version: 66.07.10.p01
glider: 574
mission: 4
dive: 196
start: 11 9 112 4 53 54
data:
$ID,574
$MISSION,4
$DIVE,196
$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,-6047.2124
$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,61
$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,175
$GPS1,091112,043545,-4212.559,-707.337,65,3.3,85,-21.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-72.4
$GPS2,091112,045300,-4212.410,-707.231,160,5.8,179,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.232,0.035
$KALMAN_X,-330580.9,-639.6,-1423.1,471561.0,7883.1
$KALMAN_Y,266981.8,-353.5,1164.7,-195185.2,-2077.9
$MHEAD_RNG_PITCHd_Wd,300.4,4577,-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,22,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,57,0.00,0.00,-30.73,0.000,2,0.000,0.000,66,1946,2531,0,0,0,0,0,0
$GC,59,-0.52,-145.9,3.1,-1.8,5,104,12.90,1.35,-24.80,0.000,4,0.277,0.062,2825,2801,3423,0,0,0,0,0,0
$GC,124,-0.46,-145.9,10.0,-11.2,15,132,0.10,1.42,0.00,0.000,6,0.134,0.048,2859,1920,3424,0,0,0,0,0,0
$GC,205,-0.62,-145.9,16.8,-7.8,28,213,0.15,1.88,0.00,0.000,4,0.090,0.066,2797,798,3424,0,0,0,0,0,0
$GC,251,-0.62,-145.9,21.2,-9.8,35,258,0.05,1.73,0.00,0.000,6,0.173,0.038,2806,1884,3424,0,0,0,0,0,0
$GC,330,-0.56,-145.9,31.9,-13.5,48,337,0.10,0.65,0.00,0.000,4,0.181,0.047,2830,2318,3424,0,0,0,0,0,0
$GC,367,-0.53,-145.9,35.2,-8.6,54,374,0.00,0.65,0.00,0.000,6,0.000,0.055,2830,1908,3424,0,0,0,0,0,0
$GC,606,-0.61,-145.9,59.3,-8.2,95,611,0.00,2.25,0.00,0.000,4,0.000,0.050,2822,3319,3424,0,0,0,0,0,0
$GC,663,-0.67,-145.9,64.5,-8.7,105,670,0.05,2.25,0.00,0.000,6,0.083,0.046,2791,1914,3424,0,0,0,0,0,0
$GC,1008,-0.67,-145.9,97.0,-9.8,166,1013,0.00,2.22,0.00,0.000,4,0.000,0.048,2783,3321,3424,0,0,0,0,0,0
$GC,1085,-0.62,-145.9,105.5,-11.8,174,1094,0.08,2.22,0.00,0.000,6,0.146,0.041,2806,1908,3424,0,0,0,0,0,0
$GC,1407,-0.67,-145.9,134.8,-8.4,195,1411,0.00,2.25,0.00,0.000,4,0.000,0.060,2806,501,3424,0,0,0,0,0,0
$GC,1485,-0.62,-145.9,142.7,-9.8,199,1491,0.00,2.20,0.00,0.000,6,0.000,0.034,2797,1921,3424,0,0,0,0,0,0
$GC,1805,-0.65,-145.9,171.7,-9.0,220,1808,0.00,2.17,0.00,0.000,4,0.000,0.048,2788,3314,3425,0,0,0,0,0,0
$GC,1860,-0.63,-145.9,177.2,-9.9,223,1867,0.05,2.20,0.00,0.000,6,0.146,0.038,2805,1899,3424,0,0,0,0,0,0
$GC,2180,-0.69,-145.9,205.8,-9.2,244,2184,0.00,2.22,0.00,0.000,4,0.000,0.045,2795,3317,3425,0,0,0,0,0,0
$GC,2243,-0.71,-145.9,211.8,-9.9,248,2247,0.00,2.15,0.00,0.000,6,0.000,0.038,2795,1914,3425,0,0,0,0,0,0
