version: 66.07.10.p01
glider: 574
mission: 4
dive: 414
start: 12 25 112 16 55 20
data:
$ID,574
$MISSION,4
$DIVE,414
$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,360
$T_MISSION,385
$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,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,250
$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,-7170.3857
$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,3008
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1850
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,393
$GPS1,251212,165331,-4125.502,-521.475,52,1.9,52,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-64.7
$GPS2,251212,165500,-4125.506,-521.487,24,1.1,24,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4200.000,-500.000
$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,177.6,70396,-17.1,-9.259
$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,-0.78,-145.9,0.0,0.0,0,88,0.00,0.00,-60.03,0.000,2,0.000,0.000,67,1857,1975,0,0,0,0,0,0
$GC,90,-0.78,-145.9,3.1,-1.4,10,164,12.12,2.28,-53.47,0.000,4,0.258,0.066,2738,3248,3422,0,0,0,0,0,0
$GC,209,-0.71,-145.9,14.4,-17.1,29,217,0.10,2.25,0.00,0.000,6,0.144,0.049,2769,1853,3423,0,0,0,0,0,0
$GC,290,-0.80,-145.9,27.3,-15.0,42,298,0.05,1.62,0.00,0.000,4,0.170,0.064,2749,880,3423,0,0,0,0,0,0
$GC,335,-0.83,-145.9,32.6,-10.8,49,340,0.00,1.52,0.00,0.000,6,0.000,0.039,2742,1844,3423,0,0,0,0,0,0
$GC,570,-0.89,-145.9,54.5,-8.7,90,578,0.05,1.30,0.00,0.000,4,0.167,0.049,2711,2669,3423,0,0,0,0,0,0
$GC,626,-0.89,-145.9,59.6,-9.7,99,631,0.00,1.33,0.00,0.000,6,0.000,0.050,2711,1841,3423,0,0,0,0,0,0
$GC,856,-0.89,-145.9,82.0,-9.7,140,861,0.00,2.30,0.00,0.000,4,0.000,0.063,2711,435,3425,0,0,0,0,0,0
$GC,942,-0.89,-145.9,90.2,-10.0,155,947,0.08,2.20,0.00,0.000,6,0.194,0.037,2718,1854,3424,0,0,0,0,0,0
$GC,1274,-0.91,-145.9,125.0,-10.4,187,1278,0.00,0.70,0.00,0.000,4,0.000,0.054,2718,1411,3425,0,0,0,0,0,0
$GC,1369,-0.94,-145.9,135.4,-9.8,192,1377,0.00,0.70,0.00,0.000,6,0.000,0.040,2716,1870,3425,0,0,0,0,0,0
$GC,1690,-0.97,-145.9,170.7,-11.1,213,1695,0.05,2.33,0.00,0.000,4,0.168,0.061,2691,461,3426,0,0,0,0,0,0
$GC,1757,-0.91,-145.9,179.5,-12.5,217,1762,0.12,2.15,0.00,0.000,6,0.173,0.037,2713,1849,3426,0,0,0,0,0,0
$GC,2079,-0.91,-145.9,215.9,-11.4,237,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1849,3427,0,0,0,0,0,0
$GC,2391,-0.94,-145.9,249.4,-10.7,257,2394,0.00,0.95,0.00,0.000,4,0.000,0.055,2713,1259,3428,0,0,0,0,0,0
