version: 66.07.10.p01
glider: 574
mission: 4
dive: 470
start: 1 9 113 0 33 21
data:
$ID,574
$MISSION,4
$DIVE,470
$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,-7321.3867
$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,23
$R_STBD_OVSHOOT,44
$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,449
$GPS1,090113,003135,-4108.249,-459.889,35,1.0,35,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-72.9
$GPS2,090113,003301,-4108.243,-459.889,21,1.0,21,-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,108.4,83817,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.68,-116.8,0.0,0.0,0,52,0.00,0.00,-25.08,0.000,2,0.000,0.000,70,1720,1670,0,0,0,0,0,0
$GC,55,-0.68,-116.8,3.1,-1.3,4,141,12.38,2.33,-64.45,0.000,4,0.256,0.064,2741,3121,3304,0,0,0,0,0,0
$GC,216,-0.71,-116.8,15.3,-12.1,30,223,0.00,2.25,0.00,0.000,6,0.000,0.045,2742,1727,3305,0,0,0,0,0,0
$GC,295,-0.71,-116.8,24.1,-11.2,43,302,0.00,1.60,0.00,0.000,4,0.000,0.063,2741,761,3305,0,0,0,0,0,0
$GC,363,-0.71,-116.8,30.5,-9.6,54,371,0.05,1.50,0.00,0.000,6,0.145,0.039,2753,1712,3305,0,0,0,0,0,0
$GC,605,-0.76,-116.8,54.7,-10.6,95,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1712,3305,0,0,0,0,0,0
$GC,826,-0.76,-116.8,78.5,-10.8,120,830,0.00,0.82,0.00,0.000,4,0.000,0.057,2753,1208,3306,0,0,0,0,0,0
$GC,960,-0.81,-116.8,93.2,-10.9,132,965,0.05,0.82,0.00,0.000,6,0.073,0.041,2715,1741,3306,0,0,0,0,0,0
$GC,1290,-0.77,-116.8,126.8,-9.9,155,1294,0.08,1.08,0.00,0.000,4,0.181,0.056,2734,1095,3306,0,0,0,0,0,0
$GC,1362,-0.79,-116.8,134.1,-9.3,159,1366,0.00,0.98,0.00,0.000,6,0.000,0.037,2731,1727,3307,0,0,0,0,0,0
$GC,1687,-0.79,-116.8,165.2,-10.0,180,1691,0.00,1.02,0.00,0.000,4,0.000,0.056,2731,1098,3308,0,0,0,0,0,0
$GC,1775,-0.79,-116.8,173.7,-9.8,185,1779,0.00,0.98,0.00,0.000,6,0.000,0.037,2729,1726,3308,0,0,0,0,0,0
$GC,2113,-0.79,-116.8,209.1,-10.6,205,2116,0.00,1.92,0.00,0.000,4,0.000,0.059,2729,560,3309,0,0,0,0,0,0
$GC,2183,-0.79,-116.8,216.7,-10.1,208,2187,0.00,1.83,0.00,0.000,6,0.000,0.036,2728,1721,3309,0,0,0,0,0,0
$GC,2515,-0.79,-116.8,251.7,-10.4,224,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1721,3309,0,0,0,0,0,0
$GC,2825,-0.79,-116.8,283.5,-10.3,239,2828,0.00,0.77,0.00,0.000,4,0.000,0.045,2727,2245,3309,0,0,0,0,0,0
$GC,2897,-0.79,-116.8,291.0,-9.9,242,2901,0.00,0.80,0.00,0.000,6,0.000,0.048,2727,1729,3309,0,0,0,0,0,0
$GC,3211,-0.79,-116.8,321.4,-9.4,254,3215,0.00,0.47,0.00,0.000,4,0.000,0.058,2727,1417,3309,0,0,0,0,0,0
$GC,3261,-0.79,-116.8,326.5,-10.0,255,3265,0.00,0.50,0.00,0.000,6,0.000,0.041,2725,1753,3309,0,0,0,0,0,0
$GC,3585,-0.79,-116.8,356.9,-9.2,266,3589,0.00,1.45,0.00,0.000,4,0.000,0.057,2725,877,3309,0,0,0,0,0,0
$GC,3674,-0.82,-116.8,365.4,-9.3,268,3678,0.00,1.30,0.00,0.000,6,0.000,0.037,2722,1707,3309,0,0,0,0,0,0
$GC,3992,-0.82,-116.8,395.8,-9.4,279,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1707,3309,0,0,0,0,0,0
$GC,4299,-0.82,-116.8,426.7,-10.1,289,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1708,3309,0,0,0,0,0,0
$GC,4605,-0.82,-116.8,457.7,-10.2,299,4608,0.00,0.65,0.00,0.000,4,0.000,0.045,2719,2161,3309,0,0,0,0,0,0
$GC,4665,-0.82,-116.8,464.2,-9.6,300,4671,0.00,0.70,0.00,0.000,6,0.000,0.048,2719,1722,3309,0,0,0,0,0,0
