version: 66.07.10.p01
glider: 574
mission: 4
dive: 408
start: 12 24 112 7 45 20
data:
$ID,574
$MISSION,4
$DIVE,408
$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,-7153.5601
$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,28
$R_STBD_OVSHOOT,43
$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,387
$GPS1,241212,073629,-4125.307,-525.502,70,0.8,70,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-71.9
$GPS2,241212,074459,-4125.288,-525.473,40,0.9,40,-22.4
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4130.687,-512.984
$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,142.4,20000,-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,-48.80,0.000,2,0.000,0.000,67,1931,2067,0,0,0,0,0,0
$GC,80,-0.84,-145.9,3.0,-1.2,8,153,12.10,2.30,-53.53,0.000,4,0.253,0.062,2727,3344,3422,0,0,0,0,0,0
$GC,205,-0.93,-145.9,10.9,-10.1,28,212,0.00,2.22,0.00,0.000,6,0.000,0.046,2727,1957,3423,0,0,0,0,0,0
$GC,285,-1.00,-145.9,18.8,-9.5,41,293,0.12,1.50,0.00,0.000,4,0.096,0.059,2675,1042,3423,0,0,0,0,0,0
$GC,343,-0.94,-145.9,25.9,-12.9,50,351,0.10,1.40,0.00,0.000,6,0.156,0.037,2701,1935,3423,0,0,0,0,0,0
$GC,424,-0.99,-145.9,34.4,-9.5,63,429,0.00,0.55,0.00,0.000,4,0.000,0.047,2698,2318,3423,0,0,0,0,0,0
$GC,476,-0.99,-145.9,40.1,-11.0,72,483,0.00,0.57,0.00,0.000,6,0.000,0.048,2699,1934,3424,0,0,0,0,0,0
$GC,713,-1.02,-145.9,67.2,-11.4,113,717,0.00,2.25,0.00,0.000,4,0.000,0.060,2698,548,3423,0,0,0,0,0,0
$GC,810,-1.02,-145.9,77.9,-10.7,130,815,0.00,2.17,0.00,0.000,6,0.000,0.036,2689,1952,3424,0,0,0,0,0,0
$GC,1144,-1.05,-145.9,117.0,-12.1,173,1148,0.00,2.20,0.00,0.000,4,0.000,0.049,2678,3364,3424,0,0,0,0,0,0
$GC,1222,-1.05,-145.9,127.1,-12.4,177,1227,0.00,2.22,0.00,0.000,6,0.000,0.041,2678,1958,3425,0,0,0,0,0,0
$GC,1541,-1.05,-145.9,165.2,-11.9,198,1545,0.00,1.02,0.00,0.000,4,0.000,0.041,2674,2626,3426,0,0,0,0,0,0
$GC,1576,-1.05,-145.9,169.5,-12.0,200,1579,0.00,1.08,0.00,0.000,6,0.000,0.043,2674,1939,3426,0,0,0,0,0,0
$GC,1908,-1.05,-145.9,210.1,-12.4,221,1911,0.00,1.48,0.00,0.000,4,0.000,0.043,2667,2877,3426,0,0,0,0,0,0
$GC,1946,-1.05,-145.9,215.8,-14.1,223,1950,0.00,1.48,0.00,0.000,6,0.000,0.041,2667,1940,3426,0,0,0,0,0,0
$GC,2268,-1.05,-145.9,257.1,-13.1,243,2271,0.00,1.67,0.00,0.000,4,0.000,0.044,2660,3015,3427,0,0,0,0,0,0
$GC,2308,-1.02,-145.9,262.8,-13.4,244,2315,0.08,1.67,0.00,0.000,6,0.150,0.041,2683,1951,3427,0,0,0,0,0,0
