version: 66.07.10.p01
glider: 574
mission: 4
dive: 107
start: 10 16 112 1 49 14
data:
$ID,574
$MISSION,4
$DIVE,107
$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,-5750.2451
$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,25
$R_STBD_OVSHOOT,42
$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,86
$GPS1,161012,014023,-4226.511,-752.239,39,1.3,40,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.9
$GPS2,161012,014820,-4226.452,-752.262,20,6.4,39,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.110,-0.207
$KALMAN_X,-118951.6,-443.5,350.7,196840.0,1166.4
$KALMAN_Y,55806.3,-59.4,-895.3,-8236.4,9210.0
$MHEAD_RNG_PITCHd_Wd,173.8,4099,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.22,0.000,2,0.000,0.000,68,1917,2558,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.3,10,139,12.27,2.28,-27.77,0.000,4,0.268,0.068,2828,3309,3424,0,0,0,0,0,0
$GC,224,-0.52,-145.9,14.3,-9.7,32,231,0.00,2.25,0.00,0.000,6,0.000,0.052,2828,1922,3425,0,0,0,0,0,0
$GC,303,-0.47,-145.9,22.3,-10.7,45,310,0.12,1.40,0.00,0.000,4,0.165,0.067,2860,1079,3425,0,0,0,0,0,0
$GC,395,-0.51,-145.9,30.3,-8.2,60,402,0.00,1.30,0.00,0.000,6,0.000,0.041,2858,1903,3425,0,0,0,0,0,0
$GC,634,-0.53,-145.9,50.2,-8.5,101,639,0.00,0.35,0.00,0.000,4,0.000,0.067,2857,1679,3425,0,0,0,0,0,0
$GC,704,-0.56,-145.9,56.0,-8.3,113,710,0.05,0.35,0.00,0.000,6,0.076,0.050,2823,1925,3425,0,0,0,0,0,0
$GC,938,-0.51,-145.9,80.7,-10.6,154,944,0.10,0.95,0.00,0.000,4,0.173,0.063,2848,1348,3425,0,0,0,0,0,0
$GC,1024,-0.51,-145.9,88.5,-8.8,169,1029,0.00,0.85,0.00,0.000,6,0.000,0.041,2846,1900,3425,0,0,0,0,0,0
$GC,1359,-0.51,-145.9,119.5,-9.4,205,1363,0.00,1.10,0.00,0.000,4,0.000,0.063,2846,1226,3425,0,0,0,0,0,0
$GC,1447,-0.51,-145.9,128.8,-10.3,210,1452,0.00,1.08,0.00,0.000,6,0.000,0.038,2842,1914,3426,0,0,0,0,0,0
$GC,1774,-0.51,-145.9,163.0,-11.4,231,1778,0.00,0.70,0.00,0.000,4,0.000,0.062,2842,1477,3426,0,0,0,0,0,0
$GC,1860,-0.51,-145.9,173.0,-11.8,236,1864,0.00,0.65,0.00,0.000,6,0.000,0.040,2839,1913,3426,0,0,0,0,0,0
$GC,2191,-0.51,-145.9,213.4,-12.8,257,2195,0.00,1.38,0.00,0.000,4,0.000,0.064,2839,1073,3426,0,0,0,0,0,0
$GC,2285,-0.51,-145.9,225.8,-12.5,262,2293,0.00,1.33,0.00,0.000,6,0.000,0.040,2836,1914,3426,0,0,0,0,0,0
$GC,2605,-0.51,-145.9,266.9,-13.5,281,2609,0.00,0.73,0.00,0.000,4,0.000,0.063,2836,1462,3426,0,0,0,0,0,0
$GC,2681,-0.51,-145.9,277.7,-12.8,284,2686,0.00,0.73,0.00,0.000,6,0.000,0.040,2834,1934,3426,0,0,0,0,0,0
