version: 66.07.10.p01
glider: 574
mission: 4
dive: 252
start: 11 21 112 6 51 48
data:
$ID,574
$MISSION,4
$DIVE,252
$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,278
$T_MISSION,300
$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,-6637.0303
$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,69
$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,1
$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,231
$GPS1,211112,064246,-4157.994,-625.304,28,1.1,39,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-66.5
$GPS2,211112,065053,-4158.039,-625.200,54,1.8,55,-22.1
$SPEED_LIMITS,0.208,0.275
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.075,0.265
$KALMAN_X,-339047.6,147.6,210.5,534670.5,122.8
$KALMAN_Y,89749.0,146.3,-285.1,9622.3,-2928.8
$MHEAD_RNG_PITCHd_Wd,37.9,71277,-21.2,-11.990
$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,-0.79,-145.9,0.0,0.0,0,88,0.00,0.00,-60.42,0.000,2,0.000,0.000,66,1956,2244,0,0,0,0,0,0
$GC,90,-0.79,-145.9,3.1,-1.8,10,157,12.23,2.17,-44.50,0.000,4,0.267,0.067,2737,3287,3423,0,0,0,0,0,0
$GC,265,-0.74,-145.9,20.7,-13.7,39,273,0.10,2.22,0.00,0.000,6,0.142,0.050,2768,1910,3424,0,0,0,0,0,0
$GC,344,-0.81,-145.9,31.3,-12.8,52,351,0.00,1.33,0.00,0.000,4,0.000,0.060,2768,1088,3424,0,0,0,0,0,0
$GC,388,-0.86,-145.9,36.5,-12.3,59,393,0.05,1.25,0.00,0.000,6,0.089,0.037,2737,1890,3425,0,0,0,0,0,0
$GC,622,-0.86,-145.9,67.6,-12.2,100,626,0.00,0.30,0.00,0.000,4,0.000,0.052,2735,2130,3425,0,0,0,0,0,0
$GC,674,-0.86,-145.9,73.3,-11.5,109,678,0.00,0.35,0.00,0.000,6,0.000,0.054,2735,1889,3424,0,0,0,0,0,0
$GC,1019,-0.89,-145.9,113.7,-10.5,156,1022,0.00,0.25,0.00,0.000,4,0.000,0.067,2735,1703,3425,0,0,0,0,0,0
$GC,1046,-0.92,-145.9,116.9,-10.3,157,1052,0.00,0.32,0.00,0.000,6,0.000,0.047,2734,1933,3425,0,0,0,0,0,0
$GC,1366,-0.96,-145.9,149.8,-10.5,178,1371,0.10,0.43,0.00,0.000,4,0.115,0.056,2698,1655,3425,0,0,0,0,0,0
$GC,1386,-0.96,-145.9,152.0,-10.7,179,1390,0.00,0.35,0.00,0.000,6,0.000,0.047,2697,1907,3425,0,0,0,0,0,0
$GC,1717,-0.92,-145.9,191.4,-11.9,200,1721,0.08,0.45,0.00,0.000,4,0.212,0.050,2711,2226,3425,0,0,0,0,0,0
$GC,1755,-0.88,-145.9,196.2,-12.0,202,1760,0.05,0.47,0.00,0.000,6,0.224,0.048,2722,1911,3425,0,0,0,0,0,0
$GC,2083,-0.91,-145.9,229.5,-10.2,223,2087,0.00,2.17,0.00,0.000,4,0.000,0.048,2712,3304,3425,0,0,0,0,0,0
$GC,2161,-0.89,-145.9,238.8,-11.4,227,2166,0.00,2.15,0.00,0.000,6,0.000,0.042,2713,1916,3426,0,0,0,0,0,0
$GC,2485,-0.89,-145.9,273.0,-10.5,245,2489,0.00,1.27,0.00,0.000,4,0.000,0.056,2713,1112,3425,0,0,0,0,0,0
$GC,2523,-0.84,-145.9,277.8,-11.6,246,2532,0.10,1.20,0.00,0.000,6,0.158,0.036,2738,1896,3426,0,0,0,0,0,0
