version: 66.07.10.p01
glider: 574
mission: 4
dive: 132
start: 10 22 112 16 50 1
data:
$ID,574
$MISSION,4
$DIVE,132
$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,-5833.1323
$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,57
$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,111
$GPS1,221012,164105,-4245.820,-749.784,36,1.1,37,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-75.0
$GPS2,221012,164906,-4245.747,-749.847,18,1.3,19,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.122,0.200
$KALMAN_X,-201994.1,100.9,888.9,282067.2,-8431.8
$KALMAN_Y,123421.7,115.8,-167.7,-112502.0,4609.2
$MHEAD_RNG_PITCHd_Wd,53.0,94156,-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,-145.9,0.0,0.0,0,69,0.00,0.00,-43.03,0.000,2,0.000,0.000,68,1934,2526,0,0,0,0,0,0
$GC,71,-0.52,-145.9,3.0,-1.3,7,121,12.30,2.17,-30.62,0.000,4,0.265,0.064,2826,3269,3422,0,0,0,0,0,0
$GC,175,-0.52,-145.9,9.5,-8.9,24,183,0.03,2.17,0.00,0.000,6,0.162,0.048,2836,1925,3423,0,0,0,0,0,0
$GC,256,-0.52,-145.9,16.9,-9.3,37,263,0.00,1.52,0.00,0.000,4,0.000,0.061,2836,991,3423,0,0,0,0,0,0
$GC,318,-0.52,-145.9,22.8,-9.3,47,325,0.00,1.42,0.00,0.000,6,0.000,0.040,2831,1890,3423,0,0,0,0,0,0
$GC,399,-0.50,-145.9,30.4,-9.5,60,406,0.08,0.00,0.00,0.000,6,0.187,0.000,2848,1890,3423,0,0,0,0,0,0
$GC,638,-0.52,-145.9,50.6,-8.4,101,643,0.00,1.60,0.00,0.000,4,0.000,0.062,2849,918,3423,0,0,0,0,0,0
$GC,701,-0.54,-145.9,56.3,-8.7,112,708,0.00,1.58,0.00,0.000,6,0.000,0.039,2844,1921,3423,0,0,0,0,0,0
$GC,933,-0.54,-145.9,77.0,-8.8,153,939,0.00,0.47,0.00,0.000,4,0.000,0.057,2844,1612,3424,0,0,0,0,0,0
$GC,991,-0.54,-145.9,82.3,-9.3,163,996,0.00,0.45,0.00,0.000,6,0.000,0.044,2843,1924,3424,0,0,0,0,0,0
$GC,1323,-0.54,-145.9,113.2,-9.3,206,1327,0.00,1.80,0.00,0.000,4,0.000,0.061,2843,810,3424,0,0,0,0,0,0
$GC,1377,-0.54,-145.9,118.6,-9.8,209,1382,0.00,1.70,0.00,0.000,6,0.000,0.036,2838,1901,3423,0,0,0,0,0,0
$GC,1702,-0.54,-145.9,149.2,-9.4,230,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1902,3424,0,0,0,0,0,0
$GC,2015,-0.54,-145.9,179.0,-9.7,250,2018,0.00,0.40,0.00,0.000,4,0.000,0.058,2837,1630,3424,0,0,0,0,0,0
$GC,2068,-0.54,-145.9,183.9,-9.9,253,2072,0.00,0.43,0.00,0.000,6,0.000,0.044,2836,1930,3424,0,0,0,0,0,0
$GC,2397,-0.54,-145.9,215.3,-9.5,274,2401,0.00,1.50,0.00,0.000,4,0.000,0.057,2836,1003,3424,0,0,0,0,0,0
$GC,2457,-0.54,-145.9,221.4,-9.4,277,2464,0.00,1.42,0.00,0.000,6,0.000,0.037,2831,1917,3424,0,0,0,0,0,0
