version: 66.07.10.p01
glider: 574
mission: 4
dive: 480
start: 1 11 113 21 35 31
data:
$ID,574
$MISSION,4
$DIVE,480
$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,560
$T_MISSION,600
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3000
$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,170
$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,-7348.8257
$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,2980
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,33
$R_STBD_OVSHOOT,35
$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,459
$GPS1,110113,213346,-4100.319,-447.374,29,1.6,41,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-75.1
$GPS2,110113,213513,-4100.315,-447.382,15,1.4,16,-22.6
$SPEED_LIMITS,0.102,0.196
$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,120.1,66710,-12.5,-5.893
$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,-0.66,-116.8,0.0,0.0,0,46,0.00,0.00,-18.55,0.000,2,0.000,0.000,72,1726,1713,0,0,0,0,0,0
$GC,49,-0.66,-116.8,3.0,-1.8,3,134,12.23,2.38,-63.72,0.000,4,0.256,0.075,2755,328,3305,0,0,0,0,0,0
$GC,227,-0.78,-116.8,14.3,-9.7,32,235,0.05,2.22,0.00,0.000,6,0.077,0.041,2721,1722,3305,0,0,0,0,0,0
$GC,309,-0.75,-116.8,22.6,-10.2,45,316,0.05,2.33,0.00,0.000,4,0.213,0.054,2727,3143,3305,0,0,0,0,0,0
$GC,470,-0.75,-116.8,40.1,-11.0,72,477,0.00,2.28,0.00,0.000,6,0.000,0.047,2727,1737,3305,0,0,0,0,0,0
$GC,707,-0.75,-116.8,64.2,-9.6,109,711,0.00,2.25,0.00,0.000,4,0.000,0.050,2718,3145,3306,0,0,0,0,0,0
$GC,852,-0.75,-116.8,78.5,-9.0,122,856,0.08,2.25,0.00,0.000,6,0.166,0.045,2736,1729,3306,0,0,0,0,0,0
$GC,1184,-0.78,-116.8,104.8,-8.4,151,1188,0.00,2.30,0.00,0.000,4,0.000,0.058,2737,312,3307,0,0,0,0,0,0
$GC,1445,-0.85,-116.8,130.0,-10.0,166,1453,0.05,2.25,0.00,0.000,6,0.070,0.034,2698,1748,3308,0,0,0,0,0,0
$GC,1768,-0.79,-116.8,164.7,-11.2,187,1772,0.10,1.73,0.00,0.000,4,0.160,0.045,2718,2830,3308,0,0,0,0,0,0
$GC,1838,-0.76,-116.8,172.5,-11.1,191,1842,0.00,1.75,0.00,0.000,6,0.000,0.044,2718,1720,3308,0,0,0,0,0,0
$GC,2170,-0.76,-116.8,206.5,-10.2,211,2174,0.00,2.30,0.00,0.000,4,0.000,0.059,2718,313,3309,0,0,0,0,0,0
$GC,2427,-0.76,-116.8,233.4,-10.8,222,2432,0.03,2.20,0.00,0.000,6,0.164,0.034,2728,1724,3309,0,0,0,0,0,0
$GC,2751,-0.80,-116.8,265.9,-10.3,238,2755,0.00,2.20,0.00,0.000,4,0.000,0.048,2725,3130,3309,0,0,0,0,0,0
$GC,2893,-0.83,-116.8,280.2,-9.9,244,2898,0.00,2.20,0.00,0.000,6,0.000,0.040,2725,1725,3309,0,0,0,0,0,0