$GC,2841,-0.91,-145.9,308.3,-9.4,262,2845,0.00,2.20,0.00,0.000,4,0.000,0.048,2729,3312,3426,0,0,0,0,0,0
$GC,2908,-0.93,-145.9,315.8,-11.0,265,2912,0.00,2.17,0.00,0.000,6,0.000,0.041,2729,1906,3426,0,0,0,0,0,0
$GC,3238,-0.96,-145.9,349.9,-10.3,281,3242,0.08,1.50,0.00,0.000,4,0.135,0.056,2700,969,3426,0,0,0,0,0,0
$GC,3298,-0.86,-145.9,357.8,-13.6,283,3304,0.12,1.45,0.00,0.000,6,0.166,0.036,2731,1903,3426,0,0,0,0,0,0
$GC,3617,-0.92,-145.9,390.2,-10.2,299,3621,0.00,2.20,0.00,0.000,4,0.000,0.047,2721,3329,3426,0,0,0,0,0,0
$GC,3690,-0.94,-145.9,398.8,-11.8,302,3694,0.00,2.17,0.00,0.000,6,0.000,0.037,2722,1899,3426,0,0,0,0,0,0
$GC,4014,-0.98,-145.9,436.3,-11.7,313,4018,0.08,0.30,0.00,0.000,4,0.139,0.063,2694,1682,3426,0,0,0,0,0,0
$GC,4086,-0.94,-145.9,446.1,-13.1,315,4091,0.05,0.38,0.00,0.000,6,0.239,0.045,2702,1946,3426,0,0,0,0,0,0
$GC,4420,-0.94,-145.9,488.5,-12.9,326,4424,0.00,1.17,0.00,0.000,4,0.000,0.052,2705,1208,3426,0,0,0,0,0,0
$GC,4464,-0.92,-145.9,494.5,-13.1,327,4468,0.00,1.05,0.00,0.000,6,0.000,0.036,2701,1899,3425,0,0,0,0,0,0
$GC,4794,-0.92,-145.9,536.4,-12.8,338,4798,0.00,0.47,0.00,0.000,4,0.000,0.052,2701,1580,3425,0,0,0,0,0,0
$GC,4820,-0.89,-145.9,540.2,-13.6,338,4827,0.10,0.50,0.00,0.000,6,0.194,0.043,2723,1919,3425,0,0,0,0,0,0
$GC,5134,-0.95,-145.9,576.6,-11.8,349,5138,0.00,1.83,0.00,0.000,4,0.000,0.044,2715,3106,3424,0,0,0,0,0,0
$GC,5188,-0.95,-145.9,583.6,-12.9,350,5193,0.00,1.85,0.00,0.000,6,0.000,0.037,2715,1909,3424,0,0,0,0,0,0
$GC,5508,-0.99,-145.9,622.1,-12.2,361,5509,0.05,0.00,0.00,0.000,6,0.181,0.000,2694,1908,3423,0,0,0,0,0,0
$GC,5813,-0.99,-145.9,661.9,-13.3,371,5817,0.00,2.17,0.00,0.000,4,0.000,0.045,2683,3302,3423,0,0,0,0,0,0
$GC,5868,-0.92,-145.9,669.9,-13.9,372,5875,0.10,2.15,0.00,0.000,6,0.158,0.037,2714,1908,3422,0,0,0,0,0,0
$GC,6182,-0.96,-145.9,708.0,-12.1,383,6185,0.00,0.65,0.00,0.000,4,0.000,0.052,2714,1475,3422,0,0,0,0,0,0
$GC,6208,-0.96,-145.9,711.6,-13.0,383,6214,0.00,0.68,0.00,0.000,6,0.000,0.039,2712,1920,3422,0,0,0,0,0,0
$GC,6521,-1.00,-145.9,749.4,-12.2,394,6526,0.08,2.30,0.00,0.000,4,0.138,0.055,2685,501,3421,0,0,0,0,0,0
$GC,6593,-0.89,-145.9,760.3,-16.0,396,6598,0.15,2.17,0.00,0.000,6,0.176,0.034,2719,1899,3421,0,0,0,0,0,0
$GC,6922,-0.84,-145.9,804.9,-13.3,407,6926,0.08,0.95,0.00,0.000,4,0.229,0.044,2732,2530,3420,0,0,0,0,0,0
$GC,6976,-0.84,-145.9,812.1,-12.3,408,6981,0.00,0.98,0.00,0.000,6,0.000,0.041,2733,1909,3420,0,0,0,0,0,0
$GC,7295,-0.91,-145.9,845.1,-10.1,419,7299,0.00,1.77,0.00,0.000,4,0.000,0.054,2733,791,3419,0,0,0,0,0,0
$GC,7351,-0.93,-145.9,851.3,-11.8,420,7355,0.00,1.75,0.00,0.000,6,0.000,0.034,2726,1941,3419,0,0,0,0,0,0
