version: 66.07.10.p01
glider: 574
mission: 4
dive: 431
start: 12 29 112 19 19 56
data:
$ID,574
$MISSION,4
$DIVE,431
$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,-7219.6934
$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,29
$R_STBD_OVSHOOT,50
$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,410
$GPS1,291212,190623,-4125.297,-513.667,47,1.3,47,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-72.5
$GPS2,291212,191935,-4125.220,-513.558,27,1.7,27,-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,117.4,102414,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-145.9,0.0,0.0,0,57,0.00,0.00,-29.33,0.000,2,0.000,0.000,67,1801,1658,0,0,0,0,0,0
$GC,60,-0.86,-145.9,3.0,-0.8,5,157,12.12,2.28,-75.95,0.000,4,0.259,0.065,2708,3189,3421,0,0,0,0,0,0
$GC,232,-0.80,-145.9,13.9,-13.4,33,239,0.10,2.22,0.00,0.000,6,0.135,0.043,2740,1799,3422,0,0,0,0,0,0
$GC,312,-0.80,-145.9,24.1,-12.7,46,320,0.00,1.85,0.00,0.000,4,0.000,0.063,2740,678,3423,0,0,0,0,0,0
$GC,373,-0.80,-145.9,31.0,-10.0,56,380,0.00,1.73,0.00,0.000,6,0.000,0.037,2734,1777,3423,0,0,0,0,0,0
$GC,613,-0.82,-145.9,55.9,-10.5,97,618,0.00,0.55,0.00,0.000,4,0.000,0.045,2731,2165,3423,0,0,0,0,0,0
$GC,642,-0.86,-145.9,59.5,-10.6,102,650,0.00,0.57,0.00,0.000,6,0.000,0.049,2731,1788,3423,0,0,0,0,0,0
$GC,877,-0.92,-145.9,82.3,-9.1,143,882,0.08,2.25,0.00,0.000,4,0.127,0.059,2696,408,3423,0,0,0,0,0,0
$GC,934,-0.86,-145.9,88.3,-10.4,153,941,0.10,2.17,0.00,0.000,6,0.146,0.034,2719,1802,3423,0,0,0,0,0,0
$GC,1263,-0.92,-145.9,121.2,-10.9,188,1267,0.00,0.93,0.00,0.000,4,0.000,0.051,2719,1221,3424,0,0,0,0,0,0
$GC,1351,-0.95,-145.9,130.6,-11.5,193,1354,0.00,0.90,0.00,0.000,6,0.000,0.036,2716,1812,3424,0,0,0,0,0,0
$GC,1684,-1.00,-145.9,168.5,-11.6,214,1688,0.10,2.30,0.00,0.000,4,0.107,0.057,2673,393,3425,0,0,0,0,0,0
$GC,1746,-0.90,-145.9,176.7,-12.9,218,1751,0.17,2.15,0.00,0.000,6,0.156,0.034,2710,1794,3425,0,0,0,0,0,0
$GC,2073,-0.95,-145.9,213.3,-11.1,239,2077,0.00,1.35,0.00,0.000,4,0.000,0.053,2710,964,3425,0,0,0,0,0,0
$GC,2152,-0.97,-145.9,222.5,-11.0,243,2157,0.00,1.30,0.00,0.000,6,0.000,0.034,2705,1803,3425,0,0,0,0,0,0
$GC,2473,-1.00,-145.9,257.0,-10.7,263,2477,0.08,1.65,0.00,0.000,4,0.128,0.054,2672,779,3424,0,0,0,0,0,0
$GC,2528,-0.91,-145.9,263.7,-11.7,265,2532,0.12,1.58,0.00,0.000,6,0.142,0.033,2704,1801,3425,0,0,0,0,0,0
$GC,2852,-0.93,-145.9,295.8,-10.1,281,2856,0.00,0.68,0.00,0.000,4,0.000,0.049,2704,1365,3425,0,0,0,0,0,0
