version: 66.07.10.p01
glider: 574
mission: 4
dive: 163
start: 10 31 112 5 17 30
data:
$ID,574
$MISSION,4
$DIVE,163
$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,-5935.894
$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,37
$R_STBD_OVSHOOT,60
$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,142
$GPS1,311012,050835,-4227.541,-718.657,40,1.0,40,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-75.5
$GPS2,311012,051636,-4227.518,-718.664,14,1.9,15,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.139,-0.189
$KALMAN_X,-251655.9,135.0,269.4,374649.8,-3649.2
$KALMAN_Y,208614.3,-116.1,128.5,-163992.0,4998.9
$MHEAD_RNG_PITCHd_Wd,165.6,79758,-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,-48.88,0.000,2,0.000,0.000,67,1896,2468,0,0,0,0,0,0
$GC,78,-0.52,-145.9,3.1,-1.3,8,134,12.35,2.25,-33.45,0.000,4,0.265,0.065,2821,3286,3424,0,0,0,0,0,0
$GC,219,-0.52,-145.9,13.7,-10.0,31,226,0.05,2.17,0.00,0.000,6,0.145,0.044,2838,1925,3425,0,0,0,0,0,0
$GC,299,-0.63,-145.9,21.0,-8.8,44,306,0.10,2.35,0.00,0.000,4,0.109,0.062,2796,505,3425,0,0,0,0,0,0
$GC,402,-0.54,-145.9,33.2,-12.5,61,408,0.17,2.15,0.00,0.000,6,0.161,0.035,2834,1892,3425,0,0,0,0,0,0
$GC,637,-0.54,-145.9,57.8,-9.9,102,644,0.00,0.43,0.00,0.000,4,0.000,0.057,2834,1615,3425,0,0,0,0,0,0
$GC,714,-0.54,-145.9,65.5,-10.2,115,718,0.00,0.45,0.00,0.000,6,0.000,0.044,2832,1927,3425,0,0,0,0,0,0
$GC,1054,-0.54,-145.9,98.1,-9.5,176,1060,0.00,1.73,0.00,0.000,4,0.000,0.057,2832,868,3426,0,0,0,0,0,0
$GC,1124,-0.54,-145.9,104.7,-10.2,183,1128,0.00,1.60,0.00,0.000,6,0.000,0.035,2826,1899,3426,0,0,0,0,0,0
$GC,1456,-0.61,-145.9,136.2,-9.9,204,1460,0.00,1.60,0.00,0.000,4,0.000,0.045,2822,2927,3425,0,0,0,0,0,0
$GC,1524,-0.73,-145.9,143.2,-9.4,208,1528,0.08,1.60,0.00,0.000,6,0.067,0.042,2771,1905,3425,0,0,0,0,0,0
$GC,1856,-0.60,-145.9,185.4,-13.2,229,1860,0.17,2.22,0.00,0.000,4,0.171,0.057,2816,509,3426,0,0,0,0,0,0
$GC,1967,-0.56,-145.9,198.6,-11.0,235,1973,0.05,2.17,0.00,0.000,6,0.158,0.032,2826,1921,3426,0,0,0,0,0,0
$GC,2287,-0.63,-145.9,227.6,-8.9,256,2291,0.00,1.40,0.00,0.000,4,0.000,0.042,2820,2833,3426,0,0,0,0,0,0
$GC,2348,-0.75,-145.9,233.3,-9.1,259,2355,0.10,1.42,0.00,0.000,6,0.062,0.038,2770,1913,3426,0,0,0,0,0,0
$GC,2677,-0.63,-145.9,272.2,-13.0,278,2682,0.15,2.22,0.00,0.000,4,0.172,0.054,2809,500,3426,0,0,0,0,0,0
