version: 66.07.10.p01
glider: 574
mission: 4
dive: 90
start: 10 11 112 11 33 43
data:
$ID,574
$MISSION,4
$DIVE,90
$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,450
$T_MISSION,520
$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,1
$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,1
$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,-5694.2324
$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,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,73
$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,69
$GPS1,111012,112535,-4314.425,-812.918,33,1.3,34,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-73.5
$GPS2,111012,113249,-4314.370,-812.928,15,1.2,17,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.079
$KALMAN_X,-79168.9,612.6,-347.4,128627.4,-4185.9
$KALMAN_Y,2247.4,-403.7,-36.7,-43952.8,3077.0
$MHEAD_RNG_PITCHd_Wd,91.6,96658,-13.9,-7.407
$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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,92,0.00,0.00,-65.88,0.000,2,0.000,0.000,66,1926,2750,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.1,-1.8,11,133,12.35,2.35,-18.05,0.000,4,0.272,0.077,2836,510,3422,0,0,0,0,0,0
$GC,261,-0.52,-145.9,20.6,-10.5,39,269,0.03,2.15,0.00,0.000,6,0.180,0.038,2838,1870,3423,0,0,0,0,0,0
$GC,342,-0.49,-145.9,28.7,-9.8,52,349,0.00,0.68,0.00,0.000,4,0.000,0.044,2836,2330,3423,0,0,0,0,0,0
$GC,398,-0.47,-145.9,33.8,-9.1,61,403,0.05,0.65,0.00,0.000,6,0.146,0.050,2854,1906,3423,0,0,0,0,0,0
$GC,632,-0.47,-145.9,55.6,-8.7,102,640,0.00,0.60,0.00,0.000,4,0.000,0.059,2853,1511,3423,0,0,0,0,0,0
$GC,700,-0.47,-145.9,61.9,-9.4,114,708,0.00,0.65,0.00,0.000,6,0.000,0.039,2852,1938,3423,0,0,0,0,0,0
$GC,1048,-0.47,-145.9,94.0,-9.3,175,1052,0.00,1.50,0.00,0.000,4,0.000,0.058,2852,1008,3423,0,0,0,0,0,0
$GC,1132,-0.47,-145.9,102.5,-9.7,188,1135,0.00,1.40,0.00,0.000,6,0.000,0.040,2850,1906,3423,0,0,0,0,0,0
$GC,1463,-0.47,-145.9,133.9,-9.3,209,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1906,3423,0,0,0,0,0,0
$GC,1775,-0.47,-145.9,164.0,-9.8,229,1779,0.00,0.25,0.00,0.000,4,0.000,0.063,2850,1724,3424,0,0,0,0,0,0
$GC,1845,-0.47,-145.9,170.7,-9.2,233,1849,0.00,0.28,0.00,0.000,6,0.000,0.051,2849,1930,3423,0,0,0,0,0,0
$GC,2174,-0.47,-145.9,202.0,-9.3,254,2178,0.00,1.17,0.00,0.000,4,0.000,0.057,2849,1189,3424,0,0,0,0,0,0
$GC,2252,-0.47,-145.9,209.3,-9.1,258,2260,0.00,1.10,0.00,0.000,6,0.000,0.036,2845,1904,3424,0,0,0,0,0,0
$GC,2573,-0.47,-145.9,238.8,-9.4,279,2577,0.00,0.65,0.00,0.000,4,0.000,0.055,2845,1481,3424,0,0,0,0,0,0
$GC,2642,-0.47,-145.9,245.2,-9.4,283,2647,0.03,0.65,0.00,0.000,6,0.187,0.040,2853,1924,3424,0,0,0,0,0,0
$GC,2974,-0.49,-145.9,275.8,-10.1,300,2978,0.00,0.80,0.00,0.000,4,0.000,0.054,2853,1404,3424,0,0,0,0,0,0
$GC,3044,-0.52,-145.9,283.0,-10.5,303,3048,0.00,0.75,0.00,0.000,6,0.000,0.037,2851,1908,3424,0,0,0,0,0,0
$GC,3377,-0.52,-145.9,315.3,-9.6,319,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1908,3424,0,0,0,0,0,0
$GC,3685,-0.54,-145.9,345.2,-9.2,334,3688,0.00,1.52,0.00,0.000,4,0.000,0.057,2851,958,3424,0,0,0,0,0,0
$GC,3757,-0.58,-145.9,351.9,-8.6,337,3762,0.05,1.45,0.00,0.000,6,0.081,0.035,2816,1911,3424,0,0,0,0,0,0
$GC,4086,-0.52,-145.9,388.9,-11.9,353,4091,0.10,0.82,0.00,0.000,4,0.174,0.054,2842,1388,3424,0,0,0,0,0,0
$GC,4168,-0.52,-145.9,397.8,-10.0,356,4176,0.00,0.80,0.00,0.000,6,0.000,0.035,2839,1922,3424,0,0,0,0,0,0
