version: 66.07.10.p01
glider: 574
mission: 4
dive: 213
start: 11 13 112 22 10 29
data:
$ID,574
$MISSION,4
$DIVE,213
$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,-6103.9775
$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,28
$R_STBD_OVSHOOT,67
$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,192
$GPS1,131112,215405,-4206.731,-716.807,35,1.2,36,-22.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.8
$GPS2,131112,220935,-4206.808,-716.702,39,1.1,40,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.107,0.209
$KALMAN_X,-340483.6,-408.7,675.3,466267.7,-2587.3
$KALMAN_Y,206381.2,545.3,-960.0,-122999.9,-5298.2
$MHEAD_RNG_PITCHd_Wd,49.1,94038,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.28,0.000,2,0.000,0.000,66,1941,2546,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.2,9,127,12.43,1.60,-25.62,0.000,4,0.263,0.074,2834,945,3421,0,0,0,0,0,0
$GC,159,-0.52,-145.9,9.7,-9.3,21,166,0.00,1.50,0.00,0.000,6,0.000,0.039,2828,1882,3423,0,0,0,0,0,0
$GC,239,-0.60,-145.9,17.3,-9.5,34,246,0.00,2.33,0.00,0.000,4,0.000,0.053,2823,3318,3424,0,0,0,0,0,0
$GC,300,-0.69,-145.9,23.0,-9.4,44,308,0.08,2.25,0.00,0.000,6,0.071,0.044,2781,1913,3424,0,0,0,0,0,0
$GC,382,-0.63,-145.9,31.1,-10.2,57,387,0.10,2.30,0.00,0.000,4,0.170,0.060,2806,501,3424,0,0,0,0,0,0
$GC,445,-0.56,-145.9,37.9,-10.1,68,453,0.08,2.22,0.00,0.000,6,0.152,0.037,2822,1914,3423,0,0,0,0,0,0
$GC,685,-0.65,-145.9,58.4,-8.6,109,691,0.05,2.33,0.00,0.000,4,0.172,0.059,2797,494,3424,0,0,0,0,0,0
$GC,724,-0.65,-145.9,62.8,-10.2,116,729,0.00,2.22,0.00,0.000,6,0.000,0.034,2788,1919,3423,0,0,0,0,0,0
$GC,1066,-0.65,-145.9,97.2,-9.8,177,1073,0.00,2.20,0.00,0.000,4,0.000,0.048,2778,3308,3424,0,0,0,0,0,0
$GC,1122,-0.65,-145.9,103.2,-10.4,184,1128,0.05,2.20,0.00,0.000,6,0.139,0.040,2796,1907,3424,0,0,0,0,0,0
$GC,1450,-0.69,-145.9,134.9,-9.9,205,1454,0.00,1.77,0.00,0.000,4,0.000,0.044,2790,3043,3424,0,0,0,0,0,0
$GC,1477,-0.73,-145.9,138.1,-10.1,206,1485,0.00,1.75,0.00,0.000,6,0.000,0.038,2790,1916,3424,0,0,0,0,0,0
$GC,1798,-0.73,-145.9,169.7,-9.5,227,1802,0.00,2.12,0.00,0.000,4,0.000,0.046,2782,3280,3424,0,0,0,0,0,0
$GC,1835,-0.73,-145.9,174.0,-10.3,229,1841,0.00,2.12,0.00,0.000,6,0.000,0.037,2782,1913,3424,0,0,0,0,0,0
$GC,2156,-0.73,-145.9,204.6,-9.4,250,2160,0.00,2.20,0.00,0.000,4,0.000,0.046,2774,3324,3424,0,0,0,0,0,0
