version: 66.07.10.p01
glider: 574
mission: 4
dive: 185
start: 11 6 112 7 34 44
data:
$ID,574
$MISSION,4
$DIVE,185
$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,-6009.8208
$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,32
$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,164
$GPS1,061112,072553,-4211.572,-707.795,69,1.0,70,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-75.1
$GPS2,061112,073349,-4211.569,-707.773,19,1.0,20,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.222,0.076
$KALMAN_X,-345525.9,353.4,686.2,482660.7,-6902.1
$KALMAN_Y,272054.9,-356.1,-1510.2,-196001.2,6158.1
$MHEAD_RNG_PITCHd_Wd,93.0,43819,-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,-42.85,0.000,2,0.000,0.000,70,1931,2354,0,0,0,0,0,0
$GC,71,-0.52,-145.9,3.1,-1.1,7,133,12.48,2.38,-38.60,0.000,4,0.265,0.079,2834,513,3420,0,0,0,0,0,0
$GC,189,-0.47,-145.9,10.5,-11.1,26,197,0.08,2.20,0.00,0.000,6,0.153,0.041,2850,1883,3422,0,0,0,0,0,0
$GC,271,-0.58,-145.9,17.4,-7.0,39,278,0.08,0.77,0.00,0.000,4,0.126,0.049,2817,2388,3422,0,0,0,0,0,0
$GC,328,-0.62,-145.9,22.3,-8.8,48,335,0.00,0.75,0.00,0.000,6,0.000,0.052,2817,1913,3422,0,0,0,0,0,0
$GC,408,-0.62,-145.9,29.8,-9.4,61,415,0.00,2.33,0.00,0.000,4,0.000,0.067,2817,512,3423,0,0,0,0,0,0
$GC,503,-0.60,-145.9,39.6,-10.4,77,508,0.00,2.20,0.00,0.000,6,0.000,0.038,2809,1920,3422,0,0,0,0,0,0
$GC,738,-0.54,-145.9,64.6,-10.5,118,743,0.10,0.55,0.00,0.000,4,0.177,0.048,2834,2294,3423,0,0,0,0,0,0
$GC,791,-0.54,-145.9,69.7,-9.4,127,795,0.00,0.60,0.00,0.000,6,0.000,0.050,2834,1904,3423,0,0,0,0,0,0
$GC,1133,-0.66,-145.9,100.4,-8.0,188,1137,0.10,1.98,0.00,0.000,4,0.112,0.048,2782,3143,3423,0,0,0,0,0,0
$GC,1171,-0.60,-145.9,103.9,-9.8,190,1177,0.10,1.95,0.00,0.000,6,0.135,0.044,2815,1917,3423,0,0,0,0,0,0
$GC,1499,-0.66,-145.9,130.9,-8.1,211,1503,0.00,2.22,0.00,0.000,4,0.000,0.049,2806,3325,3424,0,0,0,0,0,0
$GC,1569,-0.70,-145.9,137.1,-8.6,215,1574,0.05,2.20,0.00,0.000,6,0.166,0.042,2783,1908,3424,0,0,0,0,0,0
$GC,1893,-0.70,-145.9,167.1,-9.2,236,1896,0.00,0.57,0.00,0.000,4,0.000,0.044,2780,2301,3424,0,0,0,0,0,0
$GC,1912,-0.70,-145.9,168.6,-9.0,237,1916,0.00,0.60,0.00,0.000,6,0.000,0.048,2780,1902,3424,0,0,0,0,0,0
$GC,2241,-0.70,-145.9,199.7,-9.5,258,2245,0.00,2.15,0.00,0.000,4,0.000,0.048,2771,3281,3424,0,0,0,0,0,0
$GC,2289,-0.62,-145.9,204.5,-10.4,261,2294,0.15,2.10,0.00,0.000,6,0.154,0.041,2811,1920,3424,0,0,0,0,0,0
