version: 66.07.10.p01
glider: 574
mission: 4
dive: 511
start: 1 21 113 21 16 59
data:
$ID,574
$MISSION,4
$DIVE,511
$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,-7428.8354
$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,1580
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$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,490
$GPS1,210113,205628,-4059.158,-428.025,124,1.4,124,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-74.3
$GPS2,210113,211636,-4059.114,-427.872,65,1.0,65,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4108.466,-420.702
$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,24,begin dive
$GC,27,-0.67,-107.0,0.0,0.0,0,35,0.00,0.00,-6.38,0.000,2,0.000,0.000,69,1585,1475,0,0,0,0,0,0
$GC,38,-0.67,-107.0,3.0,-0.0,1,123,12.27,2.30,-65.65,0.000,4,0.259,0.060,2745,2983,3264,0,0,0,0,0,0
$GC,258,-0.70,-107.0,24.0,-12.4,37,265,0.00,2.30,0.00,0.000,6,0.000,0.049,2745,1580,3265,0,0,0,0,0,0
$GC,336,-0.70,-107.0,32.7,-10.4,50,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1580,3265,0,0,0,0,0,0
$GC,569,-0.72,-107.0,52.9,-8.1,91,573,0.00,2.28,0.00,0.000,4,0.000,0.047,2740,2993,3265,0,0,0,0,0,0
$GC,827,-0.82,-107.0,75.0,-8.2,122,832,0.08,2.28,0.00,0.000,6,0.120,0.047,2703,1582,3266,0,0,0,0,0,0
$GC,1156,-0.78,-107.0,109.4,-11.4,150,1161,0.10,2.25,0.00,0.000,4,0.163,0.046,2722,2987,3266,0,0,0,0,0,0
$GC,1403,-0.82,-107.0,138.3,-11.5,164,1410,0.00,2.28,0.00,0.000,6,0.000,0.045,2722,1583,3266,0,0,0,0,0,0
$GC,1727,-0.82,-107.0,173.4,-10.4,182,1730,0.00,1.48,0.00,0.000,4,0.000,0.040,2716,2521,3266,0,0,0,0,0,0
$GC,1912,-0.82,-107.0,192.3,-9.7,190,1916,0.00,1.52,0.00,0.000,6,0.000,0.044,2716,1568,3266,0,0,0,0,0,0
$GC,2227,-0.82,-107.0,222.9,-9.8,202,2231,0.00,2.28,0.00,0.000,4,0.000,0.045,2708,2992,3266,0,0,0,0,0,0
$GC,2461,-0.82,-107.0,247.3,-10.7,209,2466,0.00,2.28,0.00,0.000,6,0.000,0.043,2708,1581,3266,0,0,0,0,0,0
$GC,2798,-0.82,-107.0,283.6,-11.3,220,2801,0.00,0.77,0.00,0.000,4,0.000,0.056,2707,1090,3266,0,0,0,0,0,0
$GC,3054,-0.85,-107.0,313.8,-11.5,227,3058,0.00,0.75,0.00,0.000,6,0.000,0.036,2704,1595,3266,0,0,0,0,0,0
$GC,3373,-0.85,-107.0,350.3,-11.5,238,3377,0.00,2.15,0.00,0.000,4,0.000,0.046,2698,2970,3266,0,0,0,0,0,0
$GC,3441,-0.85,-107.0,357.8,-11.1,240,3445,0.00,2.20,0.00,0.000,6,0.000,0.040,2698,1576,3266,0,0,0,0,0,0