$GC,2788,-0.58,-145.9,284.4,-10.9,283,2793,0.10,2.15,0.00,0.000,6,0.172,0.032,2825,1918,3426,0,0,0,0,0,0
$GC,3117,-0.67,-145.9,313.4,-8.1,299,3121,0.10,0.75,0.00,0.000,4,0.109,0.042,2782,2428,3426,0,0,0,0,0,0
$GC,3193,-0.67,-145.9,321.0,-9.4,302,3198,0.00,0.82,0.00,0.000,6,0.000,0.043,2782,1893,3426,0,0,0,0,0,0
$GC,3515,-0.67,-145.9,348.2,-8.1,318,3519,0.00,2.20,0.00,0.000,4,0.000,0.057,2783,509,3426,0,0,0,0,0,0
$GC,3609,-0.59,-145.9,356.9,-8.6,322,3614,0.12,2.15,0.00,0.000,6,0.143,0.032,2812,1913,3426,0,0,0,0,0,0
$GC,3932,-0.57,-145.9,379.6,-7.2,338,3934,0.05,0.00,0.00,0.000,6,0.236,0.000,2823,1914,3426,0,0,0,0,0,0
$GC,4243,-0.62,-145.9,401.1,-6.9,353,4247,0.00,0.32,0.00,0.000,4,0.000,0.057,2823,1685,3426,0,0,0,0,0,0
$GC,4255,-0.71,-145.9,402.1,-6.9,353,4259,0.08,0.32,0.00,0.000,6,0.070,0.048,2782,1928,3426,0,0,0,0,0,0
$GC,4583,-0.71,-145.9,429.4,-8.7,364,4587,0.00,2.12,0.00,0.000,4,0.000,0.045,2773,3302,3425,0,0,0,0,0,0
$GC,4671,-0.64,-145.9,438.8,-10.8,366,4678,0.08,2.15,0.00,0.000,6,0.144,0.038,2798,1917,3425,0,0,0,0,0,0
$GC,4985,-0.60,-145.9,471.9,-11.0,377,4989,0.08,2.25,0.00,0.000,4,0.209,0.057,2816,505,3425,0,0,0,0,0,0
$GC,5066,-0.60,-145.9,481.1,-10.6,379,5071,0.00,2.15,0.00,0.000,6,0.000,0.033,2809,1897,3424,0,0,0,0,0,0
$GC,5386,-0.65,-145.9,511.1,-9.1,390,5389,0.00,1.60,0.00,0.000,4,0.000,0.044,2802,2933,3424,0,0,0,0,0,0
$GC,5446,-0.73,-145.9,517.0,-9.2,391,5452,0.05,1.58,0.00,0.000,6,0.079,0.037,2770,1914,3424,0,0,0,0,0,0
$GC,5759,-0.73,-145.9,548.7,-10.2,402,5763,0.00,2.22,0.00,0.000,4,0.000,0.057,2770,505,3424,0,0,0,0,0,0
$GC,5870,-0.64,-145.9,561.9,-11.4,405,5875,0.12,2.17,0.00,0.000,6,0.148,0.034,2799,1915,3423,0,0,0,0,0,0
$GC,6199,-0.60,-145.9,592.1,-9.0,416,6201,0.08,0.00,0.00,0.000,6,0.207,0.000,2817,1916,3423,0,0,0,0,0,0
$GC,6506,-0.62,-145.9,615.4,-7.3,426,6509,0.00,0.30,0.00,0.000,4,0.000,0.058,2817,1702,3423,0,0,0,0,0,0
$GC,6529,-0.73,-145.9,617.1,-6.9,426,6533,0.08,0.30,0.00,0.000,6,0.070,0.049,2777,1931,3423,0,0,0,0,0,0
$GC,6846,-0.73,-145.9,642.8,-8.2,437,6850,0.00,2.12,0.00,0.000,4,0.000,0.047,2769,3294,3422,0,0,0,0,0,0
$GC,6935,-0.69,-145.9,651.3,-9.7,439,6941,0.10,2.12,0.00,0.000,6,0.172,0.038,2792,1911,3422,0,0,0,0,0,0
$GC,7247,-0.64,-145.9,681.0,-9.6,450,7251,0.00,2.22,0.00,0.000,4,0.000,0.056,2793,509,3422,0,0,0,0,0,0
