version: 66.07.10.p01
glider: 574
mission: 4
dive: 472
start: 1 9 113 13 29 8
data:
$ID,574
$MISSION,4
$DIVE,472
$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,-7326.6245
$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,30
$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,451
$GPS1,090113,132723,-4106.665,-457.596,41,1.1,41,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-73.5
$GPS2,090113,132848,-4106.659,-457.582,17,1.1,17,-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,110.3,80441,-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,26,-0.68,-116.8,0.0,0.0,0,52,0.00,0.00,-24.77,0.000,2,0.000,0.000,69,1721,1710,0,0,0,0,0,0
$GC,55,-0.68,-116.8,3.1,-1.2,4,141,12.45,2.35,-63.22,0.000,4,0.261,0.073,2752,325,3304,0,0,0,0,0,0
$GC,228,-0.68,-116.8,15.0,-10.8,32,235,0.00,2.20,0.00,0.000,6,0.000,0.037,2752,1713,3305,0,0,0,0,0,0
$GC,308,-0.68,-116.8,22.7,-9.6,45,315,0.00,2.30,0.00,0.000,4,0.000,0.051,2743,3135,3305,0,0,0,0,0,0
$GC,377,-0.68,-116.8,30.1,-10.4,56,385,0.05,2.25,0.00,0.000,6,0.142,0.044,2760,1730,3305,0,0,0,0,0,0
$GC,618,-0.76,-116.8,53.7,-10.1,97,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1730,3305,0,0,0,0,0,0
$GC,841,-0.83,-116.8,76.7,-9.6,123,845,0.12,0.75,0.00,0.000,4,0.092,0.057,2706,1262,3306,0,0,0,0,0,0
$GC,896,-0.78,-116.8,82.7,-11.0,128,900,0.08,0.75,0.00,0.000,6,0.132,0.037,2729,1755,3306,0,0,0,0,0,0
$GC,1223,-0.80,-116.8,116.2,-9.9,154,1227,0.00,0.93,0.00,0.000,4,0.000,0.046,2727,2372,3307,0,0,0,0,0,0
$GC,1296,-0.80,-116.8,123.4,-9.9,158,1300,0.00,1.00,0.00,0.000,6,0.000,0.046,2727,1734,3306,0,0,0,0,0,0
$GC,1623,-0.82,-116.8,153.4,-9.2,179,1627,0.00,1.25,0.00,0.000,4,0.000,0.058,2727,969,3308,0,0,0,0,0,0
$GC,1684,-0.82,-116.8,159.4,-9.2,182,1692,0.00,1.17,0.00,0.000,6,0.000,0.034,2724,1724,3308,0,0,0,0,0,0
$GC,2006,-0.82,-116.8,190.5,-10.3,203,2010,0.00,0.62,0.00,0.000,4,0.000,0.054,2724,1328,3308,0,0,0,0,0,0
$GC,2095,-0.85,-116.8,199.9,-9.9,208,2099,0.00,0.62,0.00,0.000,6,0.000,0.037,2723,1746,3308,0,0,0,0,0,0
$GC,2417,-0.85,-116.8,234.0,-10.5,224,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1746,3309,0,0,0,0,0,0
$GC,2727,-0.85,-116.8,265.4,-10.0,239,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1746,3309,0,0,0,0,0,0
$GC,3035,-0.85,-116.8,296.5,-10.0,254,3039,0.00,1.85,0.00,0.000,4,0.000,0.056,2723,615,3309,0,0,0,0,0,0
$GC,3119,-0.87,-116.8,305.6,-10.2,257,3123,0.03,1.73,0.00,0.000,6,0.102,0.034,2700,1717,3308,0,0,0,0,0,0
$GC,3443,-0.84,-116.8,342.8,-11.9,268,3445,0.03,0.00,0.00,0.000,6,0.265,0.000,2711,1717,3308,0,0,0,0,0,0
$GC,3749,-0.84,-116.8,379.3,-11.8,278,3753,0.00,1.50,0.00,0.000,4,0.000,0.055,2711,810,3309,0,0,0,0,0,0
$GC,3924,-0.87,-116.8,399.7,-11.8,283,3927,0.00,1.45,0.00,0.000,6,0.000,0.034,2706,1737,3309,0,0,0,0,0,0
$GC,4259,-0.87,-116.8,435.8,-10.3,294,4263,0.00,2.20,0.00,0.000,4,0.000,0.057,2706,387,3309,0,0,0,0,0,0
$GC,4369,-0.87,-116.8,446.6,-8.9,297,4374,0.00,2.10,0.00,0.000,6,0.000,0.034,2702,1732,3309,0,0,0,0,0,0
$GC,4694,-0.84,-116.8,476.3,-9.3,308,4698,0.00,1.10,0.00,0.000,4,0.000,0.044,2698,2451,3309,0,0,0,0,0,0
$GC,4744,-0.81,-116.8,481.3,-9.7,309,4749,0.05,1.12,0.00,0.000,6,0.137,0.044,2716,1737,3309,0,0,0,0,0,0
