version: 66.07.10.p01
glider: 574
mission: 4
dive: 461
start: 1 6 113 14 55 19
data:
$ID,574
$MISSION,4
$DIVE,461
$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,-7297.562
$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,53
$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,440
$GPS1,060113,144105,-4115.093,-505.862,31,1.9,31,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-71.5
$GPS2,060113,145458,-4114.958,-505.836,97,1.2,101,-22.5
$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,101.2,93737,-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,-116.8,0.0,0.0,0,57,0.00,0.00,-30.33,0.000,2,0.000,0.000,68,1754,1838,0,0,0,0,0,0
$GC,60,-0.69,-116.8,3.0,-1.2,5,134,12.60,2.28,-50.58,0.000,4,0.265,0.064,2740,3129,3305,0,0,0,0,0,0
$GC,225,-0.69,-116.8,18.7,-12.5,32,233,0.05,2.22,0.00,0.000,6,0.158,0.049,2755,1758,3305,0,0,0,0,0,0
$GC,307,-0.66,-116.8,31.0,-16.3,45,312,0.00,1.60,0.00,0.000,4,0.000,0.061,2755,787,3305,0,0,0,0,0,0
$GC,447,-0.72,-116.8,47.4,-11.5,69,452,0.00,1.48,0.00,0.000,6,0.000,0.037,2755,1723,3305,0,0,0,0,0,0
$GC,676,-0.77,-116.8,70.6,-9.5,100,680,0.08,0.62,0.00,0.000,4,0.125,0.056,2718,1340,3305,0,0,0,0,0,0
$GC,725,-0.69,-116.8,75.5,-9.2,104,731,0.12,0.65,0.00,0.000,6,0.140,0.038,2754,1773,3305,0,0,0,0,0,0
$GC,1060,-0.77,-116.8,105.8,-9.2,134,1064,0.00,2.08,0.00,0.000,4,0.000,0.058,2754,502,3306,0,0,0,0,0,0
$GC,1321,-0.88,-116.8,130.1,-8.9,149,1325,0.15,1.95,0.00,0.000,6,0.081,0.037,2691,1740,3306,0,0,0,0,0,0
$GC,1646,-0.78,-116.8,161.4,-9.6,170,1651,0.15,2.25,0.00,0.000,4,0.160,0.047,2723,3160,3306,0,0,0,0,0,0
$GC,1771,-0.78,-116.8,173.2,-8.9,177,1776,0.00,2.22,0.00,0.000,6,0.000,0.044,2723,1736,3306,0,0,0,0,0,0
$GC,2100,-0.76,-116.8,204.8,-10.1,198,2105,0.08,2.25,0.00,0.000,4,0.188,0.058,2742,346,3306,0,0,0,0,0,0
$GC,2313,-0.86,-116.8,225.0,-9.0,207,2321,0.08,2.20,0.00,0.000,6,0.067,0.034,2701,1760,3306,0,0,0,0,0,0
$GC,2631,-0.78,-116.8,256.0,-9.5,223,2636,0.12,0.75,0.00,0.000,4,0.160,0.053,2737,1299,3306,0,0,0,0,0,0
$GC,2771,-0.83,-116.8,268.3,-8.7,229,2774,0.00,0.68,0.00,0.000,6,0.000,0.038,2735,1748,3306,0,0,0,0,0,0
$GC,3104,-0.86,-116.8,299.3,-9.3,245,3108,0.08,2.33,0.00,0.000,4,0.127,0.058,2700,340,3306,0,0,0,0,0,0
$GC,3210,-0.79,-116.8,309.6,-9.6,249,3215,0.15,2.17,0.00,0.000,6,0.151,0.034,2731,1755,3306,0,0,0,0,0,0
$GC,3534,-0.79,-116.8,339.1,-9.5,260,3538,0.00,2.28,0.00,0.000,4,0.000,0.057,2731,364,3307,0,0,0,0,0,0
