version: 66.07.10.p01
glider: 574
mission: 4
dive: 108
start: 10 16 112 8 18 6
data:
$ID,574
$MISSION,4
$DIVE,108
$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,-5753.4365
$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,26
$R_STBD_OVSHOOT,44
$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,87
$GPS1,161012,080935,-4227.362,-750.610,28,1.1,29,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-74.4
$GPS2,161012,081712,-4227.329,-750.512,16,1.5,16,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.127,-0.164
$KALMAN_X,-118562.3,34.4,-1164.6,199864.0,4119.9
$KALMAN_Y,59580.9,88.5,-980.9,-13697.0,8717.6
$MHEAD_RNG_PITCHd_Wd,239.5,4370,-16.3,-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,-0.61,-109.6,0.0,0.0,0,75,0.00,0.00,-48.35,0.000,2,0.000,0.000,70,1903,2555,0,0,0,0,0,0
$GC,77,-0.61,-145.9,3.1,-1.4,8,127,12.20,2.30,-27.85,0.000,4,0.269,0.068,2797,3309,3423,0,0,0,0,0,0
$GC,205,-0.61,-145.9,14.9,-10.7,29,213,0.03,2.28,0.00,0.000,6,0.172,0.054,2807,1914,3424,0,0,0,0,0,0
$GC,286,-0.57,-145.9,24.3,-11.9,42,294,0.08,0.73,0.00,0.000,4,0.206,0.065,2825,1467,3424,0,0,0,0,0,0
$GC,366,-0.57,-145.9,33.4,-11.0,55,371,0.00,0.68,0.00,0.000,6,0.000,0.046,2823,1900,3424,0,0,0,0,0,0
$GC,599,-0.57,-145.9,59.3,-11.1,96,606,0.00,0.85,0.00,0.000,4,0.000,0.064,2823,1386,3424,0,0,0,0,0,0
$GC,679,-0.57,-145.9,68.0,-10.9,110,684,0.00,0.82,0.00,0.000,6,0.000,0.044,2819,1915,3424,0,0,0,0,0,0
$GC,1024,-0.57,-145.9,105.5,-10.7,166,1028,0.00,1.58,0.00,0.000,4,0.000,0.067,2819,965,3424,0,0,0,0,0,0
$GC,1118,-0.57,-145.9,116.6,-12.0,171,1125,0.05,1.52,0.00,0.000,6,0.226,0.043,2824,1920,3425,0,0,0,0,0,0
$GC,1439,-0.57,-145.9,152.0,-10.9,192,1443,0.00,1.02,0.00,0.000,4,0.000,0.063,2824,1291,3424,0,0,0,0,0,0
$GC,1516,-0.57,-145.9,161.1,-10.8,196,1524,0.00,1.00,0.00,0.000,6,0.000,0.044,2821,1921,3424,0,0,0,0,0,0
$GC,1837,-0.57,-145.9,193.4,-9.4,217,1841,0.00,0.98,0.00,0.000,4,0.000,0.062,2820,1320,3425,0,0,0,0,0,0
$GC,1907,-0.57,-145.9,200.2,-9.9,221,1910,0.00,0.93,0.00,0.000,6,0.000,0.043,2816,1920,3425,0,0,0,0,0,0
$GC,2236,-0.57,-145.9,231.6,-9.6,242,2239,0.00,0.80,0.00,0.000,4,0.000,0.063,2816,1422,3425,0,0,0,0,0,0
$GC,2347,-0.57,-145.9,242.6,-9.0,248,2355,0.05,0.77,0.00,0.000,6,0.224,0.043,2824,1921,3425,0,0,0,0,0,0
