version: 66.07.10.p01
glider: 574
mission: 4
dive: 375
start: 12 17 112 3 44 21
data:
$ID,574
$MISSION,4
$DIVE,375
$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,-7048.626
$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,65
$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,354
$GPS1,171212,033535,-4137.011,-527.955,73,0.9,73,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-71.3
$GPS2,171212,034400,-4137.022,-528.018,40,1.1,40,-22.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4142.421,-515.491
$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,142.3,20000,-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,-145.9,0.0,0.0,0,83,0.00,0.00,-54.30,0.000,2,0.000,0.000,66,1992,2135,0,0,0,0,0,0
$GC,86,-0.84,-145.9,3.2,-1.3,9,153,12.12,2.45,-44.70,0.000,4,0.261,0.074,2736,538,3424,0,0,0,0,0,0
$GC,239,-0.86,-145.9,19.2,-11.5,34,246,0.00,2.17,0.00,0.000,6,0.000,0.039,2729,1911,3424,0,0,0,0,0,0
$GC,320,-0.92,-145.9,27.9,-10.5,47,327,0.00,0.62,0.00,0.000,4,0.000,0.050,2727,2337,3424,0,0,0,0,0,0
$GC,351,-0.96,-145.9,32.0,-11.5,52,360,0.05,0.60,0.00,0.000,6,0.078,0.050,2697,1944,3424,0,0,0,0,0,0
$GC,592,-0.96,-145.9,60.3,-10.9,93,599,0.00,0.57,0.00,0.000,4,0.000,0.057,2697,1560,3425,0,0,0,0,0,0
$GC,653,-0.96,-145.9,66.8,-10.8,103,657,0.00,0.60,0.00,0.000,6,0.000,0.041,2694,1964,3425,0,0,0,0,0,0
$GC,997,-0.99,-145.9,101.7,-10.1,162,1001,0.00,2.30,0.00,0.000,4,0.000,0.060,2694,541,3426,0,0,0,0,0,0
$GC,1084,-0.97,-145.9,111.1,-10.8,167,1089,0.05,2.17,0.00,0.000,6,0.241,0.037,2695,1948,3426,0,0,0,0,0,0
$GC,1417,-1.01,-145.9,146.7,-10.5,188,1420,0.00,1.85,0.00,0.000,4,0.000,0.056,2695,797,3426,0,0,0,0,0,0
$GC,1485,-1.01,-145.9,154.4,-10.4,192,1489,0.00,1.77,0.00,0.000,6,0.000,0.036,2688,1949,3427,0,0,0,0,0,0
$GC,1819,-1.03,-145.9,189.0,-10.5,213,1823,0.00,1.20,0.00,0.000,4,0.000,0.053,2688,1201,3428,0,0,0,0,0,0
$GC,1904,-1.03,-145.9,198.1,-10.0,218,1908,0.00,1.17,0.00,0.000,6,0.000,0.037,2683,1962,3428,0,0,0,0,0,0
$GC,2237,-1.03,-145.9,230.9,-9.7,239,2241,0.00,2.28,0.00,0.000,4,0.000,0.057,2683,544,3428,0,0,0,0,0,0
$GC,2309,-1.00,-145.9,238.1,-10.0,243,2313,0.08,2.15,0.00,0.000,6,0.203,0.035,2689,1951,3428,0,0,0,0,0,0
$GC,2634,-1.03,-145.9,268.6,-9.6,261,2638,0.00,0.88,0.00,0.000,4,0.000,0.050,2689,1396,3429,0,0,0,0,0,0
$GC,2690,-1.03,-145.9,274.6,-9.6,263,2694,0.00,0.85,0.00,0.000,6,0.000,0.038,2686,1955,3429,0,0,0,0,0,0
