version: 66.07.10.p01
glider: 574
mission: 4
dive: 75
start: 10 7 112 8 43 48
data:
$ID,574
$MISSION,4
$DIVE,75
$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,-5645.6899
$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,36
$R_STBD_OVSHOOT,55
$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,54
$GPS1,071012,083529,-4317.592,-823.909,40,1.0,41,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-74.8
$GPS2,071012,084254,-4317.587,-824.002,16,2.0,17,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.143,-0.186
$KALMAN_X,-41497.3,-42.1,-21.5,76266.7,-3324.9
$KALMAN_Y,-8806.5,12.4,267.8,-39573.3,943.7
$MHEAD_RNG_PITCHd_Wd,163.8,41853,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,75,0.00,0.00,-48.70,0.000,2,0.000,0.000,70,1933,2585,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.1,-1.3,8,127,12.85,2.22,-26.98,0.000,4,0.285,0.068,2826,3301,3423,0,0,0,0,0,0
$GC,253,-0.52,-145.9,18.2,-9.7,37,261,0.03,2.22,0.00,0.000,6,0.170,0.051,2836,1921,3424,0,0,0,0,0,0
$GC,333,-0.48,-145.9,26.3,-10.2,50,341,0.08,0.85,0.00,0.000,4,0.198,0.063,2854,1394,3424,0,0,0,0,0,0
$GC,413,-0.48,-145.9,34.4,-9.6,63,418,0.00,0.77,0.00,0.000,6,0.000,0.044,2852,1894,3424,0,0,0,0,0,0
$GC,647,-0.48,-145.9,56.2,-8.7,104,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1895,3424,0,0,0,0,0,0
$GC,883,-0.48,-145.9,78.1,-9.4,145,888,0.00,0.28,0.00,0.000,4,0.000,0.070,2852,1713,3424,0,0,0,0,0,0
$GC,962,-0.48,-145.9,85.6,-9.3,159,969,0.00,0.30,0.00,0.000,6,0.000,0.055,2852,1924,3424,0,0,0,0,0,0
$GC,1302,-0.48,-145.9,117.0,-9.0,204,1306,0.00,0.82,0.00,0.000,4,0.000,0.060,2852,1408,3424,0,0,0,0,0,0
$GC,1385,-0.48,-145.9,124.7,-9.4,211,1391,0.00,0.80,0.00,0.000,6,0.000,0.044,2849,1919,3424,0,0,0,0,0,0
$GC,1711,-0.48,-145.9,154.2,-9.0,242,1715,0.00,0.45,0.00,0.000,4,0.000,0.063,2850,1629,3424,0,0,0,0,0,0
$GC,1792,-0.48,-145.9,161.5,-8.8,249,1796,0.00,0.43,0.00,0.000,6,0.000,0.049,2850,1923,3424,0,0,0,0,0,0
$GC,2122,-0.48,-145.9,191.8,-9.2,280,2125,0.00,0.70,0.00,0.000,4,0.000,0.061,2850,1481,3424,0,0,0,0,0,0
$GC,2203,-0.48,-145.9,199.0,-9.2,287,2206,0.00,0.65,0.00,0.000,6,0.000,0.045,2848,1914,3424,0,0,0,0,0,0
$GC,2534,-0.48,-145.9,229.3,-8.9,318,2537,0.00,0.52,0.00,0.000,4,0.000,0.061,2849,1573,3424,0,0,0,0,0,0
$GC,2605,-0.48,-145.9,236.0,-8.5,324,2607,0.00,0.52,0.00,0.000,6,0.000,0.045,2846,1924,3424,0,0,0,0,0,0
$GC,2923,-0.48,-145.9,262.6,-8.2,347,2927,0.00,0.62,0.00,0.000,4,0.000,0.060,2846,1521,3424,0,0,0,0,0,0
$GC,2995,-0.48,-145.9,268.9,-7.7,350,2999,0.00,0.60,0.00,0.000,6,0.000,0.044,2844,1914,3424,0,0,0,0,0,0
$GC,3321,-0.48,-145.9,294.4,-7.7,366,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1914,3424,0,0,0,0,0,0
$GC,3633,-0.48,-145.9,318.1,-7.6,381,3636,0.00,1.08,0.00,0.000,4,0.000,0.061,2844,1248,3425,0,0,0,0,0,0
$GC,3725,-0.48,-145.9,325.0,-7.8,385,3729,0.00,1.00,0.00,0.000,6,0.000,0.041,2840,1902,3424,0,0,0,0,0,0
$GC,4059,-0.48,-145.9,353.6,-9.1,401,4063,0.05,0.25,0.00,0.000,4,0.235,0.061,2850,2094,3425,0,0,0,0,0,0
