version: 66.07.10.p01
glider: 574
mission: 4
dive: 143
start: 10 25 112 15 46 37
data:
$ID,574
$MISSION,4
$DIVE,143
$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,-5869.2324
$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,30
$R_STBD_OVSHOOT,58
$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,122
$GPS1,251012,153729,-4207.924,-740.223,41,1.1,42,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-66.1
$GPS2,251012,154543,-4207.985,-740.272,17,1.0,19,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.226,0.062
$KALMAN_X,-240954.7,540.2,490.3,333972.7,-4654.1
$KALMAN_Y,155237.7,-215.3,-557.2,-73650.8,6015.3
$MHEAD_RNG_PITCHd_Wd,96.7,31578,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.9,0.0,0.0,0,100,0.00,0.00,-72.70,0.000,2,0.000,0.000,65,1936,2389,0,0,0,0,0,0
$GC,102,-0.52,-145.9,3.0,-0.9,12,152,12.68,1.17,-31.38,0.000,4,0.275,0.072,2827,2686,3425,0,0,0,0,0,0
$GC,177,-0.52,-145.9,9.2,-10.6,24,185,0.03,1.23,0.00,0.000,6,0.180,0.044,2836,1914,3426,0,0,0,0,0,0
$GC,258,-0.50,-145.9,15.1,-7.7,37,266,0.03,0.55,0.00,0.000,4,0.288,0.060,2846,1564,3426,0,0,0,0,0,0
$GC,355,-0.50,-145.9,22.3,-7.9,53,363,0.00,0.50,0.00,0.000,6,0.000,0.042,2845,1900,3426,0,0,0,0,0,0
$GC,436,-0.50,-145.9,28.3,-7.4,66,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1900,3426,0,0,0,0,0,0
$GC,514,-0.50,-145.9,34.3,-7.5,79,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1900,3426,0,0,0,0,0,0
$GC,748,-0.50,-145.9,55.3,-9.0,120,755,0.00,0.43,0.00,0.000,4,0.000,0.060,2845,1629,3426,0,0,0,0,0,0
$GC,816,-0.50,-145.9,61.8,-9.5,132,823,0.00,0.43,0.00,0.000,6,0.000,0.042,2844,1920,3426,0,0,0,0,0,0
$GC,1163,-0.50,-145.9,89.1,-7.8,193,1167,0.00,1.60,0.00,0.000,4,0.000,0.061,2844,944,3426,0,0,0,0,0,0
$GC,1236,-0.50,-145.9,95.7,-8.8,206,1241,0.00,1.50,0.00,0.000,6,0.000,0.037,2839,1909,3426,0,0,0,0,0,0
$GC,1559,-0.50,-145.9,119.9,-6.7,233,1563,0.00,0.28,0.00,0.000,4,0.000,0.061,2839,1719,3426,0,0,0,0,0,0
$GC,1629,-0.50,-145.9,124.7,-6.7,237,1633,0.00,0.28,0.00,0.000,6,0.000,0.050,2838,1925,3426,0,0,0,0,0,0
$GC,1959,-0.50,-145.9,150.0,-8.1,258,1962,0.00,1.65,0.00,0.000,4,0.000,0.057,2837,908,3426,0,0,0,0,0,0
$GC,2027,-0.50,-145.9,155.9,-8.8,262,2031,0.03,1.55,0.00,0.000,6,0.191,0.037,2842,1906,3426,0,0,0,0,0,0
$GC,2358,-0.50,-145.9,184.6,-9.4,283,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1906,3426,0,0,0,0,0,0
$GC,2670,-0.52,-145.9,213.9,-9.5,303,2674,0.00,0.80,0.00,0.000,4,0.000,0.057,2843,1397,3427,0,0,0,0,0,0
$GC,2740,-0.52,-145.9,220.5,-9.1,307,2743,0.00,0.77,0.00,0.000,6,0.000,0.038,2841,1916,3427,0,0,0,0,0,0
$GC,3069,-0.52,-145.9,250.6,-8.8,328,3073,0.00,1.40,0.00,0.000,4,0.000,0.057,2841,1047,3426,0,0,0,0,0,0
$GC,3141,-0.52,-145.9,257.5,-9.4,331,3145,0.00,1.35,0.00,0.000,6,0.000,0.036,2836,1913,3427,0,0,0,0,0,0
$GC,3470,-0.52,-145.9,284.8,-7.9,347,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1913,3426,0,0,0,0,0,0
$GC,3778,-0.52,-145.9,307.3,-6.8,362,3781,0.00,0.82,0.00,0.000,4,0.000,0.055,2836,1393,3427,0,0,0,0,0,0
$GC,3849,-0.52,-145.9,312.2,-7.0,365,3854,0.00,0.82,0.00,0.000,6,0.000,0.040,2833,1926,3426,0,0,0,0,0,0
$GC,4179,-0.52,-145.9,334.7,-7.2,381,4183,0.00,0.35,0.00,0.000,4,0.000,0.060,2833,1689,3427,0,0,0,0,0,0
$GC,4239,-0.52,-145.9,339.6,-7.9,383,4244,0.00,0.35,0.00,0.000,6,0.000,0.047,2832,1933,3427,0,0,0,0,0,0
