version: 66.07.10.p01
glider: 574
mission: 4
dive: 161
start: 10 30 112 15 58 58
data:
$ID,574
$MISSION,4
$DIVE,161
$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,-5929.1694
$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,47
$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,140
$GPS1,301012,155005,-4225.739,-718.041,38,1.0,38,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-73.4
$GPS2,301012,155803,-4225.742,-718.055,19,2.0,20,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.134,-0.193
$KALMAN_X,-244754.8,118.2,233.6,368633.2,-2889.5
$KALMAN_Y,200906.8,-77.7,88.5,-152994.8,4316.8
$MHEAD_RNG_PITCHd_Wd,167.0,81745,-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,-42.80,0.000,2,0.000,0.000,68,1855,2262,0,0,0,0,0,0
$GC,71,-0.52,-145.9,3.0,-1.2,7,139,12.45,2.28,-45.53,0.000,4,0.267,0.079,2834,506,3424,0,0,0,0,0,0
$GC,218,-0.52,-145.9,12.9,-8.8,31,226,0.05,2.22,0.00,0.000,6,0.155,0.039,2843,1904,3425,0,0,0,0,0,0
$GC,298,-0.52,-145.9,19.7,-8.5,44,305,0.00,0.90,0.00,0.000,4,0.000,0.046,2840,2502,3425,0,0,0,0,0,0
$GC,372,-0.52,-145.9,26.1,-8.7,56,379,0.00,0.93,0.00,0.000,6,0.000,0.050,2840,1920,3425,0,0,0,0,0,0
$GC,451,-0.52,-145.9,33.2,-9.0,69,456,0.00,0.70,0.00,0.000,4,0.000,0.059,2840,1473,3425,0,0,0,0,0,0
$GC,536,-0.52,-145.9,41.4,-9.1,84,543,0.00,0.68,0.00,0.000,6,0.000,0.041,2837,1918,3425,0,0,0,0,0,0
$GC,773,-0.52,-145.9,62.0,-8.7,125,777,0.00,0.70,0.00,0.000,4,0.000,0.057,2837,1480,3425,0,0,0,0,0,0
$GC,835,-0.52,-145.9,67.2,-8.4,136,840,0.00,0.65,0.00,0.000,6,0.000,0.041,2834,1911,3425,0,0,0,0,0,0
$GC,1178,-0.52,-145.9,96.5,-8.8,197,1182,0.00,1.27,0.00,0.000,4,0.000,0.057,2834,1128,3425,0,0,0,0,0,0
$GC,1262,-0.52,-145.9,104.1,-9.1,208,1265,0.00,1.20,0.00,0.000,6,0.000,0.038,2829,1906,3426,0,0,0,0,0,0
$GC,1593,-0.52,-145.9,133.1,-8.7,229,1597,0.00,0.55,0.00,0.000,4,0.000,0.057,2829,1547,3426,0,0,0,0,0,0
$GC,1664,-0.52,-145.9,139.7,-9.3,233,1669,0.05,0.57,0.00,0.000,6,0.224,0.041,2839,1930,3426,0,0,0,0,0,0
$GC,1991,-0.52,-145.9,164.9,-8.4,254,1995,0.00,1.30,0.00,0.000,4,0.000,0.057,2839,1122,3426,0,0,0,0,0,0
$GC,2046,-0.54,-145.9,170.1,-9.0,257,2051,0.00,1.20,0.00,0.000,6,0.000,0.036,2836,1901,3426,0,0,0,0,0,0
$GC,2373,-0.63,-145.9,197.9,-8.7,278,2378,0.08,2.17,0.00,0.000,4,0.130,0.047,2792,3314,3426,0,0,0,0,0,0
