version: 66.07.10.p01
glider: 574
mission: 4
dive: 436
start: 12 30 112 23 35 45
data:
$ID,574
$MISSION,4
$DIVE,436
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,360
$T_MISSION,385
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,250
$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,-7233.0293
$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,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,49
$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,415
$GPS1,301212,233405,-4125.022,-511.421,70,0.9,70,-22.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-74.3
$GPS2,301212,233525,-4125.024,-511.436,17,1.1,17,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-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,117.7,99514,-17.1,-9.259
$D_GRID,1000
$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,-0.86,-145.9,0.0,0.0,0,58,0.00,0.00,-30.98,0.000,2,0.000,0.000,72,1809,1670,0,0,0,0,0,0
$GC,61,-0.86,-145.9,3.0,-0.8,5,158,12.05,2.25,-78.80,0.000,4,0.254,0.066,2709,3196,3422,0,0,0,0,0,0
$GC,225,-0.86,-145.9,13.5,-14.6,32,233,0.03,2.25,0.00,0.000,6,0.163,0.046,2720,1800,3422,0,0,0,0,0,0
$GC,306,-0.90,-145.9,22.3,-11.2,45,313,0.00,1.02,0.00,0.000,4,0.000,0.057,2720,1157,3422,0,0,0,0,0,0
$GC,351,-0.90,-145.9,27.6,-11.7,52,359,0.00,0.98,0.00,0.000,6,0.000,0.037,2717,1788,3422,0,0,0,0,0,0
$GC,430,-0.93,-145.9,36.7,-11.8,65,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1788,3422,0,0,0,0,0,0
$GC,665,-0.93,-145.9,64.4,-11.6,106,670,0.00,1.45,0.00,0.000,4,0.000,0.054,2717,907,3423,0,0,0,0,0,0
$GC,709,-0.93,-145.9,69.6,-11.6,114,717,0.00,1.38,0.00,0.000,6,0.000,0.034,2711,1798,3423,0,0,0,0,0,0
$GC,1065,-0.96,-145.9,105.1,-9.8,171,1068,0.00,1.73,0.00,0.000,4,0.000,0.056,2711,733,3424,0,0,0,0,0,0
$GC,1137,-0.96,-145.9,112.9,-10.3,175,1141,0.00,1.65,0.00,0.000,6,0.000,0.034,2704,1795,3424,0,0,0,0,0,0
$GC,1463,-0.99,-145.9,144.9,-9.9,196,1466,0.00,0.70,0.00,0.000,4,0.000,0.050,2704,1355,3425,0,0,0,0,0,0
$GC,1518,-0.99,-145.9,150.7,-10.3,199,1522,0.00,0.70,0.00,0.000,6,0.000,0.037,2701,1813,3425,0,0,0,0,0,0
$GC,1843,-0.99,-145.9,185.6,-11.3,220,1847,0.00,0.73,0.00,0.000,4,0.000,0.051,2701,1354,3426,0,0,0,0,0,0
$GC,1916,-0.99,-145.9,194.2,-11.8,224,1920,0.00,0.70,0.00,0.000,6,0.000,0.037,2699,1808,3426,0,0,0,0,0,0
$GC,2243,-0.99,-145.9,231.7,-11.6,245,2246,0.00,1.90,0.00,0.000,4,0.000,0.056,2698,647,3426,0,0,0,0,0,0
$GC,2303,-0.99,-145.9,239.6,-11.7,248,2312,0.00,1.77,0.00,0.000,6,0.000,0.033,2690,1788,3426,0,0,0,0,0,0
$GC,2631,-0.99,-145.9,276.2,-11.1,266,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1788,3426,0,0,0,0,0,0
$GC,2943,-0.99,-145.9,309.6,-10.6,281,2946,0.00,0.85,0.00,0.000,4,0.000,0.050,2690,1250,3426,0,0,0,0,0,0
$GC,3026,-0.99,-145.9,319.1,-10.7,284,3034,0.00,0.88,0.00,0.000,6,0.000,0.036,2688,1810,3427,0,0,0,0,0,0
$GC,3342,-0.99,-145.9,353.4,-11.1,300,3345,0.00,0.77,0.00,0.000,4,0.000,0.050,2687,1317,3426,0,0,0,0,0,0
$GC,3419,-0.99,-145.9,362.3,-10.7,303,3424,0.00,0.75,0.00,0.000,6,0.000,0.036,2685,1807,3426,0,0,0,0,0,0