$GC,2993,-0.96,-145.9,310.8,-11.0,287,2997,0.00,0.68,0.00,0.000,6,0.000,0.037,2701,1815,3424,0,0,0,0,0,0
$GC,3322,-0.98,-145.9,345.9,-11.1,303,3326,0.00,1.25,0.00,0.000,4,0.000,0.053,2701,1044,3425,0,0,0,0,0,0
$GC,3383,-0.98,-145.9,353.3,-11.5,305,3389,0.00,1.15,0.00,0.000,6,0.000,0.034,2696,1792,3425,0,0,0,0,0,0
$GC,3702,-0.98,-145.9,389.0,-11.4,321,3705,0.00,0.93,0.00,0.000,4,0.000,0.052,2697,1216,3424,0,0,0,0,0,0
$GC,3757,-0.98,-145.9,395.5,-11.1,323,3761,0.00,0.93,0.00,0.000,6,0.000,0.035,2693,1814,3425,0,0,0,0,0,0
$GC,4086,-0.98,-145.9,429.5,-10.1,335,4090,0.00,1.42,0.00,0.000,4,0.000,0.052,2693,929,3425,0,0,0,0,0,0
$GC,4141,-0.98,-145.9,435.5,-10.4,336,4145,0.00,1.35,0.00,0.000,6,0.000,0.034,2686,1796,3424,0,0,0,0,0,0
$GC,4460,-0.98,-145.9,469.1,-10.7,347,4463,0.00,0.85,0.00,0.000,4,0.000,0.050,2686,1264,3424,0,0,0,0,0,0
$GC,4554,-0.98,-145.9,479.7,-10.7,349,4560,0.00,0.85,0.00,0.000,6,0.000,0.037,2683,1812,3424,0,0,0,0,0,0
$GC,4867,-0.98,-145.9,514.8,-11.4,360,4871,0.00,1.58,0.00,0.000,4,0.000,0.052,2683,847,3424,0,0,0,0,0,0
$GC,4928,-0.96,-145.9,522.1,-11.6,361,4934,0.05,1.48,0.00,0.000,6,0.155,0.035,2692,1799,3423,0,0,0,0,0,0
$GC,5241,-0.96,-145.9,557.6,-11.5,372,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1799,3423,0,0,0,0,0,0
$GC,5547,-0.96,-145.9,592.9,-11.5,382,5551,0.00,1.02,0.00,0.000,4,0.000,0.053,2693,1165,3422,0,0,0,0,0,0
$GC,5603,-0.96,-145.9,599.5,-11.4,383,5606,0.00,0.98,0.00,0.000,6,0.000,0.037,2689,1799,3422,0,0,0,0,0,0
$GC,5921,-0.96,-145.9,635.8,-11.1,394,5924,0.00,0.55,0.00,0.000,4,0.000,0.050,2689,1446,3422,0,0,0,0,0,0
$GC,5964,-0.96,-145.9,640.9,-10.5,395,5969,0.00,0.55,0.00,0.000,6,0.000,0.040,2687,1808,3422,0,0,0,0,0,0
$GC,6294,-0.96,-145.9,678.3,-11.5,406,6298,0.00,2.00,0.00,0.000,4,0.000,0.054,2687,576,3421,0,0,0,0,0,0
$GC,6349,-0.96,-145.9,684.9,-11.3,407,6354,0.03,1.90,0.00,0.000,6,0.177,0.033,2688,1796,3420,0,0,0,0,0,0
$GC,6667,-0.96,-145.9,719.2,-10.6,418,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1796,3420,0,0,0,0,0,0
$GC,6973,-0.96,-145.9,751.8,-10.7,428,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1796,3420,0,0,0,0,0,0
$GC,7280,-0.96,-145.9,784.9,-10.7,438,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1796,3419,0,0,0,0,0,0
$GC,7586,-0.96,-145.9,816.4,-10.0,448,7589,0.00,0.68,0.00,0.000,4,0.000,0.044,2686,2260,3419,0,0,0,0,0,0
$GC,7641,-0.96,-145.9,822.2,-10.2,449,7645,0.00,0.73,0.00,0.000,6,0.000,0.044,2686,1794,3419,0,0,0,0,0,0
