version: 66.07.10.p01
glider: 574
mission: 4
dive: 162
start: 10 30 112 22 26 59
data:
$ID,574
$MISSION,4
$DIVE,162
$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,-5932.4688
$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,30
$R_STBD_OVSHOOT,44
$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,141
$GPS1,301012,221805,-4226.942,-718.813,27,1.3,28,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-74.1
$GPS2,301012,222605,-4226.908,-718.848,36,1.1,37,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.088,-0.217
$KALMAN_X,-248463.1,-281.4,-385.5,372288.2,-3123.6
$KALMAN_Y,204751.9,-185.3,-633.3,-158171.0,6727.8
$MHEAD_RNG_PITCHd_Wd,179.7,80776,-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,25,-0.52,-145.9,0.0,0.0,0,76,0.00,0.00,-48.78,0.000,2,0.000,0.000,67,1909,2286,0,0,0,0,0,0
$GC,78,-0.52,-145.9,3.1,-1.1,8,140,12.23,2.22,-44.12,0.000,4,0.259,0.063,2829,3307,3419,0,0,0,0,0,0
$GC,213,-0.52,-145.9,11.1,-9.5,30,220,0.00,2.22,0.00,0.000,6,0.000,0.044,2829,1915,3421,0,0,0,0,0,0
$GC,293,-0.50,-145.9,18.4,-8.9,43,301,0.08,0.93,0.00,0.000,4,0.200,0.059,2846,1343,3421,0,0,0,0,0,0
$GC,362,-0.50,-145.9,24.0,-7.9,54,369,0.00,0.88,0.00,0.000,6,0.000,0.040,2843,1906,3421,0,0,0,0,0,0
$GC,442,-0.50,-145.9,30.3,-8.0,67,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1906,3421,0,0,0,0,0,0
$GC,677,-0.50,-145.9,50.5,-8.5,108,684,0.00,1.73,0.00,0.000,4,0.000,0.060,2843,859,3421,0,0,0,0,0,0
$GC,744,-0.50,-145.9,56.1,-9.0,119,749,0.00,1.65,0.00,0.000,6,0.000,0.036,2838,1911,3421,0,0,0,0,0,0
$GC,975,-0.57,-145.9,75.5,-8.2,160,980,0.00,1.67,0.00,0.000,4,0.000,0.057,2838,873,3422,0,0,0,0,0,0
$GC,1020,-0.61,-145.9,79.6,-8.7,168,1027,0.03,1.62,0.00,0.000,6,0.110,0.036,2815,1920,3421,0,0,0,0,0,0
$GC,1360,-0.65,-145.9,110.0,-8.9,215,1364,0.00,2.17,0.00,0.000,4,0.000,0.047,2805,3316,3421,0,0,0,0,0,0
$GC,1443,-0.65,-145.9,118.3,-9.7,220,1448,0.00,2.20,0.00,0.000,6,0.000,0.037,2805,1899,3422,0,0,0,0,0,0
$GC,1771,-0.68,-145.9,146.7,-8.5,241,1775,0.00,1.58,0.00,0.000,4,0.000,0.054,2805,912,3422,0,0,0,0,0,0
$GC,1809,-0.62,-145.9,150.8,-9.5,243,1813,0.00,1.55,0.00,0.000,6,0.000,0.033,2798,1917,3422,0,0,0,0,0,0
$GC,2134,-0.64,-145.9,177.7,-7.7,264,2138,0.00,1.65,0.00,0.000,4,0.000,0.056,2798,897,3422,0,0,0,0,0,0
$GC,2173,-0.58,-145.9,181.2,-8.8,266,2178,0.08,1.58,0.00,0.000,6,0.148,0.032,2818,1918,3422,0,0,0,0,0,0