$GC,3633,-0.83,-116.8,349.0,-9.4,263,3637,0.00,2.12,0.00,0.000,6,0.000,0.034,2731,1744,3306,0,0,0,0,0,0
$GC,3969,-0.83,-116.8,382.8,-10.5,274,3973,0.00,1.85,0.00,0.000,4,0.000,0.056,2731,624,3306,0,0,0,0,0,0
$GC,4115,-0.86,-116.8,398.5,-10.9,278,4119,0.05,1.73,0.00,0.000,6,0.162,0.034,2704,1764,3306,0,0,0,0,0,0
$GC,4444,-0.81,-116.8,435.4,-11.4,289,4449,0.08,2.05,0.00,0.000,4,0.185,0.057,2725,516,3305,0,0,0,0,0,0
$GC,4701,-0.85,-116.8,463.0,-11.0,296,4707,0.00,1.90,0.00,0.000,6,0.000,0.034,2718,1741,3305,0,0,0,0,0,0
$GC,5014,-0.85,-116.8,495.1,-10.3,307,5018,0.00,1.88,0.00,0.000,4,0.000,0.056,2718,590,3305,0,0,0,0,0,0
$GC,5126,-0.87,-116.8,507.1,-10.5,310,5129,0.00,1.80,0.00,0.000,6,0.000,0.035,2715,1746,3305,0,0,0,0,0,0
$GC,5455,-0.87,-116.8,540.6,-10.2,321,5459,0.00,0.88,0.00,0.000,4,0.000,0.051,2715,1199,3304,0,0,0,0,0,0
$GC,5583,-0.87,-116.8,553.1,-9.4,324,5589,0.03,0.88,0.00,0.000,6,0.108,0.037,2693,1760,3303,0,0,0,0,0,0
$GC,5897,-0.81,-116.8,583.2,-9.6,335,5902,0.10,2.33,0.00,0.000,4,0.167,0.057,2720,336,3303,0,0,0,0,0,0
$GC,5992,-0.81,-116.8,591.9,-8.5,338,5997,0.00,2.17,0.00,0.000,6,0.000,0.034,2714,1746,3303,0,0,0,0,0,0
$GC,6327,-0.81,-116.8,620.5,-8.5,349,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1746,3302,0,0,0,0,0,0
$GC,6633,-0.81,-116.8,646.9,-8.6,359,6637,0.00,1.38,0.00,0.000,4,0.000,0.054,2714,908,3301,0,0,0,0,0,0
$GC,6701,-0.81,-116.8,652.8,-9.0,361,6705,0.00,1.33,0.00,0.000,6,0.000,0.037,2711,1758,3301,0,0,0,0,0,0
$GC,7042,-0.79,-116.8,683.5,-9.1,372,7047,0.08,0.62,0.00,0.000,4,0.194,0.054,2731,1379,3301,0,0,0,0,0,0
$GC,7131,-0.85,-116.8,691.6,-9.4,374,7136,0.03,0.57,0.00,0.000,6,0.105,0.040,2707,1764,3300,0,0,0,0,0,0
$GC,7449,-0.85,-116.8,722.2,-9.9,385,7453,0.00,1.95,0.00,0.000,4,0.000,0.057,2706,572,3300,0,0,0,0,0,0
$GC,7518,-0.82,-116.8,728.9,-9.6,387,7522,0.08,1.80,0.00,0.000,6,0.190,0.034,2718,1742,3299,0,0,0,0,0,0
$GC,7858,-0.82,-116.8,762.1,-10.2,398,7861,0.00,1.00,0.00,0.000,4,0.000,0.044,2714,2403,3299,0,0,0,0,0,0
$GC,7912,-0.82,-116.8,768.1,-11.3,399,7917,0.00,1.02,0.00,0.000,6,0.000,0.043,2714,1743,3299,0,0,0,0,0,0
$GC,8231,-0.82,-116.8,800.9,-10.2,410,8235,0.00,0.80,0.00,0.000,4,0.000,0.053,2714,1232,3298,0,0,0,0,0,0
$GC,8270,-0.78,-116.8,805.0,-9.7,411,8274,0.05,0.80,0.00,0.000,6,0.156,0.037,2730,1762,3298,0,0,0,0,0,0
$GC,8605,-0.84,-116.8,836.9,-9.4,422,8608,0.00,1.12,0.00,0.000,4,0.000,0.052,2730,1072,3297,0,0,0,0,0,0
