version: 66.07.10.p01
glider: 574
mission: 4
dive: 323
start: 12 5 112 20 25 56
data:
$ID,574
$MISSION,4
$DIVE,323
$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,300
$T_MISSION,325
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,-6877.2676
$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,1950
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,42
$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,302
$GPS1,051212,201705,-4159.913,-606.265,36,1.1,36,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-69.2
$GPS2,051212,202535,-4159.935,-606.165,49,0.8,49,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4205.334,-553.563
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,142.1,20000,-19.9,-11.111
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.84,-145.9,0.0,0.0,0,100,0.00,0.00,-71.72,0.000,2,0.000,0.000,66,1958,2514,0,0,0,0,0,0
$GC,103,-0.84,-145.9,3.1,-1.5,12,147,12.02,1.23,-26.15,0.000,4,0.259,0.071,2730,2740,3422,0,0,0,0,0,0
$GC,191,-0.79,-145.9,12.5,-12.6,26,199,0.05,1.25,0.00,0.000,6,0.175,0.044,2745,1948,3422,0,0,0,0,0,0
$GC,272,-0.91,-145.9,22.6,-10.4,39,280,0.08,1.35,0.00,0.000,4,0.133,0.061,2717,1124,3423,0,0,0,0,0,0
$GC,306,-0.88,-145.9,26.0,-10.8,44,314,0.05,1.30,0.00,0.000,6,0.177,0.037,2727,1952,3423,0,0,0,0,0,0
$GC,387,-0.92,-145.9,34.7,-9.5,57,391,0.00,1.95,0.00,0.000,4,0.000,0.050,2718,3186,3423,0,0,0,0,0,0
$GC,446,-0.89,-145.9,41.2,-11.9,67,451,0.00,1.95,0.00,0.000,6,0.000,0.044,2718,1941,3423,0,0,0,0,0,0
$GC,677,-0.89,-145.9,65.6,-10.2,108,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1942,3424,0,0,0,0,0,0
$GC,1022,-0.92,-145.9,102.0,-10.6,167,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1942,3424,0,0,0,0,0,0
$GC,1335,-0.98,-145.9,134.6,-10.1,187,1339,0.05,2.00,0.00,0.000,4,0.177,0.058,2695,678,3425,0,0,0,0,0,0
$GC,1378,-0.87,-145.9,140.0,-11.7,189,1384,0.17,1.98,0.00,0.000,6,0.174,0.034,2732,1959,3425,0,0,0,0,0,0
$GC,1700,-0.94,-145.9,168.8,-8.9,210,1705,0.08,1.20,0.00,0.000,4,0.129,0.054,2701,1218,3425,0,0,0,0,0,0
$GC,1735,-0.91,-145.9,172.5,-9.8,212,1739,0.05,1.12,0.00,0.000,6,0.166,0.036,2713,1950,3425,0,0,0,0,0,0
$GC,2068,-0.94,-145.9,204.6,-10.0,233,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1950,3425,0,0,0,0,0,0
$GC,2379,-0.97,-145.9,237.9,-11.1,253,2383,0.00,0.43,0.00,0.000,4,0.000,0.054,2713,1667,3426,0,0,0,0,0,0
$GC,2401,-1.01,-145.9,240.9,-11.6,254,2406,0.08,0.45,0.00,0.000,6,0.131,0.044,2682,1970,3425,0,0,0,0,0,0
