version: 66.07.10.p01
glider: 574
mission: 4
dive: 157
start: 10 29 112 13 20 56
data:
$ID,574
$MISSION,4
$DIVE,157
$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,-5915.6821
$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,28
$R_STBD_OVSHOOT,52
$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,136
$GPS1,291012,131223,-4221.529,-717.618,38,1.2,39,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-74.2
$GPS2,291012,132001,-4221.553,-717.576,14,1.1,16,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.181,-0.150
$KALMAN_X,-236508.6,-158.3,1108.9,360447.0,-3821.9
$KALMAN_Y,187171.4,-122.5,208.7,-131574.0,2568.8
$MHEAD_RNG_PITCHd_Wd,151.5,87523,-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,-48.92,0.000,2,0.000,0.000,67,1942,2348,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.1,-1.0,8,139,12.15,2.22,-40.80,0.000,4,0.259,0.071,2826,3295,3424,0,0,0,0,0,0
$GC,241,-0.54,-145.9,14.1,-9.5,35,248,0.00,2.22,0.00,0.000,6,0.000,0.047,2826,1910,3424,0,0,0,0,0,0
$GC,321,-0.52,-145.9,22.2,-10.3,48,329,0.08,1.45,0.00,0.000,4,0.190,0.059,2844,1024,3425,0,0,0,0,0,0
$GC,407,-0.52,-145.9,30.4,-9.4,62,414,0.00,1.38,0.00,0.000,6,0.000,0.040,2839,1894,3425,0,0,0,0,0,0
$GC,645,-0.52,-145.9,53.4,-9.9,103,650,0.00,1.38,0.00,0.000,4,0.000,0.057,2839,1049,3425,0,0,0,0,0,0
$GC,740,-0.52,-145.9,63.3,-10.1,120,748,0.00,1.38,0.00,0.000,6,0.000,0.038,2837,1922,3425,0,0,0,0,0,0
$GC,1088,-0.52,-145.9,95.3,-9.1,181,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1921,3425,0,0,0,0,0,0
$GC,1421,-0.52,-145.9,125.0,-8.5,208,1424,0.00,1.00,0.00,0.000,4,0.000,0.055,2837,1296,3425,0,0,0,0,0,0
$GC,1508,-0.52,-145.9,132.4,-8.4,213,1512,0.00,0.95,0.00,0.000,6,0.000,0.040,2836,1913,3425,0,0,0,0,0,0
$GC,1840,-0.61,-145.9,158.6,-7.3,234,1845,0.08,2.20,0.00,0.000,4,0.130,0.049,2795,3318,3425,0,0,0,0,0,0
$GC,1912,-0.59,-145.9,165.2,-8.9,238,1920,0.08,2.20,0.00,0.000,6,0.136,0.038,2820,1901,3425,0,0,0,0,0,0
$GC,2234,-0.66,-145.9,188.0,-7.1,259,2238,0.08,1.38,0.00,0.000,4,0.132,0.054,2791,1035,3425,0,0,0,0,0,0
$GC,2269,-0.59,-145.9,191.2,-9.1,261,2274,0.10,1.35,0.00,0.000,6,0.149,0.034,2817,1918,3425,0,0,0,0,0,0
$GC,2601,-0.57,-145.9,218.3,-8.4,282,2605,0.00,0.40,0.00,0.000,4,0.000,0.057,2817,1651,3425,0,0,0,0,0,0
$GC,2673,-0.53,-145.9,224.6,-8.1,286,2678,0.10,0.40,0.00,0.000,6,0.176,0.044,2841,1930,3425,0,0,0,0,0,0
