version: 66.07.10.p01
glider: 574
mission: 4
dive: 438
start: 12 31 112 11 17 45
data:
$ID,574
$MISSION,4
$DIVE,438
$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,400
$T_MISSION,420
$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,200
$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,-7238.2646
$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,2995
$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,1770
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,78
$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,417
$GPS1,311212,111605,-4124.637,-510.544,37,1.1,37,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-74.7
$GPS2,311212,111724,-4124.633,-510.554,16,1.1,16,-22.4
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-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,92.1,104987,-15.5,-8.333
$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,-145.9,0.0,0.0,0,59,0.00,0.00,-31.40,0.000,2,0.000,0.000,71,1801,1740,0,0,0,0,0,0
$GC,61,-0.78,-145.9,3.1,-0.9,5,159,12.68,0.65,-79.50,0.000,4,0.262,0.107,2731,1424,3423,0,0,0,0,0,0
$GC,227,-0.68,-145.9,8.4,-10.8,32,235,0.12,0.47,0.00,0.000,6,0.137,0.043,2769,1742,3423,0,0,0,0,0,0
$GC,309,-0.76,-145.9,16.6,-10.0,45,317,0.08,1.23,0.00,0.000,4,0.129,0.045,2732,2528,3423,0,0,0,0,0,0
$GC,378,-0.80,-145.9,24.0,-11.4,56,385,0.00,1.20,0.00,0.000,6,0.000,0.045,2732,1772,3423,0,0,0,0,0,0
$GC,458,-0.80,-145.9,33.2,-11.6,69,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1772,3423,0,0,0,0,0,0
$GC,697,-0.82,-145.9,61.6,-12.0,110,701,0.00,0.70,0.00,0.000,4,0.000,0.040,2730,2248,3424,0,0,0,0,0,0
$GC,741,-0.86,-145.9,66.6,-11.5,114,745,0.00,0.75,0.00,0.000,6,0.000,0.046,2730,1765,3423,0,0,0,0,0,0
$GC,1079,-0.89,-145.9,101.5,-9.7,145,1083,0.08,0.82,0.00,0.000,4,0.127,0.038,2692,2314,3424,0,0,0,0,0,0
$GC,1156,-0.86,-145.9,109.5,-10.3,149,1162,0.05,0.85,0.00,0.000,6,0.145,0.043,2711,1768,3424,0,0,0,0,0,0
$GC,1477,-0.86,-145.9,139.0,-9.1,170,1480,0.00,1.45,0.00,0.000,4,0.000,0.057,2711,880,3425,0,0,0,0,0,0
$GC,1532,-0.86,-145.9,144.6,-9.8,173,1536,0.00,1.38,0.00,0.000,6,0.000,0.031,2705,1773,3425,0,0,0,0,0,0
$GC,1858,-0.86,-145.9,175.0,-9.5,194,1862,0.00,0.65,0.00,0.000,4,0.000,0.050,2705,1358,3425,0,0,0,0,0,0
$GC,1953,-0.86,-145.9,185.1,-10.8,199,1959,0.05,0.65,0.00,0.000,6,0.215,0.037,2715,1783,3426,0,0,0,0,0,0
$GC,2283,-0.88,-145.9,219.4,-10.9,218,2287,0.00,2.10,0.00,0.000,4,0.000,0.057,2715,493,3427,0,0,0,0,0,0
