version: 66.07.10.p01
glider: 574
mission: 4
dive: 43
start: 9 28 112 13 29 39
data:
$ID,574
$MISSION,4
$DIVE,43
$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,450
$T_MISSION,520
$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,1
$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,-5542.3374
$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,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,60
$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,22
$GPS1,280912,132001,-4321.679,-834.634,72,1.0,73,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-70.4
$GPS2,280912,132919,-4321.627,-834.649,19,1.0,19,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_574_WP2
$TGT_LATLONG,-4100.000,-834.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,21.5,262296,-13.9,-7.407
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,93,0.00,0.00,-66.22,0.000,2,0.000,0.000,66,1904,2897,0,0,0,0,0,0
$GC,95,-0.52,-145.9,3.2,-2.1,11,127,12.40,2.33,-12.82,0.000,4,0.276,0.078,2833,491,3422,0,0,0,0,0,0
$GC,200,-0.46,-145.9,19.1,-14.1,28,207,0.08,2.20,0.00,0.000,6,0.155,0.040,2852,1872,3423,0,0,0,0,0,0
$GC,280,-0.44,-145.9,26.0,-7.3,41,287,0.05,0.00,0.00,0.000,6,0.230,0.000,2865,1872,3423,0,0,0,0,0,0
$GC,357,-0.44,-145.9,31.6,-8.7,54,364,0.00,0.98,0.00,0.000,4,0.000,0.045,2862,2511,3423,0,0,0,0,0,0
$GC,427,-0.44,-145.9,37.8,-10.7,66,434,0.00,0.98,0.00,0.000,6,0.000,0.052,2862,1899,3423,0,0,0,0,0,0
$GC,665,-0.44,-145.9,65.1,-11.6,107,670,0.00,0.35,0.00,0.000,4,0.000,0.067,2862,1662,3423,0,0,0,0,0,0
$GC,723,-0.44,-145.9,69.4,-7.1,117,728,0.00,0.38,0.00,0.000,6,0.000,0.049,2861,1923,3423,0,0,0,0,0,0
$GC,1071,-0.44,-145.9,98.6,-7.9,178,1078,0.00,0.65,0.00,0.000,4,0.000,0.058,2861,1510,3423,0,0,0,0,0,0
$GC,1115,-0.44,-145.9,101.5,-7.0,185,1120,0.00,0.57,0.00,0.000,6,0.000,0.043,2860,1899,3423,0,0,0,0,0,0
$GC,1463,-0.44,-145.9,132.0,-11.5,246,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1899,3423,0,0,0,0,0,0
$GC,1814,-0.44,-145.9,167.5,-10.2,307,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1899,3423,0,0,0,0,0,0
$GC,2164,-0.44,-145.9,204.8,-10.9,368,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1899,3423,0,0,0,0,0,0
$GC,2515,-0.44,-145.9,240.8,-10.3,429,2520,0.00,0.32,0.00,0.000,4,0.000,0.060,2860,1676,3423,0,0,0,0,0,0
$GC,2562,-0.44,-145.9,245.5,-9.8,437,2567,0.00,0.30,0.00,0.000,6,0.000,0.051,2859,1896,3423,0,0,0,0,0,0
$GC,2894,-0.44,-145.9,277.4,-9.1,472,2898,0.00,0.38,0.00,0.000,4,0.000,0.052,2859,2176,3423,0,0,0,0,0,0
$GC,2965,-0.44,-145.9,284.0,-8.6,478,2968,0.00,0.45,0.00,0.000,6,0.000,0.052,2859,1876,3423,0,0,0,0,0,0
$GC,3286,-0.44,-145.9,312.1,-9.1,508,3289,0.00,0.52,0.00,0.000,4,0.000,0.045,2858,2239,3424,0,0,0,0,0,0
$GC,3334,-0.44,-145.9,316.6,-8.7,512,3337,0.00,0.52,0.00,0.000,6,0.000,0.051,2858,1895,3424,0,0,0,0,0,0
$GC,3655,-0.44,-145.9,344.8,-8.0,542,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1895,3425,0,0,0,0,0,0
$GC,3974,-0.44,-145.9,372.3,-8.9,572,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1895,3425,0,0,0,0,0,0
