version: 66.07.10.p01
glider: 574
mission: 4
dive: 444
start: 1 1 113 23 18 22
data:
$ID,574
$MISSION,4
$DIVE,444
$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,520
$T_MISSION,550
$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,120
$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,2
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-7253.9736
$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,2985
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,423
$GPS1,010113,231623,-4122.442,-510.490,78,1.1,78,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-69.1
$GPS2,010113,231801,-4122.419,-510.483,32,1.7,32,-22.4
$SPEED_LIMITS,0.111,0.202
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,94.2,103544,-13.7,-6.410
$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,-0.69,-116.8,0.0,0.0,0,59,0.00,0.00,-31.38,0.000,2,0.000,0.000,69,1736,2030,0,0,0,0,0,0
$GC,61,-0.69,-116.8,3.2,-1.7,5,124,12.70,2.33,-41.40,0.000,4,0.259,0.064,2742,3150,3306,0,0,0,0,0,0
$GC,202,-0.69,-116.8,14.2,-8.0,28,210,0.05,2.25,0.00,0.000,6,0.132,0.047,2760,1751,3307,0,0,0,0,0,0
$GC,284,-0.76,-116.8,20.6,-7.7,41,291,0.05,2.35,0.00,0.000,4,0.167,0.062,2735,342,3307,0,0,0,0,0,0
$GC,353,-0.69,-116.8,27.1,-9.6,52,361,0.05,2.20,0.00,0.000,6,0.148,0.035,2746,1744,3307,0,0,0,0,0,0
$GC,432,-0.69,-116.8,34.9,-10.3,65,437,0.00,0.50,0.00,0.000,4,0.000,0.052,2746,1424,3307,0,0,0,0,0,0
$GC,697,-0.72,-116.8,60.8,-9.7,111,701,0.00,0.50,0.00,0.000,6,0.000,0.041,2745,1769,3307,0,0,0,0,0,0
$GC,1029,-0.72,-116.8,90.9,-8.9,142,1032,0.00,0.47,0.00,0.000,4,0.000,0.052,2745,1462,3308,0,0,0,0,0,0
$GC,1242,-0.77,-116.8,111.7,-9.8,157,1247,0.00,0.45,0.00,0.000,6,0.000,0.041,2744,1767,3308,0,0,0,0,0,0
$GC,1563,-0.80,-116.8,140.5,-9.0,178,1566,0.00,0.75,0.00,0.000,4,0.000,0.051,2744,1299,3309,0,0,0,0,0,0
$GC,1821,-0.88,-116.8,163.2,-8.4,193,1826,0.10,0.65,0.00,0.000,6,0.059,0.037,2690,1741,3310,0,0,0,0,0,0
$GC,2149,-0.79,-116.8,196.0,-10.6,214,2153,0.15,2.17,0.00,0.000,4,0.151,0.047,2723,3139,3310,0,0,0,0,0,0
$GC,2226,-0.77,-116.8,204.4,-10.3,218,2232,0.00,2.20,0.00,0.000,6,0.000,0.041,2724,1734,3310,0,0,0,0,0,0
$GC,2542,-0.77,-116.8,236.4,-10.5,234,2546,0.00,2.20,0.00,0.000,4,0.000,0.046,2713,3145,3310,0,0,0,0,0,0
$GC,2629,-0.74,-116.8,245.3,-10.7,238,2634,0.12,2.17,0.00,0.000,6,0.146,0.042,2747,1747,3310,0,0,0,0,0,0
$GC,2957,-0.82,-116.8,277.0,-9.5,254,2961,0.08,2.20,0.00,0.000,4,0.126,0.046,2701,3144,3310,0,0,0,0,0,0