$GC,2338,-0.88,-145.9,226.1,-11.6,220,2344,0.00,1.98,0.00,0.000,6,0.000,0.034,2711,1759,3427,0,0,0,0,0,0
$GC,2654,-0.91,-145.9,262.4,-11.8,236,2658,0.00,0.98,0.00,0.000,4,0.000,0.052,2712,1153,3427,0,0,0,0,0,0
$GC,2709,-0.91,-145.9,269.2,-11.9,238,2714,0.00,0.98,0.00,0.000,6,0.000,0.035,2708,1780,3427,0,0,0,0,0,0
$GC,3051,-0.91,-145.9,309.2,-11.6,254,3055,0.00,2.30,0.00,0.000,4,0.000,0.057,2708,367,3427,0,0,0,0,0,0
$GC,3118,-0.88,-145.9,317.3,-11.5,256,3122,0.00,2.15,0.00,0.000,6,0.000,0.033,2701,1770,3427,0,0,0,0,0,0
$GC,3453,-0.88,-145.9,354.0,-10.7,267,3457,0.00,0.45,0.00,0.000,4,0.000,0.052,2701,1476,3427,0,0,0,0,0,0
$GC,3547,-0.88,-145.9,364.2,-10.4,269,3553,0.00,0.47,0.00,0.000,6,0.000,0.041,2700,1791,3427,0,0,0,0,0,0
$GC,3860,-0.88,-145.9,397.0,-10.6,280,3864,0.00,2.08,0.00,0.000,4,0.000,0.055,2701,515,3427,0,0,0,0,0,0
$GC,3915,-0.86,-145.9,403.1,-10.3,281,3920,0.05,1.92,0.00,0.000,6,0.148,0.032,2719,1760,3427,0,0,0,0,0,0
$GC,4234,-0.93,-145.9,435.9,-10.6,292,4238,0.08,1.25,0.00,0.000,4,0.128,0.053,2687,997,3427,0,0,0,0,0,0
$GC,4301,-0.90,-145.9,443.6,-11.0,294,4306,0.05,1.20,0.00,0.000,6,0.155,0.034,2700,1771,3427,0,0,0,0,0,0
$GC,4642,-0.92,-145.9,479.3,-10.2,305,4646,0.00,2.28,0.00,0.000,4,0.000,0.056,2700,367,3427,0,0,0,0,0,0
$GC,4711,-0.89,-145.9,486.1,-10.1,307,4715,0.00,2.12,0.00,0.000,6,0.000,0.031,2698,1778,3427,0,0,0,0,0,0
$GC,5045,-0.89,-145.9,518.4,-9.5,318,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1778,3427,0,0,0,0,0,0
$GC,5352,-0.89,-145.9,546.8,-9.2,328,5356,0.00,2.30,0.00,0.000,4,0.000,0.056,2698,366,3427,0,0,0,0,0,0
$GC,5407,-0.86,-145.9,552.4,-9.9,329,5412,0.10,2.15,0.00,0.000,6,0.170,0.031,2714,1776,3426,0,0,0,0,0,0
$GC,5720,-0.91,-145.9,580.8,-9.4,339,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1776,3426,0,0,0,0,0,0
$GC,6026,-0.96,-145.9,610.1,-9.7,349,6030,0.10,1.12,0.00,0.000,4,0.112,0.052,2674,1088,3425,0,0,0,0,0,0
$GC,6070,-0.90,-145.9,615.0,-10.6,350,6075,0.08,1.05,0.00,0.000,6,0.150,0.036,2695,1768,3425,0,0,0,0,0,0
$GC,6399,-0.90,-145.9,648.3,-10.1,361,6403,0.00,0.70,0.00,0.000,4,0.000,0.051,2695,1328,3424,0,0,0,0,0,0
$GC,6510,-0.90,-145.9,660.1,-10.2,364,6515,0.00,0.70,0.00,0.000,6,0.000,0.039,2693,1779,3424,0,0,0,0,0,0
$GC,6840,-0.90,-145.9,694.7,-10.4,375,6845,0.00,2.33,0.00,0.000,4,0.000,0.057,2694,358,3424,0,0,0,0,0,0
$GC,6913,-0.87,-145.9,702.8,-11.2,377,6918,0.08,2.17,0.00,0.000,6,0.144,0.032,2723,1764,3423,0,0,0,0,0,0
