version: 66.07.10.p01
glider: 574
mission: 4
dive: 411
start: 12 24 112 23 34 24
data:
$ID,574
$MISSION,4
$DIVE,411
$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,360
$T_MISSION,385
$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,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,2
$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,-7162.2622
$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,3008
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1850
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,57
$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,390
$GPS1,241212,232505,-4124.687,-523.367,62,1.0,62,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-67.8
$GPS2,241212,233404,-4124.710,-523.338,44,1.1,48,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$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,176.2,72823,-17.1,-9.259
$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,-0.78,-145.9,0.0,0.0,0,89,0.00,0.00,-60.10,0.000,2,0.000,0.000,66,1873,2345,0,0,0,0,0,0
$GC,91,-0.78,-145.9,3.1,-1.4,10,153,12.68,2.38,-43.10,0.000,4,0.271,0.074,2742,442,3422,0,0,0,0,0,0
$GC,228,-0.82,-145.9,9.3,-6.0,32,235,0.00,2.20,0.00,0.000,6,0.000,0.041,2742,1821,3422,0,0,0,0,0,0
$GC,308,-0.82,-145.9,12.8,-6.2,45,315,0.00,0.47,0.00,0.000,4,0.000,0.052,2741,2150,3422,0,0,0,0,0,0
$GC,348,-0.85,-145.9,16.0,-7.9,51,355,0.00,0.47,0.00,0.000,6,0.000,0.054,2741,1838,3423,0,0,0,0,0,0
$GC,429,-0.89,-145.9,23.1,-8.6,64,436,0.05,0.00,0.00,0.000,6,0.165,0.000,2716,1838,3422,0,0,0,0,0,0
$GC,509,-0.86,-145.9,32.4,-13.2,77,514,0.00,1.12,0.00,0.000,4,0.000,0.058,2716,1138,3423,0,0,0,0,0,0
$GC,568,-0.90,-145.9,40.1,-11.0,87,573,0.00,1.12,0.00,0.000,6,0.000,0.037,2711,1864,3423,0,0,0,0,0,0
$GC,802,-0.86,-145.9,65.8,-12.6,128,807,0.08,1.58,0.00,0.000,4,0.197,0.057,2730,915,3423,0,0,0,0,0,0
$GC,869,-0.86,-145.9,73.2,-10.2,140,874,0.00,1.45,0.00,0.000,6,0.000,0.036,2727,1843,3423,0,0,0,0,0,0
$GC,1209,-0.91,-145.9,110.4,-10.8,189,1212,0.00,0.60,0.00,0.000,4,0.000,0.052,2726,1458,3423,0,0,0,0,0,0
$GC,1280,-0.95,-145.9,117.7,-10.3,193,1284,0.03,0.60,0.00,0.000,6,0.099,0.040,2701,1863,3423,0,0,0,0,0,0
$GC,1610,-0.95,-145.9,150.3,-9.1,214,1614,0.00,1.95,0.00,0.000,4,0.000,0.057,2701,659,3424,0,0,0,0,0,0
$GC,1689,-0.91,-145.9,157.9,-8.8,218,1697,0.05,1.85,0.00,0.000,6,0.163,0.036,2709,1840,3425,0,0,0,0,0,0
$GC,2011,-0.91,-145.9,187.7,-9.8,239,2015,0.00,1.08,0.00,0.000,4,0.000,0.053,2709,1170,3425,0,0,0,0,0,0