$GC,3001,-0.66,-145.9,246.7,-6.9,307,3005,0.12,1.15,0.00,0.000,4,0.097,0.043,2787,2686,3425,0,0,0,0,0,0
$GC,3060,-0.66,-145.9,252.4,-9.2,310,3069,0.00,1.23,0.00,0.000,6,0.000,0.040,2787,1903,3425,0,0,0,0,0,0
$GC,3376,-0.66,-145.9,282.4,-9.7,326,3380,0.00,2.20,0.00,0.000,4,0.000,0.054,2787,509,3425,0,0,0,0,0,0
$GC,3454,-0.58,-145.9,291.5,-12.0,329,3461,0.12,2.12,0.00,0.000,6,0.146,0.034,2820,1890,3425,0,0,0,0,0,0
$GC,3772,-0.58,-145.9,322.1,-9.8,345,3776,0.00,0.35,0.00,0.000,4,0.000,0.048,2819,2166,3425,0,0,0,0,0,0
$GC,3809,-0.58,-145.9,326.2,-10.5,346,3816,0.00,0.40,0.00,0.000,6,0.000,0.051,2818,1899,3425,0,0,0,0,0,0
$GC,4124,-0.58,-145.9,356.9,-9.5,362,4128,0.00,1.17,0.00,0.000,4,0.000,0.054,2818,1146,3425,0,0,0,0,0,0
$GC,4215,-0.56,-145.9,365.3,-8.6,366,4219,0.03,1.17,0.00,0.000,6,0.176,0.035,2823,1919,3425,0,0,0,0,0,0
$GC,4546,-0.56,-145.9,393.1,-7.9,382,4550,0.00,0.85,0.00,0.000,4,0.000,0.052,2823,1376,3425,0,0,0,0,0,0
$GC,4624,-0.56,-145.9,399.6,-7.7,385,4628,0.00,0.82,0.00,0.000,6,0.000,0.037,2821,1917,3425,0,0,0,0,0,0
$GC,4942,-0.56,-145.9,425.0,-8.0,396,4946,0.00,1.08,0.00,0.000,4,0.000,0.053,2821,1238,3425,0,0,0,0,0,0
$GC,5030,-0.56,-145.9,432.7,-9.2,398,5035,0.00,1.05,0.00,0.000,6,0.000,0.035,2817,1921,3425,0,0,0,0,0,0
$GC,5349,-0.56,-145.9,459.9,-9.0,409,5352,0.00,1.02,0.00,0.000,4,0.000,0.051,2817,1272,3425,0,0,0,0,0,0
$GC,5437,-0.56,-145.9,468.2,-9.0,411,5442,0.08,1.00,0.00,0.000,6,0.185,0.036,2831,1923,3425,0,0,0,0,0,0
$GC,5756,-0.68,-145.9,493.4,-7.6,422,5760,0.12,2.15,0.00,0.000,4,0.097,0.048,2773,3305,3424,0,0,0,0,0,0
$GC,5843,-0.63,-145.9,502.2,-10.2,424,5850,0.10,2.15,0.00,0.000,6,0.140,0.039,2806,1918,3424,0,0,0,0,0,0
$GC,6157,-0.60,-145.9,530.2,-8.7,435,6161,0.00,2.25,0.00,0.000,4,0.000,0.057,2806,502,3423,0,0,0,0,0,0
$GC,6245,-0.57,-145.9,538.3,-8.5,437,6252,0.08,2.17,0.00,0.000,6,0.139,0.034,2824,1908,3423,0,0,0,0,0,0
$GC,6559,-0.66,-145.9,559.0,-6.5,448,6563,0.08,0.32,0.00,0.000,4,0.133,0.053,2793,2154,3423,0,0,0,0,0,0
$GC,6704,-0.72,-145.9,569.7,-7.0,452,6707,0.00,0.35,0.00,0.000,6,0.000,0.054,2793,1908,3423,0,0,0,0,0,0
$GC,7033,-0.76,-145.9,595.0,-7.8,463,7035,0.08,0.00,0.00,0.000,6,0.132,0.000,2764,1908,3422,0,0,0,0,0,0
$GC,7339,-0.63,-145.9,627.6,-12.0,473,7341,0.17,0.00,0.00,0.000,6,0.169,0.000,2810,1907,3421,0,0,0,0,0,0
$GC,7645,-0.63,-145.9,657.0,-9.5,483,7649,0.00,0.70,0.00,0.000,4,0.000,0.054,2811,1441,3421,0,0,0,0,0,0