$GC,7347,-0.60,-145.9,691.8,-11.1,453,7352,0.08,2.15,0.00,0.000,6,0.146,0.034,2810,1896,3422,0,0,0,0,0,0
$GC,7682,-0.60,-145.9,724.1,-10.0,464,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1896,3421,0,0,0,0,0,0
$GC,7988,-0.60,-145.9,755.5,-10.1,474,7992,0.00,0.28,0.00,0.000,4,0.000,0.060,2810,1699,3422,0,0,0,0,0,0
$GC,8065,-0.60,-145.9,763.4,-10.6,476,8069,0.00,0.32,0.00,0.000,6,0.000,0.048,2809,1930,3421,0,0,0,0,0,0
$GC,8394,-0.60,-145.9,795.1,-9.4,487,8397,0.00,1.27,0.00,0.000,4,0.000,0.054,2809,1133,3421,0,0,0,0,0,0
$GC,8482,-0.60,-145.9,803.7,-9.5,489,8487,0.00,1.20,0.00,0.000,6,0.000,0.034,2805,1907,3421,0,0,0,0,0,0
$GC,8801,-0.60,-145.9,833.7,-9.4,500,8804,0.00,0.45,0.00,0.000,4,0.000,0.053,2805,1603,3419,0,0,0,0,0,0
$GC,8894,-0.60,-145.9,842.8,-10.3,502,8900,0.00,0.47,0.00,0.000,6,0.000,0.039,2803,1934,3420,0,0,0,0,0,0
$GC,9206,-0.60,-145.9,870.9,-8.8,513,9211,0.03,1.33,0.00,0.000,4,0.279,0.052,2813,1115,3419,0,0,0,0,0,0
$GC,9300,-0.60,-145.9,879.0,-8.6,515,9306,0.00,1.23,0.00,0.000,6,0.000,0.033,2809,1909,3420,0,0,0,0,0,0
$GC,9613,-0.60,-145.9,903.3,-7.4,526,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1908,3419,0,0,0,0,0,0
$GC,9920,-0.60,-145.9,925.2,-6.9,536,9923,0.00,1.08,0.00,0.000,4,0.000,0.050,2809,1231,3419,0,0,0,0,0,0
$GC,9969,-0.60,-145.9,928.5,-6.7,537,9973,0.00,1.05,0.00,0.000,6,0.000,0.034,2805,1918,3419,0,0,0,0,0,0
$GC,10294,-0.68,-145.9,946.8,-5.6,548,10298,0.00,2.28,0.00,0.000,4,0.000,0.055,2806,501,3418,0,0,0,0,0,0
$GC,10398,-0.68,-145.9,953.9,-7.0,551,10403,0.00,2.17,0.00,0.000,6,0.000,0.033,2797,1904,3418,0,0,0,0,0,0
$GC,10728,-0.66,-145.9,978.8,-8.0,562,10732,0.00,0.35,0.00,0.000,4,0.000,0.050,2796,2172,3418,0,0,0,0,0,0
$GC,10772,-0.66,-145.9,982.4,-7.9,563,10776,0.00,0.40,0.00,0.000,6,0.000,0.050,2796,1902,3417,0,0,0,0,0,0
$STATE,11010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11010,begin apogee
$GC,11015,-0.19,0.0,1000.9,7.8,571,11142,0.50,0.00,124.47,1.531,6,0.135,0.000,2947,1646,2827,0,0,0,0,0,0
$STATE,11143,end apogee,CONTROL_FINISHED_OK
$STATE,11143,begin climb
$GC,11144,0.52,145.9,1006.2,0.0,575,11285,0.70,2.55,130.88,1.503,4,0.078,0.045,3178,3054,2231,0,0,0,0,0,0
$GC,11391,0.32,145.9,1001.1,7.6,582,11398,0.22,2.35,0.00,0.000,6,0.183,0.044,3128,1665,2226,0,0,0,0,0,0
$GC,11704,0.26,233.8,985.5,4.4,593,11787,0.12,0.68,77.20,1.477,4,0.188,0.061,3097,1284,1873,0,0,0,0,0,0
