version: 66.07.10.p01
glider: 574
mission: 4
dive: 127
start: 10 21 112 6 44 49
data:
$ID,574
$MISSION,4
$DIVE,127
$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,-5816.4717
$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,36
$R_STBD_OVSHOOT,53
$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,106
$GPS1,211012,063628,-4249.557,-751.837,36,1.0,42,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-72.1
$GPS2,211012,064355,-4249.494,-751.989,15,1.0,17,-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,-0.135
$KALMAN_X,-176706.5,127.8,147.6,254586.4,-6107.6
$KALMAN_Y,105895.9,188.8,-440.1,-101718.3,5640.1
$MHEAD_RNG_PITCHd_Wd,146.7,102887,-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,-145.9,0.0,0.0,0,82,0.00,0.00,-54.90,0.000,2,0.000,0.000,66,1924,2532,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.0,-1.3,9,134,12.38,1.90,-28.17,0.000,4,0.268,0.065,2828,3102,3424,0,0,0,0,0,0
$GC,182,-0.52,-145.9,10.0,-9.1,25,190,0.03,1.90,0.00,0.000,6,0.175,0.047,2836,1917,3425,0,0,0,0,0,0
$GC,263,-0.50,-145.9,17.9,-9.8,38,270,0.00,0.82,0.00,0.000,4,0.000,0.057,2837,1393,3425,0,0,0,0,0,0
$GC,331,-0.50,-145.9,24.3,-9.5,49,339,0.03,0.77,0.00,0.000,6,0.181,0.038,2843,1904,3425,0,0,0,0,0,0
$GC,409,-0.50,-145.9,31.5,-9.1,62,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1904,3425,0,0,0,0,0,0
$GC,646,-0.50,-145.9,52.9,-9.4,103,651,0.00,0.32,0.00,0.000,4,0.000,0.061,2843,1687,3425,0,0,0,0,0,0
$GC,709,-0.50,-145.9,59.1,-9.7,114,716,0.00,0.32,0.00,0.000,6,0.000,0.047,2843,1923,3425,0,0,0,0,0,0
$GC,941,-0.50,-145.9,81.1,-9.1,155,945,0.00,0.95,0.00,0.000,4,0.000,0.057,2843,1334,3425,0,0,0,0,0,0
$GC,1021,-0.50,-145.9,88.3,-9.0,169,1025,0.00,0.88,0.00,0.000,6,0.000,0.037,2839,1910,3425,0,0,0,0,0,0
$GC,1355,-0.50,-145.9,118.8,-9.0,205,1359,0.00,0.65,0.00,0.000,4,0.000,0.055,2839,1498,3425,0,0,0,0,0,0
$GC,1432,-0.50,-145.9,125.8,-8.5,209,1438,0.00,0.65,0.00,0.000,6,0.000,0.037,2837,1927,3425,0,0,0,0,0,0
$GC,1752,-0.50,-145.9,153.8,-8.7,230,1756,0.00,1.05,0.00,0.000,4,0.000,0.057,2837,1277,3425,0,0,0,0,0,0
$GC,1840,-0.50,-145.9,161.3,-8.8,235,1844,0.03,0.98,0.00,0.000,6,0.181,0.038,2843,1915,3425,0,0,0,0,0,0
$GC,2171,-0.50,-145.9,187.7,-7.6,256,2174,0.00,0.77,0.00,0.000,4,0.000,0.056,2843,1427,3425,0,0,0,0,0,0
$GC,2247,-0.50,-145.9,193.9,-7.5,260,2255,0.00,0.75,0.00,0.000,6,0.000,0.037,2841,1922,3425,0,0,0,0,0,0
