version: 66.07.10.p01
glider: 574
mission: 4
dive: 454
start: 1 4 113 16 45 21
data:
$ID,574
$MISSION,4
$DIVE,454
$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,-7278.9834
$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,27
$R_STBD_OVSHOOT,46
$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,433
$GPS1,040113,164335,-4119.160,-509.051,41,1.0,41,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-74.9
$GPS2,040113,164500,-4119.166,-509.039,17,1.0,17,-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,97.2,99882,-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,-116.8,0.0,0.0,0,57,0.00,0.00,-30.30,0.000,2,0.000,0.000,71,1745,2026,0,0,0,0,0,0
$GC,60,-0.69,-116.8,3.1,-1.4,5,128,12.30,2.38,-44.95,0.000,4,0.252,0.073,2751,341,3305,0,0,0,0,0,0
$GC,208,-0.69,-116.8,14.5,-11.4,29,216,0.03,2.22,0.00,0.000,6,0.174,0.039,2753,1738,3306,0,0,0,0,0,0
$GC,289,-0.69,-116.8,22.7,-10.1,42,296,0.00,1.50,0.00,0.000,4,0.000,0.048,2749,2690,3306,0,0,0,0,0,0
$GC,352,-0.69,-116.8,29.2,-10.4,52,360,0.03,1.52,0.00,0.000,6,0.168,0.050,2757,1745,3306,0,0,0,0,0,0
$GC,432,-0.73,-116.8,37.0,-9.6,65,437,0.00,1.33,0.00,0.000,4,0.000,0.060,2757,934,3306,0,0,0,0,0,0
$GC,695,-0.83,-116.8,61.7,-9.1,110,699,0.10,1.30,0.00,0.000,6,0.061,0.037,2703,1763,3306,0,0,0,0,0,0
$GC,1025,-0.75,-116.8,94.1,-10.1,141,1030,0.12,2.35,0.00,0.000,4,0.155,0.059,2739,345,3306,0,0,0,0,0,0
$GC,1243,-0.81,-116.8,114.1,-8.9,155,1247,0.00,2.17,0.00,0.000,6,0.000,0.037,2731,1747,3308,0,0,0,0,0,0
$GC,1569,-0.83,-116.8,144.3,-9.1,176,1574,0.00,2.30,0.00,0.000,4,0.000,0.059,2731,347,3308,0,0,0,0,0,0
$GC,1700,-0.83,-116.8,156.5,-9.2,184,1704,0.00,2.17,0.00,0.000,6,0.000,0.035,2730,1755,3308,0,0,0,0,0,0
$GC,2026,-0.83,-116.8,186.3,-9.5,205,2030,0.00,2.17,0.00,0.000,4,0.000,0.058,2730,414,3308,0,0,0,0,0,0
$GC,2121,-0.83,-116.8,195.5,-8.5,210,2129,0.00,2.08,0.00,0.000,6,0.000,0.035,2730,1742,3308,0,0,0,0,0,0
$GC,2443,-0.83,-116.8,225.0,-9.2,227,2447,0.00,1.60,0.00,0.000,4,0.000,0.056,2730,770,3308,0,0,0,0,0,0
$GC,2572,-0.87,-116.8,236.9,-8.6,232,2577,0.05,1.52,0.00,0.000,6,0.080,0.036,2698,1748,3308,0,0,0,0,0,0
$GC,2888,-0.79,-116.8,267.3,-9.4,248,2892,0.12,1.38,0.00,0.000,4,0.156,0.054,2734,918,3308,0,0,0,0,0,0
$GC,3055,-0.85,-116.8,282.0,-9.1,255,3060,0.03,1.30,0.00,0.000,6,0.103,0.036,2704,1756,3309,0,0,0,0,0,0
$GC,3375,-0.79,-116.8,312.3,-9.7,269,3380,0.10,2.35,0.00,0.000,4,0.159,0.058,2731,339,3308,0,0,0,0,0,0
