version: 66.07.10.p01
glider: 574
mission: 4
dive: 74
start: 10 7 112 2 16 0
data:
$ID,574
$MISSION,4
$DIVE,74
$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,-5642.3975
$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,27
$R_STBD_OVSHOOT,50
$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,53
$GPS1,071012,020229,-4315.423,-823.602,42,1.3,43,-21.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-74.7
$GPS2,071012,021506,-4315.420,-823.594,29,1.2,29,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.096,-0.214
$KALMAN_X,-37855.1,-92.9,-450.6,73653.0,-2208.0
$KALMAN_Y,-9754.3,-152.9,-376.2,-33801.5,2200.2
$MHEAD_RNG_PITCHd_Wd,177.2,45776,-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,-145.9,0.0,0.0,0,80,0.00,0.00,-54.53,0.000,2,0.000,0.000,70,1932,2824,0,0,0,0,0,0
$GC,82,-0.52,-145.9,3.1,-1.4,9,121,12.65,2.40,-15.82,0.000,4,0.279,0.084,2832,508,3424,0,0,0,0,0,0
$GC,293,-0.50,-145.9,26.8,-10.5,44,301,0.05,2.20,0.00,0.000,6,0.159,0.043,2843,1885,3424,0,0,0,0,0,0
$GC,372,-0.48,-145.9,34.9,-10.2,57,377,0.00,0.47,0.00,0.000,4,0.000,0.050,2841,2217,3424,0,0,0,0,0,0
$GC,431,-0.48,-145.9,40.9,-10.2,67,436,0.03,0.47,0.00,0.000,6,0.184,0.061,2850,1915,3424,0,0,0,0,0,0
$GC,665,-0.48,-145.9,63.6,-9.0,108,672,0.00,0.82,0.00,0.000,4,0.000,0.065,2850,1400,3425,0,0,0,0,0,0
$GC,746,-0.48,-145.9,71.1,-9.1,122,751,0.00,0.80,0.00,0.000,6,0.000,0.044,2849,1919,3424,0,0,0,0,0,0
$GC,1096,-0.48,-145.9,102.4,-9.2,182,1099,0.00,0.90,0.00,0.000,4,0.000,0.062,2849,1361,3424,0,0,0,0,0,0
$GC,1186,-0.48,-145.9,110.4,-8.9,190,1189,0.00,0.85,0.00,0.000,6,0.000,0.042,2846,1914,3424,0,0,0,0,0,0
$GC,1518,-0.48,-145.9,141.5,-9.1,221,1521,0.00,0.73,0.00,0.000,4,0.000,0.062,2845,1459,3424,0,0,0,0,0,0
$GC,1597,-0.48,-145.9,148.8,-9.3,228,1601,0.00,0.70,0.00,0.000,6,0.000,0.044,2843,1920,3424,0,0,0,0,0,0
$GC,1929,-0.48,-145.9,180.2,-9.5,259,1932,0.00,0.90,0.00,0.000,4,0.000,0.061,2843,1357,3424,0,0,0,0,0,0
$GC,2021,-0.48,-145.9,189.2,-9.6,267,2025,0.03,0.85,0.00,0.000,6,0.182,0.043,2849,1913,3425,0,0,0,0,0,0
$GC,2350,-0.48,-145.9,219.6,-9.3,298,2353,0.00,0.43,0.00,0.000,4,0.000,0.064,2849,1632,3425,0,0,0,0,0,0
$GC,2431,-0.48,-145.9,226.9,-9.0,305,2434,0.00,0.43,0.00,0.000,6,0.000,0.048,2849,1924,3424,0,0,0,0,0,0
$GC,2771,-0.48,-145.9,258.1,-9.1,333,2775,0.00,0.93,0.00,0.000,4,0.000,0.061,2849,1349,3424,0,0,0,0,0,0
$GC,2863,-0.48,-145.9,266.5,-8.9,337,2866,0.00,0.85,0.00,0.000,6,0.000,0.044,2846,1905,3425,0,0,0,0,0,0
$GC,3196,-0.48,-145.9,297.0,-9.1,353,3200,0.00,0.80,0.00,0.000,4,0.000,0.061,2846,1403,3425,0,0,0,0,0,0
$GC,3279,-0.48,-145.9,305.0,-8.9,356,3287,0.00,0.80,0.00,0.000,6,0.000,0.042,2843,1922,3425,0,0,0,0,0,0
$GC,3594,-0.48,-145.9,333.0,-8.4,372,3599,0.03,1.30,0.00,0.000,4,0.280,0.062,2853,1123,3425,0,0,0,0,0,0
$GC,3694,-0.50,-145.9,341.2,-8.6,376,3699,0.00,1.23,0.00,0.000,6,0.000,0.039,2850,1913,3425,0,0,0,0,0,0
$GC,4016,-0.50,-145.9,365.6,-7.6,392,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1913,3425,0,0,0,0,0,0
