version: 66.07.10.p01
glider: 574
mission: 4
dive: 199
start: 11 10 112 0 7 56
data:
$ID,574
$MISSION,4
$DIVE,199
$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,596.31458
$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,-6057.2495
$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,26
$R_STBD_OVSHOOT,39
$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,178
$GPS1,091112,235253,-4212.921,-710.427,202,1.2,202,-21.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-71.6
$GPS2,101112,000702,-4212.781,-710.508,26,1.1,29,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.166,0.166
$KALMAN_X,-319468.1,-280.5,-1728.5,455951.1,9662.6
$KALMAN_Y,264222.2,-357.1,1868.0,-193807.9,-5623.5
$MHEAD_RNG_PITCHd_Wd,336.9,3380,-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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,45,0.00,0.00,-18.92,0.000,2,0.000,0.000,66,1906,2257,0,0,0,0,0,0
$GC,48,-0.52,-145.9,3.0,-3.0,3,103,12.75,0.00,-35.17,0.000,6,0.272,0.000,2833,1908,3423,0,0,0,0,0,0
$GC,177,-0.56,-145.9,13.2,-7.0,24,184,0.00,1.27,0.00,0.000,4,0.000,0.061,2834,1127,3424,0,0,0,0,0,0
$GC,216,-0.64,-145.9,15.9,-6.5,30,224,0.05,1.25,0.00,0.000,6,0.083,0.041,2802,1911,3425,0,0,0,0,0,0
$GC,297,-0.57,-145.9,21.5,-7.8,43,304,0.10,1.70,0.00,0.000,4,0.177,0.050,2820,2963,3425,0,0,0,0,0,0
$GC,336,-0.54,-145.9,24.7,-8.1,49,344,0.03,1.70,0.00,0.000,6,0.174,0.047,2830,1907,3425,0,0,0,0,0,0
$GC,417,-0.59,-145.9,29.2,-5.2,62,424,0.00,0.90,0.00,0.000,4,0.000,0.046,2828,2484,3424,0,0,0,0,0,0
$GC,462,-0.66,-145.9,33.0,-8.2,69,467,0.05,0.93,0.00,0.000,6,0.085,0.050,2800,1901,3425,0,0,0,0,0,0
$GC,696,-0.66,-145.9,53.1,-8.6,110,703,0.00,2.28,0.00,0.000,4,0.000,0.063,2800,512,3425,0,0,0,0,0,0
$GC,755,-0.59,-145.9,58.6,-9.8,120,763,0.05,2.20,0.00,0.000,6,0.167,0.037,2810,1909,3425,0,0,0,0,0,0
$GC,989,-0.65,-145.9,77.4,-8.0,161,993,0.00,0.73,0.00,0.000,4,0.000,0.054,2811,1453,3425,0,0,0,0,0,0
$GC,1002,-0.71,-145.9,78.3,-7.9,163,1007,0.05,0.73,0.00,0.000,6,0.085,0.040,2783,1931,3425,0,0,0,0,0,0
$GC,1347,-0.71,-145.9,110.3,-9.5,212,1351,0.00,2.17,0.00,0.000,4,0.000,0.049,2772,3319,3425,0,0,0,0,0,0
$GC,1401,-0.66,-145.9,115.9,-9.8,215,1408,0.08,2.20,0.00,0.000,6,0.142,0.041,2797,1916,3425,0,0,0,0,0,0
$GC,1722,-0.68,-145.9,143.3,-8.4,236,1725,0.00,2.17,0.00,0.000,4,0.000,0.047,2788,3311,3426,0,0,0,0,0,0
