version: 66.07.10.p01
glider: 574
mission: 4
dive: 442
start: 1 1 113 10 39 45
data:
$ID,574
$MISSION,4
$DIVE,442
$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,400
$T_MISSION,420
$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,2
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-7248.1826
$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,2995
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1770
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,70
$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,421
$GPS1,010113,103805,-4123.025,-510.432,42,0.9,42,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-72.5
$GPS2,010113,103924,-4123.023,-510.443,16,1.4,16,-22.4
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,93.7,103846,-15.5,-8.333
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.78,-145.9,0.0,0.0,0,63,0.00,0.00,-35.97,0.000,2,0.000,0.000,68,1786,1777,0,0,0,0,0,0
$GC,66,-0.78,-145.9,3.0,-1.2,6,146,12.73,2.40,-57.10,0.000,4,0.262,0.074,2732,370,3424,0,0,0,0,0,0
$GC,232,-0.76,-145.9,20.0,-13.4,33,240,0.05,2.15,0.00,0.000,6,0.146,0.037,2745,1730,3424,0,0,0,0,0,0
$GC,313,-0.84,-145.9,29.7,-11.5,46,321,0.08,0.98,0.00,0.000,4,0.129,0.048,2709,2365,3425,0,0,0,0,0,0
$GC,370,-0.81,-145.9,36.3,-11.9,55,375,0.05,0.93,0.00,0.000,6,0.148,0.046,2727,1775,3425,0,0,0,0,0,0
$GC,606,-0.83,-145.9,62.8,-11.1,94,609,0.00,1.62,0.00,0.000,4,0.000,0.057,2727,778,3425,0,0,0,0,0,0
$GC,667,-0.85,-145.9,69.7,-10.1,99,674,0.00,1.55,0.00,0.000,6,0.000,0.036,2722,1774,3425,0,0,0,0,0,0
$GC,993,-0.89,-145.9,101.0,-9.4,130,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1774,3426,0,0,0,0,0,0
$GC,1305,-0.94,-145.9,134.1,-11.0,150,1310,0.08,2.20,0.00,0.000,4,0.129,0.047,2677,3181,3427,0,0,0,0,0,0
$GC,1395,-0.87,-145.9,145.0,-12.3,155,1401,0.12,2.20,0.00,0.000,6,0.161,0.041,2709,1757,3427,0,0,0,0,0,0
$GC,1715,-0.90,-145.9,180.7,-11.5,176,1719,0.00,2.22,0.00,0.000,4,0.000,0.046,2700,3175,3428,0,0,0,0,0,0
$GC,1798,-0.87,-145.9,190.3,-11.5,181,1802,0.00,2.17,0.00,0.000,6,0.000,0.039,2700,1761,3428,0,0,0,0,0,0
$GC,2114,-0.87,-145.9,226.4,-10.8,198,2118,0.00,2.22,0.00,0.000,4,0.000,0.045,2691,3185,3428,0,0,0,0,0,0
$GC,2181,-0.84,-145.9,233.9,-10.8,201,2186,0.12,2.20,0.00,0.000,6,0.151,0.038,2725,1765,3428,0,0,0,0,0,0
$GC,2504,-0.91,-145.9,264.7,-9.3,217,2509,0.08,2.25,0.00,0.000,4,0.127,0.044,2683,3180,3428,0,0,0,0,0,0