$GC,3531,-0.79,-116.8,327.1,-9.8,273,3537,0.00,2.20,0.00,0.000,6,0.000,0.034,2729,1751,3309,0,0,0,0,0,0
$GC,3845,-0.82,-116.8,355.7,-9.0,284,3849,0.00,2.30,0.00,0.000,4,0.000,0.058,2729,344,3308,0,0,0,0,0,0
$GC,3990,-0.82,-116.8,368.7,-9.0,288,3994,0.00,2.20,0.00,0.000,6,0.000,0.033,2729,1758,3308,0,0,0,0,0,0
$GC,4320,-0.84,-116.8,394.9,-7.9,299,4324,0.00,2.30,0.00,0.000,4,0.000,0.056,2728,346,3308,0,0,0,0,0,0
$GC,4484,-0.84,-116.8,406.8,-7.1,304,4488,0.00,2.17,0.00,0.000,6,0.000,0.034,2729,1761,3308,0,0,0,0,0,0
$GC,4819,-0.89,-116.8,432.3,-7.7,315,4823,0.10,2.33,0.00,0.000,4,0.108,0.056,2685,340,3308,0,0,0,0,0,0
$GC,4920,-0.76,-116.8,441.5,-9.1,318,4925,0.22,2.17,0.00,0.000,6,0.146,0.034,2738,1760,3308,0,0,0,0,0,0
$GC,5255,-0.83,-116.8,469.9,-8.5,329,5260,0.08,2.33,0.00,0.000,4,0.127,0.056,2704,346,3308,0,0,0,0,0,0
$GC,5368,-0.79,-116.8,480.4,-9.3,332,5372,0.12,2.15,0.00,0.000,6,0.158,0.033,2730,1761,3308,0,0,0,0,0,0
$GC,5686,-0.84,-116.8,509.5,-9.3,343,5690,0.00,2.33,0.00,0.000,4,0.000,0.056,2730,335,3308,0,0,0,0,0,0
$GC,5883,-0.88,-116.8,527.5,-9.1,349,5887,0.08,2.17,0.00,0.000,6,0.126,0.034,2697,1762,3307,0,0,0,0,0,0
$GC,6223,-0.83,-116.8,560.4,-9.8,360,6228,0.08,2.35,0.00,0.000,4,0.184,0.056,2715,335,3307,0,0,0,0,0,0
$GC,6403,-0.83,-116.8,577.1,-9.3,365,6407,0.00,2.17,0.00,0.000,6,0.000,0.034,2710,1747,3307,0,0,0,0,0,0
$GC,6721,-0.83,-116.8,605.7,-9.0,376,6725,0.00,2.30,0.00,0.000,4,0.000,0.055,2710,339,3307,0,0,0,0,0,0
$GC,6861,-0.79,-116.8,618.7,-9.1,380,6866,0.10,2.17,0.00,0.000,6,0.169,0.032,2727,1755,3306,0,0,0,0,0,0
$GC,7185,-0.81,-116.8,648.0,-9.3,391,7189,0.00,2.28,0.00,0.000,4,0.000,0.056,2727,340,3306,0,0,0,0,0,0
$GC,7316,-0.87,-116.8,659.5,-8.8,395,7320,0.08,2.17,0.00,0.000,6,0.127,0.033,2696,1757,3306,0,0,0,0,0,0
$GC,7650,-0.81,-116.8,692.2,-9.9,406,7655,0.10,2.33,0.00,0.000,4,0.175,0.054,2725,334,3305,0,0,0,0,0,0
$GC,7796,-0.84,-116.8,706.2,-9.2,410,7800,0.00,2.20,0.00,0.000,6,0.000,0.034,2716,1757,3305,0,0,0,0,0,0
$GC,8120,-0.88,-116.8,736.3,-9.5,421,8124,0.00,2.30,0.00,0.000,4,0.000,0.055,2716,345,3304,0,0,0,0,0,0
$GC,8338,-0.92,-116.8,757.3,-9.5,427,8343,0.10,2.17,0.00,0.000,6,0.109,0.034,2674,1761,3304,0,0,0,0,0,0
$GC,8657,-0.83,-116.8,792.1,-11.2,438,8661,0.15,1.70,0.00,0.000,4,0.158,0.052,2715,720,3303,0,0,0,0,0,0
$GC,8768,-0.85,-116.8,803.9,-10.1,441,8772,0.00,1.60,0.00,0.000,6,0.000,0.036,2712,1746,3303,0,0,0,0,0,0