$GC,2081,-0.91,-145.9,195.0,-9.9,243,2085,0.00,1.05,0.00,0.000,6,0.000,0.037,2705,1854,3425,0,0,0,0,0,0
$GC,2411,-0.91,-145.9,229.7,-10.5,264,2415,0.00,0.50,0.00,0.000,4,0.000,0.051,2705,1528,3425,0,0,0,0,0,0
$GC,2480,-0.91,-145.9,237.1,-11.0,268,2484,0.00,0.47,0.00,0.000,6,0.000,0.042,2703,1857,3425,0,0,0,0,0,0
$GC,2813,-0.91,-145.9,272.8,-10.7,286,2817,0.00,2.28,0.00,0.000,4,0.000,0.057,2703,447,3426,0,0,0,0,0,0
$GC,2897,-0.91,-145.9,282.1,-10.9,290,2902,0.08,2.15,0.00,0.000,6,0.196,0.034,2711,1849,3426,0,0,0,0,0,0
$GC,3225,-0.95,-145.9,314.9,-10.1,306,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1848,3426,0,0,0,0,0,0
$GC,3535,-1.00,-145.9,347.0,-10.4,321,3539,0.08,1.23,0.00,0.000,4,0.129,0.053,2680,1098,3426,0,0,0,0,0,0
$GC,3596,-0.97,-145.9,354.3,-11.1,323,3602,0.05,1.15,0.00,0.000,6,0.155,0.034,2691,1845,3426,0,0,0,0,0,0
$GC,3914,-0.97,-145.9,387.9,-10.7,339,3918,0.00,2.28,0.00,0.000,4,0.000,0.057,2692,443,3426,0,0,0,0,0,0
$GC,3992,-0.94,-145.9,396.6,-10.3,342,3997,0.08,2.15,0.00,0.000,6,0.199,0.033,2701,1864,3427,0,0,0,0,0,0
$GC,4321,-0.96,-145.9,429.5,-9.8,354,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1864,3427,0,0,0,0,0,0
$GC,4628,-0.99,-145.9,456.9,-8.8,364,4632,0.00,0.57,0.00,0.000,4,0.000,0.050,2701,1490,3427,0,0,0,0,0,0
$GC,4885,-1.02,-145.9,477.4,-8.1,371,4889,0.05,0.52,0.00,0.000,6,0.079,0.041,2668,1851,3426,0,0,0,0,0,0
$GC,5204,-0.98,-145.9,507.4,-10.1,382,5208,0.10,2.28,0.00,0.000,4,0.181,0.055,2694,453,3426,0,0,0,0,0,0
$GC,5280,-0.98,-145.9,515.0,-9.3,384,5285,0.00,2.15,0.00,0.000,6,0.000,0.033,2685,1844,3426,0,0,0,0,0,0
$GC,5610,-0.98,-145.9,546.9,-9.9,395,5614,0.00,2.28,0.00,0.000,4,0.000,0.055,2685,440,3426,0,0,0,0,0,0
$GC,5688,-0.95,-145.9,555.2,-10.5,397,5693,0.10,2.17,0.00,0.000,6,0.176,0.032,2700,1865,3426,0,0,0,0,0,0
$GC,6012,-1.00,-145.9,586.1,-9.5,408,6016,0.00,1.42,0.00,0.000,4,0.000,0.050,2700,983,3425,0,0,0,0,0,0
$GC,6090,-1.00,-145.9,593.7,-9.8,410,6094,0.00,1.33,0.00,0.000,6,0.000,0.034,2694,1841,3425,0,0,0,0,0,0
$GC,6420,-1.02,-145.9,625.8,-9.7,421,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1841,3425,0,0,0,0,0,0
$GC,6726,-1.02,-145.9,655.4,-9.7,431,6730,0.00,2.28,0.00,0.000,4,0.000,0.054,2695,441,3425,0,0,0,0,0,0
$GC,6814,-1.02,-145.9,664.1,-9.2,433,6820,0.00,2.17,0.00,0.000,6,0.000,0.032,2686,1856,3424,0,0,0,0,0,0
$GC,7127,-1.02,-145.9,692.8,-9.2,444,7131,0.00,0.88,0.00,0.000,4,0.000,0.049,2687,1305,3424,0,0,0,0,0,0
$GC,7229,-1.02,-145.9,701.9,-9.3,447,7233,0.00,0.85,0.00,0.000,6,0.000,0.039,2684,1858,3424,0,0,0,0,0,0
