version: 66.07.10.p01
glider: 574
mission: 4
dive: 144
start: 10 25 112 22 26 0
data:
$ID,574
$MISSION,4
$DIVE,144
$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,-5872.4438
$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,32
$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,123
$GPS1,251012,221635,-4205.860,-735.365,51,1.1,52,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-68.9
$GPS2,251012,222506,-4205.878,-735.340,16,1.5,17,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.231,0.040
$KALMAN_X,-240459.0,188.5,1055.3,339958.3,-4388.3
$KALMAN_Y,157825.4,-603.9,-606.9,-71894.2,6541.4
$MHEAD_RNG_PITCHd_Wd,102.2,23754,-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,-145.9,0.0,0.0,0,122,0.00,0.00,-95.15,0.000,2,0.000,0.000,66,1892,2719,0,0,0,0,0,0
$GC,124,-0.52,-145.9,3.1,-1.7,16,163,12.43,1.88,-18.48,0.000,4,0.268,0.076,2831,767,3420,0,0,0,0,0,0
$GC,230,-0.52,-145.9,16.3,-12.0,33,237,0.05,1.80,0.00,0.000,6,0.163,0.035,2840,1900,3421,0,0,0,0,0,0
$GC,310,-0.52,-145.9,24.6,-10.5,46,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1900,3421,0,0,0,0,0,0
$GC,389,-0.52,-145.9,30.4,-8.2,59,394,0.00,0.25,0.00,0.000,4,0.000,0.065,2840,1725,3421,0,0,0,0,0,0
$GC,486,-0.52,-145.9,39.9,-10.7,76,493,0.00,0.28,0.00,0.000,6,0.000,0.050,2840,1927,3421,0,0,0,0,0,0
$GC,722,-0.52,-145.9,63.5,-9.4,117,729,0.00,1.35,0.00,0.000,4,0.000,0.061,2840,1110,3421,0,0,0,0,0,0
$GC,806,-0.52,-145.9,71.8,-10.1,132,814,0.00,1.23,0.00,0.000,6,0.000,0.037,2836,1895,3421,0,0,0,0,0,0
$GC,1159,-0.52,-145.9,111.8,-12.2,183,1162,0.00,0.28,0.00,0.000,4,0.000,0.063,2836,1711,3421,0,0,0,0,0,0
$GC,1253,-0.52,-145.9,123.6,-11.7,188,1255,0.00,0.32,0.00,0.000,6,0.000,0.047,2835,1937,3422,0,0,0,0,0,0
$GC,1567,-0.52,-145.9,159.3,-10.9,208,1571,0.00,1.83,0.00,0.000,4,0.000,0.061,2835,807,3421,0,0,0,0,0,0
$GC,1635,-0.52,-145.9,166.8,-10.6,212,1639,0.00,1.65,0.00,0.000,6,0.000,0.036,2829,1897,3422,0,0,0,0,0,0
$GC,1967,-0.52,-145.9,199.1,-9.1,233,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1896,3422,0,0,0,0,0,0
$GC,2279,-0.52,-145.9,227.6,-9.0,253,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1897,3422,0,0,0,0,0,0
$GC,2607,-0.52,-145.9,256.7,-9.1,273,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1896,3422,0,0,0,0,0,0
$GC,2914,-0.52,-145.9,285.5,-9.5,288,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1897,3422,0,0,0,0,0,0
$GC,3225,-0.52,-145.9,313.1,-8.7,303,3229,0.00,0.95,0.00,0.000,4,0.000,0.055,2829,1303,3422,0,0,0,0,0,0
