version: 66.07.10.p01
glider: 574
mission: 4
dive: 500
start: 1 18 113 8 6 35
data:
$ID,574
$MISSION,4
$DIVE,500
$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,-7402.6211
$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,54
$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,479
$GPS1,180113,080436,-4054.640,-435.531,40,1.0,41,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-75.2
$GPS2,180113,080612,-4054.643,-435.532,21,1.0,21,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4103.995,-428.370
$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,-107.0,0.0,0.0,0,41,0.00,0.00,-13.32,0.000,2,0.000,0.000,77,1682,1729,0,0,0,0,0,0
$GC,44,-0.67,-107.0,3.1,-2.6,2,117,12.27,2.40,-53.55,0.000,4,0.257,0.064,2757,3125,3261,0,0,0,0,0,0
$GC,186,-0.75,-107.0,13.5,-10.4,25,194,0.03,2.22,0.00,0.000,6,0.106,0.045,2734,1749,3262,0,0,0,0,0,0
$GC,268,-0.75,-107.0,23.0,-12.0,38,275,0.00,1.65,0.00,0.000,4,0.000,0.061,2734,754,3262,0,0,0,0,0,0
$GC,360,-0.73,-107.0,34.0,-11.5,54,368,0.00,1.52,0.00,0.000,6,0.000,0.037,2730,1719,3263,0,0,0,0,0,0
$GC,599,-0.71,-107.0,61.2,-11.0,95,603,0.08,0.82,0.00,0.000,4,0.187,0.057,2748,1221,3263,0,0,0,0,0,0
$GC,714,-0.75,-107.0,74.0,-11.8,105,718,0.00,0.82,0.00,0.000,6,0.000,0.041,2748,1752,3263,0,0,0,0,0,0
$GC,1042,-0.81,-107.0,108.7,-10.6,133,1047,0.10,2.40,0.00,0.000,4,0.107,0.060,2702,329,3264,0,0,0,0,0,0
$GC,1175,-0.75,-107.0,124.2,-12.0,141,1180,0.15,2.20,0.00,0.000,6,0.145,0.037,2739,1742,3264,0,0,0,0,0,0
$GC,1512,-0.79,-107.0,160.0,-10.7,161,1516,0.00,2.35,0.00,0.000,4,0.000,0.060,2739,335,3264,0,0,0,0,0,0
$GC,1667,-0.88,-107.0,176.8,-10.4,168,1672,0.12,2.22,0.00,0.000,6,0.091,0.037,2688,1758,3264,0,0,0,0,0,0
$GC,1983,-0.79,-107.0,210.4,-10.4,182,1988,0.12,2.40,0.00,0.000,4,0.161,0.059,2723,328,3265,0,0,0,0,0,0
$GC,2078,-0.79,-107.0,219.9,-9.6,185,2083,0.00,2.20,0.00,0.000,6,0.000,0.035,2715,1743,3265,0,0,0,0,0,0
$GC,2414,-0.77,-107.0,252.2,-9.9,196,2419,0.08,2.38,0.00,0.000,4,0.184,0.060,2735,331,3265,0,0,0,0,0,0
$GC,2645,-0.82,-107.0,277.2,-11.2,203,2649,0.00,2.17,0.00,0.000,6,0.000,0.034,2729,1749,3266,0,0,0,0,0,0
$GC,2981,-0.85,-107.0,315.7,-11.6,214,2985,0.08,2.38,0.00,0.000,4,0.128,0.058,2694,328,3265,0,0,0,0,0,0
$GC,2990,-0.85,-107.0,317.1,-11.9,214,2995,0.03,2.22,0.00,0.000,6,0.179,0.034,2697,1741,3266,0,0,0,0,0,0
$GC,3320,-0.80,-107.0,356.8,-11.8,225,3322,0.10,0.00,0.00,0.000,6,0.164,0.000,2726,1741,3266,0,0,0,0,0,0
$GC,3626,-0.83,-107.0,388.6,-10.0,235,3630,0.00,2.33,0.00,0.000,4,0.000,0.058,2726,328,3266,0,0,0,0,0,0
$GC,3884,-0.89,-107.0,412.2,-8.4,242,3890,0.10,2.20,0.00,0.000,6,0.104,0.034,2685,1762,3266,0,0,0,0,0,0
$GC,4197,-0.86,-107.0,441.6,-9.6,253,4202,0.08,2.20,0.00,0.000,4,0.179,0.046,2696,3151,3266,0,0,0,0,0,0
$GC,4251,-0.86,-107.0,446.9,-8.6,254,4257,0.00,2.25,0.00,0.000,6,0.000,0.039,2696,1735,3266,0,0,0,0,0,0
$GC,4565,-0.83,-107.0,476.0,-9.4,265,4569,0.03,0.95,0.00,0.000,4,0.269,0.041,2703,2346,3266,0,0,0,0,0,0
