version: 66.07.10.p01
glider: 574
mission: 4
dive: 429
start: 12 29 112 7 46 56
data:
$ID,574
$MISSION,4
$DIVE,429
$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,-7214.4424
$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,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,37
$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,408
$GPS1,291212,073316,-4125.504,-514.290,45,1.7,55,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.7
$GPS2,291212,074635,-4125.380,-514.381,43,1.0,43,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-400.000
$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,117.1,103525,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.86,-145.9,0.0,0.0,0,75,0.00,0.00,-47.90,0.000,2,0.000,0.000,67,1789,2129,0,0,0,0,0,0
$GC,78,-0.86,-145.9,3.1,-1.1,8,139,12.10,2.30,-41.35,0.000,4,0.258,0.063,2710,3197,3423,0,0,0,0,0,0
$GC,213,-0.86,-145.9,15.5,-12.0,30,221,0.03,2.28,0.00,0.000,6,0.174,0.048,2719,1797,3424,0,0,0,0,0,0
$GC,294,-0.90,-145.9,23.4,-11.1,43,301,0.00,1.15,0.00,0.000,4,0.000,0.060,2719,1083,3423,0,0,0,0,0,0
$GC,334,-0.83,-145.9,28.6,-13.6,49,341,0.05,1.12,0.00,0.000,6,0.163,0.038,2732,1800,3423,0,0,0,0,0,0
$GC,411,-0.87,-145.9,38.8,-12.0,62,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1800,3423,0,0,0,0,0,0
$GC,651,-0.91,-145.9,61.8,-8.2,103,655,0.05,0.40,0.00,0.000,4,0.170,0.050,2707,2081,3424,0,0,0,0,0,0
$GC,678,-0.88,-145.9,64.7,-8.8,108,685,0.00,0.45,0.00,0.000,6,0.000,0.053,2707,1786,3424,0,0,0,0,0,0
$GC,1025,-0.88,-145.9,98.5,-9.4,169,1030,0.00,1.98,0.00,0.000,4,0.000,0.060,2707,565,3424,0,0,0,0,0,0
$GC,1086,-0.88,-145.9,105.1,-9.7,174,1094,0.03,1.92,0.00,0.000,6,0.189,0.036,2709,1795,3425,0,0,0,0,0,0
$GC,1409,-0.92,-145.9,137.4,-10.6,195,1412,0.00,0.80,0.00,0.000,4,0.000,0.044,2706,2345,3425,0,0,0,0,0,0
$GC,1460,-0.92,-145.9,143.4,-10.4,198,1464,0.00,0.85,0.00,0.000,6,0.000,0.047,2706,1795,3425,0,0,0,0,0,0
$GC,1792,-0.92,-145.9,181.2,-11.4,219,1796,0.00,2.28,0.00,0.000,4,0.000,0.060,2706,389,3426,0,0,0,0,0,0
$GC,1863,-0.92,-145.9,190.2,-11.8,223,1869,0.00,2.20,0.00,0.000,6,0.000,0.036,2700,1800,3426,0,0,0,0,0,0
$GC,2184,-0.92,-145.9,226.1,-11.2,244,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1800,3425,0,0,0,0,0,0
$GC,2502,-0.92,-145.9,259.9,-10.6,263,2505,0.00,1.45,0.00,0.000,4,0.000,0.054,2700,913,3426,0,0,0,0,0,0
$GC,2562,-0.92,-145.9,266.8,-10.4,265,2568,0.00,1.40,0.00,0.000,6,0.000,0.036,2695,1807,3426,0,0,0,0,0,0
