version: 66.07.10.p01
glider: 574
mission: 4
dive: 141
start: 10 25 112 2 44 12
data:
$ID,574
$MISSION,4
$DIVE,141
$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,-5862.5713
$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,32
$R_STBD_OVSHOOT,50
$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,120
$GPS1,251012,023459,-4213.975,-747.694,47,1.3,47,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-71.2
$GPS2,251012,024318,-4213.946,-747.748,18,1.5,19,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,0.092
$KALMAN_X,-239624.2,-30.1,1097.7,322456.4,-7322.7
$KALMAN_Y,148925.3,-282.2,-429.7,-78437.8,6729.2
$MHEAD_RNG_PITCHd_Wd,88.8,46104,-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,25,-0.52,-145.9,0.0,0.0,0,82,0.00,0.00,-54.75,0.000,2,0.000,0.000,67,1912,2633,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.1,-1.5,9,128,12.70,2.25,-23.92,0.000,4,0.275,0.063,2825,3295,3420,0,0,0,0,0,0
$GC,224,-0.52,-145.9,14.7,-9.4,32,232,0.05,2.20,0.00,0.000,6,0.144,0.043,2842,1918,3422,0,0,0,0,0,0
$GC,304,-0.52,-145.9,22.0,-8.6,45,311,0.00,0.68,0.00,0.000,4,0.000,0.056,2842,1484,3422,0,0,0,0,0,0
$GC,366,-0.52,-145.9,27.1,-8.4,55,373,0.00,0.65,0.00,0.000,6,0.000,0.041,2840,1911,3422,0,0,0,0,0,0
$GC,443,-0.52,-145.9,33.8,-8.8,68,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1911,3422,0,0,0,0,0,0
$GC,680,-0.52,-145.9,54.9,-9.6,109,686,0.00,2.10,0.00,0.000,4,0.000,0.059,2840,607,3422,0,0,0,0,0,0
$GC,741,-0.52,-145.9,61.3,-9.7,120,749,0.00,2.03,0.00,0.000,6,0.000,0.034,2836,1907,3422,0,0,0,0,0,0
$GC,1088,-0.52,-145.9,94.6,-10.1,181,1092,0.00,0.47,0.00,0.000,4,0.000,0.046,2833,2249,3422,0,0,0,0,0,0
$GC,1139,-0.52,-145.9,99.7,-9.6,190,1144,0.00,0.52,0.00,0.000,6,0.000,0.050,2833,1901,3423,0,0,0,0,0,0
$GC,1459,-0.52,-145.9,131.0,-10.1,211,1462,0.00,0.65,0.00,0.000,4,0.000,0.054,2833,1470,3422,0,0,0,0,0,0
$GC,1519,-0.52,-145.9,137.5,-10.4,214,1526,0.00,0.70,0.00,0.000,6,0.000,0.037,2831,1932,3422,0,0,0,0,0,0
$GC,1839,-0.52,-145.9,167.7,-9.7,235,1843,0.00,1.25,0.00,0.000,4,0.000,0.054,2830,1149,3423,0,0,0,0,0,0
$GC,1916,-0.52,-145.9,175.9,-10.7,239,1923,0.08,1.17,0.00,0.000,6,0.187,0.034,2843,1908,3423,0,0,0,0,0,0
$GC,2238,-0.52,-145.9,203.3,-8.1,260,2241,0.00,0.95,0.00,0.000,4,0.000,0.054,2843,1309,3423,0,0,0,0,0,0
$GC,2298,-0.52,-145.9,208.7,-8.1,263,2304,0.00,0.95,0.00,0.000,6,0.000,0.035,2840,1927,3423,0,0,0,0,0,0
$GC,2618,-0.52,-145.9,234.9,-8.1,284,2622,0.00,1.30,0.00,0.000,4,0.000,0.054,2840,1115,3423,0,0,0,0,0,0
$GC,2706,-0.52,-145.9,241.9,-8.5,289,2710,0.00,1.23,0.00,0.000,6,0.000,0.037,2836,1909,3423,0,0,0,0,0,0
$GC,3024,-0.52,-145.9,265.5,-7.2,306,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1908,3423,0,0,0,0,0,0
$GC,3335,-0.52,-145.9,289.5,-7.8,321,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1909,3423,0,0,0,0,0,0
$GC,3642,-0.52,-145.9,315.3,-8.6,336,3645,0.00,1.65,0.00,0.000,4,0.000,0.057,2836,862,3423,0,0,0,0,0,0
$GC,3712,-0.52,-145.9,321.4,-9.2,339,3715,0.00,1.62,0.00,0.000,6,0.000,0.034,2829,1914,3423,0,0,0,0,0,0
$GC,4045,-0.52,-145.9,355.0,-11.1,355,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1914,3423,0,0,0,0,0,0
$GC,4353,-0.52,-145.9,394.2,-12.9,370,4356,0.00,1.50,0.00,0.000,4,0.000,0.055,2829,984,3423,0,0,0,0,0,0