$GC,3219,-0.87,-116.8,309.3,-8.5,258,3224,0.08,2.25,0.00,0.000,4,0.125,0.046,2680,3131,3309,0,0,0,0,0,0
$GC,3319,-0.79,-116.8,318.4,-8.2,261,3324,0.15,2.20,0.00,0.000,6,0.145,0.040,2721,1726,3309,0,0,0,0,0,0
$GC,3648,-0.82,-116.8,343.3,-7.7,272,3652,0.00,2.25,0.00,0.000,4,0.000,0.047,2714,3135,3309,0,0,0,0,0,0
$GC,3719,-0.82,-116.8,349.5,-9.0,274,3724,0.00,2.22,0.00,0.000,6,0.000,0.039,2714,1728,3309,0,0,0,0,0,0
$GC,4049,-0.82,-116.8,380.1,-10.1,285,4053,0.00,2.20,0.00,0.000,4,0.000,0.047,2708,3130,3309,0,0,0,0,0,0
$GC,4127,-0.82,-116.8,388.5,-11.3,287,4131,0.00,2.20,0.00,0.000,6,0.000,0.039,2708,1735,3309,0,0,0,0,0,0
$GC,4451,-0.82,-116.8,425.1,-11.7,298,4455,0.00,2.22,0.00,0.000,4,0.000,0.046,2700,3134,3309,0,0,0,0,0,0
$GC,4557,-0.79,-116.8,437.9,-11.9,301,4562,0.10,2.20,0.00,0.000,6,0.150,0.039,2727,1728,3309,0,0,0,0,0,0
$GC,4887,-0.85,-116.8,473.5,-10.5,312,4892,0.08,2.12,0.00,0.000,4,0.125,0.045,2686,3061,3309,0,0,0,0,0,0
$GC,4955,-0.80,-116.8,481.2,-12.1,314,4960,0.12,2.05,0.00,0.000,6,0.145,0.039,2720,1729,3309,0,0,0,0,0,0
$GC,5290,-0.83,-116.8,514.4,-9.6,325,5294,0.00,2.22,0.00,0.000,4,0.000,0.045,2713,3137,3309,0,0,0,0,0,0
$GC,5384,-0.86,-116.8,523.4,-9.0,327,5389,0.00,2.20,0.00,0.000,6,0.000,0.038,2713,1730,3309,0,0,0,0,0,0
$GC,5697,-0.88,-116.8,551.3,-8.9,338,5701,0.00,2.22,0.00,0.000,4,0.000,0.045,2704,3135,3309,0,0,0,0,0,0
$GC,5825,-0.88,-116.8,563.1,-8.4,341,5831,0.00,2.22,0.00,0.000,6,0.000,0.040,2703,1733,3309,0,0,0,0,0,0
$GC,6139,-0.88,-116.8,591.9,-9.4,352,6143,0.00,2.22,0.00,0.000,4,0.000,0.046,2698,3130,3308,0,0,0,0,0,0
$GC,6269,-0.88,-116.8,604.6,-9.8,356,6273,0.00,2.20,0.00,0.000,6,0.000,0.039,2698,1724,3308,0,0,0,0,0,0
$GC,6604,-0.88,-116.8,638.8,-10.4,367,6608,0.00,2.20,0.00,0.000,4,0.000,0.046,2688,3129,3307,0,0,0,0,0,0
$GC,6750,-0.85,-116.8,654.7,-10.9,371,6754,0.05,2.20,0.00,0.000,6,0.204,0.039,2700,1728,3307,0,0,0,0,0,0
$GC,7067,-0.85,-116.8,688.3,-10.6,382,7071,0.00,2.22,0.00,0.000,4,0.000,0.046,2692,3134,3306,0,0,0,0,0,0
$GC,7196,-0.83,-116.8,703.0,-11.5,385,7202,0.08,2.20,0.00,0.000,6,0.170,0.039,2710,1728,3306,0,0,0,0,0,0
$GC,7509,-0.86,-116.8,736.3,-10.5,396,7513,0.00,2.25,0.00,0.000,4,0.000,0.046,2701,3138,3306,0,0,0,0,0,0
$GC,7615,-0.86,-116.8,748.1,-11.4,399,7619,0.00,2.22,0.00,0.000,6,0.000,0.039,2701,1737,3305,0,0,0,0,0,0
$GC,7945,-0.86,-116.8,783.6,-10.9,410,7949,0.00,2.22,0.00,0.000,4,0.000,0.046,2698,3133,3305,0,0,0,0,0,0
$GC,8050,-0.86,-116.8,795.2,-10.4,413,8054,0.00,2.22,0.00,0.000,6,0.000,0.039,2697,1731,3305,0,0,0,0,0,0
