version: 66.07.10.p01
glider: 574
mission: 4
dive: 417
start: 12 26 112 10 21 14
data:
$ID,574
$MISSION,4
$DIVE,417
$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,-7179.6641
$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,26
$R_STBD_OVSHOOT,42
$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,396
$GPS1,261212,100205,-4126.737,-520.261,39,1.6,39,-22.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-68.9
$GPS2,261212,102053,-4126.676,-520.185,58,1.3,59,-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,178.2,67680,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.78,-145.9,0.0,0.0,0,93,0.00,0.00,-65.40,0.000,2,0.000,0.000,67,1836,2293,0,0,0,0,0,0
$GC,95,-0.78,-145.9,3.0,-1.2,11,151,12.48,2.30,-34.58,0.000,4,0.263,0.065,2738,3240,3423,0,0,0,0,0,0
$GC,208,-0.82,-145.9,12.5,-9.9,29,215,0.00,2.25,0.00,0.000,6,0.000,0.050,2738,1856,3424,0,0,0,0,0,0
$GC,288,-0.87,-145.9,20.2,-9.9,42,295,0.00,1.73,0.00,0.000,4,0.000,0.061,2738,808,3424,0,0,0,0,0,0
$GC,355,-0.87,-145.9,26.5,-9.5,53,362,0.00,1.62,0.00,0.000,6,0.000,0.037,2730,1844,3425,0,0,0,0,0,0
$GC,433,-0.90,-145.9,35.1,-11.2,66,440,0.00,1.08,0.00,0.000,4,0.000,0.046,2726,2543,3424,0,0,0,0,0,0
$GC,488,-0.95,-145.9,40.9,-10.8,75,494,0.05,1.10,0.00,0.000,6,0.077,0.047,2696,1845,3425,0,0,0,0,0,0
$GC,721,-0.90,-145.9,68.3,-11.5,116,727,0.08,2.28,0.00,0.000,4,0.200,0.060,2713,445,3424,0,0,0,0,0,0
$GC,820,-0.90,-145.9,79.1,-10.8,133,825,0.00,2.17,0.00,0.000,6,0.000,0.034,2704,1863,3425,0,0,0,0,0,0
$GC,1154,-0.90,-145.9,112.7,-9.9,178,1158,0.00,0.82,0.00,0.000,4,0.000,0.053,2704,1344,3425,0,0,0,0,0,0
$GC,1242,-0.90,-145.9,121.7,-10.7,183,1246,0.00,0.77,0.00,0.000,6,0.000,0.038,2701,1852,3425,0,0,0,0,0,0
$GC,1572,-0.90,-145.9,156.7,-11.0,204,1576,0.00,2.30,0.00,0.000,4,0.000,0.058,2701,442,3425,0,0,0,0,0,0
$GC,1688,-0.88,-145.9,170.1,-12.0,211,1693,0.12,2.17,0.00,0.000,6,0.165,0.034,2723,1854,3426,0,0,0,0,0,0
$GC,2013,-0.93,-145.9,205.9,-11.0,232,2017,0.00,2.30,0.00,0.000,4,0.000,0.058,2723,438,3426,0,0,0,0,0,0
$GC,2086,-0.97,-145.9,214.6,-11.1,236,2095,0.03,2.20,0.00,0.000,6,0.105,0.034,2694,1863,3426,0,0,0,0,0,0
$GC,2408,-0.97,-145.9,250.9,-11.5,257,2412,0.00,0.82,0.00,0.000,4,0.000,0.051,2693,1344,3426,0,0,0,0,0,0
$GC,2509,-0.97,-145.9,262.7,-10.4,261,2513,0.00,0.80,0.00,0.000,6,0.000,0.037,2690,1863,3426,0,0,0,0,0,0
$GC,2833,-0.97,-145.9,297.4,-10.8,277,2837,0.00,2.30,0.00,0.000,4,0.000,0.057,2690,441,3426,0,0,0,0,0,0