$GC,4979,-0.82,-116.8,496.4,-10.2,311,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1722,3309,0,0,0,0,0,0
$GC,5285,-0.79,-116.8,526.2,-9.5,321,5289,0.00,0.52,0.00,0.000,4,0.000,0.058,2719,1383,3309,0,0,0,0,0,0
$GC,5325,-0.75,-116.8,530.2,-10.1,322,5329,0.08,0.55,0.00,0.000,6,0.129,0.041,2743,1752,3308,0,0,0,0,0,0
$GC,5661,-0.79,-116.8,559.1,-8.6,333,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1752,3308,0,0,0,0,0,0
$GC,5967,-0.83,-116.8,585.8,-9.0,343,5971,0.10,0.50,0.00,0.000,4,0.106,0.048,2697,2101,3306,0,0,0,0,0,0
$GC,6021,-0.77,-116.8,591.4,-10.1,344,6026,0.10,0.57,0.00,0.000,6,0.127,0.051,2731,1728,3307,0,0,0,0,0,0
$GC,6340,-0.81,-116.8,623.1,-10.0,355,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1728,3306,0,0,0,0,0,0
$GC,6645,-0.81,-116.8,654.6,-10.3,365,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1728,3306,0,0,0,0,0,0
$GC,6952,-0.83,-116.8,687.2,-10.6,375,6956,0.00,0.98,0.00,0.000,4,0.000,0.059,2731,1124,3306,0,0,0,0,0,0
$GC,7008,-0.86,-116.8,693.4,-11.5,376,7012,0.05,0.93,0.00,0.000,6,0.076,0.037,2697,1723,3306,0,0,0,0,0,0
$GC,7326,-0.83,-116.8,727.5,-10.7,387,7330,0.08,0.45,0.00,0.000,4,0.180,0.050,2715,2040,3305,0,0,0,0,0,0
$GC,7431,-0.83,-116.8,738.5,-10.0,390,7435,0.00,0.50,0.00,0.000,6,0.000,0.052,2715,1722,3305,0,0,0,0,0,0
$GC,7766,-0.83,-116.8,772.5,-10.3,401,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1722,3305,0,0,0,0,0,0
$GC,8073,-0.83,-116.8,804.0,-10.4,411,8076,0.00,1.15,0.00,0.000,4,0.000,0.044,2712,2451,3304,0,0,0,0,0,0
$GC,8150,-0.85,-116.8,812.1,-10.2,413,8154,0.00,1.15,0.00,0.000,6,0.000,0.047,2712,1730,3304,0,0,0,0,0,0
$GC,8480,-0.85,-116.8,847.0,-10.8,424,8484,0.00,1.00,0.00,0.000,4,0.000,0.044,2708,2380,3303,0,0,0,0,0,0
$GC,8557,-0.85,-116.8,855.6,-10.1,426,8562,0.00,1.02,0.00,0.000,6,0.000,0.046,2708,1726,3303,0,0,0,0,0,0
$GC,8887,-0.85,-116.8,891.4,-11.0,437,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1725,3303,0,0,0,0,0,0
$GC,9194,-0.85,-116.8,923.5,-10.3,447,9198,0.00,2.10,0.00,0.000,4,0.000,0.050,2699,3046,3302,0,0,0,0,0,0
$GC,9265,-0.85,-116.8,931.0,-10.2,449,9270,0.00,2.10,0.00,0.000,6,0.000,0.042,2699,1732,3302,0,0,0,0,0,0
$GC,9595,-0.85,-116.8,964.0,-9.9,460,9599,0.00,0.98,0.00,0.000,4,0.000,0.057,2699,1124,3302,0,0,0,0,0,0
$GC,9640,-0.80,-116.8,968.7,-10.1,461,9644,0.08,0.95,0.00,0.000,6,0.139,0.038,2720,1740,3302,0,0,0,0,0,0
$STATE,9905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9905,begin apogee
$GC,9911,-0.25,0.0,992.6,8.9,470,10017,0.60,0.00,103.35,1.470,6,0.118,0.000,2905,1627,2827,0,0,0,0,0,0
$STATE,10018,end apogee,CONTROL_FINISHED_OK
$STATE,10018,begin climb
$GC,10020,0.68,116.8,999.6,0.0,473,10132,0.88,0.00,107.57,1.447,6,0.071,0.000,3198,1626,2351,0,0,0,0,0,0
$GC,10419,0.45,409.6,1020.8,-4.4,486,10701,0.25,0.93,274.67,1.453,4,0.190,0.036,3138,2176,1156,0,0,0,0,0,0
$GC,10954,0.68,409.6,987.4,9.5,502,10960,0.17,0.85,0.00,0.000,6,0.066,0.050,3207,1652,1147,0,0,0,0,0,0
$GC,11266,0.68,409.6,958.3,9.5,513,11271,0.00,2.35,0.00,0.000,4,0.000,0.068,3215,234,1146,0,0,0,0,0,0
$GC,11398,0.73,409.6,946.3,9.9,517,11403,0.00,2.17,0.00,0.000,6,0.000,0.037,3214,1637,1143,0,0,0,0,0,0
$GC,11733,0.73,409.6,914.3,9.4,528,11737,0.00,2.22,0.00,0.000,4,0.000,0.047,3214,3045,1143,0,0,0,0,0,0
