version: 66.07.10.p01
glider: 574
mission: 4
dive: 214
start: 11 14 112 4 57 0
data:
$ID,574
$MISSION,4
$DIVE,214
$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,-6107.2715
$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,24
$R_STBD_OVSHOOT,41
$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,1
$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,193
$GPS1,141112,044335,-4206.478,-716.161,27,1.5,28,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-69.3
$GPS2,141112,045605,-4206.440,-716.079,27,1.9,28,-22.0
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.053,0.229
$KALMAN_X,-342694.8,979.8,-531.0,469155.9,-2576.2
$KALMAN_Y,200696.7,-596.0,935.4,-117373.3,-7392.1
$MHEAD_RNG_PITCHd_Wd,35.2,92949,-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,-145.9,0.0,0.0,0,116,0.00,0.00,-89.65,0.000,2,0.000,0.000,66,1912,2580,0,0,0,0,0,0
$GC,119,-0.52,-145.9,3.2,-1.3,15,163,12.73,1.00,-22.83,0.000,4,0.271,0.093,2830,1317,3423,0,0,0,0,0,0
$GC,195,-0.58,-145.9,10.4,-8.5,27,202,0.00,0.93,0.00,0.000,6,0.000,0.037,2828,1913,3424,0,0,0,0,0,0
$GC,276,-0.64,-145.9,15.4,-5.9,40,284,0.08,2.25,0.00,0.000,4,0.130,0.050,2790,3307,3424,0,0,0,0,0,0
$GC,345,-0.62,-145.9,21.7,-9.1,51,353,0.05,2.22,0.00,0.000,6,0.147,0.043,2807,1911,3424,0,0,0,0,0,0
$GC,427,-0.66,-145.9,28.5,-8.2,64,434,0.00,0.85,0.00,0.000,4,0.000,0.055,2807,1375,3424,0,0,0,0,0,0
$GC,459,-0.66,-145.9,32.0,-10.4,69,464,0.00,0.82,0.00,0.000,6,0.000,0.034,2804,1924,3424,0,0,0,0,0,0
$GC,694,-0.71,-145.9,54.5,-8.5,110,702,0.08,1.98,0.00,0.000,4,0.132,0.057,2775,725,3424,0,0,0,0,0,0
$GC,739,-0.63,-145.9,58.9,-10.3,117,745,0.15,1.83,0.00,0.000,6,0.174,0.035,2805,1908,3424,0,0,0,0,0,0
$GC,970,-0.69,-145.9,80.9,-9.3,158,975,0.00,1.85,0.00,0.000,4,0.000,0.057,2805,761,3424,0,0,0,0,0,0
$GC,1015,-0.69,-145.9,85.2,-10.3,166,1020,0.00,1.77,0.00,0.000,6,0.000,0.035,2799,1914,3424,0,0,0,0,0,0
$GC,1355,-0.72,-145.9,117.5,-9.5,205,1359,0.00,2.28,0.00,0.000,4,0.000,0.057,2799,501,3424,0,0,0,0,0,0
$GC,1416,-0.68,-145.9,124.4,-10.8,208,1424,0.00,2.22,0.00,0.000,6,0.000,0.036,2794,1920,3425,0,0,0,0,0,0
$GC,1738,-0.70,-145.9,154.3,-9.2,229,1742,0.00,2.20,0.00,0.000,4,0.000,0.049,2784,3324,3425,0,0,0,0,0,0
$GC,1816,-0.74,-145.9,162.2,-9.7,233,1821,0.00,2.20,0.00,0.000,6,0.000,0.038,2784,1911,3425,0,0,0,0,0,0
