version: 66.07.10.p01
glider: 574
mission: 4
dive: 51
start: 9 30 112 18 8 33
data:
$ID,574
$MISSION,4
$DIVE,51
$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,-5568.2046
$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,57
$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,30
$GPS1,300912,175853,-4257.781,-846.970,83,1.0,84,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-70.3
$GPS2,300912,180812,-4257.769,-847.022,18,1.1,19,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$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,37.6,34269,-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,23,-0.52,-145.9,0.0,0.0,0,86,0.00,0.00,-60.28,0.000,2,0.000,0.000,67,1897,2932,0,0,0,0,0,0
$GC,88,-0.52,-145.9,3.3,-2.4,10,120,12.70,2.25,-11.27,0.000,4,0.282,0.070,2824,3276,3423,0,0,0,0,0,0
$GC,135,0.07,-145.9,11.3,-16.7,17,142,0.65,2.22,0.00,0.000,6,0.124,0.052,3028,1908,3423,0,0,0,0,0,0
$GC,215,-0.36,-145.9,17.9,-8.9,30,223,0.38,2.22,0.00,0.000,4,0.084,0.050,2893,3285,3423,0,0,0,0,0,0
$GC,484,-0.69,-145.9,42.9,-8.5,76,492,0.28,2.20,0.00,0.000,6,0.101,0.047,2796,1901,3424,0,0,0,0,0,0
$GC,724,-0.53,-145.9,74.1,-15.7,117,729,0.15,0.22,0.00,0.000,4,0.160,0.057,2836,2075,3423,0,0,0,0,0,0
$GC,798,-0.48,-145.9,83.7,-11.5,130,806,0.05,0.28,0.00,0.000,6,0.158,0.063,2852,1887,3423,0,0,0,0,0,0
$GC,1152,-0.48,-145.9,115.1,-8.0,191,1157,0.00,0.35,0.00,0.000,4,0.000,0.065,2853,1645,3423,0,0,0,0,0,0
$GC,1222,-0.48,-145.9,120.4,-7.7,203,1227,0.00,0.35,0.00,0.000,6,0.000,0.047,2852,1901,3424,0,0,0,0,0,0
$GC,1571,-0.48,-145.9,146.1,-7.3,264,1578,0.00,0.80,0.00,0.000,4,0.000,0.058,2852,1401,3423,0,0,0,0,0,0
$GC,1626,-0.48,-145.9,149.9,-7.1,273,1631,0.00,0.73,0.00,0.000,6,0.000,0.040,2850,1887,3423,0,0,0,0,0,0
$GC,1975,-0.48,-145.9,179.2,-8.8,334,1982,0.00,0.60,0.00,0.000,4,0.000,0.057,2850,1501,3423,0,0,0,0,0,0
$GC,2022,-0.48,-145.9,183.7,-9.4,342,2029,0.00,0.57,0.00,0.000,6,0.000,0.041,2848,1899,3423,0,0,0,0,0,0
$GC,2375,-0.48,-145.9,217.0,-8.9,403,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1899,3423,0,0,0,0,0,0
$GC,2723,-0.48,-145.9,248.2,-8.5,464,2730,0.00,1.55,0.00,0.000,4,0.000,0.061,2848,937,3424,0,0,0,0,0,0
$GC,2785,-0.48,-145.9,253.6,-8.6,471,2792,0.00,1.50,0.00,0.000,6,0.000,0.037,2843,1902,3423,0,0,0,0,0,0
$GC,3111,-0.46,-145.9,281.5,-8.5,502,3115,0.08,0.40,0.00,0.000,4,0.197,0.050,2860,2198,3424,0,0,0,0,0,0
$GC,3156,-0.49,-145.9,284.8,-6.5,506,3160,0.00,0.45,0.00,0.000,6,0.000,0.054,2860,1891,3424,0,0,0,0,0,0
$GC,3488,-0.51,-145.9,310.1,-8.3,537,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1891,3424,0,0,0,0,0,0
$GC,3807,-0.54,-145.9,337.7,-9.2,567,3811,0.08,0.65,0.00,0.000,4,0.131,0.060,2825,1471,3424,0,0,0,0,0,0
$GC,3877,-0.48,-145.9,345.8,-12.1,573,3881,0.08,0.65,0.00,0.000,6,0.150,0.040,2847,1917,3424,0,0,0,0,0,0
$GC,4206,-0.48,-145.9,377.6,-9.1,604,4210,0.00,1.10,0.00,0.000,4,0.000,0.057,2847,1221,3423,0,0,0,0,0,0
$GC,4266,-0.48,-145.9,382.8,-9.0,609,4269,0.00,1.00,0.00,0.000,6,0.000,0.037,2845,1887,3424,0,0,0,0,0,0
$GC,4595,-0.48,-145.9,416.1,-10.1,640,4599,0.00,0.85,0.00,0.000,4,0.000,0.056,2844,1344,3424,0,0,0,0,0,0