$GC,3014,-1.05,-145.9,307.5,-10.6,279,3018,0.00,2.28,0.00,0.000,4,0.000,0.057,2686,540,3428,0,0,0,0,0,0
$GC,3092,-1.05,-145.9,316.8,-11.0,282,3097,0.00,2.17,0.00,0.000,6,0.000,0.034,2677,1961,3429,0,0,0,0,0,0
$GC,3414,-1.05,-145.9,353.7,-11.7,298,3417,0.00,2.00,0.00,0.000,4,0.000,0.054,2676,707,3429,0,0,0,0,0,0
$GC,3475,-1.03,-145.9,361.4,-12.2,300,3483,0.00,1.92,0.00,0.000,6,0.000,0.036,2669,1945,3429,0,0,0,0,0,0
$GC,3791,-1.03,-145.9,400.4,-12.4,316,3795,0.00,1.25,0.00,0.000,4,0.000,0.050,2669,1162,3429,0,0,0,0,0,0
$GC,3846,-1.00,-145.9,407.6,-12.1,317,3851,0.08,1.23,0.00,0.000,6,0.154,0.037,2687,1959,3429,0,0,0,0,0,0
$GC,4165,-1.04,-145.9,443.9,-11.4,328,4168,0.00,1.62,0.00,0.000,4,0.000,0.053,2687,955,3429,0,0,0,0,0,0
$GC,4225,-1.04,-145.9,451.0,-11.1,329,4231,0.00,1.55,0.00,0.000,6,0.000,0.036,2681,1948,3429,0,0,0,0,0,0
$GC,4539,-1.07,-145.9,486.0,-11.2,340,4543,0.00,0.70,0.00,0.000,4,0.000,0.046,2678,2425,3429,0,0,0,0,0,0
$GC,4589,-1.11,-145.9,491.6,-10.8,341,4593,0.03,0.73,0.00,0.000,6,0.111,0.044,2657,1948,3429,0,0,0,0,0,0
$GC,4912,-1.11,-145.9,528.0,-11.1,352,4916,0.00,2.20,0.00,0.000,4,0.000,0.054,2657,549,3429,0,0,0,0,0,0
$GC,4989,-1.03,-145.9,537.4,-11.7,354,4994,0.10,2.17,0.00,0.000,6,0.160,0.033,2677,1959,3429,0,0,0,0,0,0
$GC,5313,-1.06,-145.9,571.8,-10.6,365,5318,0.00,2.28,0.00,0.000,4,0.000,0.053,2678,543,3429,0,0,0,0,0,0
$GC,5397,-1.06,-145.9,581.5,-11.7,367,5401,0.00,2.17,0.00,0.000,6,0.000,0.033,2670,1946,3429,0,0,0,0,0,0
$GC,5715,-1.06,-145.9,616.8,-11.4,378,5719,0.00,1.35,0.00,0.000,4,0.000,0.050,2670,1094,3429,0,0,0,0,0,0
$GC,5776,-1.04,-145.9,623.7,-11.0,379,5781,0.00,1.33,0.00,0.000,6,0.000,0.036,2664,1953,3429,0,0,0,0,0,0
$GC,6089,-1.04,-145.9,659.3,-11.8,390,6093,0.00,2.25,0.00,0.000,4,0.000,0.054,2664,541,3429,0,0,0,0,0,0
$GC,6161,-0.98,-145.9,668.9,-13.0,392,6165,0.15,2.17,0.00,0.000,6,0.173,0.034,2693,1956,3428,0,0,0,0,0,0
$GC,6496,-1.05,-145.9,707.9,-11.7,403,6500,0.00,1.27,0.00,0.000,4,0.000,0.048,2692,1155,3428,0,0,0,0,0,0
$GC,6557,-1.10,-145.9,715.3,-11.6,404,6563,0.05,1.23,0.00,0.000,6,0.082,0.036,2657,1945,3428,0,0,0,0,0,0
$GC,6870,-1.10,-145.9,754.2,-12.3,415,6873,0.00,1.20,0.00,0.000,4,0.000,0.050,2657,1184,3428,0,0,0,0,0,0
$GC,6931,-1.06,-145.9,761.9,-12.7,416,6937,0.03,1.17,0.00,0.000,6,0.198,0.038,2659,1943,3428,0,0,0,0,0,0
$GC,7244,-1.06,-145.9,796.4,-10.8,427,7248,0.00,2.22,0.00,0.000,4,0.000,0.053,2659,549,3427,0,0,0,0,0,0