$GC,2881,-0.92,-145.9,298.2,-9.9,281,2885,0.00,1.62,0.00,0.000,4,0.000,0.055,2695,814,3426,0,0,0,0,0,0
$GC,2958,-0.92,-145.9,306.5,-10.3,284,2963,0.05,1.52,0.00,0.000,6,0.151,0.034,2706,1797,3426,0,0,0,0,0,0
$GC,3281,-0.95,-145.9,337.8,-10.0,300,3285,0.00,2.17,0.00,0.000,4,0.000,0.056,2706,454,3426,0,0,0,0,0,0
$GC,3347,-0.95,-145.9,345.1,-10.2,303,3352,0.00,2.10,0.00,0.000,6,0.000,0.035,2701,1804,3426,0,0,0,0,0,0
$GC,3677,-0.95,-145.9,378.0,-9.8,319,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1804,3426,0,0,0,0,0,0
$GC,3994,-0.98,-145.9,410.5,-10.3,333,3998,0.00,0.38,0.00,0.000,4,0.000,0.049,2700,2085,3425,0,0,0,0,0,0
$GC,4038,-1.01,-145.9,415.4,-10.7,334,4043,0.05,0.45,0.00,0.000,6,0.168,0.049,2674,1791,3425,0,0,0,0,0,0
$GC,4368,-0.98,-145.9,450.8,-10.9,345,4372,0.00,2.22,0.00,0.000,4,0.000,0.055,2674,402,3425,0,0,0,0,0,0
$GC,4440,-0.93,-145.9,459.1,-11.6,347,4444,0.15,2.15,0.00,0.000,6,0.158,0.034,2704,1807,3425,0,0,0,0,0,0
$GC,4769,-0.97,-145.9,493.9,-10.8,358,4773,0.00,1.48,0.00,0.000,4,0.000,0.051,2704,899,3425,0,0,0,0,0,0
$GC,4830,-0.99,-145.9,500.8,-10.8,359,4835,0.00,1.40,0.00,0.000,6,0.000,0.035,2701,1793,3424,0,0,0,0,0,0
$GC,5143,-1.02,-145.9,535.3,-11.2,370,5148,0.08,0.88,0.00,0.000,4,0.130,0.052,2669,1261,3424,0,0,0,0,0,0
$GC,5216,-0.97,-145.9,544.3,-11.6,372,5220,0.05,0.85,0.00,0.000,6,0.155,0.037,2682,1815,3424,0,0,0,0,0,0
$GC,5550,-0.97,-145.9,582.9,-11.5,383,5554,0.00,2.30,0.00,0.000,4,0.000,0.056,2683,400,3423,0,0,0,0,0,0
$GC,5613,-0.95,-145.9,590.1,-11.5,385,5618,0.10,2.15,0.00,0.000,6,0.171,0.033,2698,1806,3423,0,0,0,0,0,0
$GC,5953,-0.98,-145.9,628.2,-11.1,396,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1806,3423,0,0,0,0,0,0
$GC,6259,-1.01,-145.9,662.9,-11.3,406,6263,0.00,2.25,0.00,0.000,4,0.000,0.054,2698,418,3422,0,0,0,0,0,0
$GC,6314,-1.01,-145.9,669.7,-11.5,407,6320,0.00,2.15,0.00,0.000,6,0.000,0.032,2690,1804,3421,0,0,0,0,0,0
$GC,6628,-1.03,-145.9,706.4,-12.0,418,6631,0.00,0.55,0.00,0.000,4,0.000,0.050,2690,1446,3422,0,0,0,0,0,0
$GC,6734,-1.05,-145.9,719.4,-11.9,421,6738,0.08,0.55,0.00,0.000,6,0.128,0.041,2657,1810,3421,0,0,0,0,0,0
$GC,7069,-1.01,-145.9,760.3,-12.1,432,7074,0.08,2.28,0.00,0.000,4,0.201,0.054,2678,399,3421,0,0,0,0,0,0
$GC,7131,-0.97,-145.9,767.7,-11.8,434,7136,0.08,2.15,0.00,0.000,6,0.203,0.033,2687,1804,3421,0,0,0,0,0,0
$GC,7471,-1.00,-145.9,804.2,-10.6,445,7475,0.00,2.03,0.00,0.000,4,0.000,0.052,2687,543,3420,0,0,0,0,0,0
