version: 66.07.10.p01
glider: 574
mission: 4
dive: 482
start: 1 12 113 12 37 18
data:
$ID,574
$MISSION,4
$DIVE,482
$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,-7353.4927
$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,30
$R_STBD_OVSHOOT,56
$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,461
$GPS1,120113,123529,-4058.519,-445.984,45,1.1,45,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-72.9
$GPS2,120113,123701,-4058.507,-445.971,21,1.1,22,-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,123.2,65291,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-24.55,0.000,2,0.000,0.000,68,1756,1798,0,0,0,0,0,0
$GC,55,-0.66,-116.8,3.1,-1.8,4,129,12.45,2.22,-52.80,0.000,4,0.263,0.067,2744,3106,3303,0,0,0,0,0,0
$GC,216,-0.66,-116.8,16.8,-12.2,30,223,0.05,2.22,0.00,0.000,6,0.129,0.047,2762,1737,3305,0,0,0,0,0,0
$GC,297,-0.70,-116.8,25.8,-10.5,43,304,0.00,2.38,0.00,0.000,4,0.000,0.064,2762,324,3305,0,0,0,0,0,0
$GC,375,-0.70,-116.8,34.2,-10.4,56,382,0.00,2.17,0.00,0.000,6,0.000,0.037,2757,1696,3305,0,0,0,0,0,0
$GC,615,-0.70,-116.8,56.1,-8.5,97,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1696,3305,0,0,0,0,0,0
$GC,840,-0.76,-116.8,77.0,-9.7,122,842,0.08,0.00,0.00,0.000,6,0.128,0.000,2716,1696,3306,0,0,0,0,0,0
$GC,1167,-0.72,-116.8,115.0,-13.5,149,1171,0.10,1.30,0.00,0.000,4,0.156,0.057,2744,925,3306,0,0,0,0,0,0
$GC,1357,-0.77,-116.8,139.0,-11.6,160,1361,0.00,1.27,0.00,0.000,6,0.000,0.037,2743,1731,3306,0,0,0,0,0,0
$GC,1685,-0.83,-116.8,172.8,-9.9,181,1690,0.10,2.35,0.00,0.000,4,0.103,0.061,2695,321,3306,0,0,0,0,0,0
$GC,1810,-0.80,-116.8,186.1,-9.7,188,1818,0.08,2.22,0.00,0.000,6,0.128,0.035,2715,1727,3307,0,0,0,0,0,0
$GC,2142,-0.80,-116.8,218.3,-9.6,207,2146,0.00,2.10,0.00,0.000,4,0.000,0.058,2715,456,3306,0,0,0,0,0,0
$GC,2310,-0.80,-116.8,235.1,-10.3,214,2316,0.00,2.00,0.00,0.000,6,0.000,0.035,2715,1727,3307,0,0,0,0,0,0
$GC,2628,-0.77,-116.8,267.1,-10.5,230,2632,0.00,1.02,0.00,0.000,4,0.000,0.054,2715,1100,3307,0,0,0,0,0,0
$GC,2744,-0.77,-116.8,279.1,-9.9,235,2747,0.00,0.98,0.00,0.000,6,0.000,0.037,2715,1728,3307,0,0,0,0,0,0
$GC,3075,-0.77,-116.8,314.3,-10.6,249,3079,0.00,2.33,0.00,0.000,4,0.000,0.059,2715,325,3307,0,0,0,0,0,0
$GC,3258,-0.77,-116.8,334.2,-10.9,254,3262,0.00,2.20,0.00,0.000,6,0.000,0.035,2715,1723,3307,0,0,0,0,0,0
$GC,3577,-0.77,-116.8,366.1,-9.7,265,3581,0.00,2.33,0.00,0.000,4,0.000,0.058,2715,316,3307,0,0,0,0,0,0
$GC,3833,-0.77,-116.8,390.0,-8.9,272,3839,0.00,2.20,0.00,0.000,6,0.000,0.034,2715,1721,3307,0,0,0,0,0,0
$GC,4147,-0.77,-116.8,416.6,-8.7,283,4151,0.00,2.30,0.00,0.000,4,0.000,0.056,2715,311,3307,0,0,0,0,0,0
$GC,4403,-0.77,-116.8,440.7,-9.6,290,4409,0.00,2.22,0.00,0.000,6,0.000,0.034,2715,1730,3307,0,0,0,0,0,0
$GC,4717,-0.77,-116.8,471.6,-10.3,301,4721,0.03,2.38,0.00,0.000,4,0.278,0.058,2727,307,3307,0,0,0,0,0,0
$GC,4918,-0.83,-116.8,493.0,-10.4,307,4922,0.00,2.20,0.00,0.000,6,0.000,0.033,2727,1733,3306,0,0,0,0,0,0
$GC,5253,-0.86,-116.8,529.0,-10.9,318,5258,0.08,2.35,0.00,0.000,4,0.125,0.056,2691,312,3306,0,0,0,0,0,0
$GC,5353,-0.82,-116.8,540.7,-11.1,321,5358,0.10,2.20,0.00,0.000,6,0.163,0.034,2714,1730,3306,0,0,0,0,0,0
