version: 66.07.10.p01
glider: 574
mission: 4
dive: 176
start: 11 3 112 19 16 49
data:
$ID,574
$MISSION,4
$DIVE,176
$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,-5979.6841
$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,34
$R_STBD_OVSHOOT,48
$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,155
$GPS1,031112,190731,-4220.556,-720.232,41,1.2,41,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-72.6
$GPS2,031112,191554,-4220.524,-720.188,15,2.0,16,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.205,0.115
$KALMAN_X,-312183.0,509.1,491.9,432500.2,-7792.4
$KALMAN_Y,256366.9,-112.4,-253.6,-198397.8,2983.5
$MHEAD_RNG_PITCHd_Wd,82.5,67113,-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,24,-0.52,-145.9,0.0,0.0,0,87,0.00,0.00,-60.58,0.000,2,0.000,0.000,66,1916,2727,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.2,-1.7,10,127,12.43,2.25,-18.15,0.000,4,0.265,0.062,2824,3301,3421,0,0,0,0,0,0
$GC,230,-0.54,-145.9,17.4,-9.0,33,237,0.00,2.22,0.00,0.000,6,0.000,0.046,2824,1923,3423,0,0,0,0,0,0
$GC,310,-0.54,-145.9,24.5,-9.1,46,317,0.00,1.17,0.00,0.000,4,0.000,0.062,2824,1196,3423,0,0,0,0,0,0
$GC,348,-0.54,-145.9,28.3,-9.5,52,355,0.00,1.10,0.00,0.000,6,0.000,0.037,2821,1905,3424,0,0,0,0,0,0
$GC,427,-0.61,-145.9,35.3,-8.7,65,432,0.00,1.20,0.00,0.000,4,0.000,0.044,2816,2676,3423,0,0,0,0,0,0
$GC,475,-0.68,-145.9,39.6,-8.8,73,481,0.03,1.23,0.00,0.000,6,0.104,0.047,2795,1910,3423,0,0,0,0,0,0
$GC,708,-0.59,-145.9,63.7,-11.1,114,716,0.10,2.25,0.00,0.000,4,0.176,0.047,2810,3308,3423,0,0,0,0,0,0
$GC,811,-0.59,-145.9,73.9,-9.9,132,818,0.00,2.22,0.00,0.000,6,0.000,0.042,2810,1906,3423,0,0,0,0,0,0
$GC,1153,-0.54,-145.9,106.6,-9.9,185,1158,0.10,2.28,0.00,0.000,4,0.174,0.061,2836,504,3424,0,0,0,0,0,0
$GC,1207,-0.54,-145.9,111.8,-8.2,188,1215,0.00,2.17,0.00,0.000,6,0.000,0.031,2829,1917,3424,0,0,0,0,0,0
$GC,1529,-0.62,-145.9,136.9,-7.8,209,1532,0.00,1.98,0.00,0.000,4,0.000,0.044,2821,3212,3424,0,0,0,0,0,0
$GC,1599,-0.75,-145.9,142.7,-8.5,213,1603,0.15,2.00,0.00,0.000,6,0.089,0.038,2762,1899,3424,0,0,0,0,0,0
$GC,1923,-0.60,-145.9,183.8,-13.1,234,1927,0.20,2.22,0.00,0.000,4,0.166,0.055,2815,511,3424,0,0,0,0,0,0
$GC,2004,-0.56,-145.9,192.8,-11.1,239,2008,0.08,2.12,0.00,0.000,6,0.190,0.031,2825,1915,3424,0,0,0,0,0,0
$GC,2328,-0.66,-145.9,221.9,-8.8,260,2332,0.08,1.45,0.00,0.000,4,0.130,0.041,2789,2848,3424,0,0,0,0,0,0
