version: 66.07.10.p01
glider: 574
mission: 4
dive: 501
start: 1 18 113 15 57 29
data:
$ID,574
$MISSION,4
$DIVE,501
$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,-7404.9565
$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,25
$R_STBD_OVSHOOT,34
$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,480
$GPS1,180113,155535,-4055.184,-434.721,42,0.9,42,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-72.2
$GPS2,180113,155706,-4055.189,-434.710,18,0.9,18,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4104.542,-427.547
$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,-107.0,0.0,0.0,0,52,0.00,0.00,-24.85,0.000,2,0.000,0.000,68,1761,1654,0,0,0,0,0,0
$GC,55,-0.67,-107.0,3.1,-1.4,4,136,12.07,2.40,-61.97,0.000,4,0.252,0.075,2758,330,3262,0,0,0,0,0,0
$GC,339,-0.78,-107.0,27.6,-11.1,51,347,0.05,2.25,0.00,0.000,6,0.080,0.040,2718,1735,3263,0,0,0,0,0,0
$GC,417,-0.75,-107.0,36.6,-11.2,64,421,0.08,0.00,0.00,0.000,6,0.177,0.000,2737,1735,3263,0,0,0,0,0,0
$GC,648,-0.75,-107.0,59.5,-9.3,105,655,0.00,2.35,0.00,0.000,4,0.000,0.060,2737,337,3263,0,0,0,0,0,0
$GC,903,-0.79,-107.0,85.2,-9.6,128,911,0.00,2.25,0.00,0.000,6,0.000,0.039,2737,1751,3264,0,0,0,0,0,0
$GC,1229,-0.84,-107.0,116.2,-10.0,154,1234,0.10,2.25,0.00,0.000,4,0.104,0.049,2687,3150,3264,0,0,0,0,0,0
$GC,1292,-0.77,-107.0,123.1,-10.7,158,1297,0.15,2.25,0.00,0.000,6,0.140,0.044,2728,1733,3264,0,0,0,0,0,0
$GC,1614,-0.79,-107.0,155.5,-10.5,178,1618,0.00,1.58,0.00,0.000,4,0.000,0.045,2728,2725,3265,0,0,0,0,0,0
$GC,1660,-0.79,-107.0,160.8,-10.9,180,1663,0.00,1.58,0.00,0.000,6,0.000,0.044,2728,1738,3265,0,0,0,0,0,0
$GC,1995,-0.81,-107.0,196.9,-10.9,196,1998,0.00,1.45,0.00,0.000,4,0.000,0.044,2728,2655,3265,0,0,0,0,0,0
$GC,2035,-0.85,-107.0,201.5,-10.7,197,2040,0.03,1.45,0.00,0.000,6,0.100,0.044,2703,1746,3265,0,0,0,0,0,0
$GC,2348,-0.82,-107.0,234.5,-10.4,208,2352,0.00,2.25,0.00,0.000,4,0.000,0.045,2696,3155,3265,0,0,0,0,0,0
$GC,2391,-0.78,-107.0,239.5,-11.2,209,2396,0.12,2.20,0.00,0.000,6,0.145,0.040,2730,1741,3266,0,0,0,0,0,0
$GC,2710,-0.81,-107.0,269.7,-9.2,220,2713,0.00,1.40,0.00,0.000,4,0.000,0.044,2728,2623,3265,0,0,0,0,0,0
$GC,2753,-0.81,-107.0,274.0,-9.8,221,2758,0.00,1.38,0.00,0.000,6,0.000,0.041,2729,1750,3266,0,0,0,0,0,0
$GC,3084,-0.85,-107.0,304.6,-9.3,232,3088,0.08,1.05,0.00,0.000,4,0.124,0.042,2689,2414,3266,0,0,0,0,0,0
$GC,3122,-0.78,-107.0,308.6,-9.6,233,3126,0.08,1.05,0.00,0.000,6,0.135,0.044,2715,1743,3265,0,0,0,0,0,0
$GC,3457,-0.78,-107.0,340.5,-9.4,244,3461,0.00,2.25,0.00,0.000,4,0.000,0.046,2709,3153,3265,0,0,0,0,0,0
$GC,3523,-0.78,-107.0,346.9,-9.4,246,3528,0.05,2.22,0.00,0.000,6,0.125,0.037,2736,1744,3265,0,0,0,0,0,0
$GC,3861,-0.84,-107.0,375.2,-8.2,257,3865,0.10,2.28,0.00,0.000,4,0.105,0.046,2687,3151,3265,0,0,0,0,0,0
$GC,3905,-0.79,-107.0,379.1,-9.3,258,3909,0.15,2.22,0.00,0.000,6,0.138,0.038,2729,1735,3266,0,0,0,0,0,0
$GC,4223,-0.83,-107.0,404.0,-7.9,269,4226,0.00,1.38,0.00,0.000,4,0.000,0.044,2729,2604,3265,0,0,0,0,0,0
