version: 66.07.10.p01
glider: 574
mission: 4
dive: 340
start: 12 9 112 13 22 14
data:
$ID,574
$MISSION,4
$DIVE,340
$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,-6931.5156
$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,29
$R_STBD_OVSHOOT,49
$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,319
$GPS1,091212,131235,-4154.974,-544.940,29,1.5,29,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-72.2
$GPS2,091212,132153,-4154.888,-544.865,83,1.5,84,-22.2
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4200.287,-532.279
$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,142.2,20000,-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,-145.9,0.0,0.0,0,100,0.00,0.00,-71.62,0.000,2,0.000,0.000,67,1929,2442,0,0,0,0,0,0
$GC,103,-0.84,-145.9,3.1,-1.4,12,153,13.18,2.30,-31.33,0.000,4,0.282,0.074,2729,537,3423,0,0,0,0,0,0
$GC,233,-0.77,-145.9,14.8,-12.1,33,241,0.12,2.22,0.00,0.000,6,0.158,0.040,2756,1936,3423,0,0,0,0,0,0
$GC,315,-0.87,-145.9,23.6,-10.4,46,322,0.08,1.30,0.00,0.000,4,0.130,0.049,2721,2759,3423,0,0,0,0,0,0
$GC,366,-0.92,-145.9,29.2,-11.5,54,373,0.00,1.30,0.00,0.000,6,0.000,0.048,2721,1946,3424,0,0,0,0,0,0
$GC,445,-0.99,-145.9,38.2,-11.1,67,450,0.08,2.28,0.00,0.000,4,0.131,0.060,2689,545,3423,0,0,0,0,0,0
$GC,505,-0.88,-145.9,45.9,-13.1,77,511,0.17,2.17,0.00,0.000,6,0.177,0.035,2724,1971,3423,0,0,0,0,0,0
$GC,739,-0.96,-145.9,72.2,-10.7,118,745,0.08,2.08,0.00,0.000,4,0.129,0.049,2684,3296,3424,0,0,0,0,0,0
$GC,793,-0.93,-145.9,78.2,-11.8,127,798,0.10,2.10,0.00,0.000,6,0.182,0.042,2708,1945,3423,0,0,0,0,0,0
$GC,1134,-0.97,-145.9,119.1,-12.0,170,1138,0.00,0.47,0.00,0.000,4,0.000,0.044,2706,2284,3425,0,0,0,0,0,0
$GC,1179,-1.04,-145.9,124.6,-11.9,172,1187,0.10,0.52,0.00,0.000,6,0.109,0.049,2664,1941,3424,0,0,0,0,0,0
$GC,1501,-1.01,-145.9,167.5,-13.7,193,1506,0.10,1.08,0.00,0.000,4,0.183,0.056,2692,1271,3425,0,0,0,0,0,0
$GC,1544,-1.01,-145.9,173.9,-12.7,195,1550,0.00,1.08,0.00,0.000,6,0.000,0.034,2688,1967,3425,0,0,0,0,0,0
$GC,1864,-1.01,-145.9,213.6,-12.1,216,1868,0.00,2.15,0.00,0.000,4,0.000,0.048,2678,3346,3426,0,0,0,0,0,0
$GC,1936,-0.95,-145.9,223.1,-12.2,220,1945,0.05,2.17,0.00,0.000,6,0.164,0.041,2696,1953,3425,0,0,0,0,0,0
$GC,2257,-0.99,-145.9,258.1,-10.5,240,2261,0.00,2.25,0.00,0.000,4,0.000,0.055,2696,535,3426,0,0,0,0,0,0
$GC,2324,-0.96,-145.9,266.1,-11.5,243,2329,0.08,2.17,0.00,0.000,6,0.208,0.033,2702,1946,3425,0,0,0,0,0,0