$GC,2614,-0.59,-145.9,235.3,-9.4,282,2617,0.00,1.05,0.00,0.000,4,0.000,0.057,2811,1253,3424,0,0,0,0,0,0
$GC,2675,-0.54,-145.9,241.7,-10.2,285,2681,0.08,1.05,0.00,0.000,6,0.188,0.036,2832,1929,3424,0,0,0,0,0,0
$GC,3000,-0.66,-145.9,269.5,-8.9,303,3005,0.10,2.33,0.00,0.000,4,0.107,0.059,2788,503,3425,0,0,0,0,0,0
$GC,3066,-0.58,-145.9,277.4,-11.6,306,3071,0.12,2.17,0.00,0.000,6,0.139,0.035,2818,1905,3424,0,0,0,0,0,0
$GC,3393,-0.66,-145.9,306.2,-8.4,322,3398,0.05,2.22,0.00,0.000,4,0.168,0.047,2784,3324,3425,0,0,0,0,0,0
$GC,3470,-0.66,-145.9,313.9,-9.9,325,3476,0.00,2.20,0.00,0.000,6,0.000,0.037,2784,1909,3425,0,0,0,0,0,0
$GC,3788,-0.66,-145.9,341.4,-8.2,341,3793,0.03,2.22,0.00,0.000,4,0.274,0.047,2784,3318,3425,0,0,0,0,0,0
$GC,3860,-0.62,-145.9,347.8,-8.3,344,3865,0.08,2.17,0.00,0.000,6,0.136,0.037,2809,1912,3425,0,0,0,0,0,0
$GC,4188,-0.69,-145.9,368.8,-6.2,360,4192,0.00,0.88,0.00,0.000,4,0.000,0.053,2809,1344,3425,0,0,0,0,0,0
$GC,4214,-0.75,-145.9,370.3,-6.6,361,4218,0.08,0.88,0.00,0.000,6,0.075,0.038,2771,1925,3425,0,0,0,0,0,0
$GC,4547,-0.75,-145.9,395.7,-8.0,377,4551,0.00,1.77,0.00,0.000,4,0.000,0.045,2763,3067,3425,0,0,0,0,0,0
$GC,4607,-0.66,-145.9,401.4,-9.6,379,4613,0.10,1.80,0.00,0.000,6,0.145,0.039,2794,1911,3424,0,0,0,0,0,0
$GC,4920,-0.60,-145.9,428.3,-8.6,390,4925,0.10,2.25,0.00,0.000,4,0.189,0.056,2821,509,3425,0,0,0,0,0,0
$GC,4997,-0.60,-145.9,434.6,-7.6,392,5002,0.00,2.15,0.00,0.000,6,0.000,0.032,2813,1909,3424,0,0,0,0,0,0
$GC,5322,-0.67,-145.9,456.6,-6.9,403,5326,0.00,2.17,0.00,0.000,4,0.000,0.046,2803,3309,3425,0,0,0,0,0,0
$GC,5399,-0.78,-145.9,462.6,-7.8,405,5403,0.10,2.17,0.00,0.000,6,0.067,0.037,2755,1908,3424,0,0,0,0,0,0
$GC,5723,-0.64,-145.9,494.3,-10.9,416,5728,0.17,2.22,0.00,0.000,4,0.168,0.056,2801,509,3424,0,0,0,0,0,0
$GC,5818,-0.60,-145.9,502.8,-8.7,419,5823,0.10,2.15,0.00,0.000,6,0.177,0.033,2818,1918,3424,0,0,0,0,0,0
$GC,6153,-0.69,-145.9,523.5,-6.2,430,6157,0.08,1.30,0.00,0.000,4,0.131,0.044,2783,2757,3424,0,0,0,0,0,0
$GC,6213,-0.72,-145.9,528.1,-7.8,431,6219,0.00,1.33,0.00,0.000,6,0.000,0.040,2782,1904,3424,0,0,0,0,0,0
$GC,6526,-0.74,-145.9,550.0,-6.8,442,6530,0.00,2.22,0.00,0.000,4,0.000,0.055,2782,504,3424,0,0,0,0,0,0
$GC,6548,-0.72,-145.9,551.8,-7.7,442,6553,0.00,2.17,0.00,0.000,6,0.000,0.034,2773,1910,3424,0,0,0,0,0,0
