version: 66.07.10.p01
glider: 574
mission: 4
dive: 499
start: 1 18 113 0 1 58
data:
$ID,574
$MISSION,4
$DIVE,499
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,4200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,160
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,3
$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,-7400.2949
$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,2980
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,1745
$C_ROLL_CLIMB,1670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,40
$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,478
$GPS1,170113,234423,-4055.170,-435.448,37,1.6,38,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-75.6
$GPS2,180113,000135,-4055.220,-435.390,31,1.0,31,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4104.573,-428.227
$TGT_RADIUS,1852.000
$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,172.6,20000,-12.6,-5.632
$D_GRID,980
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.67,-107.0,0.0,0.0,0,36,0.00,0.00,-6.97,0.000,2,0.000,0.000,69,1756,1521,0,0,0,0,0,0
$GC,38,-0.67,-107.0,3.0,-0.0,1,124,12.25,2.28,-67.90,0.000,4,0.258,0.064,2743,3150,3261,0,0,0,0,0,0
$GC,203,-0.67,-107.0,13.5,-11.0,28,211,0.05,2.28,0.00,0.000,6,0.134,0.048,2760,1750,3263,0,0,0,0,0,0
$GC,285,-0.70,-107.0,22.5,-11.3,41,292,0.00,1.12,0.00,0.000,4,0.000,0.061,2760,1055,3263,0,0,0,0,0,0
$GC,362,-0.74,-107.0,32.2,-12.2,54,369,0.00,1.08,0.00,0.000,6,0.000,0.038,2757,1744,3263,0,0,0,0,0,0
$GC,598,-0.79,-107.0,60.1,-11.4,95,602,0.10,0.77,0.00,0.000,4,0.103,0.046,2707,2258,3264,0,0,0,0,0,0
$GC,693,-0.71,-107.0,71.3,-10.1,103,698,0.12,0.82,0.00,0.000,6,0.122,0.048,2747,1733,3263,0,0,0,0,0,0
$GC,1017,-0.75,-107.0,98.1,-7.9,134,1021,0.00,1.38,0.00,0.000,4,0.000,0.059,2747,897,3264,0,0,0,0,0,0
$GC,1277,-0.81,-107.0,120.2,-8.7,150,1281,0.05,1.33,0.00,0.000,6,0.072,0.036,2709,1742,3264,0,0,0,0,0,0
$GC,1607,-0.76,-107.0,152.3,-9.9,171,1612,0.10,0.65,0.00,0.000,4,0.157,0.047,2735,2181,3265,0,0,0,0,0,0
$GC,1646,-0.76,-107.0,156.3,-9.1,172,1652,0.00,0.70,0.00,0.000,6,0.000,0.047,2735,1737,3264,0,0,0,0,0,0
$GC,1962,-0.76,-107.0,187.3,-9.8,188,1966,0.00,2.30,0.00,0.000,4,0.000,0.061,2735,340,3265,0,0,0,0,0,0
$GC,2220,-0.84,-107.0,211.4,-9.0,198,2226,0.05,2.20,0.00,0.000,6,0.159,0.035,2700,1754,3266,0,0,0,0,0,0
$GC,2533,-0.79,-107.0,240.8,-9.9,209,2537,0.10,0.73,0.00,0.000,4,0.162,0.043,2725,2243,3265,0,0,0,0,0,0
$GC,2587,-0.79,-107.0,246.6,-10.5,210,2592,0.00,0.80,0.00,0.000,6,0.000,0.047,2724,1742,3265,0,0,0,0,0,0
