version: 66.07.10.p01
glider: 574
mission: 4
dive: 495
start: 1 16 113 17 2 47
data:
$ID,574
$MISSION,4
$DIVE,495
$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,-7388.5674
$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,27
$R_STBD_OVSHOOT,39
$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,474
$GPS1,160113,170053,-4054.601,-436.782,45,1.3,46,-22.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-75.3
$GPS2,160113,170224,-4054.593,-436.787,18,1.3,18,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4103.945,-429.626
$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,25,-0.67,-107.0,0.0,0.0,0,47,0.00,0.00,-19.30,0.000,2,0.000,0.000,69,1740,1754,0,0,0,0,0,0
$GC,50,-0.67,-107.0,3.1,-1.5,3,124,12.27,2.22,-55.65,0.000,4,0.256,0.060,2747,3126,3264,0,0,0,0,0,0
$GC,163,-0.61,-107.0,9.7,-10.2,21,171,0.10,2.25,0.00,0.000,6,0.119,0.047,2779,1740,3265,0,0,0,0,0,0
$GC,245,-0.69,-107.0,18.0,-10.1,34,253,0.08,1.95,0.00,0.000,4,0.124,0.062,2743,580,3266,0,0,0,0,0,0
$GC,332,-0.67,-107.0,26.9,-10.1,48,340,0.05,1.83,0.00,0.000,6,0.140,0.036,2759,1735,3266,0,0,0,0,0,0
$GC,412,-0.72,-107.0,34.7,-9.8,61,416,0.00,0.43,0.00,0.000,4,0.000,0.057,2759,1467,3266,0,0,0,0,0,0
$GC,672,-0.78,-107.0,59.8,-10.0,107,677,0.05,0.43,0.00,0.000,6,0.073,0.044,2722,1760,3266,0,0,0,0,0,0
$GC,891,-0.74,-107.0,84.4,-10.8,128,896,0.08,2.40,0.00,0.000,4,0.177,0.060,2741,330,3266,0,0,0,0,0,0
$GC,1090,-0.79,-107.0,104.7,-9.4,144,1094,0.00,2.17,0.00,0.000,6,0.000,0.034,2741,1737,3267,0,0,0,0,0,0
$GC,1423,-0.82,-107.0,136.9,-9.6,165,1428,0.08,2.25,0.00,0.000,4,0.125,0.047,2695,3150,3267,0,0,0,0,0,0
$GC,1478,-0.78,-107.0,142.9,-10.5,168,1483,0.12,2.25,0.00,0.000,6,0.141,0.042,2729,1736,3267,0,0,0,0,0,0
$GC,1810,-0.78,-107.0,173.8,-9.1,185,1814,0.00,0.65,0.00,0.000,4,0.000,0.043,2729,2174,3268,0,0,0,0,0,0
$GC,1837,-0.80,-107.0,176.5,-9.1,186,1841,0.00,0.68,0.00,0.000,6,0.000,0.047,2729,1731,3268,0,0,0,0,0,0
$GC,2164,-0.80,-107.0,208.0,-10.1,201,2168,0.00,2.12,0.00,0.000,4,0.000,0.045,2725,3069,3268,0,0,0,0,0,0
$GC,2213,-0.80,-107.0,213.5,-11.0,202,2217,0.00,2.10,0.00,0.000,6,0.000,0.041,2725,1753,3268,0,0,0,0,0,0
$GC,2531,-0.80,-107.0,249.1,-11.5,213,2535,0.00,2.22,0.00,0.000,4,0.000,0.046,2716,3151,3268,0,0,0,0,0,0
