version: 66.07.10.p01
glider: 574
mission: 4
dive: 120
start: 10 19 112 8 53 18
data:
$ID,574
$MISSION,4
$DIVE,120
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5793.2437
$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,43
$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,99
$GPS1,191012,083929,-4245.117,-750.318,65,1.4,66,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.2
$GPS2,191012,085224,-4245.129,-750.427,18,1.6,19,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.192,-0.136
$KALMAN_X,-145604.5,363.2,-490.7,226013.5,-6119.8
$KALMAN_Y,85589.1,-126.5,-828.6,-72598.5,5993.7
$MHEAD_RNG_PITCHd_Wd,146.9,109492,-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,-145.9,0.0,0.0,0,75,0.00,0.00,-48.47,0.000,2,0.000,0.000,71,1929,2414,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.0,-1.1,8,133,12.73,2.28,-32.60,0.000,4,0.276,0.067,2825,3308,3423,0,0,0,0,0,0
$GC,251,-0.52,-145.9,18.6,-11.7,37,259,0.03,2.25,0.00,0.000,6,0.156,0.051,2835,1922,3424,0,0,0,0,0,0
$GC,331,-0.50,-145.9,27.0,-10.7,50,339,0.05,1.02,0.00,0.000,4,0.227,0.065,2848,1302,3424,0,0,0,0,0,0
$GC,433,-0.50,-145.9,37.0,-9.0,67,438,0.00,0.95,0.00,0.000,6,0.000,0.045,2845,1901,3424,0,0,0,0,0,0
$GC,667,-0.50,-145.9,59.1,-9.6,108,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1901,3424,0,0,0,0,0,0
$GC,899,-0.50,-145.9,80.5,-9.0,149,903,0.00,1.00,0.00,0.000,4,0.000,0.062,2846,1294,3424,0,0,0,0,0,0
$GC,983,-0.50,-145.9,88.5,-9.2,164,988,0.00,0.98,0.00,0.000,6,0.000,0.045,2841,1916,3424,0,0,0,0,0,0
$GC,1313,-0.50,-145.9,123.4,-10.0,198,1317,0.00,1.08,0.00,0.000,4,0.000,0.063,2841,1258,3424,0,0,0,0,0,0
$GC,1408,-0.50,-145.9,133.4,-10.3,203,1414,0.00,1.05,0.00,0.000,6,0.000,0.043,2838,1917,3424,0,0,0,0,0,0
$GC,1727,-0.50,-145.9,164.9,-10.0,224,1731,0.00,0.93,0.00,0.000,4,0.000,0.061,2838,1346,3424,0,0,0,0,0,0
$GC,1814,-0.50,-145.9,173.1,-9.5,229,1818,0.00,0.88,0.00,0.000,6,0.000,0.044,2836,1908,3424,0,0,0,0,0,0
$GC,2144,-0.50,-145.9,206.1,-9.9,250,2148,0.05,0.62,0.00,0.000,4,0.239,0.062,2847,1527,3424,0,0,0,0,0,0
$GC,2230,-0.50,-145.9,214.3,-9.8,255,2234,0.00,0.60,0.00,0.000,6,0.000,0.045,2846,1922,3424,0,0,0,0,0,0
$GC,2559,-0.50,-145.9,245.5,-9.4,276,2563,0.00,1.20,0.00,0.000,4,0.000,0.062,2846,1184,3424,0,0,0,0,0,0
$GC,2660,-0.50,-145.9,255.2,-9.0,281,2664,0.00,1.15,0.00,0.000,6,0.000,0.042,2842,1912,3425,0,0,0,0,0,0
$GC,2983,-0.50,-145.9,283.7,-8.4,297,2987,0.00,0.62,0.00,0.000,4,0.000,0.061,2842,1516,3424,0,0,0,0,0,0
