version: 66.07.10.p01
glider: 574
mission: 4
dive: 168
start: 11 1 112 13 38 49
data:
$ID,574
$MISSION,4
$DIVE,168
$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,1
$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,-5952.8359
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,58
$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,147
$GPS1,011112,133005,-4229.495,-720.967,42,0.9,42,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-74.8
$GPS2,011112,133755,-4229.529,-721.033,20,1.0,21,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.208,-0.108
$KALMAN_X,-274311.2,-31.9,1047.6,393480.9,-10413.3
$KALMAN_Y,230553.2,99.3,-680.2,-189063.8,7760.1
$MHEAD_RNG_PITCHd_Wd,139.2,79206,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.9,0.0,0.0,0,82,0.00,0.00,-54.62,0.000,2,0.000,0.000,67,1923,2361,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.0,-1.4,9,140,12.40,0.75,-39.05,0.000,4,0.266,0.102,2830,1474,3424,0,0,0,0,0,0
$GC,179,-0.48,-145.9,7.9,-8.5,24,186,0.08,0.65,0.00,0.000,6,0.150,0.044,2853,1892,3425,0,0,0,0,0,0
$GC,260,-0.60,-145.9,14.1,-7.1,37,268,0.10,1.25,0.00,0.000,4,0.113,0.047,2809,2680,3425,0,0,0,0,0,0
$GC,329,-0.60,-145.9,19.7,-8.5,48,336,0.00,1.25,0.00,0.000,6,0.000,0.050,2809,1902,3425,0,0,0,0,0,0
$GC,408,-0.60,-145.9,26.4,-8.3,61,416,0.00,1.90,0.00,0.000,4,0.000,0.062,2809,745,3425,0,0,0,0,0,0
$GC,463,-0.51,-145.9,31.6,-9.3,70,471,0.12,1.83,0.00,0.000,6,0.142,0.036,2841,1911,3425,0,0,0,0,0,0
$GC,703,-0.51,-145.9,50.2,-8.0,111,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1911,3425,0,0,0,0,0,0
$GC,936,-0.61,-145.9,69.1,-8.1,152,942,0.08,1.52,0.00,0.000,4,0.130,0.046,2805,2878,3425,0,0,0,0,0,0
$GC,1000,-0.67,-145.9,74.3,-8.6,163,1005,0.00,1.52,0.00,0.000,6,0.000,0.044,2805,1912,3426,0,0,0,0,0,0
$GC,1348,-0.70,-145.9,106.1,-9.4,217,1352,0.05,2.22,0.00,0.000,4,0.175,0.048,2776,3312,3426,0,0,0,0,0,0
$GC,1402,-0.63,-145.9,112.3,-10.6,220,1411,0.08,2.20,0.00,0.000,6,0.146,0.042,2799,1913,3425,0,0,0,0,0,0
$GC,1724,-0.56,-145.9,146.0,-10.4,241,1729,0.10,2.28,0.00,0.000,4,0.182,0.061,2826,501,3426,0,0,0,0,0,0
$GC,1812,-0.56,-145.9,155.1,-9.7,246,1817,0.00,2.20,0.00,0.000,6,0.000,0.036,2818,1914,3426,0,0,0,0,0,0
$GC,2141,-0.53,-145.9,185.0,-9.4,267,2145,0.08,0.40,0.00,0.000,4,0.202,0.058,2835,1658,3426,0,0,0,0,0,0
$GC,2200,-0.53,-145.9,190.8,-8.1,270,2207,0.00,0.40,0.00,0.000,6,0.000,0.047,2834,1927,3426,0,0,0,0,0,0
