version: 66.07.10.p01
glider: 574
mission: 4
dive: 491
start: 1 15 113 9 32 1
data:
$ID,574
$MISSION,4
$DIVE,491
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,160
$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,-7378.0601
$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,1745
$C_ROLL_CLIMB,1670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,42
$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,470
$GPS1,150113,093005,-4054.724,-438.675,29,1.4,29,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-73.4
$GPS2,150113,093138,-4054.719,-438.665,17,1.0,17,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4104.071,-431.503
$TGT_RADIUS,1852.000
$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,172.6,20000,-12.6,-5.632
$D_GRID,980
$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,-0.67,-107.0,0.0,0.0,0,41,0.00,0.00,-13.25,0.000,2,0.000,0.000,71,1735,1595,0,0,0,0,0,0
$GC,44,-0.67,-107.0,3.0,-1.4,2,123,12.68,2.33,-59.30,0.000,4,0.265,0.063,2745,3141,3261,0,0,0,0,0,0
$GC,168,-0.67,-107.0,11.4,-11.0,22,176,0.05,2.28,0.00,0.000,6,0.127,0.048,2763,1746,3263,0,0,0,0,0,0
$GC,250,-0.73,-107.0,19.6,-10.4,35,257,0.05,2.40,0.00,0.000,4,0.164,0.065,2732,331,3263,0,0,0,0,0,0
$GC,406,-0.73,-107.0,36.4,-10.5,61,410,0.00,2.22,0.00,0.000,6,0.000,0.039,2730,1740,3263,0,0,0,0,0,0
$GC,635,-0.70,-107.0,59.9,-9.6,102,643,0.08,1.05,0.00,0.000,4,0.181,0.057,2749,1111,3263,0,0,0,0,0,0
$GC,899,-0.81,-107.0,85.4,-10.0,126,903,0.05,1.00,0.00,0.000,6,0.069,0.040,2711,1753,3264,0,0,0,0,0,0
$GC,1231,-0.78,-107.0,115.7,-8.6,152,1236,0.08,0.93,0.00,0.000,4,0.168,0.046,2729,2347,3264,0,0,0,0,0,0
$GC,1270,-0.78,-107.0,119.2,-8.4,154,1274,0.00,0.95,0.00,0.000,6,0.000,0.047,2729,1739,3264,0,0,0,0,0,0
$GC,1596,-0.80,-107.0,148.3,-9.8,175,1600,0.00,1.02,0.00,0.000,4,0.000,0.042,2729,2402,3265,0,0,0,0,0,0
$GC,1645,-0.84,-107.0,153.0,-10.3,178,1649,0.03,1.05,0.00,0.000,6,0.098,0.046,2704,1738,3265,0,0,0,0,0,0
$GC,1978,-0.82,-107.0,188.8,-11.2,194,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1738,3265,0,0,0,0,0,0
$GC,2285,-0.79,-107.0,221.5,-10.4,206,2290,0.08,2.30,0.00,0.000,4,0.178,0.047,2714,3154,3266,0,0,0,0,0,0
$GC,2339,-0.79,-107.0,227.4,-9.9,207,2345,0.00,2.28,0.00,0.000,6,0.000,0.044,2714,1744,3265,0,0,0,0,0,0
$GC,2653,-0.79,-107.0,258.2,-9.7,218,2657,0.00,2.28,0.00,0.000,4,0.000,0.048,2706,3154,3266,0,0,0,0,0,0
$GC,2715,-0.79,-107.0,264.4,-9.4,220,2720,0.08,2.25,0.00,0.000,6,0.161,0.044,2725,1738,3266,0,0,0,0,0,0