$GC,2568,-0.50,-145.9,217.4,-7.5,281,2572,0.00,1.00,0.00,0.000,4,0.000,0.056,2841,1293,3425,0,0,0,0,0,0
$GC,2655,-0.50,-145.9,224.0,-7.4,286,2658,0.00,0.93,0.00,0.000,6,0.000,0.036,2837,1906,3425,0,0,0,0,0,0
$GC,2987,-0.50,-145.9,248.0,-7.1,307,2990,0.00,0.68,0.00,0.000,4,0.000,0.054,2837,1473,3425,0,0,0,0,0,0
$GC,3069,-0.50,-145.9,254.2,-6.7,311,3076,0.05,0.68,0.00,0.000,6,0.223,0.037,2848,1920,3426,0,0,0,0,0,0
$GC,3389,-0.53,-145.9,274.4,-6.3,327,3392,0.00,0.90,0.00,0.000,4,0.000,0.054,2847,1344,3426,0,0,0,0,0,0
$GC,3472,-0.55,-145.9,280.3,-7.0,330,3480,0.00,0.88,0.00,0.000,6,0.000,0.036,2844,1929,3426,0,0,0,0,0,0
$GC,3788,-0.55,-145.9,301.3,-6.9,346,3792,0.00,0.70,0.00,0.000,4,0.000,0.054,2844,1477,3426,0,0,0,0,0,0
$GC,3883,-0.55,-145.9,308.1,-6.7,350,3887,0.00,0.68,0.00,0.000,6,0.000,0.038,2842,1926,3426,0,0,0,0,0,0
$GC,4210,-0.57,-145.9,330.7,-7.0,366,4214,0.00,1.15,0.00,0.000,4,0.000,0.055,2843,1198,3426,0,0,0,0,0,0
$GC,4301,-0.57,-145.9,337.3,-7.0,370,4305,0.00,1.08,0.00,0.000,6,0.000,0.034,2837,1913,3426,0,0,0,0,0,0
$GC,4633,-0.57,-145.9,363.2,-8.2,386,4637,0.00,0.90,0.00,0.000,4,0.000,0.053,2837,1342,3427,0,0,0,0,0,0
$GC,4724,-0.57,-145.9,370.7,-8.3,390,4727,0.00,0.85,0.00,0.000,6,0.000,0.037,2835,1910,3427,0,0,0,0,0,0
$GC,5055,-0.57,-145.9,398.6,-8.3,406,5059,0.00,0.80,0.00,0.000,4,0.000,0.052,2836,1398,3427,0,0,0,0,0,0
$GC,5132,-0.57,-145.9,405.3,-9.0,409,5137,0.00,0.80,0.00,0.000,6,0.000,0.035,2833,1929,3427,0,0,0,0,0,0
$GC,5462,-0.57,-145.9,431.5,-7.8,420,5465,0.00,1.33,0.00,0.000,4,0.000,0.054,2833,1088,3427,0,0,0,0,0,0
$GC,5563,-0.57,-145.9,439.3,-7.0,423,5567,0.00,1.23,0.00,0.000,6,0.000,0.034,2828,1897,3427,0,0,0,0,0,0
$GC,5903,-0.57,-145.9,465.4,-7.7,434,5907,0.00,0.22,0.00,0.000,4,0.000,0.054,2827,2099,3427,0,0,0,0,0,0
$GC,5946,-0.57,-145.9,468.8,-7.7,435,5948,0.00,0.30,0.00,0.000,6,0.000,0.056,2826,1894,3427,0,0,0,0,0,0
$GC,6271,-0.57,-145.9,494.9,-8.5,446,6275,0.00,0.98,0.00,0.000,4,0.000,0.054,2827,1265,3427,0,0,0,0,0,0
$GC,6376,-0.57,-145.9,504.1,-8.6,449,6381,0.00,1.00,0.00,0.000,6,0.000,0.033,2823,1920,3427,0,0,0,0,0,0
$GC,6712,-0.57,-145.9,530.9,-7.8,460,6715,0.00,0.85,0.00,0.000,4,0.000,0.052,2823,1378,3427,0,0,0,0,0,0
$GC,6799,-0.57,-145.9,538.1,-9.1,462,6804,0.00,0.82,0.00,0.000,6,0.000,0.036,2820,1924,3426,0,0,0,0,0,0
$GC,7118,-0.55,-145.9,564.0,-8.2,473,7122,0.00,1.92,0.00,0.000,4,0.000,0.056,2820,708,3427,0,0,0,0,0,0
