version: 66.07.10.p01
glider: 574
mission: 4
dive: 111
start: 10 17 112 3 38 50
data:
$ID,574
$MISSION,4
$DIVE,111
$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,-5763.6123
$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,22
$R_STBD_OVSHOOT,15
$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,90
$GPS1,171012,032935,-4231.201,-755.269,100,1.1,101,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-71.8
$GPS2,171012,033756,-4231.155,-755.152,15,1.2,16,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.072,-0.223
$KALMAN_X,-121338.4,-149.5,-878.1,196238.7,3446.3
$KALMAN_Y,68804.8,81.9,-1382.8,-29599.5,9836.2
$MHEAD_RNG_PITCHd_Wd,183.8,135920,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,80,0.00,0.00,-53.92,0.000,2,0.000,0.000,69,1897,2610,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.6,9,127,12.60,1.92,-21.98,0.000,4,0.275,0.065,2825,3088,3424,0,0,0,0,0,0
$GC,205,-0.52,-145.9,22.4,-17.3,29,213,0.03,1.92,0.00,0.000,6,0.157,0.055,2837,1916,3425,0,0,0,0,0,0
$GC,284,-0.50,-145.9,32.1,-11.7,42,291,0.00,0.32,0.00,0.000,4,0.000,0.070,2837,1697,3425,0,0,0,0,0,0
$GC,339,-0.45,-145.9,37.2,-10.7,51,345,0.08,0.35,0.00,0.000,6,0.145,0.051,2859,1937,3425,0,0,0,0,0,0
$GC,575,-0.49,-145.9,52.9,-5.7,92,582,0.00,0.47,0.00,0.000,4,0.000,0.063,2860,1632,3425,0,0,0,0,0,0
$GC,619,-0.52,-145.9,54.7,-4.0,99,624,0.00,0.43,0.00,0.000,6,0.000,0.050,2860,1914,3425,0,0,0,0,0,0
$GC,851,-0.56,-145.9,68.2,-1.5,140,857,0.10,1.45,0.00,0.000,4,0.111,0.063,2818,1038,3425,0,0,0,0,0,0
$GC,965,-0.50,-145.9,81.7,-18.3,160,971,0.08,1.38,0.00,0.000,6,0.144,0.042,2840,1909,3425,0,0,0,0,0,0
$GC,1311,-0.50,-145.9,113.2,-10.1,207,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1910,3425,0,0,0,0,0,0
$GC,1623,-0.50,-145.9,140.6,-8.2,227,1627,0.00,0.57,0.00,0.000,4,0.000,0.060,2840,1543,3425,0,0,0,0,0,0
$GC,1709,-0.50,-145.9,148.1,-8.6,232,1713,0.00,0.57,0.00,0.000,6,0.000,0.046,2839,1924,3425,0,0,0,0,0,0
$GC,2040,-0.50,-145.9,180.7,-9.5,253,2044,0.00,1.00,0.00,0.000,4,0.000,0.060,2839,1302,3425,0,0,0,0,0,0
$GC,2126,-0.50,-145.9,188.6,-8.4,258,2130,0.00,0.95,0.00,0.000,6,0.000,0.044,2836,1910,3425,0,0,0,0,0,0
$GC,2458,-0.50,-145.9,217.9,-9.6,279,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1910,3425,0,0,0,0,0,0
$GC,2770,-0.50,-145.9,247.2,-8.6,299,2774,0.00,0.35,0.00,0.000,4,0.000,0.063,2837,1675,3426,0,0,0,0,0,0
$GC,2961,-0.50,-145.9,263.1,-9.2,308,2963,0.00,0.38,0.00,0.000,6,0.000,0.051,2835,1924,3426,0,0,0,0,0,0
