version: 66.07.10.p01
glider: 574
mission: 4
dive: 70
start: 10 5 112 23 39 54
data:
$ID,574
$MISSION,4
$DIVE,70
$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,1
$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,-5629.5005
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$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,49
$GPS1,051012,233023,-4307.391,-829.018,37,0.9,38,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-73.2
$GPS2,051012,233900,-4307.372,-829.046,18,1.5,18,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,-0.196
$KALMAN_X,-28665.8,-53.0,-120.0,56698.8,-2765.8
$KALMAN_Y,-13190.2,17.2,-344.8,-15660.8,1706.3
$MHEAD_RNG_PITCHd_Wd,167.9,61631,-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,22,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,87,0.00,0.00,-60.30,0.000,2,0.000,0.000,66,1908,2835,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.3,-1.7,10,121,12.73,0.93,-14.10,0.000,4,0.281,0.083,2830,2511,3422,0,0,0,0,0,0
$GC,194,-0.48,-145.9,16.5,-10.9,27,202,0.08,0.98,0.00,0.000,6,0.148,0.059,2854,1914,3424,0,0,0,0,0,0
$GC,274,-0.48,-145.9,23.6,-8.5,40,282,0.00,0.45,0.00,0.000,4,0.000,0.072,2854,1618,3424,0,0,0,0,0,0
$GC,365,-0.48,-145.9,33.9,-11.6,55,370,0.00,0.45,0.00,0.000,6,0.000,0.052,2854,1916,3424,0,0,0,0,0,0
$GC,600,-0.48,-145.9,57.2,-9.8,96,607,0.00,0.35,0.00,0.000,4,0.000,0.070,2854,1693,3424,0,0,0,0,0,0
$GC,687,-0.48,-145.9,65.6,-9.9,111,694,0.00,0.32,0.00,0.000,6,0.000,0.056,2852,1916,3424,0,0,0,0,0,0
$GC,1036,-0.48,-145.9,98.0,-9.0,172,1041,0.00,0.55,0.00,0.000,4,0.000,0.065,2852,1570,3424,0,0,0,0,0,0
$GC,1107,-0.48,-145.9,104.9,-8.8,180,1115,0.00,0.52,0.00,0.000,6,0.000,0.049,2850,1911,3424,0,0,0,0,0,0
$GC,1434,-0.48,-145.9,134.3,-9.3,211,1438,0.00,0.50,0.00,0.000,4,0.000,0.065,2850,1590,3424,0,0,0,0,0,0
$GC,1513,-0.48,-145.9,141.6,-8.9,218,1517,0.00,0.47,0.00,0.000,6,0.000,0.049,2849,1909,3424,0,0,0,0,0,0
$GC,1845,-0.48,-145.9,171.6,-9.1,249,1848,0.00,0.47,0.00,0.000,4,0.000,0.066,2849,1600,3424,0,0,0,0,0,0
$GC,1916,-0.48,-145.9,178.4,-8.8,255,1922,0.00,0.50,0.00,0.000,6,0.000,0.048,2847,1927,3424,0,0,0,0,0,0
$GC,2241,-0.48,-145.9,206.6,-8.5,286,2244,0.00,0.55,0.00,0.000,4,0.000,0.065,2847,1578,3424,0,0,0,0,0,0
$GC,2322,-0.48,-145.9,213.6,-8.8,293,2325,0.00,0.50,0.00,0.000,6,0.000,0.049,2845,1915,3425,0,0,0,0,0,0
$GC,2653,-0.48,-145.9,242.1,-8.9,324,2656,0.00,0.28,0.00,0.000,4,0.000,0.071,2845,1728,3424,0,0,0,0,0,0
$GC,2753,-0.45,-145.9,251.3,-8.9,332,2758,0.08,0.28,0.00,0.000,6,0.194,0.057,2862,1915,3424,0,0,0,0,0,0
$GC,3074,-0.48,-145.9,274.0,-7.0,348,3078,0.00,0.73,0.00,0.000,4,0.000,0.062,2862,1459,3425,0,0,0,0,0,0
$GC,3158,-0.52,-145.9,280.1,-7.2,351,3164,0.00,0.70,0.00,0.000,6,0.000,0.046,2861,1910,3424,0,0,0,0,0,0
$GC,3476,-0.54,-145.9,303.0,-7.4,367,3478,0.08,0.00,0.00,0.000,6,0.128,0.000,2825,1910,3424,0,0,0,0,0,0
$GC,3783,-0.49,-145.9,334.7,-10.6,382,3785,0.10,0.00,0.00,0.000,6,0.171,0.000,2851,1909,3424,0,0,0,0,0,0
$GC,4094,-0.49,-145.9,361.8,-9.0,397,4098,0.00,1.08,0.00,0.000,4,0.000,0.064,2851,1245,3424,0,0,0,0,0,0
