version: 66.07.10.p01
glider: 574
mission: 4
dive: 416
start: 12 26 112 4 32 14
data:
$ID,574
$MISSION,4
$DIVE,416
$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,-7176.1821
$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,29
$R_STBD_OVSHOOT,33
$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,395
$GPS1,261212,043029,-4126.454,-520.826,56,0.9,56,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-70.5
$GPS2,261212,043154,-4126.454,-520.819,20,0.9,20,-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,177.6,68416,-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,-59.97,0.000,2,0.000,0.000,68,1852,2142,0,0,0,0,0,0
$GC,91,-0.78,-145.9,3.1,-1.5,10,158,12.52,2.30,-44.95,0.000,4,0.269,0.064,2733,3262,3423,0,0,0,0,0,0
$GC,202,-0.78,-145.9,13.2,-15.4,28,210,0.05,2.25,0.00,0.000,6,0.143,0.044,2750,1851,3424,0,0,0,0,0,0
$GC,283,-0.85,-145.9,24.1,-13.7,41,290,0.00,1.85,0.00,0.000,4,0.000,0.060,2750,721,3425,0,0,0,0,0,0
$GC,392,-0.89,-145.9,36.7,-11.7,59,398,0.08,1.77,0.00,0.000,6,0.124,0.040,2712,1862,3425,0,0,0,0,0,0
$GC,627,-0.87,-145.9,66.5,-12.4,100,632,0.05,0.68,0.00,0.000,4,0.223,0.055,2725,1450,3425,0,0,0,0,0,0
$GC,887,-0.93,-145.9,95.9,-10.5,146,892,0.00,0.62,0.00,0.000,6,0.000,0.041,2723,1861,3426,0,0,0,0,0,0
$GC,1215,-0.98,-145.9,126.9,-8.9,172,1219,0.10,2.17,0.00,0.000,4,0.112,0.050,2672,3251,3426,0,0,0,0,0,0
$GC,1287,-0.93,-145.9,134.1,-8.8,176,1295,0.10,2.22,0.00,0.000,6,0.145,0.043,2704,1849,3426,0,0,0,0,0,0
$GC,1608,-0.93,-145.9,165.0,-9.9,197,1612,0.00,2.25,0.00,0.000,4,0.000,0.058,2704,443,3427,0,0,0,0,0,0
$GC,1720,-0.90,-145.9,177.1,-10.7,203,1726,0.08,2.17,0.00,0.000,6,0.204,0.034,2712,1857,3427,0,0,0,0,0,0
$GC,2041,-0.93,-145.9,206.9,-9.0,224,2045,0.00,1.00,0.00,0.000,4,0.000,0.052,2713,1234,3427,0,0,0,0,0,0
$GC,2144,-0.95,-145.9,216.7,-9.3,230,2148,0.00,0.95,0.00,0.000,6,0.000,0.038,2709,1851,3428,0,0,0,0,0,0
$GC,2478,-0.98,-145.9,246.4,-8.9,251,2482,0.00,1.48,0.00,0.000,4,0.000,0.055,2709,951,3428,0,0,0,0,0,0
$GC,2548,-0.98,-145.9,253.1,-8.9,255,2552,0.00,1.38,0.00,0.000,6,0.000,0.036,2703,1837,3428,0,0,0,0,0,0
$GC,2883,-1.01,-145.9,284.7,-9.4,271,2888,0.05,1.08,0.00,0.000,4,0.169,0.054,2677,1181,3428,0,0,0,0,0,0
$GC,2984,-0.96,-145.9,295.2,-10.0,275,2988,0.08,1.02,0.00,0.000,6,0.156,0.037,2697,1847,3428,0,0,0,0,0,0
$GC,3307,-0.96,-145.9,324.6,-9.1,291,3311,0.00,2.20,0.00,0.000,4,0.000,0.057,2697,497,3428,0,0,0,0,0,0
