version: 66.07.10.p01
glider: 574
mission: 4
dive: 430
start: 12 29 112 13 27 57
data:
$ID,574
$MISSION,4
$DIVE,430
$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,-7216.7793
$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,22
$R_STBD_OVSHOOT,57
$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,409
$GPS1,291212,132605,-4125.186,-513.983,93,1.0,93,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-72.3
$GPS2,291212,132737,-4125.195,-513.983,27,1.1,27,-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,117.4,103004,-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,26,-0.86,-145.9,0.0,0.0,0,64,0.00,0.00,-36.58,0.000,2,0.000,0.000,67,1805,1868,0,0,0,0,0,0
$GC,67,-0.86,-145.9,3.1,-1.4,6,141,11.65,2.25,-53.95,0.000,4,0.246,0.063,2711,3183,3422,0,0,0,0,0,0
$GC,227,-0.78,-145.9,16.3,-9.8,32,234,0.12,2.22,0.00,0.000,6,0.138,0.044,2750,1792,3424,0,0,0,0,0,0
$GC,308,-0.86,-145.9,22.0,-6.9,45,316,0.08,0.60,0.00,0.000,4,0.133,0.055,2719,1407,3423,0,0,0,0,0,0
$GC,348,-0.89,-145.9,26.0,-10.1,51,356,0.00,0.57,0.00,0.000,6,0.000,0.038,2716,1799,3424,0,0,0,0,0,0
$GC,426,-0.89,-145.9,35.7,-12.6,64,433,0.00,0.80,0.00,0.000,4,0.000,0.044,2713,2340,3424,0,0,0,0,0,0
$GC,447,-0.89,-145.9,37.9,-11.8,67,452,0.00,0.85,0.00,0.000,6,0.000,0.044,2714,1789,3424,0,0,0,0,0,0
$GC,679,-0.91,-145.9,68.0,-12.1,108,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1789,3424,0,0,0,0,0,0
$GC,1023,-0.94,-145.9,103.5,-9.9,165,1027,0.00,2.25,0.00,0.000,4,0.000,0.059,2713,393,3425,0,0,0,0,0,0
$GC,1143,-0.98,-145.9,116.0,-9.7,172,1147,0.00,2.15,0.00,0.000,6,0.000,0.034,2705,1789,3425,0,0,0,0,0,0
$GC,1469,-0.98,-145.9,150.0,-10.7,193,1473,0.00,1.75,0.00,0.000,4,0.000,0.054,2705,718,3426,0,0,0,0,0,0
$GC,1525,-0.98,-145.9,156.4,-10.8,196,1529,0.00,1.67,0.00,0.000,6,0.000,0.034,2700,1797,3425,0,0,0,0,0,0
$GC,1852,-0.98,-145.9,191.3,-10.9,217,1856,0.00,1.20,0.00,0.000,4,0.000,0.052,2700,1054,3427,0,0,0,0,0,0
$GC,1903,-0.98,-145.9,196.8,-9.7,220,1907,0.00,1.15,0.00,0.000,6,0.000,0.036,2694,1801,3426,0,0,0,0,0,0
$GC,2235,-0.98,-145.9,231.9,-10.5,241,2239,0.00,1.42,0.00,0.000,4,0.000,0.052,2694,918,3427,0,0,0,0,0,0
$GC,2305,-0.98,-145.9,239.5,-11.1,245,2309,0.00,1.35,0.00,0.000,6,0.000,0.034,2688,1792,3427,0,0,0,0,0,0
$GC,2627,-0.98,-145.9,274.4,-10.4,262,2631,0.00,1.85,0.00,0.000,4,0.000,0.054,2688,637,3428,0,0,0,0,0,0
