version: 66.07.10.p01
glider: 574
mission: 4
dive: 433
start: 12 30 112 6 41 56
data:
$ID,574
$MISSION,4
$DIVE,433
$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,-7225.4722
$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,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,41
$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,412
$GPS1,301212,062859,-4125.159,-512.708,43,1.0,43,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-70.2
$GPS2,301212,064135,-4125.117,-512.678,32,1.3,32,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-400.000
$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,117.5,101214,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.86,-145.9,0.0,0.0,0,57,0.00,0.00,-30.17,0.000,2,0.000,0.000,68,1791,1574,0,0,0,0,0,0
$GC,60,-0.86,-145.9,3.1,-0.2,5,157,11.32,2.25,-79.55,0.000,4,0.237,0.058,2708,3201,3422,0,0,0,0,0,0
$GC,220,-0.76,-145.9,13.8,-16.9,31,228,0.15,2.25,0.00,0.000,6,0.137,0.044,2755,1803,3422,0,0,0,0,0,0
$GC,302,-0.87,-145.9,26.4,-14.1,44,310,0.10,2.05,0.00,0.000,4,0.108,0.066,2713,585,3422,0,0,0,0,0,0
$GC,363,-0.80,-145.9,35.8,-14.7,54,371,0.10,1.90,0.00,0.000,6,0.145,0.037,2737,1792,3422,0,0,0,0,0,0
$GC,602,-0.84,-145.9,60.7,-10.6,95,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1792,3422,0,0,0,0,0,0
$GC,945,-0.91,-145.9,95.5,-9.2,156,952,0.08,2.35,0.00,0.000,4,0.128,0.060,2705,386,3423,0,0,0,0,0,0
$GC,1034,-0.91,-145.9,103.0,-8.0,167,1039,0.05,2.17,0.00,0.000,6,0.220,0.036,2707,1798,3423,0,0,0,0,0,0
$GC,1366,-0.94,-145.9,135.8,-10.1,188,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1798,3423,0,0,0,0,0,0
$GC,1676,-0.97,-145.9,169.1,-11.2,208,1680,0.00,1.75,0.00,0.000,4,0.000,0.057,2707,715,3424,0,0,0,0,0,0
$GC,1731,-0.97,-145.9,175.7,-11.4,211,1736,0.00,1.70,0.00,0.000,6,0.000,0.035,2701,1806,3424,0,0,0,0,0,0
$GC,2056,-0.97,-145.9,211.8,-11.2,232,2060,0.00,1.02,0.00,0.000,4,0.000,0.051,2701,1167,3424,0,0,0,0,0,0
$GC,2109,-0.97,-145.9,217.6,-10.6,235,2113,0.00,0.98,0.00,0.000,6,0.000,0.037,2697,1805,3424,0,0,0,0,0,0
$GC,2431,-0.97,-145.9,252.4,-10.5,255,2434,0.00,1.62,0.00,0.000,4,0.000,0.055,2696,806,3424,0,0,0,0,0,0
$GC,2491,-0.97,-145.9,259.4,-10.3,257,2497,0.00,1.52,0.00,0.000,6,0.000,0.034,2690,1792,3424,0,0,0,0,0,0
$GC,2810,-0.97,-145.9,291.9,-10.2,273,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1792,3424,0,0,0,0,0,0
$GC,3117,-0.97,-145.9,324.7,-11.0,288,3121,0.00,2.30,0.00,0.000,4,0.000,0.059,2690,386,3425,0,0,0,0,0,0