$GC,2570,-0.75,-145.9,241.6,-8.8,269,2575,0.08,2.20,0.00,0.000,4,0.133,0.045,2757,3315,3425,0,0,0,0,0,0
$GC,2606,-0.68,-145.9,245.2,-10.4,271,2611,0.12,2.15,0.00,0.000,6,0.171,0.037,2787,1910,3425,0,0,0,0,0,0
$GC,2933,-0.60,-145.9,278.4,-10.0,288,2938,0.12,2.25,0.00,0.000,4,0.174,0.057,2822,503,3425,0,0,0,0,0,0
$GC,3004,-0.60,-145.9,285.2,-8.9,291,3009,0.00,2.17,0.00,0.000,6,0.000,0.030,2813,1924,3425,0,0,0,0,0,0
$GC,3329,-0.67,-145.9,309.6,-7.2,307,3333,0.00,2.15,0.00,0.000,4,0.000,0.047,2805,3318,3425,0,0,0,0,0,0
$GC,3406,-0.79,-145.9,315.9,-7.5,310,3411,0.10,2.17,0.00,0.000,6,0.063,0.037,2754,1911,3425,0,0,0,0,0,0
$GC,3728,-0.73,-145.9,346.5,-9.8,326,3733,0.10,2.22,0.00,0.000,4,0.181,0.055,2779,502,3425,0,0,0,0,0,0
$GC,3813,-0.63,-145.9,355.4,-10.3,330,3818,0.12,2.12,0.00,0.000,6,0.173,0.031,2801,1917,3425,0,0,0,0,0,0
$GC,4140,-0.68,-145.9,382.9,-8.4,346,4144,0.00,2.12,0.00,0.000,4,0.000,0.044,2792,3309,3425,0,0,0,0,0,0
$GC,4212,-0.74,-145.9,389.5,-9.3,349,4217,0.03,2.15,0.00,0.000,6,0.107,0.034,2772,1911,3425,0,0,0,0,0,0
$GC,4542,-0.74,-145.9,420.6,-9.4,362,4546,0.00,2.17,0.00,0.000,4,0.000,0.042,2763,3313,3425,0,0,0,0,0,0
$GC,4620,-0.67,-145.9,428.9,-10.8,364,4625,0.10,2.15,0.00,0.000,6,0.142,0.034,2794,1911,3424,0,0,0,0,0,0
$GC,4944,-0.72,-145.9,456.9,-8.5,375,4947,0.00,1.65,0.00,0.000,4,0.000,0.050,2794,864,3424,0,0,0,0,0,0
$GC,4970,-0.72,-145.9,459.6,-9.2,375,4976,0.00,1.60,0.00,0.000,6,0.000,0.030,2788,1907,3424,0,0,0,0,0,0
$GC,5284,-0.74,-145.9,485.6,-8.2,386,5287,0.00,2.17,0.00,0.000,4,0.000,0.044,2779,3320,3424,0,0,0,0,0,0
$GC,5361,-0.72,-145.9,492.8,-10.0,388,5365,0.00,2.17,0.00,0.000,6,0.000,0.034,2779,1909,3424,0,0,0,0,0,0
$GC,5690,-0.72,-145.9,522.5,-9.2,399,5694,0.00,2.10,0.00,0.000,4,0.000,0.053,2779,579,3423,0,0,0,0,0,0
$GC,5723,-0.66,-145.9,525.9,-10.4,400,5728,0.08,2.05,0.00,0.000,6,0.160,0.031,2793,1911,3424,0,0,0,0,0,0
$GC,6058,-0.70,-145.9,556.4,-9.1,411,6062,0.00,2.17,0.00,0.000,4,0.000,0.045,2784,3313,3423,0,0,0,0,0,0
$GC,6141,-0.73,-145.9,564.7,-10.6,413,6145,0.00,2.17,0.00,0.000,6,0.000,0.035,2784,1907,3423,0,0,0,0,0,0
$GC,6459,-0.75,-145.9,595.2,-9.6,424,6463,0.00,2.20,0.00,0.000,4,0.000,0.044,2777,3314,3422,0,0,0,0,0,0
$GC,6514,-0.73,-145.9,601.2,-10.2,425,6520,0.00,2.17,0.00,0.000,6,0.000,0.035,2777,1907,3422,0,0,0,0,0,0
$GC,6827,-0.73,-145.9,631.2,-9.3,436,6831,0.00,2.20,0.00,0.000,4,0.000,0.054,2777,509,3423,0,0,0,0,0,0
