version: 66.07.10.p01
glider: 574
mission: 4
dive: 453
start: 1 4 113 10 23 27
data:
$ID,574
$MISSION,4
$DIVE,453
$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,520
$T_MISSION,550
$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,120
$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,200
$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,-7276.6528
$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,2985
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,44
$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,432
$GPS1,040113,100605,-4119.780,-509.306,40,1.1,40,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-74.2
$GPS2,040113,102305,-4119.690,-509.390,44,0.9,44,-22.4
$SPEED_LIMITS,0.111,0.202
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-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,96.7,100613,-13.7,-6.410
$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,-0.69,-116.8,0.0,0.0,0,58,0.00,0.00,-31.12,0.000,2,0.000,0.000,69,1764,1956,0,0,0,0,0,0
$GC,61,-0.69,-116.8,3.0,-1.0,5,135,12.30,2.40,-50.53,0.000,4,0.256,0.076,2759,353,3304,0,0,0,0,0,0
$GC,209,-0.67,-116.8,12.9,-10.6,29,216,0.00,2.20,0.00,0.000,6,0.000,0.039,2757,1737,3305,0,0,0,0,0,0
$GC,290,-0.64,-116.8,21.3,-10.8,42,298,0.08,0.62,0.00,0.000,4,0.195,0.048,2773,2159,3305,0,0,0,0,0,0
$GC,324,-0.64,-116.8,25.0,-11.0,47,331,0.00,0.65,0.00,0.000,6,0.000,0.050,2772,1739,3305,0,0,0,0,0,0
$GC,402,-0.71,-116.8,33.9,-10.9,60,409,0.00,0.75,0.00,0.000,4,0.000,0.058,2772,1268,3306,0,0,0,0,0,0
$GC,497,-0.77,-116.8,43.5,-9.9,76,504,0.08,0.77,0.00,0.000,6,0.069,0.040,2726,1771,3306,0,0,0,0,0,0
$GC,733,-0.73,-116.8,69.4,-11.2,110,737,0.10,1.60,0.00,0.000,4,0.164,0.057,2753,798,3306,0,0,0,0,0,0
$GC,824,-0.76,-116.8,78.2,-9.1,118,827,0.00,1.48,0.00,0.000,6,0.000,0.035,2749,1743,3306,0,0,0,0,0,0
$GC,1154,-0.79,-116.8,109.5,-9.5,146,1157,0.00,1.48,0.00,0.000,4,0.000,0.056,2748,846,3306,0,0,0,0,0,0
$GC,1192,-0.79,-116.8,113.6,-9.6,148,1196,0.00,1.42,0.00,0.000,6,0.000,0.035,2743,1760,3306,0,0,0,0,0,0
$GC,1519,-0.79,-116.8,142.9,-8.6,169,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1760,3306,0,0,0,0,0,0
$GC,1832,-0.79,-116.8,170.6,-8.8,189,1835,0.00,1.15,0.00,0.000,4,0.000,0.054,2743,1050,3307,0,0,0,0,0,0
$GC,1893,-0.79,-116.8,176.3,-8.8,192,1901,0.00,1.10,0.00,0.000,6,0.000,0.036,2743,1757,3307,0,0,0,0,0,0
$GC,2228,-0.81,-116.8,207.2,-9.7,213,2232,0.05,2.30,0.00,0.000,4,0.169,0.057,2714,351,3307,0,0,0,0,0,0