$GC,3060,-0.50,-145.9,290.6,-8.7,300,3065,0.00,0.62,0.00,0.000,6,0.000,0.044,2839,1920,3424,0,0,0,0,0,0
$GC,3382,-0.50,-145.9,318.6,-9.0,316,3385,0.00,1.08,0.00,0.000,4,0.000,0.061,2839,1256,3424,0,0,0,0,0,0
$GC,3472,-0.50,-145.9,326.7,-8.7,320,3476,0.00,1.00,0.00,0.000,6,0.000,0.043,2837,1903,3424,0,0,0,0,0,0
$GC,3804,-0.50,-145.9,353.9,-8.2,336,3808,0.03,0.98,0.00,0.000,4,0.291,0.062,2848,1309,3425,0,0,0,0,0,0
$GC,3894,-0.53,-145.9,361.1,-7.7,340,3898,0.00,0.93,0.00,0.000,6,0.000,0.040,2845,1915,3424,0,0,0,0,0,0
$GC,4226,-0.56,-145.9,388.7,-8.2,356,4230,0.00,1.10,0.00,0.000,4,0.000,0.062,2845,1234,3425,0,0,0,0,0,0
$GC,4321,-0.58,-145.9,397.2,-8.8,360,4326,0.00,1.08,0.00,0.000,6,0.000,0.041,2840,1920,3424,0,0,0,0,0,0
$GC,4648,-0.58,-145.9,427.6,-9.3,376,4652,0.00,0.80,0.00,0.000,4,0.000,0.060,2841,1418,3425,0,0,0,0,0,0
$GC,4726,-0.58,-145.9,434.8,-8.6,379,4730,0.00,0.77,0.00,0.000,6,0.000,0.041,2838,1919,3425,0,0,0,0,0,0
$GC,5049,-0.58,-145.9,463.9,-8.6,395,5053,0.00,1.00,0.00,0.000,4,0.000,0.060,2838,1295,3424,0,0,0,0,0,0
$GC,5126,-0.58,-145.9,471.2,-9.0,398,5131,0.00,0.98,0.00,0.000,6,0.000,0.041,2836,1917,3424,0,0,0,0,0,0
$GC,5448,-0.58,-145.9,500.0,-8.7,414,5451,0.00,1.00,0.00,0.000,4,0.000,0.060,2836,1296,3424,0,0,0,0,0,0
$GC,5536,-0.58,-145.9,508.0,-9.3,416,5541,0.00,0.98,0.00,0.000,6,0.000,0.040,2834,1921,3424,0,0,0,0,0,0
$GC,5855,-0.58,-145.9,535.7,-8.8,427,5858,0.00,0.65,0.00,0.000,4,0.000,0.059,2834,1511,3424,0,0,0,0,0,0
$GC,5926,-0.58,-145.9,542.5,-9.1,429,5930,0.00,0.62,0.00,0.000,6,0.000,0.043,2831,1917,3424,0,0,0,0,0,0
$GC,6261,-0.58,-145.9,575.9,-10.6,440,6264,0.00,1.08,0.00,0.000,4,0.000,0.060,2831,1252,3424,0,0,0,0,0,0
$GC,6354,-0.58,-145.9,586.9,-11.8,442,6360,0.00,1.02,0.00,0.000,6,0.000,0.041,2828,1909,3424,0,0,0,0,0,0
$GC,6667,-0.58,-145.9,621.5,-11.2,453,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1910,3423,0,0,0,0,0,0
$GC,6973,-0.58,-145.9,653.8,-10.7,463,6977,0.00,1.42,0.00,0.000,4,0.000,0.060,2828,1021,3424,0,0,0,0,0,0
$GC,7078,-0.58,-145.9,664.9,-10.5,466,7083,0.00,1.40,0.00,0.000,6,0.000,0.041,2823,1906,3423,0,0,0,0,0,0
$GC,7414,-0.58,-145.9,699.5,-10.6,477,7418,0.00,0.40,0.00,0.000,4,0.000,0.053,2821,2203,3422,0,0,0,0,0,0
$GC,7474,-0.58,-145.9,706.0,-10.8,478,7479,0.00,0.47,0.00,0.000,6,0.000,0.056,2821,1899,3422,0,0,0,0,0,0
$GC,7786,-0.58,-145.9,739.3,-10.6,489,7790,0.00,0.90,0.00,0.000,4,0.000,0.058,2821,1323,3422,0,0,0,0,0,0