$GC,2906,-0.79,-107.0,280.3,-10.9,221,2910,0.00,2.30,0.00,0.000,4,0.000,0.060,2725,330,3265,0,0,0,0,0,0
$GC,3163,-0.82,-107.0,311.0,-12.3,228,3169,0.00,2.20,0.00,0.000,6,0.000,0.035,2716,1747,3265,0,0,0,0,0,0
$GC,3476,-0.82,-107.0,347.9,-11.9,239,3480,0.00,1.45,0.00,0.000,4,0.000,0.055,2716,863,3265,0,0,0,0,0,0
$GC,3733,-0.84,-107.0,378.4,-12.0,246,3737,0.00,1.38,0.00,0.000,6,0.000,0.037,2716,1740,3265,0,0,0,0,0,0
$GC,4052,-0.84,-107.0,411.1,-10.0,257,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1740,3265,0,0,0,0,0,0
$GC,4358,-0.84,-107.0,440.1,-9.3,267,4362,0.00,2.17,0.00,0.000,4,0.000,0.047,2710,3113,3265,0,0,0,0,0,0
$GC,4407,-0.84,-107.0,444.9,-9.3,268,4411,0.00,2.17,0.00,0.000,6,0.000,0.041,2710,1744,3265,0,0,0,0,0,0
$GC,4727,-0.84,-107.0,474.5,-9.6,279,4731,0.00,1.27,0.00,0.000,4,0.000,0.043,2705,2562,3265,0,0,0,0,0,0
$GC,4773,-0.84,-107.0,479.1,-10.0,280,4776,0.00,1.30,0.00,0.000,6,0.000,0.044,2705,1742,3265,0,0,0,0,0,0
$GC,5102,-0.84,-107.0,509.2,-9.2,291,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1741,3265,0,0,0,0,0,0
$GC,5408,-0.84,-107.0,538.1,-9.5,301,5412,0.00,0.45,0.00,0.000,4,0.000,0.044,2703,2058,3265,0,0,0,0,0,0
$GC,5429,-0.84,-107.0,540.4,-9.7,301,5434,0.00,0.50,0.00,0.000,6,0.000,0.049,2703,1735,3264,0,0,0,0,0,0
$GC,5748,-0.84,-107.0,571.5,-10.0,312,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1735,3264,0,0,0,0,0,0
$GC,6055,-0.81,-107.0,602.6,-10.2,322,6060,0.03,2.28,0.00,0.000,4,0.263,0.044,2704,3147,3264,0,0,0,0,0,0
$GC,6160,-0.81,-107.0,613.7,-10.6,325,6164,0.00,2.22,0.00,0.000,6,0.000,0.041,2704,1760,3264,0,0,0,0,0,0
$GC,6490,-0.79,-107.0,647.9,-10.5,336,6495,0.08,2.25,0.00,0.000,4,0.185,0.045,2713,3155,3264,0,0,0,0,0,0
$GC,6587,-0.83,-107.0,657.8,-9.7,339,6591,0.00,2.22,0.00,0.000,6,0.000,0.040,2713,1742,3263,0,0,0,0,0,0
$GC,6921,-0.83,-107.0,692.5,-10.4,350,6925,0.00,1.23,0.00,0.000,4,0.000,0.043,2710,2528,3263,0,0,0,0,0,0
$GC,6965,-0.83,-107.0,697.0,-10.0,351,6969,0.00,1.25,0.00,0.000,6,0.000,0.042,2710,1738,3263,0,0,0,0,0,0
$GC,7295,-0.83,-107.0,730.1,-9.9,362,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1738,3263,0,0,0,0,0,0
$GC,7602,-0.86,-107.0,761.2,-10.1,372,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1737,3262,0,0,0,0,0,0
$GC,7908,-0.90,-107.0,794.1,-11.0,382,7912,0.05,2.05,0.00,0.000,4,0.171,0.045,2675,3011,3262,0,0,0,0,0,0
$GC,7957,-0.85,-107.0,800.0,-11.9,383,7962,0.10,2.00,0.00,0.000,6,0.158,0.041,2699,1746,3261,0,0,0,0,0,0
$GC,8282,-0.85,-107.0,837.4,-11.7,394,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1746,3261,0,0,0,0,0,0