$GC,4328,-0.50,-145.9,388.8,-7.4,407,4331,0.00,0.70,0.00,0.000,4,0.000,0.060,2850,1462,3425,0,0,0,0,0,0
$GC,4405,-0.52,-145.9,394.6,-6.4,410,4409,0.00,0.70,0.00,0.000,6,0.000,0.042,2848,1919,3425,0,0,0,0,0,0
$GC,4726,-0.52,-145.9,418.6,-8.0,426,4730,0.00,0.90,0.00,0.000,4,0.000,0.060,2848,1350,3425,0,0,0,0,0,0
$GC,4821,-0.55,-145.9,426.5,-8.1,430,4825,0.00,0.88,0.00,0.000,6,0.000,0.041,2845,1916,3425,0,0,0,0,0,0
$GC,5148,-0.55,-145.9,453.3,-8.4,446,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1916,3425,0,0,0,0,0,0
$GC,5459,-0.55,-145.9,479.4,-8.8,461,5463,0.00,0.93,0.00,0.000,4,0.000,0.060,2845,1337,3425,0,0,0,0,0,0
$GC,5553,-0.55,-145.9,487.9,-8.4,465,5557,0.00,0.90,0.00,0.000,6,0.000,0.041,2841,1918,3424,0,0,0,0,0,0
$GC,5878,-0.55,-145.9,516.2,-8.8,478,5882,0.00,1.25,0.00,0.000,4,0.000,0.060,2842,1138,3424,0,0,0,0,0,0
$GC,5971,-0.55,-145.9,524.5,-8.9,480,5977,0.00,1.20,0.00,0.000,6,0.000,0.039,2837,1911,3424,0,0,0,0,0,0
$GC,6284,-0.55,-145.9,552.4,-9.2,491,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1911,3424,0,0,0,0,0,0
$GC,6590,-0.55,-145.9,580.7,-9.4,501,6594,0.00,0.73,0.00,0.000,4,0.000,0.058,2838,1442,3424,0,0,0,0,0,0
$GC,6671,-0.55,-145.9,588.7,-9.7,503,6676,0.00,0.73,0.00,0.000,6,0.000,0.043,2835,1916,3424,0,0,0,0,0,0
$GC,6995,-0.55,-145.9,618.9,-9.3,514,6999,0.00,0.45,0.00,0.000,4,0.000,0.060,2835,1619,3423,0,0,0,0,0,0
$GC,7072,-0.55,-145.9,626.2,-9.2,516,7076,0.00,0.45,0.00,0.000,6,0.000,0.047,2834,1920,3423,0,0,0,0,0,0
$GC,7401,-0.55,-145.9,657.1,-9.5,527,7405,0.00,0.43,0.00,0.000,4,0.000,0.062,2834,1638,3423,0,0,0,0,0,0
$GC,7517,-0.55,-145.9,668.6,-10.0,530,7521,0.00,0.43,0.00,0.000,6,0.000,0.048,2832,1924,3422,0,0,0,0,0,0
$GC,7840,-0.55,-145.9,700.0,-9.6,541,7844,0.00,0.95,0.00,0.000,4,0.000,0.060,2832,1328,3422,0,0,0,0,0,0
$GC,7922,-0.55,-145.9,708.3,-9.8,543,7927,0.00,0.90,0.00,0.000,6,0.000,0.042,2829,1907,3422,0,0,0,0,0,0
$GC,8247,-0.55,-145.9,739.8,-9.9,554,8250,0.00,0.55,0.00,0.000,4,0.000,0.060,2829,1547,3422,0,0,0,0,0,0
$GC,8329,-0.55,-145.9,748.6,-10.6,556,8333,0.00,0.57,0.00,0.000,6,0.000,0.045,2826,1927,3421,0,0,0,0,0,0
$GC,8652,-0.55,-145.9,781.2,-10.2,567,8656,0.00,0.47,0.00,0.000,4,0.000,0.060,2826,1614,3421,0,0,0,0,0,0
$GC,8719,-0.55,-145.9,788.2,-9.7,569,8723,0.00,0.43,0.00,0.000,6,0.000,0.050,2824,1907,3421,0,0,0,0,0,0
$GC,9060,-0.52,-145.9,823.7,-10.7,580,9064,0.08,0.30,0.00,0.000,4,0.198,0.057,2841,2134,3420,0,0,0,0,0,0
$GC,9103,-0.55,-145.9,827.9,-8.7,581,9107,0.00,0.35,0.00,0.000,6,0.000,0.062,2841,1901,3421,0,0,0,0,0,0
$GC,9432,-0.57,-145.9,856.4,-8.5,592,9436,0.00,1.00,0.00,0.000,4,0.000,0.059,2841,1264,3420,0,0,0,0,0,0
$GC,9526,-0.59,-145.9,864.7,-9.5,594,9532,0.00,1.02,0.00,0.000,6,0.000,0.041,2838,1921,3419,0,0,0,0,0,0
$GC,9839,-0.59,-145.9,891.3,-8.5,605,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1921,3419,0,0,0,0,0,0
$GC,10145,-0.59,-145.9,918.3,-9.0,615,10148,0.00,1.12,0.00,0.000,4,0.000,0.059,2838,1214,3419,0,0,0,0,0,0
$GC,10261,-0.61,-145.9,928.9,-8.6,618,10267,0.08,1.10,0.00,0.000,6,0.138,0.042,2809,1917,3419,0,0,0,0,0,0
