version: 66.07.10.p01
glider: 574
mission: 4
dive: 328
start: 12 6 112 22 47 19
data:
$ID,574
$MISSION,4
$DIVE,328
$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,-6892.8003
$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,27
$R_STBD_OVSHOOT,50
$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,307
$GPS1,061212,223835,-4159.168,-559.624,30,1.2,30,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-70.1
$GPS2,061212,224658,-4159.206,-559.495,43,1.5,48,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4204.605,-546.895
$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,-145.9,0.0,0.0,0,95,0.00,0.00,-66.12,0.000,2,0.000,0.000,66,1966,2181,0,0,0,0,0,0
$GC,97,-0.84,-145.9,3.1,-1.4,11,165,12.25,2.22,-48.50,0.000,4,0.262,0.067,2722,3346,3419,0,0,0,0,0,0
$GC,244,-0.84,-145.9,14.7,-11.4,35,252,0.05,2.25,0.00,0.000,6,0.159,0.047,2738,1946,3420,0,0,0,0,0,0
$GC,325,-0.92,-145.9,23.0,-10.6,48,333,0.08,2.33,0.00,0.000,4,0.133,0.061,2708,536,3421,0,0,0,0,0,0
$GC,377,-0.84,-145.9,29.5,-14.2,56,385,0.12,2.20,0.00,0.000,6,0.160,0.037,2736,1936,3421,0,0,0,0,0,0
$GC,456,-0.89,-145.9,37.9,-10.2,69,461,0.00,2.22,0.00,0.000,4,0.000,0.048,2727,3354,3421,0,0,0,0,0,0
$GC,528,-0.92,-145.9,45.5,-10.6,81,533,0.00,2.20,0.00,0.000,6,0.000,0.040,2727,1938,3421,0,0,0,0,0,0
$GC,762,-0.98,-145.9,69.7,-10.1,122,768,0.10,2.25,0.00,0.000,4,0.113,0.056,2686,533,3421,0,0,0,0,0,0
$GC,813,-0.87,-145.9,75.9,-12.7,131,818,0.20,2.17,0.00,0.000,6,0.174,0.034,2729,1954,3421,0,0,0,0,0,0
$GC,1161,-0.96,-145.9,111.6,-10.7,180,1166,0.08,2.25,0.00,0.000,4,0.127,0.055,2697,545,3421,0,0,0,0,0,0
$GC,1250,-0.89,-145.9,122.8,-11.5,185,1256,0.08,2.17,0.00,0.000,6,0.162,0.034,2720,1950,3421,0,0,0,0,0,0
$GC,1572,-0.95,-145.9,156.7,-11.0,206,1576,0.00,1.00,0.00,0.000,4,0.000,0.050,2720,1322,3421,0,0,0,0,0,0
$GC,1606,-0.95,-145.9,160.9,-11.5,208,1610,0.00,0.98,0.00,0.000,6,0.000,0.037,2717,1961,3421,0,0,0,0,0,0
$GC,1940,-1.00,-145.9,196.9,-11.0,229,1941,0.08,0.00,0.00,0.000,6,0.129,0.000,2684,1961,3421,0,0,0,0,0,0
$GC,2251,-0.96,-145.9,233.1,-11.4,249,2253,0.08,0.00,0.00,0.000,6,0.197,0.000,2701,1962,3422,0,0,0,0,0,0
$GC,2572,-0.96,-145.9,266.8,-9.9,267,2575,0.00,1.05,0.00,0.000,4,0.000,0.044,2696,2656,3422,0,0,0,0,0,0
$GC,2633,-0.98,-145.9,273.4,-10.7,269,2638,0.00,1.10,0.00,0.000,6,0.000,0.043,2696,1948,3422,0,0,0,0,0,0
$GC,2951,-0.98,-145.9,304.7,-9.7,285,2955,0.00,2.22,0.00,0.000,4,0.000,0.054,2697,533,3422,0,0,0,0,0,0