$GC,4654,-0.48,-145.9,421.7,-9.8,645,4657,0.00,0.82,0.00,0.000,6,0.000,0.038,2841,1900,3424,0,0,0,0,0,0
$GC,4985,-0.48,-145.9,455.7,-9.4,676,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1900,3423,0,0,0,0,0,0
$GC,5304,-0.48,-145.9,483.8,-8.7,706,5307,0.00,0.75,0.00,0.000,4,0.000,0.056,2841,1412,3423,0,0,0,0,0,0
$GC,5362,-0.48,-145.9,489.1,-9.1,711,5366,0.03,0.73,0.00,0.000,6,0.175,0.038,2848,1906,3423,0,0,0,0,0,0
$GC,5684,-0.48,-145.9,516.7,-8.7,730,5687,0.00,0.93,0.00,0.000,4,0.000,0.055,2849,1318,3423,0,0,0,0,0,0
$GC,5738,-0.48,-145.9,521.8,-9.3,731,5742,0.00,0.90,0.00,0.000,6,0.000,0.036,2846,1913,3423,0,0,0,0,0,0
$GC,6056,-0.48,-145.9,549.6,-9.0,742,6059,0.00,1.08,0.00,0.000,4,0.000,0.055,2846,1230,3423,0,0,0,0,0,0
$GC,6115,-0.48,-145.9,555.0,-8.6,743,6122,0.00,1.02,0.00,0.000,6,0.000,0.036,2844,1903,3423,0,0,0,0,0,0
$GC,6428,-0.48,-145.9,583.7,-9.3,754,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1903,3422,0,0,0,0,0,0
$GC,6734,-0.48,-145.9,610.8,-8.6,764,6738,0.00,1.40,0.00,0.000,4,0.000,0.055,2843,1019,3422,0,0,0,0,0,0
$GC,6802,-0.48,-145.9,616.3,-7.8,766,6806,0.03,1.33,0.00,0.000,6,0.184,0.035,2848,1892,3421,0,0,0,0,0,0
$GC,7142,-0.51,-145.9,640.8,-7.2,777,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1892,3421,0,0,0,0,0,0
$GC,7448,-0.54,-145.9,662.7,-7.3,787,7451,0.00,0.98,0.00,0.000,4,0.000,0.055,2848,1269,3420,0,0,0,0,0,0
$GC,7508,-0.56,-145.9,667.5,-7.6,788,7514,0.00,0.98,0.00,0.000,6,0.000,0.037,2846,1909,3420,0,0,0,0,0,0
$GC,7821,-0.58,-145.9,691.1,-7.7,799,7825,0.05,0.95,0.00,0.000,4,0.173,0.054,2820,1310,3419,0,0,0,0,0,0
$GC,7876,-0.54,-145.9,696.2,-9.7,800,7881,0.08,0.90,0.00,0.000,6,0.199,0.036,2834,1903,3419,0,0,0,0,0,0
$GC,8194,-0.54,-145.9,722.4,-8.3,811,8198,0.00,0.47,0.00,0.000,4,0.000,0.056,2835,1584,3418,0,0,0,0,0,0
$GC,8242,-0.54,-145.9,726.6,-8.9,812,8247,0.00,0.47,0.00,0.000,6,0.000,0.042,2834,1910,3418,0,0,0,0,0,0
$GC,8566,-0.54,-145.9,756.0,-9.3,823,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1910,3416,0,0,0,0,0,0
$GC,8872,-0.54,-145.9,784.4,-9.3,833,8876,0.00,1.67,0.00,0.000,4,0.000,0.056,2834,857,3416,0,0,0,0,0,0
$GC,8931,-0.54,-145.9,790.5,-9.4,834,8938,0.00,1.60,0.00,0.000,6,0.000,0.034,2828,1892,3416,0,0,0,0,0,0
$GC,9244,-0.54,-145.9,822.7,-10.6,845,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1892,3415,0,0,0,0,0,0
$GC,9550,-0.54,-145.9,855.9,-10.8,855,9554,0.00,0.47,0.00,0.000,4,0.000,0.054,2829,1573,3415,0,0,0,0,0,0
$GC,9599,-0.54,-145.9,861.3,-11.1,856,9603,0.00,0.50,0.00,0.000,6,0.000,0.041,2826,1916,3415,0,0,0,0,0,0
$GC,9922,-0.54,-145.9,894.2,-10.0,867,9926,0.00,0.70,0.00,0.000,4,0.000,0.052,2826,1460,3414,0,0,0,0,0,0
$GC,9971,-0.54,-145.9,899.2,-10.5,868,9975,0.00,0.65,0.00,0.000,6,0.000,0.039,2824,1896,3414,0,0,0,0,0,0
$GC,10294,-0.54,-145.9,932.0,-10.4,879,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1896,3414,0,0,0,0,0,0
$GC,10601,-0.54,-145.9,962.5,-9.8,889,10604,0.00,1.10,0.00,0.000,4,0.000,0.054,2824,1194,3413,0,0,0,0,0,0
$GC,10660,-0.54,-145.9,968.6,-9.2,890,10667,0.05,1.08,0.00,0.000,6,0.239,0.036,2832,1900,3413,0,0,0,0,0,0
