version: 66.07.10.p01
glider: 574
mission: 4
dive: 49
start: 9 30 112 5 0 23
data:
$ID,574
$MISSION,4
$DIVE,49
$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,450
$T_MISSION,520
$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,1
$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,-5561.8257
$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,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,42
$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,28
$GPS1,300912,045105,-4303.202,-844.028,52,1.0,53,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.1
$GPS2,300912,050002,-4303.197,-844.074,21,0.9,23,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_574_WP2
$TGT_LATLONG,-4100.000,-834.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,24.9,228595,-13.9,-7.407
$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,22,begin dive
$GC,23,-0.52,-145.9,0.0,0.0,0,109,0.00,0.00,-83.38,0.000,2,0.000,0.000,65,1886,2935,0,0,0,0,0,0
$GC,111,-0.52,-145.9,3.1,-1.8,14,143,12.62,2.30,-11.62,0.000,4,0.279,0.075,2834,502,3424,0,0,0,0,0,0
$GC,228,-0.48,-145.9,18.3,-8.7,33,236,0.08,2.22,0.00,0.000,6,0.158,0.043,2850,1892,3425,0,0,0,0,0,0
$GC,308,-0.44,-145.9,26.2,-10.2,46,315,0.08,0.00,0.00,0.000,6,0.200,0.000,2867,1892,3424,0,0,0,0,0,0
$GC,387,-0.44,-145.9,33.5,-10.2,59,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1893,3425,0,0,0,0,0,0
$GC,621,-0.44,-145.9,49.8,-7.2,100,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1892,3425,0,0,0,0,0,0
$GC,859,-0.46,-145.9,67.4,-6.7,141,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1893,3425,0,0,0,0,0,0
$GC,1208,-0.48,-145.9,101.9,-11.3,202,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1893,3425,0,0,0,0,0,0
$GC,1559,-0.48,-145.9,134.1,-7.2,263,1564,0.00,0.45,0.00,0.000,4,0.000,0.050,2867,2213,3425,0,0,0,0,0,0
$GC,1599,-0.51,-145.9,137.3,-7.7,270,1607,0.03,0.47,0.00,0.000,6,0.108,0.057,2845,1899,3425,0,0,0,0,0,0
$GC,1952,-0.46,-145.9,175.3,-12.0,331,1957,0.08,0.00,0.00,0.000,6,0.195,0.000,2862,1898,3425,0,0,0,0,0,0
$GC,2301,-0.46,-145.9,209.1,-9.3,392,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1898,3426,0,0,0,0,0,0
$GC,2652,-0.46,-145.9,240.4,-8.5,453,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1898,3427,0,0,0,0,0,0
$GC,2990,-0.46,-145.9,270.9,-9.0,493,2994,0.00,0.98,0.00,0.000,4,0.000,0.063,2861,1281,3428,0,0,0,0,0,0
$GC,3039,-0.46,-145.9,275.9,-8.9,497,3045,0.00,0.98,0.00,0.000,6,0.000,0.042,2859,1908,3428,0,0,0,0,0,0
