version: 66.07.10.p01
glider: 574
mission: 4
dive: 188
start: 11 7 112 2 29 59
data:
$ID,574
$MISSION,4
$DIVE,188
$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,-6019.7593
$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,30
$R_STBD_OVSHOOT,37
$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,167
$GPS1,071112,022106,-4210.370,-704.579,29,1.4,30,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-74.7
$GPS2,071112,022905,-4210.392,-704.574,31,1.0,32,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.194,-0.066
$KALMAN_X,-348684.4,753.1,-325.3,490755.5,-2048.4
$KALMAN_Y,269808.5,25.6,-370.4,-193123.6,664.4
$MHEAD_RNG_PITCHd_Wd,273.1,7491,-16.5,-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,-0.62,-107.4,0.0,0.0,0,64,0.00,0.00,-37.35,0.000,2,0.000,0.000,67,1914,2454,0,0,0,0,0,0
$GC,67,-0.62,-145.9,3.1,-1.5,6,123,12.70,2.28,-32.72,0.000,4,0.275,0.064,2794,3308,3424,0,0,0,0,0,0
$GC,166,-0.62,-145.9,10.3,-10.3,22,174,0.05,2.25,0.00,0.000,6,0.153,0.050,2811,1925,3424,0,0,0,0,0,0
$GC,246,-0.62,-145.9,17.9,-9.6,35,253,0.00,1.05,0.00,0.000,4,0.000,0.064,2811,1286,3425,0,0,0,0,0,0
$GC,309,-0.60,-145.9,24.0,-9.9,45,316,0.00,1.00,0.00,0.000,6,0.000,0.041,2808,1921,3425,0,0,0,0,0,0
$GC,386,-0.60,-145.9,32.2,-10.0,58,393,0.00,0.57,0.00,0.000,4,0.000,0.059,2808,1559,3425,0,0,0,0,0,0
$GC,442,-0.60,-145.9,37.4,-9.7,67,447,0.00,0.55,0.00,0.000,6,0.000,0.044,2805,1925,3425,0,0,0,0,0,0
$GC,675,-0.60,-145.9,59.8,-9.5,108,683,0.00,1.15,0.00,0.000,4,0.000,0.060,2805,1226,3425,0,0,0,0,0,0
$GC,734,-0.60,-145.9,65.8,-10.1,118,740,0.03,1.08,0.00,0.000,6,0.189,0.040,2810,1914,3425,0,0,0,0,0,0
$GC,1079,-0.60,-145.9,99.8,-9.7,179,1083,0.00,1.45,0.00,0.000,4,0.000,0.060,2810,1035,3426,0,0,0,0,0,0
$GC,1133,-0.60,-145.9,105.0,-10.4,183,1137,0.00,1.38,0.00,0.000,6,0.000,0.040,2805,1910,3426,0,0,0,0,0,0
$GC,1463,-0.60,-145.9,139.8,-10.6,204,1466,0.00,1.20,0.00,0.000,4,0.000,0.058,2805,1168,3426,0,0,0,0,0,0
$GC,1516,-0.60,-145.9,145.3,-10.7,207,1520,0.05,1.17,0.00,0.000,6,0.157,0.041,2817,1918,3426,0,0,0,0,0,0
$GC,1846,-0.72,-145.9,177.5,-9.5,228,1851,0.10,2.35,0.00,0.000,4,0.112,0.063,2779,495,3426,0,0,0,0,0,0
$GC,1894,-0.65,-145.9,182.8,-12.4,231,1898,0.12,2.20,0.00,0.000,6,0.174,0.038,2800,1915,3427,0,0,0,0,0,0
$GC,2218,-0.74,-145.9,214.6,-9.2,252,2222,0.08,2.22,0.00,0.000,4,0.135,0.050,2765,3322,3427,0,0,0,0,0,0
$GC,2280,-0.71,-145.9,221.3,-11.5,256,2285,0.08,2.20,0.00,0.000,6,0.192,0.042,2780,1902,3427,0,0,0,0,0,0
