version: 66.07.10.p01
glider: 574
mission: 4
dive: 496
start: 1 17 113 0 55 29
data:
$ID,574
$MISSION,4
$DIVE,496
$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,-7392.1772
$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,52
$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,475
$GPS1,170113,003629,-4054.894,-436.225,41,0.9,41,-22.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-74.6
$GPS2,170113,005505,-4054.870,-436.217,38,0.8,38,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4104.223,-429.055
$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,-107.0,0.0,0.0,0,47,0.00,0.00,-18.90,0.000,2,0.000,0.000,69,1736,1773,0,0,0,0,0,0
$GC,50,-0.67,-107.0,3.2,-1.7,3,124,12.25,1.00,-57.38,0.000,4,0.259,0.076,2748,2354,3265,0,0,0,0,0,0
$GC,175,-0.63,-107.0,9.5,-9.7,23,182,0.08,0.98,0.00,0.000,6,0.130,0.047,2773,1740,3267,0,0,0,0,0,0
$GC,256,-0.70,-107.0,18.0,-10.6,36,264,0.00,1.35,0.00,0.000,4,0.000,0.058,2772,919,3266,0,0,0,0,0,0
$GC,373,-0.77,-107.0,30.2,-10.2,55,378,0.10,1.27,0.00,0.000,6,0.060,0.036,2716,1734,3267,0,0,0,0,0,0
$GC,604,-0.69,-107.0,56.4,-11.3,96,611,0.15,2.33,0.00,0.000,4,0.148,0.060,2758,361,3267,0,0,0,0,0,0
$GC,821,-0.78,-107.0,78.7,-9.4,118,826,0.10,2.17,0.00,0.000,6,0.104,0.037,2711,1746,3267,0,0,0,0,0,0
$GC,1146,-0.75,-107.0,109.3,-9.3,145,1151,0.10,2.25,0.00,0.000,4,0.161,0.048,2730,3154,3267,0,0,0,0,0,0
$GC,1230,-0.78,-107.0,117.2,-9.5,150,1234,0.00,2.25,0.00,0.000,6,0.000,0.041,2730,1731,3268,0,0,0,0,0,0
$GC,1554,-0.78,-107.0,146.7,-9.3,171,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1731,3268,0,0,0,0,0,0
$GC,1871,-0.78,-107.0,177.4,-10.1,187,1875,0.00,2.28,0.00,0.000,4,0.000,0.046,2724,3156,3268,0,0,0,0,0,0
$GC,1949,-0.78,-107.0,185.7,-10.3,190,1955,0.00,2.25,0.00,0.000,6,0.000,0.041,2723,1714,3268,0,0,0,0,0,0
$GC,2284,-0.78,-107.0,221.6,-10.9,204,2288,0.00,2.30,0.00,0.000,4,0.000,0.044,2714,3160,3267,0,0,0,0,0,0
$GC,2351,-0.78,-107.0,229.1,-10.7,206,2355,0.00,2.25,0.00,0.000,6,0.000,0.039,2714,1743,3267,0,0,0,0,0,0
$GC,2686,-0.78,-107.0,268.5,-11.9,217,2690,0.00,0.80,0.00,0.000,4,0.000,0.040,2711,2274,3268,0,0,0,0,0,0
$GC,2721,-0.78,-107.0,272.5,-11.6,218,2725,0.05,0.82,0.00,0.000,6,0.129,0.044,2730,1738,3268,0,0,0,0,0,0
$GC,3062,-0.82,-107.0,311.9,-11.3,229,3065,0.00,0.57,0.00,0.000,4,0.000,0.055,2730,1364,3268,0,0,0,0,0,0
$GC,3319,-0.85,-107.0,339.7,-10.7,236,3323,0.05,0.60,0.00,0.000,6,0.071,0.036,2694,1775,3268,0,0,0,0,0,0
