version: 66.07.10.p01
glider: 574
mission: 4
dive: 281
start: 11 27 112 8 44 29
data:
$ID,574
$MISSION,4
$DIVE,281
$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,-6735.3843
$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,25
$R_STBD_OVSHOOT,68
$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,260
$GPS1,271112,083035,-4142.420,-616.120,26,1.4,26,-22.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-73.9
$GPS2,271112,084335,-4142.399,-616.280,43,0.9,43,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.217,-0.089
$KALMAN_X,-340788.7,-1705.5,-5545.4,556188.8,24562.8
$KALMAN_Y,14372.8,908.6,-613.5,113502.3,-360.0
$MHEAD_RNG_PITCHd_Wd,129.4,109928,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.59,-145.9,0.0,0.0,0,69,0.00,0.00,-41.97,0.000,2,0.000,0.000,67,1929,2173,0,0,0,0,0,0
$GC,71,-0.59,-145.9,3.1,-1.1,7,140,12.45,0.45,-50.95,0.000,4,0.262,0.122,2811,2217,3423,0,0,0,0,0,0
$GC,167,-0.54,-145.9,6.1,-7.6,22,174,0.05,0.47,0.00,0.000,6,0.148,0.055,2828,1911,3424,0,0,0,0,0,0
$GC,247,-0.66,-145.9,13.0,-8.2,35,255,0.10,1.65,0.00,0.000,4,0.108,0.063,2787,916,3424,0,0,0,0,0,0
$GC,287,-0.66,-145.9,17.0,-9.6,41,295,0.03,1.52,0.00,0.000,6,0.187,0.036,2791,1882,3424,0,0,0,0,0,0
$GC,369,-0.71,-145.9,24.4,-8.7,54,376,0.00,2.30,0.00,0.000,4,0.000,0.050,2783,3318,3423,0,0,0,0,0,0
$GC,439,-0.79,-145.9,31.5,-10.1,66,447,0.05,2.22,0.00,0.000,6,0.080,0.042,2750,1911,3424,0,0,0,0,0,0
$GC,680,-0.71,-145.9,56.9,-10.8,107,686,0.12,1.40,0.00,0.000,4,0.159,0.057,2783,1045,3424,0,0,0,0,0,0
$GC,715,-0.67,-145.9,60.7,-10.3,113,720,0.00,1.35,0.00,0.000,6,0.000,0.037,2780,1914,3424,0,0,0,0,0,0
$GC,1057,-0.72,-145.9,93.9,-9.4,174,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1914,3424,0,0,0,0,0,0
$GC,1393,-0.77,-145.9,126.0,-9.5,203,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1915,3424,0,0,0,0,0,0
$GC,1705,-0.79,-145.9,155.0,-9.0,223,1709,0.08,1.20,0.00,0.000,4,0.130,0.045,2743,2685,3425,0,0,0,0,0,0
$GC,1765,-0.76,-145.9,161.4,-9.8,226,1774,0.05,1.20,0.00,0.000,6,0.144,0.044,2760,1914,3424,0,0,0,0,0,0
$GC,2087,-0.76,-145.9,191.4,-9.7,247,2091,0.00,1.88,0.00,0.000,4,0.000,0.046,2754,3102,3425,0,0,0,0,0,0
$GC,2126,-0.73,-145.9,195.8,-10.5,249,2131,0.05,1.85,0.00,0.000,6,0.135,0.042,2771,1919,3425,0,0,0,0,0,0
$GC,2452,-0.78,-145.9,226.5,-9.8,270,2455,0.00,1.98,0.00,0.000,4,0.000,0.047,2765,3176,3425,0,0,0,0,0,0
$GC,2490,-0.78,-145.9,230.7,-10.1,272,2494,0.00,1.98,0.00,0.000,6,0.000,0.041,2765,1913,3425,0,0,0,0,0,0
