version: 66.07.10.p01
glider: 574
mission: 4
dive: 455
start: 1 4 113 23 27 44
data:
$ID,574
$MISSION,4
$DIVE,455
$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,520
$T_MISSION,550
$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,120
$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,-7281.3145
$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,2985
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,68
$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,434
$GPS1,040113,231335,-4118.427,-508.996,29,1.1,29,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-73.7
$GPS2,040113,232723,-4118.291,-508.943,75,1.1,75,-22.5
$SPEED_LIMITS,0.111,0.202
$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,98.2,99338,-13.7,-6.410
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.69,-116.8,0.0,0.0,0,58,0.00,0.00,-29.25,0.000,2,0.000,0.000,69,1765,1926,0,0,0,0,0,0
$GC,60,-0.69,-116.8,3.1,-1.7,5,128,12.55,2.20,-49.47,0.000,4,0.263,0.063,2744,3128,3303,0,0,0,0,0,0
$GC,220,-0.69,-116.8,16.8,-12.6,31,228,0.05,2.22,0.00,0.000,6,0.145,0.050,2760,1759,3304,0,0,0,0,0,0
$GC,302,-0.71,-116.8,25.7,-11.3,44,309,0.00,2.38,0.00,0.000,4,0.000,0.063,2760,332,3305,0,0,0,0,0,0
$GC,506,-0.81,-116.8,46.2,-9.7,79,512,0.10,2.15,0.00,0.000,6,0.104,0.037,2709,1714,3305,0,0,0,0,0,0
$GC,733,-0.74,-116.8,73.3,-11.5,110,737,0.12,1.77,0.00,0.000,4,0.163,0.058,2744,635,3305,0,0,0,0,0,0
$GC,925,-0.74,-116.8,93.8,-10.1,127,929,0.00,1.75,0.00,0.000,6,0.000,0.037,2743,1750,3306,0,0,0,0,0,0
$GC,1252,-0.79,-116.8,121.9,-8.3,150,1255,0.00,1.77,0.00,0.000,4,0.000,0.047,2737,2893,3306,0,0,0,0,0,0
$GC,1306,-0.79,-116.8,126.3,-8.3,153,1309,0.00,1.83,0.00,0.000,6,0.000,0.044,2737,1732,3306,0,0,0,0,0,0
$GC,1635,-0.79,-116.8,154.2,-8.7,174,1639,0.00,2.28,0.00,0.000,4,0.000,0.048,2728,3158,3306,0,0,0,0,0,0
$GC,1718,-0.79,-116.8,161.7,-9.8,179,1722,0.00,2.22,0.00,0.000,6,0.000,0.044,2729,1748,3306,0,0,0,0,0,0
$GC,2042,-0.79,-116.8,191.6,-9.0,200,2045,0.00,1.10,0.00,0.000,4,0.000,0.043,2725,2465,3306,0,0,0,0,0,0
$GC,2096,-0.79,-116.8,196.6,-9.6,203,2099,0.00,1.12,0.00,0.000,6,0.000,0.045,2725,1748,3306,0,0,0,0,0,0
$GC,2413,-0.79,-116.8,227.6,-10.1,219,2417,0.00,2.25,0.00,0.000,4,0.000,0.047,2715,3164,3307,0,0,0,0,0,0
$GC,2490,-0.79,-116.8,236.4,-11.1,222,2498,0.00,2.22,0.00,0.000,6,0.000,0.043,2715,1759,3307,0,0,0,0,0,0
$GC,2810,-0.76,-116.8,271.4,-11.6,238,2815,0.10,2.25,0.00,0.000,4,0.169,0.047,2732,3165,3307,0,0,0,0,0,0