$GC,2604,-0.67,-145.9,258.7,-11.4,276,2609,0.05,2.22,0.00,0.000,4,0.245,0.059,2793,507,3427,0,0,0,0,0,0
$GC,2689,-0.64,-145.9,268.6,-11.7,280,2694,0.08,2.17,0.00,0.000,6,0.197,0.034,2800,1927,3426,0,0,0,0,0,0
$GC,3015,-0.64,-145.9,303.6,-10.5,296,3018,0.00,0.62,0.00,0.000,4,0.000,0.053,2800,1524,3427,0,0,0,0,0,0
$GC,3064,-0.64,-145.9,309.1,-10.5,298,3068,0.00,0.60,0.00,0.000,6,0.000,0.041,2798,1920,3427,0,0,0,0,0,0
$GC,3391,-0.64,-145.9,345.5,-11.2,314,3394,0.00,1.98,0.00,0.000,4,0.000,0.057,2798,679,3427,0,0,0,0,0,0
$GC,3451,-0.64,-145.9,352.5,-10.6,316,3460,0.00,1.90,0.00,0.000,6,0.000,0.035,2790,1907,3427,0,0,0,0,0,0
$GC,3768,-0.64,-145.9,386.3,-10.5,332,3771,0.00,0.47,0.00,0.000,4,0.000,0.048,2788,2247,3427,0,0,0,0,0,0
$GC,3794,-0.64,-145.9,389.3,-10.4,333,3799,0.08,0.52,0.00,0.000,6,0.184,0.050,2805,1908,3427,0,0,0,0,0,0
$GC,4129,-0.77,-145.9,419.2,-9.0,346,4134,0.12,1.25,0.00,0.000,4,0.103,0.046,2755,2692,3426,0,0,0,0,0,0
$GC,4144,-0.85,-145.9,421.0,-9.6,346,4148,0.00,1.20,0.00,0.000,6,0.000,0.044,2755,1921,3426,0,0,0,0,0,0
$GC,4468,-0.76,-145.9,461.9,-12.7,357,4472,0.00,1.90,0.00,0.000,4,0.000,0.057,2755,722,3426,0,0,0,0,0,0
$GC,4537,-0.67,-145.9,470.8,-12.1,359,4541,0.17,1.83,0.00,0.000,6,0.170,0.036,2791,1920,3425,0,0,0,0,0,0
$GC,4876,-0.67,-145.9,505.6,-9.8,370,4880,0.00,0.85,0.00,0.000,4,0.000,0.044,2788,2488,3425,0,0,0,0,0,0
$GC,4919,-0.67,-145.9,510.0,-9.7,371,4924,0.00,0.93,0.00,0.000,6,0.000,0.044,2788,1903,3425,0,0,0,0,0,0
$GC,5249,-0.67,-145.9,541.4,-9.7,382,5253,0.00,2.17,0.00,0.000,4,0.000,0.058,2788,529,3424,0,0,0,0,0,0
$GC,5310,-0.67,-145.9,547.4,-9.6,384,5314,0.00,2.12,0.00,0.000,6,0.000,0.035,2780,1913,3424,0,0,0,0,0,0
$GC,5644,-0.64,-145.9,581.2,-10.1,395,5646,0.10,0.00,0.00,0.000,6,0.200,0.000,2803,1914,3424,0,0,0,0,0,0
$GC,5951,-0.66,-145.9,607.3,-8.2,405,5954,0.00,1.77,0.00,0.000,4,0.000,0.055,2804,792,3423,0,0,0,0,0,0
$GC,5999,-0.66,-145.9,611.7,-8.5,406,6004,0.00,1.73,0.00,0.000,6,0.000,0.034,2797,1907,3424,0,0,0,0,0,0
$GC,6324,-0.66,-145.9,638.8,-8.3,417,6327,0.00,1.67,0.00,0.000,4,0.000,0.046,2789,2995,3422,0,0,0,0,0,0
$GC,6367,-0.70,-145.9,642.6,-8.2,418,6372,0.00,1.70,0.00,0.000,6,0.000,0.040,2789,1909,3422,0,0,0,0,0,0
$GC,6697,-0.70,-145.9,671.4,-8.7,429,6701,0.00,2.00,0.00,0.000,4,0.000,0.057,2790,637,3422,0,0,0,0,0,0
$GC,6751,-0.70,-145.9,676.6,-9.5,430,6756,0.00,1.98,0.00,0.000,6,0.000,0.035,2782,1904,3422,0,0,0,0,0,0