$GC,2507,-0.99,-145.9,261.4,-10.9,263,2511,0.03,0.93,0.00,0.000,6,0.103,0.040,2688,1859,3428,0,0,0,0,0,0
$GC,2840,-0.99,-145.9,297.6,-10.7,279,2844,0.00,2.30,0.00,0.000,4,0.000,0.060,2689,442,3428,0,0,0,0,0,0
$GC,2918,-0.94,-145.9,307.0,-11.8,282,2923,0.10,2.17,0.00,0.000,6,0.178,0.035,2702,1854,3429,0,0,0,0,0,0
$GC,3239,-0.94,-145.9,339.3,-10.0,298,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1854,3429,0,0,0,0,0,0
$GC,3551,-0.96,-145.9,370.8,-10.3,313,3555,0.00,0.77,0.00,0.000,4,0.000,0.052,2703,1370,3430,0,0,0,0,0,0
$GC,3613,-0.98,-145.9,377.8,-11.1,315,3618,0.00,0.73,0.00,0.000,6,0.000,0.039,2700,1848,3429,0,0,0,0,0,0
$GC,3938,-0.98,-145.9,411.4,-10.6,330,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1848,3430,0,0,0,0,0,0
$GC,4244,-1.01,-145.9,444.9,-11.3,340,4248,0.00,1.95,0.00,0.000,4,0.000,0.058,2700,635,3430,0,0,0,0,0,0
$GC,4312,-1.01,-145.9,453.0,-11.4,342,4316,0.00,1.88,0.00,0.000,6,0.000,0.035,2693,1855,3430,0,0,0,0,0,0
$GC,4653,-1.01,-145.9,493.9,-12.3,353,4656,0.00,0.52,0.00,0.000,4,0.000,0.045,2689,2232,3430,0,0,0,0,0,0
$GC,4707,-1.01,-145.9,501.1,-12.6,354,4712,0.00,0.62,0.00,0.000,6,0.000,0.047,2689,1830,3430,0,0,0,0,0,0
$GC,5026,-1.01,-145.9,539.8,-11.8,365,5030,0.00,2.00,0.00,0.000,4,0.000,0.058,2688,582,3429,0,0,0,0,0,0
$GC,5087,-0.98,-145.9,547.3,-11.6,366,5092,0.00,1.98,0.00,0.000,6,0.000,0.034,2680,1847,3430,0,0,0,0,0,0
$GC,5400,-0.95,-145.9,582.6,-11.2,377,5402,0.10,0.00,0.00,0.000,6,0.187,0.000,2705,1848,3430,0,0,0,0,0,0
$GC,5706,-0.98,-145.9,613.5,-9.9,387,5710,0.00,0.82,0.00,0.000,4,0.000,0.053,2705,1333,3430,0,0,0,0,0,0
$GC,5795,-1.01,-145.9,622.5,-10.1,389,5800,0.03,0.80,0.00,0.000,6,0.105,0.039,2681,1854,3430,0,0,0,0,0,0
$GC,6113,-1.01,-145.9,653.4,-10.0,400,6117,0.00,1.08,0.00,0.000,4,0.000,0.053,2681,1187,3430,0,0,0,0,0,0
$GC,6181,-0.97,-145.9,660.6,-10.6,402,6186,0.03,1.02,0.00,0.000,6,0.184,0.039,2684,1849,3430,0,0,0,0,0,0
$GC,6522,-0.97,-145.9,696.7,-10.6,413,6525,0.00,1.92,0.00,0.000,4,0.000,0.057,2685,668,3430,0,0,0,0,0,0
$GC,6590,-0.95,-145.9,704.2,-11.1,415,6595,0.10,1.83,0.00,0.000,6,0.177,0.035,2702,1855,3430,0,0,0,0,0,0
$GC,6931,-1.00,-145.9,740.5,-10.9,426,6934,0.00,0.70,0.00,0.000,4,0.000,0.051,2702,1410,3430,0,0,0,0,0,0
$GC,7059,-1.03,-145.9,754.8,-10.7,429,7065,0.05,0.68,0.00,0.000,6,0.082,0.040,2669,1854,3430,0,0,0,0,0,0
$GC,7372,-0.99,-145.9,792.3,-12.3,440,7377,0.08,1.75,0.00,0.000,4,0.200,0.055,2684,790,3430,0,0,0,0,0,0
$GC,7439,-0.99,-145.9,800.4,-11.5,442,7443,0.00,1.65,0.00,0.000,6,0.000,0.035,2679,1860,3430,0,0,0,0,0,0
