version: 66.07.10.p01
glider: 574
mission: 4
dive: 72
start: 10 6 112 12 47 6
data:
$ID,574
$MISSION,4
$DIVE,72
$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,-5635.9492
$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,46
$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,51
$GPS1,061012,123835,-4311.427,-825.856,34,1.1,35,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-73.9
$GPS2,061012,124612,-4311.372,-825.829,14,2.0,14,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.126,-0.198
$KALMAN_X,-32882.3,216.6,-273.7,65157.1,-2821.1
$KALMAN_Y,-11623.5,81.4,-261.2,-24788.2,1539.3
$MHEAD_RNG_PITCHd_Wd,169.0,53591,-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,-145.9,0.0,0.0,0,86,0.00,0.00,-60.17,0.000,2,0.000,0.000,83,1937,2824,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.5,10,121,12.40,1.60,-15.38,0.000,4,0.275,0.070,2834,2921,3423,0,0,0,0,0,0
$GC,199,-0.52,-145.9,15.1,-9.7,28,207,0.00,1.62,0.00,0.000,6,0.000,0.054,2834,1919,3425,0,0,0,0,0,0
$GC,280,-0.47,-145.9,23.8,-11.2,41,287,0.10,0.65,0.00,0.000,4,0.174,0.065,2860,1511,3425,0,0,0,0,0,0
$GC,358,-0.47,-145.9,31.7,-9.3,54,365,0.00,0.60,0.00,0.000,6,0.000,0.046,2859,1902,3425,0,0,0,0,0,0
$GC,596,-0.47,-145.9,52.4,-9.0,95,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1902,3425,0,0,0,0,0,0
$GC,830,-0.47,-145.9,72.7,-8.6,136,835,0.00,0.75,0.00,0.000,4,0.000,0.061,2859,1432,3425,0,0,0,0,0,0
$GC,903,-0.47,-145.9,79.1,-8.5,149,908,0.00,0.75,0.00,0.000,6,0.000,0.045,2858,1918,3425,0,0,0,0,0,0
$GC,1249,-0.47,-145.9,109.0,-9.1,202,1253,0.00,0.82,0.00,0.000,4,0.000,0.060,2858,1397,3425,0,0,0,0,0,0
$GC,1330,-0.47,-145.9,116.3,-9.0,209,1333,0.00,0.80,0.00,0.000,6,0.000,0.044,2856,1919,3425,0,0,0,0,0,0
$GC,1659,-0.47,-145.9,145.7,-8.8,240,1663,0.00,0.55,0.00,0.000,4,0.000,0.061,2856,1561,3425,0,0,0,0,0,0
$GC,1727,-0.47,-145.9,151.7,-8.9,246,1731,0.00,0.52,0.00,0.000,6,0.000,0.046,2853,1919,3425,0,0,0,0,0,0
$GC,2059,-0.47,-145.9,178.9,-8.5,277,2063,0.00,0.43,0.00,0.000,4,0.000,0.062,2853,1641,3425,0,0,0,0,0,0
$GC,2128,-0.47,-145.9,184.8,-8.5,283,2132,0.00,0.40,0.00,0.000,6,0.000,0.048,2852,1920,3425,0,0,0,0,0,0
$GC,2458,-0.47,-145.9,210.9,-7.4,314,2462,0.00,0.85,0.00,0.000,4,0.000,0.060,2852,1388,3425,0,0,0,0,0,0
$GC,2540,-0.47,-145.9,216.7,-7.3,321,2543,0.00,0.80,0.00,0.000,6,0.000,0.043,2850,1913,3425,0,0,0,0,0,0
$GC,2871,-0.47,-145.9,242.9,-7.9,352,2874,0.00,0.38,0.00,0.000,4,0.000,0.063,2849,1661,3425,0,0,0,0,0,0
$GC,2952,-0.47,-145.9,249.2,-7.8,359,2955,0.00,0.38,0.00,0.000,6,0.000,0.049,2848,1925,3425,0,0,0,0,0,0
$GC,3274,-0.47,-145.9,275.9,-8.8,375,3278,0.00,0.40,0.00,0.000,4,0.000,0.062,2848,1660,3425,0,0,0,0,0,0
$GC,3341,-0.47,-145.9,281.6,-8.1,378,3345,0.00,0.35,0.00,0.000,6,0.000,0.049,2847,1915,3425,0,0,0,0,0,0
$GC,3673,-0.47,-145.9,306.0,-7.1,394,3677,0.00,0.75,0.00,0.000,4,0.000,0.058,2847,1439,3426,0,0,0,0,0,0
$GC,3751,-0.47,-145.9,311.6,-7.3,397,3756,0.05,0.73,0.00,0.000,6,0.223,0.041,2856,1912,3426,0,0,0,0,0,0
$GC,4075,-0.50,-145.9,333.7,-7.1,413,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1912,3426,0,0,0,0,0,0