$GC,3279,-0.50,-145.9,295.0,-10.5,324,3282,0.00,1.45,0.00,0.000,4,0.000,0.062,2835,1034,3425,0,0,0,0,0,0
$GC,3384,-0.50,-145.9,306.5,-10.8,328,3393,0.08,1.38,0.00,0.000,6,0.189,0.042,2847,1901,3426,0,0,0,0,0,0
$GC,3701,-0.53,-145.9,338.5,-10.3,344,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1901,3425,0,0,0,0,0,0
$GC,4011,-0.53,-145.9,368.6,-9.5,359,4015,0.00,0.43,0.00,0.000,4,0.000,0.061,2847,1616,3425,0,0,0,0,0,0
$GC,4072,-0.56,-145.9,374.6,-9.5,361,4077,0.00,0.47,0.00,0.000,6,0.000,0.050,2847,1926,3425,0,0,0,0,0,0
$GC,4390,-0.58,-145.9,404.0,-8.8,377,4394,0.08,1.62,0.00,0.000,4,0.130,0.063,2815,922,3425,0,0,0,0,0,0
$GC,4484,-0.54,-145.9,413.8,-9.5,381,4489,0.08,1.55,0.00,0.000,6,0.147,0.044,2834,1904,3425,0,0,0,0,0,0
$GC,4812,-0.54,-145.9,440.4,-8.2,397,4816,0.00,0.32,0.00,0.000,4,0.000,0.058,2833,2142,3425,0,0,0,0,0,0
$GC,4866,-0.54,-145.9,445.5,-8.7,399,4870,0.00,0.38,0.00,0.000,6,0.000,0.060,2833,1897,3425,0,0,0,0,0,0
$GC,5189,-0.54,-145.9,472.9,-9.2,415,5193,0.00,0.70,0.00,0.000,4,0.000,0.063,2833,1448,3425,0,0,0,0,0,0
$GC,5271,-0.54,-145.9,480.9,-9.6,418,5279,0.00,0.75,0.00,0.000,6,0.000,0.046,2830,1925,3425,0,0,0,0,0,0
$GC,5606,-0.54,-145.9,513.2,-9.7,433,5610,0.00,0.88,0.00,0.000,4,0.000,0.060,2830,1378,3424,0,0,0,0,0,0
$GC,5694,-0.54,-145.9,521.9,-9.0,435,5698,0.00,0.85,0.00,0.000,6,0.000,0.045,2826,1916,3424,0,0,0,0,0,0
$GC,6012,-0.54,-145.9,550.8,-9.2,446,6016,0.00,0.62,0.00,0.000,4,0.000,0.059,2826,1519,3423,0,0,0,0,0,0
$GC,6095,-0.54,-145.9,559.3,-10.2,448,6099,0.00,0.62,0.00,0.000,6,0.000,0.047,2824,1917,3423,0,0,0,0,0,0
$GC,6419,-0.51,-145.9,590.0,-9.5,459,6423,0.08,1.25,0.00,0.000,4,0.204,0.060,2840,1151,3422,0,0,0,0,0,0
$GC,6524,-0.54,-145.9,599.1,-8.2,462,6528,0.00,1.20,0.00,0.000,6,0.000,0.043,2837,1911,3422,0,0,0,0,0,0
$GC,6859,-0.54,-145.9,626.2,-8.2,473,6862,0.00,0.60,0.00,0.000,4,0.000,0.058,2837,1528,3422,0,0,0,0,0,0
$GC,6930,-0.54,-145.9,632.2,-8.0,475,6934,0.00,0.62,0.00,0.000,6,0.000,0.047,2835,1926,3422,0,0,0,0,0,0
$GC,7265,-0.54,-145.9,662.8,-9.5,486,7268,0.00,0.82,0.00,0.000,4,0.000,0.059,2835,1405,3421,0,0,0,0,0,0
$GC,7347,-0.54,-145.9,671.1,-10.1,488,7351,0.00,0.80,0.00,0.000,6,0.000,0.045,2832,1914,3421,0,0,0,0,0,0
$GC,7671,-0.54,-145.9,705.6,-11.0,499,7674,0.00,0.73,0.00,0.000,4,0.000,0.057,2832,1456,3421,0,0,0,0,0,0
$GC,7747,-0.54,-145.9,714.5,-12.1,501,7752,0.00,0.73,0.00,0.000,6,0.000,0.045,2829,1919,3420,0,0,0,0,0,0
