version: 66.07.10.p01
glider: 574
mission: 4
dive: 348
start: 12 11 112 7 12 27
data:
$ID,574
$MISSION,4
$DIVE,348
$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,-6958.6455
$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,38
$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,327
$GPS1,111212,070335,-4150.988,-537.312,40,1.0,40,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-68.9
$GPS2,111212,071205,-4150.918,-537.361,47,1.0,47,-22.2
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4156.318,-524.788
$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,142.2,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.84,-145.9,0.0,0.0,0,76,0.00,0.00,-48.20,0.000,2,0.000,0.000,66,1943,2137,0,0,0,0,0,0
$GC,78,-0.84,-145.9,3.1,-1.5,8,152,12.55,2.35,-52.12,0.000,4,0.272,0.075,2731,540,3424,0,0,0,0,0,0
$GC,219,-0.84,-145.9,12.8,-13.6,31,227,0.00,2.25,0.00,0.000,6,0.000,0.042,2729,1946,3424,0,0,0,0,0,0
$GC,300,-0.90,-145.9,21.4,-11.6,44,307,0.00,0.85,0.00,0.000,4,0.000,0.049,2725,2508,3424,0,0,0,0,0,0
$GC,356,-0.99,-145.9,27.6,-11.3,53,364,0.05,0.90,0.00,0.000,6,0.081,0.048,2693,1936,3424,0,0,0,0,0,0
$GC,434,-0.99,-145.9,36.9,-11.6,66,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1936,3424,0,0,0,0,0,0
$GC,669,-0.99,-145.9,64.1,-11.4,107,673,0.00,1.65,0.00,0.000,4,0.000,0.047,2685,2975,3424,0,0,0,0,0,0
$GC,715,-0.99,-145.9,69.3,-11.6,115,720,0.00,1.62,0.00,0.000,6,0.000,0.045,2686,1952,3425,0,0,0,0,0,0
$GC,1053,-0.99,-145.9,109.3,-11.4,166,1057,0.00,0.52,0.00,0.000,4,0.000,0.045,2683,2316,3425,0,0,0,0,0,0
$GC,1091,-0.99,-145.9,113.9,-11.4,168,1095,0.00,0.57,0.00,0.000,6,0.000,0.049,2683,1942,3425,0,0,0,0,0,0
$GC,1418,-0.99,-145.9,147.7,-10.2,189,1421,0.00,1.45,0.00,0.000,4,0.000,0.057,2683,1035,3426,0,0,0,0,0,0
$GC,1469,-0.94,-145.9,153.5,-11.2,192,1474,0.08,1.42,0.00,0.000,6,0.162,0.037,2701,1954,3426,0,0,0,0,0,0
$GC,1803,-0.98,-145.9,187.6,-10.5,213,1807,0.00,2.17,0.00,0.000,4,0.000,0.050,2691,3355,3426,0,0,0,0,0,0
$GC,1858,-0.98,-145.9,194.5,-11.0,216,1862,0.00,2.20,0.00,0.000,6,0.000,0.042,2691,1959,3426,0,0,0,0,0,0
$GC,2184,-0.98,-145.9,230.7,-11.2,237,2188,0.00,2.25,0.00,0.000,4,0.000,0.058,2691,540,3427,0,0,0,0,0,0
$GC,2257,-0.95,-145.9,239.8,-12.0,241,2262,0.10,2.20,0.00,0.000,6,0.189,0.035,2706,1956,3427,0,0,0,0,0,0
$GC,2593,-1.02,-145.9,274.1,-10.2,259,2597,0.08,0.77,0.00,0.000,4,0.126,0.044,2670,2480,3427,0,0,0,0,0,0
$GC,2640,-1.02,-145.9,279.3,-10.9,261,2644,0.00,0.82,0.00,0.000,6,0.000,0.047,2670,1944,3427,0,0,0,0,0,0
