version: 66.07.10.p01
glider: 574
mission: 4
dive: 184
start: 11 6 112 0 55 13
data:
$ID,574
$MISSION,4
$DIVE,184
$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,-6006.355
$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,55
$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,163
$GPS1,061112,004559,-4212.299,-710.272,42,1.1,43,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-74.3
$GPS2,061112,005418,-4212.309,-710.209,16,1.3,17,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.219,0.084
$KALMAN_X,-342368.8,33.4,389.9,476820.5,-5985.8
$KALMAN_Y,272451.1,-955.2,-281.1,-198397.4,4795.6
$MHEAD_RNG_PITCHd_Wd,91.0,47416,-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,-48.83,0.000,2,0.000,0.000,66,1929,2478,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.1,-1.2,8,127,12.88,2.08,-29.70,0.000,4,0.276,0.078,2833,696,3422,0,0,0,0,0,0
$GC,166,-0.47,-145.9,10.9,-11.8,22,173,0.08,1.92,0.00,0.000,6,0.146,0.042,2852,1885,3424,0,0,0,0,0,0
$GC,245,-0.58,-145.9,18.3,-9.0,35,253,0.10,0.40,0.00,0.000,4,0.114,0.054,2808,2163,3424,0,0,0,0,0,0
$GC,356,-0.62,-145.9,30.4,-11.9,53,361,0.00,0.38,0.00,0.000,6,0.000,0.056,2808,1911,3424,0,0,0,0,0,0
$GC,590,-0.66,-145.9,56.8,-11.3,94,597,0.00,2.33,0.00,0.000,4,0.000,0.066,2808,511,3424,0,0,0,0,0,0
$GC,648,-0.60,-145.9,64.1,-12.8,104,654,0.08,2.20,0.00,0.000,6,0.192,0.038,2815,1922,3424,0,0,0,0,0,0
$GC,992,-0.66,-145.9,98.7,-9.1,165,998,0.00,2.25,0.00,0.000,4,0.000,0.054,2805,3322,3424,0,0,0,0,0,0
$GC,1063,-0.69,-145.9,105.4,-10.0,171,1067,0.00,2.20,0.00,0.000,6,0.000,0.044,2805,1917,3425,0,0,0,0,0,0
$GC,1387,-0.72,-145.9,134.1,-8.3,192,1392,0.08,2.22,0.00,0.000,4,0.135,0.052,2768,3318,3425,0,0,0,0,0,0
$GC,1436,-0.62,-145.9,139.2,-10.7,195,1441,0.12,2.22,0.00,0.000,6,0.138,0.044,2806,1911,3424,0,0,0,0,0,0
$GC,1761,-0.57,-145.9,166.5,-8.0,216,1766,0.08,2.30,0.00,0.000,4,0.199,0.060,2825,495,3425,0,0,0,0,0,0
$GC,1829,-0.54,-145.9,171.8,-7.2,220,1834,0.08,2.20,0.00,0.000,6,0.192,0.036,2834,1924,3425,0,0,0,0,0,0
$GC,2150,-0.67,-145.9,189.9,-5.5,240,2154,0.12,1.15,0.00,0.000,4,0.096,0.048,2778,2663,3425,0,0,0,0,0,0
$GC,2217,-0.67,-145.9,194.9,-7.8,244,2221,0.03,1.17,0.00,0.000,6,0.171,0.045,2788,1913,3425,0,0,0,0,0,0
$GC,2549,-0.69,-145.9,219.4,-7.5,265,2553,0.00,2.20,0.00,0.000,4,0.000,0.050,2779,3317,3425,0,0,0,0,0,0