$GC,8077,-0.54,-145.9,750.2,-10.6,512,8080,0.00,0.60,0.00,0.000,4,0.000,0.058,2829,1534,3420,0,0,0,0,0,0
$GC,8153,-0.54,-145.9,758.4,-10.9,514,8158,0.00,0.60,0.00,0.000,6,0.000,0.046,2827,1922,3420,0,0,0,0,0,0
$GC,8483,-0.54,-145.9,792.8,-10.4,525,8486,0.00,0.52,0.00,0.000,4,0.000,0.059,2827,1581,3419,0,0,0,0,0,0
$GC,8542,-0.54,-145.9,798.3,-9.3,526,8548,0.00,0.52,0.00,0.000,6,0.000,0.048,2824,1922,3419,0,0,0,0,0,0
$GC,8855,-0.54,-145.9,828.1,-9.6,537,8858,0.00,0.90,0.00,0.000,4,0.000,0.057,2824,1357,3419,0,0,0,0,0,0
$GC,8943,-0.54,-145.9,836.6,-9.3,539,8948,0.08,0.88,0.00,0.000,6,0.197,0.045,2838,1911,3418,0,0,0,0,0,0
$GC,9261,-0.57,-145.9,862.1,-7.9,550,9265,0.00,0.60,0.00,0.000,4,0.000,0.057,2839,1526,3417,0,0,0,0,0,0
$GC,9344,-0.61,-145.9,869.0,-8.7,552,9349,0.08,0.62,0.00,0.000,6,0.132,0.047,2808,1923,3417,0,0,0,0,0,0
$GC,9668,-0.57,-145.9,902.4,-10.6,563,9672,0.08,0.55,0.00,0.000,4,0.188,0.059,2827,1578,3417,0,0,0,0,0,0
$GC,9738,-0.57,-145.9,909.7,-10.3,565,9743,0.00,0.52,0.00,0.000,6,0.000,0.049,2825,1918,3416,0,0,0,0,0,0
$GC,10073,-0.57,-145.9,942.1,-9.5,576,10076,0.00,0.30,0.00,0.000,4,0.000,0.063,2825,1708,3416,0,0,0,0,0,0
$GC,10161,-0.57,-145.9,950.6,-9.4,578,10163,0.00,0.32,0.00,0.000,6,0.000,0.056,2824,1922,3416,0,0,0,0,0,0
$GC,10475,-0.57,-145.9,978.0,-8.4,589,10478,0.00,1.02,0.00,0.000,4,0.000,0.059,2824,1280,3416,0,0,0,0,0,0
$GC,10576,-0.57,-145.9,986.7,-8.5,592,10579,0.00,0.98,0.00,0.000,6,0.000,0.047,2820,1903,3416,0,0,0,0,0,0
$STATE,10764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10764,begin apogee
$GC,10768,-0.19,0.0,1002.3,8.5,598,10895,0.43,0.00,123.78,1.572,6,0.142,0.000,2948,1652,2827,0,0,0,0,0,0
$STATE,10895,end apogee,CONTROL_FINISHED_OK
$STATE,10896,begin climb
$GC,10897,0.52,145.9,1006.9,0.0,602,11034,0.70,2.12,129.30,1.534,4,0.089,0.069,3179,501,2232,0,0,0,0,0,0
$GC,11100,0.34,145.9,1002.3,8.6,608,11105,0.17,1.95,0.00,0.000,6,0.176,0.043,3134,1650,2228,0,0,0,0,0,0
$GC,11418,0.27,172.0,981.4,6.5,619,11449,0.12,0.75,23.23,1.463,4,0.194,0.047,3103,2103,2125,0,0,0,0,0,0
$GC,11511,0.27,219.6,975.8,5.8,621,11560,0.00,0.73,43.40,1.496,6,0.000,0.057,3104,1667,1931,0,0,0,0,0,0
$GC,11885,0.33,243.1,951.4,6.6,634,11909,0.00,0.00,21.30,1.441,6,0.000,0.000,3104,1666,1836,0,0,0,0,0,0
$GC,12192,0.39,266.3,931.6,6.6,644,12217,0.10,0.30,21.73,1.435,4,0.107,0.057,3144,1854,1741,0,0,0,0,0,0
$GC,12272,0.39,266.3,924.8,8.4,645,12277,0.00,0.35,0.00,0.000,6,0.000,0.068,3144,1648,1739,0,0,0,0,0,0
