version: 66.07.10.p01
glider: 574
mission: 4
dive: 121
start: 10 19 112 15 3 29
data:
$ID,574
$MISSION,4
$DIVE,121
$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,-5796.5205
$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,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,100
$GPS1,191012,144929,-4245.446,-749.972,41,1.3,42,-21.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-66.4
$GPS2,191012,150235,-4245.420,-750.148,28,1.0,29,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.102,-0.211
$KALMAN_X,-151305.7,-160.8,994.0,231128.0,-10034.1
$KALMAN_Y,87629.0,174.6,-181.6,-76134.6,4216.5
$MHEAD_RNG_PITCHd_Wd,175.8,108852,-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,-145.9,0.0,0.0,0,80,0.00,0.00,-54.12,0.000,2,0.000,0.000,65,1914,2204,0,0,0,0,0,0
$GC,82,-0.52,-145.9,3.0,-1.0,9,150,12.30,2.38,-45.75,0.000,4,0.265,0.081,2835,509,3424,0,0,0,0,0,0
$GC,270,-0.52,-145.9,18.0,-10.3,40,277,0.03,2.22,0.00,0.000,6,0.187,0.041,2835,1903,3424,0,0,0,0,0,0
$GC,350,-0.50,-145.9,26.1,-9.9,53,358,0.00,0.85,0.00,0.000,4,0.000,0.049,2832,2456,3424,0,0,0,0,0,0
$GC,435,-0.50,-145.9,34.0,-8.9,67,440,0.03,0.88,0.00,0.000,6,0.168,0.055,2842,1916,3424,0,0,0,0,0,0
$GC,669,-0.50,-145.9,55.7,-9.4,108,676,0.00,1.00,0.00,0.000,4,0.000,0.063,2843,1299,3424,0,0,0,0,0,0
$GC,761,-0.50,-145.9,64.3,-9.1,124,766,0.00,0.98,0.00,0.000,6,0.000,0.041,2839,1925,3424,0,0,0,0,0,0
$GC,1105,-0.50,-145.9,95.4,-9.2,185,1109,0.00,1.15,0.00,0.000,4,0.000,0.060,2839,1218,3424,0,0,0,0,0,0
$GC,1199,-0.50,-145.9,104.2,-9.2,196,1207,0.00,1.10,0.00,0.000,6,0.000,0.041,2836,1914,3424,0,0,0,0,0,0
$GC,1520,-0.48,-145.9,134.1,-10.1,217,1525,0.08,0.40,0.00,0.000,4,0.200,0.063,2854,1659,3424,0,0,0,0,0,0
$GC,1609,-0.50,-145.9,142.7,-9.2,222,1613,0.00,0.40,0.00,0.000,6,0.000,0.046,2853,1930,3424,0,0,0,0,0,0
$GC,1936,-0.53,-145.9,172.5,-9.3,243,1940,0.00,1.23,0.00,0.000,4,0.000,0.061,2853,1172,3424,0,0,0,0,0,0
$GC,2042,-0.56,-145.9,183.1,-9.6,249,2048,0.05,1.15,0.00,0.000,6,0.168,0.039,2824,1910,3424,0,0,0,0,0,0
$GC,2368,-0.52,-145.9,219.6,-11.3,270,2372,0.08,0.70,0.00,0.000,4,0.187,0.058,2841,1473,3424,0,0,0,0,0,0
$GC,2445,-0.52,-145.9,227.8,-9.6,274,2453,0.00,0.68,0.00,0.000,6,0.000,0.040,2839,1920,3424,0,0,0,0,0,0
$GC,2768,-0.52,-145.9,259.9,-10.0,294,2772,0.00,0.60,0.00,0.000,4,0.000,0.058,2839,1534,3425,0,0,0,0,0,0
$GC,2845,-0.52,-145.9,267.9,-9.5,297,2850,0.00,0.57,0.00,0.000,6,0.000,0.041,2837,1911,3424,0,0,0,0,0,0
$GC,3168,-0.52,-145.9,300.5,-9.9,313,3172,0.00,0.95,0.00,0.000,4,0.000,0.059,2837,1320,3425,0,0,0,0,0,0
$GC,3261,-0.52,-145.9,309.6,-9.5,317,3265,0.00,0.90,0.00,0.000,6,0.000,0.041,2834,1908,3425,0,0,0,0,0,0
$GC,3595,-0.52,-145.9,341.2,-8.9,333,3598,0.00,1.02,0.00,0.000,4,0.000,0.060,2834,1272,3424,0,0,0,0,0,0
$GC,3694,-0.52,-145.9,351.0,-9.9,337,3699,0.00,1.00,0.00,0.000,6,0.000,0.039,2830,1917,3425,0,0,0,0,0,0
$GC,4018,-0.52,-145.9,379.8,-8.9,353,4022,0.03,0.75,0.00,0.000,4,0.277,0.057,2840,1447,3425,0,0,0,0,0,0
$GC,4110,-0.52,-145.9,387.5,-8.4,357,4113,0.00,0.70,0.00,0.000,6,0.000,0.041,2838,1918,3425,0,0,0,0,0,0