$GC,7721,-0.63,-145.9,664.9,-10.1,485,7726,0.00,0.75,0.00,0.000,6,0.000,0.039,2809,1928,3421,0,0,0,0,0,0
$GC,8051,-0.63,-145.9,698.3,-10.4,496,8055,0.00,1.10,0.00,0.000,4,0.000,0.053,2808,1240,3421,0,0,0,0,0,0
$GC,8138,-0.63,-145.9,707.8,-10.7,498,8143,0.00,1.05,0.00,0.000,6,0.000,0.037,2805,1920,3421,0,0,0,0,0,0
$GC,8457,-0.61,-145.9,742.3,-11.0,509,8461,0.00,0.52,0.00,0.000,4,0.000,0.053,2805,1572,3421,0,0,0,0,0,0
$GC,8525,-0.58,-145.9,749.6,-10.4,511,8529,0.05,0.50,0.00,0.000,6,0.159,0.045,2820,1918,3420,0,0,0,0,0,0
$GC,8864,-0.58,-145.9,780.9,-8.8,522,8868,0.00,1.23,0.00,0.000,4,0.000,0.053,2821,1152,3420,0,0,0,0,0,0
$GC,8952,-0.58,-145.9,789.0,-9.1,524,8957,0.00,1.17,0.00,0.000,6,0.000,0.036,2816,1908,3420,0,0,0,0,0,0
$GC,9271,-0.58,-145.9,815.8,-8.3,535,9275,0.00,0.57,0.00,0.000,4,0.000,0.053,2817,1534,3420,0,0,0,0,0,0
$GC,9347,-0.58,-145.9,822.1,-8.5,537,9352,0.00,0.60,0.00,0.000,6,0.000,0.041,2814,1929,3419,0,0,0,0,0,0
$GC,9677,-0.58,-145.9,848.5,-8.2,548,9681,0.00,1.15,0.00,0.000,4,0.000,0.052,2814,1206,3419,0,0,0,0,0,0
$GC,9765,-0.58,-145.9,856.1,-8.3,550,9769,0.00,1.10,0.00,0.000,6,0.000,0.036,2809,1915,3418,0,0,0,0,0,0
$GC,10083,-0.58,-145.9,884.2,-9.0,561,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1915,3418,0,0,0,0,0,0
$GC,10389,-0.58,-145.9,912.2,-9.3,571,10393,0.00,0.43,0.00,0.000,4,0.000,0.054,2809,1629,3418,0,0,0,0,0,0
$GC,10472,-0.58,-145.9,920.0,-9.0,573,10476,0.00,0.43,0.00,0.000,6,0.000,0.045,2809,1918,3417,0,0,0,0,0,0
$GC,10795,-0.58,-145.9,948.7,-8.8,584,10799,0.00,0.35,0.00,0.000,4,0.000,0.059,2809,1675,3418,0,0,0,0,0,0
$GC,10863,-0.58,-145.9,954.6,-8.3,586,10866,0.00,0.32,0.00,0.000,6,0.000,0.050,2809,1909,3417,0,0,0,0,0,0
$GC,11203,-0.58,-145.9,983.6,-8.5,597,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1909,3417,0,0,0,0,0,0
$STATE,11417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11417,begin apogee
$GC,11421,-0.19,0.0,1000.9,7.9,604,11548,0.45,0.00,124.32,1.529,6,0.137,0.000,2945,1653,2827,0,0,0,0,0,0
$STATE,11549,end apogee,CONTROL_FINISHED_OK
$STATE,11549,begin climb
$GC,11551,0.52,145.9,1005.6,0.0,608,11691,0.70,2.53,130.40,1.498,4,0.081,0.046,3174,3042,2231,0,0,0,0,0,0
$GC,11804,0.32,145.9,997.5,8.3,616,11809,0.25,2.33,0.00,0.000,6,0.190,0.046,3125,1657,2227,0,0,0,0,0,0
$GC,12139,0.28,199.0,981.4,5.6,627,12191,0.08,1.85,46.67,1.463,4,0.216,0.044,3109,2740,2014,0,0,0,0,0,0
$GC,12258,0.28,219.6,974.4,6.7,630,12283,0.00,1.80,19.27,1.392,6,0.000,0.047,3115,1657,1931,0,0,0,0,0,0