$GC,7780,-0.99,-145.9,841.1,-12.1,453,7784,0.00,2.03,0.00,0.000,4,0.000,0.054,2678,607,3430,0,0,0,0,0,0
$GC,7848,-0.95,-145.9,849.4,-12.1,455,7852,0.12,1.92,0.00,0.000,6,0.174,0.034,2701,1857,3429,0,0,0,0,0,0
$GC,8188,-1.00,-145.9,887.4,-11.1,466,8192,0.00,0.82,0.00,0.000,4,0.000,0.050,2701,1341,3430,0,0,0,0,0,0
$GC,8257,-1.03,-145.9,894.5,-9.8,468,8261,0.05,0.77,0.00,0.000,6,0.083,0.041,2669,1849,3430,0,0,0,0,0,0
$GC,8596,-1.03,-145.9,932.4,-11.2,479,8600,0.00,2.25,0.00,0.000,4,0.000,0.055,2669,465,3431,0,0,0,0,0,0
$GC,8659,-0.95,-145.9,939.4,-11.2,481,8664,0.15,2.12,0.00,0.000,6,0.171,0.035,2697,1846,3431,0,0,0,0,0,0
$GC,8994,-1.00,-145.9,973.1,-10.1,492,8998,0.00,0.60,0.00,0.000,4,0.000,0.051,2697,1461,3431,0,0,0,0,0,0
$GC,9122,-1.03,-145.9,986.7,-10.4,495,9128,0.03,0.62,0.00,0.000,6,0.118,0.043,2679,1864,3431,0,0,0,0,0,0
$STATE,9250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9251,begin apogee
$GC,9256,-0.23,0.0,1000.3,10.7,500,9392,0.85,0.00,132.95,1.488,6,0.131,0.000,2934,1594,2827,0,0,0,0,0,0
$STATE,9393,end apogee,CONTROL_FINISHED_OK
$STATE,9393,begin climb
$GC,9395,0.78,145.9,1010.4,0.0,504,9542,0.98,2.60,137.68,1.475,4,0.065,0.062,3266,210,2232,0,0,0,0,0,0
$GC,9698,0.45,281.9,1014.1,3.5,514,9831,0.47,2.17,124.10,1.458,6,0.216,0.037,3158,1598,1677,0,0,0,0,0,0
$GC,10150,0.53,321.5,982.6,7.6,529,10191,0.08,2.28,35.55,1.395,4,0.129,0.043,3186,2996,1516,0,0,0,0,0,0
$GC,10269,0.53,334.9,972.1,8.7,532,10290,0.05,2.25,13.65,1.288,6,0.234,0.047,3187,1618,1460,0,0,0,0,0,0
$GC,10616,0.62,354.2,942.6,8.4,544,10641,0.08,2.40,18.83,1.329,4,0.130,0.067,3221,202,1382,0,0,0,0,0,0
$GC,10685,0.62,354.2,935.9,10.1,546,10690,0.00,2.20,0.00,0.000,6,0.000,0.035,3222,1594,1380,0,0,0,0,0,0
$GC,11021,0.62,363.5,905.8,8.9,557,11034,0.00,0.00,9.35,1.180,6,0.000,0.000,3222,1598,1345,0,0,0,0,0,0
$GC,11361,0.65,372.5,876.1,8.9,568,11375,0.00,0.88,9.85,1.186,4,0.000,0.062,3221,1080,1308,0,0,0,0,0,0
$GC,11403,0.66,415.7,872.3,7.4,569,11449,0.00,0.80,42.42,1.372,6,0.000,0.037,3222,1615,1132,0,0,0,0,0,0
$GC,11757,0.76,416.9,840.2,9.2,580,11761,0.10,0.85,0.00,0.000,4,0.108,0.042,3262,2167,1125,0,0,0,0,0,0
$GC,11790,0.76,416.9,836.8,10.3,581,11794,0.00,0.93,0.00,0.000,6,0.000,0.053,3266,1590,1126,0,0,0,0,0,0
$GC,12130,0.76,416.9,800.9,10.6,592,12135,0.00,2.30,0.00,0.000,4,0.000,0.068,3267,195,1125,0,0,0,0,0,0
$GC,12197,0.74,416.9,793.6,11.3,594,12202,0.08,2.17,0.00,0.000,6,0.200,0.036,3251,1601,1121,0,0,0,0,0,0
$GC,12533,0.77,416.9,759.2,10.4,605,12536,0.00,0.60,0.00,0.000,4,0.000,0.043,3251,2025,1121,0,0,0,0,0,0