$GC,7321,-1.00,-145.9,805.2,-11.4,429,7326,0.15,2.17,0.00,0.000,6,0.174,0.035,2688,1964,3427,0,0,0,0,0,0
$GC,7651,-1.07,-145.9,836.3,-9.4,440,7655,0.05,1.62,0.00,0.000,4,0.172,0.050,2665,965,3427,0,0,0,0,0,0
$GC,7701,-1.02,-145.9,841.5,-10.9,441,7705,0.05,1.52,0.00,0.000,6,0.177,0.037,2676,1942,3427,0,0,0,0,0,0
$GC,8026,-1.06,-145.9,873.0,-10.0,452,8029,0.00,1.98,0.00,0.000,4,0.000,0.052,2675,702,3427,0,0,0,0,0,0
$GC,8081,-1.04,-145.9,879.2,-11.2,453,8085,0.00,1.95,0.00,0.000,6,0.000,0.036,2669,1950,3427,0,0,0,0,0,0
$GC,8400,-1.07,-145.9,911.3,-10.2,464,8403,0.00,0.70,0.00,0.000,4,0.000,0.046,2665,2432,3427,0,0,0,0,0,0
$GC,8435,-1.10,-145.9,915.0,-10.4,465,8439,0.00,0.73,0.00,0.000,6,0.000,0.044,2665,1951,3427,0,0,0,0,0,0
$GC,8776,-1.13,-145.9,950.3,-10.2,476,8780,0.00,2.22,0.00,0.000,4,0.000,0.048,2656,3352,3427,0,0,0,0,0,0
$GC,8838,-1.13,-145.9,956.6,-10.5,478,8842,0.00,2.15,0.00,0.000,6,0.000,0.037,2656,1950,3426,0,0,0,0,0,0
$GC,9178,-1.13,-145.9,992.5,-10.5,489,9182,0.00,1.73,0.00,0.000,4,0.000,0.050,2656,853,3426,0,0,0,0,0,0
$GC,9217,-1.04,-145.9,997.2,-10.5,490,9221,0.10,1.70,0.00,0.000,6,0.193,0.037,2670,1944,3427,0,0,0,0,0,0
$STATE,9274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9275,begin apogee
$GC,9280,-0.21,0.0,1002.9,9.9,492,9416,0.93,0.00,132.05,1.498,6,0.141,0.000,2944,1502,2827,0,0,0,0,0,0
$STATE,9417,end apogee,CONTROL_FINISHED_OK
$STATE,9417,begin climb
$GC,9419,0.84,145.9,1011.8,0.0,496,9559,1.00,0.00,135.73,1.457,6,0.068,0.000,3275,1501,2232,0,0,0,0,0,0
$GC,9873,0.58,242.7,1000.0,6.2,511,9969,0.28,2.38,86.55,1.434,4,0.210,0.064,3219,171,1836,0,0,0,0,0,0
$GC,10066,0.51,285.0,985.6,9.0,517,10111,0.15,2.12,38.38,1.383,6,0.194,0.037,3184,1513,1665,0,0,0,0,0,0
$GC,10436,0.60,347.1,956.1,7.9,529,10501,0.08,2.38,56.78,1.404,4,0.128,0.067,3213,177,1410,0,0,0,0,0,0
$GC,10552,0.68,379.9,945.1,9.4,532,10588,0.00,2.10,30.98,1.340,6,0.000,0.035,3213,1514,1277,0,0,0,0,0,0
$GC,10896,0.82,409.0,912.6,9.6,543,10932,0.17,2.28,27.38,1.345,4,0.085,0.069,3280,171,1158,0,0,0,0,0,0
$GC,10995,0.78,409.0,900.2,14.5,546,10999,0.03,2.08,0.00,0.000,6,0.261,0.036,3271,1496,1154,0,0,0,0,0,0
$GC,11329,0.80,409.0,857.7,12.9,557,11333,0.00,2.20,0.00,0.000,4,0.000,0.067,3274,175,1151,0,0,0,0,0,0
$GC,11378,0.80,409.0,850.6,13.4,558,11383,0.00,2.08,0.00,0.000,6,0.000,0.036,3275,1502,1150,0,0,0,0,0,0
$GC,11698,0.83,409.0,807.3,13.8,569,11702,0.00,2.15,0.00,0.000,4,0.000,0.044,3274,2900,1150,0,0,0,0,0,0