$GC,2638,-0.64,-145.9,227.6,-9.5,270,2643,0.05,2.20,0.00,0.000,6,0.150,0.040,2796,1906,3425,0,0,0,0,0,0
$GC,2968,-0.58,-145.9,258.9,-9.9,290,2972,0.10,2.25,0.00,0.000,4,0.183,0.058,2824,506,3425,0,0,0,0,0,0
$GC,3052,-0.58,-145.9,267.2,-9.9,294,3056,0.00,2.15,0.00,0.000,6,0.000,0.033,2814,1918,3425,0,0,0,0,0,0
$GC,3378,-0.65,-145.9,297.2,-9.6,310,3382,0.00,2.15,0.00,0.000,4,0.000,0.047,2805,3314,3425,0,0,0,0,0,0
$GC,3445,-0.77,-145.9,304.1,-9.8,313,3450,0.10,2.17,0.00,0.000,6,0.066,0.036,2756,1908,3425,0,0,0,0,0,0
$GC,3774,-0.62,-145.9,346.1,-13.5,329,3779,0.20,2.22,0.00,0.000,4,0.168,0.054,2810,511,3425,0,0,0,0,0,0
$GC,3857,-0.58,-145.9,355.8,-10.8,332,3865,0.05,2.15,0.00,0.000,6,0.158,0.034,2819,1906,3425,0,0,0,0,0,0
$GC,4173,-0.66,-145.9,382.8,-8.0,348,4177,0.05,1.27,0.00,0.000,4,0.172,0.044,2788,2730,3425,0,0,0,0,0,0
$GC,4233,-0.71,-145.9,388.0,-8.8,350,4241,0.00,1.27,0.00,0.000,6,0.000,0.041,2789,1911,3424,0,0,0,0,0,0
$GC,4568,-0.75,-145.9,416.0,-8.1,364,4572,0.00,2.20,0.00,0.000,4,0.000,0.047,2780,3322,3424,0,0,0,0,0,0
$GC,4622,-0.70,-145.9,421.1,-9.1,365,4628,0.00,2.20,0.00,0.000,6,0.000,0.038,2780,1907,3423,0,0,0,0,0,0
$GC,4935,-0.61,-145.9,452.4,-10.4,376,4940,0.12,2.25,0.00,0.000,4,0.180,0.057,2812,502,3423,0,0,0,0,0,0
$GC,5003,-0.58,-145.9,458.6,-8.5,378,5007,0.08,2.15,0.00,0.000,6,0.194,0.035,2820,1917,3423,0,0,0,0,0,0
$GC,5337,-0.67,-145.9,483.3,-7.3,389,5342,0.08,2.17,0.00,0.000,4,0.132,0.049,2782,3311,3423,0,0,0,0,0,0
$GC,5414,-0.65,-145.9,490.3,-8.8,391,5419,0.05,2.17,0.00,0.000,6,0.145,0.038,2798,1912,3422,0,0,0,0,0,0
$GC,5744,-0.70,-145.9,517.4,-8.4,402,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1911,3422,0,0,0,0,0,0
$GC,6050,-0.75,-145.9,545.4,-9.4,412,6055,0.10,2.22,0.00,0.000,4,0.118,0.048,2754,3313,3421,0,0,0,0,0,0
$GC,6146,-0.67,-145.9,556.6,-12.6,415,6151,0.15,2.12,0.00,0.000,6,0.164,0.037,2792,1909,3422,0,0,0,0,0,0
$GC,6480,-0.61,-145.9,594.0,-11.3,426,6485,0.08,2.17,0.00,0.000,4,0.211,0.054,2810,536,3421,0,0,0,0,0,0
$GC,6534,-0.61,-145.9,600.4,-11.5,427,6540,0.00,2.15,0.00,0.000,6,0.000,0.034,2802,1920,3421,0,0,0,0,0,0
$GC,6848,-0.65,-145.9,633.9,-10.6,438,6851,0.00,2.00,0.00,0.000,4,0.000,0.047,2793,3209,3421,0,0,0,0,0,0
$GC,6915,-0.68,-145.9,641.5,-10.9,440,6919,0.00,2.00,0.00,0.000,6,0.000,0.036,2793,1900,3421,0,0,0,0,0,0
$GC,7256,-0.73,-145.9,676.8,-10.0,451,7260,0.00,1.60,0.00,0.000,4,0.000,0.045,2787,2912,3420,0,0,0,0,0,0