$GC,3776,-0.82,-107.0,393.9,-10.6,251,3781,0.05,2.30,0.00,0.000,4,0.229,0.057,2711,176,3266,0,0,0,0,0,0
$GC,4033,-0.87,-107.0,421.1,-10.4,258,4039,0.00,2.17,0.00,0.000,6,0.000,0.031,2711,1583,3266,0,0,0,0,0,0
$GC,4346,-0.87,-107.0,451.9,-10.1,269,4350,0.00,2.20,0.00,0.000,4,0.000,0.043,2703,2979,3266,0,0,0,0,0,0
$GC,4477,-0.90,-107.0,464.8,-9.4,273,4481,0.00,2.20,0.00,0.000,6,0.000,0.038,2703,1567,3266,0,0,0,0,0,0
$GC,4812,-0.90,-107.0,498.6,-10.3,284,4816,0.00,2.25,0.00,0.000,4,0.000,0.055,2703,178,3265,0,0,0,0,0,0
$GC,5069,-0.94,-107.0,525.5,-11.0,291,5075,0.08,2.15,0.00,0.000,6,0.126,0.031,2670,1583,3265,0,0,0,0,0,0
$GC,5383,-0.87,-107.0,559.3,-10.9,302,5387,0.10,2.22,0.00,0.000,4,0.178,0.042,2686,2984,3265,0,0,0,0,0,0
$GC,5454,-0.87,-107.0,567.1,-9.6,304,5459,0.00,2.22,0.00,0.000,6,0.000,0.039,2686,1585,3264,0,0,0,0,0,0
$GC,5785,-0.82,-107.0,601.1,-10.3,315,5789,0.10,1.02,0.00,0.000,4,0.169,0.053,2715,952,3264,0,0,0,0,0,0
$GC,6024,-0.82,-107.0,623.5,-8.3,322,6029,0.00,0.98,0.00,0.000,6,0.000,0.033,2715,1588,3263,0,0,0,0,0,0
$GC,6361,-0.87,-107.0,650.9,-7.9,333,6364,0.00,1.25,0.00,0.000,4,0.000,0.050,2715,827,3263,0,0,0,0,0,0
$GC,6618,-0.94,-107.0,670.6,-7.8,340,6622,0.08,1.15,0.00,0.000,6,0.071,0.034,2674,1577,3262,0,0,0,0,0,0
$GC,6937,-0.90,-107.0,694.5,-7.4,351,6941,0.05,1.08,0.00,0.000,4,0.210,0.040,2681,2276,3262,0,0,0,0,0,0
$GC,6975,-0.87,-107.0,697.3,-7.6,352,6979,0.00,1.10,0.00,0.000,6,0.000,0.044,2681,1575,3261,0,0,0,0,0,0
$GC,7310,-0.87,-107.0,722.3,-7.7,363,7315,0.08,2.25,0.00,0.000,4,0.181,0.044,2691,2967,3261,0,0,0,0,0,0
$GC,7393,-0.87,-107.0,728.9,-8.4,365,7397,0.00,2.22,0.00,0.000,6,0.000,0.038,2692,1549,3261,0,0,0,0,0,0
$GC,7712,-0.87,-107.0,754.2,-8.3,376,7716,0.00,2.28,0.00,0.000,4,0.000,0.043,2683,2967,3261,0,0,0,0,0,0
$GC,7794,-0.87,-107.0,761.5,-9.1,378,7799,0.08,2.20,0.00,0.000,6,0.166,0.039,2701,1566,3260,0,0,0,0,0,0
$GC,8113,-0.91,-107.0,790.0,-9.4,389,8117,0.00,2.25,0.00,0.000,4,0.000,0.045,2699,2966,3260,0,0,0,0,0,0
$GC,8203,-0.94,-107.0,798.9,-9.7,391,8209,0.05,2.20,0.00,0.000,6,0.164,0.039,2674,1577,3260,0,0,0,0,0,0
$GC,8516,-0.88,-107.0,831.2,-10.6,402,8521,0.08,2.35,0.00,0.000,4,0.190,0.055,2692,171,3259,0,0,0,0,0,0
$GC,8773,-0.91,-107.0,858.4,-12.1,409,8779,0.00,2.20,0.00,0.000,6,0.000,0.034,2687,1575,3259,0,0,0,0,0,0
$GC,9086,-0.91,-107.0,890.8,-10.3,420,9090,0.00,2.25,0.00,0.000,4,0.000,0.045,2679,2987,3258,0,0,0,0,0,0