$GC,8711,-0.90,-116.8,847.0,-8.9,425,8715,0.08,1.05,0.00,0.000,6,0.071,0.036,2689,1755,3297,0,0,0,0,0,0
$GC,9046,-0.85,-116.8,879.3,-9.5,436,9050,0.08,0.73,0.00,0.000,4,0.187,0.051,2706,1307,3296,0,0,0,0,0,0
$GC,9302,-0.85,-116.8,902.1,-9.6,443,9307,0.00,0.70,0.00,0.000,6,0.000,0.038,2704,1762,3296,0,0,0,0,0,0
$GC,9621,-0.85,-116.8,930.0,-8.9,454,9625,0.00,1.00,0.00,0.000,4,0.000,0.051,2704,1143,3295,0,0,0,0,0,0
$GC,9723,-0.85,-116.8,939.7,-10.1,457,9727,0.00,0.93,0.00,0.000,6,0.000,0.037,2701,1743,3295,0,0,0,0,0,0
$GC,10064,-0.85,-116.8,972.8,-10.1,468,10067,0.00,1.88,0.00,0.000,4,0.000,0.054,2701,590,3294,0,0,0,0,0,0
$GC,10124,-0.80,-116.8,979.3,-10.4,469,10130,0.08,1.80,0.00,0.000,6,0.145,0.034,2719,1738,3294,0,0,0,0,0,0
$STATE,10344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10345,begin apogee
$GC,10350,-0.25,0.0,1000.9,10.1,477,10455,0.60,0.00,102.18,1.486,6,0.123,0.000,2902,1609,2827,0,0,0,0,0,0
$STATE,10456,end apogee,CONTROL_FINISHED_OK
$STATE,10456,begin climb
$GC,10458,0.69,116.8,1009.3,0.0,480,10575,0.90,2.47,107.82,1.460,4,0.072,0.044,3206,3019,2350,0,0,0,0,0,0
$GC,10687,0.39,450.3,1027.5,-5.9,487,11015,0.40,2.25,318.45,1.441,6,0.200,0.044,3119,1623,991,0,0,0,0,0,0
$GC,11322,0.67,450.3,989.6,8.8,508,11327,0.25,2.33,0.00,0.000,4,0.090,0.062,3204,211,981,0,0,0,0,0,0
$GC,11445,0.81,450.3,978.8,8.4,511,11451,0.12,2.20,0.00,0.000,6,0.103,0.034,3251,1631,978,0,0,0,0,0,0
$GC,11758,0.77,450.3,948.5,9.9,522,11763,0.08,2.15,0.00,0.000,4,0.190,0.045,3236,3022,978,0,0,0,0,0,0
$GC,11824,0.77,450.3,942.1,10.1,524,11828,0.00,2.22,0.00,0.000,6,0.000,0.045,3240,1616,978,0,0,0,0,0,0
$GC,12160,0.74,450.3,909.4,9.8,535,12162,0.08,0.00,0.00,0.000,6,0.207,0.000,3224,1616,978,0,0,0,0,0,0
$GC,12466,0.74,450.3,880.0,9.4,545,12469,0.00,1.42,0.00,0.000,4,0.000,0.041,3224,2523,977,0,0,0,0,0,0
$GC,12538,0.77,450.3,873.1,10.2,547,12542,0.00,1.45,0.00,0.000,6,0.000,0.049,3226,1623,977,0,0,0,0,0,0
$GC,12873,0.77,450.3,841.1,9.6,558,12877,0.00,1.12,0.00,0.000,4,0.000,0.042,3227,2349,977,0,0,0,0,0,0
$GC,12928,0.80,450.3,835.6,9.6,559,12932,0.00,1.17,0.00,0.000,6,0.000,0.050,3226,1615,976,0,0,0,0,0,0
$GC,13247,0.80,450.3,805.6,9.5,570,13250,0.00,1.20,0.00,0.000,4,0.000,0.041,3226,2387,976,0,0,0,0,0,0
$GC,13330,0.84,450.3,797.5,8.7,572,13335,0.05,1.23,0.00,0.000,6,0.078,0.050,3256,1625,976,0,0,0,0,0,0
$GC,13655,0.79,450.3,764.0,10.2,583,13657,0.08,0.00,0.00,0.000,6,0.204,0.000,3241,1625,976,0,0,0,0,0,0