$GC,12588,0.80,416.9,752.9,11.5,606,12592,0.00,0.68,0.00,0.000,6,0.000,0.057,3251,1602,1121,0,0,0,0,0,0
$GC,12907,0.84,416.9,718.3,10.7,617,12911,0.08,0.90,0.00,0.000,4,0.129,0.063,3284,1053,1121,0,0,0,0,0,0
$GC,12944,0.77,416.9,713.8,12.0,618,12949,0.08,0.85,0.00,0.000,6,0.167,0.040,3263,1615,1121,0,0,0,0,0,0
$GC,13279,0.77,416.9,676.9,10.7,629,13283,0.00,0.90,0.00,0.000,4,0.000,0.043,3263,2205,1121,0,0,0,0,0,0
$GC,13334,0.77,416.9,671.0,10.4,630,13338,0.00,1.00,0.00,0.000,6,0.000,0.054,3266,1593,1121,0,0,0,0,0,0
$GC,13653,0.77,416.9,638.2,10.4,641,13656,0.00,0.85,0.00,0.000,4,0.000,0.064,3269,1060,1121,0,0,0,0,0,0
$GC,13691,0.75,416.9,634.2,10.3,642,13695,0.05,0.80,0.00,0.000,6,0.165,0.041,3254,1593,1121,0,0,0,0,0,0
$GC,14027,0.78,416.9,601.6,9.6,653,14030,0.00,0.38,0.00,0.000,4,0.000,0.047,3254,1858,1121,0,0,0,0,0,0
$GC,14082,0.81,416.9,596.1,10.3,654,14086,0.00,0.45,0.00,0.000,6,0.000,0.062,3254,1589,1121,0,0,0,0,0,0
$GC,14401,0.81,419.8,566.9,9.1,665,14404,0.00,1.05,0.00,0.000,4,0.000,0.043,3255,2264,1121,0,0,0,0,0,0
$GC,14456,0.83,429.6,561.7,8.8,666,14472,0.00,1.05,12.30,1.098,6,0.000,0.054,3257,1609,1075,0,0,0,0,0,0
$GC,14803,0.86,429.6,529.0,9.7,678,14805,0.10,0.00,0.00,0.000,6,0.109,0.000,3298,1609,1074,0,0,0,0,0,0
$GC,15108,0.80,429.6,494.1,11.7,688,15113,0.12,1.00,0.00,0.000,4,0.178,0.063,3272,1000,1074,0,0,0,0,0,0
$GC,15146,0.80,429.6,489.6,11.3,689,15151,0.00,0.93,0.00,0.000,6,0.000,0.041,3272,1593,1074,0,0,0,0,0,0
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$STATE,19673,end climb,SURFACE_DEPTH_REACHED
$STATE,19673,begin surface coast
$FINISH,1.6,1.012994
$STATE,19698,end surface coast,CONTROL_FINISHED_OK
$STATE,19698,begin surface
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$IRIDIUM_FIX,-4112.14,-522.06,241212,232357
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$HUMID,49.92
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.80
$XPDR_PINGS,0
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$10V_AH,9.9,59.585
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.850,107.600,648.375,0.000,0.000,0.000,0.000,0.000,0.250,0.000,27.164,2583.892,13423.027,660.298,2999.912,188.110,0.000,2026.855,0.000,2942.219,0.000,2.828,0.000
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$MEM,354604
$DATA_FILE_SIZE,63574,1030
$CAP_FILE_SIZE,183957,0
$CFSIZE,2097086464,2037678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251212,222635,-4125.913,-521.235,63,1.2,63,-22.4