version: 66.07.10.p01
glider: 574
mission: 4
dive: 200
start: 11 10 112 7 4 30
data:
$ID,574
$MISSION,4
$DIVE,200
$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,-6060.5884
$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,27
$R_STBD_OVSHOOT,55
$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,179
$GPS1,101112,065135,-4212.843,-712.432,41,1.0,42,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-63.5
$GPS2,101112,070336,-4212.877,-712.505,36,1.3,37,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.176,-0.043
$KALMAN_X,-317696.1,-1364.4,-809.0,451652.0,8164.0
$KALMAN_Y,263200.9,214.0,-2320.5,-189353.5,4651.5
$MHEAD_RNG_PITCHd_Wd,278.0,4917,-19.2,-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,-0.71,-81.2,0.0,0.0,0,116,0.00,0.00,-89.10,0.000,2,0.000,0.000,66,1934,2582,0,0,0,0,0,0
$GC,118,-0.72,-145.9,3.1,-1.1,15,163,12.35,2.38,-26.23,0.000,4,0.269,0.077,2769,501,3419,0,0,0,0,0,0
$GC,272,-0.66,-145.9,20.2,-13.7,40,279,0.10,2.22,0.00,0.000,6,0.166,0.039,2789,1890,3421,0,0,0,0,0,0
$GC,352,-0.66,-145.9,31.3,-14.3,53,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1890,3421,0,0,0,0,0,0
$GC,587,-0.66,-145.9,60.2,-12.1,94,591,0.00,1.42,0.00,0.000,4,0.000,0.055,2789,1015,3421,0,0,0,0,0,0
$GC,642,-0.66,-145.9,67.5,-13.4,104,647,0.00,1.42,0.00,0.000,6,0.000,0.037,2784,1918,3421,0,0,0,0,0,0
$GC,988,-0.66,-145.9,117.4,-13.0,151,992,0.05,0.30,0.00,0.000,4,0.249,0.054,2793,2140,3421,0,0,0,0,0,0
$GC,1014,-0.69,-145.9,121.1,-12.6,152,1021,0.00,0.38,0.00,0.000,6,0.000,0.051,2793,1892,3421,0,0,0,0,0,0
$GC,1335,-0.71,-145.9,158.9,-11.0,173,1339,0.00,2.20,0.00,0.000,4,0.000,0.060,2793,514,3421,0,0,0,0,0,0
$GC,1406,-0.71,-145.9,167.3,-11.0,177,1412,0.00,2.17,0.00,0.000,6,0.000,0.034,2784,1909,3421,0,0,0,0,0,0
$GC,1727,-0.71,-145.9,200.9,-10.2,198,1730,0.00,1.20,0.00,0.000,4,0.000,0.053,2784,1156,3421,0,0,0,0,0,0
$GC,1781,-0.71,-145.9,206.7,-9.6,201,1786,0.00,1.17,0.00,0.000,6,0.000,0.034,2779,1919,3422,0,0,0,0,0,0
$GC,2108,-0.71,-145.9,238.5,-9.3,222,2111,0.00,1.80,0.00,0.000,4,0.000,0.055,2779,788,3421,0,0,0,0,0,0
$GC,2162,-0.71,-145.9,244.2,-9.9,225,2167,0.00,1.75,0.00,0.000,6,0.000,0.034,2771,1921,3421,0,0,0,0,0,0
$GC,2485,-0.71,-145.9,275.6,-10.1,242,2488,0.00,1.23,0.00,0.000,4,0.000,0.053,2772,1155,3421,0,0,0,0,0,0
$GC,2545,-0.71,-145.9,282.2,-10.5,244,2554,0.03,1.20,0.00,0.000,6,0.283,0.034,2776,1925,3421,0,0,0,0,0,0
$GC,2861,-0.71,-145.9,314.9,-10.4,260,2865,0.00,1.88,0.00,0.000,4,0.000,0.056,2779,751,3421,0,0,0,0,0,0
