version: 66.07.10.p01
glider: 574
mission: 4
dive: 457
start: 1 5 113 12 57 44
data:
$ID,574
$MISSION,4
$DIVE,457
$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,-7285.9771
$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,31
$R_STBD_OVSHOOT,55
$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,436
$GPS1,050113,124435,-4117.393,-508.579,37,0.8,37,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-74.3
$GPS2,050113,125723,-4117.388,-508.491,41,1.0,41,-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,99.0,98324,-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,-116.8,0.0,0.0,0,51,0.00,0.00,-23.20,0.000,2,0.000,0.000,68,1768,1721,0,0,0,0,0,0
$GC,54,-0.69,-116.8,3.0,-1.6,4,140,12.18,2.25,-62.95,0.000,4,0.255,0.063,2745,3136,3304,0,0,0,0,0,0
$GC,220,-0.63,-116.8,15.1,-11.6,31,228,0.10,2.25,0.00,0.000,6,0.144,0.049,2775,1754,3304,0,0,0,0,0,0
$GC,302,-0.70,-116.8,23.2,-9.4,44,309,0.00,1.12,0.00,0.000,4,0.000,0.061,2775,1064,3305,0,0,0,0,0,0
$GC,342,-0.76,-116.8,27.0,-9.5,50,350,0.08,1.05,0.00,0.000,6,0.068,0.037,2730,1741,3304,0,0,0,0,0,0
$GC,423,-0.71,-116.8,35.1,-10.3,63,428,0.10,1.05,0.00,0.000,4,0.165,0.045,2752,2421,3305,0,0,0,0,0,0
$GC,471,-0.71,-116.8,39.8,-9.5,71,476,0.00,1.08,0.00,0.000,6,0.000,0.047,2752,1742,3305,0,0,0,0,0,0
$GC,711,-0.71,-116.8,62.0,-8.5,111,715,0.00,0.68,0.00,0.000,4,0.000,0.057,2752,1314,3305,0,0,0,0,0,0
$GC,758,-0.71,-116.8,65.7,-8.5,115,762,0.00,0.68,0.00,0.000,6,0.000,0.038,2749,1763,3305,0,0,0,0,0,0
$GC,1088,-0.73,-116.8,97.8,-9.8,146,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1763,3305,0,0,0,0,0,0
$GC,1404,-0.75,-116.8,129.2,-9.7,167,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1763,3306,0,0,0,0,0,0
$GC,1716,-0.75,-116.8,157.7,-9.2,187,1720,0.00,0.98,0.00,0.000,4,0.000,0.044,2745,2411,3306,0,0,0,0,0,0
$GC,1787,-0.75,-116.8,164.4,-9.5,191,1791,0.00,1.05,0.00,0.000,6,0.000,0.046,2745,1743,3306,0,0,0,0,0,0
$GC,2117,-0.75,-116.8,198.2,-10.0,212,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1743,3306,0,0,0,0,0,0
$GC,2437,-0.75,-116.8,229.0,-9.4,228,2441,0.00,0.93,0.00,0.000,4,0.000,0.041,2743,2356,3307,0,0,0,0,0,0
$GC,2492,-0.75,-116.8,234.3,-8.9,230,2497,0.00,0.98,0.00,0.000,6,0.000,0.047,2744,1742,3307,0,0,0,0,0,0
$GC,2814,-0.75,-116.8,265.0,-9.7,246,2818,0.00,0.55,0.00,0.000,4,0.000,0.057,2743,1377,3307,0,0,0,0,0,0
$GC,2860,-0.75,-116.8,269.6,-9.5,248,2864,0.00,0.55,0.00,0.000,6,0.000,0.041,2742,1750,3306,0,0,0,0,0,0
$GC,3193,-0.78,-116.8,301.2,-9.5,264,3196,0.00,0.95,0.00,0.000,4,0.000,0.047,2741,2381,3306,0,0,0,0,0,0
$GC,3248,-0.78,-116.8,306.6,-9.8,265,3252,0.00,1.00,0.00,0.000,6,0.000,0.045,2741,1741,3306,0,0,0,0,0,0
$GC,3567,-0.78,-116.8,335.4,-9.1,276,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1741,3306,0,0,0,0,0,0
$GC,3873,-0.82,-116.8,363.5,-9.5,286,3875,0.05,0.00,0.00,0.000,6,0.170,0.000,2711,1741,3306,0,0,0,0,0,0
$GC,4179,-0.79,-116.8,395.1,-10.6,296,4181,0.08,0.00,0.00,0.000,6,0.181,0.000,2730,1741,3306,0,0,0,0,0,0
$GC,4485,-0.79,-116.8,426.8,-10.4,306,4489,0.00,0.90,0.00,0.000,4,0.000,0.043,2729,2339,3306,0,0,0,0,0,0
$GC,4553,-0.79,-116.8,433.9,-9.7,308,4557,0.00,0.90,0.00,0.000,6,0.000,0.046,2729,1754,3306,0,0,0,0,0,0