$GC,3181,-0.94,-145.9,331.7,-11.1,291,3186,0.08,2.17,0.00,0.000,6,0.192,0.034,2696,1808,3424,0,0,0,0,0,0
$GC,3511,-0.96,-145.9,366.9,-10.5,307,3515,0.00,0.68,0.00,0.000,4,0.000,0.050,2697,1374,3424,0,0,0,0,0,0
$GC,3664,-0.99,-145.9,383.6,-11.3,313,3669,0.00,0.65,0.00,0.000,6,0.000,0.038,2694,1810,3424,0,0,0,0,0,0
$GC,3989,-0.99,-145.9,418.4,-10.9,327,3993,0.00,2.22,0.00,0.000,4,0.000,0.055,2694,438,3423,0,0,0,0,0,0
$GC,4051,-0.99,-145.9,425.6,-11.3,329,4055,0.00,2.08,0.00,0.000,6,0.000,0.031,2685,1801,3424,0,0,0,0,0,0
$GC,4385,-0.99,-145.9,462.5,-11.1,340,4389,0.00,1.05,0.00,0.000,4,0.000,0.051,2685,1149,3423,0,0,0,0,0,0
$GC,4462,-0.99,-145.9,471.3,-11.1,342,4467,0.00,1.00,0.00,0.000,6,0.000,0.034,2680,1807,3422,0,0,0,0,0,0
$GC,4793,-0.99,-145.9,508.6,-11.5,353,4797,0.00,2.30,0.00,0.000,4,0.000,0.055,2680,388,3422,0,0,0,0,0,0
$GC,4859,-0.94,-145.9,516.8,-11.9,355,4864,0.12,2.15,0.00,0.000,6,0.163,0.031,2703,1803,3421,0,0,0,0,0,0
$GC,5195,-0.99,-145.9,553.8,-11.1,366,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1804,3421,0,0,0,0,0,0
$GC,5501,-1.04,-145.9,588.2,-11.2,376,5505,0.10,1.80,0.00,0.000,4,0.111,0.053,2663,693,3420,0,0,0,0,0,0
$GC,5556,-0.96,-145.9,595.3,-12.2,377,5560,0.10,1.70,0.00,0.000,6,0.148,0.032,2688,1797,3420,0,0,0,0,0,0
$GC,5874,-0.99,-145.9,631.7,-11.5,388,5878,0.00,0.60,0.00,0.000,4,0.000,0.050,2688,1406,3420,0,0,0,0,0,0
$GC,6002,-0.99,-145.9,646.8,-12.0,391,6007,0.00,0.62,0.00,0.000,6,0.000,0.037,2687,1818,3419,0,0,0,0,0,0
$GC,6315,-0.99,-145.9,681.8,-11.2,402,6319,0.00,2.33,0.00,0.000,4,0.000,0.054,2686,386,3419,0,0,0,0,0,0
$GC,6377,-0.99,-145.9,689.0,-12.2,404,6381,0.00,2.15,0.00,0.000,6,0.000,0.033,2676,1794,3418,0,0,0,0,0,0
$GC,6717,-0.99,-145.9,728.0,-11.4,415,6721,0.00,0.73,0.00,0.000,4,0.000,0.048,2677,1333,3418,0,0,0,0,0,0
$GC,6795,-0.99,-145.9,736.6,-11.0,417,6799,0.00,0.73,0.00,0.000,6,0.000,0.037,2673,1817,3418,0,0,0,0,0,0
$GC,7124,-0.99,-145.9,771.4,-10.6,428,7128,0.00,2.17,0.00,0.000,4,0.000,0.046,2665,3202,3416,0,0,0,0,0,0
$GC,7207,-0.99,-145.9,780.4,-10.8,430,7212,0.05,2.22,0.00,0.000,6,0.153,0.038,2681,1787,3416,0,0,0,0,0,0
$GC,7527,-1.01,-145.9,812.0,-10.0,441,7531,0.00,2.25,0.00,0.000,4,0.000,0.054,2681,383,3415,0,0,0,0,0,0
$GC,7616,-0.96,-145.9,821.7,-10.9,443,7622,0.08,2.17,0.00,0.000,6,0.189,0.034,2689,1796,3415,0,0,0,0,0,0
$GC,7929,-1.00,-145.9,852.5,-10.0,454,7933,0.00,1.95,0.00,0.000,4,0.000,0.052,2689,586,3414,0,0,0,0,0,0