$GC,3023,-0.93,-145.9,312.7,-10.5,288,3028,0.10,2.17,0.00,0.000,6,0.191,0.033,2709,1959,3422,0,0,0,0,0,0
$GC,3345,-0.97,-145.9,342.3,-9.5,304,3349,0.00,2.28,0.00,0.000,4,0.000,0.053,2710,537,3422,0,0,0,0,0,0
$GC,3418,-0.97,-145.9,350.3,-10.4,307,3422,0.00,2.17,0.00,0.000,6,0.000,0.032,2701,1949,3422,0,0,0,0,0,0
$GC,3742,-0.97,-145.9,382.5,-10.4,323,3746,0.00,1.52,0.00,0.000,4,0.000,0.044,2693,2944,3422,0,0,0,0,0,0
$GC,3797,-1.00,-145.9,388.8,-11.0,325,3801,0.00,1.55,0.00,0.000,6,0.000,0.038,2693,1941,3422,0,0,0,0,0,0
$GC,4129,-1.00,-145.9,423.8,-10.5,338,4133,0.00,2.20,0.00,0.000,4,0.000,0.045,2683,3355,3422,0,0,0,0,0,0
$GC,4194,-1.00,-145.9,431.7,-11.6,340,4199,0.00,2.15,0.00,0.000,6,0.000,0.035,2683,1957,3422,0,0,0,0,0,0
$GC,4531,-0.96,-145.9,469.7,-11.6,351,4535,0.08,2.20,0.00,0.000,4,0.213,0.045,2689,3353,3421,0,0,0,0,0,0
$GC,4607,-0.96,-145.9,479.0,-12.2,353,4612,0.00,2.17,0.00,0.000,6,0.000,0.036,2689,1949,3422,0,0,0,0,0,0
$GC,4932,-0.96,-145.9,516.6,-11.6,364,4936,0.00,2.20,0.00,0.000,4,0.000,0.044,2679,3358,3421,0,0,0,0,0,0
$GC,5014,-0.96,-145.9,527.2,-13.5,366,5019,0.05,2.17,0.00,0.000,6,0.160,0.036,2695,1951,3421,0,0,0,0,0,0
$GC,5334,-1.00,-145.9,564.7,-12.0,377,5337,0.00,0.55,0.00,0.000,4,0.000,0.042,2694,2333,3421,0,0,0,0,0,0
$GC,5456,-1.04,-145.9,579.6,-11.3,380,5460,0.00,0.60,0.00,0.000,6,0.000,0.044,2694,1938,3421,0,0,0,0,0,0
$GC,5775,-1.07,-145.9,615.6,-11.1,391,5777,0.08,0.00,0.00,0.000,6,0.135,0.000,2662,1938,3421,0,0,0,0,0,0
$GC,6081,-1.01,-145.9,650.3,-11.1,401,6086,0.10,2.25,0.00,0.000,4,0.194,0.045,2676,3362,3420,0,0,0,0,0,0
$GC,6152,-1.01,-145.9,658.5,-11.2,403,6157,0.00,2.17,0.00,0.000,6,0.000,0.036,2676,1960,3420,0,0,0,0,0,0
$GC,6483,-0.98,-145.9,694.2,-11.1,414,6488,0.08,2.20,0.00,0.000,4,0.215,0.046,2682,3356,3419,0,0,0,0,0,0
$GC,6565,-0.98,-145.9,703.5,-11.3,416,6570,0.00,2.17,0.00,0.000,6,0.000,0.036,2682,1952,3419,0,0,0,0,0,0
$GC,6884,-0.98,-145.9,735.8,-10.0,427,6888,0.00,2.22,0.00,0.000,4,0.000,0.054,2682,547,3418,0,0,0,0,0,0
$GC,6947,-0.91,-145.9,742.9,-10.9,429,6952,0.17,2.15,0.00,0.000,6,0.174,0.034,2718,1949,3418,0,0,0,0,0,0
$GC,7288,-1.01,-145.9,775.4,-9.6,440,7292,0.10,1.77,0.00,0.000,4,0.110,0.051,2678,824,3418,0,0,0,0,0,0
$GC,7331,-0.93,-145.9,780.7,-12.3,441,7335,0.12,1.75,0.00,0.000,6,0.156,0.034,2708,1954,3418,0,0,0,0,0,0
$GC,7661,-0.99,-145.9,814.6,-10.4,452,7665,0.00,0.40,0.00,0.000,4,0.000,0.048,2706,2252,3417,0,0,0,0,0,0
