version: 66.07.10.p01
glider: 574
mission: 4
dive: 325
start: 12 6 112 6 58 56
data:
$ID,574
$MISSION,4
$DIVE,325
$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,-6883.061
$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,46
$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,304
$GPS1,061212,064958,-4159.748,-603.031,39,1.1,42,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.7
$GPS2,061212,065835,-4159.693,-602.984,42,0.8,42,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4205.092,-550.383
$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,-145.9,0.0,0.0,0,77,0.00,0.00,-48.35,0.000,2,0.000,0.000,66,1970,2108,0,0,0,0,0,0
$GC,79,-0.84,-145.9,3.1,-2.3,8,152,12.18,2.25,-53.33,0.000,4,0.261,0.067,2722,3339,3423,0,0,0,0,0,0
$GC,238,-0.79,-145.9,15.9,-12.0,34,246,0.10,2.22,0.00,0.000,6,0.148,0.047,2752,1948,3424,0,0,0,0,0,0
$GC,319,-0.88,-145.9,23.7,-8.7,47,327,0.08,1.58,0.00,0.000,4,0.133,0.061,2722,990,3424,0,0,0,0,0,0
$GC,359,-0.81,-145.9,28.2,-11.6,53,367,0.10,1.50,0.00,0.000,6,0.165,0.039,2745,1940,3424,0,0,0,0,0,0
$GC,436,-0.87,-145.9,37.2,-11.4,66,444,0.00,2.25,0.00,0.000,4,0.000,0.050,2736,3359,3424,0,0,0,0,0,0
$GC,507,-0.87,-145.9,44.6,-10.5,78,514,0.00,2.22,0.00,0.000,6,0.000,0.044,2736,1953,3424,0,0,0,0,0,0
$GC,743,-0.95,-145.9,68.4,-9.4,119,747,0.10,0.00,0.00,0.000,6,0.112,0.000,2693,1953,3425,0,0,0,0,0,0
$GC,1092,-0.92,-145.9,105.4,-11.0,175,1097,0.08,2.22,0.00,0.000,4,0.200,0.047,2701,3360,3425,0,0,0,0,0,0
$GC,1176,-0.89,-145.9,114.6,-10.3,180,1181,0.10,2.20,0.00,0.000,6,0.168,0.042,2726,1940,3425,0,0,0,0,0,0
$GC,1496,-0.96,-145.9,144.3,-9.4,200,1501,0.08,2.25,0.00,0.000,4,0.130,0.047,2685,3363,3426,0,0,0,0,0,0
$GC,1578,-0.92,-145.9,153.6,-11.7,205,1583,0.12,2.17,0.00,0.000,6,0.165,0.040,2717,1949,3426,0,0,0,0,0,0
$GC,1903,-0.98,-145.9,187.7,-10.4,226,1905,0.05,0.00,0.00,0.000,6,0.172,0.000,2694,1949,3427,0,0,0,0,0,0
$GC,2216,-0.96,-145.9,222.9,-11.4,246,2220,0.00,2.22,0.00,0.000,4,0.000,0.047,2683,3367,3427,0,0,0,0,0,0
$GC,2278,-0.91,-145.9,230.6,-12.4,250,2283,0.12,2.20,0.00,0.000,6,0.168,0.040,2715,1941,3427,0,0,0,0,0,0
$GC,2610,-0.96,-145.9,266.1,-10.6,269,2613,0.00,1.65,0.00,0.000,4,0.000,0.044,2709,2994,3427,0,0,0,0,0,0
$GC,2665,-1.02,-145.9,272.6,-11.0,271,2669,0.05,1.62,0.00,0.000,6,0.076,0.042,2677,1953,3428,0,0,0,0,0,0
$GC,2989,-0.98,-145.9,310.1,-11.8,287,2994,0.08,2.25,0.00,0.000,4,0.203,0.055,2692,545,3428,0,0,0,0,0,0