$GC,7532,-1.00,-145.9,811.3,-11.4,446,7538,0.00,1.95,0.00,0.000,6,0.000,0.034,2680,1796,3420,0,0,0,0,0,0
$GC,7845,-1.00,-145.9,843.5,-10.2,457,7848,0.00,0.45,0.00,0.000,4,0.000,0.050,2680,1500,3419,0,0,0,0,0,0
$GC,7933,-1.00,-145.9,852.7,-11.1,459,7938,0.00,0.47,0.00,0.000,6,0.000,0.043,2678,1815,3419,0,0,0,0,0,0
$GC,8252,-1.00,-145.9,884.5,-10.0,470,8256,0.00,2.30,0.00,0.000,4,0.000,0.053,2678,396,3419,0,0,0,0,0,0
$GC,8318,-0.97,-145.9,891.6,-10.2,472,8323,0.10,2.15,0.00,0.000,6,0.182,0.034,2694,1790,3419,0,0,0,0,0,0
$GC,8654,-1.02,-145.9,924.5,-9.9,483,8657,0.00,0.85,0.00,0.000,4,0.000,0.044,2690,2365,3418,0,0,0,0,0,0
$GC,8709,-1.06,-145.9,930.2,-10.4,484,8713,0.05,0.85,0.00,0.000,6,0.079,0.042,2661,1811,3418,0,0,0,0,0,0
$GC,9028,-1.04,-145.9,965.3,-11.3,495,9032,0.00,2.28,0.00,0.000,4,0.000,0.054,2661,393,3417,0,0,0,0,0,0
$GC,9094,-0.97,-145.9,973.5,-11.9,497,9099,0.10,2.20,0.00,0.000,6,0.151,0.034,2681,1802,3418,0,0,0,0,0,0
$STATE,9367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9367,begin apogee
$GC,9372,-0.25,0.0,1002.5,10.7,506,9505,0.80,0.00,130.05,1.486,6,0.130,0.000,2923,1590,2827,0,0,0,0,0,0
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9508,0.86,145.9,1012.6,0.0,510,9654,1.08,2.42,136.35,1.458,4,0.070,0.060,3289,286,2232,0,0,0,0,0,0
$GC,9845,0.48,282.4,1017.6,3.4,520,9977,0.52,2.08,123.50,1.432,6,0.217,0.036,3167,1614,1675,0,0,0,0,0,0
$GC,10290,0.53,340.9,990.5,6.8,535,10346,0.00,0.00,53.62,1.400,6,0.000,0.000,3167,1620,1436,0,0,0,0,0,0
$GC,10655,0.65,398.6,965.7,6.8,546,10716,0.15,2.42,53.75,1.393,4,0.090,0.066,3226,219,1202,0,0,0,0,0,0
$GC,10806,0.70,415.1,952.9,8.6,550,10827,0.00,2.17,16.20,1.275,6,0.000,0.034,3226,1619,1134,0,0,0,0,0,0
$GC,11153,0.77,421.7,922.2,9.0,562,11167,0.08,2.25,6.75,1.066,4,0.133,0.044,3254,3004,1106,0,0,0,0,0,0
$GC,11233,0.77,421.7,913.8,10.4,564,11238,0.00,2.22,0.00,0.000,6,0.000,0.047,3261,1625,1106,0,0,0,0,0,0
$GC,11558,0.77,421.7,881.4,10.0,575,11561,0.00,0.65,0.00,0.000,4,0.000,0.042,3260,2060,1105,0,0,0,0,0,0
$GC,11601,0.77,421.7,876.7,10.3,576,11606,0.00,0.75,0.00,0.000,6,0.000,0.053,3262,1600,1105,0,0,0,0,0,0
$GC,11931,0.77,421.7,841.9,10.7,587,11935,0.00,1.42,0.00,0.000,4,0.000,0.041,3262,2511,1105,0,0,0,0,0,0
$GC,11981,0.77,421.7,836.4,10.8,588,11985,0.00,1.42,0.00,0.000,6,0.000,0.048,3266,1618,1104,0,0,0,0,0,0
$GC,12305,0.77,421.7,801.5,11.0,599,12309,0.00,2.17,0.00,0.000,4,0.000,0.045,3266,2999,1105,0,0,0,0,0,0