$GC,6887,-0.64,-145.9,637.6,-11.2,437,6893,0.10,2.17,0.00,0.000,6,0.152,0.033,2800,1913,3422,0,0,0,0,0,0
$GC,7200,-0.71,-145.9,661.8,-7.4,448,7204,0.00,2.17,0.00,0.000,4,0.000,0.045,2791,3313,3421,0,0,0,0,0,0
$GC,7271,-0.79,-145.9,667.4,-7.4,450,7276,0.08,2.17,0.00,0.000,6,0.076,0.034,2753,1903,3421,0,0,0,0,0,0
$GC,7600,-0.76,-145.9,695.7,-8.3,461,7602,0.05,0.00,0.00,0.000,6,0.223,0.000,2764,1902,3421,0,0,0,0,0,0
$GC,7907,-0.76,-145.9,718.4,-7.3,471,7911,0.00,2.22,0.00,0.000,4,0.000,0.043,2755,3324,3420,0,0,0,0,0,0
$GC,7989,-0.68,-145.9,725.7,-9.5,473,7995,0.10,2.17,0.00,0.000,6,0.145,0.034,2786,1918,3420,0,0,0,0,0,0
$GC,8308,-0.62,-145.9,751.0,-8.1,484,8313,0.10,2.22,0.00,0.000,4,0.197,0.054,2811,511,3420,0,0,0,0,0,0
$GC,8370,-0.62,-145.9,755.8,-7.3,486,8374,0.00,2.15,0.00,0.000,6,0.000,0.033,2804,1918,3420,0,0,0,0,0,0
$GC,8705,-0.70,-145.9,779.2,-7.2,497,8708,0.00,2.17,0.00,0.000,4,0.000,0.047,2794,3315,3420,0,0,0,0,0,0
$GC,8788,-0.80,-145.9,786.2,-9.0,499,8793,0.10,2.17,0.00,0.000,6,0.070,0.037,2746,1915,3419,0,0,0,0,0,0
$GC,9106,-0.66,-145.9,821.0,-12.5,510,9111,0.20,2.22,0.00,0.000,4,0.171,0.054,2800,511,3419,0,0,0,0,0,0
$GC,9206,-0.63,-145.9,831.9,-10.3,513,9210,0.00,2.17,0.00,0.000,6,0.000,0.034,2792,1913,3419,0,0,0,0,0,0
$GC,9541,-0.59,-145.9,865.5,-10.3,524,9543,0.10,0.00,0.00,0.000,6,0.188,0.000,2818,1913,3418,0,0,0,0,0,0
$GC,9848,-0.74,-145.9,891.0,-8.2,534,9852,0.12,2.28,0.00,0.000,4,0.101,0.054,2770,506,3418,0,0,0,0,0,0
$GC,9924,-0.65,-145.9,899.2,-11.5,536,9929,0.10,2.17,0.00,0.000,6,0.153,0.034,2793,1905,3418,0,0,0,0,0,0
$GC,10249,-0.63,-145.9,928.7,-9.2,547,10253,0.05,0.80,0.00,0.000,4,0.243,0.050,2805,1399,3417,0,0,0,0,0,0
$GC,10316,-0.63,-145.9,934.3,-8.0,549,10319,0.00,0.77,0.00,0.000,6,0.000,0.036,2803,1920,3417,0,0,0,0,0,0
$GC,10656,-0.63,-145.9,961.4,-7.9,560,10660,0.00,2.28,0.00,0.000,4,0.000,0.054,2803,508,3417,0,0,0,0,0,0
$GC,10709,-0.63,-145.9,966.1,-9.1,561,10716,0.00,2.17,0.00,0.000,6,0.000,0.034,2796,1901,3417,0,0,0,0,0,0
$GC,11023,-0.63,-145.9,991.5,-8.2,572,11026,0.00,0.90,0.00,0.000,4,0.000,0.051,2796,1333,3416,0,0,0,0,0,0
$GC,11083,-0.61,-145.9,996.7,-8.6,573,11090,0.08,0.93,0.00,0.000,6,0.205,0.037,2810,1929,3416,0,0,0,0,0,0
$STATE,11150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11151,begin apogee
$GC,11155,-0.19,0.0,1001.7,7.5,576,11283,0.45,0.00,125.05,1.534,6,0.135,0.000,2946,1641,2827,0,0,0,0,0,0