$GC,4267,-0.88,-107.0,407.8,-7.9,270,4271,0.08,1.35,0.00,0.000,6,0.063,0.041,2686,1745,3266,0,0,0,0,0,0
$GC,4596,-0.85,-107.0,438.2,-9.6,281,4601,0.08,2.25,0.00,0.000,4,0.187,0.044,2694,3158,3265,0,0,0,0,0,0
$GC,4645,-0.85,-107.0,443.3,-9.9,282,4650,0.00,2.25,0.00,0.000,6,0.000,0.038,2694,1744,3266,0,0,0,0,0,0
$GC,4966,-0.85,-107.0,476.0,-10.6,293,4970,0.00,2.25,0.00,0.000,4,0.000,0.044,2684,3156,3265,0,0,0,0,0,0
$GC,5032,-0.81,-107.0,483.4,-10.9,295,5037,0.12,2.22,0.00,0.000,6,0.143,0.038,2718,1740,3265,0,0,0,0,0,0
$GC,5362,-0.83,-107.0,515.7,-9.8,306,5366,0.00,2.25,0.00,0.000,4,0.000,0.045,2709,3151,3265,0,0,0,0,0,0
$GC,5422,-0.83,-107.0,522.4,-10.6,307,5428,0.00,2.22,0.00,0.000,6,0.000,0.037,2710,1751,3265,0,0,0,0,0,0
$GC,5735,-0.83,-107.0,553.1,-9.6,318,5740,0.00,2.28,0.00,0.000,4,0.000,0.055,2709,342,3265,0,0,0,0,0,0
$GC,5970,-0.83,-107.0,576.3,-9.6,325,5974,0.00,2.20,0.00,0.000,6,0.000,0.034,2709,1744,3264,0,0,0,0,0,0
$GC,6305,-0.83,-107.0,608.4,-9.8,336,6309,0.00,2.25,0.00,0.000,4,0.000,0.055,2709,379,3264,0,0,0,0,0,0
$GC,6445,-0.83,-107.0,622.8,-10.2,340,6449,0.00,2.15,0.00,0.000,6,0.000,0.034,2709,1746,3264,0,0,0,0,0,0
$GC,6776,-0.83,-107.0,654.1,-9.6,351,6780,0.00,2.33,0.00,0.000,4,0.000,0.054,2709,337,3263,0,0,0,0,0,0
$GC,6915,-0.83,-107.0,667.9,-9.0,355,6920,0.00,2.22,0.00,0.000,6,0.000,0.036,2709,1743,3263,0,0,0,0,0,0
$GC,7246,-0.83,-107.0,698.9,-9.5,366,7250,0.00,2.33,0.00,0.000,4,0.000,0.056,2709,340,3262,0,0,0,0,0,0
$GC,7418,-0.85,-107.0,716.6,-10.2,371,7422,0.00,2.20,0.00,0.000,6,0.000,0.035,2708,1751,3262,0,0,0,0,0,0
$GC,7748,-0.85,-107.0,750.3,-10.4,382,7752,0.00,2.30,0.00,0.000,4,0.000,0.056,2709,340,3262,0,0,0,0,0,0
$GC,7971,-0.88,-107.0,774.6,-10.9,388,7976,0.00,2.20,0.00,0.000,6,0.000,0.036,2703,1746,3261,0,0,0,0,0,0
$GC,8284,-0.88,-107.0,808.0,-10.7,399,8288,0.00,2.33,0.00,0.000,4,0.000,0.054,2704,336,3261,0,0,0,0,0,0
$GC,8448,-0.88,-107.0,826.2,-10.3,404,8452,0.00,2.20,0.00,0.000,6,0.000,0.035,2702,1755,3260,0,0,0,0,0,0
$GC,8782,-0.88,-107.0,861.6,-10.3,415,8787,0.00,2.35,0.00,0.000,4,0.000,0.056,2703,338,3260,0,0,0,0,0,0
$GC,8947,-0.88,-107.0,878.1,-9.3,420,8951,0.00,2.20,0.00,0.000,6,0.000,0.036,2702,1744,3260,0,0,0,0,0,0
$GC,9282,-0.88,-107.0,909.2,-9.0,431,9286,0.00,2.33,0.00,0.000,4,0.000,0.056,2702,345,3259,0,0,0,0,0,0
$GC,9488,-0.88,-107.0,928.9,-9.0,437,9493,0.00,2.22,0.00,0.000,6,0.000,0.037,2702,1745,3259,0,0,0,0,0,0
$GC,9819,-0.88,-107.0,959.9,-9.6,448,9823,0.00,2.30,0.00,0.000,4,0.000,0.054,2702,342,3259,0,0,0,0,0,0
$GC,9983,-0.88,-107.0,976.8,-10.4,453,9987,0.00,2.20,0.00,0.000,6,0.000,0.037,2702,1755,3258,0,0,0,0,0,0
$STATE,10040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10040,begin apogee
$GC,10046,-0.26,0.0,982.9,10.3,455,10143,0.62,0.00,93.85,1.470,6,0.122,0.000,2888,1665,2827,0,0,0,0,0,0
$STATE,10143,end apogee,CONTROL_FINISHED_OK
$STATE,10144,begin loiter
$GC,10440,-0.25,250.9,1019.9,-8.9,468,10676,0.00,2.60,225.27,1.451,4,0.000,0.045,2888,3075,1803,0,0,0,0,0,0