$GC,8380,-0.86,-116.8,830.5,-10.8,424,8384,0.00,2.30,0.00,0.000,4,0.000,0.057,2698,317,3305,0,0,0,0,0,0
$GC,8637,-0.90,-116.8,856.8,-10.9,431,8641,0.00,2.20,0.00,0.000,6,0.000,0.035,2689,1729,3305,0,0,0,0,0,0
$GC,8956,-0.88,-116.8,889.4,-10.3,442,8959,0.00,2.03,0.00,0.000,4,0.000,0.047,2685,3024,3304,0,0,0,0,0,0
$GC,9024,-0.84,-116.8,896.7,-10.6,444,9029,0.10,2.05,0.00,0.000,6,0.155,0.041,2711,1724,3304,0,0,0,0,0,0
$GC,9359,-0.89,-116.8,928.4,-9.1,455,9363,0.00,2.25,0.00,0.000,4,0.000,0.047,2704,3131,3304,0,0,0,0,0,0
$GC,9470,-0.89,-116.8,939.0,-8.9,458,9474,0.00,2.25,0.00,0.000,6,0.000,0.041,2704,1727,3304,0,0,0,0,0,0
$GC,9794,-0.89,-116.8,967.3,-8.6,469,9798,0.00,2.28,0.00,0.000,4,0.000,0.057,2704,322,3304,0,0,0,0,0,0
$GC,9804,-0.89,-116.8,968.3,-8.9,469,9809,0.00,2.22,0.00,0.000,6,0.000,0.035,2702,1728,3304,0,0,0,0,0,0
$STATE,10071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10071,begin apogee
$GC,10077,-0.26,0.0,991.4,8.7,478,10184,0.62,0.00,103.82,1.475,6,0.117,0.000,2893,1633,2827,0,0,0,0,0,0
$STATE,10184,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin loiter
$GC,10471,-0.25,212.6,1019.6,-7.2,491,10663,0.00,0.00,188.90,1.449,6,0.000,0.000,2893,1634,1960,0,0,0,0,0,0
$GC,10959,-0.34,212.6,1017.0,3.3,507,10961,0.08,0.00,0.00,0.000,6,0.137,0.000,2868,1634,1952,0,0,0,0,0,0
$GC,11266,-0.36,212.6,1008.2,2.7,517,11270,0.00,2.30,0.00,0.000,4,0.000,0.061,2868,231,1951,0,0,0,0,0,0
$GC,11439,-0.31,212.6,1003.6,2.4,522,11443,0.00,2.20,0.00,0.000,6,0.000,0.035,2864,1653,1949,0,0,0,0,0,0
$GC,11773,-0.31,212.6,995.2,2.6,533,11778,0.05,1.52,0.00,0.000,4,0.236,0.041,2868,2632,1949,0,0,0,0,0,0
$GC,12031,-0.35,212.6,987.6,3.4,540,12035,0.00,1.58,0.00,0.000,6,0.000,0.046,2868,1651,1949,0,0,0,0,0,0
$GC,12349,-0.35,212.6,978.1,3.1,551,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1650,1950,0,0,0,0,0,0
$GC,12655,-0.35,212.6,968.1,3.3,561,12659,0.00,2.22,0.00,0.000,4,0.000,0.044,2863,3046,1949,0,0,0,0,0,0
$GC,12828,-0.38,212.6,961.9,3.4,566,12832,0.00,2.25,0.00,0.000,6,0.000,0.044,2863,1635,1949,0,0,0,0,0,0
$GC,13158,-0.38,212.6,949.9,3.7,577,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1634,1949,0,0,0,0,0,0
$STATE,13186,end loiter,LOITER_COMPLETE
$STATE,13186,begin climb
$GC,13188,0.66,116.8,948.7,0.0,578,13192,1.00,0.55,0.00,0.000,4,0.113,0.053,3182,1294,1950,0,0,0,0,0,0
$GC,13301,0.45,175.6,944.0,3.9,581,13306,0.17,0.52,0.00,0.000,6,0.171,0.043,3133,1654,1951,0,0,0,0,0,0