$GC,7069,-0.70,-145.9,705.8,-9.4,441,7073,0.00,0.62,0.00,0.000,4,0.000,0.046,2780,2337,3421,0,0,0,0,0,0
$GC,7113,-0.70,-145.9,710.2,-9.9,442,7117,0.00,0.68,0.00,0.000,6,0.000,0.046,2780,1902,3422,0,0,0,0,0,0
$GC,7442,-0.70,-145.9,741.8,-9.6,453,7446,0.00,1.05,0.00,0.000,4,0.000,0.054,2780,1233,3421,0,0,0,0,0,0
$GC,7497,-0.67,-145.9,747.5,-10.2,454,7502,0.05,1.05,0.00,0.000,6,0.168,0.037,2790,1917,3421,0,0,0,0,0,0
$GC,7815,-0.67,-145.9,776.2,-9.0,465,7818,0.00,1.12,0.00,0.000,4,0.000,0.054,2792,1214,3421,0,0,0,0,0,0
$GC,7875,-0.67,-145.9,781.7,-9.1,466,7881,0.00,1.10,0.00,0.000,6,0.000,0.037,2788,1918,3421,0,0,0,0,0,0
$GC,8188,-0.67,-145.9,810.2,-9.5,477,8191,0.00,0.70,0.00,0.000,4,0.000,0.053,2788,1470,3420,0,0,0,0,0,0
$GC,8242,-0.67,-145.9,815.7,-9.8,478,8246,0.00,0.70,0.00,0.000,6,0.000,0.041,2786,1925,3420,0,0,0,0,0,0
$GC,8560,-0.67,-145.9,848.7,-10.7,489,8564,0.00,0.68,0.00,0.000,4,0.000,0.053,2786,1489,3420,0,0,0,0,0,0
$GC,8609,-0.67,-145.9,854.3,-11.1,490,8614,0.00,0.65,0.00,0.000,6,0.000,0.041,2783,1911,3420,0,0,0,0,0,0
$GC,8933,-0.67,-145.9,891.5,-11.9,501,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1911,3419,0,0,0,0,0,0
$GC,9239,-0.67,-145.9,927.6,-11.8,511,9242,0.00,1.35,0.00,0.000,4,0.000,0.054,2783,1074,3419,0,0,0,0,0,0
$GC,9316,-0.67,-145.9,937.2,-11.8,513,9322,0.08,1.33,0.00,0.000,6,0.203,0.037,2793,1916,3419,0,0,0,0,0,0
$GC,9645,-0.67,-145.9,971.9,-10.4,524,9649,0.00,1.05,0.00,0.000,4,0.000,0.053,2793,1258,3419,0,0,0,0,0,0
$GC,9713,-0.69,-145.9,978.6,-9.4,526,9717,0.00,1.00,0.00,0.000,6,0.000,0.040,2790,1906,3419,0,0,0,0,0,0
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9961,begin apogee
$GC,9965,-0.19,0.0,1002.7,9.7,534,10093,0.52,0.00,125.15,1.529,6,0.137,0.000,2947,1653,2827,0,0,0,0,0,0
$STATE,10094,end apogee,CONTROL_FINISHED_OK
$STATE,10094,begin climb
$GC,10096,0.62,145.9,1009.6,0.0,538,10232,0.82,0.00,132.73,1.497,6,0.079,0.000,3209,1652,2232,0,0,0,0,0,0
$GC,10539,0.43,145.9,990.5,7.8,553,10543,0.22,1.70,0.00,0.000,4,0.197,0.044,3155,2714,2226,0,0,0,0,0,0
$GC,10641,0.34,159.0,983.7,6.8,556,10660,0.12,1.73,12.07,1.321,6,0.178,0.049,3128,1661,2178,0,0,0,0,0,0
$GC,10978,0.34,180.4,963.7,6.4,567,11003,0.00,0.85,20.42,1.405,4,0.000,0.059,3130,1144,2090,0,0,0,0,0,0
$GC,11043,0.34,187.0,959.3,7.1,569,11054,0.00,0.80,6.90,1.173,6,0.000,0.043,3130,1649,2064,0,0,0,0,0,0
$GC,11377,0.34,187.0,933.3,7.8,580,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1649,2061,0,0,0,0,0,0