$GC,2679,-0.57,-145.9,275.2,-9.9,266,2682,0.00,1.65,0.00,0.000,4,0.000,0.065,2824,886,3425,0,0,0,0,0,0
$GC,2784,-0.57,-145.9,286.8,-11.1,270,2793,0.00,1.62,0.00,0.000,6,0.000,0.040,2818,1913,3426,0,0,0,0,0,0
$GC,3101,-0.57,-145.9,322.8,-11.6,286,3104,0.00,0.73,0.00,0.000,4,0.000,0.060,2818,1460,3425,0,0,0,0,0,0
$GC,3160,-0.57,-145.9,330.1,-11.3,288,3169,0.00,0.73,0.00,0.000,6,0.000,0.042,2815,1926,3425,0,0,0,0,0,0
$GC,3476,-0.57,-145.9,367.6,-12.2,304,3480,0.00,1.27,0.00,0.000,4,0.000,0.063,2815,1143,3425,0,0,0,0,0,0
$GC,3553,-0.57,-145.9,377.1,-11.9,307,3559,0.08,1.20,0.00,0.000,6,0.193,0.041,2828,1911,3425,0,0,0,0,0,0
$GC,3877,-0.59,-145.9,411.4,-10.7,323,3881,0.00,0.90,0.00,0.000,4,0.000,0.062,2828,1354,3425,0,0,0,0,0,0
$GC,3954,-0.63,-145.9,420.2,-10.9,326,3958,0.00,0.88,0.00,0.000,6,0.000,0.043,2825,1914,3425,0,0,0,0,0,0
$GC,4276,-0.65,-145.9,456.5,-11.6,342,4280,0.08,1.80,0.00,0.000,4,0.133,0.065,2797,788,3425,0,0,0,0,0,0
$GC,4376,-0.62,-145.9,470.3,-14.4,346,4381,0.05,1.75,0.00,0.000,6,0.171,0.041,2806,1912,3425,0,0,0,0,0,0
$GC,4697,-0.59,-145.9,510.7,-13.2,361,4701,0.03,0.73,0.00,0.000,4,0.288,0.061,2816,1466,3424,0,0,0,0,0,0
$GC,4750,-0.59,-145.9,517.7,-11.9,362,4755,0.00,0.70,0.00,0.000,6,0.000,0.044,2813,1923,3424,0,0,0,0,0,0
$GC,5068,-0.59,-145.9,556.5,-12.3,373,5072,0.00,1.52,0.00,0.000,4,0.000,0.060,2814,983,3424,0,0,0,0,0,0
$GC,5162,-0.59,-145.9,567.6,-11.0,375,5168,0.00,1.45,0.00,0.000,6,0.000,0.041,2808,1903,3424,0,0,0,0,0,0
$GC,5475,-0.59,-145.9,602.5,-10.9,386,5479,0.00,0.70,0.00,0.000,4,0.000,0.060,2808,1462,3423,0,0,0,0,0,0
$GC,5542,-0.59,-145.9,609.7,-10.8,388,5546,0.00,0.70,0.00,0.000,6,0.000,0.046,2805,1923,3423,0,0,0,0,0,0
$GC,5882,-0.59,-145.9,645.4,-10.3,399,5886,0.05,0.85,0.00,0.000,4,0.236,0.060,2817,1397,3423,0,0,0,0,0,0
$GC,5958,-0.59,-145.9,653.2,-9.1,401,5963,0.00,0.80,0.00,0.000,6,0.000,0.044,2814,1915,3422,0,0,0,0,0,0
$GC,6287,-0.59,-145.9,685.5,-9.9,412,6291,0.00,1.25,0.00,0.000,4,0.000,0.060,2814,1140,3422,0,0,0,0,0,0
$GC,6364,-0.59,-145.9,693.2,-9.4,414,6369,0.00,1.23,0.00,0.000,6,0.000,0.042,2809,1916,3422,0,0,0,0,0,0
$GC,6694,-0.59,-145.9,726.4,-10.2,425,6697,0.00,1.08,0.00,0.000,4,0.000,0.060,2809,1248,3421,0,0,0,0,0,0
$GC,6770,-0.59,-145.9,734.6,-10.5,427,6776,0.05,1.05,0.00,0.000,6,0.225,0.043,2815,1915,3421,0,0,0,0,0,0
$GC,7100,-0.61,-145.9,769.7,-10.9,438,7104,0.00,1.20,0.00,0.000,4,0.000,0.061,2816,1166,3421,0,0,0,0,0,0