$GC,2290,-0.72,-116.8,213.8,-10.7,216,2295,0.17,2.15,0.00,0.000,6,0.148,0.034,2751,1746,3307,0,0,0,0,0,0
$GC,2620,-0.77,-116.8,247.7,-10.7,232,2624,0.00,0.52,0.00,0.000,4,0.000,0.052,2751,1410,3307,0,0,0,0,0,0
$GC,2703,-0.85,-116.8,257.0,-10.7,235,2709,0.08,0.55,0.00,0.000,6,0.061,0.040,2706,1774,3307,0,0,0,0,0,0
$GC,3020,-0.78,-116.8,295.7,-12.7,251,3025,0.10,2.33,0.00,0.000,4,0.164,0.057,2732,352,3307,0,0,0,0,0,0
$GC,3091,-0.78,-116.8,304.9,-12.2,254,3096,0.00,2.15,0.00,0.000,6,0.000,0.034,2729,1732,3307,0,0,0,0,0,0
$GC,3421,-0.78,-116.8,343.2,-11.4,265,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1733,3307,0,0,0,0,0,0
$GC,3727,-0.78,-116.8,374.4,-9.6,275,3732,0.00,2.25,0.00,0.000,4,0.000,0.057,2729,345,3307,0,0,0,0,0,0
$GC,3852,-0.81,-116.8,386.4,-10.2,278,3857,0.00,2.17,0.00,0.000,6,0.000,0.033,2729,1761,3307,0,0,0,0,0,0
$GC,4164,-0.81,-116.8,414.9,-9.1,289,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1761,3307,0,0,0,0,0,0
$GC,4470,-0.81,-116.8,442.6,-9.1,299,4475,0.00,2.30,0.00,0.000,4,0.000,0.056,2729,345,3307,0,0,0,0,0,0
$GC,4566,-0.81,-116.8,451.8,-9.1,302,4570,0.00,2.15,0.00,0.000,6,0.000,0.033,2729,1751,3307,0,0,0,0,0,0
$GC,4901,-0.81,-116.8,484.7,-10.0,313,4905,0.00,0.95,0.00,0.000,4,0.000,0.053,2729,1156,3307,0,0,0,0,0,0
$GC,4984,-0.81,-116.8,493.7,-11.0,315,4989,0.00,0.93,0.00,0.000,6,0.000,0.037,2729,1751,3307,0,0,0,0,0,0
$GC,5309,-0.81,-116.8,528.8,-11.0,326,5313,0.00,2.28,0.00,0.000,4,0.000,0.057,2729,350,3307,0,0,0,0,0,0
$GC,5397,-0.81,-116.8,538.9,-11.0,328,5402,0.00,2.17,0.00,0.000,6,0.000,0.034,2729,1748,3306,0,0,0,0,0,0
$GC,5716,-0.81,-116.8,575.5,-11.7,339,5720,0.00,0.95,0.00,0.000,4,0.000,0.050,2729,1148,3306,0,0,0,0,0,0
$GC,5855,-0.81,-116.8,591.9,-11.6,343,5860,0.00,0.95,0.00,0.000,6,0.000,0.037,2728,1755,3306,0,0,0,0,0,0
$GC,6191,-0.81,-116.8,628.7,-10.7,354,6195,0.00,2.30,0.00,0.000,4,0.000,0.055,2729,340,3306,0,0,0,0,0,0
$GC,6301,-0.81,-116.8,640.3,-10.0,357,6306,0.00,2.17,0.00,0.000,6,0.000,0.033,2729,1744,3306,0,0,0,0,0,0
$GC,6626,-0.83,-116.8,670.1,-9.1,368,6630,0.00,2.28,0.00,0.000,4,0.000,0.055,2728,350,3305,0,0,0,0,0,0
$GC,6758,-0.85,-116.8,681.4,-8.1,372,6762,0.05,2.15,0.00,0.000,6,0.167,0.032,2704,1752,3305,0,0,0,0,0,0
$GC,7092,-0.82,-116.8,712.4,-9.4,383,7097,0.05,2.28,0.00,0.000,4,0.220,0.054,2716,349,3305,0,0,0,0,0,0
$GC,7180,-0.82,-116.8,720.4,-9.1,385,7186,0.00,2.17,0.00,0.000,6,0.000,0.032,2715,1747,3304,0,0,0,0,0,0
$GC,7494,-0.82,-116.8,747.1,-8.8,396,7497,0.00,2.00,0.00,0.000,4,0.000,0.054,2715,512,3304,0,0,0,0,0,0
