version: 66.07.10.p01
glider: 574
mission: 4
dive: 177
start: 11 4 112 2 6 49
data:
$ID,574
$MISSION,4
$DIVE,177
$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,-5982.9658
$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,26
$R_STBD_OVSHOOT,51
$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,156
$GPS1,041112,015730,-4218.032,-720.079,42,1.3,43,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-72.9
$GPS2,041112,020554,-4217.961,-720.067,15,1.9,16,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,0.102
$KALMAN_X,-317021.9,136.1,405.1,437969.2,-7803.1
$KALMAN_Y,257989.9,111.3,-504.7,-195264.7,3276.5
$MHEAD_RNG_PITCHd_Wd,86.2,64400,-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,-60.60,0.000,2,0.000,0.000,66,1926,2727,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.0,-1.4,10,127,12.40,2.38,-19.30,0.000,4,0.263,0.077,2834,501,3421,0,0,0,0,0,0
$GC,206,-0.48,-145.9,15.1,-11.8,29,214,0.05,2.22,0.00,0.000,6,0.146,0.038,2847,1891,3423,0,0,0,0,0,0
$GC,287,-0.48,-145.9,23.0,-9.1,42,294,0.00,1.12,0.00,0.000,4,0.000,0.047,2844,2609,3423,0,0,0,0,0,0
$GC,362,-0.52,-145.9,29.1,-8.1,54,369,0.00,1.12,0.00,0.000,6,0.000,0.047,2844,1912,3423,0,0,0,0,0,0
$GC,440,-0.67,-145.9,35.7,-8.1,67,446,0.15,1.95,0.00,0.000,4,0.087,0.063,2781,709,3424,0,0,0,0,0,0
$GC,500,-0.55,-145.9,42.3,-11.9,77,506,0.20,1.90,0.00,0.000,6,0.158,0.037,2828,1929,3423,0,0,0,0,0,0
$GC,736,-0.53,-145.9,66.1,-10.3,118,741,0.00,0.45,0.00,0.000,4,0.000,0.048,2826,2252,3424,0,0,0,0,0,0
$GC,779,-0.53,-145.9,70.6,-9.9,126,787,0.00,0.55,0.00,0.000,6,0.000,0.050,2826,1899,3424,0,0,0,0,0,0
$GC,1125,-0.63,-145.9,103.1,-8.9,183,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1899,3424,0,0,0,0,0,0
$GC,1438,-0.71,-145.9,132.1,-9.2,203,1442,0.12,2.28,0.00,0.000,4,0.096,0.049,2767,3322,3424,0,0,0,0,0,0
$GC,1492,-0.62,-145.9,138.6,-11.9,206,1500,0.12,2.20,0.00,0.000,6,0.136,0.041,2806,1921,3424,0,0,0,0,0,0
$GC,1814,-0.56,-145.9,172.1,-10.3,227,1819,0.08,2.30,0.00,0.000,4,0.194,0.060,2826,498,3424,0,0,0,0,0,0
$GC,1892,-0.56,-145.9,180.3,-9.5,232,1896,0.00,2.15,0.00,0.000,6,0.000,0.034,2818,1922,3424,0,0,0,0,0,0
$GC,2219,-0.63,-145.9,209.6,-9.0,253,2223,0.00,2.17,0.00,0.000,4,0.000,0.047,2808,3318,3425,0,0,0,0,0,0
$GC,2299,-0.67,-145.9,217.4,-10.0,258,2303,0.00,2.17,0.00,0.000,6,0.000,0.038,2808,1898,3425,0,0,0,0,0,0
$GC,2625,-0.72,-145.9,248.3,-9.3,279,2630,0.08,2.22,0.00,0.000,4,0.132,0.047,2769,3308,3425,0,0,0,0,0,0
