version: 66.07.10.p01
glider: 574
mission: 4
dive: 190
start: 11 7 112 14 36 39
data:
$ID,574
$MISSION,4
$DIVE,190
$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,-6026.2695
$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,169
$GPS1,071112,142225,-4210.590,-708.681,173,2.8,193,-21.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-74.8
$GPS2,071112,143545,-4210.626,-708.595,15,2.3,35,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.231,-0.040
$KALMAN_X,-345417.1,79.9,310.4,482071.9,6080.2
$KALMAN_Y,268876.0,-76.6,312.4,-193198.3,1018.6
$MHEAD_RNG_PITCHd_Wd,282.1,2010,-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,-145.9,0.0,0.0,0,51,0.00,0.00,-25.33,0.000,2,0.000,0.000,66,1935,2405,0,0,0,0,0,0
$GC,54,-0.52,-145.9,3.0,-1.9,4,110,12.62,2.22,-37.15,0.000,4,0.269,0.065,2822,3312,3423,0,0,0,0,0,0
$GC,158,-0.52,-145.9,10.0,-11.5,21,166,0.05,2.25,0.00,0.000,6,0.138,0.047,2840,1923,3424,0,0,0,0,0,0
$GC,240,-0.54,-145.9,17.6,-9.4,34,247,0.00,1.65,0.00,0.000,4,0.000,0.063,2840,918,3424,0,0,0,0,0,0
$GC,273,-0.59,-145.9,20.8,-9.5,39,280,0.00,1.58,0.00,0.000,6,0.000,0.041,2837,1900,3424,0,0,0,0,0,0
$GC,353,-0.68,-145.9,28.2,-9.3,52,361,0.12,2.30,0.00,0.000,4,0.097,0.055,2782,3313,3424,0,0,0,0,0,0
$GC,414,-0.59,-145.9,35.1,-11.5,62,422,0.10,2.25,0.00,0.000,6,0.131,0.046,2815,1911,3424,0,0,0,0,0,0
$GC,654,-0.55,-145.9,59.7,-9.6,103,660,0.08,1.27,0.00,0.000,4,0.199,0.059,2834,1125,3424,0,0,0,0,0,0
$GC,692,-0.55,-145.9,63.9,-9.8,110,698,0.00,1.25,0.00,0.000,6,0.000,0.035,2829,1927,3424,0,0,0,0,0,0
$GC,1036,-0.65,-145.9,95.6,-8.9,171,1043,0.08,2.22,0.00,0.000,4,0.134,0.050,2788,3318,3424,0,0,0,0,0,0
$GC,1107,-0.60,-145.9,102.9,-10.8,181,1112,0.10,2.20,0.00,0.000,6,0.164,0.040,2812,1899,3424,0,0,0,0,0,0
$GC,1432,-0.67,-145.9,131.8,-8.3,202,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1898,3425,0,0,0,0,0,0
$GC,1744,-0.72,-145.9,157.8,-8.6,222,1748,0.10,2.25,0.00,0.000,4,0.118,0.060,2777,505,3425,0,0,0,0,0,0
$GC,1850,-0.60,-145.9,170.5,-12.1,228,1858,0.15,2.17,0.00,0.000,6,0.148,0.034,2814,1910,3425,0,0,0,0,0,0
$GC,2172,-0.67,-145.9,200.8,-9.0,249,2176,0.00,2.25,0.00,0.000,4,0.000,0.058,2814,508,3425,0,0,0,0,0,0
$GC,2223,-0.64,-145.9,206.3,-10.1,252,2227,0.00,2.15,0.00,0.000,6,0.000,0.034,2807,1917,3425,0,0,0,0,0,0
$GC,2550,-0.69,-145.9,236.9,-9.1,273,2554,0.00,2.15,0.00,0.000,4,0.000,0.048,2797,3310,3426,0,0,0,0,0,0
