version: 66.07.10.p01
glider: 574
mission: 4
dive: 463
start: 1 7 113 3 34 56
data:
$ID,574
$MISSION,4
$DIVE,463
$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,-7302.2246
$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,30
$R_STBD_OVSHOOT,59
$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,442
$GPS1,070113,032029,-4113.546,-504.936,41,1.0,41,-22.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-70.3
$GPS2,070113,033435,-4113.493,-504.850,52,1.0,52,-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,102.6,91884,-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,-116.8,0.0,0.0,0,60,0.00,0.00,-31.38,0.000,2,0.000,0.000,67,1773,1932,0,0,0,0,0,0
$GC,62,-0.69,-116.8,3.1,-1.3,5,136,12.40,2.22,-50.60,0.000,4,0.259,0.063,2743,3128,3304,0,0,0,0,0,0
$GC,245,-0.69,-116.8,16.0,-7.9,35,253,0.03,2.22,0.00,0.000,6,0.177,0.047,2752,1754,3305,0,0,0,0,0,0
$GC,327,-0.64,-116.8,25.1,-12.8,48,335,0.10,1.70,0.00,0.000,4,0.177,0.061,2778,729,3305,0,0,0,0,0,0
$GC,411,-0.70,-116.8,36.6,-12.9,62,419,0.05,1.55,0.00,0.000,6,0.073,0.037,2744,1716,3305,0,0,0,0,0,0
$GC,652,-0.70,-116.8,59.1,-8.6,103,657,0.00,1.17,0.00,0.000,4,0.000,0.045,2740,2481,3305,0,0,0,0,0,0
$GC,712,-0.70,-116.8,64.4,-8.0,109,717,0.03,1.17,0.00,0.000,6,0.170,0.046,2749,1740,3305,0,0,0,0,0,0
$GC,1037,-0.73,-116.8,88.9,-6.7,140,1040,0.00,0.70,0.00,0.000,4,0.000,0.057,2748,1296,3305,0,0,0,0,0,0
$GC,1116,-0.75,-116.8,94.3,-6.8,147,1120,0.00,0.70,0.00,0.000,6,0.000,0.037,2748,1765,3305,0,0,0,0,0,0
$GC,1445,-0.80,-116.8,123.6,-9.9,170,1449,0.08,1.20,0.00,0.000,4,0.125,0.055,2710,1043,3306,0,0,0,0,0,0
$GC,1501,-0.73,-116.8,129.5,-10.5,173,1505,0.10,1.08,0.00,0.000,6,0.132,0.036,2739,1737,3306,0,0,0,0,0,0
$GC,1832,-0.76,-116.8,164.6,-10.3,194,1835,0.00,0.90,0.00,0.000,4,0.000,0.053,2739,1178,3307,0,0,0,0,0,0
$GC,1920,-0.78,-116.8,173.9,-10.9,199,1924,0.00,0.88,0.00,0.000,6,0.000,0.038,2737,1751,3307,0,0,0,0,0,0
$GC,2256,-0.80,-116.8,209.0,-10.1,219,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1752,3308,0,0,0,0,0,0
$GC,2564,-0.80,-116.8,239.4,-9.7,234,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1752,3308,0,0,0,0,0,0
$GC,2873,-0.80,-116.8,269.0,-9.3,249,2877,0.00,1.25,0.00,0.000,4,0.000,0.054,2737,989,3308,0,0,0,0,0,0
$GC,2966,-0.83,-116.8,277.3,-8.7,253,2970,0.00,1.17,0.00,0.000,6,0.000,0.036,2733,1748,3308,0,0,0,0,0,0
$GC,3308,-0.83,-116.8,308.3,-8.9,268,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1748,3308,0,0,0,0,0,0
$GC,3615,-0.85,-116.8,335.5,-9.0,278,3617,0.08,0.00,0.00,0.000,6,0.129,0.000,2698,1748,3309,0,0,0,0,0,0
$GC,3921,-0.80,-116.8,366.6,-10.5,288,3925,0.10,1.02,0.00,0.000,4,0.167,0.053,2726,1131,3309,0,0,0,0,0,0
$GC,3988,-0.80,-116.8,373.5,-10.3,290,3992,0.00,0.98,0.00,0.000,6,0.000,0.036,2723,1765,3309,0,0,0,0,0,0
$GC,4329,-0.80,-116.8,408.8,-10.5,301,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1765,3309,0,0,0,0,0,0
$GC,4635,-0.80,-116.8,441.0,-10.5,311,4639,0.00,1.33,0.00,0.000,4,0.000,0.054,2723,958,3309,0,0,0,0,0,0
$GC,4690,-0.80,-116.8,446.9,-10.9,312,4694,0.00,1.23,0.00,0.000,6,0.000,0.035,2717,1747,3309,0,0,0,0,0,0