$GC,2710,-0.66,-145.9,257.5,-10.6,284,2714,0.12,2.12,0.00,0.000,6,0.161,0.038,2801,1909,3425,0,0,0,0,0,0
$GC,3037,-0.60,-145.9,287.9,-8.8,300,3041,0.05,2.25,0.00,0.000,4,0.235,0.057,2813,508,3425,0,0,0,0,0,0
$GC,3114,-0.57,-145.9,295.1,-8.9,303,3120,0.05,2.15,0.00,0.000,6,0.147,0.032,2822,1911,3425,0,0,0,0,0,0
$GC,3433,-0.66,-145.9,316.9,-6.9,319,3437,0.08,1.05,0.00,0.000,4,0.129,0.042,2786,2602,3425,0,0,0,0,0,0
$GC,3493,-0.66,-145.9,322.1,-9.0,321,3499,0.00,1.10,0.00,0.000,6,0.000,0.042,2786,1902,3425,0,0,0,0,0,0
$GC,3811,-0.66,-145.9,350.2,-9.4,337,3815,0.00,1.98,0.00,0.000,4,0.000,0.057,2786,652,3425,0,0,0,0,0,0
$GC,3866,-0.57,-145.9,356.7,-11.7,339,3871,0.12,1.95,0.00,0.000,6,0.137,0.034,2819,1916,3425,0,0,0,0,0,0
$GC,4189,-0.65,-145.9,387.2,-9.6,355,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1917,3425,0,0,0,0,0,0
$GC,4515,-0.73,-145.9,419.0,-9.7,368,4520,0.12,2.28,0.00,0.000,4,0.099,0.057,2771,512,3425,0,0,0,0,0,0
$GC,4598,-0.63,-145.9,429.8,-13.3,370,4603,0.12,2.17,0.00,0.000,6,0.146,0.034,2801,1918,3424,0,0,0,0,0,0
$GC,4916,-0.59,-145.9,464.3,-10.3,381,4920,0.08,0.30,0.00,0.000,4,0.197,0.060,2821,1720,3425,0,0,0,0,0,0
$GC,4964,-0.59,-145.9,469.1,-9.4,382,4968,0.00,0.30,0.00,0.000,6,0.000,0.049,2820,1934,3424,0,0,0,0,0,0
$GC,5288,-0.70,-145.9,493.8,-6.8,393,5293,0.10,2.15,0.00,0.000,4,0.109,0.048,2768,3308,3424,0,0,0,0,0,0
$GC,5376,-0.64,-145.9,501.6,-9.4,395,5383,0.10,2.15,0.00,0.000,6,0.136,0.037,2801,1918,3424,0,0,0,0,0,0
$GC,5689,-0.60,-145.9,525.8,-7.8,406,5694,0.08,2.25,0.00,0.000,4,0.201,0.057,2819,509,3423,0,0,0,0,0,0
$GC,5755,-0.60,-145.9,531.0,-7.4,408,5760,0.00,2.15,0.00,0.000,6,0.000,0.034,2810,1901,3423,0,0,0,0,0,0
$GC,6091,-0.68,-145.9,556.1,-7.6,419,6095,0.00,2.25,0.00,0.000,4,0.000,0.057,2810,505,3423,0,0,0,0,0,0
$GC,6145,-0.68,-145.9,560.9,-9.0,420,6151,0.00,2.17,0.00,0.000,6,0.000,0.034,2804,1911,3423,0,0,0,0,0,0
$GC,6458,-0.75,-145.9,587.4,-8.8,431,6463,0.10,1.90,0.00,0.000,4,0.111,0.046,2756,3140,3422,0,0,0,0,0,0
$GC,6526,-0.65,-145.9,594.7,-11.6,433,6530,0.17,1.90,0.00,0.000,6,0.155,0.039,2802,1906,3422,0,0,0,0,0,0
$GC,6860,-0.61,-145.9,628.9,-10.0,444,6864,0.00,2.20,0.00,0.000,4,0.000,0.057,2803,511,3422,0,0,0,0,0,0
$GC,6927,-0.58,-145.9,635.9,-10.7,446,6932,0.10,2.15,0.00,0.000,6,0.171,0.034,2820,1919,3421,0,0,0,0,0,0
$GC,7263,-0.69,-145.9,662.1,-7.4,457,7267,0.10,0.57,0.00,0.000,4,0.109,0.047,2777,2311,3421,0,0,0,0,0,0