$GC,3390,-0.96,-145.9,332.8,-9.0,294,3398,0.00,2.08,0.00,0.000,6,0.000,0.034,2688,1840,3428,0,0,0,0,0,0
$GC,3707,-0.96,-145.9,363.0,-9.9,310,3710,0.00,1.55,0.00,0.000,4,0.000,0.053,2688,891,3428,0,0,0,0,0,0
$GC,3791,-0.94,-145.9,371.9,-9.9,313,3797,0.05,1.50,0.00,0.000,6,0.161,0.037,2698,1847,3428,0,0,0,0,0,0
$GC,4117,-0.94,-145.9,403.3,-9.9,329,4120,0.00,1.58,0.00,0.000,4,0.000,0.055,2699,890,3428,0,0,0,0,0,0
$GC,4194,-0.94,-145.9,411.1,-10.1,331,4198,0.00,1.50,0.00,0.000,6,0.000,0.036,2693,1849,3428,0,0,0,0,0,0
$GC,4524,-0.94,-145.9,444.9,-10.4,342,4528,0.00,2.28,0.00,0.000,4,0.000,0.056,2693,438,3428,0,0,0,0,0,0
$GC,4596,-0.91,-145.9,452.8,-11.0,344,4601,0.10,2.17,0.00,0.000,6,0.181,0.034,2709,1857,3428,0,0,0,0,0,0
$GC,4920,-0.96,-145.9,486.6,-10.8,355,4923,0.00,1.20,0.00,0.000,4,0.000,0.052,2709,1114,3428,0,0,0,0,0,0
$GC,5037,-1.01,-145.9,499.7,-11.6,358,5041,0.03,1.15,0.00,0.000,6,0.104,0.037,2683,1855,3428,0,0,0,0,0,0
$GC,5360,-1.01,-145.9,536.9,-11.9,369,5364,0.00,2.30,0.00,0.000,4,0.000,0.057,2683,441,3428,0,0,0,0,0,0
$GC,5465,-0.97,-145.9,550.2,-12.6,372,5470,0.08,2.17,0.00,0.000,6,0.204,0.034,2690,1852,3428,0,0,0,0,0,0
$GC,5795,-1.00,-145.9,588.9,-11.7,383,5799,0.00,2.28,0.00,0.000,4,0.000,0.054,2690,435,3428,0,0,0,0,0,0
$GC,5911,-1.00,-145.9,602.8,-11.6,386,5916,0.00,2.20,0.00,0.000,6,0.000,0.034,2683,1852,3427,0,0,0,0,0,0
$GC,6236,-1.00,-145.9,639.8,-11.3,397,6240,0.00,2.30,0.00,0.000,4,0.000,0.054,2683,435,3427,0,0,0,0,0,0
$GC,6332,-0.94,-145.9,650.9,-11.4,400,6337,0.10,2.17,0.00,0.000,6,0.185,0.033,2698,1852,3427,0,0,0,0,0,0
$GC,6667,-0.97,-145.9,686.6,-10.8,411,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1852,3426,0,0,0,0,0,0
$GC,6973,-1.01,-145.9,720.7,-11.2,421,6977,0.00,2.28,0.00,0.000,4,0.000,0.054,2698,438,3426,0,0,0,0,0,0
$GC,7038,-1.01,-145.9,728.3,-11.0,423,7043,0.00,2.20,0.00,0.000,6,0.000,0.033,2689,1853,3426,0,0,0,0,0,0
$GC,7374,-1.03,-145.9,764.8,-10.8,434,7379,0.00,2.28,0.00,0.000,4,0.000,0.054,2689,439,3425,0,0,0,0,0,0
$GC,7452,-1.00,-145.9,773.6,-11.6,436,7456,0.00,2.17,0.00,0.000,6,0.000,0.034,2681,1851,3425,0,0,0,0,0,0
$GC,7776,-1.00,-145.9,808.0,-10.6,447,7780,0.00,1.33,0.00,0.000,4,0.000,0.050,2681,1029,3425,0,0,0,0,0,0
$GC,7859,-1.00,-145.9,817.1,-10.6,449,7863,0.00,1.27,0.00,0.000,6,0.000,0.034,2675,1853,3425,0,0,0,0,0,0
$GC,8183,-1.00,-145.9,852.6,-11.2,460,8188,0.00,2.28,0.00,0.000,4,0.000,0.054,2675,438,3425,0,0,0,0,0,0