$GC,3012,-0.74,-116.8,283.1,-11.0,256,3017,0.15,2.17,0.00,0.000,6,0.145,0.041,2743,1741,3310,0,0,0,0,0,0
$GC,3333,-0.80,-116.8,313.2,-9.4,270,3336,0.00,2.05,0.00,0.000,4,0.000,0.044,2743,3057,3310,0,0,0,0,0,0
$GC,3393,-0.80,-116.8,319.0,-9.1,271,3399,0.00,2.05,0.00,0.000,6,0.000,0.038,2742,1753,3311,0,0,0,0,0,0
$GC,3707,-0.84,-116.8,347.8,-9.7,282,3712,0.08,2.20,0.00,0.000,4,0.127,0.043,2697,3146,3310,0,0,0,0,0,0
$GC,3803,-0.78,-116.8,358.1,-11.2,285,3808,0.12,2.17,0.00,0.000,6,0.151,0.037,2731,1737,3310,0,0,0,0,0,0
$GC,4137,-0.78,-116.8,392.9,-10.4,296,4141,0.00,2.20,0.00,0.000,4,0.000,0.043,2723,3146,3310,0,0,0,0,0,0
$GC,4237,-0.78,-116.8,403.5,-10.1,299,4242,0.00,2.17,0.00,0.000,6,0.000,0.037,2724,1757,3310,0,0,0,0,0,0
$GC,4573,-0.78,-116.8,438.1,-10.4,310,4577,0.00,2.15,0.00,0.000,4,0.000,0.042,2715,3143,3310,0,0,0,0,0,0
$GC,4661,-0.75,-116.8,447.8,-11.4,312,4666,0.10,2.15,0.00,0.000,6,0.158,0.036,2741,1747,3310,0,0,0,0,0,0
$GC,4980,-0.78,-116.8,479.6,-10.4,323,4984,0.00,2.25,0.00,0.000,4,0.000,0.054,2741,345,3310,0,0,0,0,0,0
$GC,5186,-0.86,-116.8,501.2,-10.2,329,5191,0.10,2.12,0.00,0.000,6,0.104,0.028,2697,1751,3310,0,0,0,0,0,0
$GC,5510,-0.79,-116.8,536.3,-10.9,340,5515,0.12,2.28,0.00,0.000,4,0.160,0.051,2732,348,3309,0,0,0,0,0,0
$GC,5628,-0.83,-116.8,548.2,-9.6,343,5632,0.00,2.10,0.00,0.000,6,0.000,0.030,2728,1746,3309,0,0,0,0,0,0
$GC,5946,-0.83,-116.8,579.5,-9.9,354,5949,0.00,2.00,0.00,0.000,4,0.000,0.050,2728,502,3308,0,0,0,0,0,0
$GC,6034,-0.85,-116.8,587.8,-8.9,356,6039,0.03,1.92,0.00,0.000,6,0.110,0.031,2706,1760,3308,0,0,0,0,0,0
$GC,6353,-0.82,-116.8,617.5,-9.3,367,6356,0.00,2.03,0.00,0.000,4,0.000,0.051,2706,502,3308,0,0,0,0,0,0
$GC,6430,-0.77,-116.8,624.9,-9.0,369,6435,0.08,1.92,0.00,0.000,6,0.139,0.031,2739,1750,3308,0,0,0,0,0,0
$GC,6760,-0.82,-116.8,652.5,-8.4,380,6764,0.00,1.92,0.00,0.000,4,0.000,0.051,2739,537,3307,0,0,0,0,0,0
$GC,6906,-0.94,-116.8,664.6,-7.9,384,6911,0.12,1.88,0.00,0.000,6,0.057,0.031,2668,1750,3307,0,0,0,0,0,0
$GC,7236,-0.82,-116.8,698.1,-10.5,395,7240,0.17,0.75,0.00,0.000,4,0.158,0.048,2718,1283,3306,0,0,0,0,0,0
$GC,7493,-0.82,-116.8,722.6,-9.5,402,7497,0.00,0.73,0.00,0.000,6,0.000,0.034,2716,1761,3306,0,0,0,0,0,0
$GC,7812,-0.82,-116.8,753.0,-9.9,413,7816,0.00,2.28,0.00,0.000,4,0.000,0.053,2716,344,3305,0,0,0,0,0,0
$GC,7884,-0.78,-116.8,760.7,-10.3,415,7889,0.05,2.15,0.00,0.000,6,0.150,0.032,2725,1735,3305,0,0,0,0,0,0
$GC,8213,-0.80,-116.8,792.2,-9.7,426,8217,0.00,1.17,0.00,0.000,4,0.000,0.050,2725,1006,3305,0,0,0,0,0,0