$GC,2655,-1.00,-145.9,298.2,-9.9,259,2659,0.00,2.17,0.00,0.000,4,0.000,0.047,2693,3351,3425,0,0,0,0,0,0
$GC,2733,-1.00,-145.9,307.1,-10.8,262,2737,0.00,2.17,0.00,0.000,6,0.000,0.037,2693,1951,3425,0,0,0,0,0,0
$GC,3055,-1.02,-145.9,340.6,-10.7,278,3059,0.00,2.17,0.00,0.000,4,0.000,0.054,2693,579,3425,0,0,0,0,0,0
$GC,3120,-0.99,-145.9,347.9,-12.2,281,3124,0.00,2.08,0.00,0.000,6,0.000,0.034,2683,1955,3426,0,0,0,0,0,0
$GC,3449,-0.99,-145.9,383.6,-10.5,297,3453,0.00,2.25,0.00,0.000,4,0.000,0.054,2683,546,3426,0,0,0,0,0,0
$GC,3521,-0.94,-145.9,392.2,-11.1,300,3526,0.12,2.12,0.00,0.000,6,0.181,0.032,2704,1953,3425,0,0,0,0,0,0
$GC,3861,-1.00,-145.9,424.0,-9.3,313,3865,0.00,2.17,0.00,0.000,4,0.000,0.047,2694,3353,3425,0,0,0,0,0,0
$GC,3923,-1.04,-145.9,430.2,-9.5,315,3927,0.00,2.15,0.00,0.000,6,0.000,0.037,2694,1947,3425,0,0,0,0,0,0
$GC,4259,-1.09,-145.9,462.6,-9.7,326,4263,0.10,1.33,0.00,0.000,4,0.112,0.050,2652,1108,3425,0,0,0,0,0,0
$GC,4302,-1.00,-145.9,467.8,-11.7,327,4307,0.12,1.30,0.00,0.000,6,0.160,0.034,2684,1949,3425,0,0,0,0,0,0
$GC,4632,-1.02,-145.9,502.0,-10.6,338,4636,0.00,2.25,0.00,0.000,4,0.000,0.054,2684,545,3425,0,0,0,0,0,0
$GC,4715,-0.98,-145.9,511.7,-11.5,340,4720,0.08,2.15,0.00,0.000,6,0.205,0.033,2691,1969,3425,0,0,0,0,0,0
$GC,5039,-1.02,-145.9,545.2,-10.3,351,5043,0.00,2.15,0.00,0.000,4,0.000,0.047,2681,3349,3424,0,0,0,0,0,0
$GC,5117,-1.05,-145.9,554.1,-11.4,353,5121,0.00,2.17,0.00,0.000,6,0.000,0.037,2681,1933,3424,0,0,0,0,0,0
$GC,5442,-1.08,-145.9,589.6,-11.1,364,5446,0.00,1.62,0.00,0.000,4,0.000,0.052,2681,913,3423,0,0,0,0,0,0
$GC,5486,-1.03,-145.9,594.9,-11.6,365,5490,0.00,1.60,0.00,0.000,6,0.000,0.034,2674,1944,3423,0,0,0,0,0,0
$GC,5815,-1.03,-145.9,632.0,-11.3,376,5819,0.00,1.42,0.00,0.000,4,0.000,0.050,2674,1057,3423,0,0,0,0,0,0
$GC,5859,-0.98,-145.9,637.5,-11.8,377,5864,0.08,1.38,0.00,0.000,6,0.161,0.034,2691,1948,3422,0,0,0,0,0,0
$GC,6189,-1.03,-145.9,673.9,-11.3,388,6193,0.00,2.20,0.00,0.000,4,0.000,0.047,2681,3359,3422,0,0,0,0,0,0
$GC,6265,-1.03,-145.9,683.0,-11.7,390,6270,0.00,2.20,0.00,0.000,6,0.000,0.037,2681,1946,3421,0,0,0,0,0,0
$GC,6590,-1.03,-145.9,720.8,-11.8,401,6594,0.00,2.22,0.00,0.000,4,0.000,0.046,2671,3359,3421,0,0,0,0,0,0
$GC,6652,-1.03,-145.9,728.3,-12.9,403,6656,0.00,2.17,0.00,0.000,6,0.000,0.037,2671,1945,3421,0,0,0,0,0,0
$GC,6987,-1.03,-145.9,769.1,-12.1,414,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1944,3421,0,0,0,0,0,0