$GC,5068,-0.83,-116.8,512.0,-9.7,320,5071,0.00,1.33,0.00,0.000,4,0.000,0.055,2716,917,3309,0,0,0,0,0,0
$GC,5136,-0.83,-116.8,519.0,-10.2,322,5139,0.00,1.27,0.00,0.000,6,0.000,0.036,2716,1732,3308,0,0,0,0,0,0
$GC,5476,-0.83,-116.8,553.9,-10.4,333,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1732,3308,0,0,0,0,0,0
$GC,5783,-0.80,-116.8,587.5,-11.2,343,5787,0.00,1.90,0.00,0.000,4,0.000,0.047,2707,2942,3307,0,0,0,0,0,0
$GC,5844,-0.78,-116.8,594.6,-11.5,344,5850,0.10,1.92,0.00,0.000,6,0.150,0.042,2733,1720,3307,0,0,0,0,0,0
$GC,6157,-0.81,-116.8,628.8,-10.9,355,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1720,3306,0,0,0,0,0,0
$GC,6464,-0.86,-116.8,661.6,-10.7,365,6468,0.08,0.55,0.00,0.000,4,0.125,0.044,2697,2089,3305,0,0,0,0,0,0
$GC,6520,-0.80,-116.8,667.9,-11.3,366,6524,0.08,0.55,0.00,0.000,6,0.131,0.050,2723,1728,3305,0,0,0,0,0,0
$GC,6837,-0.80,-116.8,700.2,-9.8,377,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1728,3305,0,0,0,0,0,0
$GC,7144,-0.80,-116.8,728.3,-9.0,387,7147,0.00,1.62,0.00,0.000,4,0.000,0.044,2717,2752,3304,0,0,0,0,0,0
$GC,7229,-0.83,-116.8,735.8,-8.8,389,7232,0.00,1.62,0.00,0.000,6,0.000,0.043,2717,1732,3304,0,0,0,0,0,0
$GC,7552,-0.83,-116.8,764.3,-8.8,400,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1732,3304,0,0,0,0,0,0
$GC,7858,-0.83,-116.8,792.3,-9.3,410,7862,0.00,0.68,0.00,0.000,4,0.000,0.043,2715,2193,3303,0,0,0,0,0,0
$GC,7926,-0.83,-116.8,798.7,-9.4,412,7930,0.00,0.73,0.00,0.000,6,0.000,0.048,2715,1726,3303,0,0,0,0,0,0
$GC,8267,-0.83,-116.8,833.1,-10.5,423,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1725,3302,0,0,0,0,0,0
$GC,8573,-0.83,-116.8,866.5,-10.8,433,8577,0.00,0.47,0.00,0.000,4,0.000,0.056,2715,1410,3302,0,0,0,0,0,0
$GC,8634,-0.83,-116.8,873.2,-10.3,434,8639,0.00,0.52,0.00,0.000,6,0.000,0.044,2715,1747,3302,0,0,0,0,0,0
$GC,8947,-0.83,-116.8,906.4,-10.6,445,8951,0.00,0.50,0.00,0.000,4,0.000,0.047,2715,2100,3301,0,0,0,0,0,0
$GC,9019,-0.83,-116.8,914.1,-9.8,447,9023,0.00,0.60,0.00,0.000,6,0.000,0.048,2715,1719,3301,0,0,0,0,0,0
$GC,9355,-0.86,-116.8,947.2,-9.6,458,9359,0.00,1.95,0.00,0.000,4,0.000,0.047,2712,2930,3300,0,0,0,0,0,0
$GC,9415,-0.86,-116.8,953.2,-9.4,459,9421,0.00,1.90,0.00,0.000,6,0.000,0.040,2712,1737,3300,0,0,0,0,0,0
$GC,9728,-0.86,-116.8,980.4,-8.6,470,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1736,3299,0,0,0,0,0,0
$STATE,9849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9849,begin apogee
$GC,9854,-0.25,0.0,990.6,8.3,474,9960,0.62,0.00,102.82,1.464,6,0.128,0.000,2898,1620,2827,0,0,0,0,0,0
$STATE,9961,end apogee,CONTROL_FINISHED_OK
$STATE,9961,begin climb
$GC,9963,0.68,116.8,997.0,0.0,477,10076,0.93,1.02,107.75,1.450,4,0.069,0.056,3210,1056,2350,0,0,0,0,0,0
$GC,10330,0.43,399.5,1015.3,-4.0,489,10601,0.30,0.90,262.35,1.437,6,0.187,0.038,3130,1655,1198,0,0,0,0,0,0
$GC,10938,0.65,399.5,972.4,8.9,509,10943,0.20,2.17,0.00,0.000,4,0.088,0.044,3200,3026,1189,0,0,0,0,0,0
$GC,11039,0.61,399.5,963.0,9.0,512,11044,0.10,2.20,0.00,0.000,6,0.177,0.045,3185,1648,1187,0,0,0,0,0,0
$GC,11369,0.67,399.5,934.7,8.5,523,11372,0.00,1.33,0.00,0.000,4,0.000,0.061,3185,840,1187,0,0,0,0,0,0
$GC,11437,0.74,399.5,928.9,8.0,525,11441,0.08,1.20,0.00,0.000,6,0.072,0.036,3225,1623,1186,0,0,0,0,0,0