$GC,9097,-0.85,-116.8,837.2,-10.0,452,9101,0.00,2.28,0.00,0.000,4,0.000,0.054,2712,346,3303,0,0,0,0,0,0
$GC,9220,-0.85,-116.8,849.3,-10.5,455,9225,0.00,2.20,0.00,0.000,6,0.000,0.034,2702,1754,3302,0,0,0,0,0,0
$GC,9533,-0.83,-116.8,879.6,-9.7,466,9537,0.00,1.83,0.00,0.000,4,0.000,0.053,2702,638,3302,0,0,0,0,0,0
$GC,9622,-0.83,-116.8,888.4,-10.0,468,9627,0.03,1.73,0.00,0.000,6,0.181,0.035,2710,1745,3302,0,0,0,0,0,0
$GC,9941,-0.83,-116.8,918.6,-9.7,479,9945,0.00,2.28,0.00,0.000,4,0.000,0.055,2711,346,3301,0,0,0,0,0,0
$GC,10087,-0.83,-116.8,932.6,-9.2,483,10091,0.00,2.17,0.00,0.000,6,0.000,0.034,2702,1754,3301,0,0,0,0,0,0
$GC,10410,-0.83,-116.8,964.3,-10.0,494,10414,0.00,2.20,0.00,0.000,4,0.000,0.047,2693,3150,3301,0,0,0,0,0,0
$GC,10521,-0.83,-116.8,976.1,-10.4,497,10526,0.05,2.22,0.00,0.000,6,0.135,0.039,2712,1743,3300,0,0,0,0,0,0
$STATE,10784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10784,begin apogee
$GC,10789,-0.25,0.0,1002.0,10.1,506,10896,0.62,0.00,103.90,1.489,6,0.127,0.000,2900,1598,2827,0,0,0,0,0,0
$STATE,10897,end apogee,CONTROL_FINISHED_OK
$STATE,10897,begin climb
$GC,10899,0.69,116.8,1010.0,0.0,509,11017,0.90,2.50,108.43,1.472,4,0.075,0.045,3202,3017,2350,0,0,0,0,0,0
$GC,11156,0.39,399.2,1026.8,-4.0,516,11433,0.38,2.22,267.30,1.462,6,0.197,0.044,3120,1629,1199,0,0,0,0,0,0
$GC,11764,0.64,399.2,990.7,7.9,536,11769,0.20,2.33,0.00,0.000,4,0.088,0.063,3190,216,1190,0,0,0,0,0,0
$GC,11847,0.72,399.2,983.7,7.7,538,11852,0.08,2.17,0.00,0.000,6,0.138,0.034,3216,1630,1187,0,0,0,0,0,0
$GC,12165,0.72,399.2,956.9,8.4,549,12169,0.00,0.60,0.00,0.000,4,0.000,0.043,3216,2053,1187,0,0,0,0,0,0
$GC,12220,0.72,399.2,951.9,7.9,550,12224,0.00,0.70,0.00,0.000,6,0.000,0.054,3218,1619,1187,0,0,0,0,0,0
$GC,12539,0.72,399.2,923.4,9.1,561,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1619,1187,0,0,0,0,0,0
$GC,12845,0.69,399.2,896.3,8.9,571,12849,0.00,0.40,0.00,0.000,4,0.000,0.047,3218,1904,1186,0,0,0,0,0,0
$GC,12923,0.69,399.2,889.1,9.6,573,12927,0.00,0.47,0.00,0.000,6,0.000,0.057,3219,1613,1186,0,0,0,0,0,0
$GC,13253,0.69,399.2,859.6,9.1,584,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1613,1185,0,0,0,0,0,0
$GC,13559,0.67,399.2,831.4,9.2,594,13564,0.08,1.17,0.00,0.000,4,0.200,0.041,3204,2370,1185,0,0,0,0,0,0
$GC,13627,0.69,399.2,825.2,9.4,596,13631,0.00,1.20,0.00,0.000,6,0.000,0.050,3208,1620,1184,0,0,0,0,0,0
$GC,13968,0.69,399.2,794.2,9.2,607,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1620,1184,0,0,0,0,0,0