$GC,12354,0.73,421.7,795.7,11.6,600,12359,0.10,2.20,0.00,0.000,6,0.193,0.047,3245,1610,1105,0,0,0,0,0,0
$GC,12673,0.77,421.7,763.5,10.2,611,12677,0.00,0.55,0.00,0.000,4,0.000,0.043,3245,1987,1105,0,0,0,0,0,0
$GC,12730,0.82,421.7,757.9,10.1,612,12734,0.03,0.60,0.00,0.000,6,0.101,0.057,3266,1608,1105,0,0,0,0,0,0
$GC,13047,0.82,421.7,725.1,10.2,623,13051,0.00,1.23,0.00,0.000,4,0.000,0.041,3266,2402,1105,0,0,0,0,0,0
$GC,13107,0.82,421.7,718.7,11.3,624,13113,0.00,1.25,0.00,0.000,6,0.000,0.051,3266,1620,1105,0,0,0,0,0,0
$GC,13421,0.82,421.7,686.5,10.4,635,13424,0.00,1.30,0.00,0.000,4,0.000,0.042,3266,2452,1105,0,0,0,0,0,0
$GC,13481,0.82,421.7,680.1,10.1,636,13487,0.00,1.35,0.00,0.000,6,0.000,0.052,3267,1616,1105,0,0,0,0,0,0
$GC,13794,0.82,421.7,646.4,11.0,647,13798,0.00,1.40,0.00,0.000,4,0.000,0.044,3266,2517,1105,0,0,0,0,0,0
$GC,13862,0.82,421.7,638.8,11.0,649,13866,0.00,1.48,0.00,0.000,6,0.000,0.051,3266,1605,1105,0,0,0,0,0,0
$GC,14202,0.82,421.7,603.5,10.3,660,14206,0.00,1.73,0.00,0.000,4,0.000,0.044,3267,2714,1105,0,0,0,0,0,0
$GC,14252,0.79,421.7,598.4,10.1,661,14257,0.03,1.77,0.00,0.000,6,0.206,0.049,3265,1616,1105,0,0,0,0,0,0
$GC,14576,0.79,421.7,567.4,9.4,672,14580,0.00,0.80,0.00,0.000,4,0.000,0.044,3265,2143,1105,0,0,0,0,0,0
$GC,14632,0.79,421.7,562.0,9.3,673,14635,0.00,0.85,0.00,0.000,6,0.000,0.055,3267,1615,1105,0,0,0,0,0,0
$GC,14950,0.79,421.7,531.2,9.7,684,14953,0.00,1.05,0.00,0.000,4,0.000,0.042,3267,2293,1105,0,0,0,0,0,0
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$STATE,20131,end climb,SURFACE_DEPTH_REACHED
$STATE,20131,begin surface coast
$FINISH,1.7,1.026372
$STATE,20144,end surface coast,CONTROL_FINISHED_OK
$STATE,20144,begin surface
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$IRIDIUM_FIX,-4112.14,-516.35,281212,202011
$TT8_MAMPS,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,11.90
$XPDR_PINGS,0
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$10V_AH,9.9,61.413
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.125,126.400,559.050,0.000,0.000,24.794,39.292,528.601,0.250,0.000,45.019,2690.057,13739.970,596.108,3695.500,291.548,0.000,1960.435,0.000,3030.080,0.000,2.834,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,63586,1064
$CAP_FILE_SIZE,192846,0
$CFSIZE,2097086464,2035712000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291212,132605,-4125.186,-513.983,93,1.0,93,-22.4