$GC,4430,-0.52,-145.9,412.9,-7.6,370,4433,0.00,1.48,0.00,0.000,4,0.000,0.058,2838,1003,3425,0,0,0,0,0,0
$GC,4535,-0.52,-145.9,420.9,-7.4,373,4539,0.00,1.40,0.00,0.000,6,0.000,0.037,2834,1908,3425,0,0,0,0,0,0
$GC,4870,-0.52,-145.9,443.6,-6.5,384,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1908,3424,0,0,0,0,0,0
$GC,5177,-0.52,-145.9,463.8,-6.9,394,5180,0.00,1.25,0.00,0.000,4,0.000,0.057,2834,1125,3425,0,0,0,0,0,0
$GC,5282,-0.52,-145.9,471.4,-7.1,397,5287,0.05,1.23,0.00,0.000,6,0.219,0.037,2840,1918,3424,0,0,0,0,0,0
$GC,5617,-0.54,-145.9,493.4,-6.7,408,5621,0.00,0.93,0.00,0.000,4,0.000,0.055,2840,1326,3425,0,0,0,0,0,0
$GC,5702,-0.56,-145.9,499.2,-6.7,410,5705,0.00,0.90,0.00,0.000,6,0.000,0.039,2838,1918,3424,0,0,0,0,0,0
$GC,6025,-0.56,-145.9,521.9,-7.2,421,6029,0.00,0.95,0.00,0.000,4,0.000,0.055,2838,1320,3424,0,0,0,0,0,0
$GC,6113,-0.56,-145.9,528.7,-8.0,423,6118,0.00,0.93,0.00,0.000,6,0.000,0.039,2836,1918,3424,0,0,0,0,0,0
$GC,6431,-0.56,-145.9,554.4,-8.4,434,6435,0.00,0.62,0.00,0.000,4,0.000,0.055,2836,1508,3423,0,0,0,0,0,0
$GC,6519,-0.56,-145.9,562.3,-9.0,436,6524,0.00,0.62,0.00,0.000,6,0.000,0.041,2834,1918,3423,0,0,0,0,0,0
$GC,6837,-0.56,-145.9,591.2,-9.4,447,6841,0.00,1.12,0.00,0.000,4,0.000,0.057,2834,1204,3422,0,0,0,0,0,0
$GC,6931,-0.56,-145.9,600.4,-9.2,449,6937,0.00,1.10,0.00,0.000,6,0.000,0.037,2829,1915,3422,0,0,0,0,0,0
$GC,7244,-0.56,-145.9,631.0,-10.0,460,7247,0.00,0.47,0.00,0.000,4,0.000,0.057,2830,1599,3422,0,0,0,0,0,0
$GC,7337,-0.56,-145.9,640.3,-9.7,462,7343,0.00,0.47,0.00,0.000,6,0.000,0.044,2827,1918,3421,0,0,0,0,0,0
$GC,7650,-0.56,-145.9,671.3,-9.8,473,7653,0.00,0.90,0.00,0.000,4,0.000,0.055,2828,1351,3421,0,0,0,0,0,0
$GC,7737,-0.56,-145.9,680.1,-9.9,475,7742,0.00,0.88,0.00,0.000,6,0.000,0.040,2824,1915,3421,0,0,0,0,0,0
$GC,8056,-0.56,-145.9,709.9,-9.3,486,8059,0.00,0.52,0.00,0.000,4,0.000,0.057,2825,1570,3420,0,0,0,0,0,0
$GC,8157,-0.56,-145.9,719.1,-8.6,489,8160,0.00,0.50,0.00,0.000,6,0.000,0.046,2824,1911,3420,0,0,0,0,0,0
$GC,8497,-0.56,-145.9,750.5,-9.3,500,8500,0.00,1.05,0.00,0.000,4,0.000,0.055,2824,1252,3420,0,0,0,0,0,0
$GC,8601,-0.56,-145.9,760.6,-9.8,503,8606,0.00,1.05,0.00,0.000,6,0.000,0.040,2820,1926,3419,0,0,0,0,0,0
$GC,8937,-0.56,-145.9,794.1,-10.3,514,8940,0.00,0.88,0.00,0.000,4,0.000,0.055,2820,1374,3419,0,0,0,0,0,0
$GC,9025,-0.56,-145.9,803.8,-10.3,516,9029,0.00,0.85,0.00,0.000,6,0.000,0.041,2816,1919,3418,0,0,0,0,0,0
$GC,9343,-0.54,-145.9,838.6,-11.0,527,9348,0.08,1.38,0.00,0.000,4,0.198,0.057,2833,1069,3418,0,0,0,0,0,0
$GC,9437,-0.56,-145.9,847.7,-9.6,529,9443,0.00,1.30,0.00,0.000,6,0.000,0.039,2829,1910,3417,0,0,0,0,0,0
$GC,9750,-0.56,-145.9,876.5,-9.5,540,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1910,3417,0,0,0,0,0,0
$GC,10056,-0.56,-145.9,906.4,-9.7,550,10060,0.00,0.40,0.00,0.000,4,0.000,0.058,2829,1642,3417,0,0,0,0,0,0
$GC,10133,-0.56,-145.9,914.0,-9.6,552,10137,0.00,0.43,0.00,0.000,6,0.000,0.049,2827,1924,3417,0,0,0,0,0,0
$GC,10462,-0.56,-145.9,946.0,-10.2,563,10466,0.00,0.82,0.00,0.000,4,0.000,0.056,2827,1402,3417,0,0,0,0,0,0