$GC,2916,-0.71,-145.9,321.0,-10.8,262,2920,0.00,1.80,0.00,0.000,6,0.000,0.033,2772,1920,3422,0,0,0,0,0,0
$GC,3238,-0.71,-145.9,354.8,-10.5,278,3241,0.00,1.42,0.00,0.000,4,0.000,0.054,2773,1035,3422,0,0,0,0,0,0
$GC,3308,-0.71,-145.9,362.2,-10.9,281,3311,0.00,1.35,0.00,0.000,6,0.000,0.034,2767,1915,3422,0,0,0,0,0,0
$GC,3642,-0.71,-145.9,399.9,-11.6,297,3646,0.00,2.05,0.00,0.000,4,0.000,0.056,2767,635,3421,0,0,0,0,0,0
$GC,3702,-0.71,-145.9,407.8,-12.7,299,3708,0.05,1.98,0.00,0.000,6,0.168,0.032,2774,1917,3421,0,0,0,0,0,0
$GC,4015,-0.71,-145.9,442.8,-11.1,310,4018,0.00,0.65,0.00,0.000,4,0.000,0.052,2774,1496,3421,0,0,0,0,0,0
$GC,4075,-0.71,-145.9,450.1,-11.4,311,4081,0.00,0.65,0.00,0.000,6,0.000,0.036,2773,1931,3421,0,0,0,0,0,0
$GC,4388,-0.71,-145.9,485.2,-11.3,322,4391,0.00,2.10,0.00,0.000,4,0.000,0.053,2773,615,3421,0,0,0,0,0,0
$GC,4455,-0.71,-145.9,492.9,-10.8,324,4459,0.08,1.98,0.00,0.000,6,0.200,0.032,2781,1914,3421,0,0,0,0,0,0
$GC,4795,-0.74,-145.9,527.9,-10.1,335,4799,0.00,1.77,0.00,0.000,4,0.000,0.054,2781,820,3420,0,0,0,0,0,0
$GC,4862,-0.76,-145.9,535.0,-10.2,337,4866,0.00,1.67,0.00,0.000,6,0.000,0.034,2775,1923,3420,0,0,0,0,0,0
$GC,5202,-0.76,-145.9,572.4,-11.4,348,5206,0.00,1.52,0.00,0.000,4,0.000,0.053,2774,978,3419,0,0,0,0,0,0
$GC,5257,-0.76,-145.9,579.1,-12.1,349,5261,0.00,1.45,0.00,0.000,6,0.000,0.034,2769,1920,3419,0,0,0,0,0,0
$GC,5575,-0.76,-145.9,616.1,-11.7,360,5579,0.00,1.17,0.00,0.000,4,0.000,0.049,2769,1171,3419,0,0,0,0,0,0
$GC,5643,-0.76,-145.9,624.0,-11.4,362,5646,0.00,1.12,0.00,0.000,6,0.000,0.034,2764,1914,3418,0,0,0,0,0,0
$GC,5983,-0.76,-145.9,663.2,-11.1,373,5986,0.00,0.90,0.00,0.000,4,0.000,0.049,2764,1341,3418,0,0,0,0,0,0
$GC,6043,-0.76,-145.9,670.1,-11.0,374,6049,0.00,0.90,0.00,0.000,6,0.000,0.034,2760,1931,3417,0,0,0,0,0,0
$GC,6356,-0.76,-145.9,705.1,-11.3,385,6359,0.00,1.62,0.00,0.000,4,0.000,0.050,2760,918,3417,0,0,0,0,0,0
$GC,6423,-0.76,-145.9,713.1,-11.4,387,6427,0.00,1.52,0.00,0.000,6,0.000,0.033,2756,1907,3417,0,0,0,0,0,0
$GC,6763,-0.76,-145.9,753.9,-12.1,398,6767,0.00,0.52,0.00,0.000,4,0.000,0.049,2756,1554,3416,0,0,0,0,0,0
$GC,6813,-0.74,-145.9,760.0,-12.4,399,6817,0.08,0.55,0.00,0.000,6,0.212,0.037,2767,1934,3415,0,0,0,0,0,0
$GC,7136,-0.74,-145.9,795.6,-10.9,410,7140,0.00,1.33,0.00,0.000,4,0.000,0.050,2767,1106,3415,0,0,0,0,0,0
$GC,7204,-0.74,-145.9,803.1,-10.6,412,7208,0.00,1.20,0.00,0.000,6,0.000,0.033,2763,1895,3415,0,0,0,0,0,0