$GC,7919,-1.09,-145.9,842.3,-10.7,459,7923,0.10,0.47,0.00,0.000,6,0.067,0.047,2660,1929,3416,0,0,0,0,0,0
$GC,8237,-1.02,-145.9,881.3,-12.4,470,8242,0.10,2.20,0.00,0.000,4,0.196,0.053,2685,556,3416,0,0,0,0,0,0
$GC,8309,-0.95,-145.9,890.5,-12.7,472,8314,0.08,2.17,0.00,0.000,6,0.161,0.034,2708,1951,3416,0,0,0,0,0,0
$GC,8639,-1.02,-145.9,923.1,-9.5,483,8644,0.08,2.20,0.00,0.000,4,0.133,0.047,2668,3356,3414,0,0,0,0,0,0
$GC,8716,-0.99,-145.9,932.2,-11.7,485,8721,0.05,2.17,0.00,0.000,6,0.158,0.037,2693,1958,3414,0,0,0,0,0,0
$GC,9040,-0.99,-145.9,965.9,-10.5,496,9044,0.00,2.20,0.00,0.000,4,0.000,0.047,2684,3362,3414,0,0,0,0,0,0
$GC,9061,-0.99,-145.9,968.4,-11.1,496,9067,0.00,2.17,0.00,0.000,6,0.000,0.037,2683,1954,3414,0,0,0,0,0,0
$STATE,9375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9375,begin apogee
$GC,9381,-0.21,0.0,1002.2,10.7,507,9513,0.88,0.00,128.50,1.496,6,0.145,0.000,2940,1500,2827,0,0,0,0,0,0
$STATE,9513,end apogee,CONTROL_FINISHED_OK
$STATE,9514,begin climb
$GC,9515,0.84,145.9,1011.2,0.0,511,9661,1.02,2.47,135.48,1.476,4,0.068,0.063,3287,176,2232,0,0,0,0,0,0
$GC,9784,0.53,191.6,1008.4,8.8,519,9834,0.43,2.15,42.42,1.405,6,0.213,0.035,3192,1509,2044,0,0,0,0,0,0
$GC,10170,0.49,269.0,980.5,7.2,532,10245,0.08,1.92,69.30,1.433,4,0.234,0.041,3177,2695,1728,0,0,0,0,0,0
$GC,10312,0.56,325.0,969.0,8.3,536,10368,0.00,1.95,51.08,1.379,6,0.000,0.047,3184,1515,1501,0,0,0,0,0,0
$GC,10687,0.68,384.3,938.2,8.1,549,10748,0.15,2.33,54.03,1.401,4,0.090,0.068,3246,167,1259,0,0,0,0,0,0
$GC,10809,0.62,384.3,924.5,11.7,552,10816,0.12,2.12,0.00,0.000,6,0.190,0.037,3216,1501,1254,0,0,0,0,0,0
$GC,11123,0.72,413.8,894.2,9.6,563,11158,0.10,2.35,27.52,1.343,4,0.110,0.069,3255,160,1139,0,0,0,0,0,0
$GC,11203,0.70,413.8,884.8,12.5,565,11208,0.08,2.12,0.00,0.000,6,0.213,0.036,3242,1512,1135,0,0,0,0,0,0
$GC,11521,0.78,427.9,851.1,10.4,576,11541,0.08,2.30,13.50,1.247,4,0.127,0.070,3277,168,1082,0,0,0,0,0,0
$GC,11574,0.72,427.9,844.2,14.8,577,11579,0.10,2.10,0.00,0.000,6,0.179,0.037,3250,1490,1080,0,0,0,0,0,0
$GC,11893,0.79,427.9,806.7,11.7,588,11897,0.00,2.20,0.00,0.000,4,0.000,0.070,3254,167,1079,0,0,0,0,0,0
$GC,11964,0.82,427.9,797.3,12.7,590,11969,0.03,2.10,0.00,0.000,6,0.115,0.038,3271,1502,1077,0,0,0,0,0,0
$GC,12299,0.82,427.9,755.6,12.3,601,12303,0.00,2.20,0.00,0.000,4,0.000,0.070,3279,168,1077,0,0,0,0,0,0
$GC,12342,0.73,427.9,749.5,15.4,602,12347,0.08,2.08,0.00,0.000,6,0.181,0.040,3258,1488,1076,0,0,0,0,0,0