$GC,4113,-0.50,-145.9,358.8,-8.9,403,4117,0.00,0.30,0.00,0.000,6,0.000,0.062,2850,1899,3424,0,0,0,0,0,0
$GC,4436,-0.50,-145.9,388.4,-9.8,419,4439,0.00,0.80,0.00,0.000,4,0.000,0.060,2850,1375,3425,0,0,0,0,0,0
$GC,4530,-0.52,-145.9,398.4,-10.5,423,4535,0.00,0.85,0.00,0.000,6,0.000,0.041,2848,1927,3425,0,0,0,0,0,0
$GC,4859,-0.52,-145.9,431.5,-10.0,439,4863,0.00,0.30,0.00,0.000,4,0.000,0.065,2848,1716,3425,0,0,0,0,0,0
$GC,4908,-0.52,-145.9,436.8,-10.2,441,4910,0.00,0.30,0.00,0.000,6,0.000,0.052,2847,1929,3425,0,0,0,0,0,0
$GC,5233,-0.52,-145.9,467.8,-9.5,457,5237,0.00,1.40,0.00,0.000,4,0.000,0.060,2847,1049,3425,0,0,0,0,0,0
$GC,5332,-0.52,-145.9,478.0,-9.6,461,5337,0.00,1.33,0.00,0.000,6,0.000,0.038,2842,1902,3425,0,0,0,0,0,0
$GC,5663,-0.52,-145.9,510.8,-9.9,476,5667,0.00,0.88,0.00,0.000,4,0.000,0.046,2838,2493,3424,0,0,0,0,0,0
$GC,5752,-0.55,-145.9,519.6,-9.5,478,5756,0.00,0.93,0.00,0.000,6,0.000,0.049,2838,1906,3424,0,0,0,0,0,0
$GC,6070,-0.55,-145.9,553.7,-10.9,489,6073,0.00,0.38,0.00,0.000,4,0.000,0.063,2838,1637,3424,0,0,0,0,0,0
$GC,6137,-0.55,-145.9,561.1,-10.9,491,6141,0.00,0.40,0.00,0.000,6,0.000,0.049,2838,1916,3424,0,0,0,0,0,0
$GC,6477,-0.55,-145.9,598.3,-10.9,502,6480,0.00,0.38,0.00,0.000,4,0.000,0.062,2838,1659,3424,0,0,0,0,0,0
$GC,6544,-0.55,-145.9,605.3,-9.8,504,6547,0.00,0.35,0.00,0.000,6,0.000,0.051,2838,1907,3424,0,0,0,0,0,0
$GC,6884,-0.55,-145.9,638.6,-9.3,515,6887,0.00,0.28,0.00,0.000,4,0.000,0.067,2838,1709,3423,0,0,0,0,0,0
$GC,6971,-0.55,-145.9,646.7,-9.5,517,6973,0.00,0.30,0.00,0.000,6,0.000,0.054,2838,1914,3423,0,0,0,0,0,0
$GC,7285,-0.55,-145.9,673.6,-8.6,528,7289,0.00,0.45,0.00,0.000,4,0.000,0.061,2838,1610,3422,0,0,0,0,0,0
$GC,7367,-0.55,-145.9,680.6,-8.5,530,7372,0.00,0.45,0.00,0.000,6,0.000,0.048,2838,1912,3421,0,0,0,0,0,0
$GC,7691,-0.55,-145.9,707.6,-8.4,541,7695,0.00,0.28,0.00,0.000,4,0.000,0.066,2837,1713,3421,0,0,0,0,0,0
$GC,7751,-0.55,-145.9,713.0,-8.6,542,7756,0.00,0.30,0.00,0.000,6,0.000,0.054,2837,1919,3421,0,0,0,0,0,0
$GC,8063,-0.55,-145.9,739.7,-8.7,553,8066,0.00,0.65,0.00,0.000,4,0.000,0.060,2837,1497,3420,0,0,0,0,0,0
$GC,8151,-0.55,-145.9,746.7,-7.8,555,8155,0.00,0.65,0.00,0.000,6,0.000,0.045,2837,1917,3420,0,0,0,0,0,0
$GC,8469,-0.55,-145.9,771.0,-7.7,566,8472,0.00,0.62,0.00,0.000,4,0.000,0.049,2833,2359,3419,0,0,0,0,0,0
$GC,8546,-0.55,-145.9,776.9,-7.1,568,8550,0.00,0.70,0.00,0.000,6,0.000,0.052,2834,1910,3419,0,0,0,0,0,0
$GC,8875,-0.55,-145.9,803.0,-8.0,579,8878,0.00,0.40,0.00,0.000,4,0.000,0.064,2834,1632,3419,0,0,0,0,0,0
$GC,8951,-0.55,-145.9,809.4,-8.0,581,8954,0.00,0.43,0.00,0.000,6,0.000,0.050,2832,1918,3418,0,0,0,0,0,0
$GC,9277,-0.55,-145.9,837.5,-9.0,592,9281,0.00,0.47,0.00,0.000,4,0.000,0.060,2832,1606,3417,0,0,0,0,0,0
$GC,9358,-0.55,-145.9,845.3,-9.3,594,9363,0.00,0.47,0.00,0.000,6,0.000,0.049,2830,1920,3417,0,0,0,0,0,0
$GC,9682,-0.55,-145.9,875.5,-9.2,605,9686,0.00,0.73,0.00,0.000,4,0.000,0.057,2830,1457,3416,0,0,0,0,0,0
$GC,9763,-0.55,-145.9,883.5,-9.8,607,9768,0.00,0.70,0.00,0.000,6,0.000,0.045,2828,1910,3416,0,0,0,0,0,0