$GC,3055,-0.83,-107.0,295.8,-9.2,231,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1738,3266,0,0,0,0,0,0
$GC,3361,-0.83,-107.0,324.5,-9.4,241,3365,0.00,2.28,0.00,0.000,4,0.000,0.048,2716,3150,3266,0,0,0,0,0,0
$GC,3434,-0.88,-107.0,331.5,-9.3,243,3438,0.05,2.20,0.00,0.000,6,0.158,0.041,2688,1741,3266,0,0,0,0,0,0
$GC,3763,-0.81,-107.0,363.2,-9.6,254,3768,0.12,2.25,0.00,0.000,4,0.155,0.045,2713,3150,3266,0,0,0,0,0,0
$GC,3818,-0.81,-107.0,368.8,-9.8,255,3824,0.00,2.25,0.00,0.000,6,0.000,0.040,2713,1738,3266,0,0,0,0,0,0
$GC,4131,-0.81,-107.0,399.2,-10.2,266,4135,0.00,2.22,0.00,0.000,4,0.000,0.045,2704,3150,3266,0,0,0,0,0,0
$GC,4186,-0.79,-107.0,405.1,-10.2,267,4192,0.08,2.22,0.00,0.000,6,0.161,0.040,2723,1737,3266,0,0,0,0,0,0
$GC,4499,-0.83,-107.0,436.6,-10.2,278,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1736,3266,0,0,0,0,0,0
$GC,4805,-0.87,-107.0,468.9,-10.7,288,4810,0.08,2.28,0.00,0.000,4,0.125,0.048,2682,3156,3266,0,0,0,0,0,0
$GC,4855,-0.83,-107.0,474.7,-11.8,289,4859,0.10,2.22,0.00,0.000,6,0.151,0.039,2709,1743,3266,0,0,0,0,0,0
$GC,5167,-0.83,-107.0,507.3,-10.5,299,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1743,3266,0,0,0,0,0,0
$GC,5474,-0.83,-107.0,539.0,-9.9,309,5477,0.00,0.93,0.00,0.000,4,0.000,0.042,2706,2343,3266,0,0,0,0,0,0
$GC,5508,-0.83,-107.0,542.3,-8.9,310,5511,0.00,0.93,0.00,0.000,6,0.000,0.045,2706,1749,3266,0,0,0,0,0,0
$GC,5850,-0.83,-107.0,574.8,-9.2,321,5854,0.00,1.05,0.00,0.000,4,0.000,0.043,2701,2418,3266,0,0,0,0,0,0
$GC,5888,-0.81,-107.0,578.6,-9.0,322,5893,0.03,1.08,0.00,0.000,6,0.158,0.045,2712,1737,3266,0,0,0,0,0,0
$GC,6224,-0.85,-107.0,608.1,-8.8,333,6227,0.00,0.68,0.00,0.000,4,0.000,0.046,2712,2181,3266,0,0,0,0,0,0
$GC,6245,-0.91,-107.0,610.2,-9.0,333,6250,0.05,0.68,0.00,0.000,6,0.078,0.047,2681,1743,3266,0,0,0,0,0,0
$GC,6564,-0.85,-107.0,641.0,-10.1,344,6568,0.10,1.92,0.00,0.000,4,0.164,0.045,2700,2939,3265,0,0,0,0,0,0
$GC,6607,-0.85,-107.0,645.7,-10.2,345,6611,0.00,1.90,0.00,0.000,6,0.000,0.041,2700,1745,3265,0,0,0,0,0,0
$GC,6937,-0.81,-107.0,679.6,-10.6,356,6942,0.05,2.25,0.00,0.000,4,0.222,0.045,2703,3154,3265,0,0,0,0,0,0
$GC,6992,-0.83,-107.0,685.6,-10.6,357,6997,0.00,2.22,0.00,0.000,6,0.000,0.039,2703,1740,3265,0,0,0,0,0,0
$GC,7305,-0.83,-107.0,719.8,-11.2,368,7308,0.00,1.77,0.00,0.000,4,0.000,0.044,2698,2861,3264,0,0,0,0,0,0
$GC,7348,-0.83,-107.0,725.0,-10.9,369,7353,0.00,1.77,0.00,0.000,6,0.000,0.041,2698,1746,3264,0,0,0,0,0,0