$GC,11814,0.38,345.0,981.2,3.6,596,11925,0.12,0.62,103.35,1.454,6,0.099,0.041,3143,1671,1419,0,0,0,0,0,0
$GC,12255,0.57,421.5,958.2,4.8,611,12332,0.15,2.30,70.30,1.443,4,0.098,0.043,3195,3033,1107,0,0,0,0,0,0
$GC,12411,0.57,421.5,947.9,8.2,616,12415,0.00,2.28,0.00,0.000,6,0.000,0.046,3199,1650,1103,0,0,0,0,0,0
$GC,12746,0.57,421.5,920.1,8.4,627,12749,0.00,1.98,0.00,0.000,4,0.000,0.064,3200,447,1098,0,0,0,0,0,0
$GC,12800,0.57,421.5,915.3,10.0,628,12805,0.00,1.88,0.00,0.000,6,0.000,0.037,3199,1630,1096,0,0,0,0,0,0
$GC,13119,0.57,421.5,886.6,9.3,639,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1630,1096,0,0,0,0,0,0
$GC,13425,0.57,421.5,857.9,9.2,649,13426,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1630,1096,0,0,0,0,0,0
$GC,13731,0.57,421.5,829.3,9.5,659,13735,0.00,0.73,0.00,0.000,4,0.000,0.062,3200,1187,1096,0,0,0,0,0,0
$GC,13780,0.57,421.5,824.4,9.5,660,13784,0.00,0.75,0.00,0.000,6,0.000,0.041,3200,1671,1095,0,0,0,0,0,0
$GC,14104,0.57,421.5,792.3,10.2,671,14107,0.00,0.80,0.00,0.000,4,0.000,0.064,3200,1176,1095,0,0,0,0,0,0
$GC,14147,0.57,421.5,787.7,10.4,672,14151,0.00,0.75,0.00,0.000,6,0.000,0.041,3200,1661,1095,0,0,0,0,0,0
$GC,14476,0.57,421.5,753.4,10.5,683,14480,0.00,0.70,0.00,0.000,4,0.000,0.064,3200,1226,1095,0,0,0,0,0,0
$GC,14525,0.57,421.5,747.9,11.1,684,14529,0.00,0.65,0.00,0.000,6,0.000,0.041,3200,1657,1095,0,0,0,0,0,0
$GC,14849,0.57,421.5,712.9,11.1,695,14853,0.00,1.30,0.00,0.000,4,0.000,0.064,3200,860,1095,0,0,0,0,0,0
$GC,14897,0.57,421.5,707.0,11.8,696,14903,0.00,1.23,0.00,0.000,6,0.000,0.038,3200,1640,1094,0,0,0,0,0,0
$GC,15222,0.57,421.5,670.3,11.1,707,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1641,1094,0,0,0,0,0,0
$GC,15528,0.57,421.5,636.6,10.9,717,15532,0.00,0.38,0.00,0.000,4,0.000,0.065,3200,1401,1095,0,0,0,0,0,0
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$STATE,21802,end climb,SURFACE_DEPTH_REACHED
$STATE,21803,begin surface coast
$FINISH,1.6,0.999756
$STATE,21839,end surface coast,CONTROL_FINISHED_OK
$STATE,21839,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.1,30.792
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354276
$DATA_FILE_SIZE,66941,1141
$CAP_FILE_SIZE,198561,0
$CFSIZE,2097086464,2071330816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,311012,112359,-4228.359,-719.240,39,1.4,40,-21.8