$GC,2570,-0.73,-145.9,239.2,-9.3,274,2575,0.03,2.17,0.00,0.000,6,0.112,0.038,2777,1914,3426,0,0,0,0,0,0
$GC,2898,-0.73,-145.9,270.8,-9.5,292,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1913,3426,0,0,0,0,0,0
$GC,3210,-0.73,-145.9,299.7,-9.5,307,3213,0.00,1.38,0.00,0.000,4,0.000,0.044,2771,2797,3426,0,0,0,0,0,0
$GC,3249,-0.73,-145.9,303.8,-10.4,308,3256,0.00,1.38,0.00,0.000,6,0.000,0.042,2771,1917,3426,0,0,0,0,0,0
$GC,3564,-0.73,-145.9,335.4,-10.0,324,3568,0.00,2.20,0.00,0.000,4,0.000,0.049,2764,3312,3426,0,0,0,0,0,0
$GC,3573,-0.73,-145.9,336.7,-10.2,324,3581,0.00,2.20,0.00,0.000,6,0.000,0.041,2764,1908,3426,0,0,0,0,0,0
$GC,3890,-0.70,-145.9,372.2,-11.5,340,3894,0.08,0.90,0.00,0.000,4,0.204,0.052,2780,1331,3426,0,0,0,0,0,0
$GC,3921,-0.68,-145.9,376.1,-10.9,341,3927,0.05,0.90,0.00,0.000,6,0.226,0.037,2788,1920,3426,0,0,0,0,0,0
$GC,4252,-0.70,-145.9,410.0,-10.1,356,4256,0.00,2.28,0.00,0.000,4,0.000,0.057,2789,500,3426,0,0,0,0,0,0
$GC,4340,-0.63,-145.9,420.1,-11.5,358,4346,0.08,2.17,0.00,0.000,6,0.155,0.032,2806,1908,3425,0,0,0,0,0,0
$GC,4653,-0.70,-145.9,448.1,-8.7,369,4657,0.00,2.20,0.00,0.000,4,0.000,0.047,2796,3326,3425,0,0,0,0,0,0
$GC,4731,-0.78,-145.9,455.1,-8.7,371,4735,0.08,2.20,0.00,0.000,6,0.073,0.037,2758,1908,3425,0,0,0,0,0,0
$GC,5055,-0.74,-145.9,484.8,-8.6,382,5060,0.05,2.25,0.00,0.000,4,0.224,0.056,2770,502,3425,0,0,0,0,0,0
$GC,5143,-0.64,-145.9,493.2,-9.6,384,5149,0.12,2.20,0.00,0.000,6,0.148,0.034,2799,1918,3424,0,0,0,0,0,0
$GC,5456,-0.60,-145.9,517.3,-7.6,395,5460,0.08,0.47,0.00,0.000,4,0.205,0.054,2819,1608,3424,0,0,0,0,0,0
$GC,5499,-0.60,-145.9,520.5,-7.0,396,5503,0.00,0.47,0.00,0.000,6,0.000,0.041,2818,1930,3424,0,0,0,0,0,0
$GC,5829,-0.70,-145.9,543.0,-7.3,407,5834,0.10,2.30,0.00,0.000,4,0.115,0.056,2778,508,3424,0,0,0,0,0,0
$GC,5857,-0.67,-145.9,545.7,-8.9,408,5862,0.10,2.15,0.00,0.000,6,0.186,0.036,2792,1909,3424,0,0,0,0,0,0
$GC,6197,-0.71,-145.9,576.8,-9.4,419,6201,0.00,1.58,0.00,0.000,4,0.000,0.054,2792,932,3423,0,0,0,0,0,0
$GC,6223,-0.71,-145.9,579.7,-10.2,419,6229,0.00,1.55,0.00,0.000,6,0.000,0.035,2787,1918,3424,0,0,0,0,0,0
$GC,6537,-0.73,-145.9,612.3,-10.7,430,6541,0.00,2.28,0.00,0.000,4,0.000,0.057,2787,508,3423,0,0,0,0,0,0
$GC,6625,-0.65,-145.9,623.4,-12.9,432,6631,0.05,2.17,0.00,0.000,6,0.172,0.036,2795,1904,3423,0,0,0,0,0,0
$GC,6938,-0.60,-145.9,660.6,-11.7,443,6942,0.08,1.00,0.00,0.000,4,0.200,0.052,2814,1287,3422,0,0,0,0,0,0