$GC,2975,-1.00,-145.9,317.1,-11.5,277,2980,0.08,0.80,0.00,0.000,4,0.216,0.052,2685,1430,3427,0,0,0,0,0,0
$GC,3029,-1.00,-145.9,323.9,-11.7,279,3034,0.00,0.82,0.00,0.000,6,0.000,0.038,2683,1966,3427,0,0,0,0,0,0
$GC,3353,-1.00,-145.9,360.8,-11.5,295,3357,0.00,1.35,0.00,0.000,4,0.000,0.046,2676,2840,3427,0,0,0,0,0,0
$GC,3401,-1.00,-145.9,366.3,-11.4,297,3405,0.00,1.40,0.00,0.000,6,0.000,0.042,2676,1945,3427,0,0,0,0,0,0
$GC,3722,-1.00,-145.9,404.8,-12.1,312,3726,0.00,1.52,0.00,0.000,4,0.000,0.053,2676,987,3427,0,0,0,0,0,0
$GC,3772,-0.98,-145.9,411.0,-12.6,313,3777,0.08,1.48,0.00,0.000,6,0.161,0.035,2694,1943,3427,0,0,0,0,0,0
$GC,4096,-1.03,-145.9,447.0,-11.1,324,4100,0.00,1.27,0.00,0.000,4,0.000,0.044,2689,2776,3427,0,0,0,0,0,0
$GC,4140,-1.07,-145.9,452.3,-11.7,325,4145,0.03,1.27,0.00,0.000,6,0.104,0.040,2667,1953,3427,0,0,0,0,0,0
$GC,4471,-1.05,-145.9,488.9,-10.9,336,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1953,3427,0,0,0,0,0,0
$GC,4777,-1.03,-145.9,521.7,-10.5,346,4781,0.03,2.22,0.00,0.000,4,0.276,0.046,2667,3362,3426,0,0,0,0,0,0
$GC,4848,-1.03,-145.9,529.3,-10.5,348,4852,0.00,2.20,0.00,0.000,6,0.000,0.037,2667,1943,3426,0,0,0,0,0,0
$GC,5179,-1.00,-145.9,563.6,-10.8,359,5183,0.10,1.40,0.00,0.000,4,0.194,0.044,2684,2831,3426,0,0,0,0,0,0
$GC,5250,-1.05,-145.9,571.4,-10.5,361,5254,0.00,1.38,0.00,0.000,6,0.000,0.039,2684,1941,3426,0,0,0,0,0,0
$GC,5586,-1.09,-145.9,606.4,-10.5,372,5590,0.08,1.58,0.00,0.000,4,0.131,0.051,2651,951,3425,0,0,0,0,0,0
$GC,5635,-1.00,-145.9,612.6,-12.9,373,5639,0.12,1.55,0.00,0.000,6,0.162,0.036,2682,1951,3425,0,0,0,0,0,0
$GC,5960,-1.02,-145.9,646.5,-10.7,384,5964,0.00,2.22,0.00,0.000,4,0.000,0.053,2682,548,3424,0,0,0,0,0,0
$GC,6056,-1.02,-145.9,657.9,-12.3,387,6060,0.00,2.15,0.00,0.000,6,0.000,0.034,2673,1949,3424,0,0,0,0,0,0
$GC,6390,-1.02,-145.9,698.8,-12.7,398,6394,0.00,2.25,0.00,0.000,4,0.000,0.053,2674,546,3423,0,0,0,0,0,0
$GC,6474,-0.97,-145.9,710.6,-14.7,400,6478,0.12,2.17,0.00,0.000,6,0.177,0.035,2696,1945,3423,0,0,0,0,0,0
$GC,6792,-1.04,-145.9,750.1,-12.5,411,6795,0.00,0.77,0.00,0.000,4,0.000,0.046,2692,2467,3422,0,0,0,0,0,0
$GC,6836,-1.11,-145.9,755.9,-12.6,412,6840,0.08,0.80,0.00,0.000,6,0.066,0.044,2652,1944,3421,0,0,0,0,0,0
$GC,7166,-1.08,-145.9,800.6,-13.8,423,7169,0.00,1.55,0.00,0.000,4,0.000,0.045,2645,2924,3421,0,0,0,0,0,0
$GC,7209,-1.02,-145.9,806.9,-14.2,424,7214,0.10,1.50,0.00,0.000,6,0.161,0.039,2676,1953,3420,0,0,0,0,0,0