$GC,7570,-1.02,-145.9,733.9,-9.4,458,7574,0.00,2.28,0.00,0.000,4,0.000,0.054,2683,448,3424,0,0,0,0,0,0
$GC,7666,-1.00,-145.9,743.2,-9.4,461,7670,0.00,2.17,0.00,0.000,6,0.000,0.034,2674,1857,3424,0,0,0,0,0,0
$GC,8000,-1.00,-145.9,776.2,-10.0,472,8004,0.00,0.73,0.00,0.000,4,0.000,0.049,2674,1393,3424,0,0,0,0,0,0
$GC,8111,-1.00,-145.9,787.7,-10.5,475,8116,0.00,0.73,0.00,0.000,6,0.000,0.040,2673,1860,3423,0,0,0,0,0,0
$GC,8441,-1.00,-145.9,822.5,-10.9,486,8446,0.00,2.30,0.00,0.000,4,0.000,0.054,2673,443,3423,0,0,0,0,0,0
$GC,8530,-0.94,-145.9,832.8,-11.0,488,8537,0.15,2.15,0.00,0.000,6,0.168,0.034,2701,1846,3423,0,0,0,0,0,0
$GC,8844,-0.99,-145.9,865.3,-10.5,499,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1847,3423,0,0,0,0,0,0
$GC,9150,-1.04,-145.9,897.3,-10.4,509,9154,0.10,1.67,0.00,0.000,4,0.113,0.051,2662,809,3423,0,0,0,0,0,0
$GC,9204,-0.98,-145.9,903.7,-12.0,510,9209,0.10,1.62,0.00,0.000,6,0.151,0.034,2687,1852,3423,0,0,0,0,0,0
$GC,9523,-1.01,-145.9,937.1,-10.6,521,9526,0.00,1.65,0.00,0.000,4,0.000,0.050,2688,816,3423,0,0,0,0,0,0
$GC,9583,-1.01,-145.9,944.0,-10.7,522,9589,0.00,1.60,0.00,0.000,6,0.000,0.034,2683,1845,3423,0,0,0,0,0,0
$GC,9896,-1.01,-145.9,977.8,-10.9,533,9900,0.00,0.82,0.00,0.000,4,0.000,0.047,2682,1317,3423,0,0,0,0,0,0
$GC,9968,-1.01,-145.9,985.7,-11.0,535,9973,0.00,0.85,0.00,0.000,6,0.000,0.038,2679,1859,3423,0,0,0,0,0,0
$STATE,10119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10119,begin apogee
$GC,10124,-0.23,0.0,1002.0,11.0,540,10259,0.85,0.00,131.30,1.477,6,0.133,0.000,2933,1587,2827,0,0,0,0,0,0
$STATE,10260,end apogee,CONTROL_FINISHED_OK
$STATE,10260,begin climb
$GC,10262,0.78,145.9,1012.1,0.0,544,10404,0.98,1.05,135.62,1.427,4,0.070,0.039,3256,2176,2232,0,0,0,0,0,0
$GC,10499,0.50,294.3,1019.8,2.9,551,10645,0.35,0.95,137.30,1.398,6,0.200,0.048,3176,1606,1626,0,0,0,0,0,0
$GC,10971,0.56,325.1,986.6,7.9,567,11005,0.00,2.08,27.92,1.368,4,0.000,0.041,3176,2863,1500,0,0,0,0,0,0
$GC,11073,0.64,355.8,977.9,8.0,570,11109,0.10,2.00,29.70,1.355,6,0.112,0.044,3217,1600,1376,0,0,0,0,0,0
$GC,11433,0.68,355.8,942.2,10.2,582,11437,0.00,0.43,0.00,0.000,4,0.000,0.063,3218,1322,1369,0,0,0,0,0,0
$GC,11468,0.72,355.8,938.7,9.9,583,11472,0.03,0.40,0.00,0.000,6,0.111,0.044,3235,1614,1369,0,0,0,0,0,0
$GC,11807,0.72,355.8,902.0,10.9,594,11811,0.00,1.52,0.00,0.000,4,0.000,0.042,3235,2588,1368,0,0,0,0,0,0
$GC,11863,0.70,355.8,895.7,11.5,595,11867,0.00,1.58,0.00,0.000,6,0.000,0.048,3241,1608,1367,0,0,0,0,0,0
$GC,12181,0.67,355.8,860.3,11.3,606,12183,0.05,0.00,0.00,0.000,6,0.246,0.000,3232,1606,1367,0,0,0,0,0,0