$GC,7989,-1.00,-145.9,858.9,-10.2,455,7995,0.00,1.88,0.00,0.000,6,0.000,0.034,2683,1791,3414,0,0,0,0,0,0
$GC,8303,-1.03,-145.9,891.3,-10.6,466,8307,0.00,2.28,0.00,0.000,4,0.000,0.054,2683,390,3413,0,0,0,0,0,0
$GC,8369,-1.00,-145.9,898.8,-11.2,468,8373,0.00,2.17,0.00,0.000,6,0.000,0.033,2674,1803,3413,0,0,0,0,0,0
$GC,8704,-1.00,-145.9,936.8,-11.3,479,8708,0.00,1.15,0.00,0.000,4,0.000,0.050,2674,1088,3412,0,0,0,0,0,0
$GC,8765,-0.98,-145.9,944.0,-11.7,480,8771,0.03,1.10,0.00,0.000,6,0.190,0.035,2680,1799,3412,0,0,0,0,0,0
$GC,9078,-0.98,-145.9,978.8,-11.3,491,9081,0.00,1.52,0.00,0.000,4,0.000,0.052,2680,867,3412,0,0,0,0,0,0
$GC,9127,-0.95,-145.9,984.6,-11.2,492,9132,0.05,1.45,0.00,0.000,6,0.154,0.034,2691,1800,3411,0,0,0,0,0,0
$STATE,9297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9297,begin apogee
$GC,9302,-0.25,0.0,1002.1,10.2,498,9435,0.77,0.00,128.93,1.493,6,0.129,0.000,2925,1590,2827,0,0,0,0,0,0
$STATE,9435,end apogee,CONTROL_FINISHED_OK
$STATE,9435,begin climb
$GC,9437,0.86,145.9,1011.8,0.0,502,9581,1.08,0.00,137.43,1.469,6,0.071,0.000,3279,1590,2231,0,0,0,0,0,0
$GC,9866,0.52,266.7,1012.3,4.1,516,9979,0.43,0.00,109.97,1.461,6,0.210,0.000,3180,1591,1738,0,0,0,0,0,0
$GC,10262,0.53,308.5,985.0,7.5,529,10306,0.00,2.08,37.95,1.414,4,0.000,0.062,3186,376,1568,0,0,0,0,0,0
$GC,10365,0.53,338.5,976.8,8.0,532,10399,0.00,1.92,28.73,1.395,6,0.000,0.034,3186,1615,1445,0,0,0,0,0,0
$GC,10730,0.60,363.6,946.6,8.2,544,10761,0.00,2.25,23.65,1.346,4,0.000,0.044,3186,3005,1343,0,0,0,0,0,0
$GC,10867,0.72,368.1,934.9,9.1,548,10878,0.15,2.22,5.20,0.967,6,0.090,0.045,3243,1609,1326,0,0,0,0,0,0
$GC,11198,0.70,382.4,905.7,8.7,559,11218,0.00,0.52,14.50,1.271,4,0.000,0.041,3243,1961,1268,0,0,0,0,0,0
$GC,11280,0.70,400.3,898.5,8.5,561,11304,0.03,0.57,18.52,1.301,6,0.187,0.054,3237,1597,1194,0,0,0,0,0,0
$GC,11635,0.73,415.0,867.8,8.6,573,11654,0.00,1.05,14.60,1.261,4,0.000,0.041,3237,2267,1135,0,0,0,0,0,0
$GC,11693,0.77,442.2,862.6,8.1,574,11725,0.00,1.05,27.67,1.328,6,0.000,0.050,3238,1612,1023,0,0,0,0,0,0
$GC,12033,0.84,457.0,832.7,8.6,585,12050,0.12,0.00,14.77,1.240,6,0.098,0.000,3283,1612,963,0,0,0,0,0,0
$GC,12338,0.84,457.0,801.6,10.3,595,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1612,959,0,0,0,0,0,0
$GC,12643,0.84,457.0,771.0,9.7,605,12647,0.00,0.60,0.00,0.000,4,0.000,0.061,3286,1229,958,0,0,0,0,0,0
$GC,12678,0.82,457.0,767.6,9.8,606,12682,0.05,0.57,0.00,0.000,6,0.161,0.041,3271,1627,958,0,0,0,0,0,0
$GC,13018,0.84,457.0,734.3,10.0,617,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1627,957,0,0,0,0,0,0
