version: 66.07.10.p01
glider: 574
mission: 4
dive: 471
start: 1 9 113 6 59 25
data:
$ID,574
$MISSION,4
$DIVE,471
$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,-7323.7192
$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,29
$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,450
$GPS1,090113,064135,-4107.692,-458.978,41,1.5,41,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-73.6
$GPS2,090113,065905,-4107.651,-458.918,34,0.9,34,-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,109.1,82393,-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,-24.95,0.000,2,0.000,0.000,68,1730,1679,0,0,0,0,0,0
$GC,55,-0.68,-116.8,3.0,-1.3,4,135,12.20,2.30,-61.17,0.000,4,0.254,0.066,2749,3138,3303,0,0,0,0,0,0
$GC,209,-0.64,-116.8,13.3,-11.1,29,217,0.08,2.30,0.00,0.000,6,0.134,0.048,2773,1727,3304,0,0,0,0,0,0
$GC,291,-0.73,-116.8,22.0,-10.0,42,298,0.08,1.02,0.00,0.000,4,0.125,0.060,2741,1102,3304,0,0,0,0,0,0
$GC,353,-0.69,-116.8,28.9,-11.4,52,361,0.05,1.00,0.00,0.000,6,0.145,0.038,2753,1746,3304,0,0,0,0,0,0
$GC,433,-0.69,-116.8,37.4,-10.7,65,438,0.00,0.90,0.00,0.000,4,0.000,0.046,2751,2346,3304,0,0,0,0,0,0
$GC,492,-0.69,-116.8,42.8,-9.1,75,497,0.00,0.98,0.00,0.000,6,0.000,0.047,2751,1724,3304,0,0,0,0,0,0
$GC,726,-0.69,-116.8,63.7,-8.8,112,730,0.00,0.68,0.00,0.000,4,0.000,0.057,2751,1297,3304,0,0,0,0,0,0
$GC,764,-0.69,-116.8,66.7,-8.7,115,767,0.00,0.68,0.00,0.000,6,0.000,0.039,2749,1741,3304,0,0,0,0,0,0
$GC,1093,-0.71,-116.8,95.9,-9.0,146,1097,0.00,0.43,0.00,0.000,4,0.000,0.056,2749,1468,3305,0,0,0,0,0,0
$GC,1146,-0.71,-116.8,100.5,-9.4,151,1150,0.00,0.38,0.00,0.000,6,0.000,0.046,2747,1732,3305,0,0,0,0,0,0
$GC,1479,-0.75,-116.8,132.8,-9.8,172,1482,0.00,1.50,0.00,0.000,4,0.000,0.047,2742,2693,3305,0,0,0,0,0,0
$GC,1540,-0.77,-116.8,139.1,-9.5,175,1545,0.00,1.52,0.00,0.000,6,0.000,0.044,2742,1734,3305,0,0,0,0,0,0
$GC,1861,-0.77,-116.8,169.4,-9.0,196,1864,0.00,0.52,0.00,0.000,4,0.000,0.058,2743,1387,3305,0,0,0,0,0,0
$GC,1899,-0.77,-116.8,173.1,-8.8,198,1903,0.00,0.52,0.00,0.000,6,0.000,0.041,2742,1732,3306,0,0,0,0,0,0
$GC,2226,-0.77,-116.8,201.2,-8.5,219,2230,0.00,1.38,0.00,0.000,4,0.000,0.047,2737,2615,3306,0,0,0,0,0,0
$GC,2294,-0.77,-116.8,207.3,-8.9,222,2297,0.00,1.40,0.00,0.000,6,0.000,0.045,2737,1733,3306,0,0,0,0,0,0
$GC,2628,-0.77,-116.8,235.5,-8.5,238,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1733,3307,0,0,0,0,0,0
$GC,2938,-0.77,-116.8,263.3,-8.9,253,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1733,3307,0,0,0,0,0,0
$GC,3247,-0.77,-116.8,292.1,-9.4,268,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1733,3307,0,0,0,0,0,0
$GC,3562,-0.77,-116.8,322.7,-9.6,280,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1733,3307,0,0,0,0,0,0
$GC,3869,-0.77,-116.8,353.2,-10.0,290,3872,0.00,0.57,0.00,0.000,4,0.000,0.043,2736,2132,3307,0,0,0,0,0,0
$GC,3929,-0.79,-116.8,359.5,-9.5,291,3935,0.00,0.62,0.00,0.000,6,0.000,0.048,2736,1729,3306,0,0,0,0,0,0
$GC,4243,-0.83,-116.8,390.3,-9.8,302,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1729,3307,0,0,0,0,0,0
$GC,4549,-0.86,-116.8,420.1,-9.7,312,4551,0.10,0.00,0.00,0.000,6,0.105,0.000,2691,1729,3307,0,0,0,0,0,0