$GC,7184,-0.64,-145.9,779.3,-11.7,440,7188,0.00,1.17,0.00,0.000,6,0.000,0.043,2812,1920,3421,0,0,0,0,0,0
$GC,7507,-0.64,-145.9,815.6,-11.1,451,7511,0.00,1.12,0.00,0.000,4,0.000,0.060,2811,1212,3420,0,0,0,0,0,0
$GC,7584,-0.64,-145.9,825.0,-12.2,453,7589,0.00,1.10,0.00,0.000,6,0.000,0.043,2807,1912,3420,0,0,0,0,0,0
$GC,7914,-0.64,-145.9,864.2,-11.4,464,7918,0.00,0.73,0.00,0.000,4,0.000,0.060,2808,1450,3420,0,0,0,0,0,0
$GC,7991,-0.64,-145.9,873.1,-10.7,466,7995,0.00,0.75,0.00,0.000,6,0.000,0.046,2804,1927,3420,0,0,0,0,0,0
$GC,8320,-0.64,-145.9,907.9,-10.6,477,8324,0.00,1.98,0.00,0.000,4,0.000,0.063,2804,682,3419,0,0,0,0,0,0
$GC,8408,-0.64,-145.9,917.4,-10.2,479,8413,0.00,1.92,0.00,0.000,6,0.000,0.041,2797,1915,3419,0,0,0,0,0,0
$GC,8727,-0.64,-145.9,951.0,-10.5,490,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1915,3419,0,0,0,0,0,0
$GC,9033,-0.64,-145.9,984.8,-11.0,500,9037,0.00,1.08,0.00,0.000,4,0.000,0.060,2797,1248,3419,0,0,0,0,0,0
$GC,9117,-0.64,-145.9,994.4,-11.8,502,9121,0.00,1.02,0.00,0.000,6,0.000,0.043,2792,1911,3419,0,0,0,0,0,0
$STATE,9196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9196,begin apogee
$GC,9200,-0.19,0.0,1003.3,11.6,505,9328,0.52,0.00,124.50,1.601,6,0.142,0.000,2951,1633,2827,0,0,0,0,0,0
$STATE,9329,end apogee,CONTROL_FINISHED_OK
$STATE,9329,begin climb
$GC,9330,0.61,145.9,1009.8,0.0,509,9466,0.77,0.88,130.52,1.564,4,0.081,0.063,3207,1129,2233,0,0,0,0,0,0
$GC,9516,0.42,145.9,1010.4,7.4,515,9521,0.22,0.90,0.00,0.000,6,0.190,0.043,3155,1660,2230,0,0,0,0,0,0
$GC,9851,0.35,163.7,988.3,6.6,526,9870,0.12,0.00,16.42,1.438,6,0.199,0.000,3126,1660,2159,0,0,0,0,0,0
$GC,10157,0.35,190.6,969.4,6.2,536,10188,0.00,0.73,24.55,1.450,4,0.000,0.049,3126,2104,2050,0,0,0,0,0,0
$GC,10260,0.35,190.6,962.2,7.7,539,10264,0.00,0.77,0.00,0.000,6,0.000,0.059,3127,1648,2047,0,0,0,0,0,0
$GC,10595,0.38,205.1,939.3,6.7,550,10614,0.00,0.62,13.80,1.375,4,0.000,0.049,3127,2029,1990,0,0,0,0,0,0
$GC,10698,0.41,205.1,932.1,7.5,553,10702,0.00,0.65,0.00,0.000,6,0.000,0.060,3128,1643,1989,0,0,0,0,0,0
$GC,11034,0.45,224.8,910.4,6.5,564,11055,0.08,0.00,18.38,1.402,6,0.128,0.000,3156,1643,1910,0,0,0,0,0,0
$GC,11367,0.45,224.8,882.7,8.4,575,11370,0.00,0.35,0.00,0.000,4,0.000,0.072,3157,1408,1907,0,0,0,0,0,0
