version: 66.07.10.p01
glider: 574
mission: 4
dive: 469
start: 1 8 113 18 24 22
data:
$ID,574
$MISSION,4
$DIVE,469
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,180
$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,-7319.0581
$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,1730
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,39
$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,448
$GPS1,080113,181022,-4108.935,-500.419,31,2.0,48,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-73.1
$GPS2,080113,182401,-4108.842,-500.383,45,1.9,45,-22.5
$SPEED_LIMITS,0.110,0.202
$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,107.7,84592,-13.5,-6.346
$D_GRID,990
$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,24,begin dive
$GC,26,-0.68,-116.8,0.0,0.0,0,51,0.00,0.00,-23.25,0.000,2,0.000,0.000,69,1736,1729,0,0,0,0,0,0
$GC,54,-0.68,-116.8,3.0,-1.3,4,140,12.20,2.30,-63.60,0.000,4,0.255,0.067,2750,3125,3304,0,0,0,0,0,0
$GC,215,-0.65,-116.8,12.5,-10.8,30,222,0.05,2.25,0.00,0.000,6,0.144,0.047,2766,1736,3304,0,0,0,0,0,0
$GC,296,-0.68,-116.8,20.9,-10.0,43,303,0.00,1.60,0.00,0.000,4,0.000,0.061,2767,764,3305,0,0,0,0,0,0
$GC,347,-0.70,-116.8,26.3,-10.2,51,355,0.00,1.52,0.00,0.000,6,0.000,0.038,2764,1730,3305,0,0,0,0,0,0
$GC,426,-0.75,-116.8,34.3,-10.3,64,433,0.08,1.35,0.00,0.000,4,0.125,0.048,2720,2586,3305,0,0,0,0,0,0
$GC,471,-0.72,-116.8,39.0,-10.8,71,477,0.08,1.38,0.00,0.000,6,0.132,0.044,2745,1720,3305,0,0,0,0,0,0
$GC,707,-0.72,-116.8,63.5,-11.0,109,711,0.00,0.45,0.00,0.000,4,0.000,0.044,2744,2038,3305,0,0,0,0,0,0
$GC,798,-0.72,-116.8,74.2,-11.0,117,802,0.00,0.47,0.00,0.000,6,0.000,0.052,2745,1726,3305,0,0,0,0,0,0
$GC,1130,-0.75,-116.8,111.4,-11.3,145,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1726,3305,0,0,0,0,0,0
$GC,1441,-0.75,-116.8,143.9,-10.1,165,1445,0.00,0.65,0.00,0.000,4,0.000,0.041,2743,2177,3306,0,0,0,0,0,0
$GC,1497,-0.78,-116.8,149.9,-9.9,168,1501,0.00,0.70,0.00,0.000,6,0.000,0.047,2743,1722,3306,0,0,0,0,0,0
$GC,1824,-0.81,-116.8,179.7,-8.9,189,1826,0.05,0.00,0.00,0.000,6,0.168,0.000,2711,1722,3307,0,0,0,0,0,0
$GC,2148,-0.78,-116.8,210.2,-9.6,208,2149,0.08,0.00,0.00,0.000,6,0.177,0.000,2730,1721,3307,0,0,0,0,0,0
$GC,2455,-0.78,-116.8,240.1,-9.8,223,2458,0.00,0.62,0.00,0.000,4,0.000,0.058,2730,1325,3307,0,0,0,0,0,0
$GC,2504,-0.78,-116.8,245.3,-10.0,225,2508,0.00,0.65,0.00,0.000,6,0.000,0.039,2729,1747,3307,0,0,0,0,0,0
$GC,2834,-0.78,-116.8,278.7,-10.3,241,2837,0.00,0.80,0.00,0.000,4,0.000,0.054,2729,1254,3307,0,0,0,0,0,0