$GC,2582,-0.88,-145.9,273.2,-10.6,220,2588,0.10,2.20,0.00,0.000,6,0.162,0.037,2708,1759,3428,0,0,0,0,0,0
$GC,2900,-0.92,-145.9,301.6,-9.0,236,2904,0.00,2.22,0.00,0.000,4,0.000,0.044,2698,3176,3429,0,0,0,0,0,0
$GC,2995,-0.92,-145.9,311.0,-10.0,239,2999,0.00,2.15,0.00,0.000,6,0.000,0.037,2698,1771,3429,0,0,0,0,0,0
$GC,3336,-0.92,-145.9,345.2,-10.6,250,3340,0.00,2.20,0.00,0.000,4,0.000,0.044,2689,3175,3429,0,0,0,0,0,0
$GC,3407,-0.90,-145.9,353.5,-11.2,252,3412,0.03,2.20,0.00,0.000,6,0.169,0.037,2699,1767,3428,0,0,0,0,0,0
$GC,3737,-0.92,-145.9,391.5,-12.1,263,3741,0.00,2.20,0.00,0.000,4,0.000,0.044,2690,3177,3428,0,0,0,0,0,0
$GC,3808,-0.92,-145.9,400.7,-12.5,265,3813,0.00,2.20,0.00,0.000,6,0.000,0.037,2690,1767,3429,0,0,0,0,0,0
$GC,4138,-0.92,-145.9,441.4,-12.4,276,4142,0.00,2.20,0.00,0.000,4,0.000,0.044,2680,3179,3429,0,0,0,0,0,0
$GC,4221,-0.90,-145.9,451.9,-12.2,278,4226,0.10,2.15,0.00,0.000,6,0.161,0.037,2705,1769,3429,0,0,0,0,0,0
$GC,4534,-0.94,-145.9,486.7,-10.8,288,4538,0.00,2.22,0.00,0.000,4,0.000,0.044,2696,3182,3429,0,0,0,0,0,0
$GC,4617,-0.96,-145.9,495.8,-11.0,290,4621,0.00,2.15,0.00,0.000,6,0.000,0.036,2696,1770,3429,0,0,0,0,0,0
$GC,4930,-0.98,-145.9,526.9,-9.8,300,4934,0.00,2.20,0.00,0.000,4,0.000,0.044,2686,3181,3428,0,0,0,0,0,0
$GC,5001,-0.98,-145.9,534.4,-10.2,302,5006,0.00,2.20,0.00,0.000,6,0.000,0.036,2686,1773,3428,0,0,0,0,0,0
$GC,5331,-0.98,-145.9,566.8,-9.9,313,5335,0.00,2.22,0.00,0.000,4,0.000,0.044,2677,3186,3428,0,0,0,0,0,0
$GC,5394,-0.94,-145.9,573.4,-10.6,315,5398,0.00,2.20,0.00,0.000,6,0.000,0.036,2677,1762,3428,0,0,0,0,0,0
$GC,5729,-0.92,-145.9,608.0,-10.4,326,5733,0.08,2.22,0.00,0.000,4,0.197,0.042,2684,3177,3428,0,0,0,0,0,0
$GC,5807,-0.92,-145.9,616.4,-10.8,328,5811,0.00,2.15,0.00,0.000,6,0.000,0.036,2684,1770,3427,0,0,0,0,0,0
$GC,6124,-0.92,-145.9,651.1,-11.2,339,6128,0.00,2.20,0.00,0.000,4,0.000,0.043,2674,3185,3427,0,0,0,0,0,0
$GC,6191,-0.89,-145.9,659.0,-12.0,341,6196,0.08,2.20,0.00,0.000,6,0.138,0.037,2700,1776,3427,0,0,0,0,0,0
$GC,6527,-0.92,-145.9,698.3,-12.2,352,6531,0.00,2.20,0.00,0.000,4,0.000,0.044,2691,3179,3426,0,0,0,0,0,0
$GC,6610,-0.92,-145.9,709.0,-12.9,354,6614,0.00,2.20,0.00,0.000,6,0.000,0.037,2691,1773,3426,0,0,0,0,0,0
$GC,6928,-0.92,-145.9,747.5,-12.1,365,6932,0.00,2.20,0.00,0.000,4,0.000,0.044,2681,3175,3426,0,0,0,0,0,0
$GC,7028,-0.92,-145.9,759.7,-11.6,368,7033,0.03,2.22,0.00,0.000,6,0.173,0.037,2690,1758,3425,0,0,0,0,0,0