$GC,4293,-0.44,-145.9,399.3,-7.8,602,4296,0.00,0.62,0.00,0.000,4,0.000,0.060,2858,1481,3425,0,0,0,0,0,0
$GC,4364,-0.44,-145.9,405.1,-8.1,608,4372,0.00,0.62,0.00,0.000,6,0.000,0.041,2858,1897,3425,0,0,0,0,0,0
$GC,4691,-0.44,-145.9,431.0,-8.1,639,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1897,3425,0,0,0,0,0,0
$GC,5010,-0.44,-145.9,458.3,-8.9,669,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1898,3426,0,0,0,0,0,0
$GC,5328,-0.44,-145.9,488.9,-9.6,699,5332,0.00,0.43,0.00,0.000,4,0.000,0.058,2858,1613,3426,0,0,0,0,0,0
$GC,5375,-0.44,-145.9,493.6,-9.7,703,5379,0.00,0.40,0.00,0.000,6,0.000,0.047,2858,1895,3426,0,0,0,0,0,0
$GC,5715,-0.44,-145.9,525.6,-8.9,718,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1896,3425,0,0,0,0,0,0
$GC,6021,-0.44,-145.9,552.5,-8.7,728,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1896,3425,0,0,0,0,0,0
$GC,6327,-0.44,-145.9,582.0,-10.0,738,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1896,3425,0,0,0,0,0,0
$GC,6634,-0.44,-145.9,613.0,-9.8,748,6637,0.00,0.28,0.00,0.000,4,0.000,0.063,2858,1701,3424,0,0,0,0,0,0
$GC,6705,-0.46,-145.9,619.8,-9.5,750,6709,0.00,0.30,0.00,0.000,6,0.000,0.052,2858,1910,3424,0,0,0,0,0,0
$GC,7040,-0.49,-145.9,650.9,-9.4,761,7043,0.00,0.62,0.00,0.000,4,0.000,0.054,2859,1493,3423,0,0,0,0,0,0
$GC,7094,-0.51,-145.9,656.5,-9.7,762,7099,0.00,0.62,0.00,0.000,6,0.000,0.042,2858,1907,3423,0,0,0,0,0,0
$GC,7413,-0.54,-145.9,686.4,-9.4,773,7417,0.05,0.40,0.00,0.000,4,0.173,0.060,2833,1649,3423,0,0,0,0,0,0
$GC,7461,-0.51,-145.9,691.9,-11.4,774,7465,0.00,0.38,0.00,0.000,6,0.000,0.048,2832,1908,3423,0,0,0,0,0,0
$GC,7785,-0.48,-145.9,727.2,-11.1,785,7789,0.10,0.75,0.00,0.000,4,0.190,0.054,2857,1436,3423,0,0,0,0,0,0
$GC,7838,-0.51,-145.9,732.8,-9.9,786,7843,0.00,0.70,0.00,0.000,6,0.000,0.041,2857,1896,3423,0,0,0,0,0,0
$GC,8157,-0.54,-145.9,762.7,-9.4,797,8159,0.05,0.00,0.00,0.000,6,0.174,0.000,2831,1901,3422,0,0,0,0,0,0
$GC,8463,-0.52,-145.9,795.6,-10.6,807,8467,0.00,0.73,0.00,0.000,4,0.000,0.047,2830,2395,3422,0,0,0,0,0,0
$GC,8523,-0.52,-145.9,802.0,-9.9,808,8529,0.05,0.77,0.00,0.000,6,0.211,0.047,2841,1889,3422,0,0,0,0,0,0
$GC,8836,-0.52,-145.9,830.7,-9.0,819,8839,0.00,0.35,0.00,0.000,4,0.000,0.051,2840,2148,3422,0,0,0,0,0,0
$GC,8873,-0.52,-145.9,834.2,-8.6,820,8877,0.00,0.38,0.00,0.000,6,0.000,0.055,2840,1895,3422,0,0,0,0,0,0
$GC,9207,-0.52,-145.9,862.8,-8.4,831,9211,0.00,0.90,0.00,0.000,4,0.000,0.056,2840,1302,3421,0,0,0,0,0,0
$GC,9250,-0.52,-145.9,866.8,-9.3,832,9255,0.00,0.93,0.00,0.000,6,0.000,0.039,2837,1905,3421,0,0,0,0,0,0
$GC,9580,-0.52,-145.9,897.2,-9.6,843,9584,0.00,0.70,0.00,0.000,4,0.000,0.054,2837,1451,3421,0,0,0,0,0,0
$GC,9635,-0.52,-145.9,902.5,-10.2,844,9639,0.00,0.65,0.00,0.000,6,0.000,0.042,2835,1894,3421,0,0,0,0,0,0
$GC,9953,-0.52,-145.9,933.8,-9.7,855,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1894,3421,0,0,0,0,0,0
$GC,10259,-0.52,-145.9,962.9,-9.1,865,10262,0.00,0.28,0.00,0.000,4,0.000,0.063,2836,1700,3421,0,0,0,0,0,0
$GC,10307,-0.52,-145.9,967.7,-9.5,866,10309,0.00,0.30,0.00,0.000,6,0.000,0.051,2835,1910,3421,0,0,0,0,0,0