$GC,2382,-0.66,-145.9,227.6,-10.5,263,2386,0.00,1.48,0.00,0.000,6,0.000,0.039,2789,1908,3424,0,0,0,0,0,0
$GC,2713,-0.68,-145.9,258.2,-8.7,283,2717,0.00,2.20,0.00,0.000,4,0.000,0.044,2780,3319,3424,0,0,0,0,0,0
$GC,2785,-0.62,-145.9,265.3,-10.2,286,2790,0.08,2.17,0.00,0.000,6,0.142,0.037,2804,1915,3424,0,0,0,0,0,0
$GC,3107,-0.57,-145.9,294.0,-9.5,302,3112,0.10,2.22,0.00,0.000,4,0.177,0.056,2831,511,3424,0,0,0,0,0,0
$GC,3161,-0.57,-145.9,299.4,-9.4,304,3170,0.00,2.15,0.00,0.000,6,0.000,0.030,2825,1915,3424,0,0,0,0,0,0
$GC,3479,-0.66,-145.9,326.1,-8.5,320,3483,0.08,1.98,0.00,0.000,4,0.130,0.044,2782,3206,3424,0,0,0,0,0,0
$GC,3548,-0.62,-145.9,332.9,-10.5,323,3553,0.12,2.00,0.00,0.000,6,0.153,0.037,2816,1902,3423,0,0,0,0,0,0
$GC,3877,-0.71,-145.9,361.8,-8.8,339,3882,0.10,2.20,0.00,0.000,4,0.111,0.044,2769,3308,3424,0,0,0,0,0,0
$GC,3960,-0.64,-145.9,370.8,-11.0,342,3969,0.10,2.15,0.00,0.000,6,0.135,0.037,2801,1921,3423,0,0,0,0,0,0
$GC,4276,-0.59,-145.9,400.4,-9.1,358,4281,0.08,2.28,0.00,0.000,4,0.200,0.055,2820,499,3423,0,0,0,0,0,0
$GC,4347,-0.57,-145.9,406.6,-9.0,360,4352,0.03,2.15,0.00,0.000,6,0.174,0.030,2821,1905,3423,0,0,0,0,0,0
$GC,4678,-0.65,-145.9,429.2,-6.8,371,4682,0.05,2.17,0.00,0.000,4,0.168,0.044,2788,3320,3422,0,0,0,0,0,0
$GC,4743,-0.63,-145.9,434.6,-8.4,373,4748,0.05,2.17,0.00,0.000,6,0.141,0.036,2806,1908,3422,0,0,0,0,0,0
$GC,5078,-0.69,-145.9,459.9,-7.7,384,5082,0.00,1.02,0.00,0.000,4,0.000,0.039,2803,2582,3423,0,0,0,0,0,0
$GC,5139,-0.78,-145.9,465.0,-7.9,385,5145,0.12,1.05,0.00,0.000,6,0.102,0.039,2749,1908,3422,0,0,0,0,0,0
$GC,5452,-0.62,-145.9,503.2,-13.1,396,5457,0.22,2.20,0.00,0.000,4,0.161,0.051,2810,508,3422,0,0,0,0,0,0
$GC,5547,-0.59,-145.9,512.9,-9.3,399,5552,0.08,2.15,0.00,0.000,6,0.187,0.033,2820,1920,3422,0,0,0,0,0,0
$GC,5882,-0.68,-145.9,540.6,-8.0,410,5883,0.08,0.00,0.00,0.000,6,0.131,0.000,2789,1924,3422,0,0,0,0,0,0
$GC,6188,-0.71,-145.9,567.6,-8.9,420,6192,0.00,2.15,0.00,0.000,4,0.000,0.046,2780,3311,3421,0,0,0,0,0,0
$GC,6298,-0.68,-145.9,578.6,-10.5,423,6303,0.00,2.17,0.00,0.000,6,0.000,0.037,2781,1910,3420,0,0,0,0,0,0
$GC,6623,-0.60,-145.9,614.0,-11.1,434,6627,0.15,1.12,0.00,0.000,4,0.167,0.052,2821,1199,3420,0,0,0,0,0,0
$GC,6682,-0.60,-145.9,619.6,-8.5,435,6688,0.00,1.12,0.00,0.000,6,0.000,0.034,2817,1928,3420,0,0,0,0,0,0
$GC,6995,-0.60,-145.9,643.6,-7.8,446,6999,0.00,1.12,0.00,0.000,4,0.000,0.051,2817,1221,3420,0,0,0,0,0,0
$GC,7055,-0.60,-145.9,648.5,-8.7,447,7061,0.00,1.08,0.00,0.000,6,0.000,0.034,2812,1921,3420,0,0,0,0,0,0