$GC,2910,-0.93,-145.9,306.5,-10.8,280,2915,0.10,2.15,0.00,0.000,6,0.181,0.034,2705,1844,3426,0,0,0,0,0,0
$GC,3232,-0.96,-145.9,339.5,-10.8,296,3235,0.00,1.40,0.00,0.000,4,0.000,0.053,2705,972,3426,0,0,0,0,0,0
$GC,3310,-0.99,-145.9,348.3,-10.8,299,3314,0.00,1.35,0.00,0.000,6,0.000,0.035,2701,1846,3426,0,0,0,0,0,0
$GC,3634,-0.99,-145.9,384.4,-11.6,315,3638,0.00,2.22,0.00,0.000,4,0.000,0.057,2701,466,3426,0,0,0,0,0,0
$GC,3706,-0.99,-145.9,393.1,-11.3,318,3710,0.00,2.15,0.00,0.000,6,0.000,0.034,2691,1852,3426,0,0,0,0,0,0
$GC,4031,-0.99,-145.9,429.1,-10.9,330,4035,0.00,1.88,0.00,0.000,4,0.000,0.054,2691,695,3425,0,0,0,0,0,0
$GC,4099,-0.99,-145.9,436.5,-10.9,332,4102,0.00,1.77,0.00,0.000,6,0.000,0.035,2686,1857,3425,0,0,0,0,0,0
$GC,4439,-0.99,-145.9,471.7,-10.3,343,4443,0.00,1.62,0.00,0.000,4,0.000,0.053,2686,857,3425,0,0,0,0,0,0
$GC,4521,-0.99,-145.9,480.3,-10.1,345,4526,0.00,1.55,0.00,0.000,6,0.000,0.034,2679,1852,3425,0,0,0,0,0,0
$GC,4846,-0.96,-145.9,512.4,-10.0,356,4851,0.08,1.90,0.00,0.000,4,0.198,0.055,2698,699,3424,0,0,0,0,0,0
$GC,4913,-0.96,-145.9,519.0,-9.9,358,4917,0.00,1.77,0.00,0.000,6,0.000,0.034,2691,1863,3424,0,0,0,0,0,0
$GC,5254,-0.96,-145.9,553.4,-10.5,369,5258,0.00,2.30,0.00,0.000,4,0.000,0.055,2691,442,3423,0,0,0,0,0,0
$GC,5337,-0.91,-145.9,563.0,-11.4,371,5341,0.10,2.17,0.00,0.000,6,0.184,0.033,2707,1862,3422,0,0,0,0,0,0
$GC,5661,-0.97,-145.9,599.3,-11.6,382,5665,0.00,2.28,0.00,0.000,4,0.000,0.054,2708,442,3422,0,0,0,0,0,0
$GC,5749,-1.01,-145.9,610.4,-12.0,384,5755,0.00,2.17,0.00,0.000,6,0.000,0.033,2701,1858,3422,0,0,0,0,0,0
$GC,6063,-1.05,-145.9,649.3,-12.6,395,6067,0.10,1.05,0.00,0.000,4,0.107,0.049,2658,1204,3421,0,0,0,0,0,0
$GC,6117,-0.96,-145.9,656.9,-13.8,396,6122,0.12,1.00,0.00,0.000,6,0.144,0.036,2693,1863,3421,0,0,0,0,0,0
$GC,6436,-0.99,-145.9,695.3,-11.7,407,6439,0.00,1.73,0.00,0.000,4,0.000,0.050,2693,773,3420,0,0,0,0,0,0
$GC,6507,-0.99,-145.9,703.9,-11.2,409,6512,0.00,1.67,0.00,0.000,6,0.000,0.034,2687,1852,3421,0,0,0,0,0,0
$GC,6842,-0.99,-145.9,739.7,-10.5,420,6846,0.00,1.27,0.00,0.000,4,0.000,0.050,2688,1058,3420,0,0,0,0,0,0
$GC,6931,-0.99,-145.9,748.6,-10.1,422,6935,0.00,1.23,0.00,0.000,6,0.000,0.034,2683,1857,3420,0,0,0,0,0,0
$GC,7250,-0.99,-145.9,777.7,-9.0,433,7253,0.00,1.58,0.00,0.000,4,0.000,0.050,2684,886,3419,0,0,0,0,0,0
$GC,7319,-0.96,-145.9,783.7,-8.6,435,7323,0.05,1.50,0.00,0.000,6,0.158,0.034,2693,1853,3419,0,0,0,0,0,0