$GC,4484,-0.52,-145.9,427.4,-9.4,372,4488,0.00,1.33,0.00,0.000,4,0.000,0.054,2839,1084,3424,0,0,0,0,0,0
$GC,4567,-0.52,-145.9,434.7,-8.1,375,4573,0.00,1.27,0.00,0.000,6,0.000,0.034,2836,1913,3424,0,0,0,0,0,0
$GC,4885,-0.52,-145.9,461.7,-9.0,391,4889,0.00,1.00,0.00,0.000,4,0.000,0.053,2836,1276,3424,0,0,0,0,0,0
$GC,4956,-0.52,-145.9,467.8,-7.0,394,4961,0.00,1.00,0.00,0.000,6,0.000,0.036,2833,1929,3424,0,0,0,0,0,0
$GC,5284,-0.52,-145.9,494.3,-8.2,410,5287,0.00,0.40,0.00,0.000,4,0.000,0.055,2833,1656,3424,0,0,0,0,0,0
$GC,5329,-0.52,-145.9,498.1,-8.5,412,5332,0.00,0.35,0.00,0.000,6,0.000,0.044,2831,1919,3424,0,0,0,0,0,0
$GC,5647,-0.52,-145.9,525.1,-8.7,423,5651,0.00,0.38,0.00,0.000,4,0.000,0.057,2831,1658,3424,0,0,0,0,0,0
$GC,5707,-0.52,-145.9,530.8,-9.0,424,5709,0.00,0.35,0.00,0.000,6,0.000,0.044,2830,1915,3424,0,0,0,0,0,0
$GC,6015,-0.52,-145.9,559.5,-9.7,434,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1915,3424,0,0,0,0,0,0
$GC,6321,-0.52,-145.9,589.0,-9.7,444,6325,0.00,0.68,0.00,0.000,4,0.000,0.052,2830,1475,3423,0,0,0,0,0,0
$GC,6388,-0.52,-145.9,595.6,-9.5,446,6393,0.03,0.62,0.00,0.000,6,0.181,0.039,2837,1907,3423,0,0,0,0,0,0
$GC,6728,-0.52,-145.9,627.3,-9.4,457,6732,0.00,0.90,0.00,0.000,4,0.000,0.050,2837,1328,3422,0,0,0,0,0,0
$GC,6799,-0.52,-145.9,634.3,-9.2,459,6804,0.00,0.90,0.00,0.000,6,0.000,0.035,2836,1919,3422,0,0,0,0,0,0
$GC,7134,-0.52,-145.9,666.1,-9.4,470,7138,0.00,2.17,0.00,0.000,4,0.000,0.055,2836,543,3421,0,0,0,0,0,0
$GC,7217,-0.54,-145.9,674.0,-9.2,472,7222,0.00,2.10,0.00,0.000,6,0.000,0.033,2828,1912,3421,0,0,0,0,0,0
$GC,7535,-0.54,-145.9,703.7,-9.4,483,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1912,3421,0,0,0,0,0,0
$GC,7842,-0.54,-145.9,733.8,-9.7,493,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1912,3420,0,0,0,0,0,0
$GC,8148,-0.52,-145.9,762.8,-9.2,503,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1912,3420,0,0,0,0,0,0
$GC,8454,-0.52,-145.9,790.2,-8.7,513,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1912,3419,0,0,0,0,0,0
$GC,8760,-0.52,-145.9,816.9,-8.4,523,8764,0.00,0.43,0.00,0.000,4,0.000,0.054,2828,1623,3418,0,0,0,0,0,0
$GC,8842,-0.52,-145.9,824.2,-8.9,525,8847,0.05,0.45,0.00,0.000,6,0.212,0.042,2838,1936,3417,0,0,0,0,0,0
$GC,9165,-0.52,-145.9,849.4,-8.0,536,9169,0.00,0.90,0.00,0.000,4,0.000,0.050,2838,1358,3417,0,0,0,0,0,0
$GC,9233,-0.54,-145.9,854.5,-7.4,538,9237,0.00,0.82,0.00,0.000,6,0.000,0.037,2836,1910,3417,0,0,0,0,0,0
$GC,9573,-0.54,-145.9,880.8,-7.7,549,9577,0.00,1.02,0.00,0.000,4,0.000,0.051,2836,1250,3416,0,0,0,0,0,0
$GC,9655,-0.54,-145.9,887.7,-8.4,551,9660,0.00,1.02,0.00,0.000,6,0.000,0.036,2833,1918,3416,0,0,0,0,0,0
$GC,9979,-0.54,-145.9,914.5,-8.6,562,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1918,3416,0,0,0,0,0,0
$GC,10286,-0.54,-145.9,941.3,-8.7,572,10289,0.00,0.80,0.00,0.000,4,0.000,0.051,2833,1400,3415,0,0,0,0,0,0
$GC,10373,-0.54,-145.9,948.6,-8.7,574,10378,0.00,0.80,0.00,0.000,6,0.000,0.037,2830,1929,3415,0,0,0,0,0,0
$GC,10692,-0.54,-145.9,975.7,-8.4,585,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1929,3415,0,0,0,0,0,0
$STATE,10998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10998,begin apogee
$GC,11002,-0.19,0.0,1001.8,8.5,595,11127,0.40,0.00,121.88,1.472,6,0.140,0.000,2952,1637,2827,0,0,0,0,0,0
$STATE,11128,end apogee,CONTROL_FINISHED_OK
