version: 66.07.10.p01
glider: 574
mission: 4
dive: 201
start: 11 10 112 13 26 25
data:
$ID,574
$MISSION,4
$DIVE,201
$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,596.31458
$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,-6063.9448
$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,41
$R_STBD_OVSHOOT,36
$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,180
$GPS1,101112,131029,-4212.979,-714.995,116,1.5,117,-21.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-71.9
$GPS2,101112,132531,-4212.845,-714.908,19,1.4,20,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.073,0.223
$KALMAN_X,-316659.4,478.9,-2414.0,447114.2,10277.6
$KALMAN_Y,260142.5,-224.3,2316.9,-190423.0,-7586.5
$MHEAD_RNG_PITCHd_Wd,3.8,7588,-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,-145.9,0.0,0.0,0,51,0.00,0.00,-25.12,0.000,2,0.000,0.000,66,1885,2287,0,0,0,0,0,0
$GC,54,-0.52,-145.9,3.0,-1.9,4,121,12.73,2.33,-44.70,0.000,4,0.272,0.062,2818,3309,3422,0,0,0,0,0,0
$GC,217,-0.52,-145.9,12.6,-7.6,31,225,0.08,2.22,0.00,0.000,6,0.142,0.047,2842,1931,3423,0,0,0,0,0,0
$GC,298,-0.61,-145.9,18.9,-7.3,44,306,0.10,0.93,0.00,0.000,4,0.112,0.057,2797,1359,3423,0,0,0,0,0,0
$GC,320,-0.65,-145.9,20.9,-8.0,47,327,0.00,0.85,0.00,0.000,6,0.000,0.035,2794,1920,3423,0,0,0,0,0,0
$GC,401,-0.57,-145.9,28.9,-9.3,60,409,0.12,0.70,0.00,0.000,4,0.176,0.049,2826,1479,3423,0,0,0,0,0,0
$GC,435,-0.51,-145.9,32.1,-9.8,65,440,0.05,0.65,0.00,0.000,6,0.159,0.035,2841,1917,3423,0,0,0,0,0,0
$GC,671,-0.62,-145.9,51.2,-6.0,106,679,0.10,2.22,0.00,0.000,4,0.110,0.049,2792,3307,3423,0,0,0,0,0,0
$GC,738,-0.62,-145.9,56.9,-9.1,117,744,0.08,2.20,0.00,0.000,6,0.177,0.041,2809,1898,3423,0,0,0,0,0,0
$GC,970,-0.69,-145.9,75.7,-8.0,158,975,0.05,0.00,0.00,0.000,6,0.174,0.000,2787,1898,3424,0,0,0,0,0,0
$GC,1312,-0.69,-145.9,105.8,-9.1,212,1316,0.00,1.80,0.00,0.000,4,0.000,0.044,2779,3048,3424,0,0,0,0,0,0
$GC,1333,-0.69,-145.9,108.3,-9.9,213,1338,0.00,1.77,0.00,0.000,6,0.000,0.041,2779,1918,3424,0,0,0,0,0,0
$GC,1659,-0.69,-145.9,140.0,-10.3,234,1663,0.00,2.17,0.00,0.000,4,0.000,0.045,2770,3303,3424,0,0,0,0,0,0
$GC,1731,-0.61,-145.9,148.2,-10.9,238,1740,0.10,2.17,0.00,0.000,6,0.140,0.039,2802,1911,3424,0,0,0,0,0,0
$GC,2053,-0.65,-145.9,175.4,-8.3,259,2057,0.00,2.25,0.00,0.000,4,0.000,0.057,2802,496,3424,0,0,0,0,0,0
$GC,2093,-0.63,-145.9,179.4,-9.5,261,2099,0.05,2.15,0.00,0.000,6,0.226,0.031,2805,1915,3424,0,0,0,0,0,0