$GC,3003,-0.51,-145.9,317.3,-11.7,300,3006,0.00,1.38,0.00,0.000,4,0.000,0.065,2834,1094,3426,0,0,0,0,0,0
$GC,3103,-0.51,-145.9,328.7,-10.7,304,3108,0.08,1.27,0.00,0.000,6,0.188,0.037,2847,1912,3426,0,0,0,0,0,0
$GC,3424,-0.53,-145.9,357.5,-8.8,320,3428,0.00,0.75,0.00,0.000,4,0.000,0.061,2847,1445,3427,0,0,0,0,0,0
$GC,3519,-0.56,-145.9,365.6,-7.7,324,3523,0.00,0.73,0.00,0.000,6,0.000,0.040,2846,1922,3427,0,0,0,0,0,0
$GC,3847,-0.59,-145.9,390.5,-7.4,340,3851,0.08,1.52,0.00,0.000,4,0.129,0.065,2813,995,3427,0,0,0,0,0,0
$GC,3962,-0.54,-145.9,401.2,-9.9,345,3966,0.08,1.40,0.00,0.000,6,0.147,0.039,2832,1899,3427,0,0,0,0,0,0
$GC,4295,-0.54,-145.9,428.8,-8.3,361,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1898,3427,0,0,0,0,0,0
$GC,4603,-0.54,-145.9,453.9,-8.1,376,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1899,3427,0,0,0,0,0,0
$GC,4914,-0.54,-145.9,478.4,-7.7,391,4918,0.00,0.55,0.00,0.000,4,0.000,0.062,2832,1547,3426,0,0,0,0,0,0
$GC,4996,-0.54,-145.9,485.3,-8.1,394,5004,0.00,0.57,0.00,0.000,6,0.000,0.044,2832,1924,3426,0,0,0,0,0,0
$GC,5311,-0.54,-145.9,512.4,-9.0,408,5314,0.00,0.65,0.00,0.000,4,0.000,0.060,2832,1515,3426,0,0,0,0,0,0
$GC,5387,-0.54,-145.9,519.7,-8.7,410,5392,0.00,0.62,0.00,0.000,6,0.000,0.041,2829,1923,3426,0,0,0,0,0,0
$GC,5717,-0.54,-145.9,550.8,-9.8,421,5720,0.00,0.55,0.00,0.000,4,0.000,0.060,2829,1571,3425,0,0,0,0,0,0
$GC,5799,-0.54,-145.9,559.2,-9.8,423,5803,0.00,0.52,0.00,0.000,6,0.000,0.044,2827,1917,3425,0,0,0,0,0,0
$GC,6123,-0.54,-145.9,592.8,-10.9,434,6126,0.00,0.62,0.00,0.000,4,0.000,0.061,2827,1523,3425,0,0,0,0,0,0
$GC,6199,-0.54,-145.9,601.3,-10.3,436,6204,0.00,0.60,0.00,0.000,6,0.000,0.044,2824,1911,3425,0,0,0,0,0,0
$GC,6529,-0.54,-145.9,638.0,-11.6,447,6532,0.00,0.98,0.00,0.000,4,0.000,0.060,2824,1307,3424,0,0,0,0,0,0
$GC,6622,-0.54,-145.9,648.7,-11.3,449,6629,0.05,0.95,0.00,0.000,6,0.235,0.042,2834,1914,3424,0,0,0,0,0,0
$GC,6935,-0.54,-145.9,677.7,-8.8,460,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1914,3424,0,0,0,0,0,0
$GC,7241,-0.54,-145.9,704.6,-8.9,470,7245,0.00,1.60,0.00,0.000,4,0.000,0.062,2834,930,3424,0,0,0,0,0,0
$GC,7351,-0.54,-145.9,714.5,-8.4,473,7357,0.00,1.55,0.00,0.000,6,0.000,0.041,2829,1911,3424,0,0,0,0,0,0
$GC,7681,-0.54,-145.9,743.6,-8.8,484,7685,0.00,0.30,0.00,0.000,4,0.000,0.066,2829,1711,3423,0,0,0,0,0,0