$GC,7293,-1.03,-145.9,807.0,-12.3,424,7297,0.00,2.22,0.00,0.000,4,0.000,0.054,2671,545,3420,0,0,0,0,0,0
$GC,7355,-0.93,-145.9,815.4,-13.7,426,7360,0.17,2.17,0.00,0.000,6,0.175,0.034,2706,1959,3419,0,0,0,0,0,0
$GC,7690,-1.02,-145.9,853.7,-11.3,437,7694,0.08,1.35,0.00,0.000,4,0.129,0.045,2669,2818,3419,0,0,0,0,0,0
$GC,7734,-1.02,-145.9,859.1,-12.2,438,7738,0.00,1.35,0.00,0.000,6,0.000,0.040,2669,1948,3419,0,0,0,0,0,0
$GC,8064,-1.00,-145.9,898.3,-11.7,449,8068,0.08,1.02,0.00,0.000,4,0.210,0.043,2680,2600,3418,0,0,0,0,0,0
$GC,8125,-1.06,-145.9,905.3,-11.7,450,8130,0.00,1.00,0.00,0.000,6,0.000,0.041,2681,1956,3418,0,0,0,0,0,0
$GC,8438,-1.06,-145.9,940.1,-11.1,461,8442,0.00,2.25,0.00,0.000,4,0.000,0.054,2681,536,3418,0,0,0,0,0,0
$GC,8521,-0.99,-145.9,950.4,-12.5,463,8526,0.10,2.22,0.00,0.000,6,0.200,0.036,2693,1955,3417,0,0,0,0,0,0
$GC,8846,-1.03,-145.9,985.2,-10.4,474,8850,0.00,2.20,0.00,0.000,4,0.000,0.049,2683,3359,3417,0,0,0,0,0,0
$GC,8908,-1.08,-145.9,992.0,-11.0,476,8912,0.00,2.17,0.00,0.000,6,0.000,0.038,2683,1949,3417,0,0,0,0,0,0
$STATE,8997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8998,begin apogee
$GC,9003,-0.21,0.0,1001.7,10.7,479,9136,0.88,0.00,129.77,1.491,6,0.138,0.000,2943,1500,2827,0,0,0,0,0,0
$STATE,9137,end apogee,CONTROL_FINISHED_OK
$STATE,9137,begin climb
$GC,9139,0.84,145.9,1010.9,0.0,483,9284,1.02,2.42,134.82,1.438,4,0.070,0.062,3289,178,2232,0,0,0,0,0,0
$GC,9441,0.53,221.2,1008.5,7.3,492,9518,0.45,2.12,68.22,1.409,6,0.211,0.037,3187,1507,1924,0,0,0,0,0,0
$GC,9824,0.53,313.8,984.1,6.4,505,9915,0.00,2.38,82.68,1.411,4,0.000,0.065,3193,176,1546,0,0,0,0,0,0
$GC,10000,0.66,371.9,970.9,8.1,510,10060,0.10,2.10,54.05,1.379,6,0.116,0.036,3226,1509,1310,0,0,0,0,0,0
$GC,10385,0.74,410.7,936.2,9.1,523,10424,0.08,0.00,35.55,1.364,6,0.131,0.000,3254,1510,1151,0,0,0,0,0,0
$GC,10755,0.81,425.3,898.1,10.4,535,10774,0.00,2.28,14.05,1.256,4,0.000,0.070,3255,172,1093,0,0,0,0,0,0
$GC,10824,0.83,425.3,890.2,11.4,537,10829,0.05,2.08,0.00,0.000,6,0.091,0.037,3279,1486,1090,0,0,0,0,0,0
$GC,11159,0.86,425.3,849.7,12.3,548,11163,0.00,2.20,0.00,0.000,4,0.000,0.045,3279,2911,1088,0,0,0,0,0,0
$GC,11242,0.86,425.3,838.7,13.0,550,11247,0.00,2.25,0.00,0.000,6,0.000,0.049,3289,1511,1087,0,0,0,0,0,0
$GC,11561,0.86,425.3,798.0,12.6,561,11565,0.00,1.70,0.00,0.000,4,0.000,0.067,3293,447,1086,0,0,0,0,0,0
$GC,11596,0.83,425.3,793.6,13.1,562,11600,0.03,1.65,0.00,0.000,6,0.278,0.039,3285,1509,1085,0,0,0,0,0,0