$GC,7344,-0.69,-145.9,669.2,-8.1,459,7349,0.00,0.62,0.00,0.000,6,0.000,0.046,2777,1903,3421,0,0,0,0,0,0
$GC,7668,-0.69,-145.9,693.8,-7.3,470,7672,0.00,1.88,0.00,0.000,4,0.000,0.056,2777,733,3421,0,0,0,0,0,0
$GC,7718,-0.61,-145.9,698.3,-9.3,471,7723,0.12,1.83,0.00,0.000,6,0.144,0.037,2809,1903,3421,0,0,0,0,0,0
$GC,8041,-0.61,-145.9,722.5,-7.7,482,8044,0.00,0.28,0.00,0.000,4,0.000,0.057,2807,2116,3421,0,0,0,0,0,0
$GC,8084,-0.61,-145.9,725.9,-7.1,483,8088,0.00,0.30,0.00,0.000,6,0.000,0.057,2808,1911,3420,0,0,0,0,0,0
$GC,8413,-0.61,-145.9,753.3,-8.9,494,8417,0.00,1.33,0.00,0.000,4,0.000,0.055,2808,1079,3420,0,0,0,0,0,0
$GC,8485,-0.61,-145.9,760.4,-9.4,496,8490,0.00,1.33,0.00,0.000,6,0.000,0.037,2803,1920,3420,0,0,0,0,0,0
$GC,8820,-0.58,-145.9,795.6,-10.7,507,8824,0.08,0.77,0.00,0.000,4,0.195,0.053,2820,1441,3420,0,0,0,0,0,0
$GC,8874,-0.58,-145.9,801.4,-10.8,508,8878,0.00,0.75,0.00,0.000,6,0.000,0.041,2818,1925,3419,0,0,0,0,0,0
$GC,9192,-0.58,-145.9,833.1,-10.0,519,9196,0.00,1.80,0.00,0.000,4,0.000,0.056,2818,821,3419,0,0,0,0,0,0
$GC,9251,-0.58,-145.9,839.6,-10.7,520,9258,0.00,1.70,0.00,0.000,6,0.000,0.037,2811,1908,3419,0,0,0,0,0,0
$GC,9565,-0.58,-145.9,870.5,-9.7,531,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1908,3418,0,0,0,0,0,0
$GC,9871,-0.58,-145.9,898.2,-8.9,541,9874,0.00,0.80,0.00,0.000,4,0.000,0.051,2811,1398,3418,0,0,0,0,0,0
$GC,9948,-0.58,-145.9,905.3,-9.3,543,9952,0.00,0.82,0.00,0.000,6,0.000,0.039,2809,1926,3418,0,0,0,0,0,0
$GC,10277,-0.58,-145.9,934.6,-8.8,554,10281,0.00,1.40,0.00,0.000,4,0.000,0.055,2809,1059,3418,0,0,0,0,0,0
$GC,10348,-0.58,-145.9,941.3,-8.7,556,10354,0.08,1.35,0.00,0.000,6,0.186,0.038,2823,1915,3418,0,0,0,0,0,0
$GC,10684,-0.62,-145.9,965.1,-7.0,567,10688,0.00,0.77,0.00,0.000,4,0.000,0.053,2823,1423,3417,0,0,0,0,0,0
$GC,10752,-0.65,-145.9,969.9,-6.7,569,10757,0.03,0.75,0.00,0.000,6,0.118,0.043,2805,1920,3417,0,0,0,0,0,0
$GC,11092,-0.65,-145.9,996.8,-7.8,580,11096,0.00,1.33,0.00,0.000,4,0.000,0.054,2804,1092,3417,0,0,0,0,0,0
$STATE,11135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11136,begin apogee
$GC,11140,-0.19,0.0,1000.4,7.2,581,11269,0.45,0.00,124.95,1.568,6,0.136,0.000,2943,1656,2826,0,0,0,0,0,0
$STATE,11269,end apogee,CONTROL_FINISHED_OK
$STATE,11270,begin climb
$GC,11271,0.52,145.9,1005.2,0.0,585,11411,0.75,1.77,132.27,1.548,4,0.077,0.044,3182,2653,2232,0,0,0,0,0,0
$GC,11489,0.32,169.2,1002.4,6.6,592,11517,0.25,1.67,22.10,1.457,6,0.174,0.047,3123,1676,2137,0,0,0,0,0,0