$GC,5009,-0.80,-116.8,477.7,-9.6,323,5013,0.00,1.05,0.00,0.000,4,0.000,0.054,2717,1101,3308,0,0,0,0,0,0
$GC,5070,-0.80,-116.8,483.9,-9.6,324,5075,0.00,1.00,0.00,0.000,6,0.000,0.037,2715,1748,3309,0,0,0,0,0,0
$GC,5382,-0.80,-116.8,512.6,-9.3,335,5386,0.00,0.80,0.00,0.000,4,0.000,0.052,2715,1251,3309,0,0,0,0,0,0
$GC,5505,-0.80,-116.8,524.3,-10.1,338,5509,0.00,0.80,0.00,0.000,6,0.000,0.038,2715,1763,3309,0,0,0,0,0,0
$GC,5824,-0.80,-116.8,555.1,-10.1,349,5827,0.00,1.10,0.00,0.000,4,0.000,0.053,2715,1089,3309,0,0,0,0,0,0
$GC,5896,-0.76,-116.8,562.8,-10.1,351,5900,0.05,1.02,0.00,0.000,6,0.150,0.036,2732,1757,3308,0,0,0,0,0,0
$GC,6230,-0.76,-116.8,596.3,-10.2,362,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1757,3308,0,0,0,0,0,0
$GC,6537,-0.79,-116.8,626.2,-9.4,372,6541,0.00,0.45,0.00,0.000,4,0.000,0.054,2732,1458,3308,0,0,0,0,0,0
$GC,6794,-0.83,-116.8,649.2,-8.7,379,6798,0.00,0.45,0.00,0.000,6,0.000,0.042,2731,1757,3307,0,0,0,0,0,0
$GC,7113,-0.87,-116.8,671.7,-8.1,390,7118,0.08,2.17,0.00,0.000,4,0.127,0.049,2689,3137,3306,0,0,0,0,0,0
$GC,7181,-0.84,-116.8,677.6,-8.6,392,7186,0.10,2.17,0.00,0.000,6,0.160,0.043,2715,1748,3306,0,0,0,0,0,0
$GC,7516,-0.87,-116.8,703.2,-7.6,403,7520,0.00,0.45,0.00,0.000,4,0.000,0.058,2715,1451,3306,0,0,0,0,0,0
$GC,7550,-0.87,-116.8,705.9,-7.7,404,7553,0.00,0.43,0.00,0.000,6,0.000,0.046,2715,1738,3306,0,0,0,0,0,0
$GC,7890,-0.87,-116.8,732.6,-8.0,415,7894,0.00,2.22,0.00,0.000,4,0.000,0.051,2706,3146,3305,0,0,0,0,0,0
$GC,7952,-0.87,-116.8,737.7,-8.2,417,7956,0.00,2.22,0.00,0.000,6,0.000,0.043,2706,1741,3306,0,0,0,0,0,0
$GC,8287,-0.83,-116.8,766.4,-8.8,428,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1740,3305,0,0,0,0,0,0
$GC,8593,-0.83,-116.8,794.9,-9.7,438,8596,0.00,0.50,0.00,0.000,4,0.000,0.045,2704,2082,3305,0,0,0,0,0,0
$GC,8619,-0.83,-116.8,797.9,-10.3,438,8625,0.00,0.55,0.00,0.000,6,0.000,0.049,2704,1731,3305,0,0,0,0,0,0
$GC,8932,-0.83,-116.8,828.9,-10.2,449,8936,0.00,0.77,0.00,0.000,4,0.000,0.055,2704,1241,3305,0,0,0,0,0,0
$GC,8967,-0.80,-116.8,832.3,-10.3,450,8972,0.05,0.77,0.00,0.000,6,0.155,0.041,2719,1743,3305,0,0,0,0,0,0
$GC,9307,-0.84,-116.8,866.2,-10.2,461,9311,0.00,0.77,0.00,0.000,4,0.000,0.046,2717,2268,3305,0,0,0,0,0,0
$GC,9357,-0.86,-116.8,871.4,-10.0,462,9361,0.00,0.80,0.00,0.000,6,0.000,0.044,2716,1758,3305,0,0,0,0,0,0
$GC,9682,-0.89,-116.8,902.5,-9.7,473,9686,0.05,0.80,0.00,0.000,4,0.170,0.054,2692,1258,3305,0,0,0,0,0,0
$GC,9716,-0.85,-116.8,905.8,-10.1,474,9720,0.05,0.77,0.00,0.000,6,0.156,0.042,2706,1758,3305,0,0,0,0,0,0
$GC,10056,-0.85,-116.8,938.3,-9.3,485,10059,0.00,1.65,0.00,0.000,4,0.000,0.049,2699,2827,3305,0,0,0,0,0,0
$GC,10111,-0.85,-116.8,943.5,-8.7,486,10115,0.00,1.73,0.00,0.000,6,0.000,0.042,2699,1743,3305,0,0,0,0,0,0
$GC,10429,-0.85,-116.8,972.7,-9.3,497,10433,0.00,2.00,0.00,0.000,4,0.000,0.057,2699,502,3305,0,0,0,0,0,0
$GC,10479,-0.81,-116.8,977.7,-10.3,498,10484,0.08,1.95,0.00,0.000,6,0.139,0.035,2717,1748,3305,0,0,0,0,0,0
$STATE,10742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10742,begin apogee
$GC,10748,-0.25,0.0,1001.3,9.2,507,10855,0.60,0.00,104.78,1.461,6,0.119,0.000,2901,1603,2827,0,0,0,0,0,0