$GC,4893,-0.79,-116.8,468.4,-10.1,319,4897,0.00,0.68,0.00,0.000,4,0.000,0.056,2730,1315,3306,0,0,0,0,0,0
$GC,5005,-0.82,-116.8,479.9,-9.9,322,5009,0.00,0.65,0.00,0.000,6,0.000,0.039,2729,1747,3306,0,0,0,0,0,0
$GC,5335,-0.85,-116.8,513.6,-10.5,333,5339,0.05,2.12,0.00,0.000,4,0.168,0.059,2701,449,3305,0,0,0,0,0,0
$GC,5412,-0.81,-116.8,522.3,-11.1,335,5417,0.10,2.00,0.00,0.000,6,0.171,0.034,2719,1746,3305,0,0,0,0,0,0
$GC,5736,-0.81,-116.8,556.3,-10.7,346,5739,0.00,1.67,0.00,0.000,4,0.000,0.055,2719,709,3305,0,0,0,0,0,0
$GC,5838,-0.86,-116.8,566.6,-10.0,349,5842,0.00,1.62,0.00,0.000,6,0.000,0.035,2715,1755,3305,0,0,0,0,0,0
$GC,6178,-0.86,-116.8,600.8,-10.1,360,6182,0.00,1.12,0.00,0.000,4,0.000,0.053,2715,1059,3305,0,0,0,0,0,0
$GC,6289,-0.86,-116.8,611.6,-9.5,363,6294,0.00,1.08,0.00,0.000,6,0.000,0.036,2715,1758,3305,0,0,0,0,0,0
$GC,6620,-0.86,-116.8,642.9,-9.5,374,6624,0.00,2.33,0.00,0.000,4,0.000,0.057,2715,338,3304,0,0,0,0,0,0
$GC,6716,-0.86,-116.8,652.0,-9.0,377,6720,0.00,2.17,0.00,0.000,6,0.000,0.035,2715,1746,3304,0,0,0,0,0,0
$GC,7050,-0.86,-116.8,682.3,-9.1,388,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1746,3304,0,0,0,0,0,0
$GC,7357,-0.86,-116.8,710.2,-9.3,398,7361,0.00,0.45,0.00,0.000,4,0.000,0.052,2716,1451,3303,0,0,0,0,0,0
$GC,7559,-0.86,-116.8,729.7,-9.7,404,7563,0.00,0.45,0.00,0.000,6,0.000,0.044,2715,1759,3303,0,0,0,0,0,0
$GC,7900,-0.86,-116.8,763.0,-9.7,415,7904,0.00,1.02,0.00,0.000,4,0.000,0.051,2715,1125,3303,0,0,0,0,0,0
$GC,7968,-0.86,-116.8,769.6,-8.8,417,7971,0.00,0.95,0.00,0.000,6,0.000,0.037,2715,1747,3302,0,0,0,0,0,0
$GC,8308,-0.86,-116.8,802.7,-9.7,428,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1747,3302,0,0,0,0,0,0
$GC,8615,-0.86,-116.8,833.1,-10.0,438,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1747,3302,0,0,0,0,0,0
$GC,8921,-0.86,-116.8,862.5,-9.4,448,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1747,3302,0,0,0,0,0,0
$GC,9227,-0.86,-116.8,889.8,-8.7,458,9231,0.00,1.65,0.00,0.000,4,0.000,0.044,2708,2822,3300,0,0,0,0,0,0
$GC,9282,-0.86,-116.8,895.0,-8.6,459,9286,0.00,1.70,0.00,0.000,6,0.000,0.041,2708,1751,3301,0,0,0,0,0,0
$GC,9601,-0.86,-116.8,922.2,-8.4,470,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1750,3301,0,0,0,0,0,0
$GC,9907,-0.86,-116.8,948.0,-8.3,480,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1751,3301,0,0,0,0,0,0
$GC,10213,-0.86,-116.8,974.2,-8.5,490,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1750,3300,0,0,0,0,0,0
$STATE,10519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10519,begin apogee
$GC,10524,-0.25,0.0,1002.1,9.2,500,10631,0.65,0.00,103.85,1.476,6,0.130,0.000,2901,1606,2827,0,0,0,0,0,0
$STATE,10632,end apogee,CONTROL_FINISHED_OK
$STATE,10632,begin climb
$GC,10634,0.69,116.8,1009.2,0.0,503,10747,0.90,0.00,108.95,1.465,6,0.075,0.000,3201,1606,2350,0,0,0,0,0,0
$GC,11039,0.44,403.4,1030.9,-4.2,517,11316,0.28,2.58,269.02,1.460,4,0.193,0.063,3129,229,1182,0,0,0,0,0,0
$GC,11535,0.71,403.4,1001.6,8.8,532,11541,0.25,2.17,0.00,0.000,6,0.093,0.035,3213,1625,1173,0,0,0,0,0,0
$GC,11848,0.69,403.4,974.6,8.6,543,11852,0.00,1.42,0.00,0.000,4,0.000,0.043,3213,2537,1172,0,0,0,0,0,0