$GC,7670,-1.01,-145.9,882.7,-9.7,431,7674,0.10,1.10,0.00,0.000,4,0.116,0.050,2689,1261,3419,0,0,0,0,0,0
$GC,7696,-0.98,-145.9,885.8,-12.0,431,7701,0.00,1.00,0.00,0.000,6,0.000,0.036,2684,1918,3418,0,0,0,0,0,0
$GC,8009,-0.86,-145.9,927.6,-13.6,442,8013,0.17,0.55,0.00,0.000,4,0.191,0.051,2731,1566,3418,0,0,0,0,0,0
$GC,8064,-0.83,-145.9,934.3,-11.8,443,8068,0.05,0.52,0.00,0.000,6,0.244,0.041,2739,1918,3418,0,0,0,0,0,0
$GC,8381,-0.83,-145.9,966.5,-10.2,454,8385,0.00,1.08,0.00,0.000,4,0.000,0.050,2740,1238,3417,0,0,0,0,0,0
$GC,8459,-0.83,-145.9,974.6,-10.1,456,8463,0.00,1.02,0.00,0.000,6,0.000,0.037,2736,1906,3417,0,0,0,0,0,0
$STATE,8698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8698,begin apogee
$GC,8702,-0.19,0.0,1000.1,11.0,464,8832,0.73,0.00,126.95,1.507,6,0.153,0.000,2945,1644,2827,0,0,0,0,0,0
$STATE,8833,end apogee,CONTROL_FINISHED_OK
$STATE,8833,begin climb
$GC,8835,0.79,145.9,1007.8,0.0,468,8976,0.98,2.50,133.05,1.491,4,0.072,0.046,3265,3042,2231,0,0,0,0,0,0
$GC,9121,0.58,202.5,1001.9,8.9,477,9181,0.30,2.28,51.58,1.427,6,0.213,0.045,3207,1664,2001,0,0,0,0,0,0
$GC,9516,0.54,270.4,969.5,8.2,490,9580,0.08,0.35,60.22,1.424,4,0.238,0.049,3193,1880,1723,0,0,0,0,0,0
$GC,9642,0.58,341.6,959.0,8.1,494,9712,0.00,0.40,65.78,1.411,6,0.000,0.059,3194,1643,1433,0,0,0,0,0,0
$GC,10037,0.68,412.9,925.2,8.1,507,10107,0.10,0.70,65.07,1.398,4,0.114,0.058,3231,1226,1142,0,0,0,0,0,0
$GC,10152,0.74,464.0,914.1,9.2,510,10205,0.05,0.70,48.00,1.369,6,0.171,0.041,3248,1665,935,0,0,0,0,0,0
$GC,10529,0.81,483.7,873.7,10.9,523,10554,0.08,2.42,18.12,1.278,4,0.138,0.069,3280,256,853,0,0,0,0,0,0
$GC,10643,0.86,483.7,859.3,12.4,526,10648,0.00,2.20,0.00,0.000,6,0.000,0.038,3279,1632,849,0,0,0,0,0,0
$GC,10968,0.89,483.7,820.4,12.0,537,10972,0.05,1.35,0.00,0.000,4,0.181,0.064,3304,828,849,0,0,0,0,0,0
$GC,11028,0.87,483.7,812.0,14.2,538,11034,0.00,1.30,0.00,0.000,6,0.000,0.037,3304,1664,847,0,0,0,0,0,0
$GC,11341,0.87,483.7,769.4,13.6,549,11345,0.00,2.33,0.00,0.000,4,0.000,0.068,3313,242,847,0,0,0,0,0,0
$GC,11412,0.84,483.7,758.8,15.4,551,11417,0.08,2.20,0.00,0.000,6,0.187,0.040,3292,1642,846,0,0,0,0,0,0
$GC,11741,0.84,483.7,715.6,13.4,562,11745,0.00,2.30,0.00,0.000,4,0.000,0.068,3301,249,846,0,0,0,0,0,0
$GC,11812,0.84,483.7,705.1,14.1,564,11817,0.05,2.20,0.00,0.000,6,0.184,0.039,3287,1647,846,0,0,0,0,0,0
$GC,12141,0.84,483.7,661.1,13.4,575,12145,0.00,2.33,0.00,0.000,4,0.000,0.070,3293,241,846,0,0,0,0,0,0
$GC,12218,0.84,483.7,650.2,14.8,577,12223,0.00,2.22,0.00,0.000,6,0.000,0.039,3293,1653,846,0,0,0,0,0,0
