version: 66.07.10.p01
glider: 574
mission: 4
dive: 280
start: 11 27 112 2 17 0
data:
$ID,574
$MISSION,4
$DIVE,280
$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,480
$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,0
$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,-6731.9277
$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,24
$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,32
$R_STBD_OVSHOOT,64
$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,259
$GPS1,271112,020705,-4142.471,-614.625,34,1.1,34,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-74.6
$GPS2,271112,021605,-4142.412,-614.677,44,0.9,44,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.230,0.045
$KALMAN_X,-331834.8,-2507.4,-4633.6,549280.2,21457.7
$KALMAN_Y,12773.5,240.4,2636.0,112500.6,-10099.8
$MHEAD_RNG_PITCHd_Wd,129.8,107816,-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,23,begin dive
$GC,24,-0.59,-145.9,0.0,0.0,0,75,0.00,0.00,-48.08,0.000,2,0.000,0.000,68,1889,2350,0,0,0,0,0,0
$GC,77,-0.59,-145.9,3.1,-1.1,8,139,12.82,1.88,-39.33,0.000,4,0.269,0.063,2803,3048,3424,0,0,0,0,0,0
$GC,184,-0.59,-145.9,9.2,-9.3,25,192,0.05,1.83,0.00,0.000,6,0.125,0.046,2823,1914,3424,0,0,0,0,0,0
$GC,265,-0.74,-145.9,16.5,-8.5,38,273,0.15,2.00,0.00,0.000,4,0.083,0.063,2760,702,3424,0,0,0,0,0,0
$GC,311,-0.68,-145.9,21.3,-10.5,45,319,0.10,1.88,0.00,0.000,6,0.148,0.037,2784,1890,3424,0,0,0,0,0,0
$GC,393,-0.70,-145.9,29.1,-9.1,58,400,0.00,2.28,0.00,0.000,4,0.000,0.051,2775,3310,3423,0,0,0,0,0,0
$GC,464,-0.78,-145.9,36.2,-9.5,70,471,0.00,2.22,0.00,0.000,6,0.000,0.043,2775,1908,3424,0,0,0,0,0,0
$GC,703,-0.81,-145.9,58.5,-9.4,111,708,0.08,0.28,0.00,0.000,4,0.131,0.065,2742,1710,3424,0,0,0,0,0,0
$GC,717,-0.83,-145.9,59.8,-9.5,113,722,0.00,0.30,0.00,0.000,6,0.000,0.047,2741,1936,3424,0,0,0,0,0,0
$GC,949,-0.75,-145.9,84.6,-11.1,154,954,0.12,0.47,0.00,0.000,4,0.173,0.044,2772,2274,3425,0,0,0,0,0,0
$GC,1207,-0.78,-145.9,109.2,-9.6,189,1211,0.00,0.57,0.00,0.000,6,0.000,0.048,2772,1902,3425,0,0,0,0,0,0
$GC,1533,-0.81,-145.9,138.4,-9.0,210,1536,0.00,1.45,0.00,0.000,4,0.000,0.042,2768,2828,3425,0,0,0,0,0,0
$GC,1620,-0.88,-145.9,145.9,-8.7,215,1624,0.08,1.42,0.00,0.000,6,0.067,0.044,2725,1920,3425,0,0,0,0,0,0
$GC,1952,-0.76,-145.9,177.8,-9.2,236,1957,0.15,2.28,0.00,0.000,4,0.164,0.057,2765,503,3425,0,0,0,0,0,0
$GC,2001,-0.71,-145.9,182.2,-9.0,239,2005,0.10,2.12,0.00,0.000,6,0.171,0.032,2781,1902,3426,0,0,0,0,0,0
$GC,2327,-0.78,-145.9,207.7,-7.8,260,2331,0.08,0.40,0.00,0.000,4,0.129,0.056,2747,1644,3426,0,0,0,0,0,0