$GC,7659,-1.00,-145.9,812.7,-8.6,446,7663,0.00,1.35,0.00,0.000,4,0.000,0.051,2693,1018,3419,0,0,0,0,0,0
$GC,7727,-1.00,-145.9,818.7,-8.8,448,7731,0.00,1.27,0.00,0.000,6,0.000,0.035,2688,1846,3419,0,0,0,0,0,0
$GC,8068,-1.02,-145.9,851.8,-10.4,459,8072,0.00,1.85,0.00,0.000,4,0.000,0.051,2688,679,3418,0,0,0,0,0,0
$GC,8129,-1.02,-145.9,858.7,-11.5,460,8134,0.00,1.83,0.00,0.000,6,0.000,0.034,2680,1854,3418,0,0,0,0,0,0
$GC,8442,-1.02,-145.9,893.6,-11.6,471,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1854,3418,0,0,0,0,0,0
$GC,8748,-1.02,-145.9,930.4,-12.1,481,8752,0.00,2.28,0.00,0.000,4,0.000,0.054,2680,443,3417,0,0,0,0,0,0
$GC,8855,-0.98,-145.9,943.7,-12.6,484,8859,0.08,2.15,0.00,0.000,6,0.203,0.034,2688,1849,3417,0,0,0,0,0,0
$GC,9184,-1.01,-145.9,979.9,-10.7,495,9187,0.00,1.65,0.00,0.000,4,0.000,0.051,2688,835,3417,0,0,0,0,0,0
$GC,9244,-1.01,-145.9,986.8,-11.3,496,9250,0.00,1.60,0.00,0.000,6,0.000,0.035,2684,1858,3416,0,0,0,0,0,0
$STATE,9403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9404,begin apogee
$GC,9409,-0.23,0.0,1002.5,10.2,502,9542,0.82,0.00,129.95,1.486,6,0.135,0.000,2930,1586,2827,0,0,0,0,0,0
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9545,0.78,145.9,1011.0,0.0,506,9689,1.02,2.25,137.57,1.459,4,0.074,0.058,3266,357,2231,0,0,0,0,0,0
$GC,9848,0.45,218.4,1008.7,6.2,516,9919,0.47,1.95,65.35,1.443,6,0.213,0.035,3157,1616,1936,0,0,0,0,0,0
$GC,10234,0.45,231.0,976.6,8.7,529,10252,0.00,2.40,11.52,1.256,4,0.000,0.061,3165,208,1885,0,0,0,0,0,0
$GC,10343,0.45,252.9,966.8,8.3,532,10369,0.00,2.15,21.38,1.353,6,0.000,0.034,3166,1604,1794,0,0,0,0,0,0
$GC,10700,0.45,273.1,935.7,8.4,544,10724,0.00,1.60,18.83,1.328,4,0.000,0.042,3166,2608,1712,0,0,0,0,0,0
$GC,10774,0.45,299.6,929.3,8.1,546,10805,0.05,1.60,25.60,1.369,6,0.172,0.047,3158,1618,1605,0,0,0,0,0,0
$GC,11135,0.54,350.8,901.9,7.1,558,11190,0.08,1.25,47.40,1.382,4,0.129,0.041,3186,2380,1396,0,0,0,0,0,0
$GC,11231,0.62,370.8,894.6,8.4,561,11256,0.03,1.27,19.95,1.307,6,0.106,0.050,3206,1597,1314,0,0,0,0,0,0
$GC,11570,0.69,404.4,868.0,7.8,572,11606,0.08,0.50,31.52,1.343,4,0.129,0.062,3237,1299,1177,0,0,0,0,0,0
$GC,11646,0.73,407.6,861.1,9.1,574,11655,0.00,0.45,4.07,0.806,6,0.000,0.042,3237,1610,1165,0,0,0,0,0,0
$GC,11969,0.78,407.6,830.7,9.5,585,11973,0.08,0.57,0.00,0.000,4,0.129,0.062,3267,1253,1162,0,0,0,0,0,0
$GC,12013,0.76,407.6,826.2,10.1,586,12017,0.03,0.50,0.00,0.000,6,0.190,0.043,3259,1603,1162,0,0,0,0,0,0
$GC,12341,0.76,407.6,790.8,11.1,597,12345,0.00,2.33,0.00,0.000,4,0.000,0.066,3266,192,1162,0,0,0,0,0,0