$GC,4556,-0.52,-145.9,364.9,-8.2,399,4560,0.00,1.30,0.00,0.000,4,0.000,0.056,2832,1124,3427,0,0,0,0,0,0
$GC,4627,-0.52,-145.9,371.6,-9.1,402,4632,0.05,1.23,0.00,0.000,6,0.228,0.036,2839,1914,3426,0,0,0,0,0,0
$GC,4955,-0.54,-145.9,400.3,-8.9,418,4958,0.00,0.95,0.00,0.000,4,0.000,0.056,2839,1313,3427,0,0,0,0,0,0
$GC,5022,-0.54,-145.9,406.5,-8.8,420,5026,0.00,0.90,0.00,0.000,6,0.000,0.037,2836,1907,3426,0,0,0,0,0,0
$GC,5362,-0.57,-145.9,437.1,-8.8,431,5366,0.00,1.10,0.00,0.000,4,0.000,0.056,2836,1218,3426,0,0,0,0,0,0
$GC,5430,-0.59,-145.9,442.9,-8.6,433,5434,0.00,1.05,0.00,0.000,6,0.000,0.037,2832,1910,3426,0,0,0,0,0,0
$GC,5770,-0.59,-145.9,472.3,-8.3,444,5774,0.00,0.55,0.00,0.000,4,0.000,0.054,2832,1549,3426,0,0,0,0,0,0
$GC,5830,-0.59,-145.9,477.4,-8.3,445,5835,0.00,0.55,0.00,0.000,6,0.000,0.041,2830,1921,3426,0,0,0,0,0,0
$GC,6142,-0.59,-145.9,505.1,-9.6,456,6146,0.00,0.80,0.00,0.000,4,0.000,0.053,2830,1412,3426,0,0,0,0,0,0
$GC,6214,-0.59,-145.9,512.4,-9.4,458,6218,0.00,0.77,0.00,0.000,6,0.000,0.037,2827,1922,3425,0,0,0,0,0,0
$GC,6549,-0.59,-145.9,546.4,-10.5,469,6552,0.00,0.90,0.00,0.000,4,0.000,0.053,2827,1348,3425,0,0,0,0,0,0
$GC,6616,-0.59,-145.9,553.7,-11.2,471,6620,0.00,0.85,0.00,0.000,6,0.000,0.037,2824,1910,3425,0,0,0,0,0,0
$GC,6956,-0.59,-145.9,588.7,-9.9,482,6960,0.00,0.82,0.00,0.000,4,0.000,0.053,2823,1377,3425,0,0,0,0,0,0
$GC,7027,-0.59,-145.9,595.4,-8.9,484,7032,0.00,0.82,0.00,0.000,6,0.000,0.037,2820,1916,3425,0,0,0,0,0,0
$GC,7363,-0.59,-145.9,624.4,-8.4,495,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1916,3424,0,0,0,0,0,0
$GC,7669,-0.59,-145.9,650.7,-8.6,505,7672,0.00,0.73,0.00,0.000,4,0.000,0.052,2820,1450,3423,0,0,0,0,0,0
$GC,7745,-0.59,-145.9,657.8,-9.1,507,7750,0.00,0.73,0.00,0.000,6,0.000,0.039,2817,1925,3423,0,0,0,0,0,0
$GC,8075,-0.59,-145.9,689.2,-10.0,518,8078,0.00,1.73,0.00,0.000,4,0.000,0.056,2817,825,3423,0,0,0,0,0,0
$GC,8152,-0.59,-145.9,697.9,-10.9,520,8157,0.00,1.67,0.00,0.000,6,0.000,0.036,2812,1904,3423,0,0,0,0,0,0
$GC,8482,-0.59,-145.9,735.4,-11.5,531,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1904,3423,0,0,0,0,0,0
$GC,8788,-0.59,-145.9,769.1,-10.6,541,8791,0.00,0.45,0.00,0.000,4,0.000,0.048,2809,2231,3423,0,0,0,0,0,0
$GC,8836,-0.59,-145.9,774.1,-9.9,542,8841,0.00,0.50,0.00,0.000,6,0.000,0.049,2809,1901,3422,0,0,0,0,0,0
$GC,9160,-0.59,-145.9,802.2,-8.2,553,9164,0.00,1.55,0.00,0.000,4,0.000,0.055,2809,926,3422,0,0,0,0,0,0
$GC,9248,-0.59,-145.9,809.3,-7.7,555,9254,0.08,1.58,0.00,0.000,6,0.197,0.037,2826,1925,3422,0,0,0,0,0,0
$GC,9567,-0.61,-145.9,829.6,-6.4,566,9571,0.00,0.50,0.00,0.000,4,0.000,0.055,2827,1592,3422,0,0,0,0,0,0
$GC,9628,-0.64,-145.9,833.7,-6.7,567,9634,0.05,0.50,0.00,0.000,6,0.171,0.044,2803,1926,3422,0,0,0,0,0,0
$GC,9941,-0.61,-145.9,859.9,-8.6,578,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1926,3422,0,0,0,0,0,0
$GC,10247,-0.58,-145.9,887.8,-9.1,588,10252,0.08,2.12,0.00,0.000,4,0.194,0.057,2820,594,3422,0,0,0,0,0,0
$GC,10329,-0.61,-145.9,895.0,-8.2,590,10334,0.00,2.03,0.00,0.000,6,0.000,0.037,2813,1896,3422,0,0,0,0,0,0
$GC,10648,-0.61,-145.9,922.8,-9.0,601,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1896,3422,0,0,0,0,0,0
