version: 66.07.10.p01
glider: 574
mission: 4
dive: 57
start: 10 2 112 10 28 53
data:
$ID,574
$MISSION,4
$DIVE,57
$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,-5587.4702
$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,32
$R_STBD_OVSHOOT,65
$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,36
$GPS1,021012,101853,-4248.550,-850.393,68,0.8,69,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-70.4
$GPS2,021012,102801,-4248.568,-850.377,14,0.8,16,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,0.136
$KALMAN_X,-3897.4,3.5,-834.3,3667.1,317.9
$KALMAN_Y,-2855.2,-157.3,-1448.0,10139.6,2510.9
$MHEAD_RNG_PITCHd_Wd,76.1,21248,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-66.20,0.000,2,0.000,0.000,66,1902,2944,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.1,-1.6,11,127,12.32,2.22,-11.43,0.000,4,0.272,0.068,2823,3273,3423,0,0,0,0,0,0
$GC,294,-0.50,-145.9,25.5,-10.2,44,301,0.08,2.20,0.00,0.000,6,0.135,0.050,2849,1903,3424,0,0,0,0,0,0
$GC,373,-0.48,-145.9,34.2,-11.0,57,378,0.00,0.50,0.00,0.000,4,0.000,0.060,2849,1569,3424,0,0,0,0,0,0
$GC,447,-0.44,-145.9,42.9,-10.5,70,455,0.05,0.47,0.00,0.000,6,0.161,0.045,2864,1892,3425,0,0,0,0,0,0
$GC,686,-0.44,-145.9,58.0,-5.4,111,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1891,3424,0,0,0,0,0,0
$GC,921,-0.44,-145.9,73.2,-7.4,152,928,0.00,0.52,0.00,0.000,4,0.000,0.058,2864,1552,3424,0,0,0,0,0,0
$GC,980,-0.44,-145.9,77.8,-7.7,162,987,0.00,0.50,0.00,0.000,6,0.000,0.045,2864,1894,3424,0,0,0,0,0,0
$GC,1332,-0.44,-145.9,104.8,-7.1,223,1337,0.00,0.40,0.00,0.000,4,0.000,0.051,2862,2188,3424,0,0,0,0,0,0
$GC,1392,-0.47,-145.9,109.3,-7.1,233,1397,0.00,0.45,0.00,0.000,6,0.000,0.054,2862,1886,3424,0,0,0,0,0,0
$GC,1740,-0.47,-145.9,136.3,-6.7,294,1747,0.00,0.28,0.00,0.000,4,0.000,0.069,2862,1682,3424,0,0,0,0,0,0
$GC,1788,-0.47,-145.9,139.3,-6.3,302,1795,0.00,0.30,0.00,0.000,6,0.000,0.050,2861,1908,3424,0,0,0,0,0,0
$GC,2141,-0.47,-145.9,166.7,-7.2,363,2146,0.00,0.52,0.00,0.000,4,0.000,0.057,2860,1557,3424,0,0,0,0,0,0
$GC,2211,-0.47,-145.9,172.3,-8.4,375,2216,0.00,0.47,0.00,0.000,6,0.000,0.044,2858,1894,3424,0,0,0,0,0,0
$GC,2559,-0.47,-145.9,202.3,-9.9,436,2566,0.00,0.28,0.00,0.000,4,0.000,0.063,2858,1700,3424,0,0,0,0,0,0
$GC,2614,-0.47,-145.9,207.0,-8.6,445,2619,0.00,0.25,0.00,0.000,6,0.000,0.054,2858,1891,3425,0,0,0,0,0,0
$GC,2962,-0.47,-145.9,236.8,-8.9,506,2969,0.00,0.95,0.00,0.000,4,0.000,0.057,2858,1292,3424,0,0,0,0,0,0
$GC,3032,-0.47,-145.9,243.0,-9.1,518,3039,0.00,0.90,0.00,0.000,6,0.000,0.038,2857,1889,3425,0,0,0,0,0,0
$GC,3368,-0.47,-145.9,272.1,-8.6,556,3372,0.00,0.80,0.00,0.000,4,0.000,0.045,2853,2436,3425,0,0,0,0,0,0
$GC,3440,-0.50,-145.9,278.2,-8.1,562,3448,0.00,0.82,0.00,0.000,6,0.000,0.047,2853,1902,3426,0,0,0,0,0,0
$GC,3767,-0.50,-145.9,306.3,-8.5,593,3771,0.00,0.43,0.00,0.000,4,0.000,0.060,2853,1603,3426,0,0,0,0,0,0
$GC,3816,-0.50,-145.9,310.7,-8.1,597,3818,0.00,0.45,0.00,0.000,6,0.000,0.042,2852,1915,3425,0,0,0,0,0,0
$GC,4138,-0.50,-145.9,336.7,-8.1,627,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1915,3425,0,0,0,0,0,0
$GC,4457,-0.50,-145.9,361.9,-8.8,657,4461,0.00,1.33,0.00,0.000,4,0.000,0.058,2852,1076,3425,0,0,0,0,0,0