$GC,2193,-0.68,-145.9,208.5,-9.4,252,2202,0.05,2.20,0.00,0.000,6,0.147,0.037,2790,1904,3424,0,0,0,0,0,0
$GC,2516,-0.72,-145.9,234.9,-8.4,273,2520,0.00,2.22,0.00,0.000,4,0.000,0.045,2782,3325,3424,0,0,0,0,0,0
$GC,2553,-0.72,-145.9,238.6,-8.7,275,2559,0.00,2.17,0.00,0.000,6,0.000,0.035,2782,1916,3424,0,0,0,0,0,0
$GC,2873,-0.75,-145.9,266.6,-9.1,293,2877,0.00,2.20,0.00,0.000,4,0.000,0.045,2773,3322,3424,0,0,0,0,0,0
$GC,2928,-0.72,-145.9,272.4,-10.1,295,2934,0.00,2.17,0.00,0.000,6,0.000,0.036,2773,1914,3424,0,0,0,0,0,0
$GC,3246,-0.72,-145.9,302.9,-9.6,311,3250,0.00,2.20,0.00,0.000,4,0.000,0.045,2764,3327,3424,0,0,0,0,0,0
$GC,3288,-0.68,-145.9,307.3,-10.5,313,3293,0.10,2.17,0.00,0.000,6,0.167,0.034,2788,1897,3424,0,0,0,0,0,0
$GC,3617,-0.72,-145.9,338.7,-9.5,329,3621,0.00,2.22,0.00,0.000,4,0.000,0.045,2780,3322,3424,0,0,0,0,0,0
$GC,3666,-0.72,-145.9,344.2,-11.2,331,3671,0.00,2.17,0.00,0.000,6,0.000,0.034,2780,1910,3424,0,0,0,0,0,0
$GC,3990,-0.72,-145.9,376.0,-9.8,347,3994,0.00,1.88,0.00,0.000,4,0.000,0.044,2772,3116,3424,0,0,0,0,0,0
$GC,4022,-0.72,-145.9,379.6,-10.0,348,4028,0.00,1.88,0.00,0.000,6,0.000,0.035,2772,1902,3424,0,0,0,0,0,0
$GC,4364,-0.72,-145.9,412.2,-9.3,363,4367,0.00,1.50,0.00,0.000,4,0.000,0.043,2767,2862,3424,0,0,0,0,0,0
$GC,4390,-0.72,-145.9,415.0,-9.9,363,4396,0.00,1.50,0.00,0.000,6,0.000,0.038,2767,1890,3424,0,0,0,0,0,0
$GC,4703,-0.72,-145.9,444.2,-9.3,374,4707,0.00,2.25,0.00,0.000,4,0.000,0.045,2758,3325,3424,0,0,0,0,0,0
$GC,4757,-0.66,-145.9,449.9,-10.1,375,4764,0.10,2.17,0.00,0.000,6,0.129,0.035,2790,1916,3424,0,0,0,0,0,0
$GC,5070,-0.72,-145.9,477.1,-8.7,386,5074,0.00,2.17,0.00,0.000,4,0.000,0.047,2782,3319,3424,0,0,0,0,0,0
$GC,5113,-0.72,-145.9,481.4,-9.9,387,5119,0.00,2.17,0.00,0.000,6,0.000,0.035,2782,1914,3423,0,0,0,0,0,0
$GC,5444,-0.75,-145.9,511.8,-9.4,398,5448,0.00,1.42,0.00,0.000,4,0.000,0.042,2778,2828,3423,0,0,0,0,0,0
$GC,5465,-0.79,-145.9,513.9,-9.4,398,5470,0.03,1.42,0.00,0.000,6,0.106,0.038,2759,1910,3423,0,0,0,0,0,0
$GC,5783,-0.76,-145.9,546.7,-10.2,409,5787,0.00,2.20,0.00,0.000,4,0.000,0.044,2749,3320,3422,0,0,0,0,0,0
$GC,5849,-0.66,-145.9,554.4,-11.2,411,5854,0.15,2.17,0.00,0.000,6,0.139,0.035,2794,1914,3422,0,0,0,0,0,0
$GC,6185,-0.73,-145.9,583.4,-8.5,422,6189,0.00,2.20,0.00,0.000,4,0.000,0.045,2787,3319,3422,0,0,0,0,0,0
$GC,6234,-0.73,-145.9,588.2,-9.8,423,6239,0.00,2.17,0.00,0.000,6,0.000,0.034,2787,1914,3422,0,0,0,0,0,0