$GC,7679,-0.83,-107.0,762.5,-11.7,380,7682,0.00,1.08,0.00,0.000,4,0.000,0.042,2694,2439,3264,0,0,0,0,0,0
$GC,7717,-0.83,-107.0,767.3,-11.3,381,7721,0.00,1.10,0.00,0.000,6,0.000,0.043,2695,1738,3264,0,0,0,0,0,0
$GC,8053,-0.81,-107.0,806.5,-11.9,392,8055,0.10,0.00,0.00,0.000,6,0.166,0.000,2721,1737,3264,0,0,0,0,0,0
$GC,8359,-0.84,-107.0,841.3,-11.2,402,8363,0.00,2.28,0.00,0.000,4,0.000,0.047,2712,3147,3263,0,0,0,0,0,0
$GC,8432,-0.88,-107.0,849.9,-11.5,404,8436,0.00,2.25,0.00,0.000,6,0.000,0.039,2712,1740,3263,0,0,0,0,0,0
$GC,8762,-0.91,-107.0,885.8,-10.6,415,8766,0.08,2.25,0.00,0.000,4,0.132,0.047,2674,3147,3263,0,0,0,0,0,0
$GC,8828,-0.88,-107.0,893.4,-11.0,417,8832,0.08,2.20,0.00,0.000,6,0.172,0.039,2691,1743,3263,0,0,0,0,0,0
$GC,9163,-0.85,-107.0,928.2,-10.1,428,9167,0.00,2.28,0.00,0.000,4,0.000,0.045,2682,3156,3262,0,0,0,0,0,0
$GC,9234,-0.82,-107.0,935.5,-10.4,430,9239,0.12,2.22,0.00,0.000,6,0.143,0.040,2716,1747,3262,0,0,0,0,0,0
$GC,9558,-0.82,-107.0,963.6,-8.5,441,9562,0.00,2.30,0.00,0.000,4,0.000,0.058,2716,331,3262,0,0,0,0,0,0
$GC,9741,-0.82,-107.0,979.0,-8.9,446,9746,0.00,2.22,0.00,0.000,6,0.000,0.034,2716,1742,3262,0,0,0,0,0,0
$STATE,9782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9782,begin apogee
$GC,9788,-0.26,0.0,982.1,7.7,448,9885,0.57,0.00,94.35,1.460,6,0.117,0.000,2891,1664,2827,0,0,0,0,0,0
$STATE,9886,end apogee,CONTROL_FINISHED_OK
$STATE,9886,begin loiter
$GC,10181,-0.25,172.7,1007.3,-6.1,461,10341,0.00,1.35,153.00,1.473,4,0.000,0.041,2891,2444,2121,0,0,0,0,0,0
$GC,10594,-0.36,172.7,1009.9,1.6,473,10600,0.05,1.23,0.00,0.000,6,0.083,0.047,2864,1676,2115,0,0,0,0,0,0
$GC,10907,-0.38,172.7,1006.5,0.9,484,10911,0.00,0.95,0.00,0.000,4,0.000,0.042,2864,2293,2114,0,0,0,0,0,0
$GC,11165,-0.41,172.7,1005.6,0.1,491,11169,0.00,0.98,0.00,0.000,6,0.000,0.047,2864,1674,2113,0,0,0,0,0,0
$GC,11484,-0.43,190.6,1006.8,-0.6,502,11504,0.08,1.35,15.35,1.342,4,0.137,0.040,2828,2543,2049,0,0,0,0,0,0
$GC,11756,-0.38,190.6,1003.8,1.1,510,11760,0.08,1.40,0.00,0.000,6,0.139,0.046,2852,1671,2048,0,0,0,0,0,0
$GC,12093,-0.38,190.6,999.1,1.6,521,12097,0.00,2.22,0.00,0.000,4,0.000,0.046,2850,3074,2047,0,0,0,0,0,0
$GC,12260,-0.38,190.6,995.8,1.8,526,12264,0.00,2.25,0.00,0.000,6,0.000,0.043,2850,1678,2047,0,0,0,0,0,0
$GC,12596,-0.36,190.6,988.4,2.3,537,12600,0.00,2.20,0.00,0.000,4,0.000,0.046,2847,3071,2047,0,0,0,0,0,0
$GC,12853,-0.36,190.6,982.4,2.6,544,12859,0.03,2.25,0.00,0.000,6,0.170,0.043,2856,1673,2047,0,0,0,0,0,0