$GC,10087,-0.55,-145.9,912.3,-8.6,618,10091,0.00,0.62,0.00,0.000,4,0.000,0.050,2825,2341,3416,0,0,0,0,0,0
$GC,10164,-0.55,-145.9,918.7,-9.5,620,10168,0.00,0.68,0.00,0.000,6,0.000,0.052,2825,1908,3416,0,0,0,0,0,0
$GC,10493,-0.55,-145.9,944.7,-7.6,631,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1908,3415,0,0,0,0,0,0
$GC,10800,-0.55,-145.9,968.0,-7.4,641,10804,0.00,0.30,0.00,0.000,4,0.000,0.069,2825,1690,3415,0,0,0,0,0,0
$GC,10877,-0.55,-145.9,973.7,-6.6,643,10881,0.00,0.35,0.00,0.000,6,0.000,0.054,2825,1924,3415,0,0,0,0,0,0
$GC,11206,-0.55,-145.9,997.4,-7.4,654,11209,0.00,0.47,0.00,0.000,4,0.000,0.061,2825,1612,3414,0,0,0,0,0,0
$STATE,11243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11243,begin apogee
$GC,11246,-0.19,0.0,1000.3,7.1,655,11371,0.38,0.00,121.57,1.444,6,0.143,0.000,2943,1612,2827,0,0,0,0,0,0
$STATE,11372,end apogee,CONTROL_FINISHED_OK
$STATE,11372,begin climb
$GC,11373,0.52,145.9,1003.9,0.0,659,11509,0.70,2.50,126.35,1.424,4,0.093,0.070,3172,256,2231,0,0,0,0,0,0
$GC,11609,0.37,145.9,994.3,9.6,666,11614,0.08,2.30,0.00,0.000,6,0.172,0.041,3139,1634,2227,0,0,0,0,0,0
$GC,11932,0.30,145.9,970.0,7.5,677,11937,0.10,0.88,0.00,0.000,4,0.210,0.047,3116,2194,2224,0,0,0,0,0,0
$GC,12101,0.27,163.3,958.4,6.8,682,12121,0.05,0.88,15.15,1.272,6,0.169,0.057,3103,1651,2161,0,0,0,0,0,0
$GC,12440,0.27,212.5,938.0,5.7,693,12489,0.00,0.65,43.80,1.366,4,0.000,0.047,3102,2041,1960,0,0,0,0,0,0
$GC,12546,0.32,266.1,932.0,5.6,696,12600,0.00,0.65,48.35,1.359,6,0.000,0.058,3103,1649,1742,0,0,0,0,0,0
$GC,12936,0.52,326.4,909.1,5.3,709,12996,0.22,0.00,53.45,1.347,6,0.083,0.000,3185,1649,1496,0,0,0,0,0,0
$GC,13303,0.64,355.6,885.0,6.4,721,13337,0.10,2.47,26.75,1.297,4,0.109,0.071,3226,240,1376,0,0,0,0,0,0
$GC,13415,0.57,355.6,873.9,9.6,724,13420,0.08,2.30,0.00,0.000,6,0.159,0.041,3205,1650,1371,0,0,0,0,0,0
$GC,13739,0.51,355.6,841.6,9.8,735,13741,0.10,0.00,0.00,0.000,6,0.200,0.000,3181,1660,1369,0,0,0,0,0,0
$GC,14045,0.51,355.6,817.0,8.1,745,14049,0.00,0.43,0.00,0.000,4,0.000,0.070,3182,1390,1368,0,0,0,0,0,0
$GC,14100,0.51,355.6,812.4,7.6,746,14104,0.00,0.40,0.00,0.000,6,0.000,0.052,3182,1665,1367,0,0,0,0,0,0
$GC,14417,0.51,355.6,784.1,9.2,757,14421,0.00,0.38,0.00,0.000,4,0.000,0.073,3182,1420,1367,0,0,0,0,0,0
$GC,14472,0.51,355.6,778.9,9.2,758,14474,0.00,0.35,0.00,0.000,6,0.000,0.054,3182,1648,1367,0,0,0,0,0,0
$GC,14786,0.51,355.6,747.3,10.4,769,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1648,1366,0,0,0,0,0,0
$GC,15092,0.51,355.6,714.4,10.8,779,15093,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1648,1366,0,0,0,0,0,0
$GC,15398,0.51,355.6,681.6,10.4,789,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1648,1366,0,0,0,0,0,0
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$STATE,22550,end climb,SURFACE_DEPTH_REACHED
$STATE,22550,begin surface coast
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$DATA_FILE_SIZE,76976,1315
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$CFSIZE,2097086464,2082865152
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