$GC,11920,0.69,403.4,967.7,8.8,545,11925,0.00,1.45,0.00,0.000,6,0.000,0.050,3213,1631,1171,0,0,0,0,0,0
$GC,12256,0.69,403.4,936.1,9.7,556,12260,0.00,1.42,0.00,0.000,4,0.000,0.043,3213,2541,1171,0,0,0,0,0,0
$GC,12305,0.69,403.4,931.1,10.2,557,12310,0.00,1.48,0.00,0.000,6,0.000,0.049,3213,1623,1170,0,0,0,0,0,0
$GC,12629,0.69,403.4,898.9,10.1,568,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1623,1170,0,0,0,0,0,0
$GC,12936,0.69,403.4,868.2,10.1,578,12939,0.00,0.82,0.00,0.000,4,0.000,0.044,3213,2166,1170,0,0,0,0,0,0
$GC,13013,0.67,403.4,860.4,9.6,580,13018,0.03,0.88,0.00,0.000,6,0.195,0.053,3206,1618,1170,0,0,0,0,0,0
$GC,13343,0.67,403.4,827.9,10.0,591,13344,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1618,1170,0,0,0,0,0,0
$GC,13649,0.67,403.4,798.1,9.7,601,13652,0.00,1.33,0.00,0.000,4,0.000,0.044,3206,2459,1169,0,0,0,0,0,0
$GC,13698,0.67,403.4,793.3,8.8,602,13702,0.00,1.35,0.00,0.000,6,0.000,0.049,3209,1619,1169,0,0,0,0,0,0
$GC,14022,0.67,403.4,763.6,9.1,613,14026,0.00,0.70,0.00,0.000,4,0.000,0.063,3209,1177,1169,0,0,0,0,0,0
$GC,14072,0.67,403.4,759.1,8.3,614,14076,0.00,0.70,0.00,0.000,6,0.000,0.041,3210,1629,1169,0,0,0,0,0,0
$GC,14396,0.67,403.4,732.5,7.9,625,14400,0.00,0.85,0.00,0.000,4,0.000,0.045,3210,2195,1169,0,0,0,0,0,0
$GC,14473,0.67,403.4,726.4,6.9,627,14478,0.00,0.95,0.00,0.000,6,0.000,0.053,3211,1611,1169,0,0,0,0,0,0
$GC,14803,0.67,403.4,702.0,7.3,638,14807,0.00,1.23,0.00,0.000,4,0.000,0.044,3211,2392,1169,0,0,0,0,0,0
$GC,14871,0.67,403.4,696.9,8.3,640,14875,0.00,1.25,0.00,0.000,6,0.000,0.051,3213,1615,1169,0,0,0,0,0,0
$GC,15212,0.67,403.4,672.2,7.4,651,15215,0.00,0.50,0.00,0.000,4,0.000,0.047,3213,1953,1169,0,0,0,0,0,0
$GC,15317,0.67,403.4,663.9,7.9,654,15321,0.00,0.55,0.00,0.000,6,0.000,0.058,3213,1619,1169,0,0,0,0,0,0
$GC,15653,0.67,403.4,635.6,8.7,665,15657,0.00,1.58,0.00,0.000,4,0.000,0.045,3213,2604,1169,0,0,0,0,0,0
$GC,15714,0.67,403.4,629.9,8.8,666,15719,0.00,1.58,0.00,0.000,6,0.000,0.050,3213,1627,1169,0,0,0,0,0,0
$GC,16027,0.67,403.4,600.2,9.7,677,16030,0.00,0.85,0.00,0.000,4,0.000,0.044,3213,2180,1169,0,0,0,0,0,0
$GC,16098,0.67,403.4,592.8,10.7,679,16103,0.00,0.93,0.00,0.000,6,0.000,0.054,3213,1616,1169,0,0,0,0,0,0
$GC,16434,0.67,403.4,558.9,10.1,690,16438,0.00,0.93,0.00,0.000,4,0.000,0.044,3213,2217,1169,0,0,0,0,0,0
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$STATE,22447,end climb,SURFACE_DEPTH_REACHED
$STATE,22447,begin surface coast
$FINISH,1.8,1.025282
$STATE,22515,end surface coast,CONTROL_FINISHED_OK
$STATE,22515,begin surface
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$SM_GC,2.76,8.98,0.00,0.00,0.059,0.000,0.000,93,1753,1168,-9.00,0.11,406.70
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$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.20
$XPDR_PINGS,0
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$10V_AH,9.9,64.785
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,710.762,1011.723,725.052,88.676,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354632
$DATA_FILE_SIZE,63595,1068
$CAP_FILE_SIZE,185514,0
$CFSIZE,2097086464,2032041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,050113,191534,-4116.838,-507.746,42,1.0,42,-22.5