$GC,10627,-0.52,-145.9,995.5,-8.7,877,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1910,3420,0,0,0,0,0,0
$STATE,10690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10690,begin apogee
$GC,10693,-0.19,0.0,1000.8,8.5,879,10820,0.38,0.00,123.20,1.457,6,0.140,0.000,2949,1631,2827,0,0,0,0,0,0
$STATE,10820,end apogee,CONTROL_FINISHED_OK
$STATE,10821,begin climb
$GC,10822,0.52,145.9,1005.8,0.0,883,10957,0.70,2.42,126.95,1.429,4,0.096,0.064,3180,288,2231,0,0,0,0,0,0
$GC,11052,0.37,145.9,999.0,8.1,890,11057,0.17,2.17,0.00,0.000,6,0.174,0.036,3131,1615,2228,0,0,0,0,0,0
$GC,11381,0.32,188.4,979.0,6.0,901,11426,0.05,1.90,37.45,1.372,4,0.249,0.044,3120,2742,2058,0,0,0,0,0,0
$GC,11497,0.32,198.6,971.3,7.1,904,11513,0.00,1.85,10.23,1.231,6,0.000,0.049,3126,1629,2016,0,0,0,0,0,0
$GC,11849,0.32,226.0,948.8,6.5,916,11878,0.00,0.00,24.95,1.341,6,0.000,0.000,3126,1628,1904,0,0,0,0,0,0
$GC,12185,0.35,250.4,926.4,6.6,927,12209,0.00,0.00,22.20,1.321,6,0.000,0.000,3126,1629,1806,0,0,0,0,0,0
$GC,12491,0.40,280.1,906.8,6.4,937,12522,0.00,1.23,27.00,1.336,4,0.000,0.042,3125,2369,1685,0,0,0,0,0,0
$GC,12572,0.45,286.9,901.2,7.2,939,12584,0.05,1.23,7.57,1.112,6,0.076,0.050,3155,1623,1657,0,0,0,0,0,0
$GC,12889,0.45,286.9,874.6,8.5,949,12893,0.00,0.40,0.00,0.000,4,0.000,0.066,3155,1357,1653,0,0,0,0,0,0
$GC,12944,0.45,286.9,869.9,8.6,950,12948,0.00,0.40,0.00,0.000,6,0.000,0.045,3156,1642,1653,0,0,0,0,0,0
$GC,13261,0.45,286.9,841.0,8.9,961,13265,0.00,0.45,0.00,0.000,4,0.000,0.045,3155,1965,1652,0,0,0,0,0,0
$GC,13310,0.45,286.9,836.5,9.1,962,13314,0.00,0.55,0.00,0.000,6,0.000,0.058,3156,1626,1652,0,0,0,0,0,0
$GC,13633,0.45,286.9,809.1,8.2,973,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1626,1653,0,0,0,0,0,0
$GC,13939,0.45,286.9,784.8,7.8,983,13943,0.00,0.57,0.00,0.000,4,0.000,0.042,3155,2023,1652,0,0,0,0,0,0
$GC,13993,0.45,290.5,780.4,7.3,984,14000,0.00,0.65,3.70,0.723,6,0.000,0.057,3156,1622,1642,0,0,0,0,0,0
$GC,14307,0.45,298.7,757.8,7.1,994,14321,0.00,0.45,9.27,1.102,4,0.000,0.046,3156,1920,1609,0,0,0,0,0,0
$GC,14376,0.47,301.2,752.8,7.3,996,14383,0.00,0.47,3.65,0.717,6,0.000,0.060,3156,1626,1599,0,0,0,0,0,0
$GC,14707,0.50,326.2,730.7,6.6,1007,14736,0.00,0.00,23.95,1.238,6,0.000,0.000,3156,1626,1496,0,0,0,0,0,0
$GC,15044,0.54,358.4,709.0,6.3,1018,15079,0.10,0.68,29.55,1.256,4,0.110,0.065,3200,1221,1365,0,0,0,0,0,0
$GC,15141,0.52,358.4,700.0,9.9,1021,15145,0.05,0.62,0.00,0.000,6,0.159,0.043,3185,1631,1362,0,0,0,0,0,0
$GC,15481,0.52,358.4,667.9,9.5,1032,15485,0.00,1.67,0.00,0.000,4,0.000,0.066,3186,590,1359,0,0,0,0,0,0
$GC,15548,0.52,358.4,661.4,10.2,1034,15552,0.00,1.62,0.00,0.000,6,0.000,0.038,3186,1626,1359,0,0,0,0,0,0
$GC,15888,0.52,358.4,629.7,9.0,1045,15891,0.00,0.62,0.00,0.000,4,0.000,0.063,3186,1244,1359,0,0,0,0,0,0
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$STATE,22594,begin surface coast
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$CFSIZE,2097086464,2087583744
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