$GC,7206,-0.55,-145.9,572.3,-9.5,475,7212,0.05,1.83,0.00,0.000,6,0.148,0.034,2832,1899,3426,0,0,0,0,0,0
$GC,7525,-0.55,-145.9,600.0,-9.0,486,7528,0.00,0.75,0.00,0.000,4,0.000,0.042,2829,2419,3425,0,0,0,0,0,0
$GC,7596,-0.55,-145.9,606.8,-8.7,488,7600,0.00,0.77,0.00,0.000,6,0.000,0.044,2829,1918,3425,0,0,0,0,0,0
$GC,7931,-0.55,-145.9,636.6,-9.0,499,7934,0.00,1.80,0.00,0.000,4,0.000,0.056,2829,754,3425,0,0,0,0,0,0
$GC,8013,-0.55,-145.9,644.7,-9.9,501,8018,0.00,1.80,0.00,0.000,6,0.000,0.034,2823,1923,3425,0,0,0,0,0,0
$GC,8338,-0.55,-145.9,674.5,-9.2,512,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1923,3425,0,0,0,0,0,0
$GC,8644,-0.55,-145.9,701.7,-9.0,522,8647,0.00,0.73,0.00,0.000,4,0.000,0.051,2823,1455,3425,0,0,0,0,0,0
$GC,8720,-0.55,-145.9,708.9,-9.1,524,8725,0.00,0.73,0.00,0.000,6,0.000,0.038,2821,1931,3424,0,0,0,0,0,0
$GC,9050,-0.55,-145.9,736.8,-8.4,535,9053,0.00,0.77,0.00,0.000,4,0.000,0.051,2821,1432,3424,0,0,0,0,0,0
$GC,9127,-0.55,-145.9,743.7,-8.9,537,9131,0.00,0.75,0.00,0.000,6,0.000,0.039,2818,1924,3424,0,0,0,0,0,0
$GC,9456,-0.55,-145.9,773.4,-9.2,548,9460,0.05,0.75,0.00,0.000,4,0.223,0.053,2829,1451,3424,0,0,0,0,0,0
$GC,9543,-0.55,-145.9,781.4,-9.3,550,9548,0.00,0.70,0.00,0.000,6,0.000,0.040,2828,1913,3424,0,0,0,0,0,0
$GC,9862,-0.55,-145.9,811.2,-9.6,561,9865,0.00,0.73,0.00,0.000,4,0.000,0.051,2828,1445,3424,0,0,0,0,0,0
$GC,9944,-0.55,-145.9,819.5,-9.2,563,9948,0.00,0.73,0.00,0.000,6,0.000,0.039,2825,1921,3424,0,0,0,0,0,0
$GC,10268,-0.55,-145.9,853.5,-10.8,574,10271,0.00,0.65,0.00,0.000,4,0.000,0.052,2824,1495,3423,0,0,0,0,0,0
$GC,10344,-0.55,-145.9,862.0,-10.0,576,10349,0.00,0.65,0.00,0.000,6,0.000,0.041,2823,1922,3423,0,0,0,0,0,0
$GC,10674,-0.55,-145.9,896.1,-10.4,587,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1922,3423,0,0,0,0,0,0
$GC,10980,-0.55,-145.9,927.2,-10.0,597,10984,0.00,0.62,0.00,0.000,4,0.000,0.052,2822,1514,3423,0,0,0,0,0,0
$GC,11062,-0.55,-145.9,935.6,-10.1,599,11067,0.00,0.62,0.00,0.000,6,0.000,0.042,2821,1921,3423,0,0,0,0,0,0
$GC,11386,-0.55,-145.9,966.6,-9.7,610,11390,0.00,0.35,0.00,0.000,4,0.000,0.058,2821,1678,3423,0,0,0,0,0,0
$GC,11457,-0.55,-145.9,973.3,-9.4,612,11461,0.00,0.35,0.00,0.000,6,0.000,0.049,2820,1916,3423,0,0,0,0,0,0
$STATE,11792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11792,begin apogee