$GC,2414,-0.68,-145.9,204.5,-7.5,282,2418,0.00,2.12,0.00,0.000,4,0.000,0.044,2795,3305,3424,0,0,0,0,0,0
$GC,2497,-0.78,-145.9,211.5,-8.7,287,2502,0.08,2.15,0.00,0.000,6,0.069,0.037,2744,1913,3424,0,0,0,0,0,0
$GC,2823,-0.69,-145.9,241.2,-8.7,308,2828,0.17,2.25,0.00,0.000,4,0.166,0.051,2792,502,3424,0,0,0,0,0,0
$GC,2906,-0.62,-145.9,248.0,-8.0,313,2911,0.10,2.12,0.00,0.000,6,0.177,0.029,2808,1910,3424,0,0,0,0,0,0
$GC,3224,-0.69,-145.9,268.3,-6.3,329,3228,0.00,2.15,0.00,0.000,4,0.000,0.043,2798,3309,3424,0,0,0,0,0,0
$GC,3286,-0.80,-145.9,272.8,-7.0,331,3292,0.12,2.15,0.00,0.000,6,0.097,0.034,2749,1891,3424,0,0,0,0,0,0
$GC,3604,-0.72,-145.9,300.9,-9.4,347,3608,0.12,2.22,0.00,0.000,4,0.175,0.041,2771,3314,3424,0,0,0,0,0,0
$GC,3686,-0.66,-145.9,308.9,-8.8,350,3695,0.08,2.15,0.00,0.000,6,0.142,0.033,2795,1917,3423,0,0,0,0,0,0
$GC,4003,-0.72,-145.9,335.3,-8.7,366,4007,0.00,2.22,0.00,0.000,4,0.000,0.051,2796,509,3424,0,0,0,0,0,0
$GC,4057,-0.68,-145.9,340.9,-10.3,368,4065,0.00,2.15,0.00,0.000,6,0.000,0.028,2786,1918,3423,0,0,0,0,0,0
$GC,4374,-0.70,-145.9,371.4,-9.8,384,4378,0.00,2.15,0.00,0.000,4,0.000,0.043,2777,3316,3424,0,0,0,0,0,0
$GC,4445,-0.70,-145.9,379.3,-11.3,387,4450,0.00,2.17,0.00,0.000,6,0.000,0.034,2777,1905,3423,0,0,0,0,0,0
$GC,4786,-0.70,-145.9,414.3,-10.3,402,4790,0.00,2.20,0.00,0.000,4,0.000,0.043,2769,3317,3423,0,0,0,0,0,0
$GC,4819,-0.67,-145.9,418.1,-10.5,403,4824,0.08,2.15,0.00,0.000,6,0.142,0.034,2791,1913,3423,0,0,0,0,0,0
$GC,5154,-0.73,-145.9,449.9,-9.4,414,5158,0.00,2.17,0.00,0.000,4,0.000,0.044,2783,3308,3422,0,0,0,0,0,0
$GC,5197,-0.73,-145.9,454.3,-10.4,415,5201,0.00,2.15,0.00,0.000,6,0.000,0.033,2783,1911,3422,0,0,0,0,0,0
$GC,5521,-0.76,-145.9,484.8,-9.3,426,5525,0.00,2.20,0.00,0.000,4,0.000,0.043,2775,3320,3422,0,0,0,0,0,0
$GC,5565,-0.74,-145.9,489.2,-9.5,427,5569,0.00,2.15,0.00,0.000,6,0.000,0.032,2775,1917,3422,0,0,0,0,0,0
$GC,5889,-0.74,-145.9,516.8,-8.1,438,5893,0.00,2.17,0.00,0.000,4,0.000,0.042,2768,3316,3421,0,0,0,0,0,0
$GC,5943,-0.70,-145.9,521.7,-9.5,439,5948,0.05,2.17,0.00,0.000,6,0.144,0.034,2792,1907,3421,0,0,0,0,0,0
$GC,6262,-0.76,-145.9,544.4,-7.0,450,6266,0.08,2.20,0.00,0.000,4,0.136,0.043,2756,3308,3421,0,0,0,0,0,0
$GC,6327,-0.67,-145.9,550.2,-8.5,452,6332,0.10,2.15,0.00,0.000,6,0.139,0.033,2788,1910,3420,0,0,0,0,0,0
$GC,6663,-0.73,-145.9,574.7,-7.3,463,6667,0.00,2.15,0.00,0.000,4,0.000,0.043,2779,3307,3420,0,0,0,0,0,0
$GC,6706,-0.73,-145.9,578.5,-8.5,464,6711,0.00,2.15,0.00,0.000,6,0.000,0.033,2779,1913,3420,0,0,0,0,0,0