$GC,2521,-0.64,-145.9,218.5,-9.1,291,2525,0.10,1.23,0.00,0.000,4,0.109,0.055,2792,1170,3426,0,0,0,0,0,0
$GC,2556,-0.61,-145.9,222.0,-10.2,293,2561,0.08,1.12,0.00,0.000,6,0.150,0.036,2811,1907,3426,0,0,0,0,0,0
$GC,2883,-0.65,-145.9,253.9,-9.4,313,2887,0.00,1.98,0.00,0.000,4,0.000,0.047,2803,3182,3426,0,0,0,0,0,0
$GC,2944,-0.69,-145.9,260.3,-9.9,315,2950,0.00,1.98,0.00,0.000,6,0.000,0.040,2803,1916,3426,0,0,0,0,0,0
$GC,3262,-0.73,-145.9,286.8,-8.0,331,3267,0.08,2.20,0.00,0.000,4,0.134,0.048,2766,3311,3426,0,0,0,0,0,0
$GC,3334,-0.65,-145.9,294.3,-10.6,334,3339,0.10,2.17,0.00,0.000,6,0.140,0.040,2797,1914,3426,0,0,0,0,0,0
$GC,3661,-0.60,-145.9,322.6,-8.5,350,3666,0.08,2.22,0.00,0.000,4,0.206,0.058,2815,507,3427,0,0,0,0,0,0
$GC,3733,-0.57,-145.9,329.3,-9.3,353,3738,0.05,2.17,0.00,0.000,6,0.151,0.034,2824,1914,3427,0,0,0,0,0,0
$GC,4057,-0.66,-145.9,352.0,-7.2,369,4062,0.08,1.83,0.00,0.000,4,0.130,0.045,2790,3074,3427,0,0,0,0,0,0
$GC,4118,-0.68,-145.9,357.5,-8.7,371,4124,0.00,1.80,0.00,0.000,6,0.000,0.037,2790,1908,3427,0,0,0,0,0,0
$GC,4436,-0.71,-145.9,385.9,-9.3,387,4440,0.00,2.20,0.00,0.000,4,0.000,0.056,2790,511,3427,0,0,0,0,0,0
$GC,4508,-0.62,-145.9,394.1,-10.8,390,4513,0.08,2.17,0.00,0.000,6,0.151,0.035,2805,1913,3427,0,0,0,0,0,0
$GC,4833,-0.58,-145.9,426.7,-10.1,402,4835,0.08,0.00,0.00,0.000,6,0.207,0.000,2822,1914,3427,0,0,0,0,0,0
$GC,5140,-0.62,-145.9,453.8,-8.4,412,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1914,3427,0,0,0,0,0,0
$GC,5446,-0.71,-145.9,477.0,-7.2,422,5451,0.12,2.20,0.00,0.000,4,0.101,0.047,2768,3319,3426,0,0,0,0,0,0
$GC,5540,-0.65,-145.9,485.8,-9.4,424,5546,0.08,2.17,0.00,0.000,6,0.145,0.039,2792,1920,3426,0,0,0,0,0,0
$GC,5853,-0.59,-145.9,511.9,-8.0,435,5858,0.10,2.28,0.00,0.000,4,0.194,0.057,2819,502,3426,0,0,0,0,0,0
$GC,5947,-0.57,-145.9,518.8,-7.4,437,5953,0.08,2.20,0.00,0.000,6,0.187,0.037,2828,1932,3426,0,0,0,0,0,0
$GC,6260,-0.69,-145.9,535.8,-5.5,448,6265,0.12,0.70,0.00,0.000,4,0.100,0.047,2777,2395,3426,0,0,0,0,0,0
$GC,6337,-0.69,-145.9,541.1,-7.1,450,6341,0.00,0.77,0.00,0.000,6,0.000,0.046,2777,1896,3426,0,0,0,0,0,0
$GC,6666,-0.69,-145.9,565.9,-7.8,461,6670,0.00,2.20,0.00,0.000,4,0.000,0.058,2777,516,3426,0,0,0,0,0,0
$GC,6726,-0.59,-145.9,571.8,-10.0,462,6732,0.15,2.17,0.00,0.000,6,0.146,0.036,2815,1914,3426,0,0,0,0,0,0
$GC,7039,-0.59,-145.9,597.7,-8.5,473,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1914,3425,0,0,0,0,0,0
$GC,7345,-0.59,-145.9,624.1,-8.8,483,7348,0.00,1.08,0.00,0.000,4,0.000,0.054,2815,1240,3425,0,0,0,0,0,0