$GC,2878,-0.76,-116.8,279.7,-11.0,241,2882,0.00,2.20,0.00,0.000,6,0.000,0.042,2732,1748,3306,0,0,0,0,0,0
$GC,3208,-0.79,-116.8,317.7,-11.4,255,3212,0.00,2.22,0.00,0.000,4,0.000,0.047,2725,3157,3306,0,0,0,0,0,0
$GC,3302,-0.79,-116.8,329.0,-11.9,257,3307,0.00,2.22,0.00,0.000,6,0.000,0.039,2725,1746,3307,0,0,0,0,0,0
$GC,3615,-0.79,-116.8,363.0,-10.6,268,3619,0.00,2.22,0.00,0.000,4,0.000,0.045,2715,3155,3306,0,0,0,0,0,0
$GC,3717,-0.77,-116.8,373.5,-10.2,271,3722,0.08,2.17,0.00,0.000,6,0.171,0.038,2733,1747,3306,0,0,0,0,0,0
$GC,4057,-0.81,-116.8,404.7,-9.1,282,4061,0.00,2.20,0.00,0.000,4,0.000,0.045,2727,3155,3306,0,0,0,0,0,0
$GC,4120,-0.81,-116.8,409.9,-8.3,284,4124,0.00,2.17,0.00,0.000,6,0.000,0.037,2727,1739,3306,0,0,0,0,0,0
$GC,4460,-0.81,-116.8,438.6,-8.3,295,4464,0.00,2.20,0.00,0.000,4,0.000,0.044,2718,3157,3306,0,0,0,0,0,0
$GC,4542,-0.81,-116.8,446.0,-9.1,297,4547,0.00,2.20,0.00,0.000,6,0.000,0.037,2718,1751,3306,0,0,0,0,0,0
$GC,4861,-0.81,-116.8,474.5,-9.2,308,4865,0.00,2.22,0.00,0.000,4,0.000,0.044,2709,3166,3306,0,0,0,0,0,0
$GC,4967,-0.81,-116.8,484.8,-9.9,311,4971,0.00,2.22,0.00,0.000,6,0.000,0.037,2710,1749,3305,0,0,0,0,0,0
$GC,5297,-0.78,-116.8,517.7,-10.3,322,5302,0.08,2.22,0.00,0.000,4,0.189,0.042,2719,3160,3305,0,0,0,0,0,0
$GC,5394,-0.81,-116.8,527.6,-10.1,325,5398,0.00,2.17,0.00,0.000,6,0.000,0.037,2719,1743,3305,0,0,0,0,0,0
$GC,5728,-0.81,-116.8,561.9,-10.4,336,5732,0.00,2.22,0.00,0.000,4,0.000,0.043,2709,3165,3304,0,0,0,0,0,0
$GC,5834,-0.81,-116.8,573.6,-10.5,339,5838,0.00,2.22,0.00,0.000,6,0.000,0.037,2708,1748,3303,0,0,0,0,0,0
$GC,6164,-0.78,-116.8,610.0,-11.3,350,6169,0.08,2.22,0.00,0.000,4,0.190,0.041,2717,3158,3303,0,0,0,0,0,0
$GC,6253,-0.81,-116.8,620.1,-11.0,352,6258,0.00,2.20,0.00,0.000,6,0.000,0.037,2717,1743,3303,0,0,0,0,0,0
$GC,6566,-0.81,-116.8,654.3,-11.0,363,6570,0.00,2.25,0.00,0.000,4,0.000,0.054,2717,345,3302,0,0,0,0,0,0
$GC,6666,-0.78,-116.8,665.2,-9.9,366,6671,0.08,2.17,0.00,0.000,6,0.188,0.031,2732,1766,3302,0,0,0,0,0,0
$GC,7002,-0.85,-116.8,697.1,-9.3,377,7006,0.08,2.17,0.00,0.000,4,0.131,0.044,2688,3154,3302,0,0,0,0,0,0
$GC,7103,-0.78,-116.8,707.1,-9.3,380,7108,0.15,2.17,0.00,0.000,6,0.145,0.038,2730,1751,3301,0,0,0,0,0,0
$GC,7443,-0.82,-116.8,736.2,-8.3,391,7447,0.00,2.20,0.00,0.000,4,0.000,0.044,2725,3147,3300,0,0,0,0,0,0
$GC,7555,-0.85,-116.8,745.5,-8.5,394,7559,0.00,2.15,0.00,0.000,6,0.000,0.037,2725,1745,3300,0,0,0,0,0,0