$GC,2883,-0.78,-116.8,284.1,-9.4,243,2887,0.00,0.75,0.00,0.000,6,0.000,0.038,2729,1735,3307,0,0,0,0,0,0
$GC,3199,-0.78,-116.8,316.4,-10.3,256,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1735,3307,0,0,0,0,0,0
$GC,3505,-0.78,-116.8,346.2,-9.5,266,3509,0.00,0.52,0.00,0.000,4,0.000,0.053,2728,1401,3307,0,0,0,0,0,0
$GC,3590,-0.82,-116.8,354.4,-9.7,268,3594,0.00,0.50,0.00,0.000,6,0.000,0.041,2728,1739,3307,0,0,0,0,0,0
$GC,3914,-0.82,-116.8,384.5,-9.5,279,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1739,3307,0,0,0,0,0,0
$GC,4220,-0.84,-116.8,413.7,-9.8,289,4224,0.00,1.48,0.00,0.000,4,0.000,0.056,2728,851,3307,0,0,0,0,0,0
$GC,4315,-0.90,-116.8,423.0,-9.3,291,4321,0.08,1.35,0.00,0.000,6,0.064,0.035,2686,1719,3307,0,0,0,0,0,0
$GC,4628,-0.82,-116.8,457.1,-11.0,302,4630,0.12,0.00,0.00,0.000,6,0.155,0.000,2720,1720,3306,0,0,0,0,0,0
$GC,4934,-0.82,-116.8,488.1,-9.9,312,4938,0.00,1.80,0.00,0.000,4,0.000,0.056,2720,617,3306,0,0,0,0,0,0
$GC,5141,-0.86,-116.8,508.0,-8.9,318,5145,0.00,1.73,0.00,0.000,6,0.000,0.035,2714,1718,3305,0,0,0,0,0,0
$GC,5476,-0.86,-116.8,537.1,-8.7,329,5480,0.00,1.10,0.00,0.000,4,0.000,0.054,2714,1044,3305,0,0,0,0,0,0
$GC,5554,-0.89,-116.8,544.0,-8.8,331,5558,0.00,1.08,0.00,0.000,6,0.000,0.037,2712,1741,3304,0,0,0,0,0,0
$GC,5884,-0.89,-116.8,571.8,-8.6,342,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1741,3304,0,0,0,0,0,0
$GC,6190,-0.89,-116.8,598.5,-8.9,352,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1741,3304,0,0,0,0,0,0
$GC,6496,-0.87,-116.8,626.4,-9.1,362,6500,0.00,0.55,0.00,0.000,4,0.000,0.054,2712,1395,3304,0,0,0,0,0,0
$GC,6531,-0.83,-116.8,629.6,-8.8,363,6535,0.00,0.50,0.00,0.000,6,0.000,0.043,2711,1734,3303,0,0,0,0,0,0
$GC,6872,-0.81,-116.8,664.0,-10.2,374,6875,0.00,0.70,0.00,0.000,4,0.000,0.048,2707,2207,3302,0,0,0,0,0,0
$GC,6927,-0.77,-116.8,670.1,-10.8,375,6931,0.08,0.75,0.00,0.000,6,0.129,0.048,2733,1724,3302,0,0,0,0,0,0
$GC,7245,-0.80,-116.8,701.8,-9.8,386,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1724,3302,0,0,0,0,0,0
$GC,7551,-0.82,-116.8,733.3,-10.3,396,7555,0.00,0.75,0.00,0.000,4,0.000,0.045,2731,2220,3301,0,0,0,0,0,0
$GC,7612,-0.86,-116.8,740.0,-11.2,397,7618,0.05,0.77,0.00,0.000,6,0.077,0.049,2698,1725,3302,0,0,0,0,0,0
$GC,7925,-0.83,-116.8,774.1,-10.8,408,7927,0.08,0.00,0.00,0.000,6,0.184,0.000,2716,1726,3301,0,0,0,0,0,0
$GC,8232,-0.86,-116.8,804.1,-9.6,418,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1726,3300,0,0,0,0,0,0