$GC,3364,-0.46,-145.9,308.0,-10.2,528,3368,0.00,0.30,0.00,0.000,4,0.000,0.058,2858,2138,3428,0,0,0,0,0,0
$GC,3401,-0.46,-145.9,312.1,-10.2,531,3404,0.00,0.38,0.00,0.000,6,0.000,0.059,2858,1890,3428,0,0,0,0,0,0
$GC,3724,-0.46,-145.9,342.7,-8.6,561,3728,0.00,0.30,0.00,0.000,4,0.000,0.069,2858,1678,3429,0,0,0,0,0,0
$GC,3762,-0.46,-145.9,346.3,-8.7,564,3769,0.00,0.35,0.00,0.000,6,0.000,0.050,2858,1918,3430,0,0,0,0,0,0
$GC,4088,-0.46,-145.9,371.1,-7.4,595,4092,0.00,0.47,0.00,0.000,4,0.000,0.060,2858,1605,3430,0,0,0,0,0,0
$GC,4135,-0.46,-145.9,374.3,-7.2,599,4139,0.00,0.43,0.00,0.000,6,0.000,0.047,2858,1900,3430,0,0,0,0,0,0
$GC,4465,-0.46,-145.9,400.4,-8.4,630,4468,0.00,0.40,0.00,0.000,4,0.000,0.053,2856,2196,3431,0,0,0,0,0,0
$GC,4503,-0.49,-145.9,403.6,-7.8,633,4508,0.00,0.45,0.00,0.000,6,0.000,0.054,2856,1902,3431,0,0,0,0,0,0
$GC,4827,-0.49,-145.9,432.0,-8.7,664,4831,0.00,0.28,0.00,0.000,4,0.000,0.070,2856,1698,3431,0,0,0,0,0,0
$GC,4895,-0.49,-145.9,438.0,-9.4,670,4899,0.00,0.28,0.00,0.000,6,0.000,0.054,2854,1903,3432,0,0,0,0,0,0
$GC,5226,-0.49,-145.9,467.5,-9.4,701,5230,0.00,0.30,0.00,0.000,4,0.000,0.065,2855,1693,3432,0,0,0,0,0,0
$GC,5309,-0.49,-145.9,475.4,-9.3,708,5311,0.00,0.30,0.00,0.000,6,0.000,0.052,2853,1903,3432,0,0,0,0,0,0
$GC,5638,-0.49,-145.9,507.0,-10.1,735,5642,0.00,0.82,0.00,0.000,4,0.000,0.059,2853,1380,3432,0,0,0,0,0,0
$GC,5698,-0.49,-145.9,513.4,-10.5,736,5704,0.00,0.80,0.00,0.000,6,0.000,0.042,2850,1899,3432,0,0,0,0,0,0
$GC,6010,-0.49,-145.9,544.7,-9.9,747,6014,0.00,0.57,0.00,0.000,4,0.000,0.058,2850,1527,3432,0,0,0,0,0,0
$GC,6064,-0.49,-145.9,550.3,-10.3,748,6069,0.00,0.57,0.00,0.000,6,0.000,0.044,2848,1906,3432,0,0,0,0,0,0
$GC,6382,-0.49,-145.9,580.9,-9.4,759,6386,0.00,0.30,0.00,0.000,4,0.000,0.064,2848,1698,3433,0,0,0,0,0,0
$GC,6431,-0.49,-145.9,585.7,-9.5,760,6433,0.00,0.30,0.00,0.000,6,0.000,0.052,2847,1906,3433,0,0,0,0,0,0
$GC,6750,-0.49,-145.9,614.8,-8.8,771,6754,0.00,0.50,0.00,0.000,4,0.000,0.059,2848,1579,3433,0,0,0,0,0,0
$GC,6804,-0.49,-145.9,619.9,-9.1,772,6807,0.00,0.47,0.00,0.000,6,0.000,0.046,2846,1900,3433,0,0,0,0,0,0
$GC,7119,-0.49,-145.9,645.8,-8.2,783,7122,0.00,1.42,0.00,0.000,4,0.000,0.059,2846,1011,3432,0,0,0,0,0,0
$GC,7178,-0.49,-145.9,651.0,-7.9,784,7185,0.00,1.38,0.00,0.000,6,0.000,0.038,2842,1897,3433,0,0,0,0,0,0
$GC,7491,-0.49,-145.9,677.2,-8.3,795,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1896,3433,0,0,0,0,0,0
$GC,7797,-0.49,-145.9,702.6,-8.2,805,7801,0.00,0.55,0.00,0.000,4,0.000,0.057,2842,1533,3433,0,0,0,0,0,0