$GC,2500,-0.63,-145.9,203.9,-7.0,287,2504,0.00,2.15,0.00,0.000,4,0.000,0.045,2808,3317,3422,0,0,0,0,0,0
$GC,2570,-0.66,-145.9,209.3,-7.6,291,2574,0.00,2.15,0.00,0.000,6,0.000,0.037,2809,1911,3422,0,0,0,0,0,0
$GC,2896,-0.70,-145.9,233.9,-7.5,312,2900,0.08,2.20,0.00,0.000,4,0.132,0.045,2769,3314,3422,0,0,0,0,0,0
$GC,2978,-0.63,-145.9,241.7,-9.7,317,2982,0.15,2.12,0.00,0.000,6,0.156,0.037,2808,1911,3421,0,0,0,0,0,0
$GC,3294,-0.59,-145.9,270.4,-9.1,334,3298,0.00,1.98,0.00,0.000,4,0.000,0.055,2808,643,3422,0,0,0,0,0,0
$GC,3366,-0.54,-145.9,277.8,-9.8,337,3371,0.08,1.95,0.00,0.000,6,0.141,0.033,2827,1914,3422,0,0,0,0,0,0
$GC,3696,-0.63,-145.9,305.3,-8.5,353,3700,0.05,1.70,0.00,0.000,4,0.169,0.055,2803,870,3422,0,0,0,0,0,0
$GC,3743,-0.58,-145.9,309.9,-10.5,355,3747,0.05,1.60,0.00,0.000,6,0.155,0.033,2822,1910,3422,0,0,0,0,0,0
$GC,4076,-0.58,-145.9,341.1,-9.4,371,4080,0.00,0.65,0.00,0.000,4,0.000,0.042,2820,2367,3422,0,0,0,0,0,0
$GC,4136,-0.58,-145.9,347.3,-9.4,373,4142,0.00,0.73,0.00,0.000,6,0.000,0.045,2820,1896,3422,0,0,0,0,0,0
$GC,4454,-0.58,-145.9,375.6,-8.9,389,4458,0.00,0.93,0.00,0.000,4,0.000,0.054,2820,1299,3422,0,0,0,0,0,0
$GC,4536,-0.58,-145.9,383.2,-8.7,392,4545,0.00,0.95,0.00,0.000,6,0.000,0.035,2815,1921,3422,0,0,0,0,0,0
$GC,4851,-0.58,-145.9,411.5,-9.4,406,4855,0.00,0.90,0.00,0.000,4,0.000,0.052,2815,1350,3422,0,0,0,0,0,0
$GC,4928,-0.58,-145.9,419.0,-9.5,408,4932,0.00,0.88,0.00,0.000,6,0.000,0.036,2812,1920,3422,0,0,0,0,0,0
$GC,5258,-0.56,-145.9,451.9,-10.2,419,5262,0.08,0.52,0.00,0.000,4,0.197,0.054,2829,1585,3421,0,0,0,0,0,0
$GC,5340,-0.56,-145.9,460.1,-9.5,421,5344,0.00,0.50,0.00,0.000,6,0.000,0.041,2827,1926,3421,0,0,0,0,0,0
$GC,5664,-0.56,-145.9,490.7,-9.5,432,5667,0.00,1.48,0.00,0.000,4,0.000,0.055,2827,1012,3421,0,0,0,0,0,0
$GC,5740,-0.56,-145.9,498.5,-9.9,434,5745,0.00,1.40,0.00,0.000,6,0.000,0.034,2823,1908,3421,0,0,0,0,0,0
$GC,6071,-0.65,-145.9,527.7,-8.8,445,6075,0.05,2.20,0.00,0.000,4,0.171,0.047,2787,3316,3420,0,0,0,0,0,0
$GC,6166,-0.65,-145.9,537.5,-10.4,448,6170,0.05,2.15,0.00,0.000,6,0.208,0.038,2799,1914,3420,0,0,0,0,0,0
$GC,6500,-0.61,-145.9,573.0,-10.5,459,6504,0.05,2.17,0.00,0.000,4,0.233,0.057,2811,558,3420,0,0,0,0,0,0
$GC,6582,-0.61,-145.9,581.8,-10.3,461,6587,0.00,2.10,0.00,0.000,6,0.000,0.034,2803,1917,3420,0,0,0,0,0,0