$GC,4599,-0.83,-107.0,479.4,-9.5,266,4602,0.00,0.93,0.00,0.000,6,0.000,0.044,2703,1749,3266,0,0,0,0,0,0
$GC,4939,-0.83,-107.0,514.2,-10.5,277,4943,0.00,0.70,0.00,0.000,4,0.000,0.042,2701,2214,3266,0,0,0,0,0,0
$GC,4974,-0.83,-107.0,518.0,-10.9,278,4977,0.00,0.73,0.00,0.000,6,0.000,0.047,2701,1743,3266,0,0,0,0,0,0
$GC,5315,-0.81,-107.0,555.1,-11.0,289,5319,0.08,1.38,0.00,0.000,4,0.181,0.041,2714,2608,3266,0,0,0,0,0,0
$GC,5358,-0.81,-107.0,560.1,-11.0,290,5362,0.00,1.35,0.00,0.000,6,0.000,0.041,2714,1753,3265,0,0,0,0,0,0
$GC,5688,-0.81,-107.0,595.9,-10.8,301,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1753,3266,0,0,0,0,0,0
$GC,5994,-0.81,-107.0,628.9,-10.7,311,5998,0.00,2.22,0.00,0.000,4,0.000,0.046,2706,3143,3265,0,0,0,0,0,0
$GC,6050,-0.85,-107.0,635.0,-11.2,312,6055,0.00,2.17,0.00,0.000,6,0.000,0.040,2707,1747,3265,0,0,0,0,0,0
$GC,6362,-0.85,-107.0,667.1,-10.0,323,6366,0.00,2.25,0.00,0.000,4,0.000,0.046,2698,3150,3264,0,0,0,0,0,0
$GC,6425,-0.85,-107.0,673.4,-9.7,325,6429,0.00,2.20,0.00,0.000,6,0.000,0.040,2698,1746,3264,0,0,0,0,0,0
$GC,6766,-0.82,-107.0,706.3,-9.6,336,6770,0.05,2.20,0.00,0.000,4,0.216,0.045,2701,3109,3265,0,0,0,0,0,0
$GC,6820,-0.82,-107.0,711.8,-9.3,337,6826,0.00,2.17,0.00,0.000,6,0.000,0.040,2701,1747,3264,0,0,0,0,0,0
$GC,7133,-0.82,-107.0,739.6,-8.6,348,7137,0.00,1.67,0.00,0.000,4,0.000,0.044,2698,2811,3264,0,0,0,0,0,0
$GC,7183,-0.82,-107.0,743.9,-8.3,349,7187,0.03,1.70,0.00,0.000,6,0.157,0.041,2709,1744,3264,0,0,0,0,0,0
$GC,7507,-0.82,-107.0,769.0,-7.6,360,7511,0.00,1.77,0.00,0.000,4,0.000,0.046,2702,2858,3264,0,0,0,0,0,0
$GC,7551,-0.82,-107.0,772.8,-8.9,361,7555,0.00,1.77,0.00,0.000,6,0.000,0.041,2702,1746,3264,0,0,0,0,0,0
$GC,7881,-0.82,-107.0,801.1,-9.1,372,7885,0.00,1.58,0.00,0.000,4,0.000,0.044,2699,2732,3263,0,0,0,0,0,0
$GC,7925,-0.82,-107.0,805.2,-8.7,373,7930,0.03,1.58,0.00,0.000,6,0.158,0.041,2709,1743,3263,0,0,0,0,0,0
$GC,8255,-0.82,-107.0,835.0,-9.3,384,8259,0.00,2.25,0.00,0.000,4,0.000,0.045,2701,3143,3263,0,0,0,0,0,0
$GC,8321,-0.85,-107.0,841.4,-9.5,386,8325,0.00,2.20,0.00,0.000,6,0.000,0.040,2701,1741,3263,0,0,0,0,0,0
$GC,8651,-0.85,-107.0,872.8,-9.5,397,8654,0.00,2.12,0.00,0.000,4,0.000,0.047,2697,3062,3263,0,0,0,0,0,0
$GC,8700,-0.85,-107.0,877.9,-10.3,398,8704,0.00,2.10,0.00,0.000,6,0.000,0.040,2697,1745,3262,0,0,0,0,0,0
$GC,9019,-0.85,-107.0,908.7,-9.8,409,9022,0.00,1.10,0.00,0.000,4,0.000,0.044,2692,2448,3262,0,0,0,0,0,0
$GC,9062,-0.85,-107.0,913.1,-9.4,410,9067,0.00,1.12,0.00,0.000,6,0.000,0.043,2692,1733,3262,0,0,0,0,0,0
$GC,9393,-0.85,-107.0,943.3,-9.1,421,9396,0.00,1.15,0.00,0.000,4,0.000,0.044,2688,2465,3263,0,0,0,0,0,0
$GC,9431,-0.88,-107.0,946.9,-8.3,422,9435,0.00,1.15,0.00,0.000,6,0.000,0.044,2688,1740,3262,0,0,0,0,0,0
$GC,9766,-0.88,-107.0,976.5,-8.9,433,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1740,3262,0,0,0,0,0,0
$STATE,9826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9826,begin apogee
$GC,9831,-0.26,0.0,981.7,8.7,435,9929,0.68,0.00,94.88,1.462,6,0.124,0.000,2889,1663,2827,0,0,0,0,0,0
