version: 66.07.10.p01
glider: 574
mission: 4
dive: 131
start: 10 22 112 9 47 49
data:
$ID,574
$MISSION,4
$DIVE,131
$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,-5829.7188
$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,59
$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,110
$GPS1,221012,093935,-4246.417,-750.496,31,1.4,32,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-74.6
$GPS2,221012,094655,-4246.435,-750.587,20,1.5,21,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.209,-0.107
$KALMAN_X,-196461.1,462.7,-409.4,276459.5,-6096.3
$KALMAN_Y,119077.6,-62.2,195.8,-109607.5,3984.6
$MHEAD_RNG_PITCHd_Wd,138.7,107332,-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,-145.9,0.0,0.0,0,82,0.00,0.00,-55.05,0.000,2,0.000,0.000,79,1929,2548,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.0,-1.3,9,128,12.15,0.95,-28.50,0.000,4,0.263,0.094,2836,1364,3422,0,0,0,0,0,0
$GC,219,-0.50,-145.9,13.2,-9.4,31,227,0.03,0.82,0.00,0.000,6,0.197,0.040,2843,1893,3424,0,0,0,0,0,0
$GC,300,-0.50,-145.9,20.3,-8.5,44,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1894,3424,0,0,0,0,0,0
$GC,379,-0.50,-145.9,27.3,-8.5,57,386,0.00,0.70,0.00,0.000,4,0.000,0.060,2843,1465,3424,0,0,0,0,0,0
$GC,479,-0.50,-145.9,36.4,-9.0,74,486,0.00,0.68,0.00,0.000,6,0.000,0.039,2842,1913,3424,0,0,0,0,0,0
$GC,718,-0.50,-145.9,56.7,-8.5,115,723,0.00,1.27,0.00,0.000,4,0.000,0.061,2841,1131,3424,0,0,0,0,0,0
$GC,822,-0.50,-145.9,65.7,-8.8,133,826,0.00,1.20,0.00,0.000,6,0.000,0.037,2837,1903,3424,0,0,0,0,0,0
$GC,1163,-0.50,-145.9,93.9,-8.4,194,1168,0.00,1.08,0.00,0.000,4,0.000,0.059,2837,1244,3425,0,0,0,0,0,0
$GC,1252,-0.50,-145.9,101.5,-8.5,209,1257,0.08,1.05,0.00,0.000,6,0.193,0.038,2852,1920,3425,0,0,0,0,0,0
$GC,1577,-0.53,-145.9,124.2,-6.8,230,1581,0.00,1.17,0.00,0.000,4,0.000,0.060,2852,1195,3425,0,0,0,0,0,0
$GC,1667,-0.55,-145.9,130.6,-6.9,235,1672,0.00,1.10,0.00,0.000,6,0.000,0.039,2850,1906,3425,0,0,0,0,0,0
$GC,1993,-0.58,-145.9,152.3,-6.5,256,1997,0.08,0.93,0.00,0.000,4,0.131,0.057,2819,1337,3425,0,0,0,0,0,0
$GC,2080,-0.54,-145.9,159.3,-8.3,261,2084,0.05,0.88,0.00,0.000,6,0.153,0.040,2833,1911,3425,0,0,0,0,0,0
$GC,2410,-0.54,-145.9,184.5,-7.3,282,2413,0.00,0.88,0.00,0.000,4,0.000,0.056,2833,1364,3425,0,0,0,0,0,0
$GC,2497,-0.54,-145.9,190.9,-7.1,287,2501,0.00,0.82,0.00,0.000,6,0.000,0.040,2830,1908,3425,0,0,0,0,0,0
$GC,2827,-0.54,-145.9,216.2,-7.8,308,2830,0.00,1.05,0.00,0.000,4,0.000,0.057,2830,1254,3425,0,0,0,0,0,0