$GC,3043,-0.91,-145.9,317.5,-12.9,289,3050,0.08,2.17,0.00,0.000,6,0.165,0.033,2716,1957,3427,0,0,0,0,0,0
$GC,3363,-0.98,-145.9,351.9,-11.1,305,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1956,3428,0,0,0,0,0,0
$GC,3670,-1.05,-145.9,385.6,-10.6,320,3674,0.12,0.65,0.00,0.000,4,0.096,0.051,2665,1547,3429,0,0,0,0,0,0
$GC,3696,-1.05,-145.9,388.4,-12.1,321,3699,0.00,0.60,0.00,0.000,6,0.000,0.040,2663,1954,3429,0,0,0,0,0,0
$GC,4016,-0.98,-145.9,428.4,-12.2,333,4020,0.12,2.17,0.00,0.000,4,0.183,0.047,2685,3348,3429,0,0,0,0,0,0
$GC,4081,-0.98,-145.9,436.3,-11.3,335,4085,0.00,2.17,0.00,0.000,6,0.000,0.037,2684,1945,3429,0,0,0,0,0,0
$GC,4417,-0.98,-145.9,471.6,-10.2,346,4421,0.00,2.22,0.00,0.000,4,0.000,0.056,2684,548,3430,0,0,0,0,0,0
$GC,4479,-0.93,-145.9,478.3,-10.5,348,4484,0.15,2.12,0.00,0.000,6,0.177,0.034,2713,1941,3429,0,0,0,0,0,0
$GC,4815,-1.00,-145.9,509.1,-9.1,359,4817,0.08,0.00,0.00,0.000,6,0.127,0.000,2682,1942,3430,0,0,0,0,0,0
$GC,5121,-0.97,-145.9,541.2,-10.5,369,5125,0.08,2.20,0.00,0.000,4,0.197,0.046,2688,3351,3430,0,0,0,0,0,0
$GC,5187,-1.00,-145.9,548.6,-10.4,371,5190,0.00,2.15,0.00,0.000,6,0.000,0.037,2688,1949,3430,0,0,0,0,0,0
$GC,5521,-1.00,-145.9,585.1,-11.3,382,5525,0.00,2.20,0.00,0.000,4,0.000,0.053,2689,547,3430,0,0,0,0,0,0
$GC,5584,-0.96,-145.9,592.8,-11.8,384,5589,0.10,2.15,0.00,0.000,6,0.190,0.034,2702,1949,3430,0,0,0,0,0,0
$GC,5918,-0.99,-145.9,630.4,-11.2,395,5922,0.00,2.22,0.00,0.000,4,0.000,0.054,2702,547,3430,0,0,0,0,0,0
$GC,5996,-0.99,-145.9,640.2,-12.7,397,6001,0.00,2.17,0.00,0.000,6,0.000,0.033,2693,1953,3430,0,0,0,0,0,0
$GC,6320,-0.99,-145.9,677.5,-11.5,408,6324,0.00,2.17,0.00,0.000,4,0.000,0.046,2682,3352,3430,0,0,0,0,0,0
$GC,6335,-0.99,-145.9,679.5,-11.9,408,6339,0.00,2.17,0.00,0.000,6,0.000,0.036,2682,1951,3430,0,0,0,0,0,0
$GC,6653,-0.99,-145.9,717.2,-11.9,419,6657,0.00,2.20,0.00,0.000,4,0.000,0.046,2672,3351,3430,0,0,0,0,0,0
$GC,6725,-0.96,-145.9,726.7,-13.4,421,6730,0.05,2.17,0.00,0.000,6,0.156,0.037,2697,1951,3430,0,0,0,0,0,0
$GC,7055,-0.99,-145.9,763.8,-11.1,432,7059,0.00,2.22,0.00,0.000,4,0.000,0.054,2697,536,3430,0,0,0,0,0,0
$GC,7138,-0.99,-145.9,774.2,-12.7,434,7143,0.00,2.20,0.00,0.000,6,0.000,0.034,2688,1946,3430,0,0,0,0,0,0
$GC,7457,-0.99,-145.9,810.6,-11.5,445,7461,0.00,2.20,0.00,0.000,4,0.000,0.047,2678,3359,3430,0,0,0,0,0,0
$GC,7477,-0.99,-145.9,813.3,-12.8,445,7484,0.03,2.20,0.00,0.000,6,0.174,0.037,2687,1942,3430,0,0,0,0,0,0