$GC,3637,-0.82,-107.0,371.5,-9.7,247,3642,0.08,2.40,0.00,0.000,4,0.177,0.056,2714,339,3268,0,0,0,0,0,0
$GC,3894,-0.82,-107.0,395.3,-9.1,254,3900,0.00,2.17,0.00,0.000,6,0.000,0.031,2714,1734,3268,0,0,0,0,0,0
$GC,4208,-0.85,-107.0,424.1,-9.5,265,4211,0.00,1.33,0.00,0.000,4,0.000,0.041,2710,2592,3268,0,0,0,0,0,0
$GC,4251,-0.85,-107.0,428.7,-10.2,266,4256,0.00,1.35,0.00,0.000,6,0.000,0.042,2710,1741,3267,0,0,0,0,0,0
$GC,4583,-0.85,-107.0,462.7,-10.7,277,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1740,3267,0,0,0,0,0,0
$GC,4889,-0.85,-107.0,495.5,-10.7,287,4893,0.00,1.08,0.00,0.000,4,0.000,0.041,2706,2444,3266,0,0,0,0,0,0
$GC,4924,-0.85,-107.0,499.4,-10.5,288,4927,0.00,1.10,0.00,0.000,6,0.000,0.043,2706,1740,3267,0,0,0,0,0,0
$GC,5264,-0.85,-107.0,536.2,-10.7,299,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1740,3266,0,0,0,0,0,0
$GC,5571,-0.85,-107.0,567.2,-9.8,309,5574,0.00,1.15,0.00,0.000,4,0.000,0.041,2701,2485,3265,0,0,0,0,0,0
$GC,5607,-0.85,-107.0,570.5,-9.6,310,5610,0.00,1.17,0.00,0.000,6,0.000,0.043,2701,1737,3265,0,0,0,0,0,0
$GC,5947,-0.85,-107.0,604.0,-9.9,321,5951,0.00,0.50,0.00,0.000,4,0.000,0.054,2701,1405,3265,0,0,0,0,0,0
$GC,6204,-0.82,-107.0,630.1,-10.2,328,6209,0.03,0.52,0.00,0.000,6,0.181,0.041,2710,1764,3264,0,0,0,0,0,0
$GC,6522,-0.82,-107.0,662.1,-10.2,339,6526,0.00,1.62,0.00,0.000,4,0.000,0.053,2710,780,3263,0,0,0,0,0,0
$GC,6680,-0.82,-107.0,678.5,-11.1,343,6683,0.00,1.50,0.00,0.000,6,0.000,0.035,2705,1735,3263,0,0,0,0,0,0
$GC,6998,-0.82,-107.0,711.2,-10.3,354,7002,0.00,2.25,0.00,0.000,4,0.000,0.046,2695,3149,3262,0,0,0,0,0,0
$GC,7060,-0.78,-107.0,717.7,-9.9,356,7065,0.12,2.20,0.00,0.000,6,0.142,0.039,2729,1742,3262,0,0,0,0,0,0
$GC,7401,-0.85,-107.0,751.5,-9.9,367,7405,0.08,1.10,0.00,0.000,4,0.132,0.043,2692,2443,3262,0,0,0,0,0,0
$GC,7444,-0.85,-107.0,756.1,-10.1,368,7448,0.00,1.10,0.00,0.000,6,0.000,0.044,2692,1743,3261,0,0,0,0,0,0
$GC,7774,-0.81,-107.0,789.7,-10.3,379,7779,0.10,1.38,0.00,0.000,4,0.171,0.043,2713,2597,3260,0,0,0,0,0,0
$GC,7812,-0.85,-107.0,793.9,-9.5,380,7816,0.00,1.35,0.00,0.000,6,0.000,0.043,2713,1747,3260,0,0,0,0,0,0
$GC,8148,-0.85,-107.0,826.5,-9.7,391,8151,0.00,1.30,0.00,0.000,4,0.000,0.043,2709,2571,3260,0,0,0,0,0,0
$GC,8192,-0.87,-107.0,831.0,-10.1,392,8196,0.00,1.30,0.00,0.000,6,0.000,0.042,2709,1747,3260,0,0,0,0,0,0