$STATE,9930,end apogee,CONTROL_FINISHED_OK
$STATE,9930,begin loiter
$GC,10224,-0.25,190.7,1009.8,-6.8,448,10401,0.00,2.45,169.50,1.457,4,0.000,0.044,2889,3066,2048,0,0,0,0,0,0
$GC,10655,-0.36,190.7,1010.9,2.2,460,10659,0.08,2.22,0.00,0.000,6,0.134,0.044,2863,1670,2041,0,0,0,0,0,0
$GC,10973,-0.39,190.7,1005.6,1.4,471,10977,0.00,2.22,0.00,0.000,4,0.000,0.046,2854,3080,2037,0,0,0,0,0,0
$GC,11231,-0.41,212.1,1004.1,-0.8,478,11255,0.00,2.22,18.15,1.363,6,0.000,0.044,2853,1666,1961,0,0,0,0,0,0
$GC,11574,-0.41,212.1,1001.8,0.8,490,11578,0.00,2.25,0.00,0.000,4,0.000,0.045,2849,3074,1959,0,0,0,0,0,0
$GC,11792,-0.41,212.1,1000.0,0.7,496,11797,0.00,2.25,0.00,0.000,6,0.000,0.044,2850,1674,1958,0,0,0,0,0,0
$GC,12111,-0.41,212.1,995.2,1.8,507,12115,0.00,2.25,0.00,0.000,4,0.000,0.046,2845,3080,1958,0,0,0,0,0,0
$GC,12120,-0.41,212.1,995.0,2.0,507,12125,0.00,2.28,0.00,0.000,6,0.000,0.041,2844,1665,1958,0,0,0,0,0,0
$GC,12445,-0.39,212.1,987.0,2.7,518,12448,0.00,1.17,0.00,0.000,4,0.000,0.043,2840,2415,1957,0,0,0,0,0,0
$GC,12517,-0.39,212.1,984.7,3.1,520,12521,0.00,1.20,0.00,0.000,6,0.000,0.046,2840,1662,1957,0,0,0,0,0,0
$GC,12853,-0.35,212.1,972.9,3.6,531,12857,0.10,0.60,0.00,0.000,4,0.182,0.043,2862,2057,1956,0,0,0,0,0,0
$GC,12879,-0.35,212.1,971.9,3.4,531,12885,0.00,0.62,0.00,0.000,6,0.000,0.050,2862,1666,1956,0,0,0,0,0,0
$GC,13192,-0.35,212.1,961.1,3.3,542,13196,0.00,0.70,0.00,0.000,4,0.000,0.058,2862,1223,1956,0,0,0,0,0,0
$GC,13399,-0.35,212.1,954.9,3.0,548,13404,0.00,0.70,0.00,0.000,6,0.000,0.038,2860,1679,1956,0,0,0,0,0,0
$GC,13736,-0.35,212.1,947.8,1.8,559,13740,0.00,2.20,0.00,0.000,4,0.000,0.044,2850,3066,1956,0,0,0,0,0,0
$GC,13934,-0.35,212.1,945.1,1.8,565,13938,0.00,2.22,0.00,0.000,6,0.000,0.044,2850,1675,1956,0,0,0,0,0,0
$STATE,14144,end loiter,LOITER_COMPLETE
$STATE,14144,begin climb
$GC,14146,0.67,107.0,943.4,0.0,572,14152,1.10,2.38,0.00,0.000,4,0.121,0.060,3187,264,1956,0,0,0,0,0,0
$GC,14157,0.81,109.7,943.2,5.5,572,14162,0.17,2.17,0.00,0.000,6,0.117,0.038,3241,1657,1955,0,0,0,0,0,0
$GC,14476,0.45,210.8,937.5,2.0,583,14481,0.43,2.40,0.00,0.000,4,0.207,0.060,3144,255,1957,0,0,0,0,0,0
$GC,14683,0.26,323.8,934.3,1.6,589,14797,0.30,2.25,104.97,1.437,6,0.172,0.039,3067,1685,1506,0,0,0,0,0,0
$GC,15102,0.42,323.8,913.9,6.0,603,15106,0.15,2.17,0.00,0.000,4,0.093,0.047,3130,3064,1497,0,0,0,0,0,0
$GC,15203,0.39,323.8,907.1,6.7,606,15208,0.10,2.25,0.00,0.000,6,0.172,0.047,3107,1663,1495,0,0,0,0,0,0
$GC,15533,0.46,323.8,884.5,7.2,617,15537,0.05,2.20,0.00,0.000,4,0.164,0.065,3139,331,1494,0,0,0,0,0,0
$GC,15764,0.49,323.8,867.0,8.0,624,15768,0.00,2.10,0.00,0.000,6,0.000,0.037,3139,1674,1492,0,0,0,0,0,0
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$STATE,27941,end climb,SURFACE_DEPTH_REACHED
$STATE,27941,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70290,1176
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$CFSIZE,2097086464,2025619456
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