$GC,4855,-0.78,-116.8,450.1,-9.6,322,4860,0.15,0.62,0.00,0.000,4,0.147,0.057,2735,1343,3307,0,0,0,0,0,0
$GC,4904,-0.82,-116.8,454.8,-9.0,323,4908,0.00,0.57,0.00,0.000,6,0.000,0.039,2733,1731,3307,0,0,0,0,0,0
$GC,5229,-0.86,-116.8,484.7,-9.4,334,5230,0.08,0.00,0.00,0.000,6,0.124,0.000,2697,1731,3306,0,0,0,0,0,0
$GC,5535,-0.81,-116.8,515.9,-10.5,344,5539,0.10,0.52,0.00,0.000,4,0.162,0.056,2725,1409,3307,0,0,0,0,0,0
$GC,5636,-0.84,-116.8,526.2,-10.0,347,5640,0.00,0.47,0.00,0.000,6,0.000,0.044,2724,1731,3306,0,0,0,0,0,0
$GC,5977,-0.86,-116.8,560.7,-10.4,358,5981,0.00,0.55,0.00,0.000,4,0.000,0.055,2724,1386,3306,0,0,0,0,0,0
$GC,6100,-0.88,-116.8,573.4,-10.1,361,6104,0.03,0.52,0.00,0.000,6,0.099,0.043,2698,1735,3305,0,0,0,0,0,0
$GC,6419,-0.85,-116.8,607.5,-10.6,372,6423,0.00,2.35,0.00,0.000,4,0.000,0.060,2698,317,3305,0,0,0,0,0,0
$GC,6491,-0.79,-116.8,615.5,-11.0,374,6496,0.15,2.17,0.00,0.000,6,0.149,0.034,2729,1723,3305,0,0,0,0,0,0
$GC,6815,-0.83,-116.8,648.6,-10.3,385,6818,0.00,1.77,0.00,0.000,4,0.000,0.047,2724,2871,3304,0,0,0,0,0,0
$GC,6875,-0.86,-116.8,655.4,-11.2,386,6881,0.00,1.83,0.00,0.000,6,0.000,0.044,2725,1725,3304,0,0,0,0,0,0
$GC,7189,-0.89,-116.8,688.8,-10.6,397,7193,0.08,1.77,0.00,0.000,4,0.129,0.058,2691,653,3304,0,0,0,0,0,0
$GC,7239,-0.81,-116.8,694.5,-11.2,398,7244,0.12,1.67,0.00,0.000,6,0.162,0.036,2720,1734,3304,0,0,0,0,0,0
$GC,7563,-0.84,-116.8,726.0,-9.3,409,7567,0.00,0.80,0.00,0.000,4,0.000,0.044,2717,2283,3304,0,0,0,0,0,0
$GC,7613,-0.84,-116.8,730.5,-8.7,410,7617,0.00,0.88,0.00,0.000,6,0.000,0.046,2717,1730,3304,0,0,0,0,0,0
$GC,7937,-0.84,-116.8,758.1,-8.2,421,7941,0.00,0.93,0.00,0.000,4,0.000,0.043,2715,2340,3304,0,0,0,0,0,0
$GC,8008,-0.84,-116.8,764.2,-7.6,423,8013,0.00,0.98,0.00,0.000,6,0.000,0.045,2715,1722,3304,0,0,0,0,0,0
$GC,8344,-0.81,-116.8,792.8,-8.8,434,8348,0.00,1.15,0.00,0.000,4,0.000,0.044,2712,2462,3304,0,0,0,0,0,0
$GC,8405,-0.81,-116.8,798.6,-9.2,435,8411,0.00,1.12,0.00,0.000,6,0.000,0.044,2712,1737,3304,0,0,0,0,0,0
$GC,8718,-0.81,-116.8,828.4,-9.7,446,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1737,3304,0,0,0,0,0,0
$GC,9024,-0.81,-116.8,859.3,-10.2,456,9028,0.00,1.45,0.00,0.000,4,0.000,0.043,2706,2657,3304,0,0,0,0,0,0
$GC,9079,-0.81,-116.8,865.4,-11.5,457,9084,0.00,1.48,0.00,0.000,6,0.000,0.042,2706,1729,3303,0,0,0,0,0,0
$GC,9398,-0.79,-116.8,898.6,-10.4,468,9403,0.10,1.45,0.00,0.000,4,0.173,0.043,2727,2638,3303,0,0,0,0,0,0
$GC,9466,-0.84,-116.8,905.3,-9.2,470,9470,0.00,1.45,0.00,0.000,6,0.000,0.044,2727,1727,3304,0,0,0,0,0,0
$GC,9807,-0.84,-116.8,936.6,-8.8,481,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1727,3303,0,0,0,0,0,0
$GC,10113,-0.84,-116.8,961.9,-8.0,491,10117,0.00,2.22,0.00,0.000,4,0.000,0.046,2717,3135,3303,0,0,0,0,0,0
$GC,10180,-0.89,-116.8,967.3,-7.8,493,10184,0.05,2.22,0.00,0.000,6,0.165,0.039,2694,1720,3303,0,0,0,0,0,0
$STATE,10451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10451,begin apogee
$GC,10457,-0.25,0.0,991.2,9.0,502,10564,0.68,0.00,103.82,1.464,6,0.125,0.000,2898,1624,2827,0,0,0,0,0,0
$STATE,10565,end apogee,CONTROL_FINISHED_OK
$STATE,10565,begin climb
$GC,10567,0.68,116.8,997.7,0.0,505,10684,0.90,2.53,106.75,1.447,4,0.070,0.046,3205,3035,2350,0,0,0,0,0,0