$GC,8302,-0.80,-116.8,801.3,-11.1,428,8306,0.00,1.15,0.00,0.000,6,0.000,0.033,2721,1758,3305,0,0,0,0,0,0
$GC,8620,-0.80,-116.8,833.4,-10.3,439,8624,0.00,1.65,0.00,0.000,4,0.000,0.051,2721,745,3305,0,0,0,0,0,0
$GC,8698,-0.80,-116.8,841.9,-10.8,441,8702,0.00,1.55,0.00,0.000,6,0.000,0.032,2715,1744,3304,0,0,0,0,0,0
$GC,9028,-0.80,-116.8,876.7,-10.7,452,9031,0.00,1.15,0.00,0.000,4,0.000,0.048,2715,1029,3304,0,0,0,0,0,0
$GC,9099,-0.80,-116.8,884.5,-10.8,454,9104,0.00,1.12,0.00,0.000,6,0.000,0.034,2715,1758,3304,0,0,0,0,0,0
$GC,9435,-0.80,-116.8,918.5,-10.1,465,9439,0.00,1.42,0.00,0.000,4,0.000,0.050,2715,879,3303,0,0,0,0,0,0
$GC,9503,-0.78,-116.8,925.4,-10.1,467,9508,0.03,1.35,0.00,0.000,6,0.174,0.034,2725,1750,3303,0,0,0,0,0,0
$GC,9844,-0.81,-116.8,958.1,-9.7,478,9847,0.00,1.60,0.00,0.000,4,0.000,0.050,2725,757,3302,0,0,0,0,0,0
$GC,9899,-0.81,-116.8,963.8,-9.7,479,9903,0.00,1.52,0.00,0.000,6,0.000,0.032,2719,1747,3303,0,0,0,0,0,0
$GC,10218,-0.84,-116.8,994.5,-9.8,490,10222,0.00,1.35,0.00,0.000,4,0.000,0.049,2719,906,3302,0,0,0,0,0,0
$STATE,10273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10274,begin apogee
$GC,10280,-0.25,0.0,1000.2,10.3,491,10387,0.60,0.00,104.18,1.483,6,0.130,0.000,2900,1633,2827,0,0,0,0,0,0
$STATE,10388,end apogee,CONTROL_FINISHED_OK
$STATE,10388,begin climb
$GC,10390,0.69,116.8,1008.6,0.0,495,10505,0.93,1.92,109.20,1.476,4,0.071,0.054,3213,559,2350,0,0,0,0,0,0
$GC,10758,0.40,398.1,1025.5,-4.0,506,11030,0.32,1.65,263.65,1.462,6,0.194,0.033,3120,1634,1203,0,0,0,0,0,0
$GC,11344,0.66,398.1,983.8,9.3,526,11348,0.22,0.98,0.00,0.000,4,0.095,0.034,3194,2277,1194,0,0,0,0,0,0
$GC,11404,0.70,398.1,977.8,9.2,527,11410,0.00,1.02,0.00,0.000,6,0.000,0.048,3196,1627,1193,0,0,0,0,0,0
$GC,11718,0.73,398.1,947.3,9.9,538,11722,0.08,0.57,0.00,0.000,4,0.127,0.041,3227,2026,1192,0,0,0,0,0,0
$GC,11767,0.69,398.1,942.0,10.4,539,11771,0.05,0.65,0.00,0.000,6,0.160,0.051,3211,1613,1192,0,0,0,0,0,0
$GC,12090,0.69,398.1,909.5,10.1,550,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1614,1191,0,0,0,0,0,0
$GC,12396,0.69,398.1,877.5,10.5,560,12400,0.00,1.55,0.00,0.000,4,0.000,0.041,3211,2604,1191,0,0,0,0,0,0
$GC,12464,0.69,398.1,870.2,10.5,562,12468,0.00,1.58,0.00,0.000,6,0.000,0.047,3214,1625,1190,0,0,0,0,0,0
$GC,12805,0.69,398.1,834.7,10.2,573,12808,0.00,0.43,0.00,0.000,4,0.000,0.062,3213,1343,1190,0,0,0,0,0,0
$GC,12843,0.69,398.1,830.6,10.6,574,12847,0.00,0.40,0.00,0.000,6,0.000,0.042,3213,1626,1189,0,0,0,0,0,0