$GC,7031,-0.75,-145.9,603.9,-8.1,475,7035,0.00,2.12,0.00,0.000,4,0.000,0.051,2779,568,3420,0,0,0,0,0,0
$GC,7059,-0.73,-145.9,606.4,-9.1,476,7063,0.00,2.05,0.00,0.000,6,0.000,0.031,2770,1920,3419,0,0,0,0,0,0
$GC,7394,-0.73,-145.9,636.1,-8.8,487,7398,0.00,2.15,0.00,0.000,4,0.000,0.044,2760,3308,3419,0,0,0,0,0,0
$GC,7443,-0.69,-145.9,641.0,-10.6,488,7448,0.08,2.15,0.00,0.000,6,0.142,0.034,2784,1914,3419,0,0,0,0,0,0
$GC,7767,-0.73,-145.9,668.6,-8.5,499,7771,0.00,2.20,0.00,0.000,4,0.000,0.045,2776,3318,3418,0,0,0,0,0,0
$GC,7829,-0.73,-145.9,674.4,-9.8,501,7833,0.00,2.12,0.00,0.000,6,0.000,0.034,2775,1911,3418,0,0,0,0,0,0
$GC,8163,-0.76,-145.9,703.4,-8.6,512,8167,0.00,2.20,0.00,0.000,4,0.000,0.044,2767,3317,3417,0,0,0,0,0,0
$GC,8203,-0.73,-145.9,707.1,-9.6,513,8207,0.00,2.12,0.00,0.000,6,0.000,0.034,2767,1910,3417,0,0,0,0,0,0
$GC,8525,-0.73,-145.9,735.2,-8.6,524,8529,0.00,2.20,0.00,0.000,4,0.000,0.044,2758,3317,3417,0,0,0,0,0,0
$GC,8597,-0.67,-145.9,742.1,-9.4,526,8602,0.10,2.17,0.00,0.000,6,0.138,0.034,2789,1908,3416,0,0,0,0,0,0
$GC,8927,-0.73,-145.9,767.5,-7.4,537,8931,0.00,2.22,0.00,0.000,4,0.000,0.053,2788,508,3416,0,0,0,0,0,0
$GC,8982,-0.69,-145.9,772.2,-8.4,538,8988,0.00,2.15,0.00,0.000,6,0.000,0.030,2782,1904,3416,0,0,0,0,0,0
$GC,9295,-0.73,-145.9,796.2,-7.6,549,9299,0.00,1.60,0.00,0.000,4,0.000,0.042,2775,2944,3416,0,0,0,0,0,0
$GC,9344,-0.78,-145.9,800.2,-8.2,550,9349,0.00,1.60,0.00,0.000,6,0.000,0.035,2775,1911,3415,0,0,0,0,0,0
$GC,9669,-0.80,-145.9,826.9,-8.6,561,9674,0.08,2.25,0.00,0.000,4,0.140,0.052,2747,502,3415,0,0,0,0,0,0
$GC,9740,-0.66,-145.9,835.3,-12.3,563,9745,0.17,2.17,0.00,0.000,6,0.157,0.031,2789,1915,3415,0,0,0,0,0,0
$GC,10070,-0.61,-145.9,867.3,-9.7,574,10074,0.10,1.00,0.00,0.000,4,0.195,0.047,2815,1296,3415,0,0,0,0,0,0
$GC,10118,-0.61,-145.9,871.8,-8.8,575,10123,0.00,0.98,0.00,0.000,6,0.000,0.031,2811,1933,3415,0,0,0,0,0,0
$GC,10443,-0.72,-145.9,897.8,-8.0,586,10447,0.10,2.25,0.00,0.000,4,0.117,0.051,2770,534,3415,0,0,0,0,0,0
$GC,10493,-0.63,-145.9,902.9,-10.5,587,10498,0.17,2.08,0.00,0.000,6,0.164,0.032,2806,1910,3415,0,0,0,0,0,0
$GC,10810,-0.63,-145.9,928.9,-7.8,598,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1910,3414,0,0,0,0,0,0
$GC,11116,-0.63,-145.9,951.9,-7.4,608,11121,0.00,2.25,0.00,0.000,4,0.000,0.054,2805,512,3414,0,0,0,0,0,0
$GC,11165,-0.63,-145.9,955.7,-8.5,609,11170,0.00,2.17,0.00,0.000,6,0.000,0.032,2797,1917,3414,0,0,0,0,0,0