$GC,7544,-0.74,-145.9,841.7,-11.7,423,7547,0.00,0.25,0.00,0.000,4,0.000,0.059,2763,1714,3415,0,0,0,0,0,0
$GC,7626,-0.74,-145.9,851.6,-11.8,425,7630,0.00,0.30,0.00,0.000,6,0.000,0.047,2762,1930,3415,0,0,0,0,0,0
$GC,7950,-0.74,-145.9,888.5,-11.4,436,7953,0.00,1.33,0.00,0.000,4,0.000,0.050,2762,1100,3415,0,0,0,0,0,0
$GC,8021,-0.74,-145.9,897.2,-11.8,438,8027,0.05,1.25,0.00,0.000,6,0.232,0.031,2767,1908,3415,0,0,0,0,0,0
$GC,8357,-0.74,-145.9,933.5,-10.8,449,8360,0.00,0.60,0.00,0.000,4,0.000,0.049,2767,1517,3415,0,0,0,0,0,0
$GC,8406,-0.76,-145.9,939.1,-11.5,450,8410,0.00,0.62,0.00,0.000,6,0.000,0.036,2765,1937,3414,0,0,0,0,0,0
$GC,8730,-0.76,-145.9,973.1,-10.6,461,8733,0.00,1.70,0.00,0.000,4,0.000,0.051,2765,867,3414,0,0,0,0,0,0
$GC,8807,-0.76,-145.9,981.9,-11.6,463,8812,0.00,1.60,0.00,0.000,6,0.000,0.032,2759,1903,3414,0,0,0,0,0,0
$STATE,8983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8983,begin apogee
$GC,8988,-0.19,0.0,1001.3,11.1,469,9112,0.65,0.00,121.62,1.531,6,0.147,0.000,2947,1641,2827,0,0,0,0,0,0
$STATE,9113,end apogee,CONTROL_FINISHED_OK
$STATE,9113,begin climb
$GC,9115,0.72,145.9,1007.8,0.0,473,9256,0.93,2.47,132.23,1.506,4,0.077,0.041,3242,3054,2232,0,0,0,0,0,0
$GC,9367,0.50,145.9,1004.2,8.4,481,9373,0.28,2.33,0.00,0.000,6,0.205,0.039,3186,1670,2229,0,0,0,0,0,0
$GC,9697,0.41,165.4,983.5,6.2,492,9717,0.15,0.00,17.42,1.398,6,0.211,0.000,3151,1669,2153,0,0,0,0,0,0
$GC,10003,0.41,192.5,966.1,5.7,502,10032,0.00,0.00,25.08,1.426,6,0.000,0.000,3151,1668,2042,0,0,0,0,0,0
$GC,10339,0.41,213.8,945.6,6.1,513,10360,0.00,0.00,19.67,1.399,6,0.000,0.000,3151,1669,1955,0,0,0,0,0,0
$GC,10646,0.45,238.6,926.8,5.9,523,10672,0.00,0.57,22.98,1.411,4,0.000,0.040,3151,2037,1853,0,0,0,0,0,0
$GC,10716,0.50,247.2,922.3,6.9,524,10731,0.05,0.65,9.07,1.252,6,0.164,0.049,3172,1641,1819,0,0,0,0,0,0
$GC,11044,0.50,252.4,898.9,7.1,535,11052,0.00,0.00,6.00,1.092,6,0.000,0.000,3172,1641,1797,0,0,0,0,0,0
$GC,11350,0.52,252.4,875.5,7.9,545,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1641,1797,0,0,0,0,0,0
$GC,11656,0.54,252.4,850.6,8.0,555,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1641,1796,0,0,0,0,0,0
$GC,11962,0.54,252.4,824.3,8.7,565,11966,0.00,0.47,0.00,0.000,4,0.000,0.043,3172,1974,1796,0,0,0,0,0,0
$GC,11999,0.54,252.4,820.8,8.9,566,12003,0.00,0.52,0.00,0.000,6,0.000,0.054,3173,1649,1796,0,0,0,0,0,0
$GC,12334,0.54,252.4,790.3,9.2,577,12338,0.00,0.65,0.00,0.000,4,0.000,0.041,3173,2090,1795,0,0,0,0,0,0