$GC,2346,-0.82,-145.9,209.3,-8.2,261,2350,0.00,0.38,0.00,0.000,6,0.000,0.042,2745,1925,3425,0,0,0,0,0,0
$GC,2678,-0.78,-145.9,239.4,-9.1,282,2682,0.00,2.12,0.00,0.000,4,0.000,0.045,2737,3297,3426,0,0,0,0,0,0
$GC,2744,-0.76,-145.9,246.5,-9.7,286,2749,0.08,2.15,0.00,0.000,6,0.132,0.038,2762,1910,3425,0,0,0,0,0,0
$GC,3079,-0.78,-145.9,278.9,-9.8,303,3083,0.00,2.22,0.00,0.000,4,0.000,0.055,2762,502,3425,0,0,0,0,0,0
$GC,3156,-0.74,-145.9,287.8,-10.8,306,3165,0.03,2.15,0.00,0.000,6,0.194,0.031,2763,1896,3425,0,0,0,0,0,0
$GC,3473,-0.77,-145.9,320.7,-10.7,322,3476,0.00,1.65,0.00,0.000,4,0.000,0.043,2757,2992,3425,0,0,0,0,0,0
$GC,3528,-0.82,-145.9,327.2,-11.1,324,3532,0.00,1.67,0.00,0.000,6,0.000,0.038,2757,1912,3425,0,0,0,0,0,0
$GC,3849,-0.82,-145.9,363.7,-11.4,340,3853,0.00,2.22,0.00,0.000,4,0.000,0.054,2757,506,3425,0,0,0,0,0,0
$GC,3870,-0.82,-145.9,365.7,-11.7,341,3874,0.00,2.12,0.00,0.000,6,0.000,0.031,2754,1921,3425,0,0,0,0,0,0
$GC,4198,-0.82,-145.9,402.0,-10.8,357,4202,0.00,1.35,0.00,0.000,4,0.000,0.050,2754,1073,3425,0,0,0,0,0,0
$GC,4232,-0.78,-145.9,405.9,-10.4,358,4236,0.00,1.27,0.00,0.000,6,0.000,0.031,2748,1914,3425,0,0,0,0,0,0
$GC,4573,-0.76,-145.9,439.7,-9.5,369,4578,0.08,2.15,0.00,0.000,4,0.197,0.042,2756,3308,3425,0,0,0,0,0,0
$GC,4672,-0.79,-145.9,449.1,-8.6,372,4676,0.00,2.15,0.00,0.000,6,0.000,0.035,2756,1912,3425,0,0,0,0,0,0
$GC,5008,-0.83,-145.9,477.7,-8.4,383,5012,0.00,0.90,0.00,0.000,4,0.000,0.039,2753,2514,3425,0,0,0,0,0,0
$GC,5102,-0.90,-145.9,486.0,-8.6,385,5108,0.05,0.95,0.00,0.000,6,0.076,0.040,2719,1896,3425,0,0,0,0,0,0
$GC,5416,-0.80,-145.9,516.5,-10.0,396,5420,0.12,2.12,0.00,0.000,4,0.168,0.042,2743,3258,3424,0,0,0,0,0,0
$GC,5481,-0.80,-145.9,523.1,-10.2,398,5485,0.00,2.08,0.00,0.000,6,0.000,0.036,2743,1918,3424,0,0,0,0,0,0
$GC,5816,-0.80,-145.9,555.0,-9.5,409,5820,0.00,0.85,0.00,0.000,4,0.000,0.049,2743,1360,3424,0,0,0,0,0,0
$GC,5837,-0.76,-145.9,557.2,-9.6,409,5843,0.10,0.85,0.00,0.000,6,0.180,0.034,2763,1921,3423,0,0,0,0,0,0
$GC,6156,-0.81,-145.9,584.2,-8.4,420,6160,0.00,1.62,0.00,0.000,4,0.000,0.050,2763,908,3423,0,0,0,0,0,0
$GC,6200,-0.78,-145.9,588.2,-8.8,421,6204,0.00,1.52,0.00,0.000,6,0.000,0.032,2758,1900,3423,0,0,0,0,0,0
$GC,6530,-0.81,-145.9,616.1,-8.6,432,6534,0.00,2.10,0.00,0.000,4,0.000,0.046,2750,3261,3422,0,0,0,0,0,0
$GC,6592,-0.87,-145.9,621.9,-9.5,434,6596,0.00,2.08,0.00,0.000,6,0.000,0.037,2749,1908,3422,0,0,0,0,0,0