$GC,2720,-1.01,-145.9,279.8,-12.5,271,2724,0.00,2.15,0.00,0.000,4,0.000,0.049,2672,3349,3426,0,0,0,0,0,0
$GC,2791,-0.94,-145.9,289.8,-13.9,274,2796,0.12,2.20,0.00,0.000,6,0.173,0.041,2703,1944,3426,0,0,0,0,0,0
$GC,3112,-0.94,-145.9,326.3,-11.4,290,3116,0.00,2.22,0.00,0.000,4,0.000,0.057,2703,537,3425,0,0,0,0,0,0
$GC,3197,-0.91,-145.9,336.4,-12.1,294,3202,0.10,2.17,0.00,0.000,6,0.187,0.036,2718,1952,3426,0,0,0,0,0,0
$GC,3525,-0.97,-145.9,368.2,-9.3,310,3529,0.00,0.93,0.00,0.000,4,0.000,0.051,2718,1369,3426,0,0,0,0,0,0
$GC,3559,-1.01,-145.9,371.7,-9.4,311,3563,0.05,0.90,0.00,0.000,6,0.079,0.038,2685,1958,3426,0,0,0,0,0,0
$GC,3891,-0.97,-145.9,404.2,-9.8,327,3896,0.03,2.20,0.00,0.000,4,0.267,0.049,2684,3360,3426,0,0,0,0,0,0
$GC,3957,-0.97,-145.9,411.3,-10.0,329,3961,0.00,2.20,0.00,0.000,6,0.000,0.039,2685,1945,3426,0,0,0,0,0,0
$GC,4293,-0.95,-145.9,443.8,-9.7,340,4297,0.08,2.22,0.00,0.000,4,0.209,0.054,2706,544,3426,0,0,0,0,0,0
$GC,4375,-0.95,-145.9,452.5,-10.5,342,4379,0.00,2.17,0.00,0.000,6,0.000,0.033,2696,1949,3426,0,0,0,0,0,0
$GC,4694,-0.95,-145.9,483.9,-10.2,353,4698,0.00,1.90,0.00,0.000,4,0.000,0.046,2687,3179,3426,0,0,0,0,0,0
$GC,4754,-0.95,-145.9,490.7,-11.3,354,4761,0.05,1.90,0.00,0.000,6,0.151,0.037,2704,1948,3426,0,0,0,0,0,0
$GC,5068,-0.98,-145.9,524.2,-10.9,365,5072,0.00,2.20,0.00,0.000,4,0.000,0.054,2704,552,3426,0,0,0,0,0,0
$GC,5157,-0.98,-145.9,535.5,-12.6,367,5161,0.00,2.15,0.00,0.000,6,0.000,0.032,2694,1947,3425,0,0,0,0,0,0
$GC,5475,-0.98,-145.9,572.8,-11.8,378,5479,0.00,2.20,0.00,0.000,4,0.000,0.046,2684,3363,3425,0,0,0,0,0,0
$GC,5541,-0.98,-145.9,581.2,-12.4,380,5546,0.00,2.20,0.00,0.000,6,0.000,0.037,2684,1943,3425,0,0,0,0,0,0
$GC,5877,-0.98,-145.9,620.7,-11.7,391,5881,0.00,2.22,0.00,0.000,4,0.000,0.053,2684,536,3424,0,0,0,0,0,0
$GC,5943,-0.88,-145.9,629.3,-12.8,393,5948,0.12,2.20,0.00,0.000,6,0.157,0.033,2721,1956,3424,0,0,0,0,0,0
$GC,6279,-0.99,-145.9,662.7,-9.8,404,6283,0.08,2.20,0.00,0.000,4,0.130,0.047,2680,3354,3423,0,0,0,0,0,0
$GC,6356,-0.97,-145.9,671.2,-11.4,406,6360,0.05,2.17,0.00,0.000,6,0.151,0.036,2706,1948,3422,0,0,0,0,0,0
$GC,6680,-1.02,-145.9,701.8,-9.3,417,6685,0.05,2.22,0.00,0.000,4,0.174,0.046,2675,3356,3422,0,0,0,0,0,0
$GC,6752,-0.97,-145.9,709.3,-10.2,419,6757,0.10,2.15,0.00,0.000,6,0.177,0.035,2699,1946,3422,0,0,0,0,0,0
$GC,7082,-1.00,-145.9,741.3,-10.1,430,7086,0.00,2.22,0.00,0.000,4,0.000,0.046,2689,3364,3421,0,0,0,0,0,0
$GC,7165,-1.00,-145.9,750.8,-12.1,432,7170,0.00,2.17,0.00,0.000,6,0.000,0.035,2689,1954,3421,0,0,0,0,0,0
