version: 66.07.10.p01
glider: 574
mission: 4
dive: 319
start: 12 4 112 23 50 20
data:
$ID,574
$MISSION,4
$DIVE,319
$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,300
$T_MISSION,325
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,-6863.8755
$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,24
$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,1950
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,42
$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,298
$GPS1,041212,234135,-4200.611,-613.021,35,1.0,35,-22.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-68.5
$GPS2,041212,234959,-4200.636,-612.901,43,1.1,44,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4206.035,-600.296
$TGT_RADIUS,1852.000
$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,142.1,20000,-19.9,-11.111
$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,-0.84,-145.9,0.0,0.0,0,95,0.00,0.00,-66.12,0.000,2,0.000,0.000,65,2024,2311,0,0,0,0,0,0
$GC,97,-0.84,-145.9,3.2,-1.5,11,159,12.15,2.50,-39.75,0.000,4,0.263,0.078,2735,543,3423,0,0,0,0,0,0
$GC,233,-0.77,-145.9,15.8,-13.7,33,240,0.10,2.22,0.00,0.000,6,0.159,0.039,2757,1943,3424,0,0,0,0,0,0
$GC,314,-0.84,-145.9,24.1,-9.8,46,321,0.00,2.28,0.00,0.000,4,0.000,0.052,2749,3360,3423,0,0,0,0,0,0
$GC,394,-0.92,-145.9,32.4,-10.1,59,400,0.10,2.22,0.00,0.000,6,0.109,0.047,2706,1952,3423,0,0,0,0,0,0
$GC,629,-0.95,-145.9,59.3,-10.9,100,636,0.00,0.90,0.00,0.000,4,0.000,0.044,2702,2536,3423,0,0,0,0,0,0
$GC,666,-0.95,-145.9,63.5,-11.5,106,671,0.00,0.93,0.00,0.000,6,0.000,0.047,2702,1948,3423,0,0,0,0,0,0
$GC,1011,-0.91,-145.9,104.1,-12.0,164,1016,0.05,2.25,0.00,0.000,4,0.233,0.049,2704,3365,3424,0,0,0,0,0,0
$GC,1058,-0.91,-145.9,109.8,-12.4,167,1062,0.00,2.22,0.00,0.000,6,0.000,0.045,2704,1943,3424,0,0,0,0,0,0
$GC,1383,-0.95,-145.9,150.8,-12.6,188,1386,0.00,1.80,0.00,0.000,4,0.000,0.059,2704,810,3425,0,0,0,0,0,0
$GC,1423,-0.88,-145.9,156.2,-13.0,190,1427,0.12,1.77,0.00,0.000,6,0.177,0.036,2727,1962,3425,0,0,0,0,0,0
$GC,1749,-0.94,-145.9,192.8,-11.2,211,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1961,3425,0,0,0,0,0,0
$GC,2062,-1.02,-145.9,226.5,-10.6,231,2066,0.12,0.40,0.00,0.000,4,0.098,0.049,2676,2253,3426,0,0,0,0,0,0
$GC,2150,-0.98,-145.9,237.7,-12.5,236,2155,0.08,0.50,0.00,0.000,6,0.194,0.050,2692,1928,3426,0,0,0,0,0,0
$GC,2479,-0.95,-145.9,275.1,-11.4,254,2483,0.05,1.55,0.00,0.000,4,0.249,0.057,2706,969,3426,0,0,0,0,0,0
$GC,2511,-0.92,-145.9,279.1,-11.7,255,2516,0.03,1.52,0.00,0.000,6,0.199,0.035,2709,1948,3426,0,0,0,0,0,0