$GC,6553,-0.79,-145.9,615.1,-8.2,434,6558,0.10,1.88,0.00,0.000,4,0.118,0.044,2743,3109,3421,0,0,0,0,0,0
$GC,6587,-0.71,-145.9,618.2,-10.2,435,6592,0.15,1.80,0.00,0.000,6,0.168,0.035,2781,1909,3421,0,0,0,0,0,0
$GC,6927,-0.75,-145.9,646.0,-7.9,446,6931,0.00,2.22,0.00,0.000,4,0.000,0.054,2780,506,3421,0,0,0,0,0,0
$GC,6960,-0.72,-145.9,649.1,-9.4,447,6965,0.00,2.17,0.00,0.000,6,0.000,0.032,2772,1922,3421,0,0,0,0,0,0
$GC,7295,-0.72,-145.9,675.6,-7.6,458,7299,0.00,2.17,0.00,0.000,4,0.000,0.046,2764,3319,3420,0,0,0,0,0,0
$GC,7390,-0.69,-145.9,683.9,-8.4,461,7395,0.10,2.15,0.00,0.000,6,0.164,0.035,2788,1916,3420,0,0,0,0,0,0
$GC,7725,-0.75,-145.9,709.1,-7.5,472,7728,0.00,1.67,0.00,0.000,4,0.000,0.044,2782,2995,3420,0,0,0,0,0,0
$GC,7759,-0.80,-145.9,711.7,-7.9,473,7763,0.05,1.67,0.00,0.000,6,0.086,0.037,2754,1917,3420,0,0,0,0,0,0
$GC,8098,-0.80,-145.9,742.5,-9.3,484,8102,0.00,1.65,0.00,0.000,4,0.000,0.043,2747,2988,3419,0,0,0,0,0,0
$GC,8133,-0.74,-145.9,745.8,-9.9,485,8137,0.10,1.65,0.00,0.000,6,0.175,0.036,2770,1888,3419,0,0,0,0,0,0
$GC,8472,-0.76,-145.9,775.9,-8.8,496,8476,0.00,2.20,0.00,0.000,4,0.000,0.046,2762,3308,3419,0,0,0,0,0,0
$GC,8535,-0.70,-145.9,781.8,-10.0,498,8540,0.10,2.12,0.00,0.000,6,0.170,0.034,2786,1917,3419,0,0,0,0,0,0
$GC,8869,-0.76,-145.9,809.3,-8.0,509,8873,0.00,2.20,0.00,0.000,4,0.000,0.046,2780,3314,3418,0,0,0,0,0,0
$GC,8918,-0.80,-145.9,813.5,-8.8,510,8923,0.05,2.17,0.00,0.000,6,0.086,0.035,2751,1916,3418,0,0,0,0,0,0
$GC,9237,-0.77,-145.9,841.8,-8.8,521,9241,0.00,2.20,0.00,0.000,4,0.000,0.046,2743,3311,3417,0,0,0,0,0,0
$GC,9333,-0.69,-145.9,851.1,-9.8,524,9338,0.17,2.15,0.00,0.000,6,0.157,0.036,2788,1911,3417,0,0,0,0,0,0
$GC,9668,-0.76,-145.9,877.0,-7.4,535,9672,0.05,2.22,0.00,0.000,4,0.176,0.046,2758,3312,3417,0,0,0,0,0,0
$GC,9744,-0.70,-145.9,884.3,-9.6,537,9749,0.08,2.17,0.00,0.000,6,0.148,0.035,2781,1906,3416,0,0,0,0,0,0
$GC,10069,-0.75,-145.9,909.6,-7.8,548,10073,0.00,2.22,0.00,0.000,4,0.000,0.046,2773,3314,3416,0,0,0,0,0,0
$GC,10145,-0.75,-145.9,916.2,-8.8,550,10150,0.00,2.17,0.00,0.000,6,0.000,0.035,2773,1916,3415,0,0,0,0,0,0
$GC,10470,-0.78,-145.9,943.0,-8.2,561,10474,0.00,2.20,0.00,0.000,4,0.000,0.046,2765,3310,3415,0,0,0,0,0,0
$GC,10541,-0.76,-145.9,949.4,-9.8,563,10545,0.00,2.17,0.00,0.000,6,0.000,0.035,2765,1913,3415,0,0,0,0,0,0