$GC,3308,-0.52,-145.9,320.6,-8.9,306,3317,0.08,0.98,0.00,0.000,6,0.188,0.035,2843,1934,3422,0,0,0,0,0,0
$GC,3625,-0.55,-145.9,342.3,-6.4,322,3629,0.00,2.28,0.00,0.000,4,0.000,0.060,2843,511,3422,0,0,0,0,0,0
$GC,3698,-0.59,-145.9,347.6,-7.5,325,3702,0.00,2.15,0.00,0.000,6,0.000,0.033,2836,1903,3422,0,0,0,0,0,0
$GC,4022,-0.69,-145.9,366.6,-5.8,341,4027,0.12,2.20,0.00,0.000,4,0.094,0.047,2775,3323,3422,0,0,0,0,0,0
$GC,4116,-0.63,-145.9,375.2,-9.4,345,4121,0.08,2.20,0.00,0.000,6,0.145,0.039,2799,1912,3421,0,0,0,0,0,0
$GC,4433,-0.57,-145.9,404.9,-9.9,360,4438,0.10,2.22,0.00,0.000,4,0.181,0.057,2826,502,3421,0,0,0,0,0,0
$GC,4504,-0.57,-145.9,411.7,-8.5,362,4509,0.00,2.17,0.00,0.000,6,0.000,0.031,2818,1921,3421,0,0,0,0,0,0
$GC,4834,-0.54,-145.9,441.6,-9.1,373,4836,0.08,0.00,0.00,0.000,6,0.199,0.000,2835,1922,3420,0,0,0,0,0,0
$GC,5140,-0.54,-145.9,464.8,-7.6,383,5144,0.00,0.43,0.00,0.000,4,0.000,0.054,2835,1635,3420,0,0,0,0,0,0
$GC,5183,-0.54,-145.9,468.2,-7.5,384,5187,0.00,0.43,0.00,0.000,6,0.000,0.041,2834,1932,3420,0,0,0,0,0,0
$GC,5512,-0.54,-145.9,492.8,-7.7,395,5516,0.00,1.65,0.00,0.000,4,0.000,0.054,2834,875,3419,0,0,0,0,0,0
$GC,5580,-0.54,-145.9,498.2,-7.8,397,5583,0.00,1.55,0.00,0.000,6,0.000,0.031,2828,1891,3419,0,0,0,0,0,0
$GC,5919,-0.54,-145.9,526.9,-8.8,408,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1891,3418,0,0,0,0,0,0
$GC,6226,-0.54,-145.9,555.8,-9.7,418,6229,0.00,0.98,0.00,0.000,4,0.000,0.052,2827,1277,3417,0,0,0,0,0,0
$GC,6308,-0.54,-145.9,564.7,-10.9,420,6313,0.00,0.98,0.00,0.000,6,0.000,0.032,2824,1921,3417,0,0,0,0,0,0
$GC,6632,-0.54,-145.9,599.6,-11.1,431,6635,0.00,0.52,0.00,0.000,4,0.000,0.052,2824,1573,3417,0,0,0,0,0,0
$GC,6699,-0.54,-145.9,607.1,-10.4,433,6703,0.00,0.47,0.00,0.000,6,0.000,0.039,2822,1912,3417,0,0,0,0,0,0
$GC,7039,-0.54,-145.9,643.8,-10.5,444,7042,0.00,1.02,0.00,0.000,4,0.000,0.054,2822,1269,3417,0,0,0,0,0,0
$GC,7121,-0.54,-145.9,652.5,-9.6,446,7127,0.08,0.98,0.00,0.000,6,0.195,0.034,2836,1907,3416,0,0,0,0,0,0
$GC,7445,-0.57,-145.9,681.5,-8.7,457,7449,0.00,1.95,0.00,0.000,4,0.000,0.057,2836,677,3416,0,0,0,0,0,0
$GC,7513,-0.60,-145.9,687.8,-9.3,459,7517,0.00,1.88,0.00,0.000,6,0.000,0.034,2829,1910,3416,0,0,0,0,0,0
$GC,7853,-0.60,-145.9,718.6,-8.8,470,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1910,3415,0,0,0,0,0,0
$GC,8159,-0.60,-145.9,742.6,-7.4,480,8163,0.00,1.62,0.00,0.000,4,0.000,0.052,2830,899,3415,0,0,0,0,0,0