$GC,8522,-0.90,-107.0,861.8,-9.2,403,8526,0.05,0.43,0.00,0.000,4,0.174,0.047,2680,2034,3259,0,0,0,0,0,0
$GC,8537,-0.90,-107.0,863.4,-9.6,403,8541,0.00,0.47,0.00,0.000,6,0.000,0.050,2680,1730,3259,0,0,0,0,0,0
$GC,8862,-0.85,-107.0,893.9,-9.2,414,8866,0.10,1.60,0.00,0.000,4,0.169,0.043,2700,2737,3258,0,0,0,0,0,0
$GC,8905,-0.89,-107.0,898.0,-8.8,415,8909,0.00,1.58,0.00,0.000,6,0.000,0.043,2700,1753,3258,0,0,0,0,0,0
$GC,9237,-0.89,-107.0,927.0,-8.9,426,9240,0.00,0.80,0.00,0.000,4,0.000,0.043,2698,2277,3258,0,0,0,0,0,0
$GC,9275,-0.89,-107.0,931.0,-9.4,427,9279,0.00,0.85,0.00,0.000,6,0.000,0.045,2698,1740,3257,0,0,0,0,0,0
$GC,9611,-0.89,-107.0,963.3,-10.0,438,9615,0.00,2.25,0.00,0.000,4,0.000,0.047,2688,3145,3257,0,0,0,0,0,0
$GC,9682,-0.89,-107.0,971.1,-11.6,440,9687,0.00,2.25,0.00,0.000,6,0.000,0.041,2688,1746,3257,0,0,0,0,0,0
$STATE,9765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9765,begin apogee
$GC,9771,-0.26,0.0,980.0,10.9,443,9867,0.68,0.00,93.57,1.456,6,0.122,0.000,2891,1647,2827,0,0,0,0,0,0
$STATE,9868,end apogee,CONTROL_FINISHED_OK
$STATE,9868,begin loiter
$GC,10163,-0.25,267.0,1018.0,-9.5,456,10415,0.00,2.62,240.25,1.453,4,0.000,0.044,2891,3074,1736,0,0,0,0,0,0
$GC,10541,-0.34,267.0,1023.4,6.0,468,10546,0.08,2.22,0.00,0.000,6,0.133,0.043,2865,1684,1730,0,0,0,0,0,0
$GC,10877,-0.39,267.0,1007.7,4.9,479,10881,0.00,2.33,0.00,0.000,4,0.000,0.060,2865,264,1727,0,0,0,0,0,0
$GC,10940,-0.33,267.0,1004.2,6.2,481,10944,0.00,2.17,0.00,0.000,6,0.000,0.035,2863,1675,1725,0,0,0,0,0,0
$GC,11281,-0.35,267.0,985.8,5.6,492,11285,0.00,2.17,0.00,0.000,4,0.000,0.045,2859,3073,1725,0,0,0,0,0,0
$GC,11387,-0.32,267.0,979.5,6.3,495,11391,0.05,2.22,0.00,0.000,6,0.209,0.044,2870,1671,1723,0,0,0,0,0,0
$GC,11711,-0.37,267.0,960.6,5.9,506,11714,0.00,2.28,0.00,0.000,4,0.000,0.060,2870,287,1723,0,0,0,0,0,0
$GC,11800,-0.30,267.0,954.9,5.1,508,11804,0.05,2.12,0.00,0.000,6,0.216,0.034,2877,1671,1721,0,0,0,0,0,0
$GC,12120,-0.34,267.0,936.4,5.8,519,12124,0.00,2.22,0.00,0.000,4,0.000,0.045,2869,3080,1721,0,0,0,0,0,0
$GC,12203,-0.34,267.0,931.2,5.7,521,12207,0.00,2.28,0.00,0.000,6,0.000,0.043,2869,1637,1721,0,0,0,0,0,0
$GC,12522,-0.37,267.0,913.6,5.4,532,12526,0.00,2.25,0.00,0.000,4,0.000,0.062,2869,263,1720,0,0,0,0,0,0
$GC,12599,-0.28,267.0,909.2,5.5,534,12604,0.10,2.17,0.00,0.000,6,0.188,0.035,2883,1677,1720,0,0,0,0,0,0
$GC,12923,-0.34,267.0,892.3,5.2,545,12927,0.00,2.38,0.00,0.000,4,0.000,0.062,2883,255,1720,0,0,0,0,0,0