$GC,13177,0.69,398.1,796.9,10.2,585,13181,0.00,0.85,0.00,0.000,4,0.000,0.041,3214,2192,1190,0,0,0,0,0,0
$GC,13238,0.69,398.1,790.3,10.6,586,13244,0.00,0.95,0.00,0.000,6,0.000,0.050,3214,1608,1189,0,0,0,0,0,0
$GC,13551,0.69,398.1,759.3,9.8,597,13555,0.00,0.62,0.00,0.000,4,0.000,0.042,3214,2031,1189,0,0,0,0,0,0
$GC,13622,0.69,398.1,752.2,9.2,599,13626,0.00,0.68,0.00,0.000,6,0.000,0.053,3214,1618,1189,0,0,0,0,0,0
$GC,13958,0.69,398.1,721.6,9.2,610,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1617,1189,0,0,0,0,0,0
$GC,14264,0.69,398.1,693.9,9.2,620,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1618,1189,0,0,0,0,0,0
$GC,14570,0.69,398.1,664.2,10.0,630,14574,0.00,2.05,0.00,0.000,4,0.000,0.044,3214,2919,1189,0,0,0,0,0,0
$GC,14631,0.69,398.1,657.8,10.0,631,14636,0.00,2.10,0.00,0.000,6,0.000,0.045,3220,1619,1188,0,0,0,0,0,0
$GC,14944,0.69,398.1,625.7,10.4,642,14948,0.00,0.52,0.00,0.000,4,0.000,0.061,3221,1277,1188,0,0,0,0,0,0
$GC,14993,0.69,398.1,620.5,9.3,643,14997,0.00,0.52,0.00,0.000,6,0.000,0.041,3221,1623,1188,0,0,0,0,0,0
$GC,15317,0.69,398.1,587.9,10.2,654,15319,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1626,1188,0,0,0,0,0,0
$GC,15624,0.69,398.1,558.2,9.5,664,15628,0.00,0.43,0.00,0.000,4,0.000,0.061,3221,1351,1188,0,0,0,0,0,0
$GC,15667,0.69,398.1,554.0,9.0,665,15671,0.00,0.40,0.00,0.000,6,0.000,0.044,3221,1630,1188,0,0,0,0,0,0
$GC,15997,0.69,398.1,523.2,9.3,676,16001,0.00,0.43,0.00,0.000,4,0.000,0.047,3221,1938,1188,0,0,0,0,0,0
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$STATE,21824,end climb,SURFACE_DEPTH_REACHED
$STATE,21825,begin surface coast
$FINISH,1.8,1.026166
$STATE,21869,end surface coast,CONTROL_FINISHED_OK
$STATE,21869,begin surface
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$IRIDIUM_FIX,-4109.28,-507.51,010113,161639
$TT8_MAMPS,0.026964
$HUMID,49.17
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,21.5,107.106
$10V_AH,9.9,63.172
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.300,119.900,548.150,0.000,0.000,0.000,0.000,0.000,0.250,0.000,34.518,2742.738,15334.267,569.119,3174.334,212.755,0.000,2002.045,0.000,3107.271,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.383,1041.321,714.699,88.671,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,63461,1049
$CAP_FILE_SIZE,188444,0
$CFSIZE,2097086464,2033745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020113,052523,-4121.954,-510.532,40,1.7,40,-22.4