$GC,9186,-0.91,-107.0,901.6,-10.7,423,9190,0.00,2.25,0.00,0.000,6,0.000,0.041,2678,1575,3258,0,0,0,0,0,0
$GC,9522,-0.88,-107.0,934.4,-9.5,434,9527,0.08,2.33,0.00,0.000,4,0.194,0.056,2698,176,3258,0,0,0,0,0,0
$GC,9779,-0.94,-107.0,956.9,-8.2,441,9785,0.08,2.20,0.00,0.000,6,0.138,0.034,2674,1579,3258,0,0,0,0,0,0
$STATE,10059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10060,begin apogee
$GC,10065,-0.26,0.0,980.5,8.6,451,10162,0.73,0.00,93.70,1.468,6,0.125,0.000,2889,1482,2827,0,0,0,0,0,0
$STATE,10163,end apogee,CONTROL_FINISHED_OK
$STATE,10163,begin loiter
$GC,10460,-0.25,201.8,1008.7,-7.2,464,10646,0.00,2.35,179.20,1.469,4,0.000,0.058,2889,181,2004,0,0,0,0,0,0
$GC,10653,-0.34,213.0,1017.3,-0.4,470,10672,0.05,2.22,12.00,1.224,6,0.165,0.034,2876,1506,1958,0,0,0,0,0,0
$GC,11008,-0.40,213.0,1006.9,3.0,482,11013,0.08,2.20,0.00,0.000,4,0.140,0.043,2840,2896,1949,0,0,0,0,0,0
$GC,11131,-0.40,213.0,1003.4,2.4,485,11137,0.00,2.22,0.00,0.000,6,0.000,0.043,2840,1505,1948,0,0,0,0,0,0
$GC,11444,-0.37,213.0,996.3,2.2,496,11449,0.08,2.20,0.00,0.000,4,0.194,0.058,2856,163,1948,0,0,0,0,0,0
$GC,11522,-0.32,213.0,994.8,1.9,498,11526,0.10,2.08,0.00,0.000,6,0.174,0.033,2873,1497,1947,0,0,0,0,0,0
$GC,11846,-0.37,213.0,989.5,1.6,509,11850,0.00,2.22,0.00,0.000,4,0.000,0.044,2867,2907,1948,0,0,0,0,0,0
$GC,12036,-0.43,213.0,986.9,1.4,514,12042,0.08,2.22,0.00,0.000,6,0.134,0.044,2839,1500,1948,0,0,0,0,0,0
$GC,12349,-0.40,213.0,982.9,1.6,525,12353,0.00,2.22,0.00,0.000,4,0.000,0.043,2831,2905,1947,0,0,0,0,0,0
$GC,12568,-0.38,213.0,979.2,1.5,531,12572,0.10,2.25,0.00,0.000,6,0.168,0.043,2855,1490,1947,0,0,0,0,0,0
$GC,12880,-0.38,213.0,972.8,2.2,541,12884,0.00,2.17,0.00,0.000,4,0.000,0.060,2855,173,1947,0,0,0,0,0,0
$GC,13027,-0.31,213.0,969.0,2.4,545,13032,0.10,2.05,0.00,0.000,6,0.177,0.034,2873,1497,1947,0,0,0,0,0,0
$GC,13345,-0.35,213.0,959.1,3.3,556,13349,0.00,2.22,0.00,0.000,4,0.000,0.044,2867,2914,1947,0,0,0,0,0,0
$GC,13481,-0.40,213.0,954.1,4.2,560,13485,0.00,2.25,0.00,0.000,6,0.000,0.044,2867,1502,1947,0,0,0,0,0,0
$GC,13810,-0.43,213.0,941.0,4.1,571,13815,0.08,2.22,0.00,0.000,4,0.136,0.042,2823,2906,1947,0,0,0,0,0,0
$GC,13839,-0.39,213.0,939.9,4.2,572,13843,0.12,2.25,0.00,0.000,6,0.163,0.043,2854,1493,1947,0,0,0,0,0,0
$GC,14175,-0.39,213.0,928.3,3.2,583,14178,0.00,1.80,0.00,0.000,4,0.000,0.041,2849,2633,1947,0,0,0,0,0,0