$GC,11796,-0.19,0.0,1001.7,8.2,623,11923,0.43,0.00,124.70,1.521,6,0.137,0.000,2949,1644,2827,0,0,0,0,0,0
$STATE,11924,end apogee,CONTROL_FINISHED_OK
$STATE,11924,begin climb
$GC,11926,0.52,145.9,1006.8,0.0,627,12064,0.73,1.65,128.98,1.498,4,0.078,0.044,3182,2574,2231,0,0,0,0,0,0
$GC,12147,0.33,145.9,1003.2,7.9,634,12152,0.22,1.55,0.00,0.000,6,0.174,0.049,3127,1667,2227,0,0,0,0,0,0
$GC,12471,0.27,200.8,984.6,5.5,645,12525,0.10,0.82,47.95,1.468,4,0.198,0.042,3103,2161,2007,0,0,0,0,0,0
$GC,12582,0.27,276.6,978.8,4.8,648,12657,0.00,0.82,68.22,1.466,6,0.000,0.051,3104,1658,1698,0,0,0,0,0,0
$GC,12964,0.50,313.9,955.4,6.1,661,13004,0.20,2.45,33.20,1.424,4,0.087,0.067,3179,255,1547,0,0,0,0,0,0
$GC,13014,0.50,341.5,951.6,6.5,662,13046,0.00,2.28,26.77,1.402,6,0.000,0.037,3179,1641,1434,0,0,0,0,0,0
$GC,13359,0.48,341.5,919.7,9.6,674,13363,0.00,2.35,0.00,0.000,4,0.000,0.069,3179,243,1426,0,0,0,0,0,0
$GC,13474,0.48,341.5,908.1,9.8,677,13479,0.00,2.22,0.00,0.000,6,0.000,0.037,3179,1645,1424,0,0,0,0,0,0
$GC,13793,0.48,341.5,876.8,9.8,688,13797,0.00,0.40,0.00,0.000,4,0.000,0.049,3179,1940,1424,0,0,0,0,0,0
$GC,13848,0.46,341.5,871.2,9.4,689,13852,0.08,0.47,0.00,0.000,6,0.207,0.060,3165,1648,1424,0,0,0,0,0,0
$GC,14166,0.46,341.5,842.6,9.0,700,14169,0.00,0.55,0.00,0.000,4,0.000,0.066,3165,1299,1424,0,0,0,0,0,0
$GC,14209,0.46,341.5,838.7,8.8,701,14213,0.00,0.57,0.00,0.000,6,0.000,0.041,3165,1680,1424,0,0,0,0,0,0
$GC,14538,0.46,341.5,808.6,9.4,712,14542,0.00,0.70,0.00,0.000,4,0.000,0.064,3166,1241,1424,0,0,0,0,0,0
$GC,14592,0.46,341.5,803.4,9.7,713,14597,0.00,0.62,0.00,0.000,6,0.000,0.042,3166,1653,1424,0,0,0,0,0,0
$GC,14911,0.46,341.5,772.2,10.2,724,14915,0.00,0.45,0.00,0.000,4,0.000,0.066,3166,1365,1424,0,0,0,0,0,0
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$STATE,23589,end climb,SURFACE_DEPTH_REACHED
$STATE,23589,begin surface coast
$FINISH,1.5,1.023945
$STATE,23638,end surface coast,CONTROL_FINISHED_OK
$STATE,23638,begin surface
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$HUMID,45.31
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$TCM_TEMP,12.30
$XPDR_PINGS,0
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$10V_AH,10.2,25.833
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354448
$DATA_FILE_SIZE,73526,1244
$CAP_FILE_SIZE,204549,0
$CFSIZE,2097086464,2076049408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,211012,132105,-4249.723,-751.258,30,1.0,31,-21.6