$GC,2598,-0.80,-107.0,257.1,-11.4,215,2602,0.00,2.25,0.00,0.000,6,0.000,0.039,2716,1740,3268,0,0,0,0,0,0
$GC,2933,-0.80,-107.0,294.7,-11.0,226,2937,0.00,0.57,0.00,0.000,4,0.000,0.042,2716,2130,3268,0,0,0,0,0,0
$GC,2954,-0.80,-107.0,297.2,-11.0,226,2959,0.00,0.62,0.00,0.000,6,0.000,0.046,2716,1728,3268,0,0,0,0,0,0
$GC,3275,-0.80,-107.0,327.1,-8.7,237,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1728,3268,0,0,0,0,0,0
$GC,3581,-0.80,-107.0,351.5,-7.7,247,3585,0.00,0.52,0.00,0.000,4,0.000,0.042,2715,2090,3268,0,0,0,0,0,0
$GC,3608,-0.80,-107.0,353.9,-7.7,247,3613,0.00,0.55,0.00,0.000,6,0.000,0.048,2715,1739,3268,0,0,0,0,0,0
$GC,3921,-0.80,-107.0,377.8,-7.8,258,3925,0.00,1.85,0.00,0.000,4,0.000,0.044,2710,2911,3268,0,0,0,0,0,0
$GC,3959,-0.82,-107.0,380.9,-7.8,259,3963,0.00,1.85,0.00,0.000,6,0.000,0.041,2710,1747,3268,0,0,0,0,0,0
$GC,4295,-0.82,-107.0,407.8,-8.4,270,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1747,3268,0,0,0,0,0,0
$GC,4601,-0.82,-107.0,436.7,-9.9,280,4605,0.00,0.62,0.00,0.000,4,0.000,0.041,2708,2172,3268,0,0,0,0,0,0
$GC,4622,-0.82,-107.0,439.1,-9.8,280,4627,0.00,0.68,0.00,0.000,6,0.000,0.046,2708,1737,3268,0,0,0,0,0,0
$GC,4941,-0.82,-107.0,472.4,-10.9,291,4945,0.00,1.33,0.00,0.000,4,0.000,0.054,2708,922,3268,0,0,0,0,0,0
$GC,5198,-0.84,-107.0,500.7,-11.1,298,5202,0.00,1.27,0.00,0.000,6,0.000,0.034,2704,1744,3268,0,0,0,0,0,0
$GC,5517,-0.84,-107.0,535.8,-11.1,309,5520,0.00,1.17,0.00,0.000,4,0.000,0.051,2705,1025,3268,0,0,0,0,0,0
$GC,5773,-0.84,-107.0,563.5,-10.5,316,5778,0.00,1.10,0.00,0.000,6,0.000,0.034,2701,1742,3268,0,0,0,0,0,0
$GC,6092,-0.84,-107.0,597.2,-10.7,327,6096,0.00,0.93,0.00,0.000,4,0.000,0.043,2700,2361,3268,0,0,0,0,0,0
$GC,6130,-0.84,-107.0,601.4,-10.5,328,6135,0.00,0.95,0.00,0.000,6,0.000,0.043,2699,1748,3268,0,0,0,0,0,0
$GC,6468,-0.84,-107.0,636.9,-10.8,339,6471,0.00,1.67,0.00,0.000,4,0.000,0.042,2693,2815,3268,0,0,0,0,0,0
$GC,6513,-0.84,-107.0,641.9,-10.4,340,6516,0.00,1.65,0.00,0.000,6,0.000,0.041,2692,1744,3268,0,0,0,0,0,0
$GC,6843,-0.79,-107.0,674.7,-9.6,351,6847,0.12,2.25,0.00,0.000,4,0.158,0.044,2718,3144,3267,0,0,0,0,0,0
$GC,6905,-0.86,-107.0,680.3,-8.7,353,6909,0.00,2.20,0.00,0.000,6,0.000,0.037,2719,1742,3267,0,0,0,0,0,0
$GC,7240,-0.89,-107.0,709.3,-8.6,364,7244,0.08,0.88,0.00,0.000,4,0.132,0.041,2681,2310,3267,0,0,0,0,0,0
