version: 66.07.10.p01
glider: 574
mission: 4
dive: 485
start: 1 13 113 11 20 58
data:
$ID,574
$MISSION,4
$DIVE,485
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,4200
$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,3
$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,-7360.4902
$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,28
$R_STBD_OVSHOOT,60
$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,464
$GPS1,130113,105704,-4056.454,-443.711,38,1.2,42,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-72.6
$GPS2,130113,112035,-4056.303,-443.578,45,0.9,45,-22.6
$SPEED_LIMITS,0.099,0.194
$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,127.4,62929,-12.0,-5.690
$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,-0.64,-116.8,0.0,0.0,0,51,0.00,0.00,-24.25,0.000,2,0.000,0.000,69,1746,1806,0,0,0,0,0,0
$GC,54,-0.64,-116.8,3.1,-1.1,4,128,12.55,1.90,-56.15,0.000,4,0.263,0.064,2755,2924,3302,0,0,0,0,0,0
$GC,185,-0.64,-116.8,10.6,-9.7,25,193,0.03,1.95,0.00,0.000,6,0.171,0.048,2764,1727,3302,0,0,0,0,0,0
$GC,267,-0.73,-116.8,18.8,-10.1,38,275,0.05,1.92,0.00,0.000,4,0.162,0.063,2733,586,3303,0,0,0,0,0,0
$GC,530,-0.79,-116.8,48.3,-11.6,84,538,0.00,1.77,0.00,0.000,6,0.000,0.036,2730,1708,3303,0,0,0,0,0,0
$GC,755,-0.79,-116.8,74.2,-11.6,114,759,0.00,1.85,0.00,0.000,4,0.000,0.058,2730,582,3303,0,0,0,0,0,0
$GC,1018,-0.85,-116.8,99.3,-9.1,137,1023,0.08,1.80,0.00,0.000,6,0.122,0.037,2696,1737,3303,0,0,0,0,0,0
$GC,1344,-0.77,-116.8,127.9,-9.6,158,1346,0.12,0.00,0.00,0.000,6,0.148,0.000,2731,1737,3303,0,0,0,0,0,0
$GC,1656,-0.77,-116.8,156.9,-9.2,177,1659,0.00,1.65,0.00,0.000,4,0.000,0.056,2731,718,3304,0,0,0,0,0,0
$GC,1914,-0.85,-116.8,179.8,-9.0,188,1919,0.05,1.60,0.00,0.000,6,0.070,0.037,2694,1733,3304,0,0,0,0,0,0
$GC,2235,-0.78,-116.8,214.5,-11.0,202,2239,0.12,2.30,0.00,0.000,4,0.148,0.057,2730,333,3304,0,0,0,0,0,0
$GC,2492,-0.85,-116.8,240.5,-10.4,209,2497,0.08,2.20,0.00,0.000,6,0.122,0.036,2691,1743,3304,0,0,0,0,0,0
$GC,2811,-0.77,-116.8,273.6,-10.3,220,2816,0.15,2.38,0.00,0.000,4,0.142,0.059,2735,319,3304,0,0,0,0,0,0
$GC,3068,-0.87,-116.8,296.9,-9.1,227,3074,0.10,2.20,0.00,0.000,6,0.103,0.037,2685,1731,3304,0,0,0,0,0,0
$GC,3381,-0.77,-116.8,327.6,-9.9,238,3386,0.15,0.88,0.00,0.000,4,0.145,0.053,2729,1206,3304,0,0,0,0,0,0
$GC,3639,-0.82,-116.8,350.3,-8.9,245,3643,0.00,0.82,0.00,0.000,6,0.000,0.039,2729,1741,3304,0,0,0,0,0,0
$GC,3958,-0.86,-116.8,376.9,-8.5,256,3963,0.08,2.38,0.00,0.000,4,0.124,0.059,2692,315,3304,0,0,0,0,0,0
