version: 66.07.10.p01
glider: 574
mission: 4
dive: 92
start: 10 12 112 0 45 25
data:
$ID,574
$MISSION,4
$DIVE,92
$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,-5700.8643
$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,33
$R_STBD_OVSHOOT,49
$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,71
$GPS1,121012,003459,-4308.744,-812.624,40,1.0,41,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-70.0
$GPS2,121012,004431,-4308.682,-812.636,18,1.0,20,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.101,0.212
$KALMAN_X,-87624.8,-146.6,754.6,137138.0,-7458.5
$KALMAN_Y,4056.3,-61.6,307.6,-35898.9,801.2
$MHEAD_RNG_PITCHd_Wd,46.9,86617,-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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,87,0.00,0.00,-60.15,0.000,2,0.000,0.000,66,1891,2653,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.4,10,132,12.35,2.33,-23.80,0.000,4,0.271,0.082,2834,511,3420,0,0,0,0,0,0
$GC,233,-0.52,-145.9,14.3,-8.2,34,241,0.00,2.20,0.00,0.000,6,0.000,0.035,2828,1911,3421,0,0,0,0,0,0
$GC,313,-0.47,-145.9,21.8,-10.9,47,320,0.12,0.00,0.00,0.000,6,0.164,0.000,2860,1910,3421,0,0,0,0,0,0
$GC,393,-0.51,-145.9,29.3,-7.9,60,401,0.00,0.38,0.00,0.000,4,0.000,0.046,2860,2192,3421,0,0,0,0,0,0
$GC,409,-0.53,-145.9,30.6,-7.3,62,417,0.03,0.43,0.00,0.000,6,0.105,0.053,2838,1908,3421,0,0,0,0,0,0
$GC,649,-0.50,-145.9,54.8,-8.3,103,654,0.00,1.17,0.00,0.000,4,0.000,0.057,2838,1167,3422,0,0,0,0,0,0
$GC,710,-0.48,-145.9,61.4,-10.0,114,718,0.05,1.15,0.00,0.000,6,0.154,0.034,2851,1920,3421,0,0,0,0,0,0
$GC,1058,-0.48,-145.9,91.8,-8.9,175,1062,0.00,1.52,0.00,0.000,4,0.000,0.057,2851,977,3422,0,0,0,0,0,0
$GC,1127,-0.48,-145.9,98.2,-9.5,187,1131,0.00,1.45,0.00,0.000,6,0.000,0.036,2848,1914,3422,0,0,0,0,0,0
$GC,1445,-0.48,-145.9,127.8,-9.5,210,1449,0.00,0.70,0.00,0.000,4,0.000,0.052,2848,1461,3422,0,0,0,0,0,0
$GC,1500,-0.48,-145.9,133.0,-9.0,213,1504,0.00,0.70,0.00,0.000,6,0.000,0.036,2845,1927,3422,0,0,0,0,0,0
$GC,1824,-0.48,-145.9,162.6,-8.7,234,1828,0.00,1.58,0.00,0.000,4,0.000,0.057,2845,945,3422,0,0,0,0,0,0
$GC,1884,-0.48,-145.9,168.0,-8.5,237,1891,0.05,1.50,0.00,0.000,6,0.226,0.034,2852,1913,3422,0,0,0,0,0,0
$GC,2204,-0.48,-145.9,192.0,-7.4,258,2208,0.00,1.05,0.00,0.000,4,0.000,0.053,2852,1249,3422,0,0,0,0,0,0
$GC,2264,-0.48,-145.9,196.7,-7.6,261,2270,0.00,1.02,0.00,0.000,6,0.000,0.034,2850,1919,3422,0,0,0,0,0,0