$GC,7879,-0.90,-116.8,771.0,-7.9,405,7884,0.10,2.25,0.00,0.000,4,0.111,0.043,2674,3155,3300,0,0,0,0,0,0
$GC,7957,-0.80,-116.8,778.3,-9.3,407,7961,0.17,2.20,0.00,0.000,6,0.148,0.037,2722,1741,3299,0,0,0,0,0,0
$GC,8280,-0.80,-116.8,806.1,-9.0,418,8284,0.00,2.20,0.00,0.000,4,0.000,0.044,2713,3147,3299,0,0,0,0,0,0
$GC,8396,-0.80,-116.8,817.2,-9.6,421,8401,0.00,2.20,0.00,0.000,6,0.000,0.038,2714,1752,3298,0,0,0,0,0,0
$GC,8715,-0.80,-116.8,847.9,-10.1,432,8719,0.00,2.22,0.00,0.000,4,0.000,0.044,2704,3156,3298,0,0,0,0,0,0
$GC,8817,-0.77,-116.8,858.2,-10.0,435,8821,0.12,2.20,0.00,0.000,6,0.144,0.038,2738,1744,3297,0,0,0,0,0,0
$GC,9157,-0.85,-116.8,892.3,-10.1,446,9162,0.10,2.25,0.00,0.000,4,0.109,0.044,2688,3155,3297,0,0,0,0,0,0
$GC,9269,-0.81,-116.8,904.2,-11.4,449,9274,0.12,2.20,0.00,0.000,6,0.149,0.038,2722,1746,3296,0,0,0,0,0,0
$GC,9593,-0.85,-116.8,935.5,-9.3,460,9597,0.00,2.28,0.00,0.000,4,0.000,0.054,2722,339,3296,0,0,0,0,0,0
$GC,9715,-0.85,-116.8,946.8,-8.9,463,9721,0.00,2.17,0.00,0.000,6,0.000,0.031,2715,1744,3296,0,0,0,0,0,0
$GC,10028,-0.85,-116.8,972.8,-8.1,474,10032,0.00,1.25,0.00,0.000,4,0.000,0.051,2715,975,3296,0,0,0,0,0,0
$GC,10100,-0.85,-116.8,978.6,-7.4,476,10104,0.00,1.20,0.00,0.000,6,0.000,0.035,2715,1747,3296,0,0,0,0,0,0
$STATE,10404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10404,begin apogee
$GC,10410,-0.25,0.0,1000.5,6.9,486,10515,0.62,0.00,102.65,1.489,6,0.125,0.000,2904,1613,2827,0,0,0,0,0,0
$STATE,10516,end apogee,CONTROL_FINISHED_OK
$STATE,10516,begin climb
$GC,10518,0.69,116.8,1005.7,0.0,489,10635,0.88,1.17,108.18,1.470,4,0.070,0.041,3202,2286,2350,0,0,0,0,0,0
$GC,10676,0.43,335.2,1012.6,-1.7,494,10894,0.28,1.10,210.07,1.433,6,0.177,0.047,3136,1633,1459,0,0,0,0,0,0
$GC,11224,0.52,335.2,971.1,8.7,512,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1633,1451,0,0,0,0,0,0
$GC,11530,0.62,335.2,945.1,8.4,522,11535,0.15,0.95,0.00,0.000,4,0.090,0.041,3191,2254,1450,0,0,0,0,0,0
$GC,11602,0.58,335.2,938.8,8.6,524,11607,0.05,1.02,0.00,0.000,6,0.158,0.050,3179,1610,1449,0,0,0,0,0,0
$GC,11937,0.58,335.2,912.0,7.8,535,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1610,1449,0,0,0,0,0,0
$GC,12243,0.58,335.2,888.4,7.6,545,12247,0.00,0.60,0.00,0.000,4,0.000,0.044,3179,2007,1448,0,0,0,0,0,0
$GC,12315,0.58,335.2,882.8,7.8,547,12319,0.00,0.62,0.00,0.000,6,0.000,0.054,3180,1619,1447,0,0,0,0,0,0
$GC,12651,0.58,335.2,857.9,7.3,558,12654,0.00,0.73,0.00,0.000,4,0.000,0.045,3180,2095,1448,0,0,0,0,0,0