$GC,7846,-0.49,-145.9,706.8,-8.6,806,7850,0.00,0.57,0.00,0.000,6,0.000,0.043,2839,1915,3433,0,0,0,0,0,0
$GC,8169,-0.49,-145.9,734.2,-8.7,817,8173,0.00,0.65,0.00,0.000,4,0.000,0.055,2839,1491,3433,0,0,0,0,0,0
$GC,8223,-0.49,-145.9,739.3,-9.4,818,8228,0.05,0.62,0.00,0.000,6,0.231,0.043,2848,1905,3432,0,0,0,0,0,0
$GC,8541,-0.49,-145.9,763.8,-7.5,829,8544,0.00,0.93,0.00,0.000,4,0.000,0.057,2849,1314,3433,0,0,0,0,0,0
$GC,8596,-0.51,-145.9,767.7,-6.9,830,8600,0.00,0.90,0.00,0.000,6,0.000,0.040,2846,1901,3433,0,0,0,0,0,0
$GC,8914,-0.51,-145.9,789.5,-7.0,841,8918,0.00,0.43,0.00,0.000,4,0.000,0.058,2846,1607,3433,0,0,0,0,0,0
$GC,8957,-0.51,-145.9,792.8,-7.4,842,8961,0.00,0.45,0.00,0.000,6,0.000,0.046,2844,1910,3433,0,0,0,0,0,0
$GC,9286,-0.51,-145.9,816.2,-7.3,853,9290,0.00,0.52,0.00,0.000,4,0.000,0.056,2844,1563,3432,0,0,0,0,0,0
$GC,9346,-0.51,-145.9,821.0,-7.9,854,9351,0.00,0.50,0.00,0.000,6,0.000,0.045,2842,1901,3433,0,0,0,0,0,0
$GC,9658,-0.51,-145.9,846.1,-8.6,865,9661,0.00,1.02,0.00,0.000,4,0.000,0.056,2842,1253,3433,0,0,0,0,0,0
$GC,9717,-0.51,-145.9,851.6,-8.7,866,9724,0.00,1.00,0.00,0.000,6,0.000,0.038,2838,1903,3433,0,0,0,0,0,0
$GC,10030,-0.51,-145.9,878.7,-8.2,877,10034,0.00,1.10,0.00,0.000,4,0.000,0.055,2838,1202,3433,0,0,0,0,0,0
$GC,10090,-0.51,-145.9,883.9,-9.3,878,10096,0.00,1.08,0.00,0.000,6,0.000,0.038,2836,1899,3433,0,0,0,0,0,0
$GC,10403,-0.51,-145.9,911.1,-8.9,889,10406,0.00,0.38,0.00,0.000,4,0.000,0.059,2836,1643,3433,0,0,0,0,0,0
$GC,10457,-0.51,-145.9,916.5,-10.8,890,10459,0.00,0.40,0.00,0.000,6,0.000,0.048,2834,1917,3433,0,0,0,0,0,0
$GC,10771,-0.51,-145.9,945.7,-9.4,901,10775,0.00,0.70,0.00,0.000,4,0.000,0.054,2834,1460,3433,0,0,0,0,0,0
$GC,10820,-0.51,-145.9,950.5,-10.1,902,10824,0.00,0.68,0.00,0.000,6,0.000,0.042,2832,1903,3433,0,0,0,0,0,0
$GC,11143,-0.51,-145.9,980.5,-9.1,913,11147,0.00,0.32,0.00,0.000,4,0.000,0.061,2832,1675,3433,0,0,0,0,0,0
$GC,11192,-0.51,-145.9,985.0,-9.5,914,11194,0.00,0.32,0.00,0.000,6,0.000,0.050,2831,1904,3433,0,0,0,0,0,0
$STATE,11389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11389,begin apogee
$GC,11393,-0.19,0.0,1002.3,8.7,921,11521,0.38,0.00,125.53,1.447,6,0.142,0.000,2946,1628,2827,0,0,0,0,0,0
$STATE,11522,end apogee,CONTROL_FINISHED_OK
$STATE,11522,begin climb
$GC,11523,0.52,145.9,1007.5,0.0,925,11659,0.73,2.15,126.95,1.434,4,0.096,0.064,3180,443,2232,0,0,0,0,0,0
$GC,11744,0.37,151.4,1002.3,7.2,932,11756,0.17,1.90,5.93,1.017,6,0.181,0.037,3139,1626,2209,0,0,0,0,0,0