$GC,2135,-0.78,-145.9,191.7,-9.1,254,2140,0.08,2.22,0.00,0.000,4,0.133,0.045,2744,3320,3424,0,0,0,0,0,0
$GC,2185,-0.66,-145.9,197.2,-11.3,257,2190,0.15,2.17,0.00,0.000,6,0.142,0.035,2790,1913,3424,0,0,0,0,0,0
$GC,2510,-0.70,-145.9,226.1,-8.7,278,2514,0.00,2.22,0.00,0.000,4,0.000,0.054,2790,501,3425,0,0,0,0,0,0
$GC,2577,-0.70,-145.9,232.7,-9.8,282,2582,0.00,2.17,0.00,0.000,6,0.000,0.029,2783,1925,3424,0,0,0,0,0,0
$GC,2903,-0.70,-145.9,262.1,-9.2,301,2907,0.00,2.15,0.00,0.000,4,0.000,0.044,2773,3315,3425,0,0,0,0,0,0
$GC,2974,-0.70,-145.9,269.5,-9.9,304,2978,0.00,2.17,0.00,0.000,6,0.000,0.035,2774,1908,3425,0,0,0,0,0,0
$GC,3296,-0.70,-145.9,300.1,-9.5,320,3300,0.00,2.20,0.00,0.000,4,0.000,0.044,2765,3315,3424,0,0,0,0,0,0
$GC,3351,-0.65,-145.9,305.9,-10.9,322,3359,0.10,2.15,0.00,0.000,6,0.129,0.034,2798,1914,3424,0,0,0,0,0,0
$GC,3667,-0.72,-145.9,334.0,-8.8,338,3671,0.00,2.17,0.00,0.000,4,0.000,0.044,2790,3309,3424,0,0,0,0,0,0
$GC,3710,-0.76,-145.9,338.1,-9.2,340,3715,0.08,2.12,0.00,0.000,6,0.132,0.034,2760,1898,3424,0,0,0,0,0,0
$GC,4038,-0.73,-145.9,371.9,-10.4,356,4043,0.05,2.22,0.00,0.000,4,0.221,0.043,2761,3314,3424,0,0,0,0,0,0
$GC,4087,-0.69,-145.9,377.3,-10.7,358,4092,0.08,2.15,0.00,0.000,6,0.138,0.034,2786,1917,3424,0,0,0,0,0,0
$GC,4418,-0.73,-145.9,409.0,-9.6,373,4422,0.00,1.55,0.00,0.000,4,0.000,0.041,2781,2908,3424,0,0,0,0,0,0
$GC,4452,-0.76,-145.9,412.3,-9.8,374,4456,0.00,1.52,0.00,0.000,6,0.000,0.036,2780,1914,3424,0,0,0,0,0,0
$GC,4793,-0.79,-145.9,446.4,-10.0,385,4797,0.08,0.45,0.00,0.000,4,0.135,0.044,2749,2230,3424,0,0,0,0,0,0
$GC,4802,-0.81,-145.9,447.7,-10.1,385,4807,0.00,0.50,0.00,0.000,6,0.000,0.044,2749,1895,3424,0,0,0,0,0,0
$GC,5132,-0.76,-145.9,484.2,-11.1,396,5137,0.08,2.20,0.00,0.000,4,0.198,0.044,2755,3308,3423,0,0,0,0,0,0
$GC,5204,-0.68,-145.9,492.6,-11.5,398,5209,0.10,2.12,0.00,0.000,6,0.145,0.034,2786,1926,3422,0,0,0,0,0,0
$GC,5534,-0.73,-145.9,523.7,-9.3,409,5537,0.00,1.30,0.00,0.000,4,0.000,0.050,2786,1093,3422,0,0,0,0,0,0
$GC,5567,-0.73,-145.9,527.0,-9.3,410,5571,0.00,1.25,0.00,0.000,6,0.000,0.032,2782,1915,3422,0,0,0,0,0,0
$GC,5908,-0.76,-145.9,558.6,-8.9,421,5912,0.00,2.15,0.00,0.000,4,0.000,0.044,2774,3315,3421,0,0,0,0,0,0
$GC,5996,-0.84,-145.9,566.6,-8.9,423,6002,0.08,2.17,0.00,0.000,6,0.073,0.034,2737,1913,3422,0,0,0,0,0,0
$GC,6309,-0.76,-145.9,597.7,-9.8,434,6313,0.12,0.93,0.00,0.000,4,0.174,0.048,2768,1317,3421,0,0,0,0,0,0