$GC,7005,-0.60,-145.9,667.6,-10.1,445,7009,0.00,0.95,0.00,0.000,6,0.000,0.037,2811,1911,3422,0,0,0,0,0,0
$GC,7345,-0.60,-145.9,702.0,-10.1,456,7349,0.00,1.95,0.00,0.000,4,0.000,0.054,2811,692,3422,0,0,0,0,0,0
$GC,7394,-0.60,-145.9,707.1,-10.4,457,7399,0.00,1.88,0.00,0.000,6,0.000,0.034,2806,1908,3422,0,0,0,0,0,0
$GC,7719,-0.67,-145.9,735.2,-8.3,468,7723,0.00,2.20,0.00,0.000,4,0.000,0.048,2796,3312,3421,0,0,0,0,0,0
$GC,7790,-0.72,-145.9,741.9,-9.1,470,7795,0.00,2.17,0.00,0.000,6,0.000,0.037,2796,1909,3422,0,0,0,0,0,0
$GC,8120,-0.78,-145.9,768.7,-7.8,481,8125,0.10,2.22,0.00,0.000,4,0.116,0.049,2752,3311,3421,0,0,0,0,0,0
$GC,8163,-0.69,-145.9,772.8,-9.9,482,8168,0.10,2.17,0.00,0.000,6,0.143,0.038,2783,1917,3421,0,0,0,0,0,0
$GC,8488,-0.64,-145.9,804.6,-10.0,493,8492,0.10,2.10,0.00,0.000,4,0.197,0.057,2808,607,3421,0,0,0,0,0,0
$GC,8541,-0.64,-145.9,809.9,-9.0,494,8548,0.00,2.05,0.00,0.000,6,0.000,0.036,2801,1915,3421,0,0,0,0,0,0
$GC,8855,-0.64,-145.9,837.6,-9.1,505,8859,0.00,0.38,0.00,0.000,4,0.000,0.050,2799,2193,3421,0,0,0,0,0,0
$GC,8888,-0.64,-145.9,840.7,-9.6,506,8892,0.00,0.43,0.00,0.000,6,0.000,0.052,2799,1903,3421,0,0,0,0,0,0
$GC,9228,-0.64,-145.9,873.9,-10.1,517,9232,0.00,0.82,0.00,0.000,4,0.000,0.054,2799,1369,3421,0,0,0,0,0,0
$GC,9277,-0.64,-145.9,879.1,-10.5,518,9282,0.00,0.88,0.00,0.000,6,0.000,0.039,2796,1930,3421,0,0,0,0,0,0
$GC,9601,-0.64,-145.9,912.9,-10.7,529,9605,0.00,1.20,0.00,0.000,4,0.000,0.052,2796,1181,3420,0,0,0,0,0,0
$GC,9669,-0.61,-145.9,920.6,-11.1,531,9674,0.05,1.12,0.00,0.000,6,0.161,0.036,2810,1911,3420,0,0,0,0,0,0
$GC,10008,-0.61,-145.9,954.0,-9.7,542,10012,0.00,0.60,0.00,0.000,4,0.000,0.054,2810,1524,3420,0,0,0,0,0,0
$GC,10051,-0.61,-145.9,958.4,-9.3,543,10056,0.00,0.62,0.00,0.000,6,0.000,0.042,2809,1927,3420,0,0,0,0,0,0
$GC,10381,-0.61,-145.9,988.2,-8.8,554,10385,0.00,0.88,0.00,0.000,4,0.000,0.052,2809,1375,3420,0,0,0,0,0,0
$GC,10429,-0.61,-145.9,992.8,-8.7,555,10434,0.00,0.85,0.00,0.000,6,0.000,0.041,2808,1918,3420,0,0,0,0,0,0
$STATE,10540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10541,begin apogee
$GC,10545,-0.19,0.0,1001.7,8.4,559,10673,0.47,0.00,125.28,1.532,6,0.134,0.000,2952,1648,2827,0,0,0,0,0,0
$STATE,10674,end apogee,CONTROL_FINISHED_OK
$STATE,10674,begin climb
$GC,10676,0.52,145.9,1008.2,0.0,563,10815,0.68,0.85,132.43,1.507,4,0.077,0.060,3173,1189,2232,0,0,0,0,0,0
$GC,10849,0.35,181.8,1008.7,6.2,568,10891,0.17,0.77,34.62,1.453,6,0.185,0.040,3132,1654,2084,0,0,0,0,0,0