$GC,13631,0.34,227.4,930.3,4.1,592,13651,0.15,2.25,13.82,1.303,4,0.181,0.046,3094,3021,1898,0,0,0,0,0,0
$GC,13780,0.31,272.3,923.9,4.4,596,13831,0.08,2.20,43.05,1.398,6,0.198,0.045,3086,1641,1715,0,0,0,0,0,0
$GC,14167,0.40,297.0,904.5,5.1,609,14195,0.08,0.00,23.33,1.353,6,0.128,0.000,3117,1640,1615,0,0,0,0,0,0
$GC,14503,0.44,313.7,886.2,5.3,620,14523,0.00,1.88,15.93,1.300,4,0.000,0.044,3117,2815,1548,0,0,0,0,0,0
$GC,14642,0.49,349.3,878.5,4.7,624,14682,0.05,1.90,35.00,1.361,6,0.165,0.048,3142,1634,1403,0,0,0,0,0,0
$GC,14995,0.55,349.3,856.3,6.4,636,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1634,1397,0,0,0,0,0,0
$GC,15302,0.59,349.3,837.0,6.2,646,15306,0.10,1.00,0.00,0.000,4,0.109,0.043,3186,2267,1396,0,0,0,0,0,0
$GC,15420,0.54,349.3,828.7,7.1,649,15424,0.10,1.02,0.00,0.000,6,0.148,0.052,3157,1630,1396,0,0,0,0,0,0
$GC,15743,0.56,349.3,806.1,7.3,660,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1630,1395,0,0,0,0,0,0
$GC,16049,0.56,349.3,782.3,7.8,670,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1630,1395,0,0,0,0,0,0
$GC,16356,0.58,349.3,757.7,8.2,680,16357,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1630,1395,0,0,0,0,0,0
$GC,16661,0.58,349.3,734.1,7.7,690,16665,0.00,1.23,0.00,0.000,4,0.000,0.061,3158,888,1395,0,0,0,0,0,0
$GC,16745,0.61,349.3,728.1,7.3,692,16749,0.03,1.15,0.00,0.000,6,0.105,0.037,3179,1629,1395,0,0,0,0,0,0
$GC,17069,0.57,349.3,704.6,7.1,703,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1630,1394,0,0,0,0,0,0
$GC,17375,0.54,349.3,683.0,7.2,713,17377,0.10,0.00,0.00,0.000,6,0.178,0.000,3156,1640,1394,0,0,0,0,0,0
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$STATE,26067,end climb,SURFACE_DEPTH_REACHED
$STATE,26067,begin surface coast
$FINISH,1.8,1.013074
$STATE,26105,end surface coast,CONTROL_FINISHED_OK
$STATE,26105,begin surface
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$HUMID,50.35
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.00
$XPDR_PINGS,0
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$10V_AH,9.8,67.644
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.975,188.375,468.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,18.858,3215.807,18251.736,552.906,3964.774,269.253,0.000,2312.448,0.000,3892.098,0.000,1.013,0.000
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$MEM,354584
$DATA_FILE_SIZE,70252,1164
$CAP_FILE_SIZE,227175,0
$CFSIZE,2097086464,2028929024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120113,045335,-4059.547,-447.148,63,1.1,63,-22.6