version: 66.07.10.p01
glider: 574
mission: 4
dive: 481
start: 1 12 113 5 16 16
data:
$ID,574
$MISSION,4
$DIVE,481
$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,-7351.1577
$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,29
$R_STBD_OVSHOOT,33
$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,460
$GPS1,120113,045335,-4059.547,-447.148,63,1.1,63,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-73.8
$GPS2,120113,051559,-4059.641,-446.994,44,1.3,44,-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,121.2,66348,-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,24,begin dive
$GC,26,-0.66,-116.8,0.0,0.0,0,53,0.00,0.00,-24.50,0.000,2,0.000,0.000,68,1728,1855,0,0,0,0,0,0
$GC,55,-0.66,-116.8,3.1,-1.2,4,130,12.02,2.28,-56.45,0.000,4,0.251,0.064,2751,3135,3303,0,0,0,0,0,0
$GC,217,-0.69,-116.8,17.2,-12.0,30,224,0.00,2.25,0.00,0.000,6,0.000,0.046,2751,1739,3303,0,0,0,0,0,0
$GC,297,-0.66,-116.8,25.1,-9.1,43,304,0.00,2.38,0.00,0.000,4,0.000,0.063,2750,317,3304,0,0,0,0,0,0
$GC,556,-0.73,-116.8,51.6,-10.0,87,562,0.00,2.22,0.00,0.000,6,0.000,0.039,2750,1728,3304,0,0,0,0,0,0
$GC,786,-0.79,-116.8,74.2,-10.1,115,790,0.08,1.70,0.00,0.000,4,0.124,0.057,2709,693,3304,0,0,0,0,0,0
$GC,889,-0.74,-116.8,84.7,-9.9,124,893,0.12,1.62,0.00,0.000,6,0.145,0.035,2738,1734,3304,0,0,0,0,0,0
$GC,1221,-0.78,-116.8,117.1,-9.7,150,1225,0.00,2.33,0.00,0.000,4,0.000,0.059,2739,320,3305,0,0,0,0,0,0
$GC,1478,-0.85,-116.8,142.3,-9.9,165,1484,0.10,2.20,0.00,0.000,6,0.100,0.035,2690,1734,3306,0,0,0,0,0,0
$GC,1801,-0.75,-116.8,175.5,-10.3,186,1805,0.15,2.33,0.00,0.000,4,0.145,0.057,2733,319,3305,0,0,0,0,0,0
$GC,2020,-0.78,-116.8,195.3,-8.4,199,2024,0.00,2.20,0.00,0.000,6,0.000,0.034,2729,1742,3306,0,0,0,0,0,0
$GC,2337,-0.78,-116.8,223.5,-9.4,215,2341,0.00,2.33,0.00,0.000,4,0.000,0.058,2730,313,3306,0,0,0,0,0,0
$GC,2596,-0.82,-116.8,248.0,-8.9,226,2601,0.00,2.20,0.00,0.000,6,0.000,0.034,2729,1740,3306,0,0,0,0,0,0
$GC,2914,-0.85,-116.8,277.5,-9.2,242,2919,0.08,2.33,0.00,0.000,4,0.125,0.057,2694,319,3305,0,0,0,0,0,0
$GC,3014,-0.79,-116.8,287.5,-9.4,246,3022,0.10,2.20,0.00,0.000,6,0.125,0.035,2722,1721,3306,0,0,0,0,0,0
$GC,3348,-0.79,-116.8,317.5,-9.1,260,3352,0.00,1.70,0.00,0.000,4,0.000,0.054,2722,673,3306,0,0,0,0,0,0
$GC,3494,-0.79,-116.8,330.3,-8.6,264,3497,0.00,1.65,0.00,0.000,6,0.000,0.035,2716,1727,3306,0,0,0,0,0,0
$GC,3823,-0.79,-116.8,360.7,-9.5,275,3827,0.00,2.30,0.00,0.000,4,0.000,0.057,2716,317,3306,0,0,0,0,0,0