$GC,7792,-0.54,-145.9,754.0,-9.1,487,7794,0.00,0.32,0.00,0.000,6,0.000,0.054,2829,1929,3423,0,0,0,0,0,0
$GC,8117,-0.54,-145.9,785.0,-10.0,498,8121,0.00,0.95,0.00,0.000,4,0.000,0.060,2829,1335,3423,0,0,0,0,0,0
$GC,8211,-0.54,-145.9,794.5,-9.8,500,8217,0.00,0.90,0.00,0.000,6,0.000,0.043,2825,1908,3422,0,0,0,0,0,0
$GC,8523,-0.54,-145.9,827.4,-10.8,511,8527,0.00,0.80,0.00,0.000,4,0.000,0.060,2825,1406,3422,0,0,0,0,0,0
$GC,8600,-0.54,-145.9,835.7,-10.4,513,8604,0.00,0.80,0.00,0.000,6,0.000,0.044,2823,1916,3422,0,0,0,0,0,0
$GC,8929,-0.54,-145.9,869.7,-10.5,524,8934,0.05,0.52,0.00,0.000,4,0.238,0.061,2834,1584,3422,0,0,0,0,0,0
$GC,9018,-0.57,-145.9,878.3,-9.5,526,9022,0.00,0.52,0.00,0.000,6,0.000,0.048,2833,1926,3422,0,0,0,0,0,0
$GC,9336,-0.59,-145.9,907.5,-9.2,537,9340,0.00,1.35,0.00,0.000,4,0.000,0.060,2833,1093,3422,0,0,0,0,0,0
$GC,9452,-0.61,-145.9,918.0,-8.9,540,9457,0.00,1.27,0.00,0.000,6,0.000,0.043,2828,1910,3422,0,0,0,0,0,0
$GC,9776,-0.61,-145.9,943.9,-7.8,551,9780,0.00,0.47,0.00,0.000,4,0.000,0.061,2828,1600,3422,0,0,0,0,0,0
$GC,9859,-0.61,-145.9,950.4,-7.2,553,9863,0.00,0.50,0.00,0.000,6,0.000,0.048,2826,1927,3422,0,0,0,0,0,0
$GC,10183,-0.61,-145.9,975.3,-8.0,564,10186,0.00,0.73,0.00,0.000,4,0.000,0.060,2826,1468,3422,0,0,0,0,0,0
$GC,10265,-0.61,-145.9,982.1,-7.7,566,10269,0.00,0.70,0.00,0.000,6,0.000,0.045,2824,1915,3422,0,0,0,0,0,0
$STATE,10497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10497,begin apogee
$GC,10501,-0.19,0.0,1002.0,8.8,574,10629,0.40,0.00,124.85,1.606,6,0.136,0.000,2946,1635,2827,0,0,0,0,0,0
$STATE,10629,end apogee,CONTROL_FINISHED_OK
$STATE,10629,begin climb
$GC,10631,0.52,145.9,1007.4,0.0,578,10767,0.70,1.38,129.52,1.532,4,0.081,0.046,3176,2422,2232,0,0,0,0,0,0
$GC,10833,0.34,145.9,1005.6,7.7,584,10838,0.17,1.33,0.00,0.000,6,0.171,0.057,3133,1664,2227,0,0,0,0,0,0
$GC,11152,0.28,189.6,986.8,5.9,595,11193,0.12,0.00,38.88,1.486,6,0.192,0.000,3103,1664,2052,0,0,0,0,0,0
$GC,11488,0.31,220.4,966.8,6.4,606,11519,0.00,0.40,27.42,1.462,4,0.000,0.052,3103,1910,1927,0,0,0,0,0,0
$GC,11581,0.35,220.4,960.7,7.4,608,11587,0.03,0.43,0.00,0.000,6,0.109,0.067,3125,1647,1925,0,0,0,0,0,0
$GC,11893,0.35,225.5,937.6,7.2,619,11900,0.00,0.00,5.30,1.086,6,0.000,0.000,3125,1647,1907,0,0,0,0,0,0
$GC,12199,0.35,229.5,915.9,7.3,629,12208,0.00,0.00,5.30,1.078,6,0.000,0.000,3125,1647,1890,0,0,0,0,0,0
$GC,12539,0.35,251.8,892.7,6.6,640,12563,0.00,0.43,21.48,1.460,4,0.000,0.064,3125,1365,1799,0,0,0,0,0,0