$GC,4122,-0.82,-116.8,391.9,-9.1,261,4126,0.10,2.20,0.00,0.000,6,0.158,0.036,2714,1724,3304,0,0,0,0,0,0
$GC,4456,-0.82,-116.8,425.1,-10.2,272,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1725,3304,0,0,0,0,0,0
$GC,4763,-0.82,-116.8,455.9,-10.3,282,4766,0.00,1.75,0.00,0.000,4,0.000,0.054,2715,639,3304,0,0,0,0,0,0
$GC,5020,-0.92,-116.8,481.4,-9.0,289,5025,0.08,1.73,0.00,0.000,6,0.063,0.037,2669,1731,3303,0,0,0,0,0,0
$GC,5341,-0.80,-116.8,516.2,-11.2,300,5346,0.17,2.30,0.00,0.000,4,0.142,0.057,2720,346,3303,0,0,0,0,0,0
$GC,5598,-0.90,-116.8,540.0,-8.8,307,5604,0.08,2.17,0.00,0.000,6,0.122,0.034,2677,1748,3302,0,0,0,0,0,0
$GC,5911,-0.80,-116.8,568.8,-9.3,318,5916,0.15,2.38,0.00,0.000,4,0.143,0.057,2720,325,3302,0,0,0,0,0,0
$GC,6096,-0.90,-116.8,583.8,-8.6,323,6100,0.10,2.17,0.00,0.000,6,0.102,0.034,2673,1731,3301,0,0,0,0,0,0
$GC,6414,-0.81,-116.8,613.8,-9.8,334,6418,0.15,0.98,0.00,0.000,4,0.143,0.052,2717,1142,3301,0,0,0,0,0,0
$GC,6561,-0.85,-116.8,627.1,-8.5,338,6564,0.00,0.93,0.00,0.000,6,0.000,0.040,2715,1733,3300,0,0,0,0,0,0
$GC,6890,-0.88,-116.8,657.7,-9.4,349,6895,0.05,1.35,0.00,0.000,4,0.166,0.053,2685,923,3300,0,0,0,0,0,0
$GC,7075,-0.88,-116.8,676.6,-10.0,354,7079,0.00,1.27,0.00,0.000,6,0.000,0.037,2682,1734,3299,0,0,0,0,0,0
$GC,7399,-0.80,-116.8,711.0,-10.8,365,7404,0.12,2.35,0.00,0.000,4,0.155,0.057,2718,319,3299,0,0,0,0,0,0
$GC,7606,-0.87,-116.8,732.7,-10.0,371,7610,0.00,2.20,0.00,0.000,6,0.000,0.036,2715,1730,3299,0,0,0,0,0,0
$GC,7936,-0.91,-116.8,765.1,-10.1,382,7941,0.08,1.65,0.00,0.000,4,0.127,0.054,2683,706,3298,0,0,0,0,0,0
$GC,7997,-0.84,-116.8,771.7,-11.0,383,8003,0.08,1.60,0.00,0.000,6,0.135,0.035,2703,1728,3298,0,0,0,0,0,0
$GC,8311,-0.81,-116.8,803.7,-10.4,394,8314,0.00,2.03,0.00,0.000,4,0.000,0.047,2695,3021,3298,0,0,0,0,0,0
$GC,8379,-0.81,-116.8,811.5,-11.8,396,8383,0.08,2.05,0.00,0.000,6,0.167,0.040,2714,1713,3298,0,0,0,0,0,0
$GC,8715,-0.81,-116.8,846.7,-10.4,407,8718,0.00,0.82,0.00,0.000,4,0.000,0.053,2714,1189,3297,0,0,0,0,0,0
$GC,8783,-0.86,-116.8,853.9,-10.2,409,8787,0.00,0.85,0.00,0.000,6,0.000,0.038,2714,1742,3297,0,0,0,0,0,0
$GC,9126,-0.90,-116.8,890.4,-10.8,420,9130,0.08,2.35,0.00,0.000,4,0.131,0.057,2680,326,3297,0,0,0,0,0,0
$GC,9223,-0.87,-116.8,901.6,-11.3,423,9228,0.10,2.20,0.00,0.000,6,0.163,0.036,2700,1733,3296,0,0,0,0,0,0
$GC,9558,-0.87,-116.8,937.4,-10.3,434,9562,0.00,0.43,0.00,0.000,4,0.000,0.052,2701,1449,3296,0,0,0,0,0,0