$GC,12378,0.54,252.4,786.2,9.3,578,12382,0.00,0.70,0.00,0.000,6,0.000,0.051,3173,1652,1795,0,0,0,0,0,0
$GC,12708,0.56,252.4,756.3,9.0,589,12712,0.05,0.30,0.00,0.000,4,0.175,0.069,3193,1450,1795,0,0,0,0,0,0
$GC,12762,0.54,252.4,751.0,9.7,590,12766,0.00,0.32,0.00,0.000,6,0.000,0.047,3193,1684,1795,0,0,0,0,0,0
$GC,13080,0.52,252.4,722.1,8.9,601,13081,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1684,1795,0,0,0,0,0,0
$GC,13386,0.52,252.4,695.1,8.8,611,13390,0.00,0.43,0.00,0.000,4,0.000,0.044,3193,1992,1795,0,0,0,0,0,0
$GC,13435,0.50,252.4,690.6,9.0,612,13440,0.08,0.55,0.00,0.000,6,0.221,0.054,3180,1649,1795,0,0,0,0,0,0
$GC,13758,0.50,252.4,664.6,8.1,623,13762,0.00,0.52,0.00,0.000,4,0.000,0.043,3180,2007,1795,0,0,0,0,0,0
$GC,13807,0.50,252.4,660.4,8.4,624,13811,0.00,0.57,0.00,0.000,6,0.000,0.054,3181,1650,1795,0,0,0,0,0,0
$GC,14131,0.50,252.4,633.4,8.7,635,14132,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1650,1795,0,0,0,0,0,0
$GC,14437,0.50,252.4,605.1,9.5,645,14441,0.00,0.25,0.00,0.000,4,0.000,0.068,3182,1465,1794,0,0,0,0,0,0
$GC,14463,0.50,252.4,602.4,8.7,645,14469,0.00,0.25,0.00,0.000,6,0.000,0.054,3182,1649,1794,0,0,0,0,0,0
$GC,14776,0.50,252.4,573.9,8.8,656,14779,0.00,0.60,0.00,0.000,4,0.000,0.041,3182,2058,1794,0,0,0,0,0,0
$GC,14836,0.50,252.4,568.5,8.1,657,14841,0.00,0.65,0.00,0.000,6,0.000,0.051,3184,1651,1794,0,0,0,0,0,0
$GC,15148,0.50,252.4,542.8,8.0,668,15152,0.00,0.73,0.00,0.000,4,0.000,0.042,3184,2135,1794,0,0,0,0,0,0
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$STATE,21724,end climb,SURFACE_DEPTH_REACHED
$STATE,21725,begin surface coast
$FINISH,2.3,1.026627
$STATE,21732,end surface coast,CONTROL_FINISHED_OK
$STATE,21732,begin surface
$SM_CCo,21809,0.00,0.000,0,0,1683,280.62
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$IRIDIUM_FIX,-4158.28,-708.22,101112,000056
$TT8_MAMPS,0.027713
$HUMID,47.24
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.5,47.397
$10V_AH,10.2,35.841
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.975,108.000,379.475,0.000,0.000,27.178,35.965,508.156,0.250,0.000,38.790,2860.059,15233.279,528.496,3703.636,190.721,33.355,1863.828,0.000,3073.493,0.000,2.831,0.000
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$SENSOR_SECS,737.197,1250.755,747.152,92.074,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,67020,1132
$CAP_FILE_SIZE,195715,0
$CFSIZE,2097086464,2066251776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101112,131029,-4212.979,-714.995,116,1.5,117,-21.9