$GC,7363,-0.92,-145.9,796.5,-10.8,379,7367,0.00,2.22,0.00,0.000,4,0.000,0.054,2690,367,3425,0,0,0,0,0,0
$GC,7447,-0.90,-145.9,805.4,-9.9,381,7451,0.10,2.17,0.00,0.000,6,0.171,0.033,2706,1785,3425,0,0,0,0,0,0
$GC,7765,-0.95,-145.9,835.9,-9.4,392,7769,0.00,1.67,0.00,0.000,4,0.000,0.051,2706,738,3424,0,0,0,0,0,0
$GC,7826,-0.98,-145.9,841.8,-9.3,393,7832,0.05,1.60,0.00,0.000,6,0.083,0.032,2669,1773,3424,0,0,0,0,0,0
$GC,8139,-0.95,-145.9,872.3,-9.9,404,8144,0.08,2.28,0.00,0.000,4,0.193,0.053,2686,367,3423,0,0,0,0,0,0
$GC,8201,-0.95,-145.9,878.4,-8.9,406,8205,0.00,2.15,0.00,0.000,6,0.000,0.032,2677,1777,3424,0,0,0,0,0,0
$GC,8541,-0.95,-145.9,911.0,-9.7,417,8545,0.00,2.28,0.00,0.000,4,0.000,0.054,2677,360,3423,0,0,0,0,0,0
$GC,8607,-0.91,-145.9,917.9,-10.1,419,8612,0.08,2.20,0.00,0.000,6,0.145,0.034,2697,1768,3423,0,0,0,0,0,0
$GC,8942,-0.95,-145.9,950.5,-10.0,430,8946,0.00,1.38,0.00,0.000,4,0.000,0.050,2697,918,3422,0,0,0,0,0,0
$GC,8992,-0.95,-145.9,955.5,-9.8,431,8996,0.00,1.33,0.00,0.000,6,0.000,0.033,2693,1771,3422,0,0,0,0,0,0
$GC,9316,-0.99,-145.9,988.4,-10.2,442,9320,0.00,2.28,0.00,0.000,4,0.000,0.054,2693,367,3422,0,0,0,0,0,0
$GC,9399,-0.99,-145.9,997.3,-10.2,444,9404,0.00,2.17,0.00,0.000,6,0.000,0.032,2686,1768,3422,0,0,0,0,0,0
$STATE,9447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9447,begin apogee
$GC,9453,-0.25,0.0,1002.0,10.0,446,9587,0.75,0.00,131.23,1.484,6,0.125,0.000,2913,1600,2827,0,0,0,0,0,0
$STATE,9588,end apogee,CONTROL_FINISHED_OK
$STATE,9588,begin climb
$GC,9590,0.78,145.9,1012.2,0.0,450,9736,1.00,2.55,137.45,1.476,4,0.076,0.060,3250,220,2232,0,0,0,0,0,0
$GC,9988,0.44,285.5,1016.2,3.0,462,10124,0.45,2.17,126.30,1.462,6,0.211,0.033,3142,1629,1663,0,0,0,0,0,0
$GC,10439,0.50,310.2,987.2,7.4,477,10464,0.00,0.50,22.38,1.369,4,0.000,0.058,3142,1338,1561,0,0,0,0,0,0
$GC,10492,0.59,339.2,982.8,7.2,477,10528,0.10,0.40,28.45,1.392,6,0.069,0.041,3186,1629,1443,0,0,0,0,0,0
$GC,10834,0.62,339.2,952.7,8.9,489,10838,0.00,0.80,0.00,0.000,4,0.000,0.039,3186,2166,1438,0,0,0,0,0,0
$GC,10895,0.64,339.2,947.3,8.4,490,10900,0.00,0.85,0.00,0.000,6,0.000,0.050,3188,1627,1437,0,0,0,0,0,0
$GC,11207,0.64,339.2,920.3,8.4,501,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1627,1437,0,0,0,0,0,0
$GC,11514,0.66,339.2,893.4,8.8,511,11516,0.05,0.00,0.00,0.000,6,0.169,0.000,3208,1627,1437,0,0,0,0,0,0
$GC,11820,0.64,339.2,866.0,8.7,521,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1627,1437,0,0,0,0,0,0