$GC,2915,-0.54,-145.9,223.3,-7.7,313,2920,0.00,1.05,0.00,0.000,6,0.000,0.037,2826,1931,3425,0,0,0,0,0,0
$GC,3240,-0.54,-145.9,249.2,-7.8,334,3244,0.00,1.98,0.00,0.000,4,0.000,0.061,2826,689,3426,0,0,0,0,0,0
$GC,3333,-0.54,-145.9,256.7,-7.9,339,3337,0.00,1.88,0.00,0.000,6,0.000,0.036,2823,1923,3426,0,0,0,0,0,0
$GC,3667,-0.52,-145.9,283.2,-7.8,355,3672,0.10,0.52,0.00,0.000,4,0.178,0.056,2849,1586,3427,0,0,0,0,0,0
$GC,3739,-0.54,-145.9,288.2,-6.0,358,3743,0.00,0.50,0.00,0.000,6,0.000,0.042,2849,1922,3427,0,0,0,0,0,0
$GC,4066,-0.57,-145.9,312.1,-7.7,374,4070,0.08,0.93,0.00,0.000,4,0.132,0.055,2818,1344,3427,0,0,0,0,0,0
$GC,4156,-0.54,-145.9,320.8,-9.5,378,4161,0.05,0.85,0.00,0.000,6,0.154,0.038,2832,1907,3427,0,0,0,0,0,0
$GC,4488,-0.54,-145.9,347.0,-8.0,394,4492,0.00,0.93,0.00,0.000,4,0.000,0.056,2832,1326,3428,0,0,0,0,0,0
$GC,4588,-0.54,-145.9,354.7,-6.8,398,4593,0.00,0.93,0.00,0.000,6,0.000,0.037,2829,1927,3428,0,0,0,0,0,0
$GC,4910,-0.54,-145.9,378.4,-7.5,414,4914,0.00,0.82,0.00,0.000,4,0.000,0.054,2829,1400,3428,0,0,0,0,0,0
$GC,4988,-0.54,-145.9,384.6,-7.4,417,4992,0.00,0.80,0.00,0.000,6,0.000,0.037,2826,1925,3428,0,0,0,0,0,0
$GC,5329,-0.54,-145.9,409.8,-7.3,432,5332,0.00,1.67,0.00,0.000,4,0.000,0.058,2826,871,3429,0,0,0,0,0,0
$GC,5423,-0.54,-145.9,416.4,-6.0,434,5429,0.00,1.60,0.00,0.000,6,0.000,0.035,2822,1911,3429,0,0,0,0,0,0
$GC,5736,-0.54,-145.9,442.7,-8.9,445,5740,0.05,0.47,0.00,0.000,4,0.238,0.055,2834,1604,3429,0,0,0,0,0,0
$GC,5829,-0.54,-145.9,450.8,-8.8,447,5834,0.00,0.47,0.00,0.000,6,0.000,0.042,2833,1929,3429,0,0,0,0,0,0
$GC,6141,-0.54,-145.9,479.6,-9.4,458,6145,0.00,1.48,0.00,0.000,4,0.000,0.055,2833,1007,3429,0,0,0,0,0,0
$GC,6234,-0.54,-145.9,489.4,-9.9,460,6241,0.00,1.40,0.00,0.000,6,0.000,0.033,2827,1917,3429,0,0,0,0,0,0
$GC,6548,-0.54,-145.9,522.0,-10.5,471,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1917,3430,0,0,0,0,0,0
$GC,6854,-0.54,-145.9,553.3,-9.9,481,6857,0.00,0.57,0.00,0.000,4,0.000,0.053,2827,1539,3429,0,0,0,0,0,0
$GC,6936,-0.54,-145.9,561.9,-9.9,483,6941,0.00,0.57,0.00,0.000,6,0.000,0.040,2824,1925,3429,0,0,0,0,0,0
$GC,7260,-0.54,-145.9,594.8,-10.2,494,7263,0.00,1.10,0.00,0.000,4,0.000,0.054,2824,1230,3429,0,0,0,0,0,0
$GC,7353,-0.54,-145.9,604.5,-10.0,496,7360,0.05,1.05,0.00,0.000,6,0.232,0.035,2833,1914,3429,0,0,0,0,0,0
$GC,7666,-0.54,-145.9,630.9,-8.2,507,7670,0.00,0.73,0.00,0.000,4,0.000,0.053,2834,1449,3429,0,0,0,0,0,0