$GC,2836,-0.94,-145.9,312.0,-10.1,271,2840,0.00,2.20,0.00,0.000,4,0.000,0.047,2699,3364,3427,0,0,0,0,0,0
$GC,2908,-0.94,-145.9,320.3,-10.4,274,2912,0.00,2.20,0.00,0.000,6,0.000,0.041,2699,1952,3427,0,0,0,0,0,0
$GC,3230,-0.94,-145.9,352.9,-9.6,290,3234,0.00,2.20,0.00,0.000,4,0.000,0.047,2689,3363,3427,0,0,0,0,0,0
$GC,3251,-0.94,-145.9,354.7,-9.7,291,3256,0.08,2.17,0.00,0.000,6,0.183,0.039,2706,1944,3427,0,0,0,0,0,0
$GC,3581,-0.97,-145.9,384.9,-8.9,307,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1944,3427,0,0,0,0,0,0
$GC,3886,-0.99,-145.9,412.9,-9.1,320,3890,0.00,0.68,0.00,0.000,4,0.000,0.042,2704,2402,3427,0,0,0,0,0,0
$GC,3970,-1.07,-145.9,420.7,-9.5,322,3974,0.08,0.70,0.00,0.000,6,0.073,0.045,2664,1941,3427,0,0,0,0,0,0
$GC,4294,-0.99,-145.9,454.7,-10.5,333,4298,0.10,0.88,0.00,0.000,4,0.185,0.054,2691,1379,3428,0,0,0,0,0,0
$GC,4320,-0.95,-145.9,457.8,-9.6,333,4326,0.05,0.88,0.00,0.000,6,0.174,0.037,2704,1959,3428,0,0,0,0,0,0
$GC,4633,-0.95,-145.9,487.3,-9.7,344,4637,0.00,2.03,0.00,0.000,4,0.000,0.047,2695,3269,3428,0,0,0,0,0,0
$GC,4688,-0.98,-145.9,493.3,-10.9,345,4692,0.00,2.03,0.00,0.000,6,0.000,0.038,2695,1950,3428,0,0,0,0,0,0
$GC,5006,-0.98,-145.9,527.5,-11.0,356,5010,0.00,2.17,0.00,0.000,4,0.000,0.046,2685,3346,3428,0,0,0,0,0,0
$GC,5089,-0.98,-145.9,537.6,-12.1,358,5094,0.00,2.15,0.00,0.000,6,0.000,0.037,2685,1956,3428,0,0,0,0,0,0
$GC,5414,-0.95,-145.9,575.6,-11.9,369,5419,0.08,2.25,0.00,0.000,4,0.215,0.054,2705,541,3428,0,0,0,0,0,0
$GC,5463,-0.92,-145.9,582.0,-12.8,370,5468,0.03,2.17,0.00,0.000,6,0.197,0.034,2705,1943,3428,0,0,0,0,0,0
$GC,5782,-0.95,-145.9,617.1,-11.1,381,5786,0.00,2.22,0.00,0.000,4,0.000,0.054,2705,544,3428,0,0,0,0,0,0
$GC,5853,-0.95,-145.9,626.1,-12.6,383,5858,0.00,2.17,0.00,0.000,6,0.000,0.034,2695,1948,3428,0,0,0,0,0,0
$GC,6183,-0.95,-145.9,663.3,-11.3,394,6187,0.00,2.25,0.00,0.000,4,0.000,0.054,2695,547,3427,0,0,0,0,0,0
$GC,6246,-0.91,-145.9,671.1,-12.5,396,6251,0.12,2.15,0.00,0.000,6,0.180,0.034,2717,1964,3427,0,0,0,0,0,0
$GC,6582,-0.96,-145.9,705.9,-9.8,407,6586,0.00,2.15,0.00,0.000,4,0.000,0.047,2707,3350,3427,0,0,0,0,0,0
$GC,6598,-1.01,-145.9,707.9,-9.7,407,6602,0.05,2.15,0.00,0.000,6,0.169,0.037,2683,1948,3427,0,0,0,0,0,0
$GC,6916,-0.98,-145.9,741.7,-10.9,418,6920,0.05,0.95,0.00,0.000,4,0.234,0.050,2693,1341,3427,0,0,0,0,0,0
$GC,6942,-0.95,-145.9,744.9,-11.5,418,6949,0.03,0.93,0.00,0.000,6,0.195,0.037,2697,1948,3427,0,0,0,0,0,0