$GC,7279,-0.83,-107.0,712.8,-8.7,365,7283,0.08,0.88,0.00,0.000,6,0.130,0.044,2707,1741,3267,0,0,0,0,0,0
$GC,7614,-0.83,-107.0,739.6,-7.7,376,7618,0.00,1.23,0.00,0.000,4,0.000,0.040,2702,2526,3267,0,0,0,0,0,0
$GC,7658,-0.83,-107.0,743.2,-7.9,377,7662,0.00,1.23,0.00,0.000,6,0.000,0.041,2702,1744,3267,0,0,0,0,0,0
$GC,7988,-0.83,-107.0,769.3,-8.2,388,7992,0.00,2.25,0.00,0.000,4,0.000,0.046,2696,3149,3267,0,0,0,0,0,0
$GC,8037,-0.83,-107.0,773.7,-9.4,389,8042,0.03,2.22,0.00,0.000,6,0.151,0.038,2708,1754,3266,0,0,0,0,0,0
$GC,8361,-0.85,-107.0,801.1,-8.8,400,8365,0.00,0.93,0.00,0.000,4,0.000,0.041,2705,2367,3266,0,0,0,0,0,0
$GC,8388,-0.88,-107.0,803.9,-8.9,400,8394,0.00,0.95,0.00,0.000,6,0.000,0.042,2705,1747,3266,0,0,0,0,0,0
$GC,8702,-0.90,-107.0,834.0,-9.9,411,8705,0.00,0.93,0.00,0.000,4,0.000,0.041,2701,2349,3267,0,0,0,0,0,0
$GC,8740,-0.94,-107.0,838.1,-10.2,412,8744,0.03,0.93,0.00,0.000,6,0.107,0.043,2678,1745,3266,0,0,0,0,0,0
$GC,9077,-0.89,-107.0,875.2,-11.1,423,9082,0.05,0.68,0.00,0.000,4,0.213,0.043,2687,2189,3266,0,0,0,0,0,0
$GC,9112,-0.86,-107.0,879.4,-11.1,424,9116,0.00,0.68,0.00,0.000,6,0.000,0.046,2687,1746,3266,0,0,0,0,0,0
$GC,9453,-0.82,-107.0,919.2,-11.8,435,9457,0.10,1.62,0.00,0.000,4,0.167,0.041,2708,2765,3266,0,0,0,0,0,0
$GC,9497,-0.88,-107.0,924.4,-11.1,436,9501,0.00,1.62,0.00,0.000,6,0.000,0.040,2708,1742,3266,0,0,0,0,0,0
$GC,9827,-0.92,-107.0,961.3,-11.3,447,9831,0.08,1.92,0.00,0.000,4,0.137,0.044,2671,2941,3266,0,0,0,0,0,0
$GC,9876,-0.90,-107.0,967.1,-11.8,448,9880,0.08,1.88,0.00,0.000,6,0.174,0.040,2688,1738,3265,0,0,0,0,0,0
$STATE,10013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10014,begin apogee
$GC,10019,-0.26,0.0,982.8,11.3,453,10117,0.68,0.00,94.95,1.462,6,0.121,0.000,2892,1659,2827,0,0,0,0,0,0
$STATE,10118,end apogee,CONTROL_FINISHED_OK
$STATE,10118,begin loiter
$GC,10412,-0.25,234.3,1018.2,-8.3,466,10632,0.00,2.58,210.00,1.467,4,0.000,0.043,2892,3068,1868,0,0,0,0,0,0
$GC,10886,-0.38,234.3,1012.6,5.8,480,10892,0.12,2.20,0.00,0.000,6,0.106,0.041,2850,1669,1861,0,0,0,0,0,0
$GC,11199,-0.38,234.3,995.4,5.6,491,11202,0.00,1.33,0.00,0.000,4,0.000,0.040,2846,2525,1859,0,0,0,0,0,0
$GC,11456,-0.40,234.3,980.6,4.7,498,11460,0.00,1.35,0.00,0.000,6,0.000,0.044,2846,1675,1859,0,0,0,0,0,0