$GC,4382,-0.53,-145.9,356.7,-7.3,428,4386,0.00,0.62,0.00,0.000,4,0.000,0.059,2856,1511,3426,0,0,0,0,0,0
$GC,4465,-0.56,-145.9,363.0,-7.4,431,4471,0.08,0.62,0.00,0.000,6,0.127,0.042,2821,1923,3426,0,0,0,0,0,0
$GC,4783,-0.50,-145.9,396.5,-11.1,447,4788,0.10,0.50,0.00,0.000,4,0.173,0.061,2847,1600,3426,0,0,0,0,0,0
$GC,4850,-0.50,-145.9,403.1,-8.8,450,4853,0.00,0.45,0.00,0.000,6,0.000,0.046,2845,1912,3426,0,0,0,0,0,0
$GC,5182,-0.50,-145.9,432.8,-8.9,466,5185,0.00,0.47,0.00,0.000,4,0.000,0.060,2845,1600,3426,0,0,0,0,0,0
$GC,5251,-0.50,-145.9,439.0,-8.8,469,5255,0.00,0.45,0.00,0.000,6,0.000,0.047,2844,1911,3426,0,0,0,0,0,0
$GC,5585,-0.50,-145.9,471.6,-10.0,485,5589,0.00,0.93,0.00,0.000,4,0.000,0.060,2844,1331,3426,0,0,0,0,0,0
$GC,5667,-0.50,-145.9,480.3,-9.9,488,5675,0.00,0.90,0.00,0.000,6,0.000,0.040,2841,1915,3426,0,0,0,0,0,0
$GC,6002,-0.50,-145.9,514.1,-10.4,503,6006,0.00,0.52,0.00,0.000,4,0.000,0.060,2842,1573,3425,0,0,0,0,0,0
$GC,6073,-0.50,-145.9,521.7,-9.6,505,6075,0.00,0.52,0.00,0.000,6,0.000,0.044,2839,1926,3425,0,0,0,0,0,0
$GC,6404,-0.50,-145.9,555.3,-10.4,516,6408,0.00,0.45,0.00,0.000,4,0.000,0.060,2839,1627,3425,0,0,0,0,0,0
$GC,6471,-0.50,-145.9,562.3,-10.1,518,6475,0.00,0.40,0.00,0.000,6,0.000,0.047,2838,1909,3424,0,0,0,0,0,0
$GC,6811,-0.50,-145.9,598.9,-10.9,529,6815,0.00,0.32,0.00,0.000,4,0.000,0.063,2838,1687,3424,0,0,0,0,0,0
$GC,6893,-0.50,-145.9,608.4,-11.5,531,6895,0.00,0.35,0.00,0.000,6,0.000,0.050,2838,1928,3424,0,0,0,0,0,0
$GC,7213,-0.50,-145.9,641.9,-10.2,542,7217,0.00,0.95,0.00,0.000,4,0.000,0.058,2838,1331,3424,0,0,0,0,0,0
$GC,7300,-0.50,-145.9,650.9,-10.1,544,7305,0.00,0.90,0.00,0.000,6,0.000,0.041,2835,1912,3423,0,0,0,0,0,0
$GC,7618,-0.50,-145.9,682.1,-10.1,555,7622,0.00,0.32,0.00,0.000,4,0.000,0.064,2835,1690,3422,0,0,0,0,0,0
$GC,7686,-0.50,-145.9,688.8,-9.7,557,7689,0.00,0.32,0.00,0.000,6,0.000,0.050,2833,1927,3422,0,0,0,0,0,0
$GC,8025,-0.50,-145.9,720.7,-9.4,568,8030,0.05,0.88,0.00,0.000,4,0.233,0.057,2846,1381,3422,0,0,0,0,0,0
$GC,8107,-0.53,-145.9,728.0,-8.4,570,8112,0.00,0.82,0.00,0.000,6,0.000,0.040,2844,1918,3422,0,0,0,0,0,0
$GC,8432,-0.56,-145.9,754.9,-8.1,581,8435,0.00,0.30,0.00,0.000,4,0.000,0.065,2844,1709,3422,0,0,0,0,0,0
$GC,8499,-0.58,-145.9,760.3,-7.5,583,8503,0.03,0.28,0.00,0.000,6,0.107,0.056,2821,1917,3422,0,0,0,0,0,0
$GC,8839,-0.55,-145.9,793.7,-10.1,594,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1917,3421,0,0,0,0,0,0
$GC,9145,-0.51,-145.9,824.9,-10.1,604,9149,0.10,1.75,0.00,0.000,4,0.182,0.060,2846,831,3420,0,0,0,0,0,0
$GC,9233,-0.55,-145.9,832.3,-8.2,606,9237,0.00,1.65,0.00,0.000,6,0.000,0.041,2842,1890,3420,0,0,0,0,0,0
$GC,9552,-0.57,-145.9,855.9,-7.2,617,9556,0.00,0.40,0.00,0.000,4,0.000,0.052,2840,2186,3419,0,0,0,0,0,0
$GC,9623,-0.61,-145.9,861.1,-7.0,619,9628,0.08,0.45,0.00,0.000,6,0.137,0.058,2812,1896,3419,0,0,0,0,0,0
$GC,9958,-0.55,-145.9,894.3,-10.5,630,9963,0.08,0.60,0.00,0.000,4,0.197,0.061,2829,1513,3419,0,0,0,0,0,0
$GC,10045,-0.55,-145.9,903.1,-9.6,632,10050,0.00,0.62,0.00,0.000,6,0.000,0.045,2827,1925,3419,0,0,0,0,0,0
$GC,10363,-0.55,-145.9,933.6,-10.1,643,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1925,3417,0,0,0,0,0,0