$GC,1771,-0.66,-145.9,148.1,-10.0,239,1775,0.00,2.17,0.00,0.000,6,0.000,0.037,2788,1910,3426,0,0,0,0,0,0
$GC,2095,-0.66,-145.9,174.6,-7.6,260,2099,0.00,2.20,0.00,0.000,4,0.000,0.046,2780,3312,3426,0,0,0,0,0,0
$GC,2143,-0.62,-145.9,178.4,-8.8,263,2148,0.12,2.15,0.00,0.000,6,0.156,0.037,2813,1905,3425,0,0,0,0,0,0
$GC,2467,-0.70,-145.9,203.0,-8.4,284,2472,0.08,2.22,0.00,0.000,4,0.134,0.045,2778,3321,3425,0,0,0,0,0,0
$GC,2514,-0.65,-145.9,207.1,-8.5,287,2519,0.10,2.15,0.00,0.000,6,0.164,0.037,2803,1913,3425,0,0,0,0,0,0
$GC,2838,-0.71,-145.9,234.5,-8.2,308,2843,0.08,2.20,0.00,0.000,4,0.136,0.044,2769,3317,3426,0,0,0,0,0,0
$GC,2893,-0.64,-145.9,239.9,-10.1,311,2899,0.10,2.15,0.00,0.000,6,0.139,0.034,2800,1913,3425,0,0,0,0,0,0
$GC,3212,-0.69,-145.9,265.8,-8.1,329,3216,0.00,2.20,0.00,0.000,4,0.000,0.044,2792,3321,3425,0,0,0,0,0,0
$GC,3281,-0.74,-145.9,271.8,-8.9,332,3285,0.00,2.15,0.00,0.000,6,0.000,0.035,2792,1908,3426,0,0,0,0,0,0
$GC,3608,-0.78,-145.9,297.4,-7.4,348,3612,0.10,2.17,0.00,0.000,4,0.116,0.042,2745,3294,3426,0,0,0,0,0,0
$GC,3634,-0.71,-145.9,300.0,-8.7,349,3639,0.10,2.12,0.00,0.000,6,0.151,0.034,2775,1913,3425,0,0,0,0,0,0
$GC,3957,-0.71,-145.9,325.4,-7.7,365,3961,0.00,2.20,0.00,0.000,4,0.000,0.054,2775,511,3425,0,0,0,0,0,0
$GC,4028,-0.62,-145.9,332.3,-9.3,368,4033,0.12,2.15,0.00,0.000,6,0.145,0.031,2807,1911,3425,0,0,0,0,0,0
$GC,4356,-0.70,-145.9,356.1,-7.5,384,4360,0.05,1.70,0.00,0.000,4,0.172,0.041,2774,3029,3426,0,0,0,0,0,0
$GC,4401,-0.73,-145.9,359.7,-8.4,386,4405,0.00,1.70,0.00,0.000,6,0.000,0.035,2774,1906,3425,0,0,0,0,0,0
$GC,4732,-0.73,-145.9,390.4,-9.4,402,4736,0.00,2.20,0.00,0.000,4,0.000,0.044,2767,3312,3425,0,0,0,0,0,0
$GC,4782,-0.69,-145.9,395.3,-10.0,404,4787,0.05,2.15,0.00,0.000,6,0.147,0.033,2783,1910,3425,0,0,0,0,0,0
$GC,5111,-0.72,-145.9,424.8,-9.1,416,5115,0.00,2.20,0.00,0.000,4,0.000,0.044,2776,3321,3424,0,0,0,0,0,0
$GC,5154,-0.72,-145.9,429.4,-9.9,417,5159,0.00,2.15,0.00,0.000,6,0.000,0.033,2776,1918,3424,0,0,0,0,0,0
$GC,5484,-0.72,-145.9,460.1,-9.3,428,5488,0.00,2.17,0.00,0.000,4,0.000,0.044,2769,3309,3424,0,0,0,0,0,0
$GC,5533,-0.67,-145.9,465.1,-10.0,429,5538,0.08,2.15,0.00,0.000,6,0.141,0.032,2793,1907,3424,0,0,0,0,0,0
$GC,5852,-0.72,-145.9,492.2,-8.2,440,5856,0.00,2.20,0.00,0.000,4,0.000,0.054,2793,515,3424,0,0,0,0,0,0
$GC,5901,-0.67,-145.9,496.7,-9.6,441,5906,0.00,2.15,0.00,0.000,6,0.000,0.031,2785,1915,3423,0,0,0,0,0,0