$GC,7539,-1.06,-145.9,846.5,-11.6,435,7543,0.00,2.20,0.00,0.000,4,0.000,0.047,2667,3352,3420,0,0,0,0,0,0
$GC,7604,-1.06,-145.9,854.4,-11.4,437,7609,0.00,2.17,0.00,0.000,6,0.000,0.037,2667,1957,3420,0,0,0,0,0,0
$GC,7940,-1.06,-145.9,891.1,-10.9,448,7944,0.00,2.25,0.00,0.000,4,0.000,0.053,2667,543,3419,0,0,0,0,0,0
$GC,8007,-1.00,-145.9,899.2,-12.0,450,8011,0.12,2.17,0.00,0.000,6,0.189,0.036,2689,1952,3419,0,0,0,0,0,0
$GC,8343,-1.06,-145.9,933.0,-10.3,461,8347,0.00,2.20,0.00,0.000,4,0.000,0.050,2680,3352,3418,0,0,0,0,0,0
$GC,8398,-1.09,-145.9,939.3,-10.7,462,8403,0.00,2.17,0.00,0.000,6,0.000,0.038,2680,1946,3418,0,0,0,0,0,0
$GC,8711,-1.13,-145.9,972.4,-10.5,473,8715,0.10,1.83,0.00,0.000,4,0.115,0.052,2640,780,3418,0,0,0,0,0,0
$GC,8761,-1.00,-145.9,978.8,-13.4,474,8765,0.17,1.83,0.00,0.000,6,0.168,0.037,2682,1950,3418,0,0,0,0,0,0
$STATE,8992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8992,begin apogee
$GC,8998,-0.21,0.0,1003.2,10.4,482,9131,0.88,0.00,130.07,1.504,6,0.136,0.000,2945,1497,2827,0,0,0,0,0,0
$STATE,9132,end apogee,CONTROL_FINISHED_OK
$STATE,9132,begin climb
$GC,9134,0.84,145.9,1012.1,0.0,486,9276,1.02,1.88,134.95,1.456,4,0.071,0.060,3288,489,2232,0,0,0,0,0,0
$GC,9361,0.54,245.9,1016.4,6.0,493,9462,0.43,1.67,93.20,1.421,6,0.213,0.037,3195,1521,1824,0,0,0,0,0,0
$GC,9781,0.54,325.4,988.0,7.1,507,9860,0.00,2.08,71.75,1.414,4,0.000,0.063,3199,355,1499,0,0,0,0,0,0
$GC,9894,0.59,368.0,979.0,8.9,510,9939,0.00,1.85,40.47,1.348,6,0.000,0.036,3200,1508,1326,0,0,0,0,0,0
$GC,10275,0.73,413.5,947.1,8.8,523,10321,0.15,0.52,42.15,1.380,4,0.090,0.066,3258,1206,1141,0,0,0,0,0,0
$GC,10334,0.73,413.5,940.7,11.3,525,10338,0.00,0.45,0.00,0.000,6,0.000,0.045,3258,1509,1139,0,0,0,0,0,0
$GC,10674,0.78,413.5,902.4,11.1,536,10678,0.00,2.20,0.00,0.000,4,0.000,0.067,3265,174,1133,0,0,0,0,0,0
$GC,10712,0.78,413.5,897.7,12.7,537,10717,0.00,2.08,0.00,0.000,6,0.000,0.037,3265,1492,1131,0,0,0,0,0,0
$GC,11048,0.80,413.5,858.3,11.9,548,11052,0.00,2.20,0.00,0.000,4,0.000,0.069,3267,170,1131,0,0,0,0,0,0
$GC,11097,0.78,413.5,852.1,12.9,549,11101,0.00,2.10,0.00,0.000,6,0.000,0.039,3267,1504,1129,0,0,0,0,0,0
$GC,11416,0.80,413.5,815.3,11.4,560,11420,0.00,2.20,0.00,0.000,4,0.000,0.069,3267,178,1129,0,0,0,0,0,0
$GC,11484,0.80,413.5,807.4,12.0,562,11487,0.00,2.05,0.00,0.000,6,0.000,0.040,3267,1503,1128,0,0,0,0,0,0
$GC,11825,0.82,431.4,772.1,10.2,573,11845,0.00,1.77,16.40,1.239,4,0.000,0.066,3267,422,1067,0,0,0,0,0,0