$GC,7255,-0.95,-145.9,776.1,-10.0,429,7259,0.00,2.25,0.00,0.000,4,0.000,0.054,2697,546,3427,0,0,0,0,0,0
$GC,7311,-0.90,-145.9,782.6,-11.8,430,7315,0.12,2.12,0.00,0.000,6,0.181,0.034,2719,1946,3427,0,0,0,0,0,0
$GC,7629,-0.98,-145.9,812.3,-9.4,441,7634,0.08,2.20,0.00,0.000,4,0.130,0.047,2679,3353,3426,0,0,0,0,0,0
$GC,7726,-0.95,-145.9,823.1,-11.1,444,7731,0.10,2.17,0.00,0.000,6,0.174,0.037,2704,1939,3426,0,0,0,0,0,0
$GC,8061,-0.99,-145.9,858.3,-10.5,455,8064,0.00,2.08,0.00,0.000,4,0.000,0.047,2695,3260,3426,0,0,0,0,0,0
$GC,8099,-0.99,-145.9,863.1,-11.9,456,8103,0.00,2.03,0.00,0.000,6,0.000,0.037,2695,1952,3426,0,0,0,0,0,0
$GC,8435,-0.99,-145.9,899.0,-10.7,467,8438,0.00,1.80,0.00,0.000,4,0.000,0.044,2686,3111,3426,0,0,0,0,0,0
$GC,8472,-0.99,-145.9,903.2,-11.3,468,8477,0.00,1.80,0.00,0.000,6,0.000,0.037,2687,1951,3425,0,0,0,0,0,0
$GC,8808,-0.99,-145.9,939.7,-10.8,479,8812,0.00,2.22,0.00,0.000,4,0.000,0.047,2677,3362,3425,0,0,0,0,0,0
$GC,8863,-0.94,-145.9,946.7,-12.8,480,8869,0.08,2.20,0.00,0.000,6,0.135,0.037,2710,1951,3426,0,0,0,0,0,0
$GC,9177,-0.99,-145.9,978.5,-10.1,491,9181,0.00,2.22,0.00,0.000,4,0.000,0.047,2701,3359,3426,0,0,0,0,0,0
$GC,9225,-0.99,-145.9,984.0,-11.2,492,9230,0.00,2.20,0.00,0.000,6,0.000,0.036,2700,1945,3425,0,0,0,0,0,0
$STATE,9390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9390,begin apogee
$GC,9396,-0.21,0.0,1001.5,10.5,498,9529,0.82,0.00,130.27,1.502,6,0.143,0.000,2944,1495,2827,0,0,0,0,0,0
$STATE,9530,end apogee,CONTROL_FINISHED_OK
$STATE,9530,begin climb
$GC,9532,0.84,145.9,1010.7,0.0,502,9676,1.05,1.98,135.60,1.476,4,0.068,0.041,3283,2600,2232,0,0,0,0,0,0
$GC,9788,0.57,229.5,1011.4,6.8,510,9874,0.35,1.85,77.05,1.439,6,0.204,0.048,3201,1506,1891,0,0,0,0,0,0
$GC,10193,0.55,306.2,982.6,7.2,524,10267,0.00,2.05,69.12,1.434,4,0.000,0.039,3200,2737,1577,0,0,0,0,0,0
$GC,10334,0.60,361.8,970.9,8.3,528,10390,0.00,2.03,51.60,1.406,6,0.000,0.047,3208,1490,1352,0,0,0,0,0,0
$GC,10709,0.71,390.6,936.1,9.6,541,10741,0.10,1.60,26.40,1.356,4,0.110,0.065,3248,558,1233,0,0,0,0,0,0
$GC,10775,0.71,390.6,928.3,13.0,543,10779,0.00,1.50,0.00,0.000,6,0.000,0.036,3248,1507,1231,0,0,0,0,0,0
$GC,11116,0.77,390.6,887.1,12.2,554,11120,0.00,2.22,0.00,0.000,4,0.000,0.067,3253,170,1228,0,0,0,0,0,0
$GC,11178,0.77,390.6,879.0,13.9,556,11182,0.00,2.08,0.00,0.000,6,0.000,0.036,3253,1511,1226,0,0,0,0,0,0
$GC,11513,0.82,390.6,835.9,12.6,567,11518,0.08,2.15,0.00,0.000,4,0.138,0.044,3279,2899,1226,0,0,0,0,0,0
$GC,11533,0.82,390.6,833.0,12.6,567,11539,0.00,2.25,0.00,0.000,6,0.000,0.048,3289,1501,1225,0,0,0,0,0,0