$GC,6220,-0.70,-145.9,522.3,-7.7,452,6224,0.00,2.17,0.00,0.000,4,0.000,0.044,2777,3321,3423,0,0,0,0,0,0
$GC,6269,-0.70,-145.9,526.6,-8.5,453,6274,0.00,2.15,0.00,0.000,6,0.000,0.033,2777,1920,3422,0,0,0,0,0,0
$GC,6588,-0.72,-145.9,552.7,-8.3,464,6592,0.00,2.15,0.00,0.000,4,0.000,0.044,2769,3310,3422,0,0,0,0,0,0
$GC,6642,-0.67,-145.9,557.7,-9.1,465,6649,0.05,2.15,0.00,0.000,6,0.146,0.034,2786,1910,3422,0,0,0,0,0,0
$GC,6956,-0.73,-145.9,582.8,-8.1,476,6959,0.00,2.20,0.00,0.000,4,0.000,0.044,2782,3320,3422,0,0,0,0,0,0
$GC,7016,-0.75,-145.9,588.3,-8.7,477,7022,0.00,2.17,0.00,0.000,6,0.000,0.034,2781,1912,3422,0,0,0,0,0,0
$GC,7329,-0.78,-145.9,615.5,-8.8,488,7334,0.08,2.20,0.00,0.000,4,0.138,0.043,2744,3318,3421,0,0,0,0,0,0
$GC,7378,-0.67,-145.9,620.6,-11.3,489,7383,0.15,2.17,0.00,0.000,6,0.145,0.034,2789,1906,3421,0,0,0,0,0,0
$GC,7697,-0.61,-145.9,651.5,-9.7,500,7701,0.10,2.22,0.00,0.000,4,0.195,0.052,2816,503,3421,0,0,0,0,0,0
$GC,7756,-0.61,-145.9,657.2,-9.2,501,7762,0.00,2.17,0.00,0.000,6,0.000,0.031,2809,1914,3421,0,0,0,0,0,0
$GC,8070,-0.70,-145.9,684.3,-8.7,512,8074,0.08,2.20,0.00,0.000,4,0.133,0.046,2770,3317,3421,0,0,0,0,0,0
$GC,8123,-0.70,-145.9,690.0,-10.9,513,8130,0.03,2.17,0.00,0.000,6,0.166,0.034,2779,1902,3421,0,0,0,0,0,0
$GC,8437,-0.73,-145.9,721.2,-10.1,524,8441,0.00,2.20,0.00,0.000,4,0.000,0.044,2771,3315,3420,0,0,0,0,0,0
$GC,8508,-0.69,-145.9,729.0,-11.2,526,8513,0.03,2.15,0.00,0.000,6,0.168,0.033,2780,1915,3420,0,0,0,0,0,0
$GC,8843,-0.62,-145.9,764.0,-10.1,537,8848,0.10,2.25,0.00,0.000,4,0.197,0.052,2806,505,3420,0,0,0,0,0,0
$GC,8926,-0.60,-145.9,772.0,-9.6,539,8931,0.05,2.17,0.00,0.000,6,0.159,0.032,2815,1916,3420,0,0,0,0,0,0
$GC,9245,-0.73,-145.9,795.1,-7.3,550,9249,0.12,0.60,0.00,0.000,4,0.105,0.049,2765,1533,3420,0,0,0,0,0,0
$GC,9254,-0.84,-145.9,796.1,-7.3,550,9259,0.08,0.60,0.00,0.000,6,0.136,0.040,2737,1929,3420,0,0,0,0,0,0
$GC,9584,-0.68,-145.9,835.7,-12.9,561,9588,0.20,1.80,0.00,0.000,4,0.173,0.052,2792,805,3419,0,0,0,0,0,0
$GC,9634,-0.64,-145.9,841.0,-10.0,562,9638,0.08,1.67,0.00,0.000,6,0.196,0.034,2802,1904,3419,0,0,0,0,0,0
$GC,9956,-0.64,-145.9,866.9,-8.0,573,9960,0.00,1.80,0.00,0.000,4,0.000,0.051,2803,771,3419,0,0,0,0,0,0
$GC,9999,-0.64,-145.9,870.8,-8.8,574,10004,0.00,1.75,0.00,0.000,6,0.000,0.032,2797,1908,3419,0,0,0,0,0,0
$GC,10330,-0.71,-145.9,894.8,-7.2,585,10334,0.00,2.20,0.00,0.000,4,0.000,0.046,2788,3321,3419,0,0,0,0,0,0