$GC,2386,-0.69,-145.9,199.1,-9.0,279,2390,0.00,2.15,0.00,0.000,6,0.000,0.039,2792,1907,3426,0,0,0,0,0,0
$GC,2717,-0.61,-145.9,236.1,-12.1,300,2722,0.08,2.22,0.00,0.000,4,0.202,0.045,2799,3325,3426,0,0,0,0,0,0
$GC,2788,-0.61,-145.9,244.3,-10.7,304,2797,0.03,2.20,0.00,0.000,6,0.166,0.038,2808,1907,3425,0,0,0,0,0,0
$GC,3108,-0.57,-145.9,278.1,-11.0,321,3112,0.08,2.03,0.00,0.000,4,0.204,0.057,2827,632,3426,0,0,0,0,0,0
$GC,3176,-0.57,-145.9,285.3,-10.2,324,3180,0.00,1.92,0.00,0.000,6,0.000,0.034,2819,1917,3426,0,0,0,0,0,0
$GC,3509,-0.64,-145.9,314.3,-8.4,340,3513,0.00,2.15,0.00,0.000,4,0.000,0.047,2809,3311,3426,0,0,0,0,0,0
$GC,3586,-0.70,-145.9,321.3,-9.2,343,3593,0.05,2.17,0.00,0.000,6,0.076,0.038,2777,1910,3426,0,0,0,0,0,0
$GC,3904,-0.62,-145.9,353.7,-10.6,359,3909,0.12,2.25,0.00,0.000,4,0.178,0.057,2808,505,3426,0,0,0,0,0,0
$GC,4004,-0.59,-145.9,364.1,-10.0,363,4011,0.05,2.17,0.00,0.000,6,0.152,0.034,2817,1915,3425,0,0,0,0,0,0
$GC,4322,-0.65,-145.9,390.3,-8.5,379,4326,0.00,2.03,0.00,0.000,4,0.000,0.046,2808,3225,3425,0,0,0,0,0,0
$GC,4383,-0.73,-145.9,396.2,-9.2,381,4390,0.05,2.05,0.00,0.000,6,0.075,0.038,2775,1904,3426,0,0,0,0,0,0
$GC,4706,-0.73,-145.9,429.6,-10.4,393,4710,0.00,2.17,0.00,0.000,4,0.000,0.047,2767,3294,3425,0,0,0,0,0,0
$GC,4772,-0.66,-145.9,437.5,-11.8,395,4778,0.08,2.15,0.00,0.000,6,0.146,0.039,2790,1914,3425,0,0,0,0,0,0
$GC,5108,-0.60,-145.9,477.5,-12.2,406,5112,0.10,1.58,0.00,0.000,4,0.193,0.054,2817,897,3425,0,0,0,0,0,0
$GC,5184,-0.60,-145.9,486.5,-10.7,408,5189,0.00,1.60,0.00,0.000,6,0.000,0.033,2810,1933,3425,0,0,0,0,0,0
$GC,5515,-0.57,-145.9,521.4,-10.4,419,5517,0.08,0.00,0.00,0.000,6,0.198,0.000,2828,1934,3425,0,0,0,0,0,0
$GC,5821,-0.57,-145.9,548.7,-8.7,429,5824,0.00,0.57,0.00,0.000,4,0.000,0.052,2828,1546,3425,0,0,0,0,0,0
$GC,5880,-0.57,-145.9,553.8,-8.1,430,5886,0.00,0.57,0.00,0.000,6,0.000,0.039,2827,1933,3424,0,0,0,0,0,0
$GC,6193,-0.57,-145.9,578.6,-7.9,441,6196,0.00,1.08,0.00,0.000,4,0.000,0.051,2827,1254,3423,0,0,0,0,0,0
$GC,6270,-0.57,-145.9,585.0,-8.0,443,6275,0.00,1.00,0.00,0.000,6,0.000,0.035,2823,1906,3423,0,0,0,0,0,0
$GC,6600,-0.66,-145.9,608.5,-7.1,454,6605,0.08,2.20,0.00,0.000,4,0.132,0.046,2782,3315,3423,0,0,0,0,0,0
$GC,6683,-0.64,-145.9,616.0,-9.4,456,6688,0.05,2.17,0.00,0.000,6,0.149,0.035,2799,1905,3423,0,0,0,0,0,0
$GC,7001,-0.70,-145.9,640.7,-7.6,467,7005,0.00,2.20,0.00,0.000,4,0.000,0.054,2799,511,3422,0,0,0,0,0,0
