version: 66.07.10.p01
glider: 574
mission: 4
dive: 95
start: 10 12 112 20 0 0
data:
$ID,574
$MISSION,4
$DIVE,95
$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,-5710.6133
$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,50
$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,74
$GPS1,121012,195105,-4300.585,-814.042,39,0.9,39,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-70.5
$GPS2,121012,195906,-4300.555,-814.033,17,1.4,18,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.131,0.195
$KALMAN_X,-101743.9,408.0,350.2,149208.1,-8885.9
$KALMAN_Y,7992.3,-72.9,-768.5,-23704.7,4245.1
$MHEAD_RNG_PITCHd_Wd,55.5,73592,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.40,0.000,2,0.000,0.000,66,1915,2531,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.2,-1.7,9,127,12.18,0.75,-28.33,0.000,4,0.265,0.109,2835,1470,3423,0,0,0,0,0,0
$GC,195,-0.48,-145.9,12.9,-12.3,27,202,0.05,0.68,0.00,0.000,6,0.161,0.041,2851,1911,3424,0,0,0,0,0,0
$GC,275,-0.48,-145.9,19.6,-7.7,40,282,0.00,0.38,0.00,0.000,4,0.000,0.064,2850,1672,3425,0,0,0,0,0,0
$GC,372,-0.48,-145.9,27.0,-7.5,56,379,0.00,0.35,0.00,0.000,6,0.000,0.049,2850,1915,3425,0,0,0,0,0,0
$GC,451,-0.48,-145.9,33.9,-8.8,69,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1915,3425,0,0,0,0,0,0
$GC,685,-0.48,-145.9,55.4,-9.0,110,692,0.00,1.45,0.00,0.000,4,0.000,0.062,2850,1034,3424,0,0,0,0,0,0
$GC,752,-0.48,-145.9,61.5,-9.5,121,756,0.00,1.35,0.00,0.000,6,0.000,0.036,2845,1908,3425,0,0,0,0,0,0
$GC,1093,-0.48,-145.9,94.8,-9.5,182,1099,0.00,1.20,0.00,0.000,4,0.000,0.060,2845,1167,3425,0,0,0,0,0,0
$GC,1164,-0.48,-145.9,101.3,-9.7,193,1167,0.00,1.15,0.00,0.000,6,0.000,0.039,2841,1914,3424,0,0,0,0,0,0
$GC,1493,-0.48,-145.9,133.3,-9.7,214,1497,0.03,1.30,0.00,0.000,4,0.282,0.060,2851,1121,3425,0,0,0,0,0,0
$GC,1560,-0.48,-145.9,139.6,-9.3,218,1564,0.00,1.23,0.00,0.000,6,0.000,0.039,2848,1915,3425,0,0,0,0,0,0
$GC,1891,-0.48,-145.9,169.7,-9.1,239,1895,0.00,1.40,0.00,0.000,4,0.000,0.060,2847,1048,3425,0,0,0,0,0,0
$GC,1961,-0.48,-145.9,176.0,-8.5,243,1964,0.00,1.33,0.00,0.000,6,0.000,0.037,2842,1910,3425,0,0,0,0,0,0
$GC,2291,-0.48,-145.9,204.4,-8.2,264,2295,0.00,1.65,0.00,0.000,4,0.000,0.060,2842,860,3425,0,0,0,0,0,0
$GC,2363,-0.48,-145.9,210.9,-8.7,268,2368,0.05,1.65,0.00,0.000,6,0.152,0.037,2853,1927,3425,0,0,0,0,0,0