$GC,10750,-0.34,250.9,1026.7,4.8,478,10755,0.08,2.33,0.00,0.000,6,0.133,0.042,2865,1671,1799,0,0,0,0,0,0
$GC,11086,-0.37,250.9,1012.9,4.4,489,11090,0.00,2.33,0.00,0.000,4,0.000,0.061,2865,257,1794,0,0,0,0,0,0
$GC,11129,-0.37,250.9,1010.9,4.3,490,11134,0.00,2.22,0.00,0.000,6,0.000,0.036,2864,1668,1793,0,0,0,0,0,0
$GC,11455,-0.39,250.9,996.0,4.9,501,11459,0.00,2.12,0.00,0.000,4,0.000,0.046,2863,3013,1792,0,0,0,0,0,0
$GC,11571,-0.39,250.9,989.6,5.0,504,11576,0.00,2.17,0.00,0.000,6,0.000,0.044,2863,1665,1791,0,0,0,0,0,0
$GC,11891,-0.42,250.9,973.2,5.4,515,11895,0.05,2.22,0.00,0.000,4,0.181,0.044,2827,3074,1791,0,0,0,0,0,0
$GC,11979,-0.36,250.9,968.2,5.8,517,11985,0.12,2.25,0.00,0.000,6,0.165,0.043,2859,1657,1789,0,0,0,0,0,0
$GC,12292,-0.38,250.9,952.0,5.2,528,12297,0.00,2.28,0.00,0.000,4,0.000,0.044,2850,3085,1789,0,0,0,0,0,0
$GC,12336,-0.38,250.9,949.5,5.9,529,12341,0.00,2.28,0.00,0.000,6,0.000,0.042,2851,1672,1789,0,0,0,0,0,0
$GC,12661,-0.38,250.9,932.4,5.3,540,12665,0.00,2.22,0.00,0.000,4,0.000,0.046,2848,3075,1790,0,0,0,0,0,0
$GC,12761,-0.35,250.9,927.1,5.6,543,12766,0.08,2.25,0.00,0.000,6,0.187,0.043,2863,1663,1789,0,0,0,0,0,0
$GC,13091,-0.37,250.9,911.0,4.8,554,13095,0.00,2.25,0.00,0.000,4,0.000,0.046,2860,3078,1789,0,0,0,0,0,0
$GC,13107,-0.40,250.9,910.1,4.9,554,13111,0.00,2.22,0.00,0.000,6,0.000,0.043,2860,1668,1788,0,0,0,0,0,0
$GC,13427,-0.40,250.9,894.6,4.8,565,13431,0.00,2.33,0.00,0.000,4,0.000,0.060,2860,262,1788,0,0,0,0,0,0
$GC,13505,-0.31,250.9,890.7,4.9,567,13510,0.10,2.20,0.00,0.000,6,0.182,0.034,2874,1673,1787,0,0,0,0,0,0
$GC,13823,-0.34,250.9,877.3,4.1,578,13827,0.00,2.33,0.00,0.000,4,0.000,0.060,2874,263,1788,0,0,0,0,0,0
$GC,14043,-0.27,250.9,867.6,4.3,584,14048,0.10,2.17,0.00,0.000,6,0.169,0.036,2891,1671,1788,0,0,0,0,0,0
$STATE,14359,end loiter,LOITER_COMPLETE
$STATE,14359,begin climb
$GC,14361,0.67,107.0,854.6,0.0,595,14365,0.90,0.55,0.00,0.000,4,0.106,0.037,3182,2041,1787,0,0,0,0,0,0
$GC,14620,0.46,142.0,841.9,4.4,602,14624,0.17,0.60,0.00,0.000,6,0.170,0.054,3136,1664,1787,0,0,0,0,0,0
$GC,14938,0.35,185.5,828.1,4.1,613,14942,0.15,0.88,0.00,0.000,4,0.182,0.045,3096,2222,1787,0,0,0,0,0,0
$GC,15128,0.32,233.9,821.2,3.9,618,15133,0.03,0.88,0.00,0.000,6,0.187,0.052,3090,1675,1787,0,0,0,0,0,0
$GC,15446,0.32,280.8,808.6,4.0,629,15475,0.00,0.50,26.38,1.322,4,0.000,0.048,3090,1978,1681,0,0,0,0,0,0
$GC,15616,0.36,327.2,800.7,4.0,634,15667,0.00,0.50,44.90,1.335,6,0.000,0.057,3090,1665,1492,0,0,0,0,0,0
$GC,15974,0.46,348.6,782.3,4.9,646,16000,0.12,1.65,20.77,1.275,4,0.097,0.060,3143,671,1404,0,0,0,0,0,0
$GC,16162,0.50,348.6,771.4,5.7,650,16168,0.00,1.58,0.00,0.000,6,0.000,0.038,3143,1667,1400,0,0,0,0,0,0
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$STATE,26630,begin surface coast
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$FG_AHR_10Vo,0.000
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$CFSIZE,2097086464,2025455616
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