$GC,11777,0.69,399.5,896.9,9.6,536,11782,0.08,2.20,0.00,0.000,4,0.189,0.046,3210,3033,1186,0,0,0,0,0,0
$GC,11855,0.63,399.5,889.4,9.6,538,11860,0.12,2.22,0.00,0.000,6,0.174,0.046,3189,1635,1186,0,0,0,0,0,0
$GC,12173,0.67,399.5,861.6,8.8,549,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1635,1186,0,0,0,0,0,0
$GC,12479,0.71,399.5,834.7,8.8,559,12484,0.08,2.20,0.00,0.000,4,0.125,0.046,3224,3031,1186,0,0,0,0,0,0
$GC,12545,0.61,399.5,828.2,10.1,561,12550,0.17,2.22,0.00,0.000,6,0.171,0.047,3184,1638,1185,0,0,0,0,0,0
$GC,12875,0.67,399.5,799.6,8.8,572,12878,0.00,1.62,0.00,0.000,4,0.000,0.044,3184,2658,1186,0,0,0,0,0,0
$GC,12936,0.70,399.5,794.0,8.0,573,12941,0.05,1.65,0.00,0.000,6,0.076,0.048,3215,1641,1186,0,0,0,0,0,0
$GC,13249,0.66,399.5,764.6,9.5,584,13253,0.08,1.42,0.00,0.000,4,0.195,0.044,3200,2546,1186,0,0,0,0,0,0
$GC,13303,0.64,399.5,759.6,8.6,585,13308,0.03,1.48,0.00,0.000,6,0.186,0.050,3196,1633,1186,0,0,0,0,0,0
$GC,13621,0.64,399.5,732.9,8.3,596,13625,0.00,1.23,0.00,0.000,4,0.000,0.044,3196,2410,1186,0,0,0,0,0,0
$GC,13689,0.64,399.5,727.2,8.2,598,13693,0.00,1.25,0.00,0.000,6,0.000,0.050,3199,1635,1186,0,0,0,0,0,0
$GC,14030,0.64,399.5,699.2,8.1,609,14033,0.00,1.52,0.00,0.000,4,0.000,0.044,3199,2594,1186,0,0,0,0,0,0
$GC,14090,0.64,399.5,694.3,8.3,610,14096,0.00,1.55,0.00,0.000,6,0.000,0.049,3198,1639,1186,0,0,0,0,0,0
$GC,14403,0.64,399.5,669.4,8.0,621,14407,0.00,0.57,0.00,0.000,4,0.000,0.046,3199,2028,1186,0,0,0,0,0,0
$GC,14471,0.64,399.5,664.0,7.8,623,14475,0.00,0.62,0.00,0.000,6,0.000,0.056,3199,1640,1185,0,0,0,0,0,0
$GC,14812,0.64,399.5,636.3,8.3,634,14815,0.00,0.62,0.00,0.000,4,0.000,0.045,3198,2056,1185,0,0,0,0,0,0
$GC,14872,0.64,399.5,631.1,8.3,635,14878,0.00,0.70,0.00,0.000,6,0.000,0.054,3199,1630,1186,0,0,0,0,0,0
$GC,15186,0.64,399.5,603.7,8.9,646,15190,0.00,0.62,0.00,0.000,4,0.000,0.044,3199,2046,1186,0,0,0,0,0,0
$GC,15257,0.64,399.5,597.2,9.2,648,15262,0.00,0.68,0.00,0.000,6,0.000,0.054,3199,1636,1186,0,0,0,0,0,0
$GC,15593,0.64,399.5,566.8,9.1,659,15597,0.00,0.77,0.00,0.000,4,0.000,0.044,3199,2146,1186,0,0,0,0,0,0
$GC,15675,0.64,399.5,559.3,9.0,661,15680,0.00,0.82,0.00,0.000,6,0.000,0.052,3199,1639,1186,0,0,0,0,0,0
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$STATE,22238,end climb,SURFACE_DEPTH_REACHED
$STATE,22240,begin surface coast
$FINISH,1.7,1.001303
$STATE,22276,end surface coast,CONTROL_FINISHED_OK
$STATE,22276,begin surface
$SM_CCo,22354,0.00,0.000,0,0,1189,401.79
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$IRIDIUM_FIX,-4054.98,-500.54,090113,060625
$TT8_MAMPS,0.026964
$HUMID,49.76
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.5,113.277
$10V_AH,9.8,66.591
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.900,111.225,472.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,20.112,2763.261,15808.241,549.725,3087.645,217.263,0.000,1935.015,0.000,3044.264,0.000,1.011,0.000
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$SENSOR_SECS,704.359,1018.962,720.638,89.930,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,63557,1061
$CAP_FILE_SIZE,184042,0
$CFSIZE,2097086464,2030075904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090113,194259,-4106.276,-456.900,42,1.3,42,-22.5