$GC,8267,-0.93,-145.9,862.5,-11.7,462,8271,0.15,2.17,0.00,0.000,6,0.164,0.033,2706,1851,3424,0,0,0,0,0,0
$GC,8586,-1.00,-145.9,897.5,-11.3,473,8590,0.08,1.25,0.00,0.000,4,0.130,0.050,2675,1089,3425,0,0,0,0,0,0
$GC,8679,-1.00,-145.9,909.2,-12.3,475,8685,0.00,1.17,0.00,0.000,6,0.000,0.034,2671,1849,3424,0,0,0,0,0,0
$GC,8992,-1.00,-145.9,948.1,-12.5,486,8996,0.00,2.28,0.00,0.000,4,0.000,0.054,2672,438,3424,0,0,0,0,0,0
$GC,9064,-0.92,-145.9,958.1,-13.9,488,9069,0.17,2.17,0.00,0.000,6,0.164,0.034,2707,1851,3424,0,0,0,0,0,0
$GC,9394,-1.00,-145.9,995.6,-11.3,499,9398,0.08,0.60,0.00,0.000,4,0.138,0.051,2682,1478,3424,0,0,0,0,0,0
$STATE,9432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9432,begin apogee
$GC,9437,-0.23,0.0,1000.2,12.4,500,9572,0.82,0.00,131.07,1.489,6,0.139,0.000,2929,1632,2827,0,0,0,0,0,0
$STATE,9573,end apogee,CONTROL_FINISHED_OK
$STATE,9573,begin climb
$GC,9575,0.78,145.9,1011.5,0.0,504,9719,1.02,1.95,137.35,1.466,4,0.071,0.041,3260,2748,2232,0,0,0,0,0,0
$GC,9838,0.48,273.5,1019.9,3.8,513,9965,0.43,1.88,117.32,1.457,6,0.209,0.046,3170,1597,1711,0,0,0,0,0,0
$GC,10295,0.52,321.1,990.5,7.2,528,10344,0.00,2.33,43.10,1.408,4,0.000,0.064,3172,245,1517,0,0,0,0,0,0
$GC,10393,0.61,359.7,982.9,7.6,531,10438,0.10,2.10,37.17,1.395,6,0.118,0.034,3206,1599,1360,0,0,0,0,0,0
$GC,10763,0.67,370.7,950.3,8.8,543,10777,0.00,1.65,10.43,1.221,4,0.000,0.041,3206,2653,1314,0,0,0,0,0,0
$GC,10827,0.73,370.7,944.5,9.3,545,10832,0.05,1.70,0.00,0.000,6,0.077,0.048,3240,1603,1314,0,0,0,0,0,0
$GC,11162,0.73,374.0,913.8,9.1,556,11168,0.00,0.00,3.80,0.783,6,0.000,0.000,3240,1602,1302,0,0,0,0,0,0
$GC,11468,0.73,374.0,885.6,9.4,566,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1602,1302,0,0,0,0,0,0
$GC,11774,0.73,374.0,856.9,9.4,576,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1602,1301,0,0,0,0,0,0
$GC,12081,0.73,374.0,828.1,9.7,586,12085,0.00,0.38,0.00,0.000,4,0.000,0.046,3240,1875,1301,0,0,0,0,0,0
$GC,12164,0.73,374.0,819.9,9.7,588,12168,0.00,0.47,0.00,0.000,6,0.000,0.061,3240,1588,1301,0,0,0,0,0,0
$GC,12488,0.73,374.0,788.3,9.6,599,12492,0.00,1.90,0.00,0.000,4,0.000,0.044,3240,2786,1301,0,0,0,0,0,0
$GC,12543,0.73,384.8,783.0,8.8,600,12559,0.00,1.90,11.57,1.192,6,0.000,0.049,3246,1592,1258,0,0,0,0,0,0
$GC,12890,0.73,390.4,751.1,9.0,612,12900,0.00,0.75,6.72,1.019,4,0.000,0.041,3246,2065,1234,0,0,0,0,0,0
$GC,12952,0.73,390.4,745.4,9.8,614,12956,0.00,0.75,0.00,0.000,6,0.000,0.056,3249,1600,1234,0,0,0,0,0,0