$GC,10670,-0.55,-145.9,963.6,-9.7,653,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1925,3417,0,0,0,0,0,0
$GC,10976,-0.55,-145.9,991.9,-9.3,663,10980,0.00,0.38,0.00,0.000,4,0.000,0.063,2827,1673,3416,0,0,0,0,0,0
$GC,11052,-0.55,-145.9,999.4,-8.5,665,11054,0.00,0.38,0.00,0.000,6,0.000,0.051,2826,1928,3416,0,0,0,0,0,0
$STATE,11067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11067,begin apogee
$GC,11071,-0.19,0.0,1000.5,9.1,665,11196,0.38,0.00,122.32,1.476,6,0.139,0.000,2945,1655,2827,0,0,0,0,0,0
$STATE,11197,end apogee,CONTROL_FINISHED_OK
$STATE,11197,begin climb
$GC,11198,0.52,145.9,1006.7,0.0,670,11334,0.70,2.08,126.97,1.457,4,0.088,0.069,3174,523,2231,0,0,0,0,0,0
$GC,11420,0.37,158.6,1002.1,7.0,677,11439,0.15,1.83,12.20,1.278,6,0.177,0.041,3140,1642,2180,0,0,0,0,0,0
$GC,11758,0.31,192.4,981.1,6.3,688,11793,0.10,1.45,30.58,1.380,4,0.200,0.044,3116,2536,2041,0,0,0,0,0,0
$GC,11876,0.31,219.4,973.7,6.5,691,11907,0.00,1.48,24.45,1.376,6,0.000,0.053,3118,1658,1932,0,0,0,0,0,0
$GC,12220,0.34,262.3,953.5,5.9,703,12264,0.00,0.88,38.38,1.412,4,0.000,0.047,3118,2178,1757,0,0,0,0,0,0
$GC,12323,0.38,282.6,946.9,6.7,706,12348,0.00,0.88,19.02,1.356,6,0.000,0.057,3118,1653,1675,0,0,0,0,0,0
$GC,12655,0.46,308.6,925.1,6.5,717,12684,0.12,0.00,24.17,1.362,6,0.097,0.000,3166,1653,1568,0,0,0,0,0,0
$GC,12990,0.46,308.6,895.0,8.9,728,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1653,1563,0,0,0,0,0,0
$GC,13297,0.46,308.6,868.6,8.6,738,13301,0.00,0.43,0.00,0.000,4,0.000,0.070,3167,1380,1562,0,0,0,0,0,0
$GC,13357,0.46,308.6,863.4,8.7,739,13362,0.00,0.45,0.00,0.000,6,0.000,0.050,3167,1671,1562,0,0,0,0,0,0
$GC,13669,0.46,308.6,836.9,8.4,750,13672,0.00,0.52,0.00,0.000,4,0.000,0.069,3167,1341,1561,0,0,0,0,0,0
$GC,13728,0.46,308.6,831.8,9.0,751,13734,0.00,0.47,0.00,0.000,6,0.000,0.047,3167,1655,1561,0,0,0,0,0,0
$GC,14041,0.46,308.6,805.4,8.8,762,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1655,1560,0,0,0,0,0,0
$GC,14347,0.46,308.6,776.2,9.7,772,14351,0.00,0.95,0.00,0.000,4,0.000,0.066,3167,1066,1560,0,0,0,0,0,0
$GC,14418,0.46,308.6,769.0,9.7,774,14423,0.00,0.93,0.00,0.000,6,0.000,0.042,3167,1658,1560,0,0,0,0,0,0
$GC,14753,0.46,308.6,735.1,10.3,785,14757,0.00,0.77,0.00,0.000,4,0.000,0.066,3167,1179,1560,0,0,0,0,0,0
$GC,14820,0.46,308.6,728.3,10.9,787,14824,0.00,0.70,0.00,0.000,6,0.000,0.044,3167,1648,1560,0,0,0,0,0,0
$GC,15160,0.46,308.6,695.5,9.1,798,15161,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1648,1560,0,0,0,0,0,0
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$STATE,23608,end climb,SURFACE_DEPTH_REACHED
$STATE,23608,begin surface coast
$FINISH,1.4,1.002496
$STATE,23651,end surface coast,CONTROL_FINISHED_OK
$STATE,23651,begin surface
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$24V_AH,23.2,20.003
$10V_AH,10.3,17.943
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354588
$DATA_FILE_SIZE,83625,1400
$CAP_FILE_SIZE,214080,0
$CFSIZE,2097086464,2083258368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061012,192335,-4313.487,-824.404,30,1.3,31,-21.4