$GC,6901,-0.57,-145.9,612.5,-9.4,472,6903,0.10,0.00,0.00,0.000,6,0.187,0.000,2828,1917,3418,0,0,0,0,0,0
$GC,7207,-0.57,-145.9,635.6,-7.3,482,7211,0.00,1.35,0.00,0.000,4,0.000,0.054,2829,1068,3418,0,0,0,0,0,0
$GC,7284,-0.60,-145.9,641.9,-7.8,484,7289,0.00,1.30,0.00,0.000,6,0.000,0.034,2824,1915,3417,0,0,0,0,0,0
$GC,7615,-0.70,-145.9,664.3,-6.5,495,7619,0.12,2.20,0.00,0.000,4,0.098,0.047,2769,3322,3417,0,0,0,0,0,0
$GC,7691,-0.65,-145.9,671.1,-9.9,497,7697,0.10,2.17,0.00,0.000,6,0.141,0.037,2800,1921,3417,0,0,0,0,0,0
$GC,8016,-0.61,-145.9,699.3,-8.7,508,8020,0.00,2.22,0.00,0.000,4,0.000,0.055,2801,516,3417,0,0,0,0,0,0
$GC,8098,-0.59,-145.9,707.3,-9.2,510,8103,0.08,2.15,0.00,0.000,6,0.143,0.033,2819,1908,3416,0,0,0,0,0,0
$GC,8416,-0.59,-145.9,734.0,-8.5,521,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1909,3416,0,0,0,0,0,0
$GC,8722,-0.59,-145.9,761.6,-9.3,531,8726,0.00,0.75,0.00,0.000,4,0.000,0.049,2819,1426,3416,0,0,0,0,0,0
$GC,8804,-0.59,-145.9,769.6,-9.8,533,8809,0.00,0.77,0.00,0.000,6,0.000,0.037,2817,1934,3416,0,0,0,0,0,0
$GC,9128,-0.59,-145.9,800.7,-9.6,544,9132,0.00,1.20,0.00,0.000,4,0.000,0.050,2817,1179,3416,0,0,0,0,0,0
$GC,9222,-0.59,-145.9,810.3,-9.8,546,9228,0.00,1.12,0.00,0.000,6,0.000,0.036,2812,1909,3415,0,0,0,0,0,0
$GC,9535,-0.59,-145.9,840.1,-9.5,557,9539,0.00,0.85,0.00,0.000,4,0.000,0.051,2812,1368,3416,0,0,0,0,0,0
$GC,9629,-0.59,-145.9,849.2,-9.6,559,9634,0.00,0.85,0.00,0.000,6,0.000,0.037,2809,1918,3415,0,0,0,0,0,0
$GC,9941,-0.59,-145.9,877.0,-8.6,570,9945,0.00,1.00,0.00,0.000,4,0.000,0.053,2809,1291,3415,0,0,0,0,0,0
$GC,10043,-0.59,-145.9,885.2,-7.8,573,10046,0.00,0.95,0.00,0.000,6,0.000,0.039,2806,1911,3415,0,0,0,0,0,0
$GC,10383,-0.59,-145.9,911.4,-7.4,584,10387,0.00,0.98,0.00,0.000,4,0.000,0.053,2806,1296,3414,0,0,0,0,0,0
$GC,10471,-0.59,-145.9,918.2,-8.1,586,10476,0.08,0.98,0.00,0.000,6,0.188,0.037,2820,1924,3415,0,0,0,0,0,0
$GC,10790,-0.62,-145.9,939.0,-6.5,597,10794,0.00,0.75,0.00,0.000,4,0.000,0.053,2821,1446,3414,0,0,0,0,0,0
$GC,10885,-0.65,-145.9,945.7,-7.1,599,10891,0.00,0.73,0.00,0.000,6,0.000,0.041,2819,1917,3414,0,0,0,0,0,0
$GC,11198,-0.68,-145.9,969.6,-7.8,610,11202,0.08,0.98,0.00,0.000,4,0.140,0.053,2792,1317,3414,0,0,0,0,0,0
$GC,11291,-0.64,-145.9,978.6,-10.2,612,11298,0.08,0.93,0.00,0.000,6,0.197,0.038,2806,1914,3414,0,0,0,0,0,0