$GC,9815,-0.92,-116.8,963.2,-9.9,441,9819,0.00,0.43,0.00,0.000,6,0.000,0.047,2701,1737,3295,0,0,0,0,0,0
$STATE,10101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10101,begin apogee
$GC,10107,-0.26,0.0,991.6,10.0,451,10212,0.62,0.00,101.68,1.466,6,0.120,0.000,2891,1622,2827,0,0,0,0,0,0
$STATE,10212,end apogee,CONTROL_FINISHED_OK
$STATE,10212,begin loiter
$GC,10501,-0.25,259.3,1025.8,-8.5,464,10744,0.00,2.53,233.60,1.467,4,0.000,0.060,2891,251,1770,0,0,0,0,0,0
$GC,10850,-0.20,259.3,1029.5,5.5,475,10855,0.08,2.20,0.00,0.000,6,0.194,0.034,2906,1644,1762,0,0,0,0,0,0
$GC,11185,-0.29,259.3,1015.5,4.0,486,11190,0.08,2.30,0.00,0.000,4,0.135,0.061,2879,247,1760,0,0,0,0,0,0
$GC,11303,-0.26,259.3,1010.0,4.8,489,11308,0.00,2.17,0.00,0.000,6,0.000,0.035,2878,1652,1758,0,0,0,0,0,0
$GC,11616,-0.30,259.3,995.5,4.9,499,11620,0.00,0.45,0.00,0.000,4,0.000,0.060,2878,1371,1757,0,0,0,0,0,0
$GC,11823,-0.30,259.3,984.9,5.3,505,11827,0.00,0.43,0.00,0.000,6,0.000,0.044,2878,1657,1757,0,0,0,0,0,0
$GC,12160,-0.33,259.3,968.0,5.0,516,12164,0.00,0.57,0.00,0.000,4,0.000,0.058,2878,1301,1757,0,0,0,0,0,0
$GC,12418,-0.36,259.3,955.5,4.2,523,12422,0.00,0.47,0.00,0.000,6,0.000,0.042,2878,1629,1757,0,0,0,0,0,0
$GC,12737,-0.39,259.3,942.7,3.7,534,12742,0.08,2.22,0.00,0.000,4,0.135,0.045,2836,3039,1756,0,0,0,0,0,0
$GC,12752,-0.39,259.3,941.9,3.8,534,12756,0.00,2.22,0.00,0.000,6,0.000,0.044,2836,1654,1755,0,0,0,0,0,0
$GC,13071,-0.34,259.3,931.4,3.3,545,13076,0.12,0.43,0.00,0.000,4,0.172,0.059,2869,1372,1755,0,0,0,0,0,0
$GC,13308,-0.34,259.3,923.3,3.9,552,13312,0.00,0.40,0.00,0.000,6,0.000,0.045,2868,1653,1755,0,0,0,0,0,0
$GC,13649,-0.34,259.3,911.7,3.5,563,13652,0.00,1.90,0.00,0.000,4,0.000,0.044,2860,2873,1755,0,0,0,0,0,0
$GC,13721,-0.30,259.3,909.0,4.2,565,13725,0.08,1.98,0.00,0.000,6,0.184,0.045,2876,1637,1754,0,0,0,0,0,0
$GC,14055,-0.30,259.3,895.4,4.6,576,14059,0.00,2.20,0.00,0.000,4,0.000,0.045,2868,3028,1754,0,0,0,0,0,0
$GC,14189,-0.30,259.3,889.1,4.6,580,14193,0.00,2.25,0.00,0.000,6,0.000,0.044,2868,1637,1754,0,0,0,0,0,0
$STATE,14400,end loiter,LOITER_COMPLETE
$STATE,14400,begin climb
$GC,14402,0.64,116.8,878.5,0.0,587,14408,0.98,2.25,0.00,0.000,4,0.114,0.044,3175,3023,1754,0,0,0,0,0,0
$GC,14548,0.46,116.8,869.3,6.7,591,14553,0.20,2.22,0.00,0.000,6,0.181,0.046,3135,1635,1754,0,0,0,0,0,0
$GC,14867,0.39,116.8,850.0,6.3,602,14869,0.10,0.00,0.00,0.000,6,0.202,0.000,3110,1634,1754,0,0,0,0,0,0