$GC,2783,-0.54,-145.9,253.3,-10.1,298,2787,0.00,0.80,0.00,0.000,4,0.000,0.056,2831,1410,3424,0,0,0,0,0,0
$GC,2838,-0.54,-145.9,259.3,-10.7,300,2842,0.00,0.77,0.00,0.000,6,0.000,0.039,2828,1918,3424,0,0,0,0,0,0
$GC,3159,-0.54,-145.9,294.4,-11.5,316,3163,0.00,1.12,0.00,0.000,4,0.000,0.057,2828,1216,3424,0,0,0,0,0,0
$GC,3208,-0.54,-145.9,300.4,-11.8,318,3213,0.00,1.08,0.00,0.000,6,0.000,0.037,2823,1911,3424,0,0,0,0,0,0
$GC,3536,-0.54,-145.9,338.3,-11.7,334,3539,0.00,0.30,0.00,0.000,4,0.000,0.060,2823,1702,3424,0,0,0,0,0,0
$GC,3585,-0.52,-145.9,344.3,-11.5,336,3590,0.08,0.32,0.00,0.000,6,0.189,0.047,2840,1933,3424,0,0,0,0,0,0
$GC,3912,-0.54,-145.9,376.9,-9.5,352,3916,0.00,2.30,0.00,0.000,4,0.000,0.060,2840,495,3424,0,0,0,0,0,0
$GC,3961,-0.58,-145.9,382.0,-10.0,354,3966,0.00,2.15,0.00,0.000,6,0.000,0.034,2835,1890,3424,0,0,0,0,0,0
$GC,4282,-0.58,-145.9,411.0,-8.8,368,4285,0.00,0.38,0.00,0.000,4,0.000,0.047,2834,2178,3424,0,0,0,0,0,0
$GC,4315,-0.58,-145.9,413.9,-8.2,369,4319,0.00,0.43,0.00,0.000,6,0.000,0.053,2834,1885,3425,0,0,0,0,0,0
$GC,4656,-0.58,-145.9,440.0,-6.9,380,4659,0.00,0.68,0.00,0.000,4,0.000,0.054,2834,1439,3425,0,0,0,0,0,0
$GC,4716,-0.58,-145.9,444.6,-7.2,381,4722,0.00,0.75,0.00,0.000,6,0.000,0.037,2831,1934,3424,0,0,0,0,0,0
$GC,5028,-0.58,-145.9,470.1,-8.3,392,5032,0.00,1.33,0.00,0.000,4,0.000,0.054,2832,1105,3424,0,0,0,0,0,0
$GC,5096,-0.58,-145.9,476.3,-8.8,394,5099,0.00,1.23,0.00,0.000,6,0.000,0.034,2827,1917,3424,0,0,0,0,0,0
$GC,5436,-0.58,-145.9,506.8,-8.8,405,5439,0.00,0.50,0.00,0.000,4,0.000,0.054,2827,1578,3425,0,0,0,0,0,0
$GC,5484,-0.58,-145.9,511.4,-9.3,406,5488,0.00,0.50,0.00,0.000,6,0.000,0.040,2824,1923,3424,0,0,0,0,0,0
$GC,5808,-0.58,-145.9,540.2,-9.2,417,5811,0.00,1.33,0.00,0.000,4,0.000,0.054,2825,1095,3424,0,0,0,0,0,0
$GC,5862,-0.58,-145.9,545.8,-10.2,418,5867,0.00,1.25,0.00,0.000,6,0.000,0.034,2820,1907,3424,0,0,0,0,0,0
$GC,6181,-0.58,-145.9,576.6,-9.8,429,6184,0.00,0.25,0.00,0.000,4,0.000,0.062,2820,1728,3424,0,0,0,0,0,0
$GC,6252,-0.58,-145.9,583.6,-9.0,431,6256,0.00,0.28,0.00,0.000,6,0.000,0.050,2819,1929,3424,0,0,0,0,0,0
$GC,6587,-0.58,-145.9,614.3,-9.0,442,6590,0.00,1.95,0.00,0.000,4,0.000,0.057,2819,705,3424,0,0,0,0,0,0
$GC,6658,-0.58,-145.9,621.5,-9.9,444,6663,0.00,1.83,0.00,0.000,6,0.000,0.033,2811,1887,3424,0,0,0,0,0,0
$GC,6994,-0.54,-145.9,659.1,-12.0,455,6996,0.10,0.00,0.00,0.000,6,0.181,0.000,2837,1888,3423,0,0,0,0,0,0