$GC,7960,-0.98,-145.9,854.4,-10.1,460,7964,0.00,1.95,0.00,0.000,4,0.000,0.054,2686,580,3418,0,0,0,0,0,0
$GC,8015,-0.98,-145.9,860.2,-11.2,461,8019,0.00,1.90,0.00,0.000,6,0.000,0.033,2677,1804,3418,0,0,0,0,0,0
$GC,8334,-0.98,-145.9,892.3,-10.3,472,8337,0.00,0.57,0.00,0.000,4,0.000,0.044,2675,2211,3418,0,0,0,0,0,0
$GC,8388,-0.98,-145.9,898.3,-11.0,473,8393,0.00,0.65,0.00,0.000,6,0.000,0.044,2674,1791,3418,0,0,0,0,0,0
$GC,8707,-0.98,-145.9,931.2,-10.6,484,8711,0.00,1.05,0.00,0.000,4,0.000,0.050,2674,1124,3418,0,0,0,0,0,0
$GC,8762,-0.98,-145.9,937.4,-10.9,485,8767,0.05,1.05,0.00,0.000,6,0.153,0.035,2686,1808,3417,0,0,0,0,0,0
$GC,9081,-1.02,-145.9,971.4,-10.8,496,9084,0.00,0.60,0.00,0.000,4,0.000,0.044,2684,2232,3417,0,0,0,0,0,0
$GC,9136,-1.06,-145.9,977.7,-11.8,497,9140,0.03,0.65,0.00,0.000,6,0.115,0.044,2667,1801,3417,0,0,0,0,0,0
$STATE,9331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9331,begin apogee
$GC,9336,-0.25,0.0,1000.1,11.8,504,9469,0.85,0.00,129.95,1.488,6,0.133,0.000,2920,1609,2827,0,0,0,0,0,0
$STATE,9470,end apogee,CONTROL_FINISHED_OK
$STATE,9470,begin climb
$GC,9472,0.86,145.9,1010.9,0.0,508,9619,1.08,2.60,135.40,1.424,4,0.071,0.059,3286,217,2232,0,0,0,0,0,0
$GC,9871,0.48,287.8,1014.4,3.2,520,10007,0.50,2.17,128.07,1.447,6,0.218,0.034,3168,1617,1654,0,0,0,0,0,0
$GC,10321,0.53,356.6,987.8,6.3,535,10386,0.00,0.00,63.05,1.421,6,0.000,0.000,3168,1618,1372,0,0,0,0,0,0
$GC,10716,0.67,409.2,960.1,7.0,548,10772,0.15,2.40,49.50,1.405,4,0.091,0.066,3226,215,1157,0,0,0,0,0,0
$GC,10873,0.72,429.1,947.2,8.4,552,10897,0.00,2.17,19.40,1.320,6,0.000,0.034,3226,1618,1076,0,0,0,0,0,0
$GC,11219,0.81,448.0,918.3,8.5,564,11244,0.12,2.25,18.55,1.306,4,0.101,0.044,3272,3002,1000,0,0,0,0,0,0
$GC,11319,0.78,448.0,908.1,10.8,567,11324,0.10,2.20,0.00,0.000,6,0.192,0.046,3261,1623,998,0,0,0,0,0,0
$GC,11654,0.82,448.0,874.8,9.9,578,11658,0.00,1.20,0.00,0.000,4,0.000,0.060,3264,884,995,0,0,0,0,0,0
$GC,11698,0.82,448.0,870.3,9.7,579,11702,0.00,1.10,0.00,0.000,6,0.000,0.037,3264,1605,993,0,0,0,0,0,0
$GC,12028,0.82,448.0,837.5,10.0,590,12031,0.00,1.50,0.00,0.000,4,0.000,0.043,3264,2574,993,0,0,0,0,0,0
$GC,12077,0.82,448.0,832.3,9.8,591,12081,0.00,1.55,0.00,0.000,6,0.000,0.049,3270,1613,993,0,0,0,0,0,0
$GC,12402,0.82,448.0,799.8,10.2,602,12405,0.00,1.38,0.00,0.000,4,0.000,0.062,3274,765,992,0,0,0,0,0,0
$GC,12445,0.82,448.0,795.3,9.7,603,12450,0.00,1.30,0.00,0.000,6,0.000,0.037,3274,1606,991,0,0,0,0,0,0
$GC,12775,0.82,448.0,761.8,10.1,614,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1609,992,0,0,0,0,0,0