$STATE,14351,end loiter,LOITER_COMPLETE
$STATE,14351,begin climb
$GC,14354,0.67,107.0,923.3,0.0,588,14359,1.08,1.85,0.00,0.000,6,0.112,0.044,3190,1496,1947,0,0,0,0,0,0
$GC,14678,0.38,201.0,915.0,2.3,599,14683,0.30,2.25,0.00,0.000,4,0.188,0.060,3121,164,1948,0,0,0,0,0,0
$GC,14936,0.23,330.3,911.0,1.0,606,15053,0.25,2.10,108.90,1.427,6,0.171,0.035,3058,1518,1480,0,0,0,0,0,0
$GC,15374,0.39,330.3,889.1,5.7,621,15379,0.15,2.22,0.00,0.000,4,0.096,0.062,3120,172,1472,0,0,0,0,0,0
$GC,15631,0.45,330.3,872.6,6.6,628,15637,0.00,2.08,0.00,0.000,6,0.000,0.035,3119,1497,1469,0,0,0,0,0,0
$GC,15944,0.45,330.3,850.7,7.2,639,15948,0.00,0.73,0.00,0.000,4,0.000,0.060,3120,1058,1468,0,0,0,0,0,0
$GC,16202,0.49,330.3,831.4,7.9,646,16206,0.00,0.68,0.00,0.000,6,0.000,0.039,3120,1506,1468,0,0,0,0,0,0
$GC,16521,0.52,330.3,806.4,8.1,657,16525,0.08,2.25,0.00,0.000,4,0.131,0.064,3156,173,1468,0,0,0,0,0,0
$GC,16739,0.48,330.3,788.5,7.8,663,16743,0.08,2.05,0.00,0.000,6,0.187,0.035,3141,1496,1468,0,0,0,0,0,0
$GC,17058,0.45,330.3,764.0,7.6,674,17060,0.05,0.00,0.00,0.000,6,0.230,0.000,3130,1509,1468,0,0,0,0,0,0
$GC,17363,0.45,330.3,743.3,6.8,684,17367,0.00,0.68,0.00,0.000,4,0.000,0.061,3131,1088,1468,0,0,0,0,0,0
$GC,17621,0.45,342.6,727.4,5.2,691,17636,0.00,0.62,11.57,1.171,6,0.000,0.040,3132,1516,1429,0,0,0,0,0,0
$GC,17971,0.45,342.6,705.4,6.4,703,17975,0.00,1.05,0.00,0.000,4,0.000,0.060,3131,880,1429,0,0,0,0,0,0
$GC,18223,0.45,343.4,689.4,5.6,710,18227,0.00,0.95,0.00,0.000,6,0.000,0.038,3131,1493,1429,0,0,0,0,0,0
$GC,18549,0.45,343.4,669.2,6.3,721,18552,0.00,1.27,0.00,0.000,4,0.000,0.060,3131,733,1429,0,0,0,0,0,0
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$STATE,27767,end climb,SURFACE_DEPTH_REACHED
$STATE,27767,begin surface coast
$FINISH,1.7,1.012213
$STATE,27816,end surface coast,CONTROL_FINISHED_OK
$STATE,27816,begin surface
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$HUMID,49.76
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$TCM_TEMP,13.20
$XPDR_PINGS,0
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$10V_AH,9.8,71.761
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354496
$DATA_FILE_SIZE,70263,1202
$CAP_FILE_SIZE,266953,0
$CFSIZE,2097086464,2023784448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,220113,050305,-4059.547,-427.447,35,1.0,35,-22.6