$GC,12625,0.39,302.5,887.1,5.7,642,12675,0.00,0.45,46.60,1.531,6,0.000,0.048,3125,1655,1593,0,0,0,0,0,0
$GC,12999,0.46,346.3,863.8,5.9,655,13042,0.10,0.00,40.08,1.495,6,0.110,0.000,3163,1657,1414,0,0,0,0,0,0
$GC,13335,0.46,346.3,837.3,7.9,666,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1657,1408,0,0,0,0,0,0
$GC,13641,0.48,346.3,813.3,7.8,676,13645,0.00,0.50,0.00,0.000,4,0.000,0.067,3164,1344,1406,0,0,0,0,0,0
$GC,13690,0.50,346.3,809.7,7.5,677,13695,0.00,0.50,0.00,0.000,6,0.000,0.047,3165,1665,1406,0,0,0,0,0,0
$GC,14014,0.52,346.3,786.1,7.5,688,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1665,1405,0,0,0,0,0,0
$GC,14320,0.52,346.3,763.7,7.5,698,14323,0.00,0.80,0.00,0.000,4,0.000,0.068,3166,1172,1404,0,0,0,0,0,0
$GC,14380,0.54,346.3,759.0,8.1,699,14386,0.05,0.75,0.00,0.000,6,0.171,0.047,3187,1649,1404,0,0,0,0,0,0
$GC,14693,0.51,346.3,731.0,9.1,710,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1649,1404,0,0,0,0,0,0
$GC,14999,0.48,346.3,702.4,9.5,720,15001,0.08,0.00,0.00,0.000,6,0.201,0.000,3172,1650,1404,0,0,0,0,0,0
$GC,15305,0.48,346.3,677.5,8.1,730,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1650,1404,0,0,0,0,0,0
$GC,15611,0.48,346.3,651.2,9.0,740,15615,0.00,0.55,0.00,0.000,4,0.000,0.072,3171,1306,1403,0,0,0,0,0,0
$GC,15678,0.48,346.3,645.0,9.3,742,15682,0.00,0.52,0.00,0.000,6,0.000,0.053,3172,1651,1403,0,0,0,0,0,0
$GC,16017,0.48,346.3,612.9,9.1,753,16021,0.00,0.40,0.00,0.000,4,0.000,0.073,3172,1394,1403,0,0,0,0,0,0
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$STATE,22642,end climb,SURFACE_DEPTH_REACHED
$STATE,22642,begin surface coast
$FINISH,1.5,1.013456
$STATE,22685,end surface coast,CONTROL_FINISHED_OK
$STATE,22685,begin surface
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$HUMID,45.55
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$TCM_TEMP,11.50
$XPDR_PINGS,0
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$10V_AH,10.2,23.055
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.125,61.275,439.425,0.000,0.000,30.832,42.792,265.332,0.250,0.000,42.974,3040.537,15718.390,536.689,3797.170,137.191,33.359,1925.064,0.000,3377.648,0.000,2.832,0.000
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$MEM,354212
$DATA_FILE_SIZE,73420,1221
$CAP_FILE_SIZE,191842,0
$CFSIZE,2097086464,2078703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,161012,080935,-4227.362,-750.610,28,1.1,29,-21.7