$GC,10385,-0.78,-145.9,899.4,-8.2,586,10390,0.10,2.17,0.00,0.000,6,0.116,0.035,2751,1917,3418,0,0,0,0,0,0
$GC,10703,-0.67,-145.9,929.6,-10.4,597,10708,0.17,2.22,0.00,0.000,4,0.172,0.044,2787,3319,3418,0,0,0,0,0,0
$GC,10814,-0.67,-145.9,939.2,-8.4,600,10819,0.00,2.17,0.00,0.000,6,0.000,0.034,2787,1910,3418,0,0,0,0,0,0
$GC,11139,-0.73,-145.9,964.1,-7.8,611,11143,0.00,2.22,0.00,0.000,4,0.000,0.045,2782,3321,3418,0,0,0,0,0,0
$GC,11221,-0.73,-145.9,971.2,-8.9,613,11226,0.00,2.17,0.00,0.000,6,0.000,0.034,2782,1915,3417,0,0,0,0,0,0
$GC,11540,-0.78,-145.9,997.8,-8.6,624,11545,0.05,2.22,0.00,0.000,4,0.189,0.053,2761,509,3417,0,0,0,0,0,0
$GC,11550,-0.81,-145.9,998.8,-8.7,624,11554,0.00,2.17,0.00,0.000,6,0.000,0.034,2756,1903,3417,0,0,0,0,0,0
$STATE,11567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11567,begin apogee
$GC,11571,-0.19,0.0,1000.4,9.9,625,11700,0.65,0.00,125.18,1.529,6,0.145,0.000,2945,1641,2827,0,0,0,0,0,0
$STATE,11701,end apogee,CONTROL_FINISHED_OK
$STATE,11701,begin climb
$GC,11702,0.52,145.9,1008.6,0.0,629,11843,0.70,2.55,132.10,1.506,4,0.079,0.044,3174,3054,2231,0,0,0,0,0,0
$GC,11938,0.33,182.0,1009.0,6.2,636,11978,0.25,2.33,34.03,1.447,6,0.191,0.042,3126,1668,2084,0,0,0,0,0,0
$GC,12291,0.30,248.7,991.5,5.1,648,12354,0.05,0.00,60.35,1.472,6,0.238,0.000,3117,1667,1812,0,0,0,0,0,0
$GC,12658,0.43,290.7,970.8,6.0,660,12703,0.12,2.47,37.65,1.448,4,0.103,0.062,3163,240,1641,0,0,0,0,0,0
$GC,12780,0.43,290.7,960.9,9.7,663,12786,0.00,2.28,0.00,0.000,6,0.000,0.034,3162,1652,1636,0,0,0,0,0,0
$GC,13094,0.41,290.7,933.7,9.2,674,13098,0.08,1.10,0.00,0.000,4,0.205,0.038,3148,2383,1633,0,0,0,0,0,0
$GC,13142,0.41,290.7,929.4,8.2,675,13147,0.00,1.20,0.00,0.000,6,0.000,0.047,3148,1642,1632,0,0,0,0,0,0
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$STATE,23988,end climb,SURFACE_DEPTH_REACHED
$STATE,23989,begin surface coast
$FINISH,1.6,1.026619
$STATE,24020,end surface coast,CONTROL_FINISHED_OK
$STATE,24020,begin surface
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$HUMID,45.31
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$XPDR_PINGS,0
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$10V_AH,10.1,35.710
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354600
$DATA_FILE_SIZE,77081,1246
$CAP_FILE_SIZE,246267,0
$CFSIZE,2097086464,2066120704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101112,065135,-4212.843,-712.432,41,1.0,42,-21.9