$GC,12126,0.64,339.2,838.4,9.3,531,12129,0.00,0.68,0.00,0.000,4,0.000,0.041,3209,2083,1436,0,0,0,0,0,0
$GC,12176,0.61,339.2,833.9,8.7,532,12180,0.05,0.75,0.00,0.000,6,0.161,0.051,3196,1611,1436,0,0,0,0,0,0
$GC,12499,0.61,339.2,804.8,8.9,543,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1610,1437,0,0,0,0,0,0
$GC,12805,0.61,339.2,777.1,8.9,553,12809,0.00,0.45,0.00,0.000,4,0.000,0.043,3196,1932,1437,0,0,0,0,0,0
$GC,12894,0.61,339.2,769.0,8.6,555,12898,0.00,0.52,0.00,0.000,6,0.000,0.055,3196,1608,1437,0,0,0,0,0,0
$GC,13212,0.61,339.2,740.0,9.1,566,13216,0.00,2.03,0.00,0.000,4,0.000,0.044,3197,2905,1436,0,0,0,0,0,0
$GC,13281,0.59,339.2,733.5,9.0,568,13286,0.08,2.03,0.00,0.000,6,0.203,0.046,3189,1614,1436,0,0,0,0,0,0
$GC,13615,0.59,339.2,703.1,9.0,579,13616,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1613,1436,0,0,0,0,0,0
$GC,13922,0.62,339.2,674.9,9.4,589,13925,0.00,0.73,0.00,0.000,4,0.000,0.042,3189,2103,1436,0,0,0,0,0,0
$GC,13999,0.62,339.2,667.5,8.9,591,14003,0.00,0.82,0.00,0.000,6,0.000,0.051,3189,1600,1436,0,0,0,0,0,0
$GC,14330,0.64,339.2,637.8,9.0,602,14333,0.00,0.85,0.00,0.000,4,0.000,0.041,3189,2154,1436,0,0,0,0,0,0
$GC,14401,0.64,339.2,631.3,8.7,604,14406,0.00,0.90,0.00,0.000,6,0.000,0.051,3189,1602,1436,0,0,0,0,0,0
$GC,14737,0.66,339.2,602.3,8.5,615,14741,0.00,1.98,0.00,0.000,4,0.000,0.044,3189,2864,1436,0,0,0,0,0,0
$GC,14806,0.66,339.2,596.5,8.9,617,14809,0.00,2.00,0.00,0.000,6,0.000,0.047,3196,1610,1436,0,0,0,0,0,0
$GC,15147,0.66,351.3,569.1,7.9,628,15162,0.00,0.57,11.98,1.090,4,0.000,0.044,3196,1969,1394,0,0,0,0,0,0
$GC,15236,0.68,355.5,562.4,8.2,630,15245,0.00,0.57,5.82,0.890,6,0.000,0.056,3196,1612,1376,0,0,0,0,0,0
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$STATE,21289,end climb,SURFACE_DEPTH_REACHED
$STATE,21290,begin surface coast
$FINISH,1.8,1.018639
$STATE,21327,end surface coast,CONTROL_FINISHED_OK
$STATE,21327,begin surface
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$HUMID,50.03
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$XPDR_PINGS,0
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$10V_AH,9.9,62.928
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354688
$DATA_FILE_SIZE,60302,992
$CAP_FILE_SIZE,191903,0
$CFSIZE,2097086464,2034008064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010113,163800,-4122.521,-510.828,56,1.0,56,-22.4