$GC,10871,-0.76,-145.9,978.2,-8.8,574,10875,0.00,2.17,0.00,0.000,4,0.000,0.046,2757,3308,3415,0,0,0,0,0,0
$GC,10937,-0.71,-145.9,985.0,-10.2,576,10942,0.05,2.17,0.00,0.000,6,0.149,0.036,2774,1903,3415,0,0,0,0,0,0
$STATE,11118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11118,begin apogee
$GC,11123,-0.19,0.0,1003.0,10.0,582,11251,0.57,0.00,125.05,1.534,6,0.140,0.000,2945,1645,2827,0,0,0,0,0,0
$STATE,11252,end apogee,CONTROL_FINISHED_OK
$STATE,11252,begin climb
$GC,11253,0.52,145.9,1010.9,0.0,586,11394,0.70,0.68,132.80,1.512,4,0.078,0.057,3173,1278,2232,0,0,0,0,0,0
$GC,11433,0.35,238.8,1014.4,4.2,591,11526,0.17,0.62,87.00,1.479,6,0.181,0.035,3130,1666,1853,0,0,0,0,0,0
$GC,11832,0.42,292.3,992.6,5.6,604,11886,0.00,2.30,48.15,1.451,4,0.000,0.041,3130,3028,1633,0,0,0,0,0,0
$GC,11987,0.52,297.3,982.4,7.2,608,11998,0.15,2.25,5.43,1.028,6,0.089,0.041,3185,1642,1614,0,0,0,0,0,0
$GC,12328,0.52,297.3,954.9,8.3,620,12332,0.00,2.22,0.00,0.000,4,0.000,0.043,3185,3041,1611,0,0,0,0,0,0
$GC,12427,0.43,297.3,945.2,10.0,623,12432,0.12,2.22,0.00,0.000,6,0.160,0.044,3158,1654,1611,0,0,0,0,0,0
$GC,12763,0.43,297.3,918.6,8.1,634,12766,0.00,2.05,0.00,0.000,4,0.000,0.064,3159,389,1610,0,0,0,0,0,0
$GC,12830,0.43,297.3,912.9,7.9,636,12834,0.00,1.92,0.00,0.000,6,0.000,0.035,3159,1644,1608,0,0,0,0,0,0
$GC,13171,0.49,297.3,886.8,7.5,647,13175,0.00,2.20,0.00,0.000,4,0.000,0.044,3159,3054,1609,0,0,0,0,0,0
$GC,13220,0.46,297.3,882.8,7.6,648,13224,0.00,2.25,0.00,0.000,6,0.000,0.045,3161,1646,1608,0,0,0,0,0,0
$GC,13539,0.52,309.4,859.5,7.0,659,13554,0.00,0.65,11.40,1.340,4,0.000,0.037,3162,2103,1565,0,0,0,0,0,0
$GC,13572,0.56,314.0,857.2,7.3,660,13582,0.05,0.73,6.10,1.166,6,0.086,0.053,3189,1647,1545,0,0,0,0,0,0
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$STATE,23366,end climb,SURFACE_DEPTH_REACHED
$STATE,23366,begin surface coast
$FINISH,1.4,1.021473
$STATE,23403,end surface coast,CONTROL_FINISHED_OK
$STATE,23403,begin surface
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$HUMID,45.82
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$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.4,50.401
$10V_AH,10.1,37.721
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354592
$DATA_FILE_SIZE,73554,1213
$CAP_FILE_SIZE,240516,0
$CFSIZE,2097086464,2063826944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141112,044335,-4206.478,-716.161,27,1.5,28,-22.0