$GC,15173,0.39,132.4,833.2,5.2,612,15177,0.00,2.15,0.00,0.000,4,0.000,0.047,3110,2986,1754,0,0,0,0,0,0
$GC,15340,0.35,159.7,825.6,4.8,617,15345,0.08,2.17,0.00,0.000,6,0.197,0.047,3099,1637,1754,0,0,0,0,0,0
$GC,15670,0.36,205.4,811.8,4.2,628,15673,0.00,1.23,0.00,0.000,4,0.000,0.044,3098,2411,1754,0,0,0,0,0,0
$GC,15839,0.36,246.1,805.0,4.3,633,15843,0.00,1.25,0.00,0.000,6,0.000,0.050,3100,1640,1754,0,0,0,0,0,0
$GC,16180,0.36,269.5,789.4,4.9,644,16194,0.00,2.25,8.07,1.109,4,0.000,0.046,3100,3001,1728,0,0,0,0,0,0
$GC,16418,0.36,270.0,777.0,5.7,651,16422,0.00,2.20,0.00,0.000,6,0.000,0.046,3105,1640,1728,0,0,0,0,0,0
$GC,16754,0.36,298.0,760.8,4.8,662,16788,0.00,2.30,28.52,1.299,4,0.000,0.046,3105,3022,1612,0,0,0,0,0,0
$GC,17042,0.40,322.0,746.0,4.9,670,17072,0.00,2.22,23.25,1.271,6,0.000,0.046,3105,1637,1513,0,0,0,0,0,0
$GC,17393,0.49,336.4,727.7,5.2,682,17413,0.10,2.25,14.10,1.192,4,0.112,0.047,3151,3033,1455,0,0,0,0,0,0
$GC,17548,0.49,350.2,718.6,5.2,686,17568,0.08,2.22,14.77,1.197,6,0.195,0.045,3138,1640,1398,0,0,0,0,0,0
$GC,17900,0.54,350.2,697.9,6.2,698,17903,0.00,1.33,0.00,0.000,4,0.000,0.043,3138,2475,1395,0,0,0,0,0,0
$GC,18046,0.57,350.2,688.2,7.6,702,18051,0.05,1.35,0.00,0.000,6,0.074,0.050,3173,1643,1394,0,0,0,0,0,0
$GC,18375,0.52,350.2,664.6,7.4,713,18380,0.10,1.10,0.00,0.000,4,0.187,0.043,3150,2333,1394,0,0,0,0,0,0
$GC,18477,0.52,350.2,657.0,7.7,716,18481,0.00,1.12,0.00,0.000,6,0.000,0.050,3150,1635,1394,0,0,0,0,0,0
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$STATE,27456,end climb,SURFACE_DEPTH_REACHED
$STATE,27456,begin surface coast
$FINISH,1.9,1.014754
$STATE,27499,end surface coast,CONTROL_FINISHED_OK
$STATE,27500,begin surface
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$IRIDIUM_FIX,-4040.73,-445.35,130113,111148
$TT8_MAMPS,0.026964
$HUMID,49.88
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$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.8,115.987
$10V_AH,9.8,68.358
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.450,175.750,484.050,0.000,0.000,79.869,170.001,786.779,0.000,0.000,47.244,3281.554,19509.047,542.007,5219.675,423.224,0.000,2481.032,0.000,4068.693,0.000,1.015,0.000
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$SENSOR_SECS,741.487,724.501,427.352,70.833,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354488
$DATA_FILE_SIZE,70236,1173
$CAP_FILE_SIZE,264862,0
$CFSIZE,2097086464,2028044288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,130113,190153,-4055.670,-442.674,41,1.4,42,-22.6