$GC,11847,0.72,390.6,785.8,15.1,578,11852,0.17,1.52,0.00,0.000,4,0.205,0.064,3254,562,1225,0,0,0,0,0,0
$GC,11890,0.69,390.6,779.6,12.4,579,11895,0.05,1.45,0.00,0.000,6,0.176,0.037,3240,1500,1224,0,0,0,0,0,0
$GC,12220,0.76,397.0,742.5,10.8,590,12231,0.00,2.22,5.97,0.981,4,0.000,0.067,3241,164,1208,0,0,0,0,0,0
$GC,12275,0.80,402.3,736.5,10.8,591,12287,0.08,2.08,6.55,1.008,6,0.136,0.037,3268,1517,1187,0,0,0,0,0,0
$GC,12618,0.80,414.5,699.4,10.5,603,12637,0.00,2.28,13.05,1.167,4,0.000,0.068,3275,170,1137,0,0,0,0,0,0
$GC,12684,0.74,414.5,691.8,12.4,605,12688,0.10,2.08,0.00,0.000,6,0.197,0.039,3255,1491,1136,0,0,0,0,0,0
$GC,13019,0.80,443.5,659.0,9.6,616,13053,0.00,0.70,28.42,1.235,4,0.000,0.067,3255,1094,1019,0,0,0,0,0,0
$GC,13064,0.88,491.7,654.5,8.7,617,13115,0.08,0.65,45.65,1.255,6,0.069,0.041,3292,1519,822,0,0,0,0,0,0
$GC,13450,1.01,491.7,608.7,12.1,630,13455,0.12,2.15,0.00,0.000,4,0.093,0.044,3344,2890,814,0,0,0,0,0,0
$GC,13494,0.91,491.7,602.0,16.1,631,13499,0.17,2.28,0.00,0.000,6,0.197,0.050,3313,1469,814,0,0,0,0,0,0
$GC,13818,0.84,491.7,549.5,16.6,642,13823,0.12,2.22,0.00,0.000,4,0.207,0.046,3284,2887,813,0,0,0,0,0,0
$GC,13901,0.98,491.7,536.5,14.0,644,13906,0.12,2.25,0.00,0.000,6,0.092,0.049,3333,1476,812,0,0,0,0,0,0
$GC,14219,0.94,491.7,487.6,15.3,655,14224,0.08,0.65,0.00,0.000,4,0.202,0.067,3320,1059,813,0,0,0,0,0,0
$GC,14235,0.91,491.7,484.9,15.1,655,14239,0.00,0.68,0.00,0.000,6,0.000,0.042,3320,1500,812,0,0,0,0,0,0
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$STATE,17968,end climb,SURFACE_DEPTH_REACHED
$STATE,17969,begin surface coast
$FINISH,1.7,1.026497
$STATE,17976,end surface coast,CONTROL_FINISHED_OK
$STATE,17976,begin surface
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$HUMID,48.93
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$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,22.0,75.624
$10V_AH,10.1,48.869
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.650,159.225,613.050,0.000,0.000,28.372,44.129,282.227,0.250,0.000,46.369,2410.730,12193.600,670.481,3081.853,200.746,0.000,1905.047,0.000,2650.450,0.000,2.832,0.000
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$SENSOR_SECS,604.991,1046.211,617.053,75.922,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354552
$DATA_FILE_SIZE,57064,936
$CAP_FILE_SIZE,184542,0
$CFSIZE,2097086464,2050129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,051212,045259,-4200.196,-611.266,70,1.0,70,-22.1