$GC,7300,-0.57,-145.9,688.5,-9.4,465,7304,0.00,0.28,0.00,0.000,4,0.000,0.060,2837,1695,3422,0,0,0,0,0,0
$GC,7355,-0.60,-145.9,693.8,-9.8,466,7359,0.00,0.35,0.00,0.000,6,0.000,0.047,2836,1940,3423,0,0,0,0,0,0
$GC,7673,-0.63,-145.9,725.2,-9.8,477,7677,0.08,1.92,0.00,0.000,4,0.134,0.056,2806,719,3422,0,0,0,0,0,0
$GC,7740,-0.60,-145.9,732.7,-10.5,479,7745,0.08,1.80,0.00,0.000,6,0.188,0.035,2816,1904,3422,0,0,0,0,0,0
$GC,8080,-0.60,-145.9,770.8,-11.2,490,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1904,3422,0,0,0,0,0,0
$GC,8387,-0.60,-145.9,797.8,-6.6,500,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1904,3421,0,0,0,0,0,0
$GC,8693,-0.60,-145.9,813.3,-5.5,510,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1904,3421,0,0,0,0,0,0
$GC,8999,-0.60,-145.9,835.7,-9.8,520,9002,0.00,0.62,0.00,0.000,4,0.000,0.052,2817,1500,3420,0,0,0,0,0,0
$GC,9047,-0.60,-145.9,842.0,-12.5,521,9052,0.00,0.65,0.00,0.000,6,0.000,0.038,2816,1929,3420,0,0,0,0,0,0
$GC,9371,-0.60,-145.9,879.9,-11.4,532,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1930,3419,0,0,0,0,0,0
$GC,9677,-0.60,-145.9,909.7,-9.0,542,9681,0.00,0.62,0.00,0.000,4,0.000,0.050,2816,1520,3419,0,0,0,0,0,0
$GC,9745,-0.60,-145.9,915.7,-8.6,544,9748,0.00,0.57,0.00,0.000,6,0.000,0.040,2813,1912,3419,0,0,0,0,0,0
$GC,10085,-0.57,-145.9,945.0,-8.5,555,10089,0.05,1.83,0.00,0.000,4,0.223,0.054,2826,751,3419,0,0,0,0,0,0
$GC,10145,-0.61,-145.9,951.7,-10.3,556,10151,0.00,1.80,0.00,0.000,6,0.000,0.036,2823,1908,3419,0,0,0,0,0,0
$GC,10457,-0.61,-145.9,979.6,-8.3,567,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1908,3418,0,0,0,0,0,0
$STATE,10672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10672,begin apogee
$GC,10676,-0.19,0.0,1000.4,9.9,574,10802,0.40,0.00,123.65,1.524,6,0.133,0.000,2946,1648,2827,0,0,0,0,0,0
$STATE,10803,end apogee,CONTROL_FINISHED_OK
$STATE,10803,begin climb
$GC,10805,0.52,145.9,1007.6,0.0,578,10940,0.70,1.30,128.70,1.499,4,0.079,0.057,3182,918,2231,0,0,0,0,0,0
$GC,11030,0.34,190.1,1009.1,5.9,585,11075,0.20,1.20,40.20,1.455,6,0.174,0.036,3129,1657,2052,0,0,0,0,0,0
$GC,11394,0.31,243.3,990.3,5.6,597,11448,0.08,1.27,47.33,1.459,4,0.207,0.042,3113,2410,1835,0,0,0,0,0,0
$GC,11505,0.33,333.8,985.7,4.3,600,11595,0.00,1.25,82.95,1.467,6,0.000,0.049,3116,1658,1465,0,0,0,0,0,0
$GC,11919,0.63,333.8,964.6,7.9,614,11923,0.28,1.45,0.00,0.000,4,0.093,0.039,3214,2588,1454,0,0,0,0,0,0
$GC,11974,0.54,333.8,959.0,9.2,615,11979,0.10,1.52,0.00,0.000,6,0.170,0.047,3194,1651,1454,0,0,0,0,0,0