$GC,6343,-0.71,-145.9,600.9,-9.8,435,6346,0.00,0.90,0.00,0.000,6,0.000,0.033,2766,1921,3421,0,0,0,0,0,0
$GC,6683,-0.71,-145.9,629.5,-8.3,446,6687,0.08,2.15,0.00,0.000,4,0.199,0.044,2774,3311,3421,0,0,0,0,0,0
$GC,6692,-0.71,-145.9,630.4,-8.3,446,6696,0.00,2.17,0.00,0.000,6,0.000,0.036,2774,1910,3421,0,0,0,0,0,0
$GC,7022,-0.74,-145.9,656.4,-7.9,457,7026,0.00,1.20,0.00,0.000,4,0.000,0.048,2774,1138,3421,0,0,0,0,0,0
$GC,7082,-0.74,-145.9,661.7,-8.2,458,7088,0.00,1.20,0.00,0.000,6,0.000,0.032,2770,1920,3421,0,0,0,0,0,0
$GC,7395,-0.74,-145.9,687.4,-8.4,469,7399,0.00,2.17,0.00,0.000,4,0.000,0.045,2761,3317,3420,0,0,0,0,0,0
$GC,7472,-0.74,-145.9,694.6,-8.7,471,7476,0.00,2.17,0.00,0.000,6,0.000,0.034,2761,1909,3420,0,0,0,0,0,0
$GC,7796,-0.74,-145.9,725.8,-9.9,482,7800,0.00,2.20,0.00,0.000,4,0.000,0.046,2753,3318,3420,0,0,0,0,0,0
$GC,7858,-0.66,-145.9,732.3,-11.0,484,7863,0.17,2.15,0.00,0.000,6,0.155,0.034,2799,1909,3419,0,0,0,0,0,0
$GC,8192,-0.75,-145.9,762.7,-9.1,495,8197,0.10,2.22,0.00,0.000,4,0.115,0.045,2756,3313,3419,0,0,0,0,0,0
$GC,8241,-0.69,-145.9,768.1,-11.6,496,8246,0.08,2.17,0.00,0.000,6,0.147,0.034,2780,1907,3419,0,0,0,0,0,0
$GC,8559,-0.74,-145.9,799.1,-9.5,507,8563,0.00,2.22,0.00,0.000,4,0.000,0.046,2771,3317,3419,0,0,0,0,0,0
$GC,8642,-0.74,-145.9,807.7,-10.6,509,8647,0.00,2.17,0.00,0.000,6,0.000,0.035,2771,1913,3418,0,0,0,0,0,0
$GC,8961,-0.78,-145.9,839.5,-9.9,520,8965,0.00,2.05,0.00,0.000,4,0.000,0.046,2768,3211,3418,0,0,0,0,0,0
$GC,9004,-0.78,-145.9,844.2,-10.5,521,9009,0.00,2.03,0.00,0.000,6,0.000,0.034,2767,1909,3418,0,0,0,0,0,0
$GC,9335,-0.81,-145.9,876.4,-9.9,532,9338,0.00,1.90,0.00,0.000,4,0.000,0.044,2760,3122,3417,0,0,0,0,0,0
$GC,9374,-0.79,-145.9,880.3,-9.9,533,9378,0.00,1.83,0.00,0.000,6,0.000,0.034,2760,1910,3417,0,0,0,0,0,0
$GC,9709,-0.79,-145.9,912.5,-9.4,544,9712,0.00,1.85,0.00,0.000,4,0.000,0.044,2753,3097,3417,0,0,0,0,0,0
$GC,9747,-0.74,-145.9,916.2,-9.5,545,9752,0.05,1.83,0.00,0.000,6,0.154,0.034,2769,1913,3416,0,0,0,0,0,0
$GC,10082,-0.77,-145.9,945.9,-9.0,556,10086,0.00,2.20,0.00,0.000,4,0.000,0.045,2761,3315,3416,0,0,0,0,0,0
$GC,10160,-0.75,-145.9,953.6,-10.4,558,10164,0.00,2.17,0.00,0.000,6,0.000,0.033,2761,1908,3416,0,0,0,0,0,0
$GC,10484,-0.75,-145.9,984.2,-9.6,569,10488,0.00,2.22,0.00,0.000,4,0.000,0.046,2754,3318,3416,0,0,0,0,0,0