$GC,2690,-0.51,-145.9,235.0,-7.6,289,2694,0.00,1.48,0.00,0.000,4,0.000,0.057,2853,1011,3424,0,0,0,0,0,0
$GC,2760,-0.54,-145.9,240.7,-7.7,293,2763,0.00,1.40,0.00,0.000,6,0.000,0.036,2850,1923,3425,0,0,0,0,0,0
$GC,3094,-0.54,-145.9,270.0,-9.5,311,3098,0.00,1.08,0.00,0.000,4,0.000,0.057,2850,1248,3425,0,0,0,0,0,0
$GC,3149,-0.57,-145.9,275.8,-10.1,313,3153,0.00,1.02,0.00,0.000,6,0.000,0.037,2846,1921,3425,0,0,0,0,0,0
$GC,3472,-0.57,-145.9,309.6,-11.0,329,3476,0.00,2.00,0.00,0.000,4,0.000,0.059,2846,653,3425,0,0,0,0,0,0
$GC,3527,-0.60,-145.9,316.4,-11.6,331,3532,0.00,1.92,0.00,0.000,6,0.000,0.034,2839,1907,3425,0,0,0,0,0,0
$GC,3851,-0.60,-145.9,351.5,-10.4,347,3855,0.05,1.12,0.00,0.000,4,0.170,0.055,2815,1204,3425,0,0,0,0,0,0
$GC,3922,-0.53,-145.9,360.4,-11.9,350,3927,0.10,1.10,0.00,0.000,6,0.175,0.034,2835,1923,3425,0,0,0,0,0,0
$GC,4249,-0.53,-145.9,391.3,-8.2,366,4253,0.00,2.25,0.00,0.000,4,0.000,0.059,2836,511,3425,0,0,0,0,0,0
$GC,4315,-0.56,-145.9,396.7,-7.0,369,4320,0.00,2.15,0.00,0.000,6,0.000,0.034,2828,1911,3425,0,0,0,0,0,0
$GC,4645,-0.54,-145.9,422.6,-8.1,385,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1911,3425,0,0,0,0,0,0
$GC,4951,-0.54,-145.9,448.8,-8.3,400,4955,0.00,2.03,0.00,0.000,4,0.000,0.058,2828,619,3425,0,0,0,0,0,0
$GC,5028,-0.54,-145.9,456.0,-8.9,403,5034,0.03,1.98,0.00,0.000,6,0.188,0.034,2831,1911,3425,0,0,0,0,0,0
$GC,5352,-0.54,-145.9,485.1,-9.5,419,5356,0.00,0.32,0.00,0.000,4,0.000,0.060,2831,1686,3425,0,0,0,0,0,0
$GC,5429,-0.54,-145.9,493.2,-9.6,422,5431,0.00,0.35,0.00,0.000,6,0.000,0.047,2830,1934,3425,0,0,0,0,0,0
$GC,5744,-0.54,-145.9,525.8,-10.4,434,5748,0.00,2.17,0.00,0.000,4,0.000,0.060,2831,559,3425,0,0,0,0,0,0
$GC,5809,-0.54,-145.9,533.4,-11.1,436,5814,0.00,2.05,0.00,0.000,6,0.000,0.034,2823,1896,3425,0,0,0,0,0,0
$GC,6145,-0.50,-145.9,571.0,-11.1,447,6147,0.10,0.00,0.00,0.000,6,0.187,0.000,2848,1895,3424,0,0,0,0,0,0
$GC,6451,-0.54,-145.9,598.3,-8.7,457,6455,0.00,1.00,0.00,0.000,4,0.000,0.055,2848,1264,3424,0,0,0,0,0,0
$GC,6534,-0.57,-145.9,605.5,-8.8,459,6539,0.05,1.02,0.00,0.000,6,0.168,0.036,2819,1935,3424,0,0,0,0,0,0
$GC,6858,-0.53,-145.9,638.8,-10.4,470,6862,0.08,0.77,0.00,0.000,4,0.191,0.054,2836,1451,3423,0,0,0,0,0,0
$GC,6906,-0.53,-145.9,643.7,-9.3,471,6910,0.00,0.70,0.00,0.000,6,0.000,0.037,2834,1915,3423,0,0,0,0,0,0