$GC,7242,-0.96,-145.9,734.3,-9.7,388,7246,0.10,1.05,0.00,0.000,4,0.112,0.050,2683,1118,3423,0,0,0,0,0,0
$GC,7297,-0.92,-145.9,740.4,-10.7,389,7301,0.03,1.00,0.00,0.000,6,0.179,0.036,2688,1770,3423,0,0,0,0,0,0
$GC,7615,-0.92,-145.9,775.0,-11.2,400,7619,0.00,2.30,0.00,0.000,4,0.000,0.055,2688,357,3422,0,0,0,0,0,0
$GC,7676,-0.88,-145.9,782.3,-12.1,401,7682,0.10,2.17,0.00,0.000,6,0.177,0.031,2707,1775,3422,0,0,0,0,0,0
$GC,7989,-0.94,-145.9,816.3,-11.1,412,7993,0.00,1.55,0.00,0.000,4,0.000,0.050,2707,825,3422,0,0,0,0,0,0
$GC,8058,-0.97,-145.9,823.9,-11.0,414,8062,0.03,1.48,0.00,0.000,6,0.111,0.034,2681,1772,3421,0,0,0,0,0,0
$GC,8397,-0.97,-145.9,863.9,-11.9,425,8401,0.00,1.12,0.00,0.000,4,0.000,0.050,2681,1073,3421,0,0,0,0,0,0
$GC,8447,-0.94,-145.9,870.1,-12.2,426,8451,0.00,1.08,0.00,0.000,6,0.000,0.034,2676,1777,3421,0,0,0,0,0,0
$GC,8771,-0.94,-145.9,907.8,-11.5,437,8775,0.00,0.95,0.00,0.000,4,0.000,0.050,2676,1182,3421,0,0,0,0,0,0
$GC,8832,-0.92,-145.9,915.1,-11.5,438,8837,0.05,0.90,0.00,0.000,6,0.161,0.037,2691,1768,3421,0,0,0,0,0,0
$GC,9145,-0.94,-145.9,949.9,-11.2,449,9148,0.00,1.42,0.00,0.000,4,0.000,0.050,2692,893,3420,0,0,0,0,0,0
$GC,9194,-0.94,-145.9,955.8,-12.3,450,9198,0.00,1.35,0.00,0.000,6,0.000,0.032,2687,1766,3420,0,0,0,0,0,0
$GC,9518,-0.94,-145.9,990.7,-10.7,461,9522,0.00,0.70,0.00,0.000,4,0.000,0.043,2687,2248,3420,0,0,0,0,0,0
$GC,9579,-0.97,-145.9,997.2,-11.1,462,9584,0.00,0.75,0.00,0.000,6,0.000,0.044,2687,1761,3420,0,0,0,0,0,0
$STATE,9615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9615,begin apogee
$GC,9621,-0.25,0.0,1000.9,10.2,464,9755,0.75,0.00,130.62,1.490,6,0.129,0.000,2913,1597,2826,0,0,0,0,0,0
$STATE,9756,end apogee,CONTROL_FINISHED_OK
$STATE,9756,begin climb
$GC,9758,0.78,145.9,1011.1,0.0,468,9900,1.02,0.82,137.27,1.441,4,0.073,0.051,3248,1107,2232,0,0,0,0,0,0
$GC,10062,0.46,255.5,1016.2,4.1,478,10169,0.38,0.77,99.18,1.420,6,0.203,0.038,3154,1626,1784,0,0,0,0,0,0
$GC,10482,0.47,268.2,986.4,7.8,492,10498,0.00,2.17,10.75,1.222,4,0.000,0.041,3154,2991,1733,0,0,0,0,0,0
$GC,10605,0.47,285.8,976.6,7.7,495,10629,0.00,2.17,17.98,1.314,6,0.000,0.043,3160,1623,1660,0,0,0,0,0,0
$GC,10950,0.49,301.0,948.9,7.7,507,10969,0.00,0.45,14.80,1.288,4,0.000,0.063,3160,1340,1598,0,0,0,0,0,0
$GC,11072,0.54,334.0,939.7,7.1,510,11107,0.00,0.38,31.55,1.357,6,0.000,0.042,3159,1616,1465,0,0,0,0,0,0
$GC,11417,0.63,376.6,915.6,6.7,521,11463,0.12,2.22,40.35,1.361,4,0.099,0.042,3208,2995,1290,0,0,0,0,0,0