$GC,8537,-0.86,-116.8,832.0,-8.8,428,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1725,3299,0,0,0,0,0,0
$GC,8844,-0.86,-116.8,858.0,-8.2,438,8848,0.00,2.25,0.00,0.000,4,0.000,0.050,2709,3119,3299,0,0,0,0,0,0
$GC,8915,-0.86,-116.8,863.8,-7.7,440,8919,0.00,2.22,0.00,0.000,6,0.000,0.042,2709,1727,3299,0,0,0,0,0,0
$GC,9245,-0.86,-116.8,889.8,-8.1,451,9248,0.00,1.10,0.00,0.000,4,0.000,0.055,2709,1037,3298,0,0,0,0,0,0
$GC,9300,-0.86,-116.8,894.6,-9.0,452,9304,0.00,1.08,0.00,0.000,6,0.000,0.038,2708,1723,3298,0,0,0,0,0,0
$GC,9618,-0.86,-116.8,920.6,-8.3,463,9622,0.00,1.65,0.00,0.000,4,0.000,0.047,2700,2768,3298,0,0,0,0,0,0
$GC,9674,-0.86,-116.8,925.3,-8.6,464,9678,0.00,1.65,0.00,0.000,6,0.000,0.041,2700,1726,3298,0,0,0,0,0,0
$GC,9992,-0.86,-116.8,953.7,-9.2,475,9996,0.00,0.88,0.00,0.000,4,0.000,0.043,2698,2298,3297,0,0,0,0,0,0
$GC,10053,-0.86,-116.8,959.8,-9.2,476,10058,0.00,0.90,0.00,0.000,6,0.000,0.045,2698,1724,3297,0,0,0,0,0,0
$STATE,10364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10364,begin apogee
$GC,10370,-0.25,0.0,990.9,10.3,487,10475,0.68,0.00,102.45,1.473,6,0.124,0.000,2901,1628,2827,0,0,0,0,0,0
$STATE,10476,end apogee,CONTROL_FINISHED_OK
$STATE,10476,begin climb
$GC,10478,0.68,116.8,998.7,0.0,490,10595,0.88,1.85,107.20,1.455,4,0.070,0.058,3206,615,2350,0,0,0,0,0,0
$GC,10831,0.41,438.7,1023.1,-5.5,500,11143,0.28,1.62,303.50,1.450,6,0.193,0.037,3123,1662,1037,0,0,0,0,0,0
$GC,11473,0.68,438.7,984.5,8.6,522,11477,0.25,1.38,0.00,0.000,4,0.090,0.057,3208,803,1029,0,0,0,0,0,0
$GC,11522,0.78,438.7,979.9,7.6,523,11527,0.05,1.27,0.00,0.000,6,0.083,0.035,3236,1637,1027,0,0,0,0,0,0
$GC,11847,0.75,438.7,948.9,9.9,534,11851,0.00,2.30,0.00,0.000,4,0.000,0.067,3244,251,1028,0,0,0,0,0,0
$GC,11925,0.70,438.7,940.9,9.9,536,11929,0.12,2.15,0.00,0.000,6,0.168,0.037,3212,1637,1025,0,0,0,0,0,0
$GC,12254,0.73,438.7,908.9,9.9,547,12258,0.00,2.28,0.00,0.000,4,0.000,0.066,3220,270,1025,0,0,0,0,0,0
$GC,12316,0.73,438.7,903.0,9.9,549,12320,0.00,2.10,0.00,0.000,6,0.000,0.037,3220,1638,1024,0,0,0,0,0,0
$GC,12650,0.73,438.7,869.9,10.0,560,12654,0.00,1.23,0.00,0.000,4,0.000,0.062,3221,904,1024,0,0,0,0,0,0
$GC,12684,0.73,438.7,866.3,10.9,561,12688,0.00,1.15,0.00,0.000,6,0.000,0.037,3221,1645,1024,0,0,0,0,0,0
$GC,13025,0.73,438.7,830.0,10.8,572,13028,0.00,2.08,0.00,0.000,4,0.000,0.065,3221,381,1024,0,0,0,0,0,0
$GC,13080,0.73,438.7,824.0,10.5,573,13084,0.00,1.98,0.00,0.000,6,0.000,0.036,3221,1642,1023,0,0,0,0,0,0