$GC,2705,-0.98,-145.9,283.0,-10.2,265,2710,0.00,1.80,0.00,0.000,6,0.000,0.034,2680,1789,3427,0,0,0,0,0,0
$GC,3030,-0.95,-145.9,316.0,-10.3,281,3034,0.08,2.22,0.00,0.000,4,0.197,0.055,2699,423,3427,0,0,0,0,0,0
$GC,3101,-0.95,-145.9,323.8,-9.7,284,3106,0.00,2.15,0.00,0.000,6,0.000,0.032,2690,1809,3427,0,0,0,0,0,0
$GC,3429,-0.95,-145.9,357.0,-10.5,300,3432,0.00,1.50,0.00,0.000,4,0.000,0.051,2689,887,3427,0,0,0,0,0,0
$GC,3490,-0.93,-145.9,363.6,-10.4,302,3498,0.05,1.42,0.00,0.000,6,0.160,0.034,2702,1798,3428,0,0,0,0,0,0
$GC,3807,-0.96,-145.9,397.2,-11.0,318,3810,0.00,2.12,0.00,0.000,4,0.000,0.054,2702,472,3427,0,0,0,0,0,0
$GC,3869,-0.96,-145.9,404.2,-11.4,321,3873,0.00,2.05,0.00,0.000,6,0.000,0.032,2694,1819,3427,0,0,0,0,0,0
$GC,4209,-0.96,-145.9,442.0,-11.0,332,4213,0.00,1.25,0.00,0.000,4,0.000,0.050,2694,1044,3427,0,0,0,0,0,0
$GC,4270,-0.96,-145.9,448.9,-11.2,333,4275,0.00,1.15,0.00,0.000,6,0.000,0.034,2689,1793,3427,0,0,0,0,0,0
$GC,4583,-0.96,-145.9,483.0,-11.0,344,4587,0.00,1.88,0.00,0.000,4,0.000,0.053,2689,642,3427,0,0,0,0,0,0
$GC,4650,-0.96,-145.9,490.4,-10.3,346,4654,0.00,1.77,0.00,0.000,6,0.000,0.033,2681,1811,3427,0,0,0,0,0,0
$GC,4991,-0.96,-145.9,524.5,-9.5,357,4994,0.00,1.20,0.00,0.000,4,0.000,0.050,2681,1069,3426,0,0,0,0,0,0
$GC,5062,-0.96,-145.9,531.5,-9.6,359,5067,0.05,1.12,0.00,0.000,6,0.151,0.034,2693,1805,3426,0,0,0,0,0,0
$GC,5398,-0.98,-145.9,559.9,-8.4,370,5402,0.00,2.28,0.00,0.000,4,0.000,0.054,2693,392,3426,0,0,0,0,0,0
$GC,5459,-0.96,-145.9,565.4,-8.5,371,5465,0.00,2.15,0.00,0.000,6,0.000,0.031,2684,1803,3425,0,0,0,0,0,0
$GC,5772,-0.96,-145.9,592.8,-9.0,382,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1804,3425,0,0,0,0,0,0
$GC,6078,-0.96,-145.9,621.5,-9.5,392,6082,0.00,2.17,0.00,0.000,4,0.000,0.054,2684,460,3424,0,0,0,0,0,0
$GC,6140,-0.93,-145.9,627.4,-9.8,394,6145,0.10,2.05,0.00,0.000,6,0.170,0.032,2699,1802,3424,0,0,0,0,0,0
$GC,6475,-0.98,-145.9,660.5,-10.2,405,6478,0.00,0.98,0.00,0.000,4,0.000,0.049,2700,1191,3423,0,0,0,0,0,0
$GC,6536,-1.01,-145.9,667.1,-11.3,406,6542,0.03,0.93,0.00,0.000,6,0.106,0.037,2676,1798,3423,0,0,0,0,0,0
$GC,6848,-1.01,-145.9,701.5,-11.1,417,6852,0.00,1.88,0.00,0.000,4,0.000,0.053,2676,648,3422,0,0,0,0,0,0
$GC,6909,-0.98,-145.9,708.7,-11.9,418,6915,0.05,1.77,0.00,0.000,6,0.156,0.032,2683,1801,3422,0,0,0,0,0,0
$GC,7222,-0.98,-145.9,743.6,-11.4,429,7226,0.00,0.85,0.00,0.000,4,0.000,0.050,2683,1269,3421,0,0,0,0,0,0