$GC,7230,-0.53,-145.9,672.5,-9.0,482,7234,0.00,1.62,0.00,0.000,4,0.000,0.057,2834,905,3423,0,0,0,0,0,0
$GC,7306,-0.53,-145.9,679.8,-9.3,484,7312,0.00,1.55,0.00,0.000,6,0.000,0.034,2828,1905,3422,0,0,0,0,0,0
$GC,7636,-0.53,-145.9,713.7,-10.8,495,7640,0.00,1.33,0.00,0.000,4,0.000,0.056,2828,1075,3421,0,0,0,0,0,0
$GC,7704,-0.53,-145.9,720.9,-10.4,497,7708,0.03,1.27,0.00,0.000,6,0.190,0.037,2833,1907,3422,0,0,0,0,0,0
$GC,8043,-0.53,-145.9,753.5,-9.3,508,8047,0.00,0.82,0.00,0.000,4,0.000,0.054,2834,1380,3421,0,0,0,0,0,0
$GC,8110,-0.53,-145.9,759.7,-8.7,510,8114,0.00,0.80,0.00,0.000,6,0.000,0.037,2830,1918,3421,0,0,0,0,0,0
$GC,8450,-0.53,-145.9,790.6,-8.9,521,8454,0.00,1.12,0.00,0.000,4,0.000,0.055,2831,1209,3420,0,0,0,0,0,0
$GC,8517,-0.53,-145.9,796.6,-8.8,523,8521,0.00,1.05,0.00,0.000,6,0.000,0.037,2827,1901,3420,0,0,0,0,0,0
$GC,8857,-0.53,-145.9,827.2,-8.9,534,8861,0.00,0.68,0.00,0.000,4,0.000,0.055,2827,1468,3419,0,0,0,0,0,0
$GC,8917,-0.53,-145.9,832.8,-8.6,535,8923,0.05,0.70,0.00,0.000,6,0.227,0.040,2835,1929,3419,0,0,0,0,0,0
$GC,9229,-0.53,-145.9,858.6,-8.4,546,9233,0.00,0.90,0.00,0.000,4,0.000,0.054,2835,1358,3418,0,0,0,0,0,0
$GC,9300,-0.53,-145.9,864.6,-8.2,548,9305,0.00,0.85,0.00,0.000,6,0.000,0.037,2833,1911,3418,0,0,0,0,0,0
$GC,9636,-0.53,-145.9,893.8,-8.7,559,9640,0.00,2.20,0.00,0.000,4,0.000,0.060,2833,533,3417,0,0,0,0,0,0
$GC,9698,-0.56,-145.9,899.7,-8.6,561,9702,0.00,2.10,0.00,0.000,6,0.000,0.037,2825,1908,3418,0,0,0,0,0,0
$GC,10032,-0.56,-145.9,932.5,-9.9,572,10035,0.00,0.38,0.00,0.000,4,0.000,0.051,2823,2190,3417,0,0,0,0,0,0
$GC,10080,-0.56,-145.9,937.6,-10.4,573,10083,0.00,0.43,0.00,0.000,6,0.000,0.053,2823,1907,3417,0,0,0,0,0,0
$GC,10400,-0.56,-145.9,969.9,-10.2,584,10404,0.00,1.62,0.00,0.000,4,0.000,0.056,2823,878,3417,0,0,0,0,0,0
$GC,10472,-0.56,-145.9,977.2,-9.1,586,10477,0.00,1.62,0.00,0.000,6,0.000,0.036,2819,1921,3416,0,0,0,0,0,0
$STATE,10716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10716,begin apogee
$GC,10720,-0.19,0.0,1001.4,9.9,594,10845,0.43,0.00,122.20,1.438,6,0.142,0.000,2946,1647,2827,0,0,0,0,0,0
$STATE,10846,end apogee,CONTROL_FINISHED_OK
$STATE,10846,begin climb
$GC,10848,0.52,145.9,1007.5,0.0,598,10983,0.70,2.30,126.82,1.422,4,0.086,0.067,3179,394,2231,0,0,0,0,0,0
$GC,11094,0.36,145.9,1002.0,8.1,605,11101,0.15,2.05,0.00,0.000,6,0.170,0.037,3138,1642,2227,0,0,0,0,0,0