$GC,7749,-0.56,-145.9,637.3,-7.6,509,7754,0.00,0.73,0.00,0.000,6,0.000,0.038,2832,1926,3429,0,0,0,0,0,0
$GC,8073,-0.56,-145.9,659.5,-6.5,520,8077,0.00,1.27,0.00,0.000,4,0.000,0.054,2832,1123,3429,0,0,0,0,0,0
$GC,8156,-0.56,-145.9,665.3,-6.3,522,8161,0.00,1.23,0.00,0.000,6,0.000,0.036,2827,1914,3429,0,0,0,0,0,0
$GC,8481,-0.56,-145.9,686.8,-6.7,533,8484,0.00,1.02,0.00,0.000,4,0.000,0.054,2828,1268,3428,0,0,0,0,0,0
$GC,8568,-0.56,-145.9,693.2,-7.6,535,8573,0.00,1.00,0.00,0.000,6,0.000,0.037,2823,1914,3428,0,0,0,0,0,0
$GC,8887,-0.56,-145.9,718.3,-8.1,546,8891,0.00,0.62,0.00,0.000,4,0.000,0.053,2824,1510,3428,0,0,0,0,0,0
$GC,8958,-0.56,-145.9,724.8,-8.9,548,8963,0.00,0.62,0.00,0.000,6,0.000,0.041,2822,1920,3427,0,0,0,0,0,0
$GC,9293,-0.56,-145.9,753.8,-8.5,559,9297,0.00,0.88,0.00,0.000,4,0.000,0.053,2822,1367,3428,0,0,0,0,0,0
$GC,9387,-0.56,-145.9,762.0,-8.5,561,9393,0.00,0.85,0.00,0.000,6,0.000,0.038,2820,1920,3428,0,0,0,0,0,0
$GC,9700,-0.56,-145.9,787.2,-8.1,572,9703,0.00,1.12,0.00,0.000,4,0.000,0.054,2820,1211,3427,0,0,0,0,0,0
$GC,9793,-0.56,-145.9,794.9,-7.7,574,9800,0.05,1.10,0.00,0.000,6,0.223,0.037,2827,1921,3428,0,0,0,0,0,0
$GC,10107,-0.56,-145.9,817.3,-7.0,585,10110,0.00,1.35,0.00,0.000,4,0.000,0.055,2827,1077,3428,0,0,0,0,0,0
$GC,10201,-0.58,-145.9,824.1,-7.0,587,10207,0.00,1.27,0.00,0.000,6,0.000,0.038,2824,1901,3428,0,0,0,0,0,0
$GC,10513,-0.58,-145.9,847.2,-7.8,598,10517,0.00,0.65,0.00,0.000,4,0.000,0.051,2824,1471,3427,0,0,0,0,0,0
$GC,10596,-0.58,-145.9,854.0,-8.6,600,10600,0.00,0.70,0.00,0.000,6,0.000,0.040,2823,1927,3427,0,0,0,0,0,0
$GC,10919,-0.58,-145.9,880.2,-8.4,611,10923,0.00,0.82,0.00,0.000,4,0.000,0.054,2823,1402,3427,0,0,0,0,0,0
$GC,11002,-0.58,-145.9,887.0,-7.2,613,11007,0.00,0.80,0.00,0.000,6,0.000,0.042,2821,1915,3427,0,0,0,0,0,0
$GC,11326,-0.58,-145.9,913.8,-8.4,624,11330,0.00,0.77,0.00,0.000,4,0.000,0.054,2821,1421,3427,0,0,0,0,0,0
$GC,11427,-0.58,-145.9,921.9,-7.7,627,11431,0.00,0.75,0.00,0.000,6,0.000,0.043,2819,1915,3427,0,0,0,0,0,0
$GC,11767,-0.58,-145.9,950.0,-8.1,638,11771,0.00,0.88,0.00,0.000,4,0.000,0.054,2819,1362,3427,0,0,0,0,0,0
$GC,11855,-0.58,-145.9,957.3,-7.6,640,11860,0.00,0.88,0.00,0.000,6,0.000,0.041,2816,1923,3427,0,0,0,0,0,0
$GC,12174,-0.58,-145.9,981.6,-7.3,651,12178,0.00,0.52,0.00,0.000,4,0.000,0.055,2815,1574,3427,0,0,0,0,0,0
$GC,12256,-0.58,-145.9,988.0,-7.7,653,12261,0.00,0.52,0.00,0.000,6,0.000,0.045,2813,1921,3426,0,0,0,0,0,0
