version: 66.07.10.p01
glider: 574
mission: 4
dive: 119
start: 10 19 112 2 8 26
data:
$ID,574
$MISSION,4
$DIVE,119
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5789.9272
$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,27
$R_STBD_OVSHOOT,45
$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,98
$GPS1,191012,015459,-4244.385,-749.704,70,1.0,71,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-68.8
$GPS2,191012,020732,-4244.334,-749.882,15,0.9,17,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.204,-0.116
$KALMAN_X,-139862.9,100.8,245.7,220514.7,-6317.5
$KALMAN_Y,83897.4,-868.6,270.6,-69793.7,5192.0
$MHEAD_RNG_PITCHd_Wd,141.2,110594,-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,-145.9,0.0,0.0,0,98,0.00,0.00,-71.95,0.000,2,0.000,0.000,67,1919,2582,0,0,0,0,0,0
$GC,100,-0.52,-145.9,3.1,-0.8,12,151,13.02,2.28,-26.67,0.000,4,0.285,0.067,2825,3305,3424,0,0,0,0,0,0
$GC,264,-0.52,-145.9,15.9,-8.3,39,272,0.03,2.25,0.00,0.000,6,0.170,0.053,2834,1922,3424,0,0,0,0,0,0
$GC,345,-0.49,-145.9,22.8,-8.2,52,353,0.08,1.05,0.00,0.000,4,0.200,0.067,2852,1285,3424,0,0,0,0,0,0
$GC,441,-0.49,-145.9,30.9,-8.8,68,448,0.00,0.98,0.00,0.000,6,0.000,0.044,2851,1901,3424,0,0,0,0,0,0
$GC,680,-0.49,-145.9,47.8,-7.0,109,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1901,3424,0,0,0,0,0,0
$GC,911,-0.49,-145.9,66.4,-7.9,150,918,0.00,0.77,0.00,0.000,4,0.000,0.060,2851,1432,3424,0,0,0,0,0,0
$GC,988,-0.49,-145.9,71.9,-7.6,163,992,0.00,0.75,0.00,0.000,6,0.000,0.045,2849,1916,3424,0,0,0,0,0,0
$GC,1331,-0.49,-145.9,98.2,-7.2,224,1336,0.00,0.47,0.00,0.000,4,0.000,0.064,2849,1614,3424,0,0,0,0,0,0
$GC,1402,-0.49,-145.9,103.4,-6.6,232,1407,0.00,0.47,0.00,0.000,6,0.000,0.047,2847,1926,3424,0,0,0,0,0,0
$GC,1729,-0.49,-145.9,125.5,-7.0,253,1732,0.00,1.08,0.00,0.000,4,0.000,0.063,2848,1264,3424,0,0,0,0,0,0
$GC,1818,-0.49,-145.9,132.1,-7.2,258,1822,0.00,1.02,0.00,0.000,6,0.000,0.042,2843,1913,3424,0,0,0,0,0,0
$GC,2144,-0.49,-145.9,155.8,-7.5,279,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1914,3424,0,0,0,0,0,0
$GC,2457,-0.49,-145.9,179.6,-7.9,299,2460,0.00,1.27,0.00,0.000,4,0.000,0.063,2843,1130,3424,0,0,0,0,0,0
$GC,2545,-0.49,-145.9,187.5,-8.3,304,2551,0.05,1.25,0.00,0.000,6,0.220,0.042,2849,1920,3425,0,0,0,0,0,0
$GC,2873,-0.51,-145.9,215.0,-9.4,325,2876,0.00,0.45,0.00,0.000,4,0.000,0.063,2849,1622,3425,0,0,0,0,0,0