$GC,2585,-0.48,-145.9,220.5,-7.2,282,2589,0.00,1.35,0.00,0.000,4,0.000,0.054,2850,1072,3423,0,0,0,0,0,0
$GC,2645,-0.48,-145.9,225.5,-7.7,285,2651,0.00,1.30,0.00,0.000,6,0.000,0.034,2845,1917,3423,0,0,0,0,0,0
$GC,2966,-0.48,-145.9,249.6,-7.5,306,2969,0.00,1.30,0.00,0.000,4,0.000,0.054,2845,1097,3423,0,0,0,0,0,0
$GC,3026,-0.48,-145.9,254.5,-7.8,309,3032,0.05,1.25,0.00,0.000,6,0.223,0.034,2852,1912,3423,0,0,0,0,0,0
$GC,3345,-0.51,-145.9,276.1,-7.0,325,3348,0.00,1.48,0.00,0.000,4,0.000,0.054,2853,980,3423,0,0,0,0,0,0
$GC,3405,-0.53,-145.9,281.0,-7.6,327,3411,0.00,1.42,0.00,0.000,6,0.000,0.034,2850,1915,3423,0,0,0,0,0,0
$GC,3723,-0.56,-145.9,306.4,-8.6,343,3727,0.00,0.40,0.00,0.000,4,0.000,0.056,2850,1642,3423,0,0,0,0,0,0
$GC,3806,-0.56,-145.9,314.2,-9.2,346,3808,0.00,0.40,0.00,0.000,6,0.000,0.041,2848,1931,3424,0,0,0,0,0,0
$GC,4119,-0.56,-145.9,343.8,-10.1,361,4123,0.00,1.70,0.00,0.000,4,0.000,0.054,2848,847,3425,0,0,0,0,0,0
$GC,4180,-0.58,-145.9,350.7,-10.5,363,4186,0.03,1.60,0.00,0.000,6,0.106,0.031,2821,1901,3425,0,0,0,0,0,0
$GC,4498,-0.54,-145.9,389.4,-12.6,379,4503,0.08,0.90,0.00,0.000,4,0.193,0.050,2838,1327,3426,0,0,0,0,0,0
$GC,4558,-0.54,-145.9,397.0,-11.3,381,4564,0.00,0.90,0.00,0.000,6,0.000,0.033,2836,1926,3426,0,0,0,0,0,0
$GC,4876,-0.54,-145.9,430.3,-10.3,397,4880,0.00,0.85,0.00,0.000,4,0.000,0.049,2836,1375,3426,0,0,0,0,0,0
$GC,4923,-0.54,-145.9,435.2,-10.4,399,4926,0.00,0.80,0.00,0.000,6,0.000,0.034,2832,1921,3426,0,0,0,0,0,0
$GC,5257,-0.54,-145.9,469.2,-9.9,415,5261,0.00,2.22,0.00,0.000,4,0.000,0.054,2832,509,3427,0,0,0,0,0,0
$GC,5322,-0.54,-145.9,476.1,-9.6,418,5327,0.00,2.12,0.00,0.000,6,0.000,0.031,2824,1906,3427,0,0,0,0,0,0
$GC,5659,-0.50,-145.9,510.3,-10.3,433,5664,0.10,1.73,0.00,0.000,4,0.191,0.052,2849,826,3427,0,0,0,0,0,0
$GC,5719,-0.54,-145.9,516.1,-8.7,434,5725,0.00,1.65,0.00,0.000,6,0.000,0.031,2843,1912,3427,0,0,0,0,0,0
$GC,6031,-0.54,-145.9,544.6,-9.5,445,6035,0.00,0.28,0.00,0.000,4,0.000,0.056,2844,1704,3427,0,0,0,0,0,0
$GC,6080,-0.54,-145.9,549.4,-9.3,446,6082,0.00,0.32,0.00,0.000,6,0.000,0.044,2843,1941,3427,0,0,0,0,0,0
$GC,6400,-0.54,-145.9,578.6,-9.1,457,6403,0.00,0.65,0.00,0.000,4,0.000,0.049,2843,1506,3427,0,0,0,0,0,0
$GC,6442,-0.54,-145.9,582.8,-9.1,458,6447,0.00,0.60,0.00,0.000,6,0.000,0.036,2841,1917,3428,0,0,0,0,0,0
$GC,6772,-0.54,-145.9,612.0,-8.9,469,6776,0.00,0.75,0.00,0.000,4,0.000,0.050,2840,1421,3428,0,0,0,0,0,0
$GC,6827,-0.54,-145.9,616.7,-9.5,470,6831,0.00,0.70,0.00,0.000,6,0.000,0.035,2837,1901,3427,0,0,0,0,0,0