$GC,12603,0.38,269.1,954.5,5.7,642,12653,0.05,2.45,44.28,1.460,4,0.168,0.068,3138,242,1729,0,0,0,0,0,0
$GC,12725,0.41,284.1,946.7,6.9,645,12745,0.00,2.28,14.82,1.359,6,0.000,0.037,3138,1643,1667,0,0,0,0,0,0
$GC,13070,0.52,338.2,926.1,5.6,657,13125,0.12,0.82,48.95,1.450,4,0.102,0.043,3184,2161,1447,0,0,0,0,0,0
$GC,13158,0.55,355.4,919.8,6.8,659,13179,0.00,0.88,17.30,1.359,6,0.000,0.054,3185,1646,1378,0,0,0,0,0,0
$GC,13498,0.63,389.5,897.6,6.2,671,13537,0.10,2.30,31.33,1.405,4,0.111,0.047,3225,2996,1238,0,0,0,0,0,0
$GC,13588,0.53,389.5,888.9,11.8,673,13594,0.15,2.20,0.00,0.000,6,0.181,0.050,3191,1646,1237,0,0,0,0,0,0
$GC,13900,0.53,389.5,861.6,8.8,684,13904,0.00,0.73,0.00,0.000,4,0.000,0.063,3193,1194,1232,0,0,0,0,0,0
$GC,13949,0.51,389.5,857.1,9.3,685,13954,0.03,0.75,0.00,0.000,6,0.263,0.041,3184,1678,1231,0,0,0,0,0,0
$GC,14272,0.51,389.5,828.7,9.1,696,14276,0.00,0.57,0.00,0.000,4,0.000,0.066,3185,1317,1230,0,0,0,0,0,0
$GC,14315,0.51,389.5,824.5,9.4,697,14319,0.00,0.52,0.00,0.000,6,0.000,0.044,3185,1661,1229,0,0,0,0,0,0
$GC,14644,0.51,389.5,792.0,10.0,708,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1661,1229,0,0,0,0,0,0
$GC,14951,0.51,389.5,761.0,10.1,718,14954,0.00,0.55,0.00,0.000,4,0.000,0.067,3186,1314,1229,0,0,0,0,0,0
$GC,14993,0.51,389.5,756.6,10.6,719,14998,0.00,0.52,0.00,0.000,6,0.000,0.046,3185,1660,1228,0,0,0,0,0,0
$GC,15323,0.51,389.5,721.6,10.6,730,15324,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1660,1228,0,0,0,0,0,0
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$STATE,23441,end climb,SURFACE_DEPTH_REACHED
$STATE,23441,begin surface coast
$FINISH,1.6,1.026571
$STATE,23472,end surface coast,CONTROL_FINISHED_OK
$STATE,23472,begin surface
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$HUMID,46.33
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$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.7,38.292
$10V_AH,10.1,29.968
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.400,95.575,477.350,0.000,0.000,23.019,37.316,279.144,0.250,0.000,18.521,3105.376,16351.303,563.091,3802.883,174.790,33.363,2036.012,0.000,3408.824,0.000,2.834,0.000
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$MEM,354280
$DATA_FILE_SIZE,73573,1235
$CAP_FILE_SIZE,205751,0
$CFSIZE,2097086464,2072117248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291012,195435,-4222.143,-716.170,37,1.3,38,-21.8