$GC,12080,0.31,222.6,984.7,5.0,943,12150,0.10,1.38,62.83,1.398,4,0.197,0.043,3115,2439,1918,0,0,0,0,0,0
$GC,12211,0.34,260.7,978.6,6.1,947,12252,0.00,1.33,34.58,1.358,6,0.000,0.049,3118,1638,1764,0,0,0,0,0,0
$GC,12576,0.41,346.4,961.7,4.5,959,12657,0.08,0.00,77.10,1.393,6,0.129,0.000,3149,1638,1413,0,0,0,0,0,0
$GC,12969,0.48,376.8,937.1,6.4,972,13001,0.00,1.40,27.27,1.340,4,0.000,0.063,3149,836,1290,0,0,0,0,0,0
$GC,13051,0.57,402.4,931.8,6.5,974,13081,0.10,1.27,24.20,1.320,6,0.073,0.037,3192,1635,1186,0,0,0,0,0,0
$GC,13399,0.57,402.4,897.5,10.2,986,13403,0.00,1.45,0.00,0.000,4,0.000,0.065,3194,771,1180,0,0,0,0,0,0
$GC,13470,0.57,402.4,889.5,11.3,988,13475,0.00,1.38,0.00,0.000,6,0.000,0.036,3194,1636,1178,0,0,0,0,0,0
$GC,13805,0.57,402.4,851.6,11.5,999,13809,0.00,1.80,0.00,0.000,4,0.000,0.067,3197,528,1178,0,0,0,0,0,0
$GC,13873,0.57,402.4,843.9,11.2,1001,13876,0.00,1.70,0.00,0.000,6,0.000,0.038,3197,1629,1177,0,0,0,0,0,0
$GC,14212,0.57,402.4,803.0,11.9,1012,14216,0.00,1.98,0.00,0.000,4,0.000,0.069,3199,417,1177,0,0,0,0,0,0
$GC,14279,0.57,402.4,795.1,11.6,1014,14283,0.00,1.85,0.00,0.000,6,0.000,0.039,3199,1631,1176,0,0,0,0,0,0
$GC,14619,0.57,402.4,759.3,10.2,1025,14623,0.00,1.45,0.00,0.000,4,0.000,0.066,3199,751,1176,0,0,0,0,0,0
$GC,14690,0.57,402.4,752.1,10.8,1027,14695,0.00,1.38,0.00,0.000,6,0.000,0.038,3200,1631,1176,0,0,0,0,0,0
$GC,15026,0.57,402.4,718.3,10.2,1038,15029,0.00,1.58,0.00,0.000,4,0.000,0.067,3199,678,1175,0,0,0,0,0,0
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$STATE,21896,end climb,SURFACE_DEPTH_REACHED
$STATE,21897,begin surface coast
$FINISH,1.1,1.014567
$STATE,21939,end surface coast,CONTROL_FINISHED_OK
$STATE,21940,begin surface
$SM_CCo,22014,0.00,0.000,0,0,1175,405.47
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$HUMID,44.72
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.4,15.345
$10V_AH,10.3,13.742
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.225,93.075,484.375,0.000,0.000,29.686,38.355,343.385,0.250,0.000,24.901,4260.065,12386.598,586.005,5142.990,159.704,0.000,2328.161,0.000,4680.553,0.000,2.835,0.000
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$SENSOR_SECS,1206.599,2415.272,1013.841,233.631,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354756
$DATA_FILE_SIZE,103349,1740
$CAP_FILE_SIZE,223251,0
$CFSIZE,2097086464,2086600704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300912,110853,-4300.504,-845.188,63,1.1,64,-21.4