$GC,13292,0.73,410.4,716.0,8.4,625,13317,0.00,1.27,20.88,1.241,4,0.000,0.040,3249,2428,1153,0,0,0,0,0,0
$GC,13361,0.73,443.7,710.2,7.8,626,13398,0.00,1.35,32.80,1.278,6,0.000,0.051,3253,1597,1018,0,0,0,0,0,0
$GC,13718,0.78,474.4,681.4,7.9,638,13753,0.00,1.15,29.48,1.246,4,0.000,0.042,3254,2313,891,0,0,0,0,0,0
$GC,13799,0.85,519.6,674.9,7.3,640,13848,0.05,1.17,42.35,1.257,6,0.079,0.054,3284,1596,707,0,0,0,0,0,0
$GC,14184,0.91,519.6,639.9,9.3,653,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1596,700,0,0,0,0,0,0
$GC,14490,0.98,519.6,608.2,10.7,663,14494,0.12,0.62,0.00,0.000,4,0.095,0.041,3336,2017,699,0,0,0,0,0,0
$GC,14558,0.95,519.6,600.0,11.9,665,14562,0.08,0.68,0.00,0.000,6,0.151,0.057,3314,1597,699,0,0,0,0,0,0
$GC,14898,0.95,519.6,558.8,12.2,676,14899,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1598,698,0,0,0,0,0,0
$GC,15204,0.95,519.6,521.8,12.1,686,15208,0.00,0.57,0.00,0.000,4,0.000,0.042,3314,1988,698,0,0,0,0,0,0
$GC,15247,0.95,519.6,516.4,11.8,687,15252,0.00,0.65,0.00,0.000,6,0.000,0.056,3316,1592,698,0,0,0,0,0,0
$GC,15577,0.95,519.6,475.5,12.2,698,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1592,698,0,0,0,0,0,0
$GC,15884,0.95,519.6,439.5,11.6,708,15888,0.00,0.55,0.00,0.000,4,0.000,0.043,3316,1968,698,0,0,0,0,0,0
$GC,15933,0.95,519.6,433.4,11.5,709,15937,0.00,0.60,0.00,0.000,6,0.000,0.057,3318,1601,697,0,0,0,0,0,0
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$STATE,19613,end climb,SURFACE_DEPTH_REACHED
$STATE,19613,begin surface coast
$FINISH,1.7,1.005163
$STATE,19639,end surface coast,CONTROL_FINISHED_OK
$STATE,19639,begin surface
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$IRIDIUM_FIX,-4112.14,-522.06,251212,101040
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.00
$XPDR_PINGS,0
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$10V_AH,9.9,59.828
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.750,112.575,627.325,0.000,0.000,0.000,0.000,0.000,0.250,0.000,22.611,2542.271,13475.852,662.660,2918.098,192.469,0.000,1960.269,0.000,2873.911,0.000,2.829,0.000
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$SENSOR_SECS,653.330,1104.286,671.228,78.711,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,60250,1007
$CAP_FILE_SIZE,172069,0
$CFSIZE,2097086464,2037415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261212,100205,-4126.737,-520.261,39,1.6,39,-22.4