$GC,3743,-0.99,-145.9,397.9,-11.0,319,3747,0.00,0.65,0.00,0.000,4,0.000,0.050,2685,1392,3426,0,0,0,0,0,0
$GC,3821,-0.99,-145.9,407.1,-11.3,322,3825,0.00,0.62,0.00,0.000,6,0.000,0.037,2682,1804,3427,0,0,0,0,0,0
$GC,4151,-0.99,-145.9,443.2,-11.1,333,4155,0.00,2.08,0.00,0.000,4,0.000,0.055,2682,515,3427,0,0,0,0,0,0
$GC,4212,-0.95,-145.9,450.6,-12.0,334,4218,0.05,1.98,0.00,0.000,6,0.125,0.031,2700,1790,3426,0,0,0,0,0,0
$GC,4525,-0.99,-145.9,483.4,-10.7,345,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1789,3426,0,0,0,0,0,0
$GC,4831,-1.01,-145.9,515.8,-10.6,355,4835,0.08,0.68,0.00,0.000,4,0.131,0.051,2669,1367,3426,0,0,0,0,0,0
$GC,4903,-0.97,-145.9,524.1,-11.1,357,4907,0.05,0.68,0.00,0.000,6,0.151,0.037,2683,1815,3426,0,0,0,0,0,0
$GC,5237,-0.97,-145.9,560.0,-10.7,368,5241,0.00,2.33,0.00,0.000,4,0.000,0.054,2683,384,3426,0,0,0,0,0,0
$GC,5310,-0.92,-145.9,568.5,-11.2,370,5314,0.12,2.15,0.00,0.000,6,0.162,0.031,2707,1794,3425,0,0,0,0,0,0
$GC,5633,-0.98,-145.9,602.6,-11.0,381,5637,0.05,0.45,0.00,0.000,4,0.170,0.052,2684,1506,3425,0,0,0,0,0,0
$GC,5890,-0.98,-145.9,631.8,-11.6,388,5895,0.00,0.47,0.00,0.000,6,0.000,0.041,2682,1823,3424,0,0,0,0,0,0
$GC,6209,-0.98,-145.9,667.4,-11.3,399,6213,0.00,2.15,0.00,0.000,4,0.000,0.046,2672,3194,3424,0,0,0,0,0,0
$GC,6286,-0.96,-145.9,676.5,-11.8,401,6291,0.10,2.17,0.00,0.000,6,0.170,0.037,2696,1790,3423,0,0,0,0,0,0
$GC,6604,-1.00,-145.9,711.3,-10.8,412,6608,0.00,2.25,0.00,0.000,4,0.000,0.055,2697,390,3423,0,0,0,0,0,0
$GC,6693,-1.00,-145.9,721.6,-11.3,414,6699,0.00,2.17,0.00,0.000,6,0.000,0.032,2688,1791,3423,0,0,0,0,0,0
$GC,7007,-1.02,-145.9,754.2,-10.2,425,7010,0.00,0.60,0.00,0.000,4,0.000,0.049,2687,1406,3422,0,0,0,0,0,0
$GC,7151,-1.02,-145.9,769.7,-11.0,429,7156,0.00,0.62,0.00,0.000,6,0.000,0.038,2687,1813,3422,0,0,0,0,0,0
$GC,7482,-1.05,-145.9,803.1,-10.0,440,7487,0.05,2.33,0.00,0.000,4,0.172,0.054,2662,392,3421,0,0,0,0,0,0
$GC,7548,-0.98,-145.9,810.8,-11.5,442,7553,0.15,2.15,0.00,0.000,6,0.161,0.031,2692,1795,3421,0,0,0,0,0,0
$GC,7877,-1.02,-145.9,842.7,-9.6,453,7881,0.00,0.85,0.00,0.000,4,0.000,0.048,2692,1260,3421,0,0,0,0,0,0
$GC,7933,-1.06,-145.9,848.4,-10.4,454,7937,0.05,0.82,0.00,0.000,6,0.080,0.036,2658,1809,3421,0,0,0,0,0,0
$GC,8251,-1.02,-145.9,882.2,-10.9,465,8256,0.08,2.30,0.00,0.000,4,0.196,0.055,2676,392,3420,0,0,0,0,0,0
$GC,8313,-0.99,-145.9,889.3,-10.9,467,8318,0.08,2.15,0.00,0.000,6,0.196,0.032,2685,1793,3420,0,0,0,0,0,0
$GC,8648,-1.02,-145.9,925.5,-11.2,478,8652,0.00,0.50,0.00,0.000,4,0.000,0.045,2683,2156,3420,0,0,0,0,0,0
$GC,8692,-1.05,-145.9,930.6,-10.8,479,8696,0.00,0.52,0.00,0.000,6,0.000,0.047,2683,1801,3419,0,0,0,0,0,0
$GC,9022,-1.09,-145.9,968.7,-11.8,490,9027,0.08,2.25,0.00,0.000,4,0.135,0.054,2653,399,3419,0,0,0,0,0,0
$GC,9094,-0.99,-145.9,978.5,-13.5,492,9099,0.15,2.15,0.00,0.000,6,0.175,0.033,2681,1798,3419,0,0,0,0,0,0
$STATE,9294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9294,begin apogee
$GC,9300,-0.25,0.0,1002.1,11.8,499,9433,0.80,0.00,129.85,1.496,6,0.126,0.000,2925,1602,2827,0,0,0,0,0,0
$STATE,9434,end apogee,CONTROL_FINISHED_OK