$GC,12543,0.84,483.7,604.1,14.2,588,12547,0.00,2.33,0.00,0.000,4,0.000,0.070,3301,249,846,0,0,0,0,0,0
$GC,12614,0.84,483.7,593.1,14.1,590,12619,0.05,2.22,0.00,0.000,6,0.190,0.041,3288,1653,846,0,0,0,0,0,0
$GC,12943,0.84,483.7,546.4,14.2,601,12948,0.00,2.30,0.00,0.000,4,0.000,0.070,3296,249,846,0,0,0,0,0,0
$GC,13020,0.84,483.7,534.6,14.7,603,13025,0.00,2.22,0.00,0.000,6,0.000,0.041,3296,1650,845,0,0,0,0,0,0
$GC,13345,0.84,483.7,486.4,14.9,614,13348,0.00,2.10,0.00,0.000,4,0.000,0.069,3305,376,846,0,0,0,0,0,0
$GC,13416,0.84,483.7,474.9,15.8,616,13421,0.05,2.03,0.00,0.000,6,0.180,0.041,3290,1660,846,0,0,0,0,0,0
$GC,13752,0.84,483.7,427.3,14.0,627,13756,0.00,1.92,0.00,0.000,4,0.000,0.067,3297,503,846,0,0,0,0,0,0
$GC,13812,0.84,483.7,418.2,14.5,628,13818,0.03,1.80,0.00,0.000,6,0.203,0.041,3290,1653,846,0,0,0,0,0,0
$GC,14127,0.84,483.7,373.4,14.1,642,14131,0.00,2.33,0.00,0.000,4,0.000,0.069,3298,251,845,0,0,0,0,0,0
$GC,14205,0.84,483.7,361.8,14.5,645,14211,0.03,2.20,0.00,0.000,6,0.207,0.041,3291,1646,846,0,0,0,0,0,0
$GC,14523,0.84,483.7,319.7,13.1,661,14527,0.00,2.33,0.00,0.000,4,0.000,0.070,3299,243,846,0,0,0,0,0,0
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$GC,14921,0.84,483.7,268.9,12.5,680,14925,0.00,2.33,0.00,0.000,4,0.000,0.070,3300,248,846,0,0,0,0,0,0
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$GC,15864,0.87,501.2,141.8,15.7,737,15869,0.12,2.17,0.00,0.000,6,0.190,0.038,3300,1653,779,0,0,0,0,0,0
$GC,16191,1.02,516.7,103.4,11.1,758,16212,0.12,2.25,14.80,0.832,4,0.096,0.048,3350,3061,719,0,0,0,0,0,0
$GC,16265,0.98,516.7,91.9,16.5,767,16270,0.12,2.22,0.00,0.000,6,0.200,0.048,3332,1658,719,0,0,0,0,0,0
$GC,16611,0.95,516.7,37.4,15.8,828,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1658,719,0,0,0,0,0,0
$STATE,16847,end climb,SURFACE_DEPTH_REACHED
$STATE,16847,begin surface coast
$FINISH,1.7,1.002316
$STATE,16866,end surface coast,CONTROL_FINISHED_OK
$STATE,16866,begin surface
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$TT8_MAMPS,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.3,59.371
$10V_AH,10.1,41.809
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.050,129.425,600.000,0.000,0.000,29.587,36.504,260.102,0.250,0.000,57.111,2256.387,11375.962,640.094,2978.811,174.825,33.374,1839.519,0.000,2566.281,0.000,2.832,0.000
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$SENSOR_SECS,565.479,977.036,577.339,67.676,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354404
$DATA_FILE_SIZE,53655,871
$CAP_FILE_SIZE,172584,0
$CFSIZE,2097086464,2059173888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,211112,113534,-4157.897,-623.961,46,1.2,50,-22.1