$GC,7433,-0.59,-145.9,632.4,-9.1,485,7438,0.00,1.08,0.00,0.000,6,0.000,0.038,2811,1929,3425,0,0,0,0,0,0
$GC,7751,-0.59,-145.9,661.1,-9.1,496,7755,0.00,1.48,0.00,0.000,4,0.000,0.054,2811,1017,3425,0,0,0,0,0,0
$GC,7823,-0.56,-145.9,667.9,-9.1,498,7828,0.05,1.40,0.00,0.000,6,0.153,0.037,2824,1915,3425,0,0,0,0,0,0
$GC,8158,-0.67,-145.9,694.8,-8.0,509,8162,0.10,0.45,0.00,0.000,4,0.113,0.056,2783,1622,3425,0,0,0,0,0,0
$GC,8173,-0.75,-145.9,696.4,-8.5,509,8177,0.00,0.47,0.00,0.000,6,0.000,0.047,2782,1934,3425,0,0,0,0,0,0
$GC,8496,-0.75,-145.9,726.5,-9.4,520,8500,0.00,2.15,0.00,0.000,4,0.000,0.050,2774,3305,3425,0,0,0,0,0,0
$GC,8568,-0.70,-145.9,734.1,-10.9,522,8573,0.00,2.17,0.00,0.000,6,0.000,0.040,2774,1914,3424,0,0,0,0,0,0
$GC,8898,-0.61,-145.9,771.5,-11.3,533,8902,0.15,1.70,0.00,0.000,4,0.176,0.055,2813,833,3424,0,0,0,0,0,0
$GC,8980,-0.61,-145.9,779.7,-9.2,535,8985,0.00,1.67,0.00,0.000,6,0.000,0.036,2808,1914,3424,0,0,0,0,0,0
$GC,9305,-0.61,-145.9,807.5,-8.5,546,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1914,3425,0,0,0,0,0,0
$GC,9610,-0.61,-145.9,831.8,-7.9,556,9614,0.00,1.23,0.00,0.000,4,0.000,0.053,2808,1148,3424,0,0,0,0,0,0
$GC,9715,-0.61,-145.9,840.6,-8.1,559,9720,0.00,1.20,0.00,0.000,6,0.000,0.037,2803,1914,3424,0,0,0,0,0,0
$GC,10051,-0.61,-145.9,868.9,-8.6,570,10055,0.00,0.98,0.00,0.000,4,0.000,0.052,2803,1300,3424,0,0,0,0,0,0
$GC,10144,-0.61,-145.9,877.5,-8.7,572,10151,0.05,0.98,0.00,0.000,6,0.227,0.038,2811,1926,3424,0,0,0,0,0,0
$GC,10457,-0.61,-145.9,904.0,-8.6,583,10461,0.00,0.98,0.00,0.000,4,0.000,0.053,2811,1315,3424,0,0,0,0,0,0
$GC,10545,-0.61,-145.9,911.9,-8.8,585,10550,0.00,0.93,0.00,0.000,6,0.000,0.037,2809,1911,3424,0,0,0,0,0,0
$GC,10864,-0.61,-145.9,939.8,-8.8,596,10868,0.00,0.73,0.00,0.000,4,0.000,0.052,2809,1448,3424,0,0,0,0,0,0
$GC,10946,-0.61,-145.9,947.3,-9.7,598,10951,0.00,0.73,0.00,0.000,6,0.000,0.040,2806,1922,3424,0,0,0,0,0,0
$GC,11270,-0.61,-145.9,973.4,-8.2,609,11274,0.00,0.82,0.00,0.000,4,0.000,0.053,2806,1397,3424,0,0,0,0,0,0
$GC,11353,-0.61,-145.9,980.1,-8.0,611,11357,0.00,0.80,0.00,0.000,6,0.000,0.041,2803,1913,3424,0,0,0,0,0,0
$STATE,11646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11646,begin apogee
$GC,11650,-0.19,0.0,1000.2,6.6,621,11779,0.47,0.00,126.25,1.576,6,0.135,0.000,2947,1641,2826,0,0,0,0,0,0
$STATE,11780,end apogee,CONTROL_FINISHED_OK
$STATE,11780,begin climb
$GC,11782,0.52,145.9,1003.8,0.0,625,11917,0.70,0.00,130.70,1.524,6,0.079,0.000,3175,1641,2232,0,0,0,0,0,0