$GC,4424,-0.52,-145.9,403.9,-13.3,373,4430,0.05,1.42,0.00,0.000,6,0.148,0.034,2841,1913,3423,0,0,0,0,0,0
$GC,4760,-0.55,-145.9,443.3,-11.3,384,4764,0.00,1.27,0.00,0.000,4,0.000,0.054,2842,1109,3422,0,0,0,0,0,0
$GC,4828,-0.57,-145.9,450.8,-10.9,386,4832,0.00,1.23,0.00,0.000,6,0.000,0.035,2837,1914,3422,0,0,0,0,0,0
$GC,5168,-0.59,-145.9,484.3,-9.1,397,5172,0.00,1.08,0.00,0.000,4,0.000,0.053,2837,1238,3422,0,0,0,0,0,0
$GC,5236,-0.59,-145.9,490.3,-8.5,399,5239,0.00,1.02,0.00,0.000,6,0.000,0.037,2834,1915,3422,0,0,0,0,0,0
$GC,5576,-0.59,-145.9,517.4,-7.5,410,5579,0.00,1.27,0.00,0.000,4,0.000,0.054,2834,1119,3421,0,0,0,0,0,0
$GC,5647,-0.59,-145.9,522.9,-7.0,412,5652,0.00,1.23,0.00,0.000,6,0.000,0.034,2829,1914,3421,0,0,0,0,0,0
$GC,5983,-0.59,-145.9,546.9,-7.2,423,5986,0.00,0.55,0.00,0.000,4,0.000,0.053,2829,1552,3421,0,0,0,0,0,0
$GC,6054,-0.59,-145.9,552.1,-7.1,425,6059,0.00,0.55,0.00,0.000,6,0.000,0.040,2827,1926,3421,0,0,0,0,0,0
$GC,6389,-0.59,-145.9,577.9,-8.1,436,6393,0.00,1.02,0.00,0.000,4,0.000,0.054,2827,1281,3420,0,0,0,0,0,0
$GC,6466,-0.59,-145.9,584.5,-9.1,438,6471,0.00,0.98,0.00,0.000,6,0.000,0.035,2824,1914,3420,0,0,0,0,0,0
$GC,6796,-0.59,-145.9,613.5,-9.0,449,6799,0.00,0.43,0.00,0.000,4,0.000,0.054,2824,1622,3419,0,0,0,0,0,0
$GC,6863,-0.59,-145.9,619.6,-8.4,451,6867,0.00,0.43,0.00,0.000,6,0.000,0.044,2823,1922,3419,0,0,0,0,0,0
$GC,7202,-0.59,-145.9,651.6,-9.4,462,7206,0.00,1.15,0.00,0.000,4,0.000,0.053,2822,1192,3418,0,0,0,0,0,0
$GC,7290,-0.59,-145.9,660.5,-10.5,464,7295,0.00,1.10,0.00,0.000,6,0.000,0.035,2818,1906,3418,0,0,0,0,0,0
$GC,7609,-0.59,-145.9,690.6,-9.4,475,7612,0.00,0.73,0.00,0.000,4,0.000,0.051,2818,1441,3418,0,0,0,0,0,0
$GC,7676,-0.59,-145.9,696.7,-9.0,477,7680,0.00,0.70,0.00,0.000,6,0.000,0.040,2815,1913,3417,0,0,0,0,0,0
$GC,8016,-0.59,-145.9,726.9,-8.8,488,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1913,3417,0,0,0,0,0,0
$GC,8322,-0.59,-145.9,752.0,-7.9,498,8326,0.00,1.52,0.00,0.000,4,0.000,0.054,2815,963,3416,0,0,0,0,0,0
$GC,8406,-0.59,-145.9,758.6,-7.7,500,8410,0.00,1.48,0.00,0.000,6,0.000,0.037,2809,1908,3416,0,0,0,0,0,0
$GC,8729,-0.57,-145.9,785.5,-8.7,511,8734,0.08,0.43,0.00,0.000,4,0.202,0.054,2827,1628,3416,0,0,0,0,0,0
$GC,8806,-0.57,-145.9,791.9,-8.0,513,8810,0.00,0.45,0.00,0.000,6,0.000,0.041,2826,1936,3416,0,0,0,0,0,0
$GC,9135,-0.57,-145.9,819.6,-8.9,524,9139,0.00,1.20,0.00,0.000,4,0.000,0.050,2826,1181,3416,0,0,0,0,0,0
$GC,9207,-0.59,-145.9,826.6,-9.4,526,9211,0.00,1.12,0.00,0.000,6,0.000,0.034,2823,1911,3415,0,0,0,0,0,0
$GC,9542,-0.59,-145.9,858.0,-9.3,537,9545,0.00,0.50,0.00,0.000,4,0.000,0.051,2823,1572,3415,0,0,0,0,0,0
$GC,9602,-0.59,-145.9,863.5,-8.9,538,9607,0.00,0.52,0.00,0.000,6,0.000,0.041,2821,1925,3415,0,0,0,0,0,0
$GC,9914,-0.59,-145.9,890.6,-8.8,549,9918,0.00,1.08,0.00,0.000,4,0.000,0.051,2821,1241,3414,0,0,0,0,0,0
$GC,10002,-0.59,-145.9,898.2,-8.5,551,10007,0.00,1.02,0.00,0.000,6,0.000,0.036,2816,1908,3414,0,0,0,0,0,0
$GC,10321,-0.59,-145.9,925.1,-8.7,562,10324,0.00,1.58,0.00,0.000,4,0.000,0.054,2817,931,3414,0,0,0,0,0,0
$GC,10408,-0.59,-145.9,933.1,-8.4,564,10414,0.00,1.52,0.00,0.000,6,0.000,0.034,2811,1908,3414,0,0,0,0,0,0