$STATE,11128,begin climb
$GC,11129,0.52,145.9,1007.0,0.0,599,11264,0.68,2.47,127.05,1.456,4,0.083,0.043,3175,3031,2231,0,0,0,0,0,0
$GC,11359,0.34,145.9,1001.9,8.6,606,11364,0.25,2.30,0.00,0.000,6,0.187,0.044,3125,1655,2227,0,0,0,0,0,0
$GC,11689,0.29,185.9,982.7,6.0,617,11729,0.08,0.35,34.88,1.393,4,0.211,0.054,3111,1432,2069,0,0,0,0,0,0
$GC,11778,0.29,222.3,977.3,6.2,619,11815,0.00,0.32,33.33,1.391,6,0.000,0.044,3111,1663,1919,0,0,0,0,0,0
$GC,12122,0.34,267.0,955.9,5.9,631,12166,0.00,0.00,39.67,1.391,6,0.000,0.000,3111,1663,1737,0,0,0,0,0,0
$GC,12492,0.54,290.5,931.7,6.6,643,12522,0.22,2.47,21.25,1.333,4,0.084,0.067,3193,237,1642,0,0,0,0,0,0
$GC,12600,0.49,290.5,921.4,10.5,646,12605,0.08,2.22,0.00,0.000,6,0.155,0.035,3172,1626,1640,0,0,0,0,0,0
$GC,12929,0.45,290.5,891.6,9.1,657,12933,0.00,0.85,0.00,0.000,4,0.000,0.041,3172,2196,1638,0,0,0,0,0,0
$GC,12997,0.42,290.5,885.2,9.1,659,13001,0.05,0.88,0.00,0.000,6,0.177,0.052,3157,1645,1638,0,0,0,0,0,0
$GC,13336,0.42,290.5,858.5,7.6,670,13340,0.00,0.43,0.00,0.000,4,0.000,0.063,3157,1365,1637,0,0,0,0,0,0
$GC,13396,0.42,292.3,854.1,7.3,671,13401,0.00,0.45,0.00,0.000,6,0.000,0.041,3157,1673,1637,0,0,0,0,0,0
$GC,13708,0.42,299.3,831.7,7.2,682,13719,0.00,0.00,8.55,1.134,6,0.000,0.000,3157,1675,1606,0,0,0,0,0,0
$GC,14014,0.42,299.3,806.8,8.4,692,14018,0.00,0.68,0.00,0.000,4,0.000,0.061,3158,1252,1605,0,0,0,0,0,0
$GC,14074,0.42,299.3,801.7,8.9,693,14080,0.00,0.60,0.00,0.000,6,0.000,0.038,3157,1658,1605,0,0,0,0,0,0
$GC,14387,0.42,299.3,773.8,9.2,704,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1660,1604,0,0,0,0,0,0
$GC,14693,0.42,299.3,743.9,9.9,714,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1659,1604,0,0,0,0,0,0
$GC,14999,0.42,299.3,715.7,9.0,724,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1660,1604,0,0,0,0,0,0
$GC,15305,0.42,299.3,688.4,8.8,734,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1660,1603,0,0,0,0,0,0
$GC,15611,0.42,299.3,663.0,8.0,744,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1660,1603,0,0,0,0,0,0
$GC,15918,0.42,299.3,636.0,8.9,754,15919,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1661,1603,0,0,0,0,0,0
$GC,16224,0.42,299.3,608.3,8.9,764,16228,0.00,0.45,0.00,0.000,4,0.000,0.063,3157,1366,1603,0,0,0,0,0,0
$GC,16278,0.42,299.3,603.4,8.0,765,16282,0.00,0.40,0.00,0.000,6,0.000,0.043,3157,1651,1604,0,0,0,0,0,0
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$STATE,23250,end climb,SURFACE_DEPTH_REACHED
$STATE,23250,begin surface coast
$FINISH,1.2,1.021165
$STATE,23293,end surface coast,CONTROL_FINISHED_OK
$STATE,23293,begin surface
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$IRIDIUM_FIX,-4302.64,-812.40,111012,050510
$TT8_MAMPS,0.026964
$HUMID,45.19
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.1,23.570
$10V_AH,10.3,20.630
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.450,65.800,442.900,0.000,0.000,30.637,35.396,255.043,0.250,0.000,19.308,3072.453,16337.825,521.858,3726.173,137.013,33.354,1916.656,0.000,3348.423,0.000,2.836,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.702,1500.010,815.946,96.861,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354532
$DATA_FILE_SIZE,73608,1241
$CAP_FILE_SIZE,193392,0
$CFSIZE,2097086464,2080931840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,111012,180423,-4312.727,-811.712,39,0.8,40,-21.4