$GC,4195,-0.49,-145.9,371.4,-9.0,401,4199,0.00,1.02,0.00,0.000,6,0.000,0.045,2848,1907,3424,0,0,0,0,0,0
$GC,4517,-0.49,-145.9,401.8,-9.5,417,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1907,3424,0,0,0,0,0,0
$GC,4825,-0.49,-145.9,432.5,-10.2,432,4828,0.00,1.48,0.00,0.000,4,0.000,0.066,2848,1003,3424,0,0,0,0,0,0
$GC,4941,-0.49,-145.9,444.5,-10.3,437,4946,0.00,1.45,0.00,0.000,6,0.000,0.044,2844,1921,3424,0,0,0,0,0,0
$GC,5271,-0.49,-145.9,475.3,-8.9,453,5275,0.00,0.55,0.00,0.000,4,0.000,0.052,2841,2302,3424,0,0,0,0,0,0
$GC,5342,-0.49,-145.9,481.9,-8.0,456,5346,0.00,0.62,0.00,0.000,6,0.000,0.054,2841,1902,3425,0,0,0,0,0,0
$GC,5657,-0.49,-145.9,508.8,-8.3,470,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1902,3424,0,0,0,0,0,0
$GC,5963,-0.49,-145.9,533.4,-8.1,480,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1902,3424,0,0,0,0,0,0
$GC,6270,-0.49,-145.9,556.9,-7.8,490,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1902,3424,0,0,0,0,0,0
$GC,6576,-0.49,-145.9,582.1,-8.5,500,6579,0.00,0.25,0.00,0.000,4,0.000,0.073,2841,1721,3423,0,0,0,0,0,0
$GC,6686,-0.49,-145.9,592.1,-9.2,503,6688,0.00,0.30,0.00,0.000,6,0.000,0.057,2840,1921,3423,0,0,0,0,0,0
$GC,7011,-0.49,-145.9,622.0,-9.5,514,7015,0.00,0.60,0.00,0.000,4,0.000,0.063,2840,1536,3423,0,0,0,0,0,0
$GC,7094,-0.49,-145.9,630.2,-10.1,516,7099,0.05,0.60,0.00,0.000,6,0.223,0.048,2849,1921,3422,0,0,0,0,0,0
$GC,7418,-0.51,-145.9,658.7,-8.8,527,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1921,3422,0,0,0,0,0,0
$GC,7724,-0.53,-145.9,685.4,-8.7,537,7728,0.00,0.43,0.00,0.000,4,0.000,0.064,2849,1642,3421,0,0,0,0,0,0
$GC,7812,-0.56,-145.9,693.4,-8.9,539,7816,0.00,0.43,0.00,0.000,6,0.000,0.054,2849,1916,3421,0,0,0,0,0,0
$GC,8130,-0.58,-145.9,720.2,-8.3,550,8135,0.08,0.80,0.00,0.000,4,0.130,0.062,2817,1418,3420,0,0,0,0,0,0
$GC,8212,-0.52,-145.9,728.9,-11.1,552,8217,0.10,0.77,0.00,0.000,6,0.184,0.048,2839,1913,3420,0,0,0,0,0,0
$GC,8536,-0.52,-145.9,755.5,-8.0,563,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1913,3420,0,0,0,0,0,0
$GC,8842,-0.52,-145.9,779.4,-7.9,573,8846,0.00,0.35,0.00,0.000,4,0.000,0.067,2839,1681,3419,0,0,0,0,0,0
$GC,8902,-0.52,-145.9,784.3,-7.5,574,8908,0.00,0.35,0.00,0.000,6,0.000,0.054,2839,1920,3419,0,0,0,0,0,0
$GC,9215,-0.52,-145.9,810.7,-9.0,585,9218,0.00,0.32,0.00,0.000,4,0.000,0.057,2837,2156,3418,0,0,0,0,0,0
$GC,9282,-0.52,-145.9,816.3,-7.9,587,9285,0.00,0.38,0.00,0.000,6,0.000,0.061,2837,1902,3418,0,0,0,0,0,0
$GC,9621,-0.52,-145.9,847.6,-9.6,598,9625,0.00,1.00,0.00,0.000,4,0.000,0.059,2837,1264,3417,0,0,0,0,0,0
$GC,9715,-0.52,-145.9,857.2,-10.2,600,9721,0.00,1.00,0.00,0.000,6,0.000,0.042,2833,1906,3417,0,0,0,0,0,0
$GC,10028,-0.52,-145.9,890.2,-10.9,611,10031,0.00,0.62,0.00,0.000,4,0.000,0.049,2831,2339,3416,0,0,0,0,0,0
$GC,10104,-0.52,-145.9,898.3,-10.0,613,10109,0.00,0.68,0.00,0.000,6,0.000,0.053,2831,1906,3416,0,0,0,0,0,0
$GC,10434,-0.52,-145.9,932.0,-10.3,624,10437,0.00,1.15,0.00,0.000,4,0.000,0.060,2831,1175,3416,0,0,0,0,0,0