$GC,6861,-0.61,-145.9,578.5,-8.5,453,6865,0.15,2.20,0.00,0.000,4,0.175,0.046,2802,3313,3424,0,0,0,0,0,0
$GC,6972,-0.64,-145.9,586.0,-6.6,456,6976,0.00,2.15,0.00,0.000,6,0.000,0.037,2802,1911,3423,0,0,0,0,0,0
$GC,7290,-0.70,-145.9,606.6,-6.7,467,7294,0.00,2.05,0.00,0.000,4,0.000,0.046,2795,3211,3424,0,0,0,0,0,0
$GC,7334,-0.73,-145.9,610.2,-7.9,468,7339,0.00,2.03,0.00,0.000,6,0.000,0.037,2795,1910,3424,0,0,0,0,0,0
$GC,7664,-0.78,-145.9,637.2,-8.5,479,7668,0.10,1.85,0.00,0.000,4,0.117,0.046,2750,3087,3424,0,0,0,0,0,0
$GC,7707,-0.67,-145.9,642.1,-11.5,480,7712,0.12,1.83,0.00,0.000,6,0.145,0.038,2788,1913,3423,0,0,0,0,0,0
$GC,8036,-0.61,-145.9,676.9,-10.6,491,8041,0.10,2.25,0.00,0.000,4,0.196,0.055,2814,505,3423,0,0,0,0,0,0
$GC,8096,-0.61,-145.9,683.1,-10.0,492,8102,0.00,2.17,0.00,0.000,6,0.000,0.034,2806,1907,3423,0,0,0,0,0,0
$GC,8409,-0.69,-145.9,709.2,-8.0,503,8413,0.00,0.85,0.00,0.000,4,0.000,0.051,2806,1367,3423,0,0,0,0,0,0
$GC,8430,-0.75,-145.9,711.2,-8.5,503,8436,0.10,0.85,0.00,0.000,6,0.116,0.039,2766,1919,3423,0,0,0,0,0,0
$GC,8749,-0.75,-145.9,739.9,-9.0,514,8752,0.00,1.60,0.00,0.000,4,0.000,0.047,2761,2941,3423,0,0,0,0,0,0
$GC,8804,-0.69,-145.9,745.0,-8.8,515,8809,0.08,1.60,0.00,0.000,6,0.149,0.037,2784,1907,3423,0,0,0,0,0,0
$GC,9123,-0.73,-145.9,767.8,-6.7,526,9127,0.00,2.22,0.00,0.000,4,0.000,0.056,2784,510,3423,0,0,0,0,0,0
$GC,9205,-0.66,-145.9,774.3,-8.0,528,9210,0.05,2.17,0.00,0.000,6,0.161,0.036,2792,1897,3423,0,0,0,0,0,0
$GC,9523,-0.62,-145.9,797.9,-7.6,539,9528,0.08,0.30,0.00,0.000,4,0.207,0.055,2808,2127,3423,0,0,0,0,0,0
$GC,9561,-0.62,-145.9,800.7,-7.4,540,9565,0.00,0.32,0.00,0.000,6,0.000,0.055,2808,1908,3423,0,0,0,0,0,0
$GC,9896,-0.62,-145.9,823.9,-6.8,551,9900,0.00,1.92,0.00,0.000,4,0.000,0.054,2808,706,3423,0,0,0,0,0,0
$GC,9956,-0.62,-145.9,828.6,-7.6,552,9963,0.00,1.90,0.00,0.000,6,0.000,0.035,2802,1927,3423,0,0,0,0,0,0
$GC,10269,-0.62,-145.9,852.7,-7.9,563,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1927,3423,0,0,0,0,0,0
$GC,10576,-0.62,-145.9,878.5,-8.6,573,10579,0.00,1.27,0.00,0.000,4,0.000,0.050,2802,1128,3423,0,0,0,0,0,0
$GC,10643,-0.62,-145.9,884.4,-8.6,575,10647,0.00,1.20,0.00,0.000,6,0.000,0.034,2797,1911,3423,0,0,0,0,0,0
$GC,10983,-0.62,-145.9,915.1,-9.1,586,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1911,3424,0,0,0,0,0,0