$GC,2933,-0.54,-145.9,221.2,-9.6,328,2941,0.00,0.47,0.00,0.000,6,0.000,0.047,2849,1933,3425,0,0,0,0,0,0
$GC,3254,-0.57,-145.9,251.4,-9.9,349,3259,0.05,1.15,0.00,0.000,4,0.171,0.062,2822,1233,3425,0,0,0,0,0,0
$GC,3337,-0.53,-145.9,261.7,-12.1,352,3346,0.10,1.08,0.00,0.000,6,0.174,0.043,2843,1914,3425,0,0,0,0,0,0
$GC,3653,-0.53,-145.9,294.4,-10.2,368,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1914,3425,0,0,0,0,0,0
$GC,3965,-0.53,-145.9,323.3,-8.8,383,3968,0.00,0.62,0.00,0.000,4,0.000,0.060,2843,1512,3425,0,0,0,0,0,0
$GC,4036,-0.53,-145.9,329.9,-8.3,386,4040,0.00,0.62,0.00,0.000,6,0.000,0.046,2841,1918,3425,0,0,0,0,0,0
$GC,4363,-0.53,-145.9,357.6,-8.7,402,4366,0.00,0.57,0.00,0.000,4,0.000,0.060,2841,1545,3424,0,0,0,0,0,0
$GC,4434,-0.53,-145.9,364.0,-8.6,405,4438,0.00,0.57,0.00,0.000,6,0.000,0.046,2838,1918,3424,0,0,0,0,0,0
$GC,4763,-0.53,-145.9,388.7,-7.4,421,4767,0.00,1.00,0.00,0.000,4,0.000,0.061,2838,1294,3424,0,0,0,0,0,0
$GC,4846,-0.53,-145.9,395.1,-7.3,424,4855,0.00,0.98,0.00,0.000,6,0.000,0.044,2836,1910,3424,0,0,0,0,0,0
$GC,5163,-0.53,-145.9,420.2,-8.3,440,5166,0.00,0.57,0.00,0.000,4,0.000,0.060,2836,1542,3424,0,0,0,0,0,0
$GC,5234,-0.53,-145.9,426.6,-8.9,443,5238,0.00,0.60,0.00,0.000,6,0.000,0.047,2834,1930,3424,0,0,0,0,0,0
$GC,5563,-0.53,-145.9,455.2,-9.3,459,5567,0.00,0.82,0.00,0.000,4,0.000,0.060,2834,1413,3424,0,0,0,0,0,0
$GC,5655,-0.53,-145.9,464.2,-10.1,463,5658,0.00,0.77,0.00,0.000,6,0.000,0.045,2830,1916,3424,0,0,0,0,0,0
$GC,5988,-0.53,-145.9,495.7,-9.3,479,5992,0.00,0.60,0.00,0.000,4,0.000,0.060,2830,1535,3424,0,0,0,0,0,0
$GC,6056,-0.53,-145.9,502.2,-8.9,482,6060,0.00,0.57,0.00,0.000,6,0.000,0.047,2828,1916,3424,0,0,0,0,0,0
$GC,6396,-0.53,-145.9,533.6,-9.4,493,6399,0.00,0.90,0.00,0.000,4,0.000,0.060,2828,1352,3424,0,0,0,0,0,0
$GC,6478,-0.53,-145.9,541.2,-9.0,495,6483,0.08,0.88,0.00,0.000,6,0.187,0.044,2842,1915,3423,0,0,0,0,0,0
$GC,6803,-0.55,-145.9,566.4,-7.4,506,6807,0.00,0.85,0.00,0.000,4,0.000,0.060,2842,1383,3422,0,0,0,0,0,0
$GC,6891,-0.58,-145.9,573.4,-8.0,508,6896,0.00,0.82,0.00,0.000,6,0.000,0.044,2840,1914,3423,0,0,0,0,0,0
$GC,7210,-0.60,-145.9,595.4,-6.4,519,7215,0.08,0.65,0.00,0.000,4,0.134,0.060,2810,1506,3422,0,0,0,0,0,0
$GC,7278,-0.55,-145.9,600.8,-8.7,521,7282,0.05,0.60,0.00,0.000,6,0.158,0.047,2824,1901,3422,0,0,0,0,0,0