$GC,2816,-0.78,-145.9,264.2,-10.6,291,2820,0.00,2.20,0.00,0.000,4,0.000,0.047,2756,3319,3425,0,0,0,0,0,0
$GC,2864,-0.78,-145.9,270.0,-11.1,293,2869,0.00,2.20,0.00,0.000,6,0.000,0.040,2756,1913,3425,0,0,0,0,0,0
$GC,3188,-0.78,-145.9,305.1,-10.9,309,3192,0.00,2.20,0.00,0.000,4,0.000,0.047,2748,3320,3425,0,0,0,0,0,0
$GC,3238,-0.75,-145.9,311.3,-11.8,311,3243,0.05,2.20,0.00,0.000,6,0.137,0.037,2765,1902,3425,0,0,0,0,0,0
$GC,3562,-0.79,-145.9,346.3,-11.0,327,3565,0.00,2.05,0.00,0.000,4,0.000,0.044,2758,3216,3425,0,0,0,0,0,0
$GC,3622,-0.84,-145.9,353.7,-11.2,329,3628,0.00,2.03,0.00,0.000,6,0.000,0.037,2758,1910,3425,0,0,0,0,0,0
$GC,3941,-0.84,-145.9,390.1,-11.7,345,3945,0.00,2.20,0.00,0.000,4,0.000,0.044,2751,3324,3424,0,0,0,0,0,0
$GC,4007,-0.87,-145.9,398.8,-12.6,348,4011,0.00,2.15,0.00,0.000,6,0.000,0.035,2751,1911,3425,0,0,0,0,0,0
$GC,4331,-0.87,-145.9,436.6,-11.5,359,4335,0.00,2.17,0.00,0.000,4,0.000,0.042,2742,3322,3425,0,0,0,0,0,0
$GC,4385,-0.87,-145.9,443.2,-12.1,360,4390,0.00,2.17,0.00,0.000,6,0.000,0.035,2742,1913,3425,0,0,0,0,0,0
$GC,4704,-0.87,-145.9,479.1,-10.9,371,4708,0.00,2.20,0.00,0.000,4,0.000,0.042,2733,3327,3424,0,0,0,0,0,0
$GC,4759,-0.83,-145.9,485.5,-11.5,372,4764,0.00,2.17,0.00,0.000,6,0.000,0.035,2733,1914,3424,0,0,0,0,0,0
$GC,5072,-0.77,-145.9,517.5,-10.0,383,5076,0.12,2.20,0.00,0.000,4,0.169,0.041,2757,3323,3424,0,0,0,0,0,0
$GC,5126,-0.82,-145.9,523.0,-9.4,384,5132,0.00,2.17,0.00,0.000,6,0.000,0.034,2757,1909,3424,0,0,0,0,0,0
$GC,5439,-0.82,-145.9,551.2,-8.9,395,5443,0.00,2.17,0.00,0.000,4,0.000,0.042,2747,3318,3423,0,0,0,0,0,0
$GC,5499,-0.85,-145.9,557.1,-9.5,396,5505,0.00,2.17,0.00,0.000,6,0.000,0.036,2748,1911,3423,0,0,0,0,0,0
$GC,5812,-0.85,-145.9,585.7,-9.2,407,5816,0.00,2.20,0.00,0.000,4,0.000,0.043,2739,3321,3422,0,0,0,0,0,0
$GC,5861,-0.85,-145.9,590.7,-10.5,408,5865,0.00,2.17,0.00,0.000,6,0.000,0.034,2739,1914,3422,0,0,0,0,0,0
$GC,6179,-0.85,-145.9,620.8,-9.6,419,6183,0.00,2.17,0.00,0.000,4,0.000,0.043,2730,3317,3422,0,0,0,0,0,0
$GC,6234,-0.82,-145.9,626.3,-10.4,420,6241,0.03,2.17,0.00,0.000,6,0.158,0.034,2741,1910,3421,0,0,0,0,0,0
$GC,6548,-0.78,-145.9,655.2,-9.2,431,6552,0.08,2.17,0.00,0.000,4,0.204,0.042,2749,3304,3421,0,0,0,0,0,0
$GC,6590,-0.78,-145.9,659.3,-9.2,432,6595,0.00,2.15,0.00,0.000,6,0.000,0.034,2749,1911,3421,0,0,0,0,0,0
$GC,6920,-0.78,-145.9,689.3,-9.4,443,6924,0.00,1.80,0.00,0.000,4,0.000,0.041,2742,3077,3420,0,0,0,0,0,0