$GC,7145,-0.54,-145.9,644.5,-8.9,481,7148,0.00,1.35,0.00,0.000,4,0.000,0.052,2837,1044,3427,0,0,0,0,0,0
$GC,7204,-0.54,-145.9,650.1,-9.2,482,7211,0.00,1.33,0.00,0.000,6,0.000,0.033,2833,1909,3427,0,0,0,0,0,0
$GC,7518,-0.54,-145.9,678.1,-8.9,493,7521,0.00,1.23,0.00,0.000,4,0.000,0.051,2832,1130,3427,0,0,0,0,0,0
$GC,7577,-0.54,-145.9,683.7,-9.1,494,7583,0.00,1.20,0.00,0.000,6,0.000,0.034,2829,1915,3427,0,0,0,0,0,0
$GC,7890,-0.54,-145.9,711.4,-8.8,505,7894,0.00,1.17,0.00,0.000,4,0.000,0.050,2829,1165,3427,0,0,0,0,0,0
$GC,7950,-0.54,-145.9,716.8,-8.4,506,7956,0.00,1.15,0.00,0.000,6,0.000,0.033,2824,1921,3427,0,0,0,0,0,0
$GC,8263,-0.51,-145.9,745.6,-9.6,517,8265,0.10,0.00,0.00,0.000,6,0.183,0.000,2849,1922,3427,0,0,0,0,0,0
$GC,8569,-0.55,-145.9,770.6,-8.1,527,8573,0.00,0.93,0.00,0.000,4,0.000,0.050,2849,1326,3427,0,0,0,0,0,0
$GC,8624,-0.59,-145.9,775.6,-9.2,528,8629,0.08,0.90,0.00,0.000,6,0.131,0.034,2815,1925,3427,0,0,0,0,0,0
$GC,8942,-0.54,-145.9,812.4,-11.8,539,8947,0.08,1.83,0.00,0.000,4,0.192,0.054,2833,787,3427,0,0,0,0,0,0
$GC,9013,-0.54,-145.9,820.5,-10.6,541,9018,0.00,1.73,0.00,0.000,6,0.000,0.034,2826,1904,3427,0,0,0,0,0,0
$GC,9348,-0.54,-145.9,857.5,-11.2,552,9352,0.00,0.85,0.00,0.000,4,0.000,0.050,2826,1358,3427,0,0,0,0,0,0
$GC,9404,-0.54,-145.9,863.7,-11.5,553,9408,0.00,0.85,0.00,0.000,6,0.000,0.037,2823,1924,3427,0,0,0,0,0,0
$GC,9721,-0.54,-145.9,897.3,-10.1,564,9725,0.00,0.68,0.00,0.000,4,0.000,0.051,2823,1483,3427,0,0,0,0,0,0
$GC,9770,-0.54,-145.9,902.3,-10.4,565,9774,0.00,0.65,0.00,0.000,6,0.000,0.039,2821,1919,3427,0,0,0,0,0,0
$GC,10094,-0.52,-145.9,931.2,-8.6,576,10098,0.08,0.35,0.00,0.000,4,0.203,0.057,2839,1686,3427,0,0,0,0,0,0
$GC,10137,-0.54,-145.9,934.8,-7.6,577,10141,0.00,0.32,0.00,0.000,6,0.000,0.048,2838,1917,3427,0,0,0,0,0,0
$GC,10467,-0.57,-145.9,957.5,-6.9,588,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1917,3427,0,0,0,0,0,0
$GC,10773,-0.60,-145.9,979.7,-7.2,598,10777,0.05,1.08,0.00,0.000,4,0.181,0.053,2820,1240,3428,0,0,0,0,0,0
$GC,10839,-0.60,-145.9,985.7,-9.1,600,10843,0.00,1.00,0.00,0.000,6,0.000,0.037,2817,1900,3428,0,0,0,0,0,0
$STATE,10997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10997,begin apogee
$GC,11001,-0.19,0.0,1000.2,9.5,605,11129,0.43,0.00,124.82,1.437,6,0.142,0.000,2946,1641,2827,0,0,0,0,0,0
$STATE,11130,end apogee,CONTROL_FINISHED_OK
$STATE,11130,begin climb