$GC,11290,-0.60,-145.9,941.3,-8.3,596,11294,0.08,0.68,0.00,0.000,4,0.198,0.051,2814,1482,3424,0,0,0,0,0,0
$GC,11357,-0.60,-145.9,946.7,-7.4,598,11361,0.00,0.65,0.00,0.000,6,0.000,0.040,2811,1919,3424,0,0,0,0,0,0
$GC,11697,-0.60,-145.9,974.7,-8.3,609,11700,0.00,1.33,0.00,0.000,4,0.000,0.053,2812,1093,3424,0,0,0,0,0,0
$GC,11764,-0.60,-145.9,980.4,-7.7,611,11768,0.00,1.25,0.00,0.000,6,0.000,0.036,2808,1903,3424,0,0,0,0,0,0
$STATE,12012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12012,begin apogee
$GC,12016,-0.19,0.0,1000.6,8.1,619,12146,0.47,0.00,127.10,1.538,6,0.135,0.000,2951,1643,2827,0,0,0,0,0,0
$STATE,12147,end apogee,CONTROL_FINISHED_OK
$STATE,12147,begin climb
$GC,12149,0.52,145.9,1007.2,0.0,623,12289,0.70,0.40,132.40,1.510,4,0.077,0.044,3177,1878,2232,0,0,0,0,0,0
$GC,12418,0.35,180.1,1002.7,6.2,631,12454,0.20,0.35,32.15,1.437,6,0.169,0.057,3126,1663,2092,0,0,0,0,0,0
$GC,12767,0.32,235.4,982.7,5.5,643,12819,0.00,0.00,49.75,1.465,6,0.000,0.000,3126,1663,1866,0,0,0,0,0,0
$GC,13103,0.32,264.7,961.6,6.4,654,13132,0.00,0.00,26.85,1.421,6,0.000,0.000,3126,1663,1746,0,0,0,0,0,0
$GC,13440,0.44,308.0,941.2,5.9,665,13485,0.10,2.10,39.45,1.448,4,0.112,0.063,3165,420,1570,0,0,0,0,0,0
$GC,13529,0.44,320.1,935.0,7.0,667,13546,0.00,2.00,12.18,1.314,6,0.000,0.035,3165,1657,1522,0,0,0,0,0,0
$GC,13870,0.53,344.8,911.7,6.6,679,13901,0.05,0.38,23.35,1.397,4,0.169,0.047,3190,1911,1420,0,0,0,0,0,0
$GC,13951,0.61,359.8,905.8,6.9,681,13970,0.00,0.40,15.18,1.349,6,0.000,0.060,3190,1655,1360,0,0,0,0,0,0
$GC,14307,0.69,359.8,878.3,7.9,693,14312,0.12,2.35,0.00,0.000,4,0.096,0.066,3239,241,1355,0,0,0,0,0,0
$GC,14418,0.58,359.8,865.2,12.0,696,14423,0.15,2.22,0.00,0.000,6,0.178,0.037,3202,1655,1353,0,0,0,0,0,0
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$STATE,24185,end climb,SURFACE_DEPTH_REACHED
$STATE,24185,begin surface coast
$FINISH,1.6,1.025767
$STATE,24222,end surface coast,CONTROL_FINISHED_OK
$STATE,24223,begin surface
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$HUMID,46.57
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$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.5,44.532
$10V_AH,10.2,33.843
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354384
$DATA_FILE_SIZE,76821,1258
$CAP_FILE_SIZE,229430,0
$CFSIZE,2097086464,2068348928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061112,142100,-4210.506,-706.248,43,0.9,44,-21.9