$GC,7333,-0.98,-145.9,756.6,-11.2,432,7338,0.00,0.82,0.00,0.000,6,0.000,0.037,2681,1803,3421,0,0,0,0,0,0
$GC,7663,-0.98,-145.9,792.8,-11.1,443,7667,0.00,0.98,0.00,0.000,4,0.000,0.050,2681,1193,3421,0,0,0,0,0,0
$GC,7730,-0.98,-145.9,800.2,-11.0,445,7734,0.00,0.93,0.00,0.000,6,0.000,0.038,2677,1796,3420,0,0,0,0,0,0
$GC,8071,-0.98,-145.9,836.4,-10.3,456,8075,0.00,0.77,0.00,0.000,4,0.000,0.050,2677,1311,3420,0,0,0,0,0,0
$GC,8165,-0.98,-145.9,846.5,-10.4,458,8171,0.00,0.77,0.00,0.000,6,0.000,0.039,2674,1806,3419,0,0,0,0,0,0
$GC,8478,-0.98,-145.9,879.1,-10.6,469,8483,0.03,0.98,0.00,0.000,4,0.282,0.049,2685,1204,3419,0,0,0,0,0,0
$GC,8538,-0.98,-145.9,885.5,-10.1,470,8544,0.00,0.93,0.00,0.000,6,0.000,0.037,2682,1805,3419,0,0,0,0,0,0
$GC,8852,-1.00,-145.9,917.6,-10.5,481,8855,0.00,0.40,0.00,0.000,4,0.000,0.053,2682,1532,3419,0,0,0,0,0,0
$GC,8946,-1.00,-145.9,927.9,-11.3,483,8951,0.00,0.43,0.00,0.000,6,0.000,0.044,2680,1813,3419,0,0,0,0,0,0
$GC,9259,-1.03,-145.9,961.2,-10.9,494,9263,0.00,1.20,0.00,0.000,4,0.000,0.050,2680,1070,3418,0,0,0,0,0,0
$GC,9308,-1.03,-145.9,967.2,-12.1,495,9313,0.00,1.12,0.00,0.000,6,0.000,0.034,2675,1799,3418,0,0,0,0,0,0
$STATE,9601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9601,begin apogee
$GC,9607,-0.25,0.0,1000.7,11.5,505,9740,0.82,0.00,130.05,1.482,6,0.132,0.000,2922,1589,2826,0,0,0,0,0,0
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9743,0.86,145.9,1011.6,0.0,509,9888,1.08,2.58,136.18,1.445,4,0.072,0.044,3273,3008,2231,0,0,0,0,0,0
$GC,10141,0.52,287.9,1018.3,3.2,521,10276,0.45,2.20,127.85,1.434,6,0.216,0.044,3180,1611,1653,0,0,0,0,0,0
$GC,10591,0.54,321.4,988.4,7.8,536,10627,0.00,2.20,30.75,1.375,4,0.000,0.061,3186,281,1515,0,0,0,0,0,0
$GC,10690,0.59,351.9,980.4,8.0,539,10724,0.00,2.08,29.27,1.353,6,0.000,0.033,3185,1626,1391,0,0,0,0,0,0
$GC,11055,0.69,363.9,948.6,8.7,551,11074,0.12,2.42,11.60,1.227,4,0.100,0.063,3240,199,1342,0,0,0,0,0,0
$GC,11156,0.64,363.9,938.6,10.9,554,11161,0.10,2.17,0.00,0.000,6,0.184,0.033,3217,1607,1340,0,0,0,0,0,0
$GC,11491,0.68,363.9,907.1,9.4,565,11495,0.00,2.30,0.00,0.000,4,0.000,0.063,3226,209,1338,0,0,0,0,0,0
$GC,11579,0.68,363.9,898.7,10.1,567,11585,0.00,2.17,0.00,0.000,6,0.000,0.034,3226,1603,1337,0,0,0,0,0,0
$GC,11893,0.68,378.0,870.8,8.7,578,11912,0.00,2.25,13.73,1.242,4,0.000,0.045,3226,3001,1285,0,0,0,0,0,0