$GC,13960,0.79,450.3,733.4,10.1,593,13964,0.00,1.23,0.00,0.000,4,0.000,0.042,3241,2404,976,0,0,0,0,0,0
$GC,14021,0.79,450.3,727.2,9.8,594,14027,0.00,1.27,0.00,0.000,6,0.000,0.050,3241,1617,976,0,0,0,0,0,0
$GC,14335,0.77,450.3,695.4,10.4,605,14338,0.00,1.40,0.00,0.000,4,0.000,0.044,3241,2506,976,0,0,0,0,0,0
$GC,14395,0.77,450.3,688.7,11.0,606,14401,0.00,1.42,0.00,0.000,6,0.000,0.050,3241,1625,976,0,0,0,0,0,0
$GC,14709,0.75,450.3,654.7,11.0,617,14713,0.05,1.25,0.00,0.000,4,0.250,0.042,3228,2415,976,0,0,0,0,0,0
$GC,14776,0.77,450.3,647.4,10.7,619,14780,0.00,1.30,0.00,0.000,6,0.000,0.051,3229,1613,976,0,0,0,0,0,0
$GC,15117,0.77,450.3,608.7,11.4,630,15121,0.00,2.10,0.00,0.000,4,0.000,0.045,3228,2936,976,0,0,0,0,0,0
$GC,15189,0.81,450.3,600.3,11.2,632,15192,0.00,2.12,0.00,0.000,6,0.000,0.048,3228,1612,975,0,0,0,0,0,0
$GC,15524,0.81,450.3,562.6,11.4,643,15527,0.00,2.03,0.00,0.000,4,0.000,0.045,3228,2887,975,0,0,0,0,0,0
$GC,15584,0.81,450.3,555.6,10.9,644,15590,0.00,2.05,0.00,0.000,6,0.000,0.047,3229,1626,975,0,0,0,0,0,0
$GC,15897,0.81,450.3,522.7,10.4,655,15901,0.00,1.00,0.00,0.000,4,0.000,0.042,3228,2273,975,0,0,0,0,0,0
$GC,15981,0.87,450.3,514.0,10.0,657,15985,0.08,1.05,0.00,0.000,6,0.067,0.051,3268,1619,975,0,0,0,0,0,0
$GC,16305,0.79,450.3,479.7,10.7,668,16310,0.10,1.23,0.00,0.000,4,0.179,0.042,3244,2400,975,0,0,0,0,0,0
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$STATE,21247,end climb,SURFACE_DEPTH_REACHED
$STATE,21247,begin surface coast
$FINISH,1.7,1.008246
$STATE,21285,end surface coast,CONTROL_FINISHED_OK
$STATE,21286,begin surface
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$HUMID,50.47
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.30
$XPDR_PINGS,0
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$10V_AH,9.8,65.262
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.250,140.075,528.450,0.000,0.000,27.314,39.974,494.601,0.250,0.000,104.045,2645.218,14838.549,572.004,3816.502,316.076,0.000,2041.992,0.000,3114.024,0.000,2.833,0.000
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$SENSOR_SECS,651.164,893.215,665.817,74.675,0.000,0.000,0.000,0.000,0.000,0.000
$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,60321,985
$CAP_FILE_SIZE,201979,0
$CFSIZE,2097086464,2031484928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060113,205305,-4114.080,-505.766,68,1.2,68,-22.5