$GC,12735,0.58,335.2,851.7,6.9,560,12739,0.00,0.75,0.00,0.000,6,0.000,0.054,3182,1625,1447,0,0,0,0,0,0
$GC,13059,0.58,335.2,828.4,7.2,571,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1625,1447,0,0,0,0,0,0
$GC,13365,0.58,335.2,805.4,7.6,581,13369,0.00,0.93,0.00,0.000,4,0.000,0.044,3181,2223,1447,0,0,0,0,0,0
$GC,13437,0.56,335.2,799.6,8.0,583,13442,0.05,0.95,0.00,0.000,6,0.164,0.050,3170,1624,1447,0,0,0,0,0,0
$GC,13772,0.56,335.2,774.1,7.6,594,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1623,1447,0,0,0,0,0,0
$GC,14079,0.58,335.2,750.6,7.6,604,14082,0.00,0.68,0.00,0.000,4,0.000,0.044,3169,2071,1447,0,0,0,0,0,0
$GC,14167,0.58,335.2,743.7,7.1,606,14172,0.00,0.75,0.00,0.000,6,0.000,0.053,3170,1612,1447,0,0,0,0,0,0
$GC,14486,0.58,335.2,718.1,8.0,617,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1612,1447,0,0,0,0,0,0
$GC,14793,0.60,335.2,693.7,8.1,627,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1612,1447,0,0,0,0,0,0
$GC,15098,0.60,335.2,668.0,8.3,637,15102,0.00,0.70,0.00,0.000,4,0.000,0.045,3170,2070,1447,0,0,0,0,0,0
$GC,15181,0.60,335.2,661.1,8.0,639,15186,0.00,0.75,0.00,0.000,6,0.000,0.054,3172,1614,1447,0,0,0,0,0,0
$GC,15506,0.60,335.2,634.9,8.2,650,15509,0.00,0.75,0.00,0.000,4,0.000,0.046,3172,2101,1447,0,0,0,0,0,0
$GC,15600,0.60,335.2,627.2,7.8,652,15606,0.00,0.80,0.00,0.000,6,0.000,0.054,3172,1617,1447,0,0,0,0,0,0
$GC,15913,0.60,335.2,602.8,7.7,663,15917,0.00,0.93,0.00,0.000,4,0.000,0.045,3172,2212,1446,0,0,0,0,0,0
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$STATE,24050,end climb,SURFACE_DEPTH_REACHED
$STATE,24050,begin surface coast
$FINISH,1.6,1.015169
$STATE,24094,end surface coast,CONTROL_FINISHED_OK
$STATE,24094,begin surface
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$HUMID,49.01
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$TCM_TEMP,12.70
$XPDR_PINGS,0
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$10V_AH,9.9,64.539
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.450,146.700,449.125,0.000,0.000,24.211,36.952,521.147,0.250,0.000,77.377,2984.306,17170.662,510.229,3995.065,329.045,0.000,2028.422,0.000,3300.178,0.000,2.834,0.000
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$MEM,354672
$DATA_FILE_SIZE,67038,1127
$CAP_FILE_SIZE,213827,0
$CFSIZE,2097086464,2032238592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,050113,061153,-4117.874,-508.790,42,1.3,42,-22.5