$GC,11836,0.29,218.9,982.1,5.7,604,11886,0.08,0.52,44.30,1.496,4,0.216,0.062,3107,1374,1934,0,0,0,0,0,0
$GC,11932,0.31,221.7,976.7,7.3,607,11940,0.00,0.43,3.47,0.791,6,0.000,0.043,3108,1653,1923,0,0,0,0,0,0
$GC,12270,0.35,274.6,958.2,5.6,618,12325,0.00,1.48,48.20,1.453,4,0.000,0.043,3108,2526,1707,0,0,0,0,0,0
$GC,12366,0.47,310.3,952.3,6.2,621,12406,0.12,1.45,33.30,1.421,6,0.060,0.048,3166,1651,1561,0,0,0,0,0,0
$GC,12736,0.55,310.3,923.1,7.9,633,12741,0.08,2.35,0.00,0.000,4,0.133,0.067,3199,239,1554,0,0,0,0,0,0
$GC,12841,0.47,310.3,912.3,11.0,636,12846,0.12,2.22,0.00,0.000,6,0.177,0.037,3170,1649,1552,0,0,0,0,0,0
$GC,13165,0.45,310.3,884.0,8.5,647,13168,0.00,0.70,0.00,0.000,4,0.000,0.045,3169,2123,1552,0,0,0,0,0,0
$GC,13214,0.42,310.3,879.7,9.1,648,13219,0.10,0.77,0.00,0.000,6,0.190,0.053,3148,1641,1551,0,0,0,0,0,0
$GC,13537,0.44,310.3,855.6,7.6,659,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1642,1551,0,0,0,0,0,0
$GC,13843,0.44,310.3,832.3,7.5,669,13844,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1641,1551,0,0,0,0,0,0
$GC,14150,0.44,310.3,808.6,7.8,679,14153,0.00,0.68,0.00,0.000,4,0.000,0.044,3148,2092,1551,0,0,0,0,0,0
$GC,14193,0.44,310.3,805.1,8.1,680,14197,0.00,0.73,0.00,0.000,6,0.000,0.054,3148,1645,1551,0,0,0,0,0,0
$GC,14522,0.44,310.3,780.4,7.4,691,14523,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1645,1551,0,0,0,0,0,0
$GC,14828,0.44,310.3,757.1,7.6,701,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1645,1551,0,0,0,0,0,0
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$STATE,22700,end climb,SURFACE_DEPTH_REACHED
$STATE,22700,begin surface coast
$FINISH,1.4,1.013492
$STATE,22737,end surface coast,CONTROL_FINISHED_OK
$STATE,22737,begin surface
$SM_CCo,22814,0.00,0.000,0,0,948,460.91
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$TT8_MAMPS,0.026964
$HUMID,47.36
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.5,42.803
$10V_AH,10.2,32.722
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.500,145.300,541.225,0.000,0.000,24.184,46.843,310.119,0.250,0.000,18.017,2981.121,15851.604,630.385,3665.050,180.538,33.353,2090.368,0.000,3222.443,0.000,2.833,0.000
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$SENSOR_SECS,750.600,1201.275,761.799,90.504,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,70255,1151
$CAP_FILE_SIZE,217320,0
$CFSIZE,2097086464,2069463040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041112,082806,-4216.001,-718.881,29,1.1,30,-21.9