$GC,10586,-0.56,-145.9,961.6,-10.5,629,10590,0.08,0.40,0.00,0.000,4,0.199,0.064,2827,1663,3418,0,0,0,0,0,0
$GC,10678,-0.56,-145.9,970.1,-8.7,631,10681,0.00,0.40,0.00,0.000,6,0.000,0.050,2826,1930,3418,0,0,0,0,0,0
$GC,10987,-0.56,-145.9,994.5,-7.7,641,10991,0.00,0.60,0.00,0.000,4,0.000,0.059,2826,1542,3418,0,0,0,0,0,0
$STATE,11058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11058,begin apogee
$GC,11062,-0.19,0.0,1000.1,7.7,643,11187,0.35,0.00,122.15,1.442,6,0.145,0.000,2937,1657,2827,0,0,0,0,0,0
$STATE,11188,end apogee,CONTROL_FINISHED_OK
$STATE,11188,begin climb
$GC,11189,0.52,145.9,1003.6,0.0,647,11324,0.75,2.58,126.50,1.421,4,0.103,0.070,3172,260,2231,0,0,0,0,0,0
$GC,11447,0.37,145.9,992.1,9.0,655,11452,0.12,2.28,0.00,0.000,6,0.168,0.040,3139,1631,2227,0,0,0,0,0,0
$GC,11782,0.30,158.0,968.3,7.0,666,11797,0.10,0.75,10.38,1.203,4,0.206,0.042,3115,2118,2184,0,0,0,0,0,0
$GC,11883,0.28,195.7,962.1,6.1,669,11922,0.00,0.75,34.75,1.368,6,0.000,0.057,3117,1655,2028,0,0,0,0,0,0
$GC,12252,0.28,246.7,940.1,5.7,681,12301,0.00,0.38,44.97,1.369,4,0.000,0.042,3117,1902,1821,0,0,0,0,0,0
$GC,12368,0.33,324.5,933.9,4.7,684,12443,0.00,0.43,70.45,1.364,6,0.000,0.063,3117,1649,1503,0,0,0,0,0,0
$GC,12780,0.59,352.7,908.9,6.4,698,12811,0.25,0.65,25.12,1.302,4,0.087,0.041,3205,2059,1389,0,0,0,0,0,0
$GC,12838,0.64,352.7,904.3,7.7,699,12843,0.00,0.70,0.00,0.000,6,0.000,0.056,3206,1646,1388,0,0,0,0,0,0
$GC,13151,0.57,352.7,870.9,11.3,710,13154,0.00,1.33,0.00,0.000,4,0.000,0.067,3211,846,1383,0,0,0,0,0,0
$GC,13211,0.50,352.7,863.5,12.0,711,13218,0.10,1.30,0.00,0.000,6,0.158,0.040,3181,1674,1382,0,0,0,0,0,0
$GC,13524,0.50,352.7,832.8,9.9,722,13527,0.00,0.40,0.00,0.000,4,0.000,0.068,3181,1417,1381,0,0,0,0,0,0
$GC,13572,0.50,352.7,827.9,9.8,723,13576,0.00,0.35,0.00,0.000,6,0.000,0.051,3181,1647,1381,0,0,0,0,0,0
$GC,13896,0.50,352.7,796.1,9.7,734,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1648,1381,0,0,0,0,0,0
$GC,14202,0.50,352.7,766.9,9.7,744,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1648,1381,0,0,0,0,0,0
$GC,14508,0.50,352.7,737.4,9.7,754,14509,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1648,1380,0,0,0,0,0,0
$GC,14814,0.50,352.7,708.1,9.6,764,14818,0.00,0.32,0.00,0.000,4,0.000,0.072,3182,1436,1380,0,0,0,0,0,0
$GC,14874,0.50,352.7,702.0,10.8,765,14876,0.00,0.32,0.00,0.000,6,0.000,0.054,3182,1658,1380,0,0,0,0,0,0
$GC,15182,0.50,352.7,670.3,10.7,775,15183,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1658,1380,0,0,0,0,0,0
$GC,15488,0.50,352.7,638.0,10.5,785,15492,0.00,0.40,0.00,0.000,4,0.000,0.070,3183,1393,1379,0,0,0,0,0,0
$GC,15537,0.50,352.7,632.8,9.9,786,15539,0.00,0.40,0.00,0.000,6,0.000,0.052,3183,1657,1380,0,0,0,0,0,0
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$STATE,22584,begin surface coast
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$DATA_FILE_SIZE,76881,1318
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$CFSIZE,2097086464,2082996224
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