$GC,6927,-0.90,-145.9,653.4,-9.5,445,6931,0.08,1.80,0.00,0.000,4,0.129,0.052,2715,772,3422,0,0,0,0,0,0
$GC,6970,-0.72,-145.9,658.6,-12.4,446,6975,0.22,1.75,0.00,0.000,6,0.149,0.031,2774,1911,3421,0,0,0,0,0,0
$GC,7299,-0.80,-145.9,687.9,-8.7,457,7303,0.00,1.00,0.00,0.000,4,0.000,0.050,2775,1281,3421,0,0,0,0,0,0
$GC,7334,-0.84,-145.9,690.9,-9.1,458,7338,0.08,0.95,0.00,0.000,6,0.070,0.035,2731,1911,3421,0,0,0,0,0,0
$GC,7674,-0.79,-145.9,723.7,-9.5,469,7678,0.10,2.25,0.00,0.000,4,0.178,0.054,2757,506,3420,0,0,0,0,0,0
$GC,7745,-0.75,-145.9,730.6,-9.4,471,7750,0.05,2.17,0.00,0.000,6,0.157,0.033,2765,1905,3420,0,0,0,0,0,0
$GC,8075,-0.79,-145.9,756.3,-7.8,482,8078,0.00,1.35,0.00,0.000,4,0.000,0.043,2760,2783,3420,0,0,0,0,0,0
$GC,8143,-0.88,-145.9,761.7,-8.0,484,8147,0.08,1.35,0.00,0.000,6,0.072,0.040,2720,1914,3419,0,0,0,0,0,0
$GC,8483,-0.80,-145.9,793.5,-9.4,495,8487,0.12,2.22,0.00,0.000,4,0.169,0.044,2744,3324,3418,0,0,0,0,0,0
$GC,8548,-0.83,-145.9,799.8,-9.3,497,8553,0.00,2.20,0.00,0.000,6,0.000,0.037,2743,1911,3418,0,0,0,0,0,0
$GC,8884,-0.83,-145.9,830.7,-9.6,508,8887,0.00,2.08,0.00,0.000,4,0.000,0.045,2738,3230,3418,0,0,0,0,0,0
$GC,8927,-0.80,-145.9,835.2,-10.8,509,8932,0.08,2.05,0.00,0.000,6,0.176,0.037,2755,1899,3418,0,0,0,0,0,0
$GC,9257,-0.84,-145.9,866.6,-9.6,520,9261,0.00,2.22,0.00,0.000,4,0.000,0.045,2747,3315,3417,0,0,0,0,0,0
$GC,9328,-0.84,-145.9,874.3,-10.2,522,9333,0.00,2.17,0.00,0.000,6,0.000,0.037,2747,1916,3417,0,0,0,0,0,0
$GC,9659,-0.87,-145.9,906.9,-9.9,533,9663,0.00,2.20,0.00,0.000,4,0.000,0.046,2740,3312,3417,0,0,0,0,0,0
$GC,9714,-0.82,-145.9,912.7,-10.3,534,9719,0.00,2.17,0.00,0.000,6,0.000,0.037,2740,1916,3416,0,0,0,0,0,0
$GC,10026,-0.82,-145.9,943.2,-9.5,545,10030,0.00,2.20,0.00,0.000,4,0.000,0.047,2731,3319,3416,0,0,0,0,0,0
$GC,10087,-0.77,-145.9,949.5,-10.1,546,10093,0.08,2.20,0.00,0.000,6,0.136,0.036,2763,1907,3416,0,0,0,0,0,0
$GC,10400,-0.83,-145.9,975.6,-8.1,557,10404,0.00,2.22,0.00,0.000,4,0.000,0.044,2756,3320,3415,0,0,0,0,0,0
$GC,10448,-0.83,-145.9,980.1,-10.1,558,10453,0.00,2.20,0.00,0.000,6,0.000,0.035,2756,1907,3415,0,0,0,0,0,0
$STATE,10736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10736,begin apogee
$GC,10741,-0.21,0.0,1001.5,7.3,568,10873,0.60,0.00,128.77,1.483,6,0.123,0.000,2941,1636,2827,0,0,0,0,0,0
$STATE,10874,end apogee,CONTROL_FINISHED_OK
$STATE,10874,begin climb
$GC,10875,0.59,145.9,1008.3,0.0,572,11017,0.77,1.23,135.12,1.462,4,0.073,0.056,3200,975,2231,0,0,0,0,0,0
$GC,11079,0.35,159.4,1007.8,6.9,578,11099,0.25,1.12,13.52,1.289,6,0.179,0.034,3136,1664,2177,0,0,0,0,0,0