$GC,13399,0.73,438.7,788.9,11.0,584,13403,0.00,2.33,0.00,0.000,4,0.000,0.067,3221,249,1024,0,0,0,0,0,0
$GC,13476,0.77,438.7,780.8,10.1,586,13480,0.00,2.17,0.00,0.000,6,0.000,0.035,3221,1652,1023,0,0,0,0,0,0
$GC,13800,0.77,438.7,748.1,9.8,597,13804,0.00,2.35,0.00,0.000,4,0.000,0.067,3221,248,1023,0,0,0,0,0,0
$GC,13877,0.79,438.7,740.8,9.0,599,13881,0.00,2.15,0.00,0.000,6,0.000,0.036,3221,1637,1023,0,0,0,0,0,0
$GC,14201,0.79,438.7,710.2,9.3,610,14205,0.00,2.33,0.00,0.000,4,0.000,0.067,3228,249,1023,0,0,0,0,0,0
$GC,14290,0.75,438.7,701.7,9.4,612,14295,0.00,2.17,0.00,0.000,6,0.000,0.038,3227,1639,1023,0,0,0,0,0,0
$GC,14602,0.75,438.7,672.6,9.3,623,14606,0.00,2.33,0.00,0.000,4,0.000,0.067,3227,247,1023,0,0,0,0,0,0
$GC,14686,0.73,438.7,664.9,8.6,625,14690,0.00,2.17,0.00,0.000,6,0.000,0.037,3227,1644,1023,0,0,0,0,0,0
$GC,15004,0.73,438.7,635.4,9.2,636,15008,0.00,2.35,0.00,0.000,4,0.000,0.067,3227,248,1023,0,0,0,0,0,0
$GC,15093,0.73,438.7,627.5,8.4,638,15099,0.00,2.20,0.00,0.000,6,0.000,0.039,3227,1634,1023,0,0,0,0,0,0
$GC,15406,0.73,438.7,599.2,9.1,649,15410,0.00,2.35,0.00,0.000,4,0.000,0.067,3227,238,1023,0,0,0,0,0,0
$GC,15528,0.73,438.7,588.2,8.9,652,15534,0.00,2.22,0.00,0.000,6,0.000,0.038,3227,1649,1023,0,0,0,0,0,0
$GC,15842,0.73,438.7,560.2,9.0,663,15846,0.00,2.35,0.00,0.000,4,0.000,0.067,3227,246,1023,0,0,0,0,0,0
$GC,15958,0.73,438.7,550.0,8.0,666,15963,0.00,2.20,0.00,0.000,6,0.000,0.037,3227,1643,1023,0,0,0,0,0,0
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$STATE,21836,end climb,SURFACE_DEPTH_REACHED
$STATE,21836,begin surface coast
$FINISH,1.8,1.012643
$STATE,21885,end surface coast,CONTROL_FINISHED_OK
$STATE,21885,begin surface
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$HUMID,50.23
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$XPDR_PINGS,0
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$10V_AH,9.8,66.230
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.775,147.125,513.150,0.000,0.000,27.702,47.481,525.640,0.000,0.000,47.634,2697.916,15526.054,566.716,3666.382,316.791,0.000,1971.198,0.000,2993.569,0.000,1.013,0.000
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$SENSOR_SECS,685.642,969.976,700.160,82.012,0.000,0.000,0.000,0.000,0.000,0.000
$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,63653,1026
$CAP_FILE_SIZE,198782,0
$CFSIZE,2097086464,2030436352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,090113,003135,-4108.249,-459.889,35,1.0,35,-22.5