$GC,11408,0.28,169.3,981.8,6.6,616,11433,0.12,1.12,20.27,1.297,4,0.193,0.040,3107,2352,2137,0,0,0,0,0,0
$GC,11507,0.28,199.9,975.3,6.4,619,11541,0.00,1.12,28.02,1.333,6,0.000,0.050,3109,1661,2012,0,0,0,0,0,0
$GC,11877,0.31,218.7,950.7,6.8,631,11896,0.00,0.00,17.27,1.279,6,0.000,0.000,3109,1661,1935,0,0,0,0,0,0
$GC,12183,0.36,256.5,931.3,6.1,641,12220,0.05,0.00,34.53,1.344,6,0.164,0.000,3132,1661,1781,0,0,0,0,0,0
$GC,12519,0.39,272.2,907.9,6.9,652,12535,0.00,0.00,14.30,1.235,6,0.000,0.000,3133,1661,1717,0,0,0,0,0,0
$GC,12825,0.42,284.4,886.4,7.0,662,12841,0.00,0.45,12.23,1.206,4,0.000,0.066,3133,1389,1667,0,0,0,0,0,0
$GC,12887,0.47,293.5,882.1,7.1,664,12902,0.05,0.40,9.95,1.158,6,0.081,0.045,3162,1666,1629,0,0,0,0,0,0
$GC,13225,0.47,293.5,852.6,8.9,675,13229,0.00,0.62,0.00,0.000,4,0.000,0.063,3163,1269,1626,0,0,0,0,0,0
$GC,13293,0.47,293.5,846.4,8.8,677,13296,0.00,0.57,0.00,0.000,6,0.000,0.042,3163,1657,1626,0,0,0,0,0,0
$GC,13633,0.47,293.5,814.7,9.3,688,13636,0.00,0.32,0.00,0.000,4,0.000,0.067,3163,1440,1626,0,0,0,0,0,0
$GC,13703,0.47,293.5,808.0,8.8,690,13706,0.00,0.30,0.00,0.000,6,0.000,0.051,3163,1644,1625,0,0,0,0,0,0
$GC,14035,0.47,293.5,778.6,8.5,701,14036,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1644,1625,0,0,0,0,0,0
$GC,14341,0.47,293.5,753.3,7.9,711,14345,0.00,0.47,0.00,0.000,4,0.000,0.064,3164,1331,1624,0,0,0,0,0,0
$GC,14408,0.47,293.5,748.2,7.6,713,14412,0.00,0.47,0.00,0.000,6,0.000,0.044,3164,1661,1624,0,0,0,0,0,0
$GC,14748,0.47,293.5,718.8,9.0,724,14752,0.00,0.45,0.00,0.000,4,0.000,0.065,3166,1365,1624,0,0,0,0,0,0
$GC,14796,0.47,293.5,714.2,9.4,725,14800,0.00,0.43,0.00,0.000,6,0.000,0.045,3166,1657,1624,0,0,0,0,0,0
$GC,15119,0.47,293.5,683.0,9.7,736,15123,0.00,0.38,0.00,0.000,4,0.000,0.066,3166,1402,1624,0,0,0,0,0,0
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$STATE,22533,end climb,SURFACE_DEPTH_REACHED
$STATE,22534,begin surface coast
$FINISH,1.5,1.013430
$STATE,22565,end surface coast,CONTROL_FINISHED_OK
$STATE,22565,begin surface
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$10V_AH,10.2,21.339
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73807,1205
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$CFSIZE,2097086464,2080243712
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