$GC,7555,-0.78,-116.8,752.8,-9.5,397,7561,0.08,1.92,0.00,0.000,6,0.188,0.033,2730,1755,3304,0,0,0,0,0,0
$GC,7868,-0.81,-116.8,780.5,-9.2,408,7872,0.00,1.58,0.00,0.000,4,0.000,0.051,2730,788,3304,0,0,0,0,0,0
$GC,7936,-0.81,-116.8,786.9,-8.5,410,7939,0.00,1.50,0.00,0.000,6,0.000,0.035,2729,1753,3304,0,0,0,0,0,0
$GC,8277,-0.84,-116.8,820.6,-10.2,421,8281,0.00,2.20,0.00,0.000,4,0.000,0.055,2729,395,3304,0,0,0,0,0,0
$GC,8344,-0.84,-116.8,827.5,-10.7,423,8349,0.00,2.10,0.00,0.000,6,0.000,0.033,2729,1764,3304,0,0,0,0,0,0
$GC,8680,-0.86,-116.8,861.9,-10.3,434,8684,0.08,1.20,0.00,0.000,4,0.129,0.050,2697,1028,3303,0,0,0,0,0,0
$GC,8774,-0.80,-116.8,872.1,-10.4,436,8780,0.08,1.12,0.00,0.000,6,0.138,0.034,2718,1761,3303,0,0,0,0,0,0
$GC,9087,-0.80,-116.8,903.0,-9.7,447,9091,0.00,2.30,0.00,0.000,4,0.000,0.056,2718,350,3303,0,0,0,0,0,0
$GC,9147,-0.77,-116.8,909.0,-9.3,448,9154,0.08,2.12,0.00,0.000,6,0.190,0.034,2732,1746,3302,0,0,0,0,0,0
$GC,9461,-0.83,-116.8,936.9,-8.8,459,9464,0.00,1.15,0.00,0.000,4,0.000,0.050,2732,1034,3303,0,0,0,0,0,0
$GC,9566,-0.87,-116.8,946.3,-8.8,462,9571,0.05,1.10,0.00,0.000,6,0.086,0.036,2701,1748,3303,0,0,0,0,0,0
$GC,9902,-0.85,-116.8,975.4,-8.4,473,9906,0.00,2.30,0.00,0.000,4,0.000,0.055,2701,340,3303,0,0,0,0,0,0
$GC,9918,-0.81,-116.8,976.9,-8.4,473,9922,0.12,2.17,0.00,0.000,6,0.161,0.034,2725,1746,3303,0,0,0,0,0,0
$STATE,10235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10235,begin apogee
$GC,10240,-0.25,0.0,1001.5,8.0,484,10348,0.57,0.00,104.65,1.483,6,0.123,0.000,2900,1619,2827,0,0,0,0,0,0
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10351,0.69,116.8,1007.6,0.0,487,10467,0.90,0.47,108.75,1.474,4,0.073,0.059,3206,1351,2350,0,0,0,0,0,0
$GC,10501,0.43,379.6,1016.7,-3.3,491,10764,0.30,0.43,256.10,1.444,6,0.190,0.043,3132,1631,1279,0,0,0,0,0,0
$GC,11084,0.61,379.6,975.7,8.8,511,11089,0.15,2.17,0.00,0.000,4,0.096,0.045,3186,3017,1271,0,0,0,0,0,0
$GC,11215,0.65,379.6,963.4,9.9,515,11219,0.00,2.20,0.00,0.000,6,0.000,0.045,3186,1628,1269,0,0,0,0,0,0
$GC,11550,0.68,379.6,933.2,9.0,526,11554,0.00,0.50,0.00,0.000,4,0.000,0.043,3186,1975,1269,0,0,0,0,0,0
$GC,11611,0.71,379.6,927.7,8.8,527,11617,0.05,0.60,0.00,0.000,6,0.083,0.055,3215,1599,1268,0,0,0,0,0,0
$GC,11925,0.69,379.6,899.6,9.0,538,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1599,1268,0,0,0,0,0,0
$GC,12231,0.65,379.6,871.7,9.1,548,12235,0.08,1.12,0.00,0.000,4,0.189,0.041,3199,2330,1268,0,0,0,0,0,0