$GC,13166,-0.36,190.6,976.0,2.0,555,13170,0.00,2.22,0.00,0.000,4,0.000,0.045,2850,3078,2046,0,0,0,0,0,0
$GC,13356,-0.36,190.6,972.7,2.1,560,13362,0.00,2.28,0.00,0.000,6,0.000,0.043,2850,1664,2046,0,0,0,0,0,0
$GC,13669,-0.36,190.6,969.5,0.9,571,13673,0.00,1.30,0.00,0.000,4,0.000,0.059,2850,873,2046,0,0,0,0,0,0
$GC,13927,-0.30,199.8,968.6,-0.3,578,13942,0.08,1.25,9.25,1.227,6,0.148,0.036,2873,1671,2012,0,0,0,0,0,0
$STATE,14092,end loiter,LOITER_COMPLETE
$STATE,14092,begin climb
$GC,14094,0.67,107.0,968.1,0.0,584,14100,0.98,2.25,0.00,0.000,4,0.112,0.044,3178,3080,2011,0,0,0,0,0,0
$GC,14354,0.39,262.6,966.8,0.1,591,14421,0.30,2.25,59.35,1.449,6,0.194,0.044,3114,1671,1756,0,0,0,0,0,0
$GC,14728,0.37,326.7,956.5,3.4,604,14793,0.03,0.47,59.83,1.435,4,0.296,0.037,3105,1979,1494,0,0,0,0,0,0
$GC,14828,0.46,343.7,952.1,5.0,607,14850,0.03,0.50,17.62,1.347,6,0.105,0.055,3129,1667,1425,0,0,0,0,0,0
$GC,15157,0.52,343.7,932.3,6.4,617,15162,0.00,2.30,0.00,0.000,4,0.000,0.065,3129,262,1418,0,0,0,0,0,0
$GC,15348,0.61,343.7,918.7,7.4,622,15352,0.15,2.17,0.00,0.000,6,0.090,0.035,3185,1673,1414,0,0,0,0,0,0
$GC,15666,0.53,343.7,892.0,8.8,633,15670,0.12,0.90,0.00,0.000,4,0.180,0.059,3158,1124,1414,0,0,0,0,0,0
$GC,15755,0.51,343.7,884.4,8.4,635,15759,0.03,0.85,0.00,0.000,6,0.175,0.040,3150,1679,1414,0,0,0,0,0,0
$GC,16072,0.51,343.7,857.2,8.7,646,16076,0.00,1.62,0.00,0.000,4,0.000,0.061,3154,707,1414,0,0,0,0,0,0
$GC,16167,0.51,343.7,849.0,7.9,648,16172,0.00,1.50,0.00,0.000,6,0.000,0.037,3154,1664,1413,0,0,0,0,0,0
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$STATE,27711,end climb,SURFACE_DEPTH_REACHED
$STATE,27712,begin surface coast
$FINISH,1.7,1.003183
$STATE,27749,end surface coast,CONTROL_FINISHED_OK
$STATE,27749,begin surface
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$TT8_MAMPS,0.026964
$HUMID,49.13
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$TCM_TEMP,13.10
$XPDR_PINGS,0
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$10V_AH,9.8,69.118
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.575,205.825,431.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.463,3276.604,19842.518,530.624,3964.831,288.449,0.000,2393.308,0.000,3878.945,0.000,1.015,0.000
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$MEM,354596
$DATA_FILE_SIZE,70154,1198
$CAP_FILE_SIZE,248866,0
$CFSIZE,2097086464,2027094016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150113,171725,-4054.160,-438.757,61,0.8,62,-22.6