$GC,10727,-0.59,-145.9,961.8,-9.0,575,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1908,3414,0,0,0,0,0,0
$GC,11034,-0.59,-145.9,988.8,-8.7,585,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1908,3414,0,0,0,0,0,0
$STATE,11186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11186,begin apogee
$GC,11191,-0.19,0.0,1001.4,8.2,590,11317,0.45,0.00,122.80,1.574,6,0.138,0.000,2946,1649,2827,0,0,0,0,0,0
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11319,0.52,145.9,1006.6,0.0,594,11455,0.70,1.10,130.07,1.535,4,0.078,0.038,3177,2309,2233,0,0,0,0,0,0
$GC,11516,0.33,145.9,1003.7,7.5,600,11521,0.20,1.10,0.00,0.000,6,0.168,0.049,3129,1664,2229,0,0,0,0,0,0
$GC,11840,0.27,164.1,983.0,6.8,611,11861,0.10,1.05,16.73,1.425,4,0.197,0.041,3105,2307,2156,0,0,0,0,0,0
$GC,11944,0.27,221.9,976.5,5.4,614,12000,0.00,1.10,51.75,1.512,6,0.000,0.050,3106,1643,1922,0,0,0,0,0,0
$GC,12336,0.31,221.9,948.5,7.5,627,12339,0.00,1.45,0.00,0.000,4,0.000,0.041,3106,2549,1915,0,0,0,0,0,0
$GC,12403,0.33,221.9,943.5,7.5,629,12407,0.00,1.45,0.00,0.000,6,0.000,0.049,3110,1652,1913,0,0,0,0,0,0
$GC,12744,0.37,254.7,921.1,6.3,640,12776,0.05,0.00,29.08,1.469,6,0.165,0.000,3136,1652,1788,0,0,0,0,0,0
$GC,13080,0.37,264.2,897.2,7.1,651,13091,0.00,0.00,9.00,1.281,6,0.000,0.000,3136,1652,1750,0,0,0,0,0,0
$GC,13386,0.37,301.2,877.9,6.1,661,13423,0.00,0.00,35.00,1.464,6,0.000,0.000,3136,1652,1599,0,0,0,0,0,0
$GC,13723,0.40,344.3,858.3,5.9,672,13767,0.00,0.50,39.35,1.451,4,0.000,0.063,3136,1361,1422,0,0,0,0,0,0
$GC,13806,0.47,377.7,853.5,6.3,674,13842,0.05,0.45,31.60,1.425,6,0.083,0.042,3166,1664,1287,0,0,0,0,0,0
$GC,14149,0.50,377.7,824.7,9.1,685,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1664,1279,0,0,0,0,0,0
$GC,14455,0.53,377.7,793.8,10.5,695,14459,0.00,0.65,0.00,0.000,4,0.000,0.062,3166,1255,1277,0,0,0,0,0,0
$GC,14504,0.56,377.7,788.3,11.4,696,14510,0.10,0.62,0.00,0.000,6,0.109,0.040,3205,1668,1276,0,0,0,0,0,0
$GC,14828,0.52,377.7,746.1,12.9,707,14830,0.10,0.00,0.00,0.000,6,0.190,0.000,3183,1669,1276,0,0,0,0,0,0
$GC,15134,0.52,377.7,712.7,10.7,717,15137,0.00,0.62,0.00,0.000,4,0.000,0.063,3184,1271,1275,0,0,0,0,0,0
$GC,15177,0.52,377.7,708.0,10.6,718,15181,0.00,0.57,0.00,0.000,6,0.000,0.043,3184,1649,1275,0,0,0,0,0,0
$GC,15506,0.52,377.7,678.2,8.5,729,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1649,1274,0,0,0,0,0,0
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$STATE,22532,end climb,SURFACE_DEPTH_REACHED
$STATE,22533,begin surface coast
$FINISH,1.6,1.001887
$STATE,22569,end surface coast,CONTROL_FINISHED_OK
$STATE,22569,begin surface
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$TT8_MAMPS,0.026964
$HUMID,46.14
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.7,34.667
$10V_AH,10.2,27.750
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.425,67.250,480.350,0.000,0.000,29.931,47.819,299.902,0.250,0.000,21.517,2890.558,16044.578,558.180,3495.171,146.515,33.356,1847.939,0.000,3064.604,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
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$MEM,354208
$DATA_FILE_SIZE,70321,1168
$CAP_FILE_SIZE,179164,0
$CFSIZE,2097086464,2074247168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251012,090235,-4210.760,-743.819,25,1.6,26,-21.9