$GC,7484,-1.00,-145.9,788.2,-12.0,443,7488,0.00,2.20,0.00,0.000,4,0.000,0.046,2680,3353,3420,0,0,0,0,0,0
$GC,7566,-0.98,-145.9,799.1,-12.4,445,7571,0.03,2.17,0.00,0.000,6,0.181,0.036,2688,1947,3420,0,0,0,0,0,0
$GC,7884,-0.98,-145.9,838.2,-12.2,456,7888,0.00,2.22,0.00,0.000,4,0.000,0.046,2680,3362,3420,0,0,0,0,0,0
$GC,7955,-0.98,-145.9,847.7,-13.6,458,7960,0.03,2.20,0.00,0.000,6,0.183,0.036,2688,1942,3419,0,0,0,0,0,0
$GC,8284,-0.98,-145.9,886.7,-11.7,469,8288,0.00,1.17,0.00,0.000,4,0.000,0.050,2688,1187,3419,0,0,0,0,0,0
$GC,8311,-0.94,-145.9,889.9,-11.2,469,8317,0.08,1.17,0.00,0.000,6,0.168,0.036,2707,1950,3418,0,0,0,0,0,0
$GC,8625,-0.99,-145.9,921.2,-9.5,480,8629,0.00,2.25,0.00,0.000,4,0.000,0.053,2707,548,3419,0,0,0,0,0,0
$GC,8708,-0.95,-145.9,930.1,-11.0,482,8712,0.00,2.15,0.00,0.000,6,0.000,0.034,2698,1956,3419,0,0,0,0,0,0
$GC,9032,-0.95,-145.9,958.3,-8.6,493,9036,0.00,2.20,0.00,0.000,4,0.000,0.047,2687,3363,3419,0,0,0,0,0,0
$GC,9109,-0.95,-145.9,965.7,-9.3,495,9113,0.05,2.20,0.00,0.000,6,0.151,0.037,2704,1950,3418,0,0,0,0,0,0
$GC,9434,-0.98,-145.9,994.0,-8.9,506,9438,0.00,2.22,0.00,0.000,4,0.000,0.047,2694,3359,3418,0,0,0,0,0,0
$GC,9483,-0.98,-145.9,998.9,-9.5,507,9487,0.00,2.17,0.00,0.000,6,0.000,0.035,2694,1955,3417,0,0,0,0,0,0
$STATE,9494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9494,begin apogee
$GC,9500,-0.21,0.0,1000.0,9.4,508,9632,0.85,0.00,129.25,1.493,6,0.151,0.000,2940,1499,2827,0,0,0,0,0,0
$STATE,9633,end apogee,CONTROL_FINISHED_OK
$STATE,9633,begin climb
$GC,9635,0.84,145.9,1007.3,0.0,512,9780,1.02,2.55,135.38,1.477,4,0.071,0.042,3276,2902,2232,0,0,0,0,0,0
$GC,9908,0.58,231.4,1004.3,6.7,520,9995,0.35,2.33,78.60,1.435,6,0.211,0.045,3207,1499,1882,0,0,0,0,0,0
$GC,10320,0.53,309.7,974.2,7.1,534,10396,0.08,2.33,69.85,1.425,4,0.232,0.041,3192,2900,1564,0,0,0,0,0,0
$GC,10481,0.61,375.1,962.0,7.8,539,10547,0.00,2.30,60.67,1.396,6,0.000,0.047,3197,1491,1297,0,0,0,0,0,0
$GC,10871,0.76,447.9,933.0,7.4,552,10942,0.17,0.00,67.25,1.395,6,0.083,0.000,3260,1491,1000,0,0,0,0,0,0
$GC,11240,0.82,452.9,893.8,10.9,564,11249,0.00,2.20,4.43,0.850,4,0.000,0.067,3266,167,979,0,0,0,0,0,0
$GC,11299,0.80,452.9,886.1,12.6,565,11305,0.00,2.10,0.00,0.000,6,0.000,0.036,3266,1499,978,0,0,0,0,0,0
$GC,11612,0.83,452.9,847.1,12.1,576,11616,0.00,2.22,0.00,0.000,4,0.000,0.069,3267,160,977,0,0,0,0,0,0
$GC,11673,0.87,452.9,839.3,13.1,577,11679,0.05,2.10,0.00,0.000,6,0.091,0.036,3292,1503,975,0,0,0,0,0,0