$GC,7100,-0.66,-145.9,649.7,-9.0,470,7105,0.00,2.17,0.00,0.000,6,0.000,0.036,2792,1910,3422,0,0,0,0,0,0
$GC,7436,-0.60,-145.9,680.6,-9.3,481,7440,0.10,0.30,0.00,0.000,4,0.192,0.053,2817,2141,3422,0,0,0,0,0,0
$GC,7489,-0.60,-145.9,685.1,-8.2,482,7493,0.00,0.35,0.00,0.000,6,0.000,0.054,2817,1903,3421,0,0,0,0,0,0
$GC,7807,-0.60,-145.9,710.3,-8.0,493,7811,0.00,0.68,0.00,0.000,4,0.000,0.052,2817,1454,3421,0,0,0,0,0,0
$GC,7878,-0.60,-145.9,716.1,-7.6,495,7883,0.00,0.73,0.00,0.000,6,0.000,0.039,2813,1927,3421,0,0,0,0,0,0
$GC,8213,-0.60,-145.9,742.3,-7.9,506,8217,0.00,1.50,0.00,0.000,4,0.000,0.054,2814,995,3420,0,0,0,0,0,0
$GC,8307,-0.60,-145.9,750.3,-8.3,508,8313,0.00,1.42,0.00,0.000,6,0.000,0.036,2809,1904,3420,0,0,0,0,0,0
$GC,8620,-0.60,-145.9,776.9,-8.6,519,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1904,3420,0,0,0,0,0,0
$GC,8926,-0.60,-145.9,803.9,-8.8,529,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1905,3419,0,0,0,0,0,0
$GC,9233,-0.60,-145.9,831.3,-8.8,539,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1905,3419,0,0,0,0,0,0
$GC,9539,-0.60,-145.9,856.3,-8.0,549,9542,0.00,0.28,0.00,0.000,4,0.000,0.061,2808,1710,3418,0,0,0,0,0,0
$GC,9655,-0.60,-145.9,865.4,-6.8,552,9659,0.00,0.32,0.00,0.000,6,0.000,0.051,2808,1934,3418,0,0,0,0,0,0
$GC,9979,-0.60,-145.9,890.7,-7.9,563,9982,0.00,1.17,0.00,0.000,4,0.000,0.053,2808,1198,3417,0,0,0,0,0,0
$GC,10072,-0.60,-145.9,898.1,-7.5,565,10079,0.00,1.10,0.00,0.000,6,0.000,0.037,2803,1904,3417,0,0,0,0,0,0
$GC,10385,-0.60,-145.9,922.7,-8.0,576,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1904,3417,0,0,0,0,0,0
$GC,10692,-0.60,-145.9,947.3,-8.0,586,10695,0.00,0.25,0.00,0.000,4,0.000,0.058,2802,2103,3417,0,0,0,0,0,0
$GC,10740,-0.60,-145.9,951.6,-8.2,587,10744,0.00,0.30,0.00,0.000,6,0.000,0.058,2802,1900,3417,0,0,0,0,0,0
$GC,11064,-0.60,-145.9,979.3,-8.9,598,11068,0.00,0.80,0.00,0.000,4,0.000,0.054,2802,1379,3416,0,0,0,0,0,0
$GC,11165,-0.60,-145.9,988.6,-8.2,601,11169,0.03,0.82,0.00,0.000,6,0.180,0.040,2809,1925,3416,0,0,0,0,0,0
$STATE,11322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11322,begin apogee
$GC,11326,-0.19,0.0,1002.1,8.6,606,11454,0.45,0.00,124.47,1.535,6,0.135,0.000,2946,1652,2827,0,0,0,0,0,0
$STATE,11454,end apogee,CONTROL_FINISHED_OK
$STATE,11455,begin climb