$GC,14274,0.69,399.2,766.3,9.1,617,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1620,1184,0,0,0,0,0,0
$GC,14580,0.69,399.2,738.1,9.2,627,14584,0.00,1.40,0.00,0.000,4,0.000,0.044,3207,2501,1184,0,0,0,0,0,0
$GC,14640,0.69,399.2,732.3,9.9,628,14645,0.00,1.42,0.00,0.000,6,0.000,0.049,3212,1615,1184,0,0,0,0,0,0
$GC,14953,0.69,399.2,703.1,9.3,639,14957,0.00,0.40,0.00,0.000,4,0.000,0.047,3212,1897,1183,0,0,0,0,0,0
$GC,15080,0.69,399.2,691.2,9.1,642,15086,0.00,0.47,0.00,0.000,6,0.000,0.058,3213,1606,1184,0,0,0,0,0,0
$GC,15393,0.69,399.2,662.5,9.2,653,15397,0.00,2.25,0.00,0.000,4,0.000,0.047,3212,3014,1184,0,0,0,0,0,0
$GC,15465,0.69,399.2,655.6,9.6,655,15470,0.00,2.25,0.00,0.000,6,0.000,0.047,3215,1627,1183,0,0,0,0,0,0
$GC,15801,0.69,399.2,625.0,9.1,666,15804,0.00,0.38,0.00,0.000,4,0.000,0.048,3215,1888,1183,0,0,0,0,0,0
$GC,15929,0.69,399.2,612.8,9.7,669,15934,0.00,0.45,0.00,0.000,6,0.000,0.059,3215,1611,1183,0,0,0,0,0,0
$GC,16242,0.69,399.2,585.3,8.8,680,16245,0.00,1.00,0.00,0.000,4,0.000,0.043,3215,2258,1183,0,0,0,0,0,0
$GC,16297,0.69,399.2,580.4,8.3,681,16301,0.00,1.02,0.00,0.000,6,0.000,0.050,3215,1623,1184,0,0,0,0,0,0
$GC,16615,0.69,399.2,553.3,8.4,692,16619,0.00,0.47,0.00,0.000,4,0.000,0.047,3215,1945,1183,0,0,0,0,0,0
$GC,16676,0.69,399.2,548.3,8.1,693,16681,0.00,0.55,0.00,0.000,6,0.000,0.057,3215,1612,1183,0,0,0,0,0,0
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$STATE,23114,end climb,SURFACE_DEPTH_REACHED
$STATE,23114,begin surface coast
$FINISH,1.6,1.016298
$STATE,23151,end surface coast,CONTROL_FINISHED_OK
$STATE,23153,begin surface
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$IRIDIUM_FIX,-4103.55,-507.00,040113,101048
$TT8_MAMPS,0.026964
$HUMID,50.82
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$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,21.3,109.274
$10V_AH,9.9,64.407
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.525,146.400,480.850,0.000,0.000,0.000,0.000,0.000,0.250,0.000,19.261,2904.714,16203.381,540.339,3434.354,220.669,0.000,2087.836,0.000,3370.155,0.000,2.832,0.000
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$SENSOR_SECS,720.400,988.176,730.160,86.452,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354644
$DATA_FILE_SIZE,66923,1081
$CAP_FILE_SIZE,200436,0
$CFSIZE,2097086464,2032369664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040113,231335,-4118.427,-508.996,29,1.1,29,-22.4