180,0,0,0,0,0,0
$GC,13028,0.57,401.4,850.0,10.9,644,13032,0.00,1.15,0.00,0.000,4,0.000,0.067,3201,948,1179,0,0,0,0,0,0
$GC,13095,0.57,401.4,842.6,11.4,646,13099,0.00,1.10,0.00,0.000,6,0.000,0.041,3201,1650,1178,0,0,0,0,0,0
$GC,13435,0.57,401.4,804.3,11.5,657,13439,0.00,0.35,0.00,0.000,4,0.000,0.069,3201,1430,1178,0,0,0,0,0,0
$GC,13489,0.57,401.4,798.0,11.1,658,13491,0.00,0.32,0.00,0.000,6,0.000,0.052,3201,1647,1178,0,0,0,0,0,0
$GC,13803,0.57,401.4,761.4,11.8,669,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1647,1178,0,0,0,0,0,0
$GC,14110,0.57,401.4,727.1,11.0,679,14113,0.00,0.88,0.00,0.000,4,0.000,0.066,3201,1104,1178,0,0,0,0,0,0
$GC,14169,0.57,401.4,720.0,11.4,680,14175,0.00,0.88,0.00,0.000,6,0.000,0.043,3201,1666,1177,0,0,0,0,0,0
$GC,14482,0.57,401.4,685.3,10.9,691,14486,0.00,0.62,0.00,0.000,4,0.000,0.067,3201,1277,1177,0,0,0,0,0,0
$GC,14542,0.57,401.4,678.8,10.4,692,14547,0.00,0.57,0.00,0.000,6,0.000,0.046,3201,1657,1177,0,0,0,0,0,0
$GC,14854,0.57,401.4,647.1,9.8,703,14858,0.00,0.93,0.00,0.000,4,0.000,0.066,3201,1080,1177,0,0,0,0,0,0
$GC,14921,0.57,401.4,640.7,8.9,705,14925,0.00,0.85,0.00,0.000,6,0.000,0.044,3201,1638,1177,0,0,0,0,0,0
$GC,15261,0.57,401.4,606.9,10.1,716,15262,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1641,1177,0,0,0,0,0,0
$GC,15567,0.57,401.4,574.4,10.8,726,15571,0.00,0.30,0.00,0.000,4,0.000,0.072,3201,1444,1177,0,0,0,0,0,0
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$STATE,21276,end climb,SURFACE_DEPTH_REACHED
$STATE,21276,begin surface coast
$FINISH,1.5,1.014980
$STATE,21314,end surface coast,CONTROL_FINISHED_OK
$STATE,21314,begin surface
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$10V_AH,10.3,21.622
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$FG_AHR_10Vo,0.000
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$MEM,354532
$DATA_FILE_SIZE,70210,1147
$CAP_FILE_SIZE,190208,0
$CFSIZE,2097086464,2080014336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,131012,150005,-4248.943,-817.030,27,1.4,28,-21.5