$GC,11456,0.52,145.9,1008.9,0.0,610,11596,0.73,1.60,131.18,1.491,4,0.078,0.043,3177,2537,2231,0,0,0,0,0,0
$GC,11680,0.33,182.0,1008.8,6.2,617,11722,0.20,1.50,33.58,1.433,6,0.178,0.048,3131,1662,2084,0,0,0,0,0,0
$GC,12028,0.29,260.9,991.7,4.7,629,12102,0.10,0.00,71.20,1.467,6,0.202,0.000,3107,1661,1763,0,0,0,0,0,0
$GC,12394,0.46,341.2,974.8,4.7,641,12475,0.17,2.40,73.00,1.463,4,0.088,0.046,3170,3044,1434,0,0,0,0,0,0
$GC,12555,0.41,341.2,963.6,8.3,646,12559,0.10,2.30,0.00,0.000,6,0.182,0.046,3150,1645,1430,0,0,0,0,0,0
$GC,12889,0.44,381.1,942.7,6.0,657,12929,0.00,1.08,36.30,1.432,4,0.000,0.060,3152,1025,1272,0,0,0,0,0,0
$GC,12974,0.50,417.3,938.0,6.2,659,13015,0.03,1.00,34.75,1.413,6,0.110,0.037,3171,1660,1125,0,0,0,0,0,0
$GC,13350,0.54,420.5,911.6,7.3,672,13354,0.00,1.27,0.00,0.000,4,0.000,0.063,3172,893,1117,0,0,0,0,0,0
$GC,13399,0.57,420.5,907.4,7.7,673,13404,0.05,1.17,0.00,0.000,6,0.087,0.036,3198,1641,1115,0,0,0,0,0,0
$GC,13723,0.57,420.5,875.9,9.7,684,13726,0.00,0.60,0.00,0.000,4,0.000,0.062,3199,1264,1114,0,0,0,0,0,0
$GC,13778,0.57,420.5,870.3,10.2,685,13782,0.00,0.57,0.00,0.000,6,0.000,0.042,3199,1655,1115,0,0,0,0,0,0
$GC,14096,0.57,420.5,836.5,10.9,696,14099,0.00,1.33,0.00,0.000,4,0.000,0.063,3200,846,1115,0,0,0,0,0,0
$GC,14144,0.57,420.5,830.7,11.9,697,14149,0.00,1.25,0.00,0.000,6,0.000,0.037,3200,1640,1113,0,0,0,0,0,0
$GC,14469,0.57,420.5,795.3,10.9,708,14473,0.00,0.47,0.00,0.000,4,0.000,0.064,3200,1346,1113,0,0,0,0,0,0
$GC,14517,0.57,420.5,789.9,10.8,709,14521,0.00,0.47,0.00,0.000,6,0.000,0.044,3200,1662,1113,0,0,0,0,0,0
$GC,14841,0.57,420.5,756.5,10.0,720,14844,0.00,1.10,0.00,0.000,4,0.000,0.064,3200,987,1113,0,0,0,0,0,0
$GC,14889,0.57,420.5,751.6,10.1,721,14894,0.00,1.05,0.00,0.000,6,0.000,0.040,3200,1655,1112,0,0,0,0,0,0
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$STATE,22573,end climb,SURFACE_DEPTH_REACHED
$STATE,22573,begin surface coast
$FINISH,1.6,1.019631
$STATE,22610,end surface coast,CONTROL_FINISHED_OK
$STATE,22610,begin surface
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$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.7,39.185
$10V_AH,10.2,30.516
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354268
$DATA_FILE_SIZE,70337,1185
$CAP_FILE_SIZE,211004,0
$CFSIZE,2097086464,2071592960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301012,221805,-4226.942,-718.813,27,1.3,28,-21.8