$GC,5688,-0.82,-116.8,575.0,-10.0,332,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1730,3306,0,0,0,0,0,0
$GC,5994,-0.82,-116.8,604.8,-9.7,342,5998,0.00,2.33,0.00,0.000,4,0.000,0.056,2714,307,3305,0,0,0,0,0,0
$GC,6106,-0.82,-116.8,616.0,-10.5,345,6110,0.00,2.20,0.00,0.000,6,0.000,0.034,2714,1728,3305,0,0,0,0,0,0
$GC,6435,-0.82,-116.8,648.0,-9.9,356,6439,0.00,0.93,0.00,0.000,4,0.000,0.053,2714,1155,3305,0,0,0,0,0,0
$GC,6563,-0.82,-116.8,661.1,-10.3,359,6569,0.00,0.93,0.00,0.000,6,0.000,0.037,2714,1743,3304,0,0,0,0,0,0
$GC,6877,-0.82,-116.8,691.1,-9.5,370,6880,0.00,1.83,0.00,0.000,4,0.000,0.055,2714,625,3304,0,0,0,0,0,0
$GC,6978,-0.82,-116.8,700.7,-9.3,373,6982,0.00,1.70,0.00,0.000,6,0.000,0.034,2714,1724,3303,0,0,0,0,0,0
$GC,7319,-0.82,-116.8,730.5,-8.7,384,7323,0.00,1.52,0.00,0.000,4,0.000,0.053,2714,798,3302,0,0,0,0,0,0
$GC,7408,-0.82,-116.8,738.5,-8.6,386,7412,0.00,1.48,0.00,0.000,6,0.000,0.036,2714,1737,3302,0,0,0,0,0,0
$GC,7726,-0.82,-116.8,765.5,-8.5,397,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1737,3301,0,0,0,0,0,0
$GC,8033,-0.85,-116.8,790.4,-8.0,407,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1737,3301,0,0,0,0,0,0
$GC,8339,-0.85,-116.8,814.9,-8.0,417,8342,0.00,1.02,0.00,0.000,4,0.000,0.051,2714,1106,3300,0,0,0,0,0,0
$GC,8428,-0.87,-116.8,822.3,-9.4,419,8432,0.00,0.98,0.00,0.000,6,0.000,0.039,2714,1728,3300,0,0,0,0,0,0
$GC,8746,-0.87,-116.8,851.1,-9.5,430,8750,0.00,0.52,0.00,0.000,4,0.000,0.053,2714,1394,3300,0,0,0,0,0,0
$GC,8931,-0.89,-116.8,869.4,-10.7,435,8936,0.03,0.55,0.00,0.000,6,0.112,0.043,2691,1762,3299,0,0,0,0,0,0
$GC,9255,-0.85,-116.8,903.8,-11.0,446,9259,0.00,2.17,0.00,0.000,4,0.000,0.057,2691,446,3299,0,0,0,0,0,0
$GC,9328,-0.82,-116.8,912.2,-11.2,448,9332,0.10,1.98,0.00,0.000,6,0.162,0.034,2715,1719,3299,0,0,0,0,0,0
$GC,9657,-0.82,-116.8,948.5,-11.3,459,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1719,3298,0,0,0,0,0,0
$GC,9963,-0.86,-116.8,983.3,-11.2,469,9967,0.00,1.58,0.00,0.000,4,0.000,0.054,2715,769,3298,0,0,0,0,0,0
$STATE,10022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10022,begin apogee
$GC,10029,-0.26,0.0,990.5,10.8,470,10134,0.55,0.00,101.95,1.467,6,0.122,0.000,2886,1656,2827,0,0,0,0,0,0
$STATE,10135,end apogee,CONTROL_FINISHED_OK
$STATE,10135,begin loiter
$GC,10433,-0.25,259.7,1028.2,-8.9,484,10676,0.00,1.12,235.65,1.469,4,0.000,0.040,2887,2294,1767,0,0,0,0,0,0
$GC,10808,-0.32,259.7,1029.5,5.4,496,10812,0.00,1.08,0.00,0.000,6,0.000,0.048,2887,1634,1761,0,0,0,0,0,0
$GC,11149,-0.40,259.7,1011.9,5.4,507,11151,0.12,0.00,0.00,0.000,6,0.106,0.000,2844,1634,1757,0,0,0,0,0,0
$GC,11455,-0.37,259.7,994.9,5.6,517,11459,0.00,2.25,0.00,0.000,4,0.000,0.044,2836,3047,1756,0,0,0,0,0,0
$GC,11494,-0.37,259.7,992.5,6.2,518,11498,0.10,2.22,0.00,0.000,6,0.171,0.043,2860,1639,1754,0,0,0,0,0,0
$GC,11823,-0.37,259.7,974.4,5.6,529,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1639,1754,0,0,0,0,0,0
$GC,12129,-0.37,259.7,957.9,5.2,539,12133,0.00,1.00,0.00,0.000,4,0.000,0.057,2860,1016,1753,0,0,0,0,0,0
$GC,12266,-0.34,259.7,950.9,5.0,543,12270,0.00,0.98,0.00,0.000,6,0.000,0.036,2857,1654,1753,0,0,0,0,0,0