$STATE,11284,end apogee,CONTROL_FINISHED_OK
$STATE,11284,begin climb
$GC,11285,0.52,145.9,1007.9,0.0,580,11426,0.70,2.53,132.27,1.519,4,0.081,0.044,3172,3042,2232,0,0,0,0,0,0
$GC,11516,0.33,184.5,1005.8,6.1,587,11561,0.25,2.33,36.53,1.450,6,0.190,0.045,3123,1667,2073,0,0,0,0,0,0
$GC,11874,0.31,259.0,987.4,4.9,599,11945,0.00,0.85,66.90,1.471,4,0.000,0.060,3124,1186,1771,0,0,0,0,0,0
$GC,11978,0.33,342.9,982.2,4.5,602,12063,0.00,0.77,79.22,1.465,6,0.000,0.034,3124,1662,1429,0,0,0,0,0,0
$GC,12394,0.63,349.0,954.5,7.2,616,12404,0.28,2.20,5.18,1.014,4,0.085,0.041,3223,3048,1405,0,0,0,0,0,0
$GC,12523,0.52,349.0,941.1,11.3,620,12528,0.17,2.25,0.00,0.000,6,0.181,0.044,3184,1643,1404,0,0,0,0,0,0
$GC,12858,0.49,349.0,912.0,8.6,631,12862,0.00,2.05,0.00,0.000,4,0.000,0.063,3186,375,1403,0,0,0,0,0,0
$GC,12909,0.47,349.0,907.5,9.2,632,12913,0.10,1.98,0.00,0.000,6,0.174,0.032,3163,1658,1401,0,0,0,0,0,0
$GC,13225,0.47,349.0,883.3,7.7,643,13229,0.00,0.55,0.00,0.000,4,0.000,0.041,3163,2057,1401,0,0,0,0,0,0
$GC,13259,0.47,349.0,880.5,8.1,644,13263,0.00,0.65,0.00,0.000,6,0.000,0.051,3163,1643,1401,0,0,0,0,0,0
$GC,13599,0.47,349.0,851.2,9.2,655,13603,0.00,2.28,0.00,0.000,4,0.000,0.066,3162,242,1402,0,0,0,0,0,0
$GC,13654,0.50,349.0,846.2,8.2,656,13659,0.00,2.17,0.00,0.000,6,0.000,0.034,3162,1641,1401,0,0,0,0,0,0
$GC,13973,0.65,349.0,817.8,9.4,667,13977,0.17,0.28,0.00,0.000,4,0.086,0.066,3234,1467,1401,0,0,0,0,0,0
$GC,14230,0.53,349.0,783.5,14.6,674,14235,0.17,0.28,0.00,0.000,6,0.179,0.052,3190,1666,1401,0,0,0,0,0,0
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$STATE,22571,end climb,SURFACE_DEPTH_REACHED
$STATE,22571,begin surface coast
$FINISH,1.6,1.026571
$STATE,22608,end surface coast,CONTROL_FINISHED_OK
$STATE,22608,begin surface
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$IRIDIUM_FIX,-4155.38,-705.34,091112,040423
$TT8_MAMPS,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.5,46.641
$10V_AH,10.2,35.289
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.425,214.025,486.275,0.000,0.000,55.805,92.254,527.267,0.250,0.000,183.471,3042.434,15631.310,594.086,4241.630,204.393,33.362,2092.350,0.000,3336.584,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.540,1237.626,763.772,90.165,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,70189,1162
$CAP_FILE_SIZE,230738,0
$CFSIZE,2097086464,2066808832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091112,111305,-4212.170,-707.711,33,1.4,34,-21.9