$GC,11994,0.66,378.0,861.5,10.1,581,11998,0.08,2.20,0.00,0.000,6,0.213,0.045,3220,1614,1285,0,0,0,0,0,0
$GC,12330,0.71,390.0,831.7,8.7,592,12346,0.00,0.75,12.75,1.209,4,0.000,0.061,3223,1162,1236,0,0,0,0,0,0
$GC,12379,0.75,428.5,827.3,7.6,593,12424,0.03,0.68,38.15,1.329,6,0.106,0.039,3242,1623,1080,0,0,0,0,0,0
$GC,12760,0.81,428.5,790.0,10.1,606,12764,0.08,1.67,0.00,0.000,4,0.132,0.043,3270,2689,1073,0,0,0,0,0,0
$GC,12814,0.81,428.5,783.9,10.9,607,12819,0.03,1.75,0.00,0.000,6,0.197,0.049,3269,1607,1073,0,0,0,0,0,0
$GC,13132,0.81,428.5,748.4,11.2,618,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1607,1072,0,0,0,0,0,0
$GC,13438,0.81,428.5,715.0,11.0,628,13442,0.00,1.60,0.00,0.000,4,0.000,0.042,3269,2622,1072,0,0,0,0,0,0
$GC,13493,0.81,428.5,708.7,10.8,629,13497,0.00,1.62,0.00,0.000,6,0.000,0.049,3273,1616,1072,0,0,0,0,0,0
$GC,13812,0.79,428.5,673.1,11.4,640,13817,0.03,0.43,0.00,0.000,4,0.305,0.044,3262,1914,1072,0,0,0,0,0,0
$GC,13873,0.79,428.5,666.3,11.5,641,13878,0.00,0.50,0.00,0.000,6,0.000,0.058,3263,1606,1072,0,0,0,0,0,0
$GC,14186,0.79,428.5,633.8,10.3,652,14190,0.00,2.20,0.00,0.000,4,0.000,0.045,3263,2996,1072,0,0,0,0,0,0
$GC,14257,0.79,428.5,626.3,10.0,654,14261,0.00,2.22,0.00,0.000,6,0.000,0.046,3272,1616,1072,0,0,0,0,0,0
$GC,14593,0.79,428.5,591.5,10.5,665,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1617,1071,0,0,0,0,0,0
$GC,14899,0.79,428.5,559.6,10.4,675,14902,0.00,0.82,0.00,0.000,4,0.000,0.043,3271,2160,1072,0,0,0,0,0,0
$GC,14970,0.79,428.5,552.0,10.7,677,14976,0.08,0.90,0.00,0.000,6,0.205,0.052,3261,1602,1071,0,0,0,0,0,0
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$STATE,20121,end climb,SURFACE_DEPTH_REACHED
$STATE,20122,begin surface coast
$FINISH,1.7,1.009352
$STATE,20147,end surface coast,CONTROL_FINISHED_OK
$STATE,20147,begin surface
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$HUMID,50.82
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$XPDR_PINGS,0
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$10V_AH,9.9,61.532
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$FG_AHR_10Vo,0.000
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$MEM,354696
$DATA_FILE_SIZE,63425,1026
$CAP_FILE_SIZE,183944,0
$CFSIZE,2097086464,2035580928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291212,190623,-4125.297,-513.667,47,1.3,47,-22.4