$GC,4536,-0.50,-145.9,368.7,-8.6,664,4540,0.00,1.23,0.00,0.000,6,0.000,0.038,2847,1882,3425,0,0,0,0,0,0
$GC,4868,-0.50,-145.9,395.6,-8.0,695,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1881,3425,0,0,0,0,0,0
$GC,5187,-0.50,-145.9,422.8,-8.6,725,5190,0.00,0.68,0.00,0.000,4,0.000,0.046,2843,2351,3425,0,0,0,0,0,0
$GC,5258,-0.50,-145.9,429.0,-8.3,731,5264,0.00,0.70,0.00,0.000,6,0.000,0.048,2843,1895,3425,0,0,0,0,0,0
$GC,5583,-0.50,-145.9,457.1,-8.9,762,5587,0.00,0.68,0.00,0.000,4,0.000,0.058,2844,1448,3424,0,0,0,0,0,0
$GC,5641,-0.50,-145.9,462.2,-9.2,767,5645,0.00,0.68,0.00,0.000,6,0.000,0.041,2841,1906,3424,0,0,0,0,0,0
$GC,5972,-0.50,-145.9,492.4,-9.0,798,5976,0.00,0.40,0.00,0.000,4,0.000,0.060,2840,1635,3424,0,0,0,0,0,0
$GC,6021,-0.50,-145.9,497.1,-8.6,802,6029,0.00,0.40,0.00,0.000,6,0.000,0.045,2839,1912,3424,0,0,0,0,0,0
$GC,6336,-0.48,-145.9,525.8,-9.3,815,6341,0.08,0.43,0.00,0.000,4,0.197,0.057,2856,1632,3423,0,0,0,0,0,0
$GC,6380,-0.50,-145.9,529.8,-8.2,816,6384,0.00,0.40,0.00,0.000,6,0.000,0.045,2855,1911,3423,0,0,0,0,0,0
$GC,6709,-0.53,-145.9,555.7,-7.8,827,6713,0.00,0.73,0.00,0.000,4,0.000,0.054,2855,1439,3423,0,0,0,0,0,0
$GC,6777,-0.56,-145.9,561.2,-8.2,829,6781,0.03,0.65,0.00,0.000,6,0.105,0.041,2826,1886,3422,0,0,0,0,0,0
$GC,7116,-0.51,-145.9,595.6,-10.3,840,7121,0.08,0.75,0.00,0.000,4,0.190,0.044,2841,2405,3422,0,0,0,0,0,0
$GC,7193,-0.51,-145.9,602.3,-8.0,842,7197,0.00,0.77,0.00,0.000,6,0.000,0.046,2841,1898,3422,0,0,0,0,0,0
$GC,7522,-0.51,-145.9,628.9,-8.2,853,7526,0.00,0.45,0.00,0.000,4,0.000,0.057,2841,1583,3421,0,0,0,0,0,0
$GC,7582,-0.51,-145.9,634.3,-8.4,854,7587,0.00,0.47,0.00,0.000,6,0.000,0.042,2839,1909,3421,0,0,0,0,0,0
$GC,7894,-0.51,-145.9,660.8,-8.6,865,7898,0.00,0.68,0.00,0.000,4,0.000,0.053,2839,1469,3421,0,0,0,0,0,0
$GC,7961,-0.51,-145.9,666.8,-8.4,867,7965,0.00,0.62,0.00,0.000,6,0.000,0.041,2836,1896,3420,0,0,0,0,0,0
$GC,8301,-0.51,-145.9,700.0,-9.8,878,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1896,3420,0,0,0,0,0,0
$GC,8607,-0.51,-145.9,730.4,-9.8,888,8611,0.00,0.25,0.00,0.000,4,0.000,0.057,2835,2100,3419,0,0,0,0,0,0
$GC,8661,-0.51,-145.9,735.8,-10.1,889,8663,0.00,0.30,0.00,0.000,6,0.000,0.058,2835,1897,3419,0,0,0,0,0,0
$GC,8975,-0.51,-145.9,764.8,-9.1,900,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1897,3418,0,0,0,0,0,0
$GC,9281,-0.51,-145.9,792.2,-8.8,910,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1896,3417,0,0,0,0,0,0
$GC,9587,-0.51,-145.9,820.2,-9.1,920,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1896,3416,0,0,0,0,0,0
$GC,9894,-0.51,-145.9,847.9,-8.8,930,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1896,3416,0,0,0,0,0,0
$GC,10200,-0.51,-145.9,873.8,-8.2,940,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1896,3415,0,0,0,0,0,0
$GC,10506,-0.51,-145.9,898.7,-7.8,950,10510,0.00,0.28,0.00,0.000,4,0.000,0.067,2835,1691,3415,0,0,0,0,0,0
$GC,10560,-0.51,-145.9,903.1,-7.8,951,10562,0.00,0.30,0.00,0.000,6,0.000,0.052,2834,1901,3414,0,0,0,0,0,0
$GC,10875,-0.51,-145.9,926.5,-7.3,962,10878,0.00,0.95,0.00,0.000,4,0.000,0.055,2834,1296,3414,0,0,0,0,0,0