$GC,11764,0.86,409.0,797.8,14.7,571,11768,0.00,2.22,0.00,0.000,6,0.000,0.050,3279,1510,1148,0,0,0,0,0,0
$GC,12099,0.86,409.0,753.7,12.5,582,12103,0.00,1.73,0.00,0.000,4,0.000,0.044,3279,2626,1147,0,0,0,0,0,0
$GC,12160,0.89,409.0,746.1,11.1,583,12165,0.00,1.83,0.00,0.000,6,0.000,0.052,3280,1502,1147,0,0,0,0,0,0
$GC,12473,0.89,418.7,711.7,10.6,594,12483,0.00,0.00,8.40,1.075,6,0.000,0.000,3280,1501,1120,0,0,0,0,0,0
$GC,12779,0.89,442.6,680.5,9.9,604,12810,0.05,1.90,24.65,1.228,4,0.173,0.044,3303,2679,1021,0,0,0,0,0,0
$GC,12869,0.89,446.3,670.9,10.9,606,12879,0.00,1.90,4.65,0.841,6,0.000,0.051,3310,1493,1007,0,0,0,0,0,0
$GC,13186,0.89,452.2,636.1,10.8,617,13197,0.00,1.35,6.43,0.954,4,0.000,0.062,3317,639,984,0,0,0,0,0,0
$GC,13224,0.84,458.4,631.7,10.8,618,13239,0.10,1.35,8.07,1.021,6,0.168,0.039,3289,1514,958,0,0,0,0,0,0
$GC,13553,0.91,462.0,596.5,10.9,629,13560,0.00,0.00,4.60,0.801,6,0.000,0.000,3288,1514,943,0,0,0,0,0,0
$GC,13858,0.96,462.0,559.3,12.5,639,13863,0.10,0.57,0.00,0.000,4,0.111,0.044,3328,1896,942,0,0,0,0,0,0
$GC,14002,0.96,462.0,538.7,13.3,643,14007,0.00,0.68,0.00,0.000,6,0.000,0.057,3331,1487,942,0,0,0,0,0,0
$GC,14333,0.93,462.0,492.6,14.0,654,14337,0.08,0.98,0.00,0.000,4,0.216,0.066,3319,896,942,0,0,0,0,0,0
$GC,14359,0.89,462.0,488.8,13.7,654,14365,0.05,0.90,0.00,0.000,6,0.172,0.041,3305,1485,941,0,0,0,0,0,0
$GC,14672,0.89,462.0,451.2,11.8,665,14673,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1485,941,0,0,0,0,0,0
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$STATE,18430,end climb,SURFACE_DEPTH_REACHED
$STATE,18430,begin surface coast
$FINISH,1.8,1.025049
$STATE,18455,end surface coast,CONTROL_FINISHED_OK
$STATE,18455,begin surface
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$IRIDIUM_FIX,-4123.62,-526.01,161212,222227
$TT8_MAMPS,0.026964
$HUMID,49.88
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.8,89.851
$10V_AH,9.9,55.159
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.600,152.475,594.425,0.000,0.000,28.948,38.214,277.211,0.250,0.000,42.768,2467.504,12509.389,638.611,3179.330,235.978,0.000,1930.747,0.000,2759.998,0.000,2.831,0.000
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$SENSOR_SECS,615.073,1059.936,632.105,76.217,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,57055,953
$CAP_FILE_SIZE,189092,0
$CFSIZE,2097086464,2042789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171212,085429,-4136.945,-527.793,41,1.2,41,-22.3