$GC,13012,-0.30,267.0,887.8,5.9,547,13017,0.00,2.20,0.00,0.000,6,0.000,0.034,2877,1674,1720,0,0,0,0,0,0
$GC,13325,-0.34,267.0,872.8,4.8,558,13329,0.00,2.20,0.00,0.000,4,0.000,0.045,2867,3075,1720,0,0,0,0,0,0
$GC,13583,-0.37,267.0,860.0,4.2,565,13589,0.00,2.25,0.00,0.000,6,0.000,0.044,2867,1667,1720,0,0,0,0,0,0
$GC,13896,-0.37,267.0,846.0,4.4,576,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1667,1720,0,0,0,0,0,0
$STATE,14078,end loiter,LOITER_COMPLETE
$STATE,14078,begin climb
$GC,14080,0.67,107.0,837.7,0.0,582,14084,1.02,1.17,0.00,0.000,4,0.116,0.037,3183,2417,1720,0,0,0,0,0,0
$GC,14211,0.48,107.0,830.7,6.1,586,14215,0.17,1.20,0.00,0.000,6,0.164,0.049,3140,1671,1719,0,0,0,0,0,0
$GC,14552,0.40,118.3,813.3,5.2,597,14554,0.10,0.00,0.00,0.000,6,0.201,0.000,3114,1670,1719,0,0,0,0,0,0
$GC,14858,0.38,142.9,798.3,4.8,607,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1670,1720,0,0,0,0,0,0
$GC,15164,0.35,163.7,783.5,4.9,617,15168,0.08,0.93,0.00,0.000,4,0.197,0.059,3099,1094,1720,0,0,0,0,0,0
$GC,15314,0.35,205.5,776.7,4.1,621,15318,0.00,0.88,0.00,0.000,6,0.000,0.040,3099,1666,1720,0,0,0,0,0,0
$GC,15639,0.35,229.8,761.5,4.8,632,15642,0.00,0.68,0.00,0.000,4,0.000,0.060,3099,1256,1719,0,0,0,0,0,0
$GC,15897,0.38,263.9,749.8,4.4,639,15900,0.00,0.62,0.00,0.000,6,0.000,0.042,3099,1671,1720,0,0,0,0,0,0
$GC,16215,0.38,292.4,735.7,4.6,650,16241,0.00,1.42,21.98,1.261,4,0.000,0.060,3099,857,1633,0,0,0,0,0,0
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$STATE,27209,end climb,SURFACE_DEPTH_REACHED
$STATE,27209,begin surface coast
$FINISH,1.8,1.009055
$STATE,27258,end surface coast,CONTROL_FINISHED_OK
$STATE,27258,begin surface
$SM_CCo,27335,0.00,0.000,0,0,1272,381.44
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$IRIDIUM_FIX,-4040.73,-433.75,160113,010150
$TT8_MAMPS,0.026964
$HUMID,49.44
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,21.8,118.154
$10V_AH,9.8,69.770
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.600,158.450,444.150,0.000,0.000,26.818,39.167,777.734,0.000,0.000,41.566,3219.347,19523.031,509.111,4739.543,446.876,0.000,2319.985,0.000,3798.700,0.000,1.015,0.000
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$MEM,354496
$DATA_FILE_SIZE,70182,1179
$CAP_FILE_SIZE,253905,0
$CFSIZE,2097086464,2026274816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,170113,083223,-4055.049,-436.505,42,2.0,43,-22.6