$GC,11197,0.30,186.2,984.3,7.3,580,11207,0.08,1.23,4.47,0.934,4,0.213,0.044,3116,2402,2066,0,0,0,0,0,0
$GC,11269,0.27,189.9,979.2,7.3,582,11279,0.03,1.20,4.88,0.988,6,0.200,0.050,3110,1667,2052,0,0,0,0,0,0
$GC,11603,0.28,213.8,957.1,6.6,593,11631,0.00,0.00,22.85,1.402,6,0.000,0.000,3110,1667,1954,0,0,0,0,0,0
$GC,11939,0.36,232.5,934.0,6.8,604,11964,0.05,2.42,17.52,1.365,4,0.167,0.067,3133,243,1878,0,0,0,0,0,0
$GC,12064,0.36,240.0,925.1,7.1,607,12078,0.00,2.22,8.18,1.210,6,0.000,0.037,3133,1641,1848,0,0,0,0,0,0
$GC,12409,0.36,271.4,902.0,6.3,619,12443,0.00,1.70,29.33,1.404,4,0.000,0.045,3133,2681,1720,0,0,0,0,0,0
$GC,12494,0.36,293.3,896.5,6.7,621,12520,0.00,1.70,21.45,1.372,6,0.000,0.049,3133,1651,1631,0,0,0,0,0,0
$GC,12839,0.49,343.7,876.3,5.7,633,12888,0.10,0.00,46.65,1.415,6,0.113,0.000,3175,1650,1425,0,0,0,0,0,0
$GC,13177,0.57,365.3,853.8,6.7,644,13203,0.08,2.28,20.27,1.343,4,0.134,0.045,3207,3050,1336,0,0,0,0,0,0
$GC,13286,0.50,365.3,843.4,10.7,646,13292,0.12,2.30,0.00,0.000,6,0.161,0.047,3177,1647,1334,0,0,0,0,0,0
$GC,13610,0.50,365.3,817.6,7.8,657,13614,0.00,2.33,0.00,0.000,4,0.000,0.069,3179,240,1331,0,0,0,0,0,0
$GC,13682,0.50,365.3,811.4,8.3,659,13687,0.00,2.25,0.00,0.000,6,0.000,0.038,3179,1653,1329,0,0,0,0,0,0
$GC,14017,0.50,365.3,782.4,8.8,670,14021,0.00,2.17,0.00,0.000,4,0.000,0.068,3180,340,1328,0,0,0,0,0,0
$GC,14060,0.50,365.3,778.3,9.6,671,14065,0.00,2.08,0.00,0.000,6,0.000,0.039,3180,1658,1327,0,0,0,0,0,0
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$STATE,22594,end climb,SURFACE_DEPTH_REACHED
$STATE,22594,begin surface coast
$FINISH,1.6,1.026423
$STATE,22619,end surface coast,CONTROL_FINISHED_OK
$STATE,22619,begin surface
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$HUMID,47.24
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$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.5,45.415
$10V_AH,10.1,34.483
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.325,182.000,496.375,0.000,0.000,60.042,79.024,438.005,0.250,0.000,37.897,3020.637,15738.852,634.249,3889.444,204.769,33.372,2071.063,0.000,3224.289,0.000,2.834,0.000
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$MEM,354520
$DATA_FILE_SIZE,70227,1168
$CAP_FILE_SIZE,223301,0
$CFSIZE,2097086464,2067693568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071112,205607,-4210.803,-709.568,39,1.1,40,-21.9