$GC,4055,-0.83,-116.8,383.7,-10.1,282,4059,0.00,2.20,0.00,0.000,6,0.000,0.033,2716,1746,3306,0,0,0,0,0,0
$GC,4395,-0.83,-116.8,420.0,-10.9,293,4399,0.00,2.17,0.00,0.000,4,0.000,0.054,2716,410,3306,0,0,0,0,0,0
$GC,4651,-0.90,-116.8,447.8,-9.8,300,4657,0.08,2.03,0.00,0.000,6,0.124,0.034,2683,1731,3306,0,0,0,0,0,0
$GC,4965,-0.82,-116.8,479.5,-9.8,311,4969,0.12,1.58,0.00,0.000,4,0.150,0.054,2718,765,3306,0,0,0,0,0,0
$GC,5222,-0.89,-116.8,501.2,-8.3,318,5226,0.05,1.50,0.00,0.000,6,0.077,0.034,2683,1728,3306,0,0,0,0,0,0
$GC,5540,-0.82,-116.8,529.3,-9.3,329,5545,0.12,2.35,0.00,0.000,4,0.148,0.057,2719,314,3306,0,0,0,0,0,0
$GC,5797,-0.88,-116.8,552.3,-9.5,336,5803,0.05,2.20,0.00,0.000,6,0.162,0.033,2688,1740,3306,0,0,0,0,0,0
$GC,6111,-0.82,-116.8,582.8,-10.0,347,6115,0.10,2.35,0.00,0.000,4,0.158,0.057,2716,317,3306,0,0,0,0,0,0
$GC,6217,-0.84,-116.8,593.5,-9.3,350,6221,0.00,2.17,0.00,0.000,6,0.000,0.034,2715,1724,3306,0,0,0,0,0,0
$GC,6547,-0.84,-116.8,626.1,-10.0,361,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1724,3306,0,0,0,0,0,0
$GC,6853,-0.84,-116.8,658.5,-10.8,371,6856,0.00,1.65,0.00,0.000,4,0.000,0.053,2715,719,3306,0,0,0,0,0,0
$GC,6925,-0.84,-116.8,666.4,-10.7,373,6929,0.00,1.58,0.00,0.000,6,0.000,0.034,2715,1731,3306,0,0,0,0,0,0
$GC,7260,-0.84,-116.8,701.5,-10.6,384,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1731,3306,0,0,0,0,0,0
$GC,7567,-0.84,-116.8,732.7,-10.2,394,7570,0.00,1.35,0.00,0.000,4,0.000,0.054,2715,913,3306,0,0,0,0,0,0
$GC,7627,-0.84,-116.8,738.8,-10.1,395,7633,0.00,1.27,0.00,0.000,6,0.000,0.034,2715,1730,3306,0,0,0,0,0,0
$GC,7941,-0.86,-116.8,769.0,-9.7,406,7945,0.00,0.45,0.00,0.000,4,0.000,0.054,2715,1442,3306,0,0,0,0,0,0
$GC,8029,-0.86,-116.8,777.4,-9.5,408,8033,0.00,0.45,0.00,0.000,6,0.000,0.044,2715,1738,3306,0,0,0,0,0,0
$GC,8348,-0.86,-116.8,805.7,-9.0,419,8352,0.00,1.17,0.00,0.000,4,0.000,0.052,2715,1018,3306,0,0,0,0,0,0
$GC,8415,-0.86,-116.8,811.7,-8.2,421,8419,0.00,1.10,0.00,0.000,6,0.000,0.035,2715,1727,3306,0,0,0,0,0,0
$GC,8756,-0.86,-116.8,842.5,-9.0,432,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1727,3306,0,0,0,0,0,0
$GC,9063,-0.89,-116.8,870.2,-9.2,442,9067,0.05,1.38,0.00,0.000,4,0.170,0.054,2688,902,3306,0,0,0,0,0,0
$GC,9118,-0.82,-116.8,875.6,-9.8,443,9122,0.08,1.30,0.00,0.000,6,0.140,0.036,2709,1730,3306,0,0,0,0,0,0
$GC,9436,-0.82,-116.8,905.2,-9.5,454,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1730,3305,0,0,0,0,0,0