$GC,7289,-0.73,-145.9,680.3,-10.0,452,7293,0.00,1.55,0.00,0.000,6,0.000,0.037,2787,1906,3420,0,0,0,0,0,0
$GC,7630,-0.78,-145.9,712.2,-8.9,463,7634,0.08,1.65,0.00,0.000,4,0.140,0.044,2753,2958,3420,0,0,0,0,0,0
$GC,7667,-0.68,-145.9,716.2,-10.8,464,7672,0.10,1.62,0.00,0.000,6,0.146,0.037,2784,1908,3420,0,0,0,0,0,0
$GC,8002,-0.62,-145.9,750.3,-10.4,475,8007,0.10,2.05,0.00,0.000,4,0.198,0.054,2810,621,3419,0,0,0,0,0,0
$GC,8061,-0.62,-145.9,756.3,-9.4,476,8068,0.00,2.03,0.00,0.000,6,0.000,0.036,2802,1920,3419,0,0,0,0,0,0
$GC,8375,-0.59,-145.9,784.4,-9.0,487,8379,0.08,0.32,0.00,0.000,4,0.206,0.054,2818,2163,3418,0,0,0,0,0,0
$GC,8408,-0.59,-145.9,787.1,-7.6,488,8412,0.00,0.38,0.00,0.000,6,0.000,0.053,2818,1902,3419,0,0,0,0,0,0
$GC,8749,-0.71,-145.9,810.1,-6.3,499,8754,0.10,2.20,0.00,0.000,4,0.118,0.057,2777,520,3418,0,0,0,0,0,0
$GC,8803,-0.62,-145.9,814.9,-9.4,500,8810,0.12,2.17,0.00,0.000,6,0.145,0.036,2807,1910,3418,0,0,0,0,0,0
$GC,9116,-0.62,-145.9,836.8,-6.8,511,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1910,3418,0,0,0,0,0,0
$GC,9423,-0.62,-145.9,857.9,-6.9,521,9427,0.00,0.77,0.00,0.000,4,0.000,0.052,2808,1416,3418,0,0,0,0,0,0
$GC,9499,-0.62,-145.9,863.9,-7.9,523,9504,0.00,0.80,0.00,0.000,6,0.000,0.042,2805,1930,3418,0,0,0,0,0,0
$GC,9829,-0.62,-145.9,889.1,-7.8,534,9833,0.00,1.33,0.00,0.000,4,0.000,0.054,2805,1108,3417,0,0,0,0,0,0
$GC,9900,-0.62,-145.9,894.9,-7.4,536,9905,0.00,1.27,0.00,0.000,6,0.000,0.037,2800,1917,3417,0,0,0,0,0,0
$GC,10235,-0.62,-145.9,924.8,-9.4,547,10239,0.00,1.20,0.00,0.000,4,0.000,0.054,2800,1168,3417,0,0,0,0,0,0
$GC,10313,-0.60,-145.9,932.5,-10.0,549,10318,0.05,1.15,0.00,0.000,6,0.157,0.039,2813,1910,3417,0,0,0,0,0,0
$GC,10642,-0.60,-145.9,963.5,-9.7,560,10646,0.00,1.38,0.00,0.000,4,0.000,0.054,2813,1055,3417,0,0,0,0,0,0
$GC,10702,-0.60,-145.9,969.7,-10.4,561,10708,0.00,1.38,0.00,0.000,6,0.000,0.039,2810,1924,3417,0,0,0,0,0,0
$GC,11016,-0.70,-145.9,996.5,-8.2,572,11018,0.08,0.00,0.00,0.000,6,0.143,0.000,2782,1927,3417,0,0,0,0,0,0
$STATE,11078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11078,begin apogee
$GC,11082,-0.19,0.0,1001.6,8.1,574,11210,0.55,0.00,125.00,1.532,6,0.126,0.000,2950,1653,2827,0,0,0,0,0,0
$STATE,11211,end apogee,CONTROL_FINISHED_OK
$STATE,11211,begin climb