$GC,11775,-0.40,234.3,965.1,4.7,509,11778,0.00,1.58,0.00,0.000,4,0.000,0.039,2841,2679,1859,0,0,0,0,0,0
$GC,11999,-0.37,234.3,956.0,3.4,515,12003,0.03,1.60,0.00,0.000,6,0.172,0.044,2850,1675,1858,0,0,0,0,0,0
$GC,12318,-0.37,234.3,945.7,2.9,526,12322,0.00,2.22,0.00,0.000,4,0.000,0.043,2842,3076,1858,0,0,0,0,0,0
$GC,12356,-0.37,234.3,944.6,2.7,527,12361,0.03,2.25,0.00,0.000,6,0.175,0.041,2850,1670,1858,0,0,0,0,0,0
$GC,12686,-0.37,234.3,935.7,2.6,538,12690,0.00,2.33,0.00,0.000,4,0.000,0.059,2851,254,1858,0,0,0,0,0,0
$GC,12826,-0.27,234.3,931.5,3.0,542,12831,0.17,2.17,0.00,0.000,6,0.155,0.033,2891,1675,1857,0,0,0,0,0,0
$GC,13150,-0.34,234.3,921.4,3.4,553,13155,0.08,2.35,0.00,0.000,4,0.134,0.060,2859,259,1858,0,0,0,0,0,0
$GC,13257,-0.25,234.3,917.1,4.3,556,13262,0.17,2.17,0.00,0.000,6,0.161,0.032,2895,1676,1857,0,0,0,0,0,0
$GC,13582,-0.33,234.3,903.1,4.8,567,13587,0.08,2.17,0.00,0.000,4,0.132,0.044,2856,3068,1858,0,0,0,0,0,0
$GC,13598,-0.39,234.3,902.2,5.0,567,13602,0.00,2.22,0.00,0.000,6,0.000,0.043,2856,1659,1858,0,0,0,0,0,0
$GC,13916,-0.39,234.3,885.2,5.5,578,13920,0.00,2.25,0.00,0.000,4,0.000,0.043,2848,3070,1857,0,0,0,0,0,0
$GC,13932,-0.39,234.3,884.3,5.1,578,13936,0.00,2.25,0.00,0.000,6,0.000,0.042,2848,1668,1858,0,0,0,0,0,0
$GC,14251,-0.36,234.3,867.1,5.5,589,14255,0.00,1.05,0.00,0.000,4,0.000,0.040,2844,2352,1858,0,0,0,0,0,0
$GC,14301,-0.34,234.3,864.3,5.1,590,14305,0.05,1.08,0.00,0.000,6,0.151,0.046,2860,1671,1858,0,0,0,0,0,0
$STATE,14309,end loiter,LOITER_COMPLETE
$STATE,14309,begin climb
$GC,14311,0.67,107.0,863.7,0.0,590,14316,1.02,0.00,0.00,0.000,6,0.109,0.000,3186,1671,1859,0,0,0,0,0,0
$GC,14624,0.44,107.0,845.0,6.0,601,14626,0.25,0.00,0.00,0.000,6,0.179,0.000,3123,1671,1859,0,0,0,0,0,0
$GC,14931,0.35,136.0,830.0,4.6,611,14932,0.10,0.00,0.00,0.000,6,0.183,0.000,3097,1671,1859,0,0,0,0,0,0
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$STATE,27016,end climb,SURFACE_DEPTH_REACHED
$STATE,27016,begin surface coast
$FINISH,1.8,1.013746
$STATE,27066,end surface coast,CONTROL_FINISHED_OK
$STATE,27066,begin surface
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$10V_AH,9.8,69.633
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70287,1184
$CAP_FILE_SIZE,242436,0
$CFSIZE,2097086464,2026438656
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