$GC,12210,0.35,145.9,977.6,9.4,639,12214,0.20,0.55,0.00,0.000,4,0.185,0.047,3127,1985,2225,0,0,0,0,0,0
$GC,12311,0.27,153.6,969.7,7.1,642,12323,0.08,0.52,7.35,1.217,6,0.157,0.057,3106,1656,2200,0,0,0,0,0,0
$GC,12647,0.28,186.6,947.9,6.3,653,12679,0.00,0.00,29.95,1.466,6,0.000,0.000,3106,1657,2066,0,0,0,0,0,0
$GC,12983,0.28,220.2,926.2,6.3,664,13017,0.00,0.77,30.20,1.456,4,0.000,0.041,3106,2141,1928,0,0,0,0,0,0
$GC,13068,0.30,263.0,920.8,5.9,666,13112,0.00,0.80,38.97,1.450,6,0.000,0.053,3105,1651,1754,0,0,0,0,0,0
$GC,13448,0.48,284.0,894.4,6.7,679,13473,0.17,1.05,18.92,1.392,4,0.088,0.062,3176,1026,1669,0,0,0,0,0,0
$GC,13495,0.44,284.0,890.4,8.4,680,13500,0.08,1.00,0.00,0.000,6,0.196,0.039,3161,1656,1667,0,0,0,0,0,0
$GC,13819,0.40,284.0,863.3,8.3,691,13823,0.05,0.62,0.00,0.000,4,0.246,0.046,3150,2071,1665,0,0,0,0,0,0
$GC,13878,0.40,284.0,858.6,8.1,692,13884,0.00,0.70,0.00,0.000,6,0.000,0.054,3150,1642,1664,0,0,0,0,0,0
$GC,14191,0.40,284.0,833.8,8.0,703,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1642,1664,0,0,0,0,0,0
$GC,14497,0.40,284.0,808.1,8.6,713,14501,0.00,0.38,0.00,0.000,4,0.000,0.051,3150,1907,1664,0,0,0,0,0,0
$GC,14551,0.40,284.0,803.4,8.2,714,14555,0.00,0.40,0.00,0.000,6,0.000,0.063,3152,1650,1664,0,0,0,0,0,0
$GC,14869,0.40,284.0,775.6,8.8,725,14873,0.00,0.57,0.00,0.000,4,0.000,0.047,3152,2033,1664,0,0,0,0,0,0
$GC,14913,0.38,284.0,771.6,8.8,726,14918,0.08,0.62,0.00,0.000,6,0.223,0.057,3138,1649,1664,0,0,0,0,0,0
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$STATE,24403,end climb,SURFACE_DEPTH_REACHED
$STATE,24403,begin surface coast
$FINISH,1.5,1.006507
$STATE,24441,end surface coast,CONTROL_FINISHED_OK
$STATE,24441,begin surface
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$IRIDIUM_FIX,-4215.72,-719.09,011112,070742
$TT8_MAMPS,0.026964
$HUMID,46.06
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.6,40.739
$10V_AH,10.2,31.484
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.675,121.050,479.525,0.000,0.000,22.830,48.270,275.970,0.250,0.000,22.845,3257.614,16979.637,595.898,3957.736,186.655,33.359,2124.645,0.000,3552.174,0.000,2.833,0.000
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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,354264
$DATA_FILE_SIZE,76956,1287
$CAP_FILE_SIZE,222179,0
$CFSIZE,2097086464,2070675456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011112,202835,-4228.405,-720.740,35,0.9,36,-21.8