$GC,8588,-0.85,-107.0,872.3,-11.3,404,8591,0.00,0.93,0.00,0.000,4,0.000,0.044,2700,2346,3261,0,0,0,0,0,0
$GC,8626,-0.87,-107.0,876.8,-11.7,405,8630,0.00,0.95,0.00,0.000,6,0.000,0.046,2700,1735,3261,0,0,0,0,0,0
$GC,8962,-0.87,-107.0,912.6,-10.4,416,8965,0.00,0.90,0.00,0.000,4,0.000,0.044,2700,2326,3261,0,0,0,0,0,0
$GC,8996,-0.87,-107.0,916.1,-10.1,417,8999,0.00,0.90,0.00,0.000,6,0.000,0.047,2700,1747,3261,0,0,0,0,0,0
$GC,9337,-0.90,-107.0,947.6,-8.9,428,9340,0.00,1.52,0.00,0.000,4,0.000,0.044,2699,2700,3261,0,0,0,0,0,0
$GC,9387,-0.94,-107.0,952.4,-9.4,429,9391,0.03,1.52,0.00,0.000,6,0.112,0.043,2678,1748,3261,0,0,0,0,0,0
$STATE,9708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9709,begin apogee
$GC,9714,-0.26,0.0,981.7,9.2,440,9812,0.70,0.00,94.80,1.460,6,0.123,0.000,2888,1650,2827,0,0,0,0,0,0
$STATE,9813,end apogee,CONTROL_FINISHED_OK
$STATE,9813,begin loiter
$GC,10107,-0.25,227.4,1013.1,-8.1,453,10318,0.00,0.90,203.25,1.445,4,0.000,0.056,2888,1157,1898,0,0,0,0,0,0
$GC,10572,-0.33,227.4,1014.5,3.5,467,10576,0.00,0.80,0.00,0.000,6,0.000,0.041,2888,1674,1890,0,0,0,0,0,0
$GC,10896,-0.42,227.4,1004.7,3.1,478,10901,0.12,2.33,0.00,0.000,4,0.108,0.062,2845,277,1889,0,0,0,0,0,0
$GC,11075,-0.32,227.4,998.5,3.5,483,11080,0.12,2.15,0.00,0.000,6,0.163,0.035,2868,1670,1886,0,0,0,0,0,0
$GC,11393,-0.36,227.4,988.0,3.4,494,11397,0.00,2.33,0.00,0.000,4,0.000,0.064,2868,275,1886,0,0,0,0,0,0
$GC,11465,-0.32,227.4,985.2,3.5,496,11469,0.00,2.17,0.00,0.000,6,0.000,0.037,2864,1677,1886,0,0,0,0,0,0
$GC,11794,-0.32,227.4,973.1,3.9,507,11798,0.00,2.22,0.00,0.000,4,0.000,0.047,2863,3081,1886,0,0,0,0,0,0
$GC,11978,-0.36,227.4,965.5,4.3,512,11982,0.00,2.20,0.00,0.000,6,0.000,0.044,2863,1683,1885,0,0,0,0,0,0
$GC,12298,-0.36,227.4,952.8,3.7,523,12302,0.00,2.20,0.00,0.000,4,0.000,0.045,2854,3073,1886,0,0,0,0,0,0
$GC,12420,-0.36,227.4,948.5,3.0,526,12425,0.00,2.25,0.00,0.000,6,0.000,0.044,2854,1656,1886,0,0,0,0,0,0
$GC,12733,-0.36,227.4,938.8,3.0,537,12737,0.00,2.25,0.00,0.000,4,0.000,0.045,2849,3075,1885,0,0,0,0,0,0
$GC,12829,-0.33,227.4,936.2,3.0,540,12834,0.08,2.22,0.00,0.000,6,0.186,0.044,2865,1670,1885,0,0,0,0,0,0
$GC,13164,-0.36,227.4,928.9,2.0,551,13168,0.00,2.22,0.00,0.000,4,0.000,0.047,2864,3070,1885,0,0,0,0,0,0
$GC,13300,-0.38,227.4,926.1,2.3,555,13304,0.00,2.22,0.00,0.000,6,0.000,0.044,2864,1668,1885,0,0,0,0,0,0
$GC,13629,-0.38,227.4,919.2,2.4,566,13633,0.00,2.28,0.00,0.000,4,0.000,0.047,2862,3077,1886,0,0,0,0,0,0