$GC,11131,0.52,145.9,1006.2,0.0,609,11266,0.70,2.53,126.78,1.421,4,0.090,0.063,3179,260,2232,0,0,0,0,0,0
$GC,11378,0.36,174.5,1001.7,6.4,616,11410,0.15,2.28,26.02,1.337,6,0.175,0.034,3137,1646,2115,0,0,0,0,0,0
$GC,11717,0.31,244.4,984.3,5.0,627,11783,0.10,0.60,62.10,1.374,4,0.205,0.041,3114,2022,1830,0,0,0,0,0,0
$GC,11833,0.36,326.6,979.3,4.6,630,11914,0.00,0.62,74.43,1.378,6,0.000,0.051,3114,1651,1495,0,0,0,0,0,0
$GC,12238,0.69,326.6,952.3,8.1,644,12243,0.32,2.25,0.00,0.000,4,0.103,0.041,3225,3046,1484,0,0,0,0,0,0
$GC,12303,0.55,326.6,945.4,11.4,646,12309,0.10,2.25,0.00,0.000,6,0.157,0.047,3197,1665,1483,0,0,0,0,0,0
$GC,12639,0.49,326.6,908.8,11.1,657,12643,0.10,0.98,0.00,0.000,4,0.191,0.061,3173,1056,1482,0,0,0,0,0,0
$GC,12709,0.49,326.6,901.8,9.9,659,12714,0.00,0.95,0.00,0.000,6,0.000,0.036,3173,1669,1482,0,0,0,0,0,0
$GC,13045,0.49,326.6,870.5,9.2,670,13048,0.00,0.32,0.00,0.000,4,0.000,0.064,3173,1460,1481,0,0,0,0,0,0
$GC,13104,0.49,326.6,864.9,9.1,671,13107,0.00,0.28,0.00,0.000,6,0.000,0.052,3173,1655,1481,0,0,0,0,0,0
$GC,13412,0.49,326.6,836.7,9.2,681,13416,0.00,0.75,0.00,0.000,4,0.000,0.061,3173,1180,1481,0,0,0,0,0,0
$GC,13472,0.49,326.6,831.0,8.6,682,13478,0.00,0.73,0.00,0.000,6,0.000,0.037,3173,1658,1481,0,0,0,0,0,0
$GC,13785,0.49,326.6,799.4,10.8,693,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1660,1480,0,0,0,0,0,0
$GC,14091,0.49,326.6,767.0,10.7,703,14094,0.00,1.52,0.00,0.000,4,0.000,0.062,3173,719,1480,0,0,0,0,0,0
$GC,14158,0.49,326.6,760.0,10.4,705,14162,0.00,1.42,0.00,0.000,6,0.000,0.035,3173,1648,1479,0,0,0,0,0,0
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$STATE,22325,end climb,SURFACE_DEPTH_REACHED
$STATE,22325,begin surface coast
$FINISH,1.4,1.011008
$STATE,22350,end surface coast,CONTROL_FINISHED_OK
$STATE,22351,begin surface
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$HUMID,45.19
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$XPDR_PINGS,0
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$10V_AH,10.2,20.911
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.850,101.200,545.375,0.000,0.000,60.778,70.079,266.441,0.250,0.000,22.508,3006.493,15411.609,617.529,3813.609,142.382,33.355,2059.531,0.000,3350.831,0.000,2.834,0.000
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$MEM,354560
$DATA_FILE_SIZE,70137,1193
$CAP_FILE_SIZE,203374,0
$CFSIZE,2097086464,2080636928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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