$GC,9742,-0.80,-116.8,934.0,-9.3,464,9746,0.00,0.82,0.00,0.000,4,0.000,0.042,2706,2288,3306,0,0,0,0,0,0
$GC,9803,-0.80,-116.8,940.0,-9.4,465,9809,0.05,0.90,0.00,0.000,6,0.197,0.045,2719,1719,3306,0,0,0,0,0,0
$GC,10116,-0.80,-116.8,967.0,-8.4,476,10120,0.00,1.08,0.00,0.000,4,0.000,0.054,2719,1047,3307,0,0,0,0,0,0
$GC,10177,-0.85,-116.8,972.4,-8.2,477,10182,0.00,1.08,0.00,0.000,6,0.000,0.037,2716,1737,3307,0,0,0,0,0,0
$STATE,10395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10395,begin apogee
$GC,10401,-0.26,0.0,991.0,8.6,485,10509,0.57,0.00,104.55,1.471,6,0.127,0.000,2888,1637,2827,0,0,0,0,0,0
$STATE,10509,end apogee,CONTROL_FINISHED_OK
$STATE,10510,begin loiter
$GC,10795,-0.25,227.9,1022.0,-7.8,498,11007,0.00,1.80,204.18,1.469,4,0.000,0.041,2887,2665,1897,0,0,0,0,0,0
$GC,11098,-0.29,227.9,1027.4,3.4,507,11102,0.00,1.67,0.00,0.000,6,0.000,0.045,2887,1655,1890,0,0,0,0,0,0
$GC,11416,-0.35,227.9,1016.5,3.5,518,11421,0.08,1.05,0.00,0.000,4,0.143,0.041,2857,2340,1887,0,0,0,0,0,0
$GC,11673,-0.35,227.9,1007.5,2.7,525,11678,0.00,1.12,0.00,0.000,6,0.000,0.047,2857,1634,1886,0,0,0,0,0,0
$GC,11992,-0.33,227.9,995.6,3.6,536,11997,0.05,2.22,0.00,0.000,4,0.219,0.044,2863,3047,1886,0,0,0,0,0,0
$GC,12109,-0.33,227.9,991.2,4.1,539,12113,0.00,2.25,0.00,0.000,6,0.000,0.043,2863,1643,1885,0,0,0,0,0,0
$GC,12433,-0.35,227.9,978.6,4.0,550,12437,0.00,0.85,0.00,0.000,4,0.000,0.041,2863,2204,1885,0,0,0,0,0,0
$GC,12691,-0.37,227.9,967.8,3.2,557,12695,0.00,0.90,0.00,0.000,6,0.000,0.048,2863,1635,1885,0,0,0,0,0,0
$GC,13010,-0.37,227.9,955.6,3.9,568,13014,0.00,2.25,0.00,0.000,4,0.000,0.045,2863,3050,1885,0,0,0,0,0,0
$GC,13139,-0.37,227.9,951.2,3.3,572,13144,0.00,2.25,0.00,0.000,6,0.000,0.044,2863,1632,1885,0,0,0,0,0,0
$GC,13474,-0.37,227.9,940.8,3.2,583,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1631,1885,0,0,0,0,0,0
$STATE,13504,end loiter,LOITER_COMPLETE
$STATE,13505,begin climb
$GC,13507,0.66,116.8,940.0,0.0,584,13511,1.02,0.60,0.00,0.000,4,0.121,0.053,3184,1230,1885,0,0,0,0,0,0
$GC,13585,0.46,184.1,937.1,3.6,586,13589,0.17,0.62,0.00,0.000,6,0.166,0.041,3135,1663,1885,0,0,0,0,0,0
$GC,13914,0.37,249.2,925.4,3.7,597,13939,0.12,1.80,19.08,1.349,4,0.192,0.044,3103,2759,1810,0,0,0,0,0,0
$GC,14034,0.37,297.5,920.7,4.2,600,14085,0.00,1.80,46.45,1.408,6,0.000,0.047,3110,1644,1613,0,0,0,0,0,0
$GC,14410,0.42,297.5,899.2,6.2,613,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1644,1607,0,0,0,0,0,0