$GC,13886,-0.38,227.4,911.7,3.3,573,13892,0.00,2.28,0.00,0.000,6,0.000,0.044,2862,1675,1886,0,0,0,0,0,0
$STATE,14013,end loiter,LOITER_COMPLETE
$STATE,14014,begin climb
$GC,14016,0.67,107.0,907.5,0.0,578,14020,1.02,0.43,0.00,0.000,4,0.118,0.037,3181,1959,1886,0,0,0,0,0,0
$GC,14219,0.44,122.4,898.2,5.1,584,14223,0.20,0.47,0.00,0.000,6,0.175,0.058,3128,1657,1886,0,0,0,0,0,0
$GC,14561,0.32,142.1,882.1,4.9,595,14563,0.15,0.00,0.00,0.000,6,0.183,0.000,3089,1657,1887,0,0,0,0,0,0
$GC,14866,0.30,169.4,867.6,4.7,605,14870,0.00,0.93,0.00,0.000,4,0.000,0.061,3092,1088,1887,0,0,0,0,0,0
$GC,15070,0.28,211.6,858.6,4.1,611,15075,0.05,0.90,0.00,0.000,6,0.157,0.041,3076,1677,1887,0,0,0,0,0,0
$GC,15410,0.28,276.3,846.6,3.3,622,15460,0.00,0.93,45.00,1.363,4,0.000,0.058,3078,1138,1700,0,0,0,0,0,0
$GC,15714,0.36,284.4,832.3,5.3,631,15726,0.00,0.80,7.95,1.115,6,0.000,0.041,3078,1658,1667,0,0,0,0,0,0
$GC,16046,0.44,300.8,816.2,5.0,642,16071,0.12,2.33,16.80,1.258,4,0.100,0.048,3132,3064,1600,0,0,0,0,0,0
$GC,16082,0.37,300.8,814.0,6.6,643,16087,0.15,2.22,0.00,0.000,6,0.172,0.047,3103,1673,1599,0,0,0,0,0,0
$GC,16411,0.41,300.8,794.9,5.9,654,16415,0.00,2.25,0.00,0.000,4,0.000,0.047,3103,3070,1596,0,0,0,0,0,0
$GC,16545,0.41,300.8,786.4,6.8,658,16549,0.00,2.28,0.00,0.000,6,0.000,0.047,3105,1674,1596,0,0,0,0,0,0
$GC,16881,0.43,300.8,765.7,6.1,669,16885,0.00,2.17,0.00,0.000,4,0.000,0.065,3105,365,1596,0,0,0,0,0,0
$GC,17138,0.51,300.8,749.7,7.0,676,17144,0.12,2.05,0.00,0.000,6,0.098,0.039,3153,1670,1594,0,0,0,0,0,0
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$STATE,28731,end climb,SURFACE_DEPTH_REACHED
$STATE,28731,begin surface coast
$FINISH,1.8,1.026044
$STATE,28803,end surface coast,CONTROL_FINISHED_OK
$STATE,28803,begin surface
$SM_CCo,28881,0.00,0.000,0,0,1389,352.74
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$IRIDIUM_FIX,-4040.73,-436.82,170113,000018
$TT8_MAMPS,0.026964
$HUMID,49.13
$INTERNAL_PRESSURE,9.15522
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.1,118.712
$10V_AH,9.8,70.173
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.725,194.725,414.950,0.000,0.000,22.241,38.817,708.730,0.000,0.000,33.397,3443.309,20357.818,518.166,5110.322,468.890,0.000,2493.500,0.000,4241.627,0.000,1.017,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.304,823.777,472.362,84.502,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,73486,1265
$CAP_FILE_SIZE,267514,0
$CFSIZE,2097086464,2025750528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,180113,080436,-4054.640,-435.531,40,1.0,41,-22.6