$GC,12487,0.67,355.8,827.1,10.7,616,12491,0.00,0.50,0.00,0.000,4,0.000,0.063,3233,1281,1367,0,0,0,0,0,0
$GC,12555,0.67,355.8,819.8,11.6,618,12559,0.00,0.45,0.00,0.000,6,0.000,0.044,3233,1589,1366,0,0,0,0,0,0
$GC,12895,0.67,355.8,785.5,9.7,629,12899,0.00,0.73,0.00,0.000,4,0.000,0.044,3233,2081,1366,0,0,0,0,0,0
$GC,12939,0.67,355.8,781.1,10.2,630,12943,0.00,0.80,0.00,0.000,6,0.000,0.054,3236,1592,1366,0,0,0,0,0,0
$GC,13269,0.67,355.8,749.1,9.9,641,13273,0.00,0.40,0.00,0.000,4,0.000,0.069,3237,1327,1366,0,0,0,0,0,0
$GC,13318,0.67,361.7,744.1,9.0,642,13328,0.00,0.40,4.93,0.893,6,0.000,0.047,3237,1600,1352,0,0,0,0,0,0
$GC,13641,0.67,361.7,712.5,9.9,653,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1600,1352,0,0,0,0,0,0
$GC,13947,0.67,361.7,682.1,9.9,663,13951,0.00,0.52,0.00,0.000,4,0.000,0.046,3237,1960,1352,0,0,0,0,0,0
$GC,14019,0.67,361.7,674.7,10.2,665,14023,0.00,0.60,0.00,0.000,6,0.000,0.057,3239,1597,1351,0,0,0,0,0,0
$GC,14355,0.67,361.7,641.2,10.1,676,14358,0.00,0.52,0.00,0.000,4,0.000,0.067,3240,1258,1352,0,0,0,0,0,0
$GC,14404,0.67,361.7,636.1,9.6,677,14408,0.00,0.52,0.00,0.000,6,0.000,0.045,3239,1606,1351,0,0,0,0,0,0
$GC,14728,0.67,361.7,604.7,9.4,688,14731,0.00,0.65,0.00,0.000,4,0.000,0.064,3241,1197,1352,0,0,0,0,0,0
$GC,14772,0.67,370.1,600.7,8.9,689,14787,0.05,0.62,9.80,1.063,6,0.240,0.043,3231,1612,1318,0,0,0,0,0,0
$GC,15100,0.67,391.2,573.2,8.4,700,15124,0.00,0.62,21.00,1.161,4,0.000,0.058,3234,1197,1232,0,0,0,0,0,0
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$STATE,20506,end climb,SURFACE_DEPTH_REACHED
$STATE,20506,begin surface coast
$FINISH,1.6,1.026183
$STATE,20532,end surface coast,CONTROL_FINISHED_OK
$STATE,20532,begin surface
$SM_CCo,20610,0.00,0.000,0,0,897,473.18
$SM_GC,2.70,9.10,0.00,0.00,0.060,0.000,0.000,93,1855,897,-9.06,0.11,473.18
$IRIDIUM_FIX,-4112.14,-525.19,241212,171726
$TT8_MAMPS,0.026964
$HUMID,50.23
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.7,99.147
$10V_AH,9.9,59.221
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.600,101.200,574.125,0.000,0.000,24.116,37.675,307.226,0.250,0.000,51.015,2699.282,14084.505,611.943,3492.344,252.622,0.000,1980.564,0.000,3050.387,0.000,2.832,0.000
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$SENSOR_SECS,690.257,1192.370,709.352,89.232,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,63572,1072
$CAP_FILE_SIZE,189868,0
$CFSIZE,2097086464,2038071296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251212,051905,-4125.022,-522.978,36,0.8,36,-22.4