$GC,6958,-0.78,-145.9,693.2,-10.5,444,6963,0.03,1.80,0.00,0.000,6,0.163,0.034,2752,1908,3420,0,0,0,0,0,0
$GC,7293,-0.78,-145.9,723.9,-9.3,455,7297,0.00,1.60,0.00,0.000,4,0.000,0.040,2747,2935,3420,0,0,0,0,0,0
$GC,7327,-0.76,-145.9,727.1,-10.0,456,7331,0.05,1.58,0.00,0.000,6,0.135,0.037,2764,1914,3420,0,0,0,0,0,0
$GC,7667,-0.81,-145.9,758.1,-9.2,467,7670,0.00,1.73,0.00,0.000,4,0.000,0.041,2758,3027,3419,0,0,0,0,0,0
$GC,7704,-0.81,-145.9,762.0,-9.3,468,7709,0.00,1.73,0.00,0.000,6,0.000,0.035,2758,1911,3419,0,0,0,0,0,0
$GC,8041,-0.87,-145.9,793.8,-9.5,479,8045,0.08,1.75,0.00,0.000,4,0.130,0.050,2724,813,3418,0,0,0,0,0,0
$GC,8078,-0.72,-145.9,798.2,-12.1,480,8083,0.17,1.70,0.00,0.000,6,0.145,0.030,2770,1919,3418,0,0,0,0,0,0
$GC,8413,-0.79,-145.9,827.6,-8.6,491,8417,0.00,2.17,0.00,0.000,4,0.000,0.047,2766,3312,3417,0,0,0,0,0,0
$GC,8479,-0.90,-145.9,833.7,-8.9,493,8483,0.10,2.17,0.00,0.000,6,0.063,0.036,2715,1909,3417,0,0,0,0,0,0
$GC,8814,-0.80,-145.9,868.3,-10.4,504,8819,0.15,2.22,0.00,0.000,4,0.168,0.045,2746,3319,3417,0,0,0,0,0,0
$GC,8893,-0.84,-145.9,876.0,-10.0,506,8897,0.00,2.17,0.00,0.000,6,0.000,0.037,2746,1902,3416,0,0,0,0,0,0
$GC,9210,-0.84,-145.9,904.9,-9.1,517,9214,0.00,2.22,0.00,0.000,4,0.000,0.046,2739,3322,3415,0,0,0,0,0,0
$GC,9259,-0.82,-145.9,909.7,-10.2,518,9263,0.00,2.20,0.00,0.000,6,0.000,0.036,2739,1908,3415,0,0,0,0,0,0
$GC,9577,-0.82,-145.9,939.9,-9.4,529,9581,0.00,2.22,0.00,0.000,4,0.000,0.045,2730,3319,3415,0,0,0,0,0,0
$GC,9626,-0.77,-145.9,945.0,-10.7,530,9631,0.10,2.17,0.00,0.000,6,0.127,0.035,2762,1914,3414,0,0,0,0,0,0
$GC,9945,-0.81,-145.9,973.8,-9.0,541,9949,0.00,2.20,0.00,0.000,4,0.000,0.046,2756,3310,3414,0,0,0,0,0,0
$GC,9994,-0.84,-145.9,978.9,-10.2,542,9998,0.00,2.17,0.00,0.000,6,0.000,0.037,2756,1909,3414,0,0,0,0,0,0
$STATE,10221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10222,begin apogee
$GC,10226,-0.21,0.0,1000.9,9.9,550,10358,0.60,0.00,128.70,1.505,6,0.126,0.000,2939,1636,2827,0,0,0,0,0,0
$STATE,10359,end apogee,CONTROL_FINISHED_OK
$STATE,10359,begin climb
$GC,10361,0.59,145.9,1011.1,0.0,554,10501,0.77,1.05,134.38,1.440,4,0.071,0.038,3195,2267,2231,0,0,0,0,0,0
$GC,10569,0.37,276.4,1017.4,2.9,560,10701,0.22,1.02,122.55,1.407,6,0.178,0.047,3141,1661,1700,0,0,0,0,0,0
$GC,11007,0.45,348.7,997.2,4.9,575,11081,0.00,2.38,66.45,1.408,4,0.000,0.043,3142,3046,1404,0,0,0,0,0,0
$GC,11238,0.74,348.7,982.9,7.5,582,11243,0.25,2.25,0.00,0.000,6,0.059,0.043,3257,1658,1398,0,0,0,0,0,0