$GC,2624,-1.04,-145.9,299.2,-10.7,260,2627,0.00,1.75,0.00,0.000,4,0.000,0.044,2676,3071,3427,0,0,0,0,0,0
$GC,2670,-1.04,-145.9,304.0,-10.2,262,2673,0.00,1.75,0.00,0.000,6,0.000,0.041,2676,1941,3427,0,0,0,0,0,0
$GC,3003,-1.04,-145.9,336.7,-9.7,278,3006,0.00,2.08,0.00,0.000,4,0.000,0.046,2667,3261,3427,0,0,0,0,0,0
$GC,3049,-1.04,-145.9,341.2,-9.3,280,3053,0.00,2.05,0.00,0.000,6,0.000,0.039,2667,1939,3427,0,0,0,0,0,0
$GC,3382,-1.04,-145.9,374.6,-10.3,296,3385,0.00,1.33,0.00,0.000,4,0.000,0.042,2661,2788,3427,0,0,0,0,0,0
$GC,3420,-1.04,-145.9,379.1,-11.2,297,3426,0.00,1.33,0.00,0.000,6,0.000,0.040,2661,1942,3427,0,0,0,0,0,0
$GC,3735,-1.04,-145.9,416.7,-12.6,311,3739,0.05,1.58,0.00,0.000,4,0.236,0.044,2666,2932,3428,0,0,0,0,0,0
$GC,3778,-1.04,-145.9,422.5,-13.4,312,3782,0.00,1.55,0.00,0.000,6,0.000,0.040,2666,1944,3428,0,0,0,0,0,0
$GC,4108,-1.04,-145.9,465.6,-13.4,323,4112,0.00,2.22,0.00,0.000,4,0.000,0.046,2656,3359,3427,0,0,0,0,0,0
$GC,4151,-1.04,-145.9,471.9,-14.6,324,4156,0.05,2.20,0.00,0.000,6,0.155,0.037,2673,1947,3428,0,0,0,0,0,0
$GC,4475,-1.07,-145.9,514.1,-13.1,335,4479,0.00,2.22,0.00,0.000,4,0.000,0.047,2663,3366,3427,0,0,0,0,0,0
$GC,4524,-1.07,-145.9,520.8,-12.5,336,4529,0.00,2.20,0.00,0.000,6,0.000,0.037,2663,1950,3427,0,0,0,0,0,0
$GC,4843,-1.07,-145.9,561.6,-12.8,347,4847,0.00,2.10,0.00,0.000,4,0.000,0.043,2653,3291,3427,0,0,0,0,0,0
$GC,4887,-1.07,-145.9,567.6,-13.2,348,4891,0.00,2.08,0.00,0.000,6,0.000,0.035,2653,1955,3427,0,0,0,0,0,0
$GC,5217,-1.05,-145.9,607.3,-11.7,359,5221,0.08,1.70,0.00,0.000,4,0.209,0.040,2662,3043,3427,0,0,0,0,0,0
$GC,5261,-1.05,-145.9,612.5,-11.2,360,5265,0.00,1.70,0.00,0.000,6,0.000,0.036,2662,1948,3427,0,0,0,0,0,0
$GC,5591,-1.05,-145.9,648.6,-11.0,371,5595,0.00,1.67,0.00,0.000,4,0.000,0.041,2655,3037,3426,0,0,0,0,0,0
$GC,5635,-1.05,-145.9,653.8,-11.1,372,5640,0.05,1.67,0.00,0.000,6,0.158,0.036,2670,1948,3426,0,0,0,0,0,0
$GC,5966,-1.08,-145.9,688.4,-10.8,383,5969,0.00,2.05,0.00,0.000,4,0.000,0.042,2662,3272,3425,0,0,0,0,0,0
$GC,6010,-1.10,-145.9,693.6,-10.8,384,6014,0.00,2.03,0.00,0.000,6,0.000,0.036,2662,1954,3425,0,0,0,0,0,0
$GC,6339,-1.10,-145.9,730.6,-11.3,395,6343,0.00,0.70,0.00,0.000,4,0.000,0.041,2660,2428,3425,0,0,0,0,0,0
$GC,6373,-1.10,-145.9,734.6,-11.3,396,6377,0.00,0.73,0.00,0.000,6,0.000,0.041,2660,1945,3425,0,0,0,0,0,0
$GC,6714,-1.10,-145.9,774.2,-11.8,407,6718,0.00,2.10,0.00,0.000,4,0.000,0.043,2650,3297,3424,0,0,0,0,0,0