$GC,12607,-0.34,259.7,935.3,4.4,554,12611,0.00,2.38,0.00,0.000,4,0.000,0.061,2857,228,1752,0,0,0,0,0,0
$GC,12770,-0.23,259.7,927.9,5.0,559,12775,0.20,2.17,0.00,0.000,6,0.155,0.034,2904,1635,1751,0,0,0,0,0,0
$GC,13105,-0.33,259.7,915.3,3.8,570,13107,0.10,0.00,0.00,0.000,6,0.110,0.000,2861,1645,1751,0,0,0,0,0,0
$STATE,13134,end loiter,LOITER_COMPLETE
$STATE,13134,begin climb
$GC,13136,0.66,116.8,914.0,0.0,571,13140,1.02,0.88,0.00,0.000,4,0.115,0.036,3181,2236,1751,0,0,0,0,0,0
$GC,13254,0.51,138.6,908.7,5.1,574,13258,0.12,0.95,0.00,0.000,6,0.159,0.050,3148,1638,1751,0,0,0,0,0,0
$GC,13578,0.42,172.8,893.9,4.7,585,13582,0.12,2.22,0.00,0.000,4,0.178,0.045,3115,3042,1751,0,0,0,0,0,0
$GC,13690,0.39,205.7,888.5,4.8,588,13695,0.00,2.25,0.00,0.000,6,0.000,0.046,3119,1641,1751,0,0,0,0,0,0
$GC,14009,0.39,222.4,872.1,5.3,599,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1641,1751,0,0,0,0,0,0
$GC,14315,0.39,229.7,855.3,5.6,609,14316,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1641,1751,0,0,0,0,0,0
$GC,14621,0.39,229.7,837.0,6.0,619,14625,0.00,0.70,0.00,0.000,4,0.000,0.046,3119,2100,1751,0,0,0,0,0,0
$GC,14833,0.36,229.7,824.7,6.4,625,14838,0.05,0.75,0.00,0.000,6,0.161,0.053,3103,1635,1751,0,0,0,0,0,0
$GC,15163,0.38,253.6,808.1,5.1,636,15167,0.00,0.55,0.00,0.000,4,0.000,0.046,3103,2005,1751,0,0,0,0,0,0
$GC,15317,0.38,287.1,800.8,4.8,640,15346,0.00,0.57,23.60,1.304,6,0.000,0.056,3103,1642,1656,0,0,0,0,0,0
$GC,15672,0.44,324.1,783.5,4.6,652,15710,0.00,0.00,35.92,1.308,6,0.000,0.000,3103,1642,1504,0,0,0,0,0,0
$GC,16007,0.55,337.6,765.3,5.4,663,16026,0.15,0.73,13.05,1.187,4,0.090,0.061,3167,1211,1450,0,0,0,0,0,0
$GC,16074,0.52,342.1,761.6,5.7,665,16084,0.05,0.65,5.95,0.979,6,0.157,0.043,3152,1647,1431,0,0,0,0,0,0
$GC,16416,0.54,342.1,741.6,6.0,676,16417,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1647,1430,0,0,0,0,0,0
$GC,16720,0.54,342.1,722.7,6.2,686,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1647,1429,0,0,0,0,0,0
$GC,17027,0.56,342.1,701.9,7.0,696,17030,0.00,1.02,0.00,0.000,4,0.000,0.060,3154,1018,1429,0,0,0,0,0,0
$GC,17174,0.59,342.1,691.5,6.7,700,17177,0.00,0.95,0.00,0.000,6,0.000,0.041,3154,1626,1428,0,0,0,0,0,0
$GC,17503,0.59,342.1,666.2,7.8,711,17504,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1627,1428,0,0,0,0,0,0
$GC,17809,0.59,342.1,641.8,8.1,721,17813,0.00,1.85,0.00,0.000,4,0.000,0.063,3154,519,1427,0,0,0,0,0,0
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$STATE,26321,end climb,SURFACE_DEPTH_REACHED
$STATE,26321,begin surface coast
$FINISH,1.7,1.013302
$STATE,26395,end surface coast,CONTROL_FINISHED_OK
$STATE,26395,begin surface
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$HUMID,49.72
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$TCM_TEMP,12.30
$XPDR_PINGS,0
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$10V_AH,9.8,67.928
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354596
$DATA_FILE_SIZE,70425,1187
$CAP_FILE_SIZE,218461,0
$CFSIZE,2097086464,2028601344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120113,200029,-4058.240,-445.478,84,1.1,84,-22.6