$GC,12292,0.48,333.8,924.0,10.9,626,12296,0.10,0.68,0.00,0.000,4,0.206,0.062,3172,1222,1453,0,0,0,0,0,0
$GC,12340,0.48,333.8,919.0,9.1,627,12345,0.00,0.68,0.00,0.000,6,0.000,0.037,3171,1660,1452,0,0,0,0,0,0
$GC,12664,0.48,333.8,886.4,9.9,638,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1665,1451,0,0,0,0,0,0
$GC,12970,0.48,333.8,856.2,10.7,648,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1666,1451,0,0,0,0,0,0
$GC,13276,0.48,333.8,826.1,8.6,658,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1666,1451,0,0,0,0,0,0
$GC,13583,0.48,346.0,802.1,7.0,668,13597,0.00,0.82,9.73,1.226,4,0.000,0.063,3172,1161,1416,0,0,0,0,0,0
$GC,13641,0.48,346.0,797.6,8.2,669,13647,0.00,0.75,0.00,0.000,6,0.000,0.037,3172,1650,1415,0,0,0,0,0,0
$GC,13954,0.48,346.0,771.1,8.8,680,13958,0.00,0.65,0.00,0.000,4,0.000,0.044,3172,2092,1415,0,0,0,0,0,0
$GC,14002,0.48,346.0,766.6,8.7,681,14007,0.00,0.73,0.00,0.000,6,0.000,0.053,3172,1644,1415,0,0,0,0,0,0
$GC,14325,0.48,346.0,740.9,8.3,692,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1644,1414,0,0,0,0,0,0
$GC,14632,0.48,346.0,712.1,9.1,702,14633,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1644,1414,0,0,0,0,0,0
$GC,14938,0.48,346.0,686.8,7.4,712,14941,0.00,0.30,0.00,0.000,4,0.000,0.050,3172,1864,1414,0,0,0,0,0,0
$GC,14976,0.48,346.0,683.7,7.9,713,14980,0.00,0.35,0.00,0.000,6,0.000,0.060,3172,1646,1414,0,0,0,0,0,0
$GC,15310,0.48,346.0,651.6,9.8,724,15314,0.00,0.85,0.00,0.000,4,0.000,0.041,3172,2208,1414,0,0,0,0,0,0
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$STATE,22105,end climb,SURFACE_DEPTH_REACHED
$STATE,22105,begin surface coast
$FINISH,1.5,1.011796
$STATE,22136,end surface coast,CONTROL_FINISHED_OK
$STATE,22136,begin surface
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$HUMID,45.31
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$TCM_TEMP,12.30
$XPDR_PINGS,0
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$10V_AH,10.2,26.534
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.450,77.300,532.225,0.000,0.000,31.926,36.839,289.714,0.250,0.000,20.953,2863.123,15614.555,572.815,3465.252,167.905,33.359,1911.638,0.000,3058.954,0.000,2.833,0.000
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$MEM,354272
$DATA_FILE_SIZE,70166,1155
$CAP_FILE_SIZE,186474,0
$CFSIZE,2097086464,2075426816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221012,230129,-4242.238,-750.806,42,1.8,43,-21.6