$GC,11873,0.83,450.7,766.9,10.1,574,11898,0.00,1.70,20.23,1.263,6,0.000,0.038,3267,1511,988,0,0,0,0,0,0
$GC,12224,0.90,475.5,731.4,9.8,586,12255,0.10,0.60,23.98,1.265,4,0.112,0.066,3308,1164,887,0,0,0,0,0,0
$GC,12261,0.86,475.5,727.0,11.6,587,12265,0.05,0.52,0.00,0.000,6,0.183,0.046,3295,1500,887,0,0,0,0,0,0
$GC,12596,0.88,482.0,690.4,10.8,598,12606,0.00,1.38,6.85,1.014,4,0.000,0.066,3300,683,861,0,0,0,0,0,0
$GC,12628,0.88,482.4,686.6,11.1,599,12632,0.00,1.27,0.00,0.000,6,0.000,0.041,3300,1500,861,0,0,0,0,0,0
$GC,12963,0.88,482.4,649.0,11.3,610,12967,0.00,1.40,0.00,0.000,4,0.000,0.067,3306,655,859,0,0,0,0,0,0
$GC,12985,0.86,482.4,646.3,11.6,610,12989,0.05,1.30,0.00,0.000,6,0.178,0.041,3292,1503,858,0,0,0,0,0,0
$GC,13304,0.90,482.4,610.4,11.5,621,13308,0.00,2.20,0.00,0.000,4,0.000,0.071,3301,174,858,0,0,0,0,0,0
$GC,13341,0.90,482.4,605.3,13.4,622,13346,0.00,2.08,0.00,0.000,6,0.000,0.041,3300,1493,857,0,0,0,0,0,0
$GC,13671,0.90,482.4,564.1,12.7,633,13675,0.00,1.90,0.00,0.000,4,0.000,0.070,3307,323,857,0,0,0,0,0,0
$GC,13706,0.88,482.4,559.4,14.8,634,13710,0.00,1.85,0.00,0.000,6,0.000,0.042,3306,1500,856,0,0,0,0,0,0
$GC,14046,0.88,482.4,513.3,13.7,645,14050,0.00,1.90,0.00,0.000,4,0.000,0.070,3314,350,856,0,0,0,0,0,0
$GC,14080,0.83,482.4,508.4,14.8,646,14085,0.12,1.80,0.00,0.000,6,0.187,0.042,3285,1513,856,0,0,0,0,0,0
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$GC,14789,0.93,495.2,427.1,10.5,669,14808,0.10,2.25,12.88,1.029,4,0.109,0.070,3333,185,807,0,0,0,0,0,0
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$STATE,18074,end climb,SURFACE_DEPTH_REACHED
$STATE,18074,begin surface coast
$FINISH,1.7,1.010336
$STATE,18093,end surface coast,CONTROL_FINISHED_OK
$STATE,18093,begin surface
$SM_CCo,18171,0.00,0.000,0,0,671,528.86
$SM_GC,2.62,9.10,0.00,0.00,0.057,0.000,0.000,90,1971,671,-9.08,0.59,528.86
$IRIDIUM_FIX,-4135.14,-535.73,111212,010128
$TT8_MAMPS,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.9,82.966
$10V_AH,9.9,52.129
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.700,161.200,624.100,0.000,0.000,30.999,37.198,280.683,0.250,0.000,48.880,2428.543,12257.843,652.290,3124.054,212.917,0.000,1919.986,0.000,2691.699,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.316,1037.151,615.593,78.132,0.000,0.000,0.000,0.000,0.000,0.000
$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,56909,939
$CAP_FILE_SIZE,185189,0
$CFSIZE,2097086464,2046328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,111212,121634,-4150.272,-536.866,37,1.1,42,-22.2