$STATE,12426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12426,begin apogee
$GC,12430,-0.19,0.0,1000.7,7.7,659,12559,0.45,0.00,125.40,1.521,6,0.137,0.000,2950,1649,2827,0,0,0,0,0,0
$STATE,12559,end apogee,CONTROL_FINISHED_OK
$STATE,12560,begin climb
$GC,12561,0.52,145.9,1005.1,0.0,663,12698,0.73,0.55,129.15,1.488,4,0.081,0.057,3184,1335,2232,0,0,0,0,0,0
$GC,12733,0.32,145.9,1003.8,8.5,669,12737,0.22,0.50,0.00,0.000,6,0.177,0.044,3127,1648,2229,0,0,0,0,0,0
$GC,13073,0.26,194.4,983.2,5.8,680,13119,0.10,0.00,43.00,1.456,6,0.190,0.000,3103,1648,2035,0,0,0,0,0,0
$GC,13409,0.29,257.4,965.0,5.3,691,13470,0.00,1.02,56.33,1.465,4,0.000,0.041,3103,2259,1776,0,0,0,0,0,0
$GC,13508,0.41,288.3,959.4,6.4,694,13543,0.08,1.02,28.67,1.417,6,0.070,0.050,3143,1643,1651,0,0,0,0,0,0
$GC,13873,0.51,305.7,934.3,6.8,706,13895,0.10,2.35,15.90,1.360,4,0.112,0.069,3185,244,1580,0,0,0,0,0,0
$GC,13973,0.47,305.7,924.9,10.4,709,13978,0.08,2.22,0.00,0.000,6,0.188,0.037,3170,1647,1577,0,0,0,0,0,0
$GC,14308,0.45,305.7,894.7,9.3,720,14312,0.00,0.85,0.00,0.000,4,0.000,0.044,3171,2211,1575,0,0,0,0,0,0
$GC,14376,0.41,305.7,888.4,10.3,722,14380,0.08,0.90,0.00,0.000,6,0.161,0.054,3150,1648,1574,0,0,0,0,0,0
$GC,14716,0.43,305.7,861.0,8.4,733,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1648,1574,0,0,0,0,0,0
$GC,15021,0.43,305.7,833.9,9.0,743,15025,0.00,0.38,0.00,0.000,4,0.000,0.047,3150,1922,1573,0,0,0,0,0,0
$GC,15076,0.43,305.7,828.8,8.4,744,15080,0.00,0.45,0.00,0.000,6,0.000,0.060,3150,1639,1572,0,0,0,0,0,0
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$STATE,24609,end climb,SURFACE_DEPTH_REACHED
$STATE,24609,begin surface coast
$FINISH,1.5,1.009699
$STATE,24652,end surface coast,CONTROL_FINISHED_OK
$STATE,24652,begin surface
$SM_CCo,24727,0.00,0.000,0,0,1473,332.13
$SM_GC,2.77,8.43,0.00,0.00,0.054,0.000,0.000,86,1937,1473,-9.09,0.62,332.13
$IRIDIUM_FIX,-4233.25,-802.83,221012,030340
$TT8_MAMPS,0.026964
$HUMID,45.35
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.9,32.419
$10V_AH,10.2,26.404
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.325,82.025,420.625,0.000,0.000,29.436,42.596,251.426,0.250,0.000,22.738,3325.447,17039.941,542.809,4076.974,174.730,33.360,2085.824,0.000,3698.519,0.000,2.836,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354484
$DATA_FILE_SIZE,76935,1317
$CAP_FILE_SIZE,217395,0
$CFSIZE,2097086464,2075525120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221012,164105,-4245.820,-749.784,36,1.1,37,-21.6