$GC,11683,0.34,187.0,908.3,8.1,590,11687,0.00,0.95,0.00,0.000,4,0.000,0.046,3131,2271,2061,0,0,0,0,0,0
$GC,11738,0.34,187.0,903.9,7.9,591,11742,0.00,1.02,0.00,0.000,6,0.000,0.052,3132,1641,2061,0,0,0,0,0,0
$GC,12057,0.34,194.0,879.9,7.1,602,12065,0.00,0.00,6.93,1.141,6,0.000,0.000,3132,1641,2036,0,0,0,0,0,0
$GC,12363,0.34,222.2,860.0,6.1,612,12394,0.00,1.70,26.65,1.385,4,0.000,0.046,3132,2661,1921,0,0,0,0,0,0
$GC,12449,0.34,252.9,854.6,6.0,614,12484,0.00,1.65,28.75,1.393,6,0.000,0.050,3132,1657,1796,0,0,0,0,0,0
$GC,12798,0.40,298.6,835.3,5.3,626,12844,0.00,0.88,41.72,1.396,4,0.000,0.063,3132,1152,1609,0,0,0,0,0,0
$GC,12872,0.51,352.4,831.2,4.9,628,12927,0.10,0.80,50.25,1.389,6,0.069,0.041,3176,1659,1389,0,0,0,0,0,0
$GC,13256,0.55,352.4,800.1,8.4,641,13260,0.00,0.68,0.00,0.000,4,0.000,0.063,3177,1244,1380,0,0,0,0,0,0
$GC,13300,0.59,352.4,796.2,9.0,642,13305,0.08,0.65,0.00,0.000,6,0.134,0.044,3205,1660,1379,0,0,0,0,0,0
$GC,13629,0.59,352.4,762.3,10.5,653,13632,0.00,1.45,0.00,0.000,4,0.000,0.066,3210,782,1378,0,0,0,0,0,0
$GC,13672,0.59,352.4,757.4,11.1,654,13677,0.00,1.38,0.00,0.000,6,0.000,0.040,3209,1643,1376,0,0,0,0,0,0
$GC,14002,0.57,352.4,722.2,10.7,665,14006,0.00,0.65,0.00,0.000,4,0.000,0.063,3212,1245,1376,0,0,0,0,0,0
$GC,14046,0.54,352.4,717.0,12.1,666,14051,0.08,0.65,0.00,0.000,6,0.162,0.044,3189,1666,1375,0,0,0,0,0,0
$GC,14375,0.56,352.4,681.7,11.2,677,14379,0.00,0.73,0.00,0.000,4,0.000,0.065,3191,1212,1375,0,0,0,0,0,0
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$STATE,21278,end climb,SURFACE_DEPTH_REACHED
$STATE,21278,begin surface coast
$FINISH,1.6,1.018112
$STATE,21322,end surface coast,CONTROL_FINISHED_OK
$STATE,21322,begin surface
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$TT8_MAMPS,0.026964
$HUMID,47.28
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.5,45.057
$10V_AH,10.1,34.219
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.750,123.125,461.275,0.000,0.000,25.010,39.795,276.885,0.250,0.000,34.659,2856.942,14798.379,578.463,3450.977,185.654,33.360,1918.985,0.000,3048.164,0.000,2.832,0.000
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$SENSOR_SECS,727.089,1237.731,736.616,96.521,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354564
$DATA_FILE_SIZE,66938,1122
$CAP_FILE_SIZE,196835,0
$CFSIZE,2097086464,2067955712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071112,082759,-4211.284,-706.566,48,1.2,49,-21.9