$GC,10951,-0.51,-145.9,932.1,-7.0,964,10957,0.08,0.93,0.00,0.000,6,0.199,0.038,2847,1897,3414,0,0,0,0,0,0
$GC,11282,-0.54,-145.9,951.0,-5.8,975,11283,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1897,3414,0,0,0,0,0,0
$GC,11588,-0.57,-145.9,971.1,-6.9,985,11590,0.05,0.00,0.00,0.000,6,0.178,0.000,2829,1904,3414,0,0,0,0,0,0
$GC,11893,-0.57,-145.9,998.2,-9.0,995,11897,0.00,0.50,0.00,0.000,4,0.000,0.056,2828,1566,3413,0,0,0,0,0,0
$STATE,11915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11915,begin apogee
$GC,11919,-0.19,0.0,1000.3,9.8,995,12043,0.38,0.00,121.05,1.455,6,0.141,0.000,2947,1637,2826,0,0,0,0,0,0
$STATE,12044,end apogee,CONTROL_FINISHED_OK
$STATE,12044,begin climb
$GC,12045,0.52,145.9,1005.1,0.0,999,12181,0.70,2.05,126.50,1.442,4,0.093,0.063,3173,516,2231,0,0,0,0,0,0
$GC,12259,0.37,168.4,1002.6,6.6,1005,12285,0.12,1.83,20.75,1.343,6,0.166,0.037,3140,1624,2140,0,0,0,0,0,0
$GC,12598,0.32,220.0,983.4,5.6,1017,12648,0.10,1.30,45.03,1.390,4,0.194,0.041,3116,2434,1932,0,0,0,0,0,0
$GC,12709,0.35,288.4,977.7,5.1,1020,12776,0.00,1.30,62.17,1.392,6,0.000,0.049,3118,1649,1651,0,0,0,0,0,0
$GC,13089,0.43,326.6,956.3,6.1,1033,13128,0.10,0.38,33.97,1.358,4,0.109,0.047,3156,1884,1495,0,0,0,0,0,0
$GC,13173,0.46,326.6,949.3,8.2,1035,13177,0.00,0.45,0.00,0.000,6,0.000,0.060,3157,1620,1491,0,0,0,0,0,0
$GC,13491,0.49,326.6,920.7,9.3,1046,13494,0.00,0.55,0.00,0.000,4,0.000,0.067,3156,1274,1488,0,0,0,0,0,0
$GC,13558,0.52,326.6,914.3,10.2,1048,13563,0.03,0.52,0.00,0.000,6,0.107,0.047,3176,1625,1488,0,0,0,0,0,0
$GC,13898,0.52,326.6,877.2,11.3,1059,13902,0.00,1.15,0.00,0.000,4,0.000,0.067,3179,925,1487,0,0,0,0,0,0
$GC,13969,0.52,326.6,869.0,11.7,1061,13974,0.00,1.12,0.00,0.000,6,0.000,0.040,3179,1637,1486,0,0,0,0,0,0
$GC,14304,0.52,326.6,832.0,11.2,1072,14308,0.00,1.00,0.00,0.000,4,0.000,0.066,3179,1030,1486,0,0,0,0,0,0
$GC,14381,0.50,326.6,823.7,10.1,1074,14386,0.00,0.95,0.00,0.000,6,0.000,0.041,3179,1635,1485,0,0,0,0,0,0
$GC,14711,0.50,326.6,788.9,10.3,1085,14714,0.00,1.15,0.00,0.000,4,0.000,0.066,3180,936,1485,0,0,0,0,0,0
$GC,14782,0.50,326.6,781.5,10.2,1087,14786,0.00,1.10,0.00,0.000,6,0.000,0.039,3180,1638,1485,0,0,0,0,0,0
$GC,15117,0.50,326.6,747.5,10.3,1098,15121,0.00,0.98,0.00,0.000,4,0.000,0.065,3181,1040,1484,0,0,0,0,0,0
$GC,15194,0.50,326.6,739.7,9.1,1100,15198,0.00,0.93,0.00,0.000,6,0.000,0.041,3180,1633,1484,0,0,0,0,0,0
$GC,15523,0.50,326.6,708.5,9.5,1111,15527,0.00,0.75,0.00,0.000,4,0.000,0.067,3181,1170,1484,0,0,0,0,0,0
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$STATE,23504,end climb,SURFACE_DEPTH_REACHED
$STATE,23504,begin surface coast
$FINISH,1.3,1.005538
$STATE,23535,end surface coast,CONTROL_FINISHED_OK
$STATE,23535,begin surface
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$10V_AH,10.3,15.414
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$FG_AHR_10Vo,0.000
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$MEM,354736
$DATA_FILE_SIZE,116661,1940
$CAP_FILE_SIZE,229511,0
$CFSIZE,2097086464,2085257216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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