$GC,11574,0.56,348.7,947.4,11.5,593,11578,0.22,1.48,0.00,0.000,4,0.174,0.040,3199,2606,1397,0,0,0,0,0,0
$GC,11617,0.50,348.7,943.0,9.0,594,11622,0.08,1.52,0.00,0.000,6,0.162,0.047,3182,1651,1396,0,0,0,0,0,0
$GC,11947,0.58,348.7,916.5,8.0,605,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1652,1396,0,0,0,0,0,0
$GC,12253,0.66,348.7,891.1,8.5,615,12258,0.12,0.90,0.00,0.000,4,0.097,0.041,3233,2247,1395,0,0,0,0,0,0
$GC,12330,0.62,348.7,882.9,9.9,617,12335,0.05,0.95,0.00,0.000,6,0.163,0.050,3218,1646,1395,0,0,0,0,0,0
$GC,12660,0.59,348.7,848.2,10.5,628,12664,0.00,0.47,0.00,0.000,4,0.000,0.062,3220,1333,1395,0,0,0,0,0,0
$GC,12675,0.54,348.7,846.4,10.3,628,12680,0.12,0.50,0.00,0.000,6,0.186,0.044,3191,1669,1394,0,0,0,0,0,0
$GC,12999,0.61,348.7,815.9,9.2,639,13000,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1669,1394,0,0,0,0,0,0
$GC,13305,0.68,348.7,789.1,8.5,649,13307,0.12,0.00,0.00,0.000,6,0.096,0.000,3239,1669,1394,0,0,0,0,0,0
$GC,13611,0.62,348.7,757.7,10.2,659,13616,0.10,2.33,0.00,0.000,4,0.183,0.066,3224,243,1394,0,0,0,0,0,0
$GC,13666,0.52,348.7,752.0,9.8,660,13672,0.12,2.17,0.00,0.000,6,0.164,0.037,3180,1634,1394,0,0,0,0,0,0
$GC,13979,0.61,348.7,725.8,8.3,671,13981,0.10,0.00,0.00,0.000,6,0.114,0.000,3224,1644,1393,0,0,0,0,0,0
$GC,14285,0.57,348.7,696.1,9.6,681,14287,0.10,0.00,0.00,0.000,6,0.184,0.000,3201,1645,1393,0,0,0,0,0,0
$GC,14591,0.60,348.7,668.5,9.3,691,14595,0.00,1.23,0.00,0.000,4,0.000,0.043,3200,2436,1393,0,0,0,0,0,0
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$STATE,21885,end climb,SURFACE_DEPTH_REACHED
$STATE,21885,begin surface coast
$FINISH,1.6,1.001596
$STATE,21929,end surface coast,CONTROL_FINISHED_OK
$STATE,21929,begin surface
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$HUMID,47.36
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$TCM_TEMP,13.20
$XPDR_PINGS,0
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$10V_AH,10.1,45.022
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.625,179.000,452.075,0.000,0.000,48.122,79.221,410.388,0.250,0.000,45.351,2965.047,15182.900,563.843,3817.164,244.274,33.362,1978.408,0.000,3204.762,0.000,2.834,0.000
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$MEM,354556
$DATA_FILE_SIZE,73601,1169
$CAP_FILE_SIZE,216236,0
$CFSIZE,2097086464,2055176192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271112,145229,-4142.502,-617.129,41,1.0,41,-22.2