$GC,10567,-0.69,-145.9,993.1,-10.8,571,10572,0.10,2.17,0.00,0.000,6,0.141,0.034,2784,1916,3415,0,0,0,0,0,0
$STATE,10670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10670,begin apogee
$GC,10675,-0.19,0.0,1003.0,9.6,575,10803,0.55,0.00,125.25,1.567,6,0.134,0.000,2951,1643,2827,0,0,0,0,0,0
$STATE,10804,end apogee,CONTROL_FINISHED_OK
$STATE,10804,begin climb
$GC,10806,0.52,145.9,1011.0,0.0,579,10946,0.68,0.62,132.65,1.537,4,0.077,0.040,3172,2002,2232,0,0,0,0,0,0
$GC,10996,0.36,229.4,1015.1,4.6,585,11083,0.15,0.60,78.38,1.509,6,0.192,0.049,3137,1655,1891,0,0,0,0,0,0
$GC,11389,0.39,299.0,994.8,5.0,598,11458,0.00,1.62,62.53,1.503,4,0.000,0.038,3137,2597,1607,0,0,0,0,0,0
$GC,11521,0.47,336.9,986.8,6.1,602,11562,0.05,1.58,35.83,1.467,6,0.080,0.044,3164,1656,1452,0,0,0,0,0,0
$GC,11881,0.59,348.9,961.6,7.0,614,11896,0.12,1.15,11.35,1.330,4,0.103,0.057,3213,971,1403,0,0,0,0,0,0
$GC,11953,0.52,348.9,955.4,9.3,616,11957,0.08,1.08,0.00,0.000,6,0.160,0.034,3190,1671,1403,0,0,0,0,0,0
$GC,12281,0.58,348.9,928.9,7.9,627,12285,0.00,0.22,0.00,0.000,4,0.000,0.054,3190,1848,1402,0,0,0,0,0,0
$GC,12465,0.67,348.9,913.5,8.0,632,12470,0.12,0.32,0.00,0.000,6,0.095,0.061,3238,1639,1402,0,0,0,0,0,0
$GC,12789,0.53,348.9,876.3,12.2,643,12794,0.20,2.28,0.00,0.000,4,0.183,0.064,3197,242,1402,0,0,0,0,0,0
$GC,12866,0.46,348.9,867.8,10.2,645,12871,0.10,2.15,0.00,0.000,6,0.160,0.033,3168,1632,1401,0,0,0,0,0,0
$GC,13190,0.60,348.9,838.8,9.1,656,13192,0.12,0.00,0.00,0.000,6,0.103,0.000,3219,1642,1401,0,0,0,0,0,0
$GC,13496,0.55,348.9,805.1,11.2,666,13500,0.10,0.50,0.00,0.000,4,0.190,0.041,3195,1987,1400,0,0,0,0,0,0
$GC,13567,0.62,348.9,797.5,9.6,668,13571,0.00,0.55,0.00,0.000,6,0.000,0.053,3195,1642,1400,0,0,0,0,0,0
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$STATE,22945,end climb,SURFACE_DEPTH_REACHED
$STATE,22945,begin surface coast
$FINISH,1.4,1.013940
$STATE,22982,end surface coast,CONTROL_FINISHED_OK
$STATE,22982,begin surface
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$HUMID,46.37
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$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.3,50.637
$10V_AH,10.2,37.867
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354564
$DATA_FILE_SIZE,73645,1223
$CAP_FILE_SIZE,241476,0
$CFSIZE,2097086464,2063925248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141112,112235,-4206.698,-715.603,42,1.0,43,-22.0