$GC,7368,-0.60,-145.9,672.6,-7.9,458,7372,0.00,1.10,0.00,0.000,4,0.000,0.051,2813,1228,3419,0,0,0,0,0,0
$GC,7428,-0.60,-145.9,677.5,-8.6,459,7434,0.00,1.05,0.00,0.000,6,0.000,0.034,2808,1910,3419,0,0,0,0,0,0
$GC,7741,-0.60,-145.9,703.3,-8.4,470,7745,0.00,0.62,0.00,0.000,4,0.000,0.050,2809,1504,3418,0,0,0,0,0,0
$GC,7797,-0.60,-145.9,708.2,-9.2,471,7800,0.00,0.60,0.00,0.000,6,0.000,0.040,2806,1910,3418,0,0,0,0,0,0
$GC,8114,-0.60,-145.9,736.0,-8.9,482,8118,0.00,1.75,0.00,0.000,4,0.000,0.053,2806,798,3418,0,0,0,0,0,0
$GC,8168,-0.60,-145.9,741.4,-10.3,483,8174,0.05,1.70,0.00,0.000,6,0.150,0.033,2817,1902,3417,0,0,0,0,0,0
$GC,8486,-0.60,-145.9,768.8,-8.5,494,8490,0.00,0.80,0.00,0.000,4,0.000,0.050,2817,1391,3417,0,0,0,0,0,0
$GC,8547,-0.60,-145.9,774.2,-8.2,495,8553,0.00,0.82,0.00,0.000,6,0.000,0.037,2815,1927,3417,0,0,0,0,0,0
$GC,8859,-0.60,-145.9,800.3,-8.4,506,8863,0.00,1.50,0.00,0.000,4,0.000,0.052,2816,997,3416,0,0,0,0,0,0
$GC,8914,-0.60,-145.9,805.3,-9.1,507,8919,0.00,1.42,0.00,0.000,6,0.000,0.034,2809,1910,3416,0,0,0,0,0,0
$GC,9233,-0.60,-145.9,832.8,-8.6,518,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1910,3416,0,0,0,0,0,0
$GC,9539,-0.60,-145.9,857.4,-7.7,528,9543,0.00,0.85,0.00,0.000,4,0.000,0.050,2810,1367,3416,0,0,0,0,0,0
$GC,9610,-0.60,-145.9,863.0,-7.8,530,9614,0.00,0.85,0.00,0.000,6,0.000,0.037,2806,1920,3416,0,0,0,0,0,0
$GC,9946,-0.60,-145.9,885.5,-6.6,541,9949,0.00,2.03,0.00,0.000,4,0.000,0.054,2807,653,3416,0,0,0,0,0,0
$GC,10013,-0.60,-145.9,890.5,-6.9,543,10018,0.08,1.92,0.00,0.000,6,0.183,0.034,2817,1915,3416,0,0,0,0,0,0
$GC,10355,-0.72,-145.9,911.0,-6.0,554,10359,0.12,2.25,0.00,0.000,4,0.103,0.053,2770,508,3415,0,0,0,0,0,0
$GC,10416,-0.63,-145.9,916.8,-10.3,556,10421,0.17,2.17,0.00,0.000,6,0.161,0.034,2808,1922,3415,0,0,0,0,0,0
$GC,10750,-0.63,-145.9,944.8,-8.5,567,10754,0.00,0.35,0.00,0.000,4,0.000,0.055,2808,1679,3415,0,0,0,0,0,0
$GC,10805,-0.63,-145.9,949.8,-8.8,568,10809,0.00,0.38,0.00,0.000,6,0.000,0.047,2808,1933,3415,0,0,0,0,0,0
$GC,11123,-0.63,-145.9,979.7,-9.9,579,11126,0.00,1.10,0.00,0.000,4,0.000,0.052,2808,1243,3415,0,0,0,0,0,0
$GC,11199,-0.63,-145.9,987.3,-9.3,581,11204,0.00,1.05,0.00,0.000,6,0.000,0.037,2805,1917,3414,0,0,0,0,0,0
$STATE,11345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11345,begin apogee
$GC,11349,-0.19,0.0,1000.7,9.4,586,11477,0.47,0.00,124.68,1.563,6,0.134,0.000,2948,1645,2827,0,0,0,0,0,0