$GC,12397,0.71,407.6,784.3,11.8,598,12403,0.12,2.15,0.00,0.000,6,0.181,0.037,3237,1582,1159,0,0,0,0,0,0
$GC,12710,0.75,407.6,750.6,11.0,609,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1592,1159,0,0,0,0,0,0
$GC,13016,0.79,407.6,717.3,10.9,619,13018,0.08,0.00,0.00,0.000,6,0.126,0.000,3266,1593,1159,0,0,0,0,0,0
$GC,13322,0.77,407.6,681.5,11.7,629,13326,0.00,1.27,0.00,0.000,4,0.000,0.064,3267,813,1159,0,0,0,0,0,0
$GC,13366,0.75,407.6,676.4,11.3,630,13371,0.05,1.23,0.00,0.000,6,0.168,0.038,3251,1615,1159,0,0,0,0,0,0
$GC,13695,0.75,407.6,641.8,10.4,641,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1618,1159,0,0,0,0,0,0
$GC,14001,0.75,407.6,611.6,9.8,651,14005,0.00,2.10,0.00,0.000,4,0.000,0.067,3260,337,1159,0,0,0,0,0,0
$GC,14051,0.75,407.6,606.5,10.4,652,14055,0.00,1.95,0.00,0.000,6,0.000,0.037,3260,1585,1158,0,0,0,0,0,0
$GC,14375,0.75,407.6,573.8,10.2,663,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1594,1158,0,0,0,0,0,0
$GC,14681,0.75,407.6,542.2,10.5,673,14685,0.00,2.30,0.00,0.000,4,0.000,0.067,3266,196,1158,0,0,0,0,0,0
$GC,14750,0.71,407.6,534.9,10.9,675,14754,0.10,2.17,0.00,0.000,6,0.184,0.039,3244,1603,1158,0,0,0,0,0,0
$GC,15084,0.75,407.6,501.2,10.0,686,15086,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1611,1158,0,0,0,0,0,0
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$GC,16132,0.75,414.5,401.4,9.0,720,16142,0.00,0.62,6.85,0.875,4,0.000,0.044,3235,1992,1137,0,0,0,0,0,0
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$STATE,19837,end climb,SURFACE_DEPTH_REACHED
$STATE,19837,begin surface coast
$FINISH,1.6,1.014233
$STATE,19869,end surface coast,CONTROL_FINISHED_OK
$STATE,19869,begin surface
$SM_CCo,19947,0.00,0.000,0,0,910,470.23
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$IRIDIUM_FIX,-4112.14,-519.21,261212,101035
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.6,100.658
$10V_AH,9.9,59.956
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.775,128.150,549.775,0.000,0.000,87.007,198.349,501.365,0.250,0.000,61.265,2648.488,13714.537,603.639,3810.073,291.017,0.000,1918.378,0.000,2946.840,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.825,1174.586,690.636,88.925,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354516
$DATA_FILE_SIZE,63618,1044
$CAP_FILE_SIZE,191452,0
$CFSIZE,2097086464,2037284864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261212,155529,-4127.151,-520.291,74,1.3,74,-22.4