$GC,12667,0.79,431.0,713.3,11.0,613,12671,0.00,2.20,0.00,0.000,4,0.000,0.070,3266,164,1076,0,0,0,0,0,0
$GC,12715,0.79,431.0,707.3,11.9,614,12720,0.00,2.10,0.00,0.000,6,0.000,0.039,3266,1497,1076,0,0,0,0,0,0
$GC,13035,0.82,431.4,671.8,11.1,625,13039,0.00,2.22,0.00,0.000,4,0.000,0.070,3267,163,1076,0,0,0,0,0,0
$GC,13083,0.82,431.4,666.0,11.7,626,13088,0.00,2.12,0.00,0.000,6,0.000,0.039,3267,1510,1075,0,0,0,0,0,0
$GC,13403,0.85,433.5,631.4,11.0,637,13414,0.05,2.22,5.53,0.906,4,0.174,0.068,3298,168,1059,0,0,0,0,0,0
$GC,13453,0.74,433.5,624.9,12.9,638,13457,0.12,2.10,0.00,0.000,6,0.181,0.041,3258,1496,1059,0,0,0,0,0,0
$GC,13771,0.81,433.5,589.3,11.2,649,13775,0.00,2.22,0.00,0.000,4,0.000,0.070,3266,161,1059,0,0,0,0,0,0
$GC,13826,0.83,433.5,582.3,12.4,650,13832,0.00,2.12,0.00,0.000,6,0.000,0.040,3266,1506,1058,0,0,0,0,0,0
$GC,14140,0.88,433.5,541.7,13.3,661,14144,0.10,2.25,0.00,0.000,4,0.113,0.070,3317,168,1058,0,0,0,0,0,0
$GC,14188,0.72,433.5,533.6,16.9,662,14193,0.22,2.10,0.00,0.000,6,0.181,0.041,3248,1494,1058,0,0,0,0,0,0
$GC,14507,0.81,433.5,491.6,13.2,673,14511,0.08,2.22,0.00,0.000,4,0.135,0.071,3280,169,1058,0,0,0,0,0,0
$GC,14568,0.81,433.5,482.5,14.6,675,14572,0.00,2.08,0.00,0.000,6,0.000,0.040,3280,1503,1058,0,0,0,0,0,0
$GC,14903,0.81,433.5,435.8,13.6,686,14907,0.00,2.22,0.00,0.000,4,0.000,0.070,3288,166,1058,0,0,0,0,0,0
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$STATE,18551,end climb,SURFACE_DEPTH_REACHED
$STATE,18551,begin surface coast
$FINISH,1.6,1.026550
$STATE,18576,end surface coast,CONTROL_FINISHED_OK
$STATE,18577,begin surface
$SM_CCo,18655,0.00,0.000,0,0,897,473.42
$SM_GC,2.57,8.98,0.00,0.00,0.059,0.000,0.000,94,1955,897,-9.08,0.14,473.42
$IRIDIUM_FIX,-4143.80,-559.63,061212,171729
$TT8_MAMPS,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,21.9,77.909
$10V_AH,10.0,49.885
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.000,183.900,565.375,0.000,0.000,30.261,44.515,266.630,0.250,0.000,50.639,2532.814,12503.318,641.072,3266.893,208.033,0.000,1945.733,0.000,2839.854,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.302,1092.964,637.352,79.719,0.000,0.000,0.000,0.000,0.000,0.000
$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,60240,973
$CAP_FILE_SIZE,193781,0
$CFSIZE,2097086464,2048950272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071212,035929,-4158.922,-557.916,42,0.9,42,-22.1