$STATE,11478,end apogee,CONTROL_FINISHED_OK
$STATE,11478,begin climb
$GC,11479,0.52,145.9,1007.7,0.0,590,11620,0.70,2.33,132.23,1.547,4,0.080,0.063,3181,394,2231,0,0,0,0,0,0
$GC,11721,0.33,178.0,1009.5,6.3,597,11757,0.17,2.08,30.05,1.470,6,0.174,0.037,3122,1641,2101,0,0,0,0,0,0
$GC,12070,0.30,242.7,991.0,5.2,609,12134,0.00,1.38,58.12,1.509,4,0.000,0.043,3122,2449,1836,0,0,0,0,0,0
$GC,12184,0.30,307.9,983.9,5.2,612,12250,0.00,1.35,60.45,1.490,6,0.000,0.047,3125,1656,1571,0,0,0,0,0,0
$GC,12563,0.40,328.0,959.5,6.7,625,12583,0.00,0.00,17.98,1.406,6,0.000,0.000,3125,1656,1489,0,0,0,0,0,0
$GC,12896,0.67,340.6,935.7,7.0,636,12916,0.28,2.30,12.62,1.347,4,0.083,0.047,3226,3043,1437,0,0,0,0,0,0
$GC,12966,0.53,340.6,928.3,11.6,638,12971,0.12,2.28,0.00,0.000,6,0.168,0.047,3191,1655,1436,0,0,0,0,0,0
$GC,13301,0.48,340.6,896.0,9.4,649,13305,0.08,1.05,0.00,0.000,4,0.226,0.062,3179,1018,1434,0,0,0,0,0,0
$GC,13355,0.46,340.6,891.0,8.7,650,13360,0.08,1.02,0.00,0.000,6,0.194,0.038,3164,1668,1433,0,0,0,0,0,0
$GC,13673,0.46,343.2,867.5,7.3,661,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1669,1432,0,0,0,0,0,0
$GC,13979,0.46,343.2,844.9,7.5,671,13983,0.00,0.65,0.00,0.000,4,0.000,0.061,3165,1266,1432,0,0,0,0,0,0
$GC,14016,0.46,343.2,842.0,8.0,672,14020,0.00,0.60,0.00,0.000,6,0.000,0.043,3165,1658,1432,0,0,0,0,0,0
$GC,14351,0.46,343.2,815.7,8.1,683,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1659,1431,0,0,0,0,0,0
$GC,14657,0.46,343.2,789.2,9.0,693,14661,0.00,0.43,0.00,0.000,4,0.000,0.063,3166,1381,1431,0,0,0,0,0,0
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$STATE,23839,end climb,SURFACE_DEPTH_REACHED
$STATE,23839,begin surface coast
$FINISH,1.4,1.013953
$STATE,23889,end surface coast,CONTROL_FINISHED_OK
$STATE,23889,begin surface
$SM_CCo,23965,0.00,0.000,0,0,1319,369.91
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$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.5,42.562
$10V_AH,10.1,32.590
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.375,139.500,454.125,0.000,0.000,41.165,37.494,299.862,0.250,0.000,18.184,3143.375,16747.924,569.487,3809.880,188.216,33.361,2048.499,0.000,3379.477,0.000,2.833,0.000
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$MEM,354416
$DATA_FILE_SIZE,73567,1239
$CAP_FILE_SIZE,216901,0
$CFSIZE,2097086464,2069594112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041112,015730,-4218.032,-720.079,42,1.3,43,-21.9