$GC,8231,-0.60,-145.9,748.1,-7.4,482,8236,0.00,1.55,0.00,0.000,6,0.000,0.033,2824,1903,3415,0,0,0,0,0,0
$GC,8567,-0.60,-145.9,771.4,-6.8,493,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1903,3414,0,0,0,0,0,0
$GC,8873,-0.60,-145.9,792.5,-6.9,503,8876,0.00,0.43,0.00,0.000,4,0.000,0.054,2824,1616,3414,0,0,0,0,0,0
$GC,8940,-0.60,-145.9,797.3,-6.9,505,8944,0.00,0.45,0.00,0.000,6,0.000,0.043,2822,1932,3414,0,0,0,0,0,0
$GC,9281,-0.60,-145.9,821.5,-7.3,516,9284,0.00,1.77,0.00,0.000,4,0.000,0.054,2823,807,3413,0,0,0,0,0,0
$GC,9352,-0.60,-145.9,827.1,-7.5,518,9357,0.00,1.70,0.00,0.000,6,0.000,0.033,2816,1903,3413,0,0,0,0,0,0
$GC,9688,-0.60,-145.9,855.8,-8.9,529,9691,0.00,0.35,0.00,0.000,4,0.000,0.050,2815,2173,3413,0,0,0,0,0,0
$GC,9747,-0.60,-145.9,861.7,-10.0,530,9753,0.00,0.40,0.00,0.000,6,0.000,0.049,2815,1901,3413,0,0,0,0,0,0
$GC,10060,-0.60,-145.9,893.3,-10.4,541,10063,0.00,0.43,0.00,0.000,4,0.000,0.054,2815,1598,3413,0,0,0,0,0,0
$GC,10127,-0.60,-145.9,900.5,-10.2,543,10131,0.00,0.47,0.00,0.000,6,0.000,0.043,2813,1932,3412,0,0,0,0,0,0
$GC,10467,-0.60,-145.9,936.0,-10.4,554,10470,0.00,1.10,0.00,0.000,4,0.000,0.050,2813,1239,3412,0,0,0,0,0,0
$GC,10551,-0.60,-145.9,944.7,-10.5,556,10554,0.00,1.02,0.00,0.000,6,0.000,0.035,2809,1911,3412,0,0,0,0,0,0
$GC,10874,-0.60,-145.9,977.6,-10.2,567,10877,0.00,0.28,0.00,0.000,4,0.000,0.054,2808,2135,3411,0,0,0,0,0,0
$GC,10928,-0.60,-145.9,983.3,-10.2,568,10932,0.00,0.32,0.00,0.000,6,0.000,0.054,2808,1914,3411,0,0,0,0,0,0
$STATE,11123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11123,begin apogee
$GC,11127,-0.19,0.0,1002.9,10.1,575,11252,0.47,0.00,121.95,1.565,6,0.137,0.000,2951,1656,2827,0,0,0,0,0,0
$STATE,11253,end apogee,CONTROL_FINISHED_OK
$STATE,11253,begin climb
$GC,11255,0.52,145.9,1009.7,0.0,579,11395,0.73,1.65,130.20,1.529,4,0.083,0.041,3181,2579,2231,0,0,0,0,0,0
$GC,11473,0.33,176.3,1009.2,6.4,586,11509,0.22,1.58,28.20,1.467,6,0.175,0.047,3127,1660,2107,0,0,0,0,0,0
$GC,11833,0.30,239.9,990.5,5.2,598,11894,0.05,0.38,56.15,1.510,4,0.242,0.044,3115,1894,1848,0,0,0,0,0,0
$GC,11956,0.33,275.8,983.8,6.2,601,11992,0.00,0.43,33.08,1.473,6,0.000,0.056,3116,1641,1702,0,0,0,0,0,0
$GC,12299,0.38,305.5,963.1,6.4,613,12331,0.05,1.27,26.88,1.463,4,0.165,0.039,3140,2402,1580,0,0,0,0,0,0
$GC,12386,0.38,305.5,956.3,7.7,615,12391,0.00,1.23,0.00,0.000,6,0.000,0.047,3144,1656,1577,0,0,0,0,0,0