$GC,11430,0.29,210.6,986.9,5.7,590,11481,0.10,0.80,46.47,1.419,4,0.200,0.057,3114,1198,1967,0,0,0,0,0,0
$GC,11509,0.34,278.4,982.1,5.1,592,11575,0.00,0.73,62.70,1.404,6,0.000,0.036,3114,1664,1690,0,0,0,0,0,0
$GC,11882,0.51,308.3,957.6,6.4,604,11918,0.20,2.28,27.25,1.370,4,0.083,0.043,3188,3040,1568,0,0,0,0,0,0
$GC,12001,0.42,308.3,947.5,8.5,607,12006,0.12,2.22,0.00,0.000,6,0.161,0.044,3154,1666,1564,0,0,0,0,0,0
$GC,12320,0.51,347.0,927.1,6.1,618,12360,0.08,0.40,36.05,1.381,4,0.126,0.055,3185,1385,1411,0,0,0,0,0,0
$GC,12371,0.55,374.9,923.3,6.5,619,12402,0.00,0.38,27.48,1.343,6,0.000,0.043,3185,1650,1297,0,0,0,0,0,0
$GC,12716,0.68,378.8,898.4,7.3,631,12720,0.12,1.77,0.00,0.000,4,0.099,0.041,3240,2779,1290,0,0,0,0,0,0
$GC,12770,0.51,378.8,892.9,11.0,632,12775,0.22,1.83,0.00,0.000,6,0.166,0.047,3183,1651,1289,0,0,0,0,0,0
$GC,13088,0.65,378.8,868.1,7.6,643,13090,0.12,0.00,0.00,0.000,6,0.093,0.000,3237,1651,1288,0,0,0,0,0,0
$GC,13395,0.60,378.8,837.9,10.4,653,13399,0.10,2.30,0.00,0.000,4,0.180,0.064,3221,240,1287,0,0,0,0,0,0
$GC,13457,0.53,378.8,831.2,11.1,655,13461,0.12,2.15,0.00,0.000,6,0.176,0.034,3190,1649,1286,0,0,0,0,0,0
$GC,13797,0.64,378.8,799.3,9.3,666,13801,0.10,2.33,0.00,0.000,4,0.109,0.064,3237,241,1285,0,0,0,0,0,0
$GC,13892,0.54,378.8,788.4,12.3,669,13897,0.17,2.17,0.00,0.000,6,0.164,0.034,3191,1653,1285,0,0,0,0,0,0
$GC,14227,0.65,378.8,756.9,9.2,680,14232,0.10,2.17,0.00,0.000,4,0.112,0.044,3237,3053,1284,0,0,0,0,0,0
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$STATE,22248,end climb,SURFACE_DEPTH_REACHED
$STATE,22248,begin surface coast
$FINISH,1.7,1.006493
$STATE,22279,end surface coast,CONTROL_FINISHED_OK
$STATE,22279,begin surface
$SM_CCo,22356,0.00,0.000,0,0,1140,413.81
$SM_GC,2.61,8.80,0.00,0.00,0.058,0.000,0.000,85,1934,1140,-9.09,0.62,413.81
$IRIDIUM_FIX,-4129.38,-612.77,261112,191931
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,22.1,66.061
$10V_AH,10.1,44.885
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.150,195.550,512.100,0.000,0.000,27.156,49.350,302.526,0.250,0.000,46.167,3012.149,15276.055,610.494,3743.934,242.588,33.352,2115.269,0.000,3284.537,0.000,2.834,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.487,1238.901,757.102,89.912,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354540
$DATA_FILE_SIZE,70116,1142
$CAP_FILE_SIZE,233123,0
$CFSIZE,2097086464,2055307264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271112,083035,-4142.420,-616.120,26,1.4,26,-22.2