$STATE,11543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11543,begin apogee
$GC,11547,-0.19,0.0,1001.1,9.1,621,11674,0.47,0.00,123.78,1.531,6,0.136,0.000,2950,1641,2827,0,0,0,0,0,0
$STATE,11675,end apogee,CONTROL_FINISHED_OK
$STATE,11675,begin climb
$GC,11676,0.52,145.9,1007.6,0.0,625,11813,0.68,1.05,130.60,1.498,4,0.078,0.043,3174,2233,2232,0,0,0,0,0,0
$GC,11869,0.34,217.5,1008.8,5.0,631,11941,0.17,0.98,66.07,1.460,6,0.170,0.050,3132,1662,1939,0,0,0,0,0,0
$GC,12253,0.34,238.5,984.3,6.7,644,12277,0.00,0.65,18.92,1.379,4,0.000,0.043,3132,2059,1854,0,0,0,0,0,0
$GC,12335,0.34,238.5,978.8,7.5,646,12338,0.00,0.68,0.00,0.000,6,0.000,0.054,3132,1648,1851,0,0,0,0,0,0
$GC,12658,0.34,254.7,956.5,6.9,657,12675,0.00,0.00,15.27,1.351,6,0.000,0.000,3132,1649,1788,0,0,0,0,0,0
$GC,12964,0.34,272.1,935.7,6.8,667,12984,0.00,0.52,16.30,1.358,4,0.000,0.038,3132,2020,1719,0,0,0,0,0,0
$GC,13034,0.34,285.7,930.7,6.9,669,13051,0.00,0.62,14.05,1.333,6,0.000,0.054,3132,1645,1662,0,0,0,0,0,0
$GC,13364,0.37,285.7,905.8,7.9,680,13368,0.00,0.70,0.00,0.000,4,0.000,0.043,3132,2104,1658,0,0,0,0,0,0
$GC,13413,0.37,285.7,901.7,8.2,681,13417,0.00,0.75,0.00,0.000,6,0.000,0.054,3132,1646,1658,0,0,0,0,0,0
$GC,13737,0.39,285.7,875.8,8.0,692,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1646,1657,0,0,0,0,0,0
$GC,14043,0.41,285.7,852.0,7.5,702,14047,0.00,0.57,0.00,0.000,4,0.000,0.044,3132,2037,1656,0,0,0,0,0,0
$GC,14087,0.44,285.7,848.6,7.8,703,14092,0.08,0.62,0.00,0.000,6,0.130,0.054,3160,1649,1656,0,0,0,0,0,0
$GC,14417,0.41,285.7,819.7,9.0,714,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1650,1656,0,0,0,0,0,0
$GC,14723,0.38,285.7,791.8,9.3,724,14725,0.10,0.00,0.00,0.000,6,0.185,0.000,3136,1649,1656,0,0,0,0,0,0
$GC,15029,0.40,285.7,767.6,7.6,734,15033,0.00,0.47,0.00,0.000,4,0.000,0.046,3136,1975,1656,0,0,0,0,0,0
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$STATE,23910,end climb,SURFACE_DEPTH_REACHED
$STATE,23910,begin surface coast
$FINISH,1.5,1.015346
$STATE,23947,end surface coast,CONTROL_FINISHED_OK
$STATE,23947,begin surface
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$10V_AH,10.1,30.660
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73576,1263
$CAP_FILE_SIZE,217695,0
$CFSIZE,2097086464,2071461888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,311012,050835,-4227.541,-718.657,40,1.0,40,-21.8