$GC,12704,0.41,305.5,930.4,8.1,626,12708,0.00,0.32,0.00,0.000,4,0.000,0.063,3144,1430,1575,0,0,0,0,0,0
$GC,12759,0.44,307.5,925.9,7.3,627,12763,0.00,0.32,0.00,0.000,6,0.000,0.044,3143,1658,1574,0,0,0,0,0,0
$GC,13077,0.47,307.5,900.4,7.8,638,13079,0.05,0.00,0.00,0.000,6,0.174,0.000,3168,1659,1574,0,0,0,0,0,0
$GC,13384,0.44,307.5,873.4,8.6,648,13387,0.00,0.45,0.00,0.000,4,0.000,0.044,3167,1979,1573,0,0,0,0,0,0
$GC,13438,0.41,307.5,868.4,9.0,649,13443,0.10,0.55,0.00,0.000,6,0.188,0.055,3146,1638,1572,0,0,0,0,0,0
$GC,13757,0.43,312.4,845.8,7.2,660,13766,0.00,0.28,6.12,1.147,4,0.000,0.057,3146,1449,1553,0,0,0,0,0,0
$GC,13805,0.46,331.8,842.5,6.7,661,13827,0.00,0.30,19.08,1.406,6,0.000,0.047,3146,1660,1475,0,0,0,0,0,0
$GC,14157,0.50,351.8,818.4,6.7,673,14180,0.10,0.00,19.52,1.401,6,0.107,0.000,3184,1661,1392,0,0,0,0,0,0
$GC,14463,0.48,351.8,790.9,9.3,683,14467,0.05,1.00,0.00,0.000,4,0.220,0.060,3179,1053,1388,0,0,0,0,0,0
$GC,14522,0.48,351.8,785.4,8.6,684,14528,0.00,0.93,0.00,0.000,6,0.000,0.036,3179,1646,1388,0,0,0,0,0,0
$GC,14835,0.48,351.8,759.4,8.2,695,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1646,1387,0,0,0,0,0,0
$GC,15141,0.48,351.8,733.9,8.3,705,15145,0.00,0.57,0.00,0.000,4,0.000,0.059,3179,1288,1387,0,0,0,0,0,0
$GC,15195,0.48,351.8,729.3,7.9,706,15200,0.00,0.57,0.00,0.000,6,0.000,0.040,3179,1669,1386,0,0,0,0,0,0
$GC,15513,0.48,351.8,704.2,7.6,717,15515,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1669,1386,0,0,0,0,0,0
$GC,15820,0.48,351.8,681.1,7.5,727,15823,0.00,0.80,0.00,0.000,4,0.000,0.059,3180,1164,1386,0,0,0,0,0,0
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$STATE,23381,end climb,SURFACE_DEPTH_REACHED
$STATE,23381,begin surface coast
$FINISH,1.5,1.026711
$STATE,23418,end surface coast,CONTROL_FINISHED_OK
$STATE,23418,begin surface
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$TT8_MAMPS,0.026964
$HUMID,46.10
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$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.7,35.418
$10V_AH,10.2,28.162
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.075,88.300,509.400,0.000,0.000,22.911,37.725,332.492,0.250,0.000,19.288,3034.068,16417.932,601.377,3768.273,175.149,33.357,2074.147,0.000,3324.376,0.000,2.833,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354188
$DATA_FILE_SIZE,73420,1207
$CAP_FILE_SIZE,206761,0
$CFSIZE,2097086464,2073821184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261012,045835,-4203.829,-731.143,28,1.1,29,-21.9