$GC,7791,-1.01,-145.9,849.9,-11.8,456,7795,0.00,0.85,0.00,0.000,4,0.000,0.050,2687,1388,3430,0,0,0,0,0,0
$GC,7851,-1.01,-145.9,857.3,-11.7,457,7857,0.00,0.90,0.00,0.000,6,0.000,0.037,2684,1970,3430,0,0,0,0,0,0
$GC,8164,-1.01,-145.9,893.6,-11.5,468,8168,0.00,2.28,0.00,0.000,4,0.000,0.054,2683,545,3430,0,0,0,0,0,0
$GC,8241,-0.97,-145.9,903.3,-12.4,470,8246,0.08,2.17,0.00,0.000,6,0.167,0.034,2696,1939,3430,0,0,0,0,0,0
$GC,8565,-0.97,-145.9,938.2,-10.6,481,8569,0.00,2.25,0.00,0.000,4,0.000,0.054,2697,544,3430,0,0,0,0,0,0
$GC,8614,-0.90,-145.9,944.4,-13.3,482,8619,0.05,2.17,0.00,0.000,6,0.166,0.034,2719,1940,3430,0,0,0,0,0,0
$GC,8933,-0.96,-145.9,975.9,-9.8,493,8937,0.00,2.25,0.00,0.000,4,0.000,0.054,2719,543,3430,0,0,0,0,0,0
$GC,9004,-0.96,-145.9,984.1,-10.8,495,9008,0.00,2.20,0.00,0.000,6,0.000,0.036,2710,1948,3430,0,0,0,0,0,0
$STATE,9157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9157,begin apogee
$GC,9162,-0.21,0.0,1000.1,10.5,500,9298,0.77,0.00,132.52,1.495,6,0.137,0.000,2941,1495,2827,0,0,0,0,0,0
$STATE,9299,end apogee,CONTROL_FINISHED_OK
$STATE,9299,begin climb
$GC,9301,0.84,145.9,1009.5,0.0,504,9442,1.02,1.25,135.88,1.460,4,0.066,0.058,3285,817,2231,0,0,0,0,0,0
$GC,9533,0.56,199.3,1012.1,8.4,512,9588,0.32,1.12,49.90,1.402,6,0.202,0.037,3206,1515,2015,0,0,0,0,0,0
$GC,9924,0.48,278.3,984.3,7.1,525,10003,0.15,2.35,70.88,1.421,4,0.205,0.044,3171,2884,1691,0,0,0,0,0,0
$GC,10075,0.58,337.6,973.0,8.1,529,10136,0.08,2.25,54.40,1.379,6,0.127,0.046,3204,1508,1450,0,0,0,0,0,0
$GC,10449,0.67,380.9,939.9,8.9,542,10495,0.08,2.30,39.70,1.386,4,0.133,0.069,3235,168,1272,0,0,0,0,0,0
$GC,10551,0.67,380.9,928.9,11.5,545,10555,0.00,2.10,0.00,0.000,6,0.000,0.035,3235,1495,1267,0,0,0,0,0,0
$GC,10875,0.71,404.5,895.8,9.9,556,10906,0.00,2.33,22.15,1.321,4,0.000,0.069,3240,163,1177,0,0,0,0,0,0
$GC,10955,0.71,404.5,886.9,11.4,558,10960,0.00,2.12,0.00,0.000,6,0.000,0.034,3240,1501,1174,0,0,0,0,0,0
$GC,11280,0.77,429.6,854.6,9.8,569,11311,0.05,1.77,24.05,1.304,4,0.169,0.068,3266,469,1075,0,0,0,0,0,0
$GC,11339,0.75,429.6,847.8,12.1,570,11344,0.00,1.62,0.00,0.000,6,0.000,0.036,3267,1502,1072,0,0,0,0,0,0
$GC,11652,0.79,435.6,813.2,10.8,581,11663,0.00,2.20,6.20,1.011,4,0.000,0.041,3266,2904,1050,0,0,0,0,0,0
$GC,11681,0.83,438.0,810.0,11.0,582,11691,0.00,2.25,4.22,0.820,6,0.000,0.049,3274,1501,1041,0,0,0,0,0,0