$GC,7874,-0.58,-145.9,748.6,-10.3,491,7879,0.00,0.95,0.00,0.000,6,0.000,0.042,2817,1929,3422,0,0,0,0,0,0
$GC,8193,-0.56,-145.9,780.3,-9.7,502,8197,0.00,0.82,0.00,0.000,4,0.000,0.058,2817,1410,3422,0,0,0,0,0,0
$GC,8276,-0.56,-145.9,788.4,-9.6,504,8281,0.05,0.80,0.00,0.000,6,0.228,0.045,2826,1921,3422,0,0,0,0,0,0
$GC,8599,-0.56,-145.9,816.4,-8.9,515,8602,0.00,1.30,0.00,0.000,4,0.000,0.057,2826,1112,3422,0,0,0,0,0,0
$GC,8704,-0.56,-145.9,825.7,-9.1,518,8709,0.00,1.27,0.00,0.000,6,0.000,0.042,2823,1916,3422,0,0,0,0,0,0
$GC,9039,-0.56,-145.9,856.5,-9.8,529,9043,0.00,0.73,0.00,0.000,4,0.000,0.049,2820,2403,3422,0,0,0,0,0,0
$GC,9110,-0.56,-145.9,864.2,-9.1,531,9115,0.00,0.77,0.00,0.000,6,0.000,0.049,2820,1913,3422,0,0,0,0,0,0
$GC,9445,-0.56,-145.9,896.1,-10.3,542,9449,0.00,1.83,0.00,0.000,4,0.000,0.060,2820,777,3422,0,0,0,0,0,0
$GC,9533,-0.56,-145.9,904.5,-10.7,544,9539,0.03,1.77,0.00,0.000,6,0.182,0.042,2823,1910,3422,0,0,0,0,0,0
$GC,9852,-0.56,-145.9,936.3,-10.5,555,9856,0.00,0.28,0.00,0.000,4,0.000,0.062,2823,2115,3422,0,0,0,0,0,0
$GC,9901,-0.56,-145.9,942.8,-12.5,556,9905,0.00,0.32,0.00,0.000,6,0.000,0.060,2822,1904,3422,0,0,0,0,0,0
$GC,10225,-0.56,-145.9,978.1,-9.8,567,10228,0.00,1.30,0.00,0.000,4,0.000,0.060,2822,1088,3422,0,0,0,0,0,0
$GC,10335,-0.56,-145.9,989.7,-10.4,570,10340,0.00,1.33,0.00,0.000,6,0.000,0.044,2818,1921,3422,0,0,0,0,0,0
$STATE,10450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10450,begin apogee
$GC,10455,-0.19,0.0,1001.6,10.5,574,10583,0.43,0.00,125.03,1.574,6,0.140,0.000,2946,1654,2827,0,0,0,0,0,0
$STATE,10583,end apogee,CONTROL_FINISHED_OK
$STATE,10583,begin climb
$GC,10585,0.52,145.9,1008.9,0.0,578,10723,0.73,0.75,130.77,1.556,4,0.080,0.045,3178,2111,2232,0,0,0,0,0,0
$GC,10767,0.34,203.6,1011.9,5.4,584,10827,0.20,0.80,53.95,1.506,6,0.186,0.059,3133,1660,1995,0,0,0,0,0,0
$GC,11157,0.32,280.0,993.1,4.8,597,11228,0.05,0.00,68.72,1.512,6,0.241,0.000,3122,1660,1685,0,0,0,0,0,0
$GC,11523,0.38,357.2,975.4,4.8,609,11596,0.00,0.00,70.97,1.504,6,0.000,0.000,3122,1660,1370,0,0,0,0,0,0
$GC,11889,0.71,357.2,944.9,10.5,621,11894,0.32,1.35,0.00,0.000,4,0.086,0.044,3238,2489,1360,0,0,0,0,0,0
$GC,11944,0.60,357.2,939.5,9.2,622,11949,0.10,1.38,0.00,0.000,6,0.171,0.057,3213,1658,1360,0,0,0,0,0,0
$GC,12262,0.52,357.2,902.2,12.0,633,12264,0.12,0.00,0.00,0.000,6,0.189,0.000,3182,1658,1359,0,0,0,0,0,0