$GC,10954,-0.61,-145.9,951.6,-9.3,611,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1896,3422,0,0,0,0,0,0
$GC,11260,-0.61,-145.9,980.2,-9.3,621,11264,0.00,0.25,0.00,0.000,4,0.000,0.062,2813,1714,3422,0,0,0,0,0,0
$GC,11371,-0.61,-145.9,990.9,-9.2,624,11375,0.00,0.30,0.00,0.000,6,0.000,0.050,2812,1929,3422,0,0,0,0,0,0
$STATE,11485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11485,begin apogee
$GC,11489,-0.19,0.0,1001.3,9.3,628,11617,0.45,0.00,124.47,1.572,6,0.139,0.000,2947,1654,2827,0,0,0,0,0,0
$STATE,11618,end apogee,CONTROL_FINISHED_OK
$STATE,11618,begin climb
$GC,11619,0.52,145.9,1007.3,0.0,632,11757,0.73,2.00,130.45,1.527,4,0.083,0.042,3176,2790,2232,0,0,0,0,0,0
$GC,11860,0.34,159.9,1004.0,6.9,640,11880,0.25,1.90,13.23,1.393,6,0.188,0.045,3124,1657,2174,0,0,0,0,0,0
$GC,12199,0.29,246.7,988.4,4.4,651,12279,0.05,0.00,77.72,1.515,6,0.246,0.000,3114,1657,1821,0,0,0,0,0,0
$GC,12564,0.34,312.4,969.9,5.2,663,12628,0.00,0.32,58.50,1.499,4,0.000,0.047,3114,1862,1553,0,0,0,0,0,0
$GC,12662,0.44,340.1,964.4,6.5,666,12692,0.10,0.38,26.52,1.447,6,0.071,0.057,3159,1643,1440,0,0,0,0,0,0
$GC,13022,0.58,357.1,939.9,6.8,678,13043,0.12,2.35,15.48,1.401,4,0.102,0.067,3208,246,1371,0,0,0,0,0,0
$GC,13118,0.53,357.1,931.0,11.4,681,13122,0.10,2.20,0.00,0.000,6,0.183,0.035,3187,1647,1368,0,0,0,0,0,0
$GC,13452,0.50,357.1,900.6,8.7,692,13456,0.00,0.43,0.00,0.000,4,0.000,0.047,3186,1956,1367,0,0,0,0,0,0
$GC,13501,0.47,357.1,896.1,8.4,693,13506,0.08,0.50,0.00,0.000,6,0.214,0.057,3172,1648,1366,0,0,0,0,0,0
$GC,13824,0.47,357.1,869.4,8.7,704,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1648,1365,0,0,0,0,0,0
$GC,14130,0.47,357.1,839.1,10.3,714,14134,0.00,0.62,0.00,0.000,4,0.000,0.043,3172,2069,1364,0,0,0,0,0,0
$GC,14184,0.47,357.1,833.2,10.5,715,14189,0.00,0.68,0.00,0.000,6,0.000,0.054,3172,1651,1364,0,0,0,0,0,0
$GC,14503,0.47,357.1,802.6,9.0,726,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1651,1364,0,0,0,0,0,0
$GC,14809,0.47,357.1,775.2,7.9,736,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1651,1363,0,0,0,0,0,0
$GC,15115,0.48,370.5,753.1,6.9,746,15131,0.00,0.82,12.43,1.316,4,0.000,0.044,3172,2173,1316,0,0,0,0,0,0
$GC,15176,0.48,370.5,748.5,7.6,748,15180,0.00,0.82,0.00,0.000,6,0.000,0.053,3173,1656,1315,0,0,0,0,0,0
$GC,15516,0.48,370.5,722.1,8.0,759,15517,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1655,1313,0,0,0,0,0,0
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$STATE,23213,end climb,SURFACE_DEPTH_REACHED
$STATE,23213,begin surface coast
$FINISH,1.5,1.026397
$STATE,23238,end surface coast,CONTROL_FINISHED_OK
$STATE,23238,begin surface
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$IRIDIUM_FIX,-4152.48,-713.62,251012,090910
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$XPDR_PINGS,0
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$10V_AH,10.2,28.024
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.950,74.725,597.625,0.000,0.000,28.210,39.536,303.259,0.250,0.000,21.202,3028.082,16211.067,656.399,3748.152,156.704,33.358,2110.616,0.000,3313.768,0.000,2.833,0.000
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$MEM,354256
$DATA_FILE_SIZE,73687,1226
$CAP_FILE_SIZE,198930,0
$CFSIZE,2097086464,2073952256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251012,221635,-4205.860,-735.365,51,1.1,52,-21.9