$GC,11936,0.86,425.3,753.2,11.5,573,11939,0.00,1.10,0.00,0.000,4,0.000,0.044,3285,2240,1085,0,0,0,0,0,0
$GC,11996,0.89,425.3,745.7,12.0,574,12002,0.00,1.20,0.00,0.000,6,0.000,0.054,3289,1490,1085,0,0,0,0,0,0
$GC,12310,0.92,425.3,708.4,12.0,585,12313,0.00,2.17,0.00,0.000,4,0.000,0.070,3293,167,1085,0,0,0,0,0,0
$GC,12376,0.86,425.3,699.4,13.2,587,12380,0.00,2.10,0.00,0.000,6,0.000,0.041,3293,1496,1084,0,0,0,0,0,0
$GC,12711,0.86,425.3,661.3,11.2,598,12715,0.00,1.30,0.00,0.000,4,0.000,0.067,3294,711,1084,0,0,0,0,0,0
$GC,12746,0.83,425.3,657.3,11.5,599,12749,0.00,1.23,0.00,0.000,6,0.000,0.041,3294,1507,1084,0,0,0,0,0,0
$GC,13086,0.83,425.6,619.9,11.1,610,13090,0.00,1.55,0.00,0.000,4,0.000,0.045,3294,2503,1084,0,0,0,0,0,0
$GC,13143,0.83,436.6,613.6,10.6,611,13158,0.00,1.62,10.55,1.089,6,0.000,0.054,3294,1502,1047,0,0,0,0,0,0
$GC,13488,0.84,439.4,576.1,11.0,623,13497,0.00,0.93,4.20,0.750,4,0.000,0.044,3294,2090,1035,0,0,0,0,0,0
$GC,13556,0.87,440.4,568.4,11.1,625,13560,0.00,0.95,0.00,0.000,6,0.000,0.057,3294,1504,1035,0,0,0,0,0,0
$GC,13896,0.87,440.4,528.7,11.8,636,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1504,1035,0,0,0,0,0,0
$GC,14202,0.87,440.4,493.1,11.7,646,14206,0.00,2.20,0.00,0.000,4,0.000,0.047,3294,2893,1035,0,0,0,0,0,0
$GC,14223,0.87,440.4,490.4,11.9,646,14228,0.00,2.25,0.00,0.000,6,0.000,0.050,3303,1502,1035,0,0,0,0,0,0
$GC,14536,0.85,453.5,456.4,10.4,657,14557,0.08,2.22,15.27,1.063,4,0.225,0.069,3294,163,977,0,0,0,0,0,0
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$STATE,17973,end climb,SURFACE_DEPTH_REACHED
$STATE,17973,begin surface coast
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$STATE,17998,end surface coast,CONTROL_FINISHED_OK
$STATE,17998,begin surface
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$IRIDIUM_FIX,-4140.91,-544.94,091212,080854
$TT8_MAMPS,0.026964
$HUMID,49.44
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.9,80.955
$10V_AH,10.0,51.227
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.475,167.000,625.950,0.000,0.000,28.162,47.483,283.056,0.250,0.000,86.586,2376.024,12206.003,660.676,3162.906,223.252,0.000,1932.343,0.000,2690.863,0.000,2.832,0.000
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$MEM,354508
$DATA_FILE_SIZE,56988,917
$CAP_FILE_SIZE,184056,0
$CFSIZE,2097086464,2047377408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,091212,182435,-4154.542,-544.061,30,0.9,30,-22.2