$GC,11213,0.52,145.9,1009.7,0.0,578,11353,0.70,2.60,132.00,1.521,4,0.077,0.064,3186,254,2232,0,0,0,0,0,0
$GC,11572,0.32,145.9,995.8,8.7,589,11577,0.22,2.30,0.00,0.000,6,0.175,0.040,3111,1649,2227,0,0,0,0,0,0
$GC,11907,0.29,187.7,975.9,6.0,600,11951,0.00,2.40,36.67,1.462,4,0.000,0.050,3111,3062,2060,0,0,0,0,0,0
$GC,12029,0.27,187.7,967.0,8.0,603,12035,0.05,2.30,0.00,0.000,6,0.169,0.046,3103,1665,2057,0,0,0,0,0,0
$GC,12342,0.32,220.3,947.0,6.3,614,12375,0.00,0.52,29.05,1.434,4,0.000,0.041,3103,2000,1927,0,0,0,0,0,0
$GC,12448,0.44,246.5,939.7,6.5,617,12479,0.15,0.60,24.60,1.420,6,0.089,0.057,3156,1642,1822,0,0,0,0,0,0
$GC,12808,0.44,246.5,912.4,7.6,629,12811,0.00,1.50,0.00,0.000,4,0.000,0.045,3156,2577,1816,0,0,0,0,0,0
$GC,12862,0.38,246.5,908.1,8.1,630,12868,0.05,1.50,0.00,0.000,6,0.174,0.050,3146,1655,1815,0,0,0,0,0,0
$GC,13182,0.36,269.0,886.6,6.6,641,13206,0.00,0.90,20.25,1.372,4,0.000,0.060,3146,1108,1730,0,0,0,0,0,0
$GC,13246,0.36,284.1,882.4,6.9,643,13266,0.03,0.88,15.25,1.330,6,0.189,0.041,3139,1674,1668,0,0,0,0,0,0
$GC,13585,0.36,329.3,862.5,5.9,654,13629,0.00,0.00,42.00,1.411,6,0.000,0.000,3139,1674,1484,0,0,0,0,0,0
$GC,13921,0.55,362.1,842.1,6.3,665,13958,0.15,2.25,30.73,1.383,4,0.096,0.047,3196,3039,1349,0,0,0,0,0,0
$GC,14030,0.50,362.1,831.6,10.5,668,14035,0.08,2.30,0.00,0.000,6,0.164,0.048,3178,1650,1347,0,0,0,0,0,0
$GC,14353,0.50,362.1,803.4,8.7,679,14357,0.00,1.05,0.00,0.000,4,0.000,0.063,3179,1006,1344,0,0,0,0,0,0
$GC,14396,0.50,362.1,799.4,9.2,680,14401,0.00,1.02,0.00,0.000,6,0.000,0.041,3179,1647,1342,0,0,0,0,0,0
$GC,14726,0.50,362.1,767.7,10.1,691,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1648,1342,0,0,0,0,0,0
$GC,15032,0.50,362.1,735.7,10.6,701,15036,0.00,0.62,0.00,0.000,4,0.000,0.063,3179,1260,1342,0,0,0,0,0,0
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$STATE,23217,end climb,SURFACE_DEPTH_REACHED
$STATE,23217,begin surface coast
$FINISH,1.6,1.003686
$STATE,23261,end surface coast,CONTROL_FINISHED_OK
$STATE,23261,begin surface
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$TCM_TEMP,11.50
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$10V_AH,10.1,33.699
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354368
$DATA_FILE_SIZE,73613,1207
$CAP_FILE_SIZE,218733,0
$CFSIZE,2097086464,2068512768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061112,072553,-4211.572,-707.795,69,1.0,70,-21.9