$GC,11986,0.87,452.9,797.3,13.8,588,11990,0.00,2.17,0.00,0.000,4,0.000,0.044,3291,2909,975,0,0,0,0,0,0
$GC,12057,0.84,452.9,786.8,14.5,590,12063,0.03,2.25,0.00,0.000,6,0.203,0.047,3294,1505,974,0,0,0,0,0,0
$GC,12387,0.84,452.9,742.5,13.3,601,12391,0.00,2.17,0.00,0.000,4,0.000,0.045,3293,2898,974,0,0,0,0,0,0
$GC,12452,0.84,452.9,733.6,13.3,603,12458,0.03,2.25,0.00,0.000,6,0.197,0.047,3294,1497,973,0,0,0,0,0,0
$GC,12788,0.84,452.9,691.5,12.4,614,12792,0.00,2.22,0.00,0.000,4,0.000,0.044,3294,2908,973,0,0,0,0,0,0
$GC,12859,0.84,452.9,682.5,12.6,616,12864,0.05,2.28,0.00,0.000,6,0.171,0.047,3287,1496,973,0,0,0,0,0,0
$GC,13189,0.88,455.9,646.2,11.0,627,13193,0.00,2.22,0.00,0.000,4,0.000,0.045,3287,2907,972,0,0,0,0,0,0
$GC,13261,0.93,455.9,637.8,11.4,629,13266,0.00,2.28,0.00,0.000,6,0.000,0.049,3293,1497,972,0,0,0,0,0,0
$GC,13591,0.93,457.6,601.4,11.0,640,13600,0.00,1.88,4.30,0.773,4,0.000,0.044,3293,2660,960,0,0,0,0,0,0
$GC,13651,0.97,463.3,594.7,10.8,641,13665,0.05,1.88,7.43,1.022,6,0.080,0.053,3325,1504,938,0,0,0,0,0,0
$GC,13996,0.87,463.3,549.0,14.0,653,14000,0.12,2.22,0.00,0.000,4,0.203,0.047,3295,2898,938,0,0,0,0,0,0
$GC,14074,0.87,463.3,539.1,11.8,655,14078,0.00,2.20,0.00,0.000,6,0.000,0.047,3304,1499,938,0,0,0,0,0,0
$GC,14391,0.87,463.3,503.2,11.5,666,14395,0.00,0.85,0.00,0.000,4,0.000,0.044,3303,2056,938,0,0,0,0,0,0
$GC,14469,0.94,467.8,494.3,10.9,668,14479,0.00,0.90,6.35,0.897,6,0.000,0.056,3306,1500,919,0,0,0,0,0,0
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$STATE,18485,end climb,SURFACE_DEPTH_REACHED
$STATE,18485,begin surface coast
$FINISH,1.6,1.012574
$STATE,18516,end surface coast,CONTROL_FINISHED_OK
$STATE,18516,begin surface
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$TT8_MAMPS,0.026964
$HUMID,48.38
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.40
$XPDR_PINGS,0
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$10V_AH,10.0,49.319
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.325,175.775,568.400,0.000,0.000,28.624,37.223,279.906,0.250,0.000,51.047,2527.017,12464.950,622.800,3272.569,208.254,0.000,1928.218,0.000,2837.431,0.000,2.832,0.000
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$SENSOR_SECS,625.480,1079.460,634.960,78.761,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354532
$DATA_FILE_SIZE,60349,969
$CAP_FILE_SIZE,191953,0
$CFSIZE,2097086464,2049605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061212,013704,-4200.173,-604.628,40,1.2,43,-22.1