$STATE,9434,begin climb
$GC,9436,0.86,145.9,1013.1,0.0,503,9579,1.10,0.62,137.02,1.461,4,0.067,0.058,3286,1256,2232,0,0,0,0,0,0
$GC,9708,0.51,295.7,1022.8,2.9,512,9851,0.45,0.55,137.18,1.432,6,0.210,0.041,3178,1628,1621,0,0,0,0,0,0
$GC,10188,0.51,322.8,988.1,8.1,528,10218,0.00,0.85,24.50,1.357,4,0.000,0.041,3178,2167,1511,0,0,0,0,0,0
$GC,10331,0.57,331.8,975.2,8.9,532,10345,0.00,0.88,9.60,1.226,6,0.000,0.049,3180,1618,1474,0,0,0,0,0,0
$GC,10659,0.65,344.0,946.4,8.7,543,10679,0.10,2.35,12.57,1.260,4,0.109,0.063,3226,213,1423,0,0,0,0,0,0
$GC,10774,0.59,344.0,935.3,9.3,546,10779,0.12,2.15,0.00,0.000,6,0.185,0.034,3197,1604,1420,0,0,0,0,0,0
$GC,11098,0.64,363.6,907.6,8.4,557,11122,0.00,2.25,19.60,1.319,4,0.000,0.044,3197,3012,1343,0,0,0,0,0,0
$GC,11220,0.71,363.6,896.7,10.1,560,11225,0.10,2.22,0.00,0.000,6,0.111,0.044,3242,1613,1341,0,0,0,0,0,0
$GC,11532,0.68,363.6,867.0,9.5,570,11537,0.08,0.55,0.00,0.000,4,0.200,0.039,3227,1983,1339,0,0,0,0,0,0
$GC,11593,0.68,363.6,861.4,9.5,571,11598,0.00,0.62,0.00,0.000,6,0.000,0.051,3229,1595,1340,0,0,0,0,0,0
$GC,11906,0.68,367.8,832.8,9.1,582,11915,0.00,0.68,4.45,0.867,4,0.000,0.038,3229,2039,1326,0,0,0,0,0,0
$GC,11982,0.68,367.8,825.8,9.5,584,11986,0.00,0.70,0.00,0.000,6,0.000,0.052,3230,1609,1326,0,0,0,0,0,0
$GC,12312,0.68,367.8,794.9,9.5,595,12316,0.00,1.48,0.00,0.000,4,0.000,0.040,3230,2557,1327,0,0,0,0,0,0
$GC,12384,0.68,367.8,787.7,9.4,597,12388,0.00,1.50,0.00,0.000,6,0.000,0.047,3237,1622,1326,0,0,0,0,0,0
$GC,12720,0.65,367.8,754.5,10.0,608,12724,0.10,1.50,0.00,0.000,4,0.207,0.040,3214,2566,1326,0,0,0,0,0,0
$GC,12780,0.67,367.8,748.5,10.0,609,12785,0.00,1.55,0.00,0.000,6,0.000,0.048,3219,1602,1326,0,0,0,0,0,0
$GC,13093,0.70,367.8,719.0,9.6,620,13097,0.00,1.25,0.00,0.000,4,0.000,0.039,3218,2407,1326,0,0,0,0,0,0
$GC,13177,0.73,367.8,710.5,10.7,622,13180,0.00,1.27,0.00,0.000,6,0.000,0.048,3224,1610,1326,0,0,0,0,0,0
$GC,13501,0.73,367.8,677.9,10.2,633,13504,0.00,0.93,0.00,0.000,4,0.000,0.041,3224,2218,1325,0,0,0,0,0,0
$GC,13578,0.73,367.8,669.6,10.8,635,13582,0.00,0.98,0.00,0.000,6,0.000,0.049,3227,1609,1326,0,0,0,0,0,0
$GC,13908,0.73,367.8,635.9,10.3,646,13912,0.00,1.25,0.00,0.000,4,0.000,0.040,3227,2407,1325,0,0,0,0,0,0
$GC,13980,0.73,367.8,628.5,10.5,648,13984,0.00,1.30,0.00,0.000,6,0.000,0.050,3227,1604,1325,0,0,0,0,0,0
$GC,14315,0.73,367.8,595.1,9.7,659,14319,0.00,2.10,0.00,0.000,4,0.000,0.042,3227,2949,1326,0,0,0,0,0,0
$GC,14378,0.73,367.8,589.2,9.6,661,14382,0.00,2.12,0.00,0.000,6,0.000,0.045,3234,1610,1325,0,0,0,0,0,0
$GC,14713,0.73,374.6,558.0,9.0,672,14722,0.00,0.00,7.57,0.985,6,0.000,0.000,3234,1610,1300,0,0,0,0,0,0
$GC,15019,0.73,382.4,530.5,8.9,682,15033,0.00,1.75,8.98,1.013,4,0.000,0.041,3235,2697,1268,0,0,0,0,0,0
$GC,15101,0.73,387.3,523.0,9.1,684,15112,0.00,1.75,6.43,0.915,6,0.000,0.046,3241,1612,1248,0,0,0,0,0,0
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$STATE,20451,begin surface coast
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$STATE,20487,end surface coast,CONTROL_FINISHED_OK
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