$GC,11525,0.64,415.2,907.6,6.9,524,11570,0.00,2.22,36.85,1.333,6,0.000,0.044,3213,1610,1133,0,0,0,0,0,0
$GC,11878,0.69,446.3,882.2,7.1,536,11910,0.00,0.00,29.83,1.324,6,0.000,0.000,3213,1610,1006,0,0,0,0,0,0
$GC,12213,0.80,446.3,854.5,8.5,547,12218,0.12,2.17,0.00,0.000,4,0.096,0.043,3263,2993,1000,0,0,0,0,0,0
$GC,12285,0.75,446.3,847.6,9.7,549,12289,0.12,2.20,0.00,0.000,6,0.175,0.044,3241,1603,999,0,0,0,0,0,0
$GC,12620,0.78,446.3,813.9,10.4,560,12624,0.00,0.68,0.00,0.000,4,0.000,0.060,3241,1172,998,0,0,0,0,0,0
$GC,12655,0.80,446.3,810.2,11.1,561,12659,0.00,0.62,0.00,0.000,6,0.000,0.038,3241,1610,998,0,0,0,0,0,0
$GC,12995,0.83,446.3,772.3,11.3,572,13000,0.05,0.98,0.00,0.000,4,0.170,0.040,3266,2252,997,0,0,0,0,0,0
$GC,13034,0.79,446.3,767.6,11.3,573,13038,0.03,1.02,0.00,0.000,6,0.190,0.051,3258,1612,997,0,0,0,0,0,0
$GC,13369,0.79,446.3,726.9,12.2,584,13373,0.00,1.52,0.00,0.000,4,0.000,0.061,3261,674,997,0,0,0,0,0,0
$GC,13418,0.79,446.3,720.6,13.0,585,13423,0.00,1.42,0.00,0.000,6,0.000,0.034,3262,1604,995,0,0,0,0,0,0
$GC,13743,0.79,446.3,681.7,11.8,596,13746,0.00,0.45,0.00,0.000,4,0.000,0.045,3262,1942,995,0,0,0,0,0,0
$GC,13792,0.79,446.3,675.8,12.0,597,13796,0.00,0.55,0.00,0.000,6,0.000,0.057,3264,1599,995,0,0,0,0,0,0
$GC,14116,0.79,446.3,639.8,11.0,608,14120,0.00,0.90,0.00,0.000,4,0.000,0.063,3266,1037,995,0,0,0,0,0,0
$GC,14165,0.79,446.3,634.3,10.8,609,14170,0.08,0.90,0.00,0.000,6,0.188,0.037,3251,1629,995,0,0,0,0,0,0
$GC,14489,0.81,446.3,601.9,10.1,620,14493,0.00,0.75,0.00,0.000,4,0.000,0.041,3251,2132,995,0,0,0,0,0,0
$GC,14539,0.84,446.3,596.9,9.7,621,14543,0.00,0.82,0.00,0.000,6,0.000,0.053,3253,1617,995,0,0,0,0,0,0
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$STATE,20120,end climb,SURFACE_DEPTH_REACHED
$STATE,20120,begin surface coast
$FINISH,1.7,1.001680
$STATE,20151,end surface coast,CONTROL_FINISHED_OK
$STATE,20151,begin surface
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$HUMID,50.78
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$TCM_TEMP,12.00
$XPDR_PINGS,0
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$10V_AH,9.9,62.473
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,633.566,921.549,649.655,77.551,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,56932,954
$CAP_FILE_SIZE,177385,0
$CFSIZE,2097086464,2034532352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,311212,165605,-4124.145,-510.413,35,0.8,35,-22.4