$GC,10539,-0.52,-145.9,943.7,-11.0,627,10543,0.00,1.15,0.00,0.000,6,0.000,0.042,2829,1911,3416,0,0,0,0,0,0
$GC,10874,-0.52,-145.9,980.0,-10.5,638,10878,0.00,0.25,0.00,0.000,4,0.000,0.061,2827,2107,3415,0,0,0,0,0,0
$GC,10923,-0.52,-145.9,985.3,-10.5,639,10925,0.00,0.30,0.00,0.000,6,0.000,0.064,2828,1913,3415,0,0,0,0,0,0
$STATE,11092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11092,begin apogee
$GC,11096,-0.19,0.0,1001.4,9.6,645,11221,0.40,0.00,122.12,1.478,6,0.141,0.000,2950,1649,2826,0,0,0,0,0,0
$STATE,11222,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11224,0.52,145.9,1007.5,0.0,649,11356,0.68,0.65,126.53,1.448,4,0.086,0.065,3172,1296,2232,0,0,0,0,0,0
$GC,11383,0.36,163.1,1007.4,6.8,654,11405,0.17,0.62,16.90,1.351,6,0.177,0.047,3133,1662,2161,0,0,0,0,0,0
$GC,11712,0.31,171.6,985.3,7.1,665,11722,0.08,0.00,8.10,1.219,6,0.214,0.000,3118,1662,2127,0,0,0,0,0,0
$GC,12017,0.31,191.2,964.6,6.7,675,12038,0.00,0.00,18.75,1.343,6,0.000,0.000,3117,1662,2046,0,0,0,0,0,0
$GC,12323,0.31,212.1,943.6,6.7,685,12347,0.00,0.57,19.08,1.323,4,0.000,0.050,3117,2013,1962,0,0,0,0,0,0
$GC,12426,0.32,221.4,936.6,7.1,688,12441,0.00,0.60,9.60,1.203,6,0.000,0.060,3117,1654,1924,0,0,0,0,0,0
$GC,12760,0.35,249.5,915.2,6.4,699,12791,0.00,0.30,25.98,1.340,4,0.000,0.046,3118,1852,1810,0,0,0,0,0,0
$GC,12863,0.40,285.9,908.3,6.2,702,12901,0.08,0.35,33.55,1.349,6,0.125,0.067,3147,1646,1660,0,0,0,0,0,0
$GC,13224,0.42,285.9,877.7,8.7,714,13228,0.00,0.30,0.00,0.000,4,0.000,0.073,3147,1443,1653,0,0,0,0,0,0
$GC,13307,0.42,285.9,870.4,8.7,716,13309,0.00,0.32,0.00,0.000,6,0.000,0.055,3147,1651,1653,0,0,0,0,0,0
$GC,13626,0.42,285.9,842.2,8.8,727,13627,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1651,1652,0,0,0,0,0,0
$GC,13933,0.42,285.9,815.8,8.4,737,13936,0.00,0.43,0.00,0.000,4,0.000,0.052,3147,1944,1651,0,0,0,0,0,0
$GC,13992,0.42,285.9,810.7,7.8,738,13994,0.00,0.47,0.00,0.000,6,0.000,0.065,3147,1649,1651,0,0,0,0,0,0
$GC,14300,0.42,285.9,785.2,8.4,748,14304,0.00,0.52,0.00,0.000,4,0.000,0.069,3147,1313,1651,0,0,0,0,0,0
$GC,14360,0.45,285.9,780.3,8.1,749,14366,0.00,0.55,0.00,0.000,6,0.000,0.048,3147,1668,1651,0,0,0,0,0,0
$GC,14673,0.45,285.9,756.5,7.5,760,14674,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1668,1651,0,0,0,0,0,0
$GC,14979,0.45,287.5,733.7,7.4,770,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1668,1651,0,0,0,0,0,0
$GC,15285,0.45,296.1,711.9,7.1,780,15296,0.00,0.00,8.75,1.122,6,0.000,0.000,3147,1668,1619,0,0,0,0,0,0
$GC,15592,0.47,306.6,690.7,7.0,790,15606,0.00,0.60,10.80,1.130,4,0.000,0.063,3147,1299,1576,0,0,0,0,0,0
$GC,15663,0.52,327.8,685.7,6.7,792,15690,0.10,0.55,20.08,1.185,6,0.107,0.049,3189,1653,1489,0,0,0,0,0,0
$GC,15996,0.48,327.8,651.9,10.3,803,16001,0.10,0.40,0.00,0.000,4,0.187,0.073,3166,1408,1486,0,0,0,0,0,0
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$STATE,23904,end climb,SURFACE_DEPTH_REACHED
$STATE,23904,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,80152,1378
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$CFSIZE,2097086464,2083520512
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