$GC,12590,0.39,266.3,899.1,7.9,656,12594,0.00,0.38,0.00,0.000,4,0.000,0.053,3144,1901,1736,0,0,0,0,0,0
$GC,12644,0.39,266.3,894.7,7.9,657,12648,0.00,0.43,0.00,0.000,6,0.000,0.066,3145,1642,1736,0,0,0,0,0,0
$GC,12962,0.39,271.5,871.4,7.2,668,12969,0.00,0.00,5.05,1.054,6,0.000,0.000,3144,1642,1720,0,0,0,0,0,0
$GC,13268,0.39,277.6,849.4,7.2,678,13279,0.00,0.57,7.43,1.202,4,0.000,0.070,3145,1301,1695,0,0,0,0,0,0
$GC,13340,0.40,291.6,844.3,6.9,680,13361,0.00,0.57,14.62,1.359,6,0.000,0.047,3144,1668,1638,0,0,0,0,0,0
$GC,13667,0.42,291.6,819.1,8.1,691,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1669,1635,0,0,0,0,0,0
$GC,13974,0.44,291.6,792.3,9.3,701,13977,0.00,0.65,0.00,0.000,4,0.000,0.068,3144,1266,1634,0,0,0,0,0,0
$GC,14023,0.46,291.6,787.6,9.0,702,14027,0.00,0.60,0.00,0.000,6,0.000,0.045,3144,1654,1634,0,0,0,0,0,0
$GC,14347,0.49,291.6,755.6,10.0,713,14348,0.08,0.00,0.00,0.000,6,0.132,0.000,3178,1655,1634,0,0,0,0,0,0
$GC,14653,0.44,291.6,719.2,12.1,723,14655,0.10,0.00,0.00,0.000,6,0.194,0.000,3155,1655,1634,0,0,0,0,0,0
$GC,14959,0.44,291.6,687.6,10.3,733,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1655,1634,0,0,0,0,0,0
$GC,15265,0.44,291.6,657.7,9.4,743,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1655,1634,0,0,0,0,0,0
$GC,15571,0.44,291.6,629.6,9.1,753,15572,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1655,1634,0,0,0,0,0,0
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$STATE,22814,end climb,SURFACE_DEPTH_REACHED
$STATE,22814,begin surface coast
$FINISH,1.6,1.026738
$STATE,22833,end surface coast,CONTROL_FINISHED_OK
$STATE,22834,begin surface
$SM_CCo,22909,0.00,0.000,0,0,1178,404.49
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$IRIDIUM_FIX,-4215.72,-757.48,161012,212129
$TT8_MAMPS,0.026964
$HUMID,45.31
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.8,27.947
$10V_AH,10.2,23.628
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.075,59.450,471.775,0.000,0.000,27.067,59.002,299.959,0.250,0.000,19.368,3081.672,15790.194,528.629,3854.030,147.260,33.355,1961.132,0.000,3411.292,0.000,2.834,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.488,1481.002,800.181,100.942,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,73620,1235
$CAP_FILE_SIZE,199194,0
$CFSIZE,2097086464,2078146560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,171012,100234,-4233.561,-754.304,75,1.6,83,-21.7