$GC,14716,0.48,297.5,878.3,7.1,623,14720,0.08,0.38,0.00,0.000,4,0.129,0.048,3143,1901,1606,0,0,0,0,0,0
$GC,14835,0.45,297.5,869.2,7.7,626,14839,0.03,0.43,0.00,0.000,6,0.186,0.059,3135,1628,1606,0,0,0,0,0,0
$GC,15158,0.45,297.5,843.7,8.0,637,15161,0.00,0.45,0.00,0.000,4,0.000,0.063,3134,1337,1606,0,0,0,0,0,0
$GC,15263,0.45,297.5,835.5,7.8,640,15267,0.00,0.45,0.00,0.000,6,0.000,0.042,3134,1637,1605,0,0,0,0,0,0
$GC,15599,0.45,297.5,811.0,7.2,651,15602,0.00,0.65,0.00,0.000,4,0.000,0.060,3134,1237,1604,0,0,0,0,0,0
$GC,15704,0.45,297.5,804.1,6.2,654,15708,0.00,0.62,0.00,0.000,6,0.000,0.041,3134,1648,1604,0,0,0,0,0,0
$GC,16040,0.45,315.9,784.9,5.3,665,16058,0.00,0.00,16.50,1.256,6,0.000,0.000,3134,1651,1539,0,0,0,0,0,0
$GC,16347,0.48,352.0,770.1,4.7,675,16384,0.00,0.00,35.78,1.313,6,0.000,0.000,3134,1651,1391,0,0,0,0,0,0
$GC,16683,0.56,371.7,752.9,5.2,686,16708,0.08,0.75,18.95,1.243,4,0.129,0.044,3167,2122,1310,0,0,0,0,0,0
$GC,16783,0.56,371.7,747.1,6.0,689,16787,0.00,0.77,0.00,0.000,6,0.000,0.054,3169,1640,1308,0,0,0,0,0,0
$GC,17124,0.56,371.7,724.6,7.0,700,17125,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1640,1307,0,0,0,0,0,0
$GC,17430,0.56,371.7,700.8,8.0,710,17431,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1640,1305,0,0,0,0,0,0
$GC,17736,0.56,371.7,674.8,8.7,720,17740,0.00,0.52,0.00,0.000,4,0.000,0.044,3169,1993,1305,0,0,0,0,0,0
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$STATE,26175,end climb,SURFACE_DEPTH_REACHED
$STATE,26175,begin surface coast
$FINISH,1.6,1.000769
$STATE,26194,end surface coast,CONTROL_FINISHED_OK
$STATE,26194,begin surface
$SM_CCo,26273,0.00,0.000,0,0,1177,404.49
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$IRIDIUM_FIX,-4046.43,-448.42,120113,050523
$TT8_MAMPS,0.026964
$HUMID,49.92
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.0,115.147
$10V_AH,9.9,67.792
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.300,125.850,466.750,0.000,0.000,82.992,117.290,750.516,0.000,0.000,46.941,3211.530,18584.740,542.869,4870.258,388.425,0.000,2262.353,0.000,3797.521,0.000,1.016,0.000
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$SENSOR_SECS,786.012,1023.904,811.521,86.760,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,70292,1180
$CAP_FILE_SIZE,238624,0
$CFSIZE,2097086464,2028732416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,120113,123529,-4058.519,-445.984,45,1.1,45,-22.6