$GC,11404,0.45,224.8,879.5,8.8,576,11409,0.00,0.38,0.00,0.000,6,0.000,0.050,3157,1651,1907,0,0,0,0,0,0
$GC,11739,0.45,224.8,852.1,8.2,587,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1651,1907,0,0,0,0,0,0
$GC,12045,0.45,224.8,826.1,8.8,597,12049,0.00,0.45,0.00,0.000,4,0.000,0.069,3156,1358,1907,0,0,0,0,0,0
$GC,12094,0.45,224.8,822.0,7.9,598,12098,0.00,0.47,0.00,0.000,6,0.000,0.049,3157,1664,1907,0,0,0,0,0,0
$GC,12417,0.45,224.8,794.8,8.4,609,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1664,1907,0,0,0,0,0,0
$GC,12723,0.45,224.8,769.9,8.0,619,12727,0.00,0.85,0.00,0.000,4,0.000,0.068,3159,1132,1907,0,0,0,0,0,0
$GC,12779,0.45,224.8,765.3,8.4,620,12783,0.00,0.80,0.00,0.000,6,0.000,0.045,3158,1651,1907,0,0,0,0,0,0
$GC,13096,0.45,224.8,740.5,7.8,631,13100,0.00,0.40,0.00,0.000,4,0.000,0.053,3159,1944,1907,0,0,0,0,0,0
$GC,13179,0.45,224.8,733.9,7.4,633,13183,0.00,0.47,0.00,0.000,6,0.000,0.066,3158,1651,1907,0,0,0,0,0,0
$GC,13502,0.45,228.0,709.9,7.3,644,13511,0.00,0.55,4.10,0.887,4,0.000,0.070,3159,1316,1897,0,0,0,0,0,0
$GC,13555,0.45,239.9,706.1,6.9,645,13571,0.00,0.52,11.90,1.250,6,0.000,0.049,3159,1654,1850,0,0,0,0,0,0
$GC,13907,0.45,251.0,681.6,6.9,657,13921,0.00,0.32,11.90,1.235,4,0.000,0.074,3159,1462,1803,0,0,0,0,0,0
$GC,13970,0.45,251.0,676.8,7.8,659,13973,0.00,0.30,0.00,0.000,6,0.000,0.057,3160,1655,1801,0,0,0,0,0,0
$GC,14301,0.45,251.0,652.4,7.5,670,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1655,1800,0,0,0,0,0,0
$GC,14608,0.45,269.7,631.6,6.6,680,14629,0.00,0.80,17.38,1.261,4,0.000,0.067,3160,1186,1727,0,0,0,0,0,0
$GC,14669,0.48,280.1,627.6,6.9,682,14683,0.00,0.73,10.98,1.201,6,0.000,0.048,3160,1649,1683,0,0,0,0,0,0
$GC,15008,0.51,288.2,603.9,7.0,693,15018,0.00,0.00,8.12,1.118,6,0.000,0.000,3159,1649,1652,0,0,0,0,0,0
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$STATE,21848,end climb,SURFACE_DEPTH_REACHED
$STATE,21848,begin surface coast
$FINISH,1.4,1.015626
$STATE,21885,end surface coast,CONTROL_FINISHED_OK
$STATE,21885,begin surface
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$10V_AH,10.2,23.193
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354232
$DATA_FILE_SIZE,70229,1179
$CAP_FILE_SIZE,191158,0
$CFSIZE,2097086464,2078572544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,161012,142505,-4227.947,-752.561,26,1.3,27,-21.7