$GC,6757,-1.10,-145.9,779.6,-11.8,408,6762,0.00,2.10,0.00,0.000,6,0.000,0.035,2650,1948,3425,0,0,0,0,0,0
$GC,7082,-1.10,-145.9,816.8,-11.2,419,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1948,3424,0,0,0,0,0,0
$GC,7388,-1.10,-145.9,850.7,-10.7,429,7392,0.00,2.20,0.00,0.000,4,0.000,0.044,2640,3360,3423,0,0,0,0,0,0
$GC,7450,-1.08,-145.9,857.6,-10.9,430,7455,0.10,2.17,0.00,0.000,6,0.178,0.034,2662,1944,3423,0,0,0,0,0,0
$GC,7763,-1.10,-145.9,888.0,-9.6,441,7766,0.00,2.08,0.00,0.000,4,0.000,0.044,2655,3269,3423,0,0,0,0,0,0
$GC,7807,-1.10,-145.9,892.6,-9.5,442,7811,0.00,2.05,0.00,0.000,6,0.000,0.035,2655,1949,3423,0,0,0,0,0,0
$GC,8137,-1.10,-145.9,925.8,-10.2,453,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1949,3423,0,0,0,0,0,0
$GC,8443,-1.10,-145.9,958.5,-11.1,463,8447,0.00,1.80,0.00,0.000,4,0.000,0.042,2647,3101,3422,0,0,0,0,0,0
$GC,8483,-1.07,-145.9,963.3,-12.2,464,8487,0.08,1.77,0.00,0.000,6,0.197,0.035,2662,1944,3422,0,0,0,0,0,0
$STATE,8816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8817,begin apogee
$GC,8822,-0.21,0.0,1002.3,11.9,475,8957,0.93,0.00,131.45,1.492,6,0.138,0.000,2938,1493,2826,0,0,0,0,0,0
$STATE,8958,end apogee,CONTROL_FINISHED_OK
$STATE,8958,begin climb
$GC,8960,0.84,145.9,1013.5,0.0,479,9105,1.02,2.58,135.12,1.414,4,0.069,0.041,3276,2914,2231,0,0,0,0,0,0
$GC,9358,0.56,324.1,1020.6,2.0,491,9530,0.38,2.28,162.52,1.442,6,0.214,0.044,3199,1499,1504,0,0,0,0,0,0
$GC,9838,0.66,410.7,993.8,6.7,507,9925,0.08,2.35,80.03,1.414,4,0.128,0.040,3226,2917,1153,0,0,0,0,0,0
$GC,10004,0.79,453.9,980.0,8.9,511,10055,0.10,2.30,41.42,1.368,6,0.112,0.045,3265,1502,975,0,0,0,0,0,0
$GC,10361,0.88,453.9,942.0,11.3,523,10366,0.10,2.20,0.00,0.000,4,0.114,0.067,3306,169,969,0,0,0,0,0,0
$GC,10429,0.82,453.9,932.8,15.4,525,10434,0.10,2.08,0.00,0.000,6,0.190,0.034,3283,1523,966,0,0,0,0,0,0
$GC,10764,0.89,453.9,888.6,13.5,536,10768,0.00,2.25,0.00,0.000,4,0.000,0.067,3288,166,965,0,0,0,0,0,0
$GC,10813,0.92,453.9,881.6,13.7,537,10817,0.03,2.05,0.00,0.000,6,0.115,0.035,3304,1483,963,0,0,0,0,0,0
$GC,11130,0.92,453.9,837.0,14.0,548,11134,0.00,2.20,0.00,0.000,4,0.000,0.070,3306,166,963,0,0,0,0,0,0
$GC,11180,0.88,453.9,829.9,14.1,549,11184,0.00,2.08,0.00,0.000,6,0.000,0.036,3306,1494,962,0,0,0,0,0,0
$GC,11498,0.88,453.9,787.0,13.0,560,11502,0.00,2.22,0.00,0.000,4,0.000,0.069,3314,164,962,0,0,0,0,0,0
$GC,11561,0.82,453.9,778.8,12.9,562,11566,0.12,2.08,0.00,0.000,6,0.191,0.037,3285,1507,962,0,0,0,0,0,0