$STATE,10856,end apogee,CONTROL_FINISHED_OK
$STATE,10856,begin climb
$GC,10858,0.69,116.8,1008.5,0.0,510,10975,0.90,2.53,107.70,1.456,4,0.068,0.045,3205,3013,2350,0,0,0,0,0,0
$GC,11134,0.42,430.3,1024.9,-5.2,518,11441,0.35,2.22,298.23,1.462,6,0.196,0.044,3128,1626,1072,0,0,0,0,0,0
$GC,11754,0.69,430.3,982.4,9.0,539,11759,0.22,2.33,0.00,0.000,4,0.091,0.061,3205,217,1063,0,0,0,0,0,0
$GC,11900,0.84,430.3,969.7,8.9,543,11905,0.15,2.17,0.00,0.000,6,0.095,0.034,3260,1629,1060,0,0,0,0,0,0
$GC,12218,0.76,430.3,936.5,10.5,554,12222,0.10,1.77,0.00,0.000,4,0.190,0.062,3241,533,1060,0,0,0,0,0,0
$GC,12267,0.74,430.3,931.4,10.4,555,12271,0.05,1.70,0.00,0.000,6,0.151,0.034,3225,1633,1060,0,0,0,0,0,0
$GC,12591,0.74,430.3,899.8,9.6,566,12595,0.00,2.15,0.00,0.000,4,0.000,0.045,3225,3011,1059,0,0,0,0,0,0
$GC,12663,0.74,430.3,892.4,9.6,568,12667,0.00,2.22,0.00,0.000,6,0.000,0.045,3227,1625,1059,0,0,0,0,0,0
$GC,12993,0.74,430.3,861.9,9.1,579,12996,0.00,0.80,0.00,0.000,4,0.000,0.040,3227,2159,1059,0,0,0,0,0,0
$GC,13150,0.74,430.3,847.6,8.1,583,13154,0.00,0.88,0.00,0.000,6,0.000,0.051,3227,1612,1059,0,0,0,0,0,0
$GC,13468,0.74,430.3,817.9,9.4,594,13472,0.00,2.22,0.00,0.000,4,0.000,0.044,3227,3016,1059,0,0,0,0,0,0
$GC,13557,0.76,430.3,808.9,9.7,596,13562,0.00,2.22,0.00,0.000,6,0.000,0.045,3226,1621,1059,0,0,0,0,0,0
$GC,13869,0.76,430.3,778.4,9.7,607,13873,0.00,0.57,0.00,0.000,4,0.000,0.041,3227,2016,1059,0,0,0,0,0,0
$GC,13992,0.76,430.3,766.7,9.2,610,13996,0.00,0.65,0.00,0.000,6,0.000,0.054,3227,1616,1059,0,0,0,0,0,0
$GC,14310,0.76,430.3,737.4,9.0,621,14314,0.00,0.62,0.00,0.000,4,0.000,0.041,3227,2040,1059,0,0,0,0,0,0
$GC,14393,0.76,430.3,729.6,8.5,623,14398,0.00,0.70,0.00,0.000,6,0.000,0.053,3227,1612,1059,0,0,0,0,0,0
$GC,14718,0.76,430.3,699.8,9.1,634,14722,0.00,2.22,0.00,0.000,4,0.000,0.044,3227,3017,1059,0,0,0,0,0,0
$GC,14800,0.76,430.3,691.9,8.7,636,14805,0.00,2.25,0.00,0.000,6,0.000,0.045,3228,1626,1059,0,0,0,0,0,0
$GC,15119,0.76,430.3,662.4,9.3,647,15120,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1626,1059,0,0,0,0,0,0
$GC,15425,0.76,430.3,632.3,10.0,657,15429,0.00,1.33,0.00,0.000,4,0.000,0.040,3228,2468,1059,0,0,0,0,0,0
$GC,15503,0.76,430.3,624.1,10.9,659,15507,0.00,1.38,0.00,0.000,6,0.000,0.049,3228,1618,1059,0,0,0,0,0,0
$GC,15833,0.76,430.3,589.8,10.6,670,15836,0.00,1.60,0.00,0.000,4,0.000,0.041,3228,2630,1059,0,0,0,0,0,0
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$STATE,21963,end climb,SURFACE_DEPTH_REACHED
$STATE,21963,begin surface coast
$FINISH,1.7,1.003248
$STATE,21994,end surface coast,CONTROL_FINISHED_OK
$STATE,21994,begin surface
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$HUMID,50.66
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$TCM_TEMP,12.00
$XPDR_PINGS,0
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$10V_AH,9.8,65.502
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354616
$DATA_FILE_SIZE,63718,1039
$CAP_FILE_SIZE,192687,0
$CFSIZE,2097086464,2031255552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,070113,094405,-4112.733,-504.142,42,0.8,42,-22.5