$GC,13325,0.87,457.0,704.6,9.4,627,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1628,957,0,0,0,0,0,0
$GC,13631,0.90,457.0,674.8,9.8,637,13635,0.08,0.50,0.00,0.000,4,0.128,0.061,3303,1314,957,0,0,0,0,0,0
$GC,13674,0.83,457.0,670.2,10.7,638,13679,0.12,0.43,0.00,0.000,6,0.177,0.043,3274,1607,957,0,0,0,0,0,0
$GC,14003,0.83,457.0,637.2,10.3,649,14007,0.00,0.45,0.00,0.000,4,0.000,0.044,3274,1931,957,0,0,0,0,0,0
$GC,14071,0.83,457.0,629.9,11.1,651,14075,0.00,0.50,0.00,0.000,6,0.000,0.059,3274,1610,957,0,0,0,0,0,0
$GC,14412,0.83,457.0,591.8,11.5,662,14416,0.00,1.35,0.00,0.000,4,0.000,0.044,3275,2473,957,0,0,0,0,0,0
$GC,14468,0.83,457.0,585.0,12.1,663,14471,0.00,1.40,0.00,0.000,6,0.000,0.050,3280,1607,956,0,0,0,0,0,0
$GC,14786,0.83,457.0,546.1,12.3,674,14789,0.00,1.12,0.00,0.000,4,0.000,0.042,3280,2331,956,0,0,0,0,0,0
$GC,14854,0.83,457.0,537.7,12.8,676,14857,0.00,1.15,0.00,0.000,6,0.000,0.052,3283,1612,956,0,0,0,0,0,0
$GC,15194,0.83,457.0,497.1,11.8,687,15198,0.00,0.98,0.00,0.000,4,0.000,0.043,3283,2246,956,0,0,0,0,0,0
$GC,15271,0.83,457.0,487.7,11.3,689,15277,0.03,1.05,0.00,0.000,6,0.200,0.052,3280,1592,956,0,0,0,0,0,0
$GC,15601,0.83,457.0,451.2,10.9,700,15604,0.00,1.02,0.00,0.000,4,0.000,0.042,3280,2258,957,0,0,0,0,0,0
$GC,15661,0.83,457.0,444.4,10.8,701,15667,0.00,1.05,0.00,0.000,6,0.000,0.051,3282,1602,957,0,0,0,0,0,0
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$GC,19434,0.88,457.0,38.3,9.7,970,19441,0.00,1.05,0.00,0.000,6,0.000,0.037,3282,1616,956,0,0,0,0,0,0
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$STATE,19767,end climb,SURFACE_DEPTH_REACHED
$STATE,19767,begin surface coast
$FINISH,1.9,1.026260
$STATE,19775,end surface coast,CONTROL_FINISHED_OK
$STATE,19775,begin surface
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$HUMID,50.39
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.5,104.531
$10V_AH,9.9,61.894
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.425,106.600,561.925,0.000,0.000,29.430,36.956,494.934,0.250,0.000,33.878,2583.300,13646.211,641.755,3432.870,297.283,0.000,1884.937,0.000,2825.804,0.000,2.833,0.000
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$SENSOR_SECS,662.783,1120.989,682.866,83.206,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,63795,1027
$CAP_FILE_SIZE,178666,0
$CFSIZE,2097086464,2035187712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301212,121405,-4125.081,-512.232,42,1.3,42,-22.4