$GC,11897,0.87,455.6,741.2,11.0,573,11901,0.00,2.15,0.00,0.000,4,0.000,0.046,3284,2897,961,0,0,0,0,0,0
$GC,11963,0.87,455.6,733.5,11.3,575,11968,0.00,2.25,0.00,0.000,6,0.000,0.048,3293,1503,961,0,0,0,0,0,0
$GC,12299,0.90,455.6,696.1,11.2,586,12303,0.00,2.20,0.00,0.000,4,0.000,0.046,3293,2903,961,0,0,0,0,0,0
$GC,12383,0.87,463.4,686.3,10.7,588,12398,0.00,2.22,7.85,1.043,6,0.000,0.047,3303,1495,937,0,0,0,0,0,0
$GC,12734,0.87,463.4,645.2,11.8,600,12738,0.00,2.22,0.00,0.000,4,0.000,0.043,3303,2905,936,0,0,0,0,0,0
$GC,12788,0.87,463.4,638.7,11.4,601,12794,0.05,2.28,0.00,0.000,6,0.174,0.047,3298,1499,935,0,0,0,0,0,0
$GC,13101,0.90,463.4,601.5,12.0,612,13105,0.00,2.17,0.00,0.000,4,0.000,0.044,3297,2900,935,0,0,0,0,0,0
$GC,13179,0.90,463.4,591.4,13.2,614,13183,0.00,2.25,0.00,0.000,6,0.000,0.047,3306,1504,935,0,0,0,0,0,0
$GC,13503,0.90,463.4,548.9,13.3,625,13507,0.00,2.20,0.00,0.000,4,0.000,0.043,3306,2897,935,0,0,0,0,0,0
$GC,13575,0.90,463.4,539.0,13.1,627,13580,0.03,2.25,0.00,0.000,6,0.195,0.047,3308,1503,935,0,0,0,0,0,0
$GC,13904,0.90,463.4,494.5,13.6,638,13908,0.00,0.85,0.00,0.000,4,0.000,0.041,3308,2061,935,0,0,0,0,0,0
$GC,13965,0.90,463.4,486.3,13.2,639,13971,0.00,0.93,0.00,0.000,6,0.000,0.052,3311,1496,935,0,0,0,0,0,0
$GC,14278,0.90,463.4,444.5,13.5,650,14282,0.00,2.12,0.00,0.000,4,0.000,0.042,3310,2846,936,0,0,0,0,0,0
$GC,14332,0.87,463.4,437.0,12.1,651,14339,0.10,2.15,0.00,0.000,6,0.195,0.047,3298,1502,935,0,0,0,0,0,0
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$STATE,17905,end climb,SURFACE_DEPTH_REACHED
$STATE,17905,begin surface coast
$FINISH,1.7,1.012809
$STATE,17930,end surface coast,CONTROL_FINISHED_OK
$STATE,17930,begin surface
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$TT8_MAMPS,0.026964
$HUMID,50.35
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.7,98.390
$10V_AH,9.9,58.864
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.550,164.300,599.425,0.000,0.000,26.584,41.878,281.722,0.250,0.000,42.811,2391.166,12104.560,637.212,3133.889,245.201,0.000,1909.117,0.000,2719.999,0.000,2.834,0.000
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$SENSOR_SECS,603.385,1060.733,623.560,78.138,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354512
$DATA_FILE_SIZE,57076,933
$CAP_FILE_SIZE,180065,0
$CFSIZE,2097086464,2038464512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241212,124637,-4124.954,-525.153,34,1.5,34,-22.4