$GC,11484,-0.63,-145.9,980.5,-8.3,620,11488,0.00,1.40,0.00,0.000,4,0.000,0.053,2797,1043,3414,0,0,0,0,0,0
$GC,11533,-0.60,-145.9,984.9,-8.7,621,11538,0.05,1.35,0.00,0.000,6,0.155,0.034,2811,1921,3414,0,0,0,0,0,0
$STATE,11733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11733,begin apogee
$GC,11738,-0.19,0.0,1001.8,8.6,628,11865,0.45,0.00,124.40,1.538,6,0.136,0.000,2947,1647,2827,0,0,0,0,0,0
$STATE,11866,end apogee,CONTROL_FINISHED_OK
$STATE,11866,begin climb
$GC,11868,0.52,145.9,1009.8,0.0,632,12009,0.70,0.35,133.40,1.528,4,0.082,0.061,3174,1455,2232,0,0,0,0,0,0
$GC,12036,0.37,260.8,1015.2,3.5,637,12149,0.17,0.32,107.68,1.499,6,0.188,0.044,3137,1666,1763,0,0,0,0,0,0
$GC,12479,0.45,282.4,988.6,6.7,652,12505,0.08,2.40,19.40,1.386,4,0.129,0.065,3166,258,1675,0,0,0,0,0,0
$GC,12622,0.41,282.4,976.4,9.2,656,12627,0.05,2.20,0.00,0.000,6,0.161,0.035,3143,1637,1672,0,0,0,0,0,0
$GC,12951,0.41,282.4,951.7,7.4,667,12955,0.00,2.22,0.00,0.000,4,0.000,0.044,3144,3056,1672,0,0,0,0,0,0
$GC,13022,0.41,290.5,945.9,7.1,669,13037,0.00,2.25,8.32,1.212,6,0.000,0.044,3149,1658,1643,0,0,0,0,0,0
$GC,13350,0.41,290.5,921.0,7.8,680,13353,0.00,1.73,0.00,0.000,4,0.000,0.060,3152,584,1642,0,0,0,0,0,0
$GC,13404,0.41,290.5,916.4,7.7,681,13409,0.00,1.67,0.00,0.000,6,0.000,0.033,3152,1660,1641,0,0,0,0,0,0
$GC,13723,0.41,308.4,893.7,6.8,692,13747,0.00,1.80,17.65,1.362,4,0.000,0.042,3152,2778,1569,0,0,0,0,0,0
$GC,13791,0.41,312.1,888.9,7.3,694,13802,0.00,1.83,4.90,1.000,6,0.000,0.046,3157,1655,1553,0,0,0,0,0,0
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$STATE,23520,end climb,SURFACE_DEPTH_REACHED
$STATE,23520,begin surface coast
$FINISH,1.6,1.015755
$STATE,23551,end surface coast,CONTROL_FINISHED_OK
$STATE,23551,begin surface
$SM_CCo,23569,71.35,0.143,0,0,395,596.31
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$IRIDIUM_FIX,-4158.28,-713.99,101112,131324
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.4,47.641
$10V_AH,10.1,35.987
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.550,224.025,534.925,71.350,0.000,142.736,400.407,0.000,0.250,0.000,21.854,3207.224,16352.886,712.126,4053.803,210.443,33.367,2269.861,0.000,3459.039,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.516,1343.297,805.646,99.046,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354676
$DATA_FILE_SIZE,73499,1226
$CAP_FILE_SIZE,237729,0
$CFSIZE,2097086464,2065825792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101112,200135,-4212.244,-716.401,34,1.2,35,-21.9