$GC,10973,-0.54,-145.9,997.3,-9.1,901,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1899,3413,0,0,0,0,0,0
$STATE,11034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11034,begin apogee
$GC,11038,-0.19,0.0,1002.6,9.0,903,11162,0.38,0.00,120.78,1.440,6,0.142,0.000,2947,1625,2828,0,0,0,0,0,0
$STATE,11163,end apogee,CONTROL_FINISHED_OK
$STATE,11163,begin climb
$GC,11164,0.52,145.9,1008.4,0.0,907,11299,0.70,1.90,126.45,1.426,4,0.090,0.062,3180,573,2231,0,0,0,0,0,0
$GC,11377,0.36,145.9,1004.4,7.7,913,11383,0.15,1.70,0.00,0.000,6,0.166,0.034,3137,1623,2227,0,0,0,0,0,0
$GC,11690,0.30,186.3,985.5,6.0,924,11731,0.10,1.67,35.15,1.352,4,0.201,0.041,3114,2660,2066,0,0,0,0,0,0
$GC,11797,0.30,209.3,979.4,6.6,927,11823,0.00,1.67,21.45,1.326,6,0.000,0.045,3118,1642,1972,0,0,0,0,0,0
$GC,12153,0.32,243.6,956.4,6.2,939,12187,0.00,0.57,30.33,1.335,4,0.000,0.057,3118,1291,1833,0,0,0,0,0,0
$GC,12243,0.38,260.3,950.7,6.8,941,12263,0.00,0.52,15.88,1.281,6,0.000,0.040,3118,1638,1764,0,0,0,0,0,0
$GC,12587,0.44,303.3,930.3,5.9,953,12632,0.12,0.70,38.67,1.346,4,0.096,0.062,3166,1237,1590,0,0,0,0,0,0
$GC,12698,0.44,303.3,921.1,8.3,956,12702,0.00,0.60,0.00,0.000,6,0.000,0.039,3166,1627,1586,0,0,0,0,0,0
$GC,13021,0.44,303.3,893.5,8.6,967,13025,0.00,1.65,0.00,0.000,4,0.000,0.065,3167,605,1583,0,0,0,0,0,0
$GC,13092,0.44,303.3,887.1,9.2,969,13098,0.00,1.60,0.00,0.000,6,0.000,0.035,3167,1619,1581,0,0,0,0,0,0
$GC,13428,0.44,303.3,858.9,8.4,980,13431,0.00,1.42,0.00,0.000,4,0.000,0.063,3169,755,1581,0,0,0,0,0,0
$GC,13495,0.44,303.3,853.1,8.6,982,13498,0.00,1.35,0.00,0.000,6,0.000,0.036,3169,1631,1581,0,0,0,0,0,0
$GC,13834,0.44,303.3,824.2,8.4,993,13838,0.00,0.90,0.00,0.000,4,0.000,0.063,3170,1081,1581,0,0,0,0,0,0
$GC,13905,0.44,303.3,817.7,9.2,995,13910,0.00,0.85,0.00,0.000,6,0.000,0.037,3170,1638,1580,0,0,0,0,0,0
$GC,14240,0.44,303.3,788.7,8.5,1006,14244,0.00,1.58,0.00,0.000,4,0.000,0.065,3171,676,1581,0,0,0,0,0,0
$GC,14311,0.44,303.3,782.3,9.2,1008,14317,0.05,1.48,0.00,0.000,6,0.218,0.036,3161,1626,1580,0,0,0,0,0,0
$GC,14646,0.44,303.3,755.4,8.2,1019,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1632,1581,0,0,0,0,0,0
$GC,14953,0.44,303.3,729.6,8.6,1029,14956,0.00,0.47,0.00,0.000,4,0.000,0.064,3161,1325,1580,0,0,0,0,0,0
$GC,15012,0.44,303.3,724.5,8.5,1030,15015,0.00,0.45,0.00,0.000,6,0.000,0.044,3161,1639,1580,0,0,0,0,0,0
$GC,15320,0.44,303.3,696.9,9.4,1040,15324,0.00,1.00,0.00,0.000,4,0.000,0.063,3161,1014,1580,0,0,0,0,0,0
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$STATE,22371,end climb,SURFACE_DEPTH_REACHED
$STATE,22371,begin surface coast
$FINISH,1.3,1.014293
$STATE,22403,end surface coast,CONTROL_FINISHED_OK
$STATE,22403,begin surface
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$HUMID,44.68
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$TCM_TEMP,13.00
$XPDR_PINGS,0
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$10V_AH,10.3,14.151
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354748
$DATA_FILE_SIZE,103440,1743
$CAP_FILE_SIZE,223883,0
$CFSIZE,2097086464,2086273024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,011012,002423,-4256.175,-847.937,40,1.2,41,-21.4