$GC,10539,-0.56,-145.9,953.7,-9.7,565,10543,0.00,0.80,0.00,0.000,6,0.000,0.042,2824,1916,3417,0,0,0,0,0,0
$GC,10868,-0.56,-145.9,987.5,-10.5,576,10872,0.00,1.00,0.00,0.000,4,0.000,0.056,2823,1289,3417,0,0,0,0,0,0
$GC,10979,-0.56,-145.9,998.7,-9.9,579,10983,0.00,0.98,0.00,0.000,6,0.000,0.041,2821,1910,3416,0,0,0,0,0,0
$STATE,10994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10994,begin apogee
$GC,10999,-0.19,0.0,1000.1,9.4,579,11125,0.40,0.00,123.15,1.522,6,0.138,0.000,2947,1640,2827,0,0,0,0,0,0
$STATE,11126,end apogee,CONTROL_FINISHED_OK
$STATE,11126,begin climb
$GC,11127,0.52,145.9,1006.7,0.0,584,11263,0.70,0.35,129.48,1.490,4,0.083,0.042,3176,1853,2232,0,0,0,0,0,0
$GC,11324,0.35,150.3,1005.0,7.3,590,11335,0.20,0.35,5.20,1.050,6,0.181,0.063,3132,1653,2213,0,0,0,0,0,0
$GC,11653,0.29,194.0,985.8,5.9,601,11695,0.10,0.00,39.28,1.441,6,0.198,0.000,3107,1653,2036,0,0,0,0,0,0
$GC,11989,0.32,257.5,967.6,5.2,612,12048,0.00,0.00,56.78,1.450,6,0.000,0.000,3107,1653,1776,0,0,0,0,0,0
$GC,12356,0.50,299.5,946.5,6.0,624,12400,0.20,2.47,37.50,1.426,4,0.082,0.071,3183,245,1604,0,0,0,0,0,0
$GC,12478,0.46,299.5,935.5,9.1,627,12485,0.05,2.28,0.00,0.000,6,0.159,0.040,3169,1642,1599,0,0,0,0,0,0
$GC,12791,0.44,299.5,907.8,8.9,638,12795,0.00,0.80,0.00,0.000,4,0.000,0.045,3169,2171,1596,0,0,0,0,0,0
$GC,12851,0.41,299.5,901.8,10.6,639,12858,0.10,0.85,0.00,0.000,6,0.190,0.055,3149,1648,1596,0,0,0,0,0,0
$GC,13165,0.44,299.5,877.0,7.9,650,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1648,1595,0,0,0,0,0,0
$GC,13471,0.46,299.5,852.6,8.0,660,13475,0.00,0.45,0.00,0.000,4,0.000,0.050,3149,1960,1594,0,0,0,0,0,0
$GC,13538,0.48,299.5,847.1,7.8,662,13542,0.03,0.47,0.00,0.000,6,0.101,0.062,3170,1653,1594,0,0,0,0,0,0
$GC,13878,0.46,299.5,815.8,9.1,673,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1652,1594,0,0,0,0,0,0
$GC,14184,0.44,299.5,789.1,8.7,683,14186,0.08,0.00,0.00,0.000,6,0.199,0.000,3156,1653,1594,0,0,0,0,0,0
$GC,14490,0.44,299.5,764.9,8.3,693,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1653,1594,0,0,0,0,0,0
$GC,14796,0.44,299.5,736.9,9.6,703,14800,0.00,0.38,0.00,0.000,4,0.000,0.070,3156,1401,1593,0,0,0,0,0,0
$GC,14866,0.44,299.5,729.9,10.7,705,14871,0.00,0.40,0.00,0.000,6,0.000,0.050,3156,1669,1593,0,0,0,0,0,0
$GC,15201,0.44,299.5,698.0,9.4,716,15205,0.00,0.43,0.00,0.000,4,0.000,0.067,3158,1393,1593,0,0,0,0,0,0
$GC,15249,0.44,299.5,693.4,9.5,717,15253,0.00,0.38,0.00,0.000,6,0.000,0.051,3157,1642,1593,0,0,0,0,0,0
$GC,15573,0.44,299.5,664.6,8.7,728,15574,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1642,1593,0,0,0,0,0,0
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$STATE,23230,end climb,SURFACE_DEPTH_REACHED
$STATE,23230,begin surface coast
$FINISH,1.6,1.026740
$STATE,23273,end surface coast,CONTROL_FINISHED_OK
$STATE,23273,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.2,25.002
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354308
$DATA_FILE_SIZE,73559,1218
$CAP_FILE_SIZE,202950,0
$CFSIZE,2097086464,2076835840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191012,213352,-4247.428,-752.489,26,1.5,42,-21.6