$GC,12285,0.65,379.6,866.7,8.5,549,12289,0.00,1.12,0.00,0.000,6,0.000,0.049,3200,1625,1267,0,0,0,0,0,0
$GC,12604,0.65,379.6,838.4,9.0,560,12607,0.00,0.52,0.00,0.000,4,0.000,0.045,3200,1982,1267,0,0,0,0,0,0
$GC,12782,0.65,379.6,822.3,9.4,565,12786,0.00,0.60,0.00,0.000,6,0.000,0.056,3200,1614,1267,0,0,0,0,0,0
$GC,13112,0.65,379.6,793.7,8.5,576,13115,0.00,1.98,0.00,0.000,4,0.000,0.045,3200,2862,1267,0,0,0,0,0,0
$GC,13180,0.65,379.6,787.8,8.0,578,13184,0.00,1.98,0.00,0.000,6,0.000,0.047,3200,1625,1266,0,0,0,0,0,0
$GC,13520,0.65,379.6,758.5,8.8,589,13524,0.00,0.65,0.00,0.000,4,0.000,0.044,3200,2059,1266,0,0,0,0,0,0
$GC,13666,0.65,379.6,744.9,9.4,593,13670,0.00,0.70,0.00,0.000,6,0.000,0.055,3200,1623,1266,0,0,0,0,0,0
$GC,13995,0.65,379.6,713.9,9.5,604,13998,0.00,0.65,0.00,0.000,4,0.000,0.044,3200,2056,1266,0,0,0,0,0,0
$GC,14084,0.65,379.6,705.6,9.8,606,14088,0.00,0.73,0.00,0.000,6,0.000,0.054,3200,1605,1266,0,0,0,0,0,0
$GC,14402,0.65,379.6,676.2,9.0,617,14406,0.00,1.30,0.00,0.000,4,0.000,0.043,3200,2433,1266,0,0,0,0,0,0
$GC,14470,0.65,379.6,670.3,8.5,619,14474,0.00,1.30,0.00,0.000,6,0.000,0.051,3200,1628,1266,0,0,0,0,0,0
$GC,14811,0.65,379.6,642.7,7.9,630,14814,0.00,0.73,0.00,0.000,4,0.000,0.044,3200,2105,1267,0,0,0,0,0,0
$GC,14895,0.65,379.6,636.3,7.8,632,14899,0.00,0.80,0.00,0.000,6,0.000,0.054,3200,1607,1266,0,0,0,0,0,0
$GC,15219,0.65,379.6,613.0,7.2,643,15222,0.00,0.85,0.00,0.000,4,0.000,0.044,3200,2164,1266,0,0,0,0,0,0
$GC,15301,0.65,379.6,606.7,7.3,645,15306,0.00,0.88,0.00,0.000,6,0.000,0.053,3200,1627,1266,0,0,0,0,0,0
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$STATE,22611,end climb,SURFACE_DEPTH_REACHED
$STATE,22611,begin surface coast
$FINISH,1.7,1.013279
$STATE,22654,end surface coast,CONTROL_FINISHED_OK
$STATE,22654,begin surface
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$TT8_MAMPS,0.026215
$HUMID,49.76
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.2,109.075
$10V_AH,9.9,64.284
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.525,131.900,469.500,0.000,0.000,56.297,84.887,577.663,0.250,0.000,46.720,2835.061,15977.152,545.348,4049.345,335.895,0.000,2055.723,0.000,3232.111,0.000,2.836,0.000
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$SENSOR_SECS,706.956,1011.249,724.236,85.812,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,63590,1067
$CAP_FILE_SIZE,212081,0
$CFSIZE,2097086464,2032533504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,040113,164335,-4119.160,-509.051,41,1.0,41,-22.4