$GC,11839,0.69,409.6,904.2,9.0,531,11843,0.00,2.25,0.00,0.000,6,0.000,0.047,3222,1638,1142,0,0,0,0,0,0
$GC,12169,0.66,409.6,872.4,9.8,542,12173,0.10,1.42,0.00,0.000,4,0.181,0.044,3198,2534,1142,0,0,0,0,0,0
$GC,12241,0.69,409.6,865.6,9.4,544,12245,0.00,1.45,0.00,0.000,6,0.000,0.050,3200,1639,1142,0,0,0,0,0,0
$GC,12577,0.71,409.6,835.1,9.1,555,12581,0.00,2.25,0.00,0.000,4,0.000,0.047,3200,3049,1141,0,0,0,0,0,0
$GC,12655,0.71,409.6,827.7,9.7,557,12660,0.00,2.28,0.00,0.000,6,0.000,0.047,3200,1631,1141,0,0,0,0,0,0
$GC,12974,0.76,409.6,798.1,9.3,568,12978,0.10,1.30,0.00,0.000,4,0.105,0.042,3242,2461,1141,0,0,0,0,0,0
$GC,13034,0.67,409.6,791.8,10.6,569,13040,0.12,1.33,0.00,0.000,6,0.148,0.051,3209,1637,1141,0,0,0,0,0,0
$GC,13347,0.67,409.6,762.5,9.4,580,13351,0.00,1.85,0.00,0.000,4,0.000,0.045,3209,2789,1141,0,0,0,0,0,0
$GC,13407,0.64,409.6,756.8,9.4,581,13413,0.05,1.88,0.00,0.000,6,0.154,0.049,3190,1639,1141,0,0,0,0,0,0
$GC,13721,0.71,409.6,729.5,8.8,592,13725,0.08,0.75,0.00,0.000,4,0.126,0.044,3225,2136,1141,0,0,0,0,0,0
$GC,13809,0.71,409.6,721.4,9.1,594,13813,0.00,0.82,0.00,0.000,6,0.000,0.054,3225,1635,1141,0,0,0,0,0,0
$GC,14128,0.67,409.6,693.0,8.9,605,14133,0.10,2.25,0.00,0.000,4,0.188,0.047,3201,3040,1140,0,0,0,0,0,0
$GC,14228,0.67,409.6,684.1,9.3,608,14232,0.00,2.28,0.00,0.000,6,0.000,0.047,3201,1640,1141,0,0,0,0,0,0
$GC,14564,0.70,409.6,655.1,8.9,619,14567,0.00,0.50,0.00,0.000,4,0.000,0.049,3201,1977,1141,0,0,0,0,0,0
$GC,14653,0.73,409.6,646.6,9.2,621,14657,0.00,0.55,0.00,0.000,6,0.000,0.057,3201,1634,1140,0,0,0,0,0,0
$GC,14972,0.76,409.6,616.1,9.7,632,14976,0.10,1.58,0.00,0.000,4,0.108,0.044,3243,2639,1141,0,0,0,0,0,0
$GC,15040,0.66,409.6,608.8,11.3,634,15044,0.17,1.62,0.00,0.000,6,0.165,0.050,3205,1641,1141,0,0,0,0,0,0
$GC,15380,0.66,409.6,575.4,9.6,645,15383,0.00,1.00,0.00,0.000,4,0.000,0.045,3205,2282,1141,0,0,0,0,0,0
$GC,15452,0.69,409.6,568.3,10.2,647,15456,0.00,1.02,0.00,0.000,6,0.000,0.051,3208,1643,1141,0,0,0,0,0,0
$GC,15787,0.69,409.6,536.8,9.4,658,15791,0.00,1.55,0.00,0.000,4,0.000,0.045,3208,2613,1141,0,0,0,0,0,0
$GC,15859,0.69,409.6,530.2,8.7,660,15863,0.00,1.58,0.00,0.000,6,0.000,0.049,3214,1646,1141,0,0,0,0,0,0
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$STATE,21932,end climb,SURFACE_DEPTH_REACHED
$STATE,21932,begin surface coast
$FINISH,1.8,1.026195
$STATE,21940,end surface coast,CONTROL_FINISHED_OK
$STATE,21940,begin surface
$SM_CCo,22018,0.00,0.000,0,0,1030,440.80
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$IRIDIUM_FIX,-4054.98,-503.64,080113,050530
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$HUMID,50.31
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$TCM_TEMP,12.70
$XPDR_PINGS,0
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$10V_AH,9.8,66.344
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.250,113.750,500.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,23.495,2716.953,15560.643,565.985,3041.558,208.268,0.000,1946.398,0.000,2987.352,0.000,1.011,0.000
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$MEM,354584
$DATA_FILE_SIZE,63601,1029
$CAP_FILE_SIZE,187001,0
$CFSIZE,2097086464,2030338048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090113,064135,-4107.692,-458.978,41,1.5,41,-22.5