$GC,12568,0.52,357.2,871.9,9.7,643,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1658,1358,0,0,0,0,0,0
$GC,12874,0.52,357.2,839.7,10.7,653,12878,0.00,0.55,0.00,0.000,4,0.000,0.070,3183,1313,1358,0,0,0,0,0,0
$GC,12923,0.52,357.2,833.9,12.0,654,12927,0.00,0.55,0.00,0.000,6,0.000,0.050,3183,1665,1358,0,0,0,0,0,0
$GC,13246,0.52,357.2,795.1,12.2,665,13250,0.00,0.55,0.00,0.000,4,0.000,0.051,3184,2031,1358,0,0,0,0,0,0
$GC,13295,0.50,357.2,788.6,13.3,666,13300,0.00,0.65,0.00,0.000,6,0.000,0.061,3185,1636,1358,0,0,0,0,0,0
$GC,13618,0.50,357.2,747.0,12.8,677,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1636,1358,0,0,0,0,0,0
$GC,13925,0.50,357.2,708.3,12.4,687,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1636,1357,0,0,0,0,0,0
$GC,14231,0.50,357.2,673.9,10.7,697,14235,0.00,0.28,0.00,0.000,4,0.000,0.062,3185,1832,1358,0,0,0,0,0,0
$GC,14285,0.50,357.2,667.9,11.4,698,14289,0.00,0.30,0.00,0.000,6,0.000,0.073,3185,1644,1358,0,0,0,0,0,0
$GC,14603,0.50,357.2,633.4,10.9,709,14604,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1644,1358,0,0,0,0,0,0
$GC,14909,0.50,357.2,604.7,9.0,719,14910,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1644,1357,0,0,0,0,0,0
$GC,15215,0.50,357.2,578.7,8.2,729,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1644,1358,0,0,0,0,0,0
$GC,15522,0.50,370.8,556.7,6.9,739,15536,0.00,0.40,11.05,1.174,4,0.000,0.063,3186,1360,1316,0,0,0,0,0,0
$GC,15580,0.50,418.6,552.8,5.8,740,15628,0.00,0.45,44.28,1.276,6,0.000,0.052,3186,1647,1120,0,0,0,0,0,0
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$STATE,21190,end climb,SURFACE_DEPTH_REACHED
$STATE,21190,begin surface coast
$FINISH,1.7,1.015307
$STATE,21221,end surface coast,CONTROL_FINISHED_OK
$STATE,21221,begin surface
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$IRIDIUM_FIX,-4230.32,-747.49,191012,010100
$TT8_MAMPS,0.026964
$HUMID,46.37
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.8,30.095
$10V_AH,10.2,24.860
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.775,70.675,559.625,0.000,0.000,27.495,38.006,556.142,0.250,0.000,21.336,2852.571,14500.005,639.948,3887.080,166.642,33.362,1970.536,0.000,3213.386,0.000,2.834,0.000
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$MEM,354244
$DATA_FILE_SIZE,67038,1138
$CAP_FILE_SIZE,189178,0
$CFSIZE,2097086464,2076999680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191012,144929,-4245.446,-749.972,41,1.3,42,-21.6