$GC,10893,0.41,395.3,1016.1,-3.9,515,11161,0.38,2.20,259.15,1.457,6,0.199,0.044,3121,1655,1214,0,0,0,0,0,0
$GC,11469,0.63,395.3,982.7,7.6,533,11473,0.20,1.85,0.00,0.000,4,0.087,0.062,3192,514,1206,0,0,0,0,0,0
$GC,11519,0.69,395.3,978.5,8.0,534,11523,0.00,1.75,0.00,0.000,6,0.000,0.037,3192,1649,1205,0,0,0,0,0,0
$GC,11843,0.72,395.3,953.8,7.4,545,11848,0.08,2.15,0.00,0.000,4,0.133,0.047,3222,3033,1204,0,0,0,0,0,0
$GC,11906,0.62,395.3,948.7,7.7,547,11910,0.17,2.22,0.00,0.000,6,0.170,0.046,3188,1629,1203,0,0,0,0,0,0
$GC,12240,0.66,395.3,923.2,7.6,558,12244,0.00,1.17,0.00,0.000,4,0.000,0.043,3188,2382,1203,0,0,0,0,0,0
$GC,12308,0.66,395.3,917.9,8.6,560,12312,0.00,1.20,0.00,0.000,6,0.000,0.050,3188,1636,1203,0,0,0,0,0,0
$GC,12649,0.71,395.3,890.6,8.2,571,12654,0.08,1.58,0.00,0.000,4,0.129,0.044,3220,2638,1202,0,0,0,0,0,0
$GC,12710,0.62,395.3,885.0,9.5,572,12716,0.12,1.62,0.00,0.000,6,0.150,0.049,3191,1633,1202,0,0,0,0,0,0
$GC,13023,0.65,395.3,857.4,9.0,583,13027,0.00,1.05,0.00,0.000,4,0.000,0.044,3191,2310,1202,0,0,0,0,0,0
$GC,13080,0.65,395.3,852.2,8.4,584,13083,0.00,1.08,0.00,0.000,6,0.000,0.050,3191,1639,1202,0,0,0,0,0,0
$GC,13398,0.68,395.3,821.6,9.9,595,13402,0.00,1.65,0.00,0.000,4,0.000,0.045,3191,2671,1202,0,0,0,0,0,0
$GC,13466,0.68,395.3,814.8,9.5,597,13470,0.00,1.67,0.00,0.000,6,0.000,0.048,3198,1622,1202,0,0,0,0,0,0
$GC,13807,0.68,395.3,780.0,10.3,608,13811,0.00,1.58,0.00,0.000,4,0.000,0.044,3198,2609,1202,0,0,0,0,0,0
$GC,13867,0.68,395.3,773.7,10.4,609,13873,0.00,1.58,0.00,0.000,6,0.000,0.049,3200,1642,1202,0,0,0,0,0,0
$GC,14181,0.68,395.3,743.4,9.5,620,14185,0.00,2.22,0.00,0.000,4,0.000,0.047,3200,3043,1202,0,0,0,0,0,0
$GC,14258,0.64,395.3,736.3,8.1,622,14263,0.00,2.25,0.00,0.000,6,0.000,0.046,3200,1638,1202,0,0,0,0,0,0
$GC,14588,0.64,395.3,708.1,8.3,633,14592,0.00,1.77,0.00,0.000,4,0.000,0.044,3200,2765,1202,0,0,0,0,0,0
$GC,14660,0.64,395.3,702.2,8.6,635,14664,0.00,1.83,0.00,0.000,6,0.000,0.048,3200,1642,1202,0,0,0,0,0,0
$GC,14995,0.64,395.3,676.3,7.8,646,14999,0.00,2.20,0.00,0.000,4,0.000,0.047,3200,3033,1202,0,0,0,0,0,0
$GC,15068,0.62,395.3,670.7,8.2,648,15072,0.05,2.25,0.00,0.000,6,0.232,0.046,3189,1631,1202,0,0,0,0,0,0
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$STATE,23098,end climb,SURFACE_DEPTH_REACHED
$STATE,23098,begin surface coast
$FINISH,1.8,1.012343
$STATE,23124,end surface coast,CONTROL_FINISHED_OK
$STATE,23124,begin surface
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$IRIDIUM_FIX,-4054.98,-500.54,090113,060625
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$HUMID,50.78
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$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,21.4,113.084
$10V_AH,9.8,66.473
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.125,145.075,498.275,0.000,0.000,59.007,79.835,623.820,0.000,0.000,36.548,2868.555,16508.375,554.861,3962.635,347.675,0.000,2019.775,0.000,3126.139,0.000,1.015,0.000
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$MEM,354572
$DATA_FILE_SIZE,66883,1082
$CAP_FILE_SIZE,217721,0
$CFSIZE,2097086464,2030141440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,090113,132723,-4106.665,-457.596,41,1.1,41,-22.5