$GC,12022,0.87,442.1,772.8,10.9,593,12032,0.00,2.20,4.97,0.903,4,0.000,0.069,3279,167,1024,0,0,0,0,0,0
$GC,12076,0.78,442.1,765.8,13.7,594,12082,0.03,2.10,0.00,0.000,6,0.206,0.038,3273,1494,1023,0,0,0,0,0,0
$GC,12389,0.82,452.8,732.4,10.6,605,12408,0.00,2.28,11.95,1.159,4,0.000,0.044,3273,2905,979,0,0,0,0,0,0
$GC,12482,0.90,453.1,722.1,11.1,607,12488,0.08,2.28,0.00,0.000,6,0.129,0.050,3308,1491,979,0,0,0,0,0,0
$GC,12795,0.86,453.1,683.2,12.7,618,12799,0.08,0.60,0.00,0.000,4,0.212,0.044,3294,1884,978,0,0,0,0,0,0
$GC,12866,0.94,453.1,674.3,11.6,620,12871,0.05,0.65,0.00,0.000,6,0.164,0.059,3319,1494,978,0,0,0,0,0,0
$GC,13201,0.89,453.1,630.3,13.2,631,13205,0.08,1.35,0.00,0.000,4,0.214,0.043,3305,2352,977,0,0,0,0,0,0
$GC,13250,0.83,453.1,623.8,12.6,632,13255,0.08,1.38,0.00,0.000,6,0.182,0.052,3288,1499,977,0,0,0,0,0,0
$GC,13573,0.83,453.1,585.8,12.0,643,13577,0.00,1.95,0.00,0.000,4,0.000,0.044,3288,2741,977,0,0,0,0,0,0
$GC,13628,0.87,453.1,579.0,11.5,644,13632,0.00,2.00,0.00,0.000,6,0.000,0.051,3295,1501,976,0,0,0,0,0,0
$GC,13947,0.87,453.1,539.8,12.5,655,13950,0.00,0.82,0.00,0.000,4,0.000,0.043,3296,2046,976,0,0,0,0,0,0
$GC,14015,0.93,453.1,531.4,11.9,657,14019,0.00,0.88,0.00,0.000,6,0.000,0.057,3299,1502,976,0,0,0,0,0,0
$GC,14355,0.93,453.1,489.7,12.1,668,14359,0.00,2.20,0.00,0.000,4,0.000,0.045,3300,2902,976,0,0,0,0,0,0
$GC,14376,0.93,453.1,486.9,11.4,668,14382,0.00,2.25,0.00,0.000,6,0.000,0.049,3309,1508,976,0,0,0,0,0,0
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$STATE,18284,end climb,SURFACE_DEPTH_REACHED
$STATE,18284,begin surface coast
$FINISH,1.6,1.026308
$STATE,18310,end surface coast,CONTROL_FINISHED_OK
$STATE,18310,begin surface
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$TT8_MAMPS,0.026215
$HUMID,48.77
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$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,22.0,77.142
$10V_AH,10.0,49.544
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.375,178.375,638.475,0.000,0.000,30.269,37.292,292.118,0.250,0.000,44.497,2471.659,12352.247,717.489,3146.698,209.033,0.000,1971.664,0.000,2711.646,0.000,2.831,0.000
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$SENSOR_SECS,617.879,1050.053,627.760,78.440,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,60301,958
$CAP_FILE_SIZE,190962,0
$CFSIZE,2097086464,2049343488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061212,120635,-4159.686,-601.850,39,1.1,39,-22.1