$GC,13081,0.82,448.0,729.5,10.6,624,13085,0.00,0.90,0.00,0.000,4,0.000,0.062,3276,1057,991,0,0,0,0,0,0
$GC,13120,0.79,448.0,725.3,11.0,625,13124,0.03,0.85,0.00,0.000,6,0.197,0.039,3268,1621,991,0,0,0,0,0,0
$GC,13454,0.79,448.0,688.9,11.1,636,13458,0.00,0.93,0.00,0.000,4,0.000,0.044,3268,2228,990,0,0,0,0,0,0
$GC,13498,0.79,448.0,683.9,11.1,637,13502,0.00,1.02,0.00,0.000,6,0.000,0.052,3270,1600,990,0,0,0,0,0,0
$GC,13828,0.79,448.0,647.1,11.2,648,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1600,990,0,0,0,0,0,0
$GC,14134,0.79,448.0,613.3,10.8,658,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1600,990,0,0,0,0,0,0
$GC,14440,0.79,448.0,580.0,10.9,668,14444,0.00,0.62,0.00,0.000,4,0.000,0.044,3270,2020,990,0,0,0,0,0,0
$GC,14490,0.79,448.0,574.5,10.5,669,14494,0.00,0.68,0.00,0.000,6,0.000,0.055,3273,1608,990,0,0,0,0,0,0
$GC,14814,0.79,448.0,539.2,10.8,680,14818,0.00,0.40,0.00,0.000,4,0.000,0.048,3273,1889,990,0,0,0,0,0,0
$GC,14886,0.79,448.0,531.2,11.3,682,14890,0.00,0.45,0.00,0.000,6,0.000,0.060,3274,1611,990,0,0,0,0,0,0
$GC,15221,0.79,448.0,494.8,10.6,693,15222,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1611,990,0,0,0,0,0,0
$GC,15527,0.79,448.0,463.2,10.2,703,15531,0.00,0.38,0.00,0.000,4,0.000,0.050,3274,1875,990,0,0,0,0,0,0
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$GC,19623,0.84,448.0,31.8,11.8,997,19628,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1619,990,0,0,0,0,0,0
$GC,19868,0.81,448.0,7.5,9.9,1038,19875,0.03,0.00,0.00,0.000,6,0.281,0.000,3270,1621,990,0,0,0,0,0,0
$STATE,19917,end climb,SURFACE_DEPTH_REACHED
$STATE,19917,begin surface coast
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$STATE,19954,end surface coast,CONTROL_FINISHED_OK
$STATE,19954,begin surface
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$HUMID,51.02
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,11.90
$XPDR_PINGS,0
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$10V_AH,9.9,61.657
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.200,88.125,543.925,0.000,0.000,30.192,37.200,529.794,0.250,0.000,29.562,2618.222,13766.487,588.867,3543.818,297.245,0.000,1865.486,0.000,2903.286,0.000,2.832,0.000
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$MEM,354688
$DATA_FILE_SIZE,63660,1052
$CAP_FILE_SIZE,177297,0
$CFSIZE,2097086464,2035449856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301212,005559,-4125.132,-513.231,97,1.2,97,-22.4