$GC,7618,-0.55,-145.9,627.0,-8.0,532,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1901,3421,0,0,0,0,0,0
$GC,7924,-0.55,-145.9,654.1,-9.2,542,7928,0.00,0.77,0.00,0.000,4,0.000,0.059,2825,1414,3421,0,0,0,0,0,0
$GC,8018,-0.55,-145.9,663.5,-9.5,544,8024,0.00,0.80,0.00,0.000,6,0.000,0.043,2823,1926,3421,0,0,0,0,0,0
$GC,8330,-0.55,-145.9,695.2,-10.5,555,8334,0.00,1.15,0.00,0.000,4,0.000,0.060,2822,1214,3420,0,0,0,0,0,0
$GC,8413,-0.55,-145.9,704.0,-10.2,557,8417,0.00,1.10,0.00,0.000,6,0.000,0.041,2818,1915,3420,0,0,0,0,0,0
$GC,8737,-0.53,-145.9,736.4,-10.5,568,8739,0.10,0.00,0.00,0.000,6,0.187,0.000,2842,1915,3419,0,0,0,0,0,0
$GC,9043,-0.57,-145.9,765.3,-9.8,578,9047,0.00,1.23,0.00,0.000,4,0.000,0.059,2843,1156,3419,0,0,0,0,0,0
$GC,9121,-0.61,-145.9,772.5,-8.0,580,9126,0.05,1.20,0.00,0.000,6,0.083,0.041,2809,1922,3418,0,0,0,0,0,0
$GC,9451,-0.57,-145.9,806.4,-11.0,591,9455,0.08,1.02,0.00,0.000,4,0.194,0.057,2826,1286,3418,0,0,0,0,0,0
$GC,9538,-0.57,-145.9,815.6,-8.7,593,9543,0.00,1.00,0.00,0.000,6,0.000,0.043,2823,1918,3417,0,0,0,0,0,0
$GC,9856,-0.57,-145.9,841.3,-8.4,604,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1918,3417,0,0,0,0,0,0
$GC,10163,-0.57,-145.9,863.7,-5.9,614,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1918,3416,0,0,0,0,0,0
$GC,10469,-0.57,-145.9,886.2,-7.4,624,10473,0.00,0.50,0.00,0.000,4,0.000,0.060,2823,1588,3416,0,0,0,0,0,0
$GC,10541,-0.57,-145.9,891.2,-6.4,626,10545,0.00,0.52,0.00,0.000,6,0.000,0.047,2821,1930,3416,0,0,0,0,0,0
$GC,10875,-0.57,-145.9,918.1,-8.3,637,10879,0.00,0.88,0.00,0.000,4,0.000,0.057,2821,1379,3416,0,0,0,0,0,0
$GC,10952,-0.57,-145.9,925.0,-9.2,639,10957,0.00,0.85,0.00,0.000,6,0.000,0.043,2817,1925,3416,0,0,0,0,0,0
$GC,11282,-0.57,-145.9,956.3,-9.2,650,11285,0.00,0.32,0.00,0.000,4,0.000,0.062,2817,1702,3415,0,0,0,0,0,0
$GC,11375,-0.57,-145.9,965.7,-10.4,652,11377,0.00,0.32,0.00,0.000,6,0.000,0.055,2816,1917,3415,0,0,0,0,0,0
$GC,11683,-0.57,-145.9,995.9,-10.1,662,11687,0.00,1.42,0.00,0.000,4,0.000,0.060,2816,1035,3415,0,0,0,0,0,0
$STATE,11728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11728,begin apogee
$GC,11733,-0.19,0.0,1000.1,9.5,663,11859,0.43,0.00,122.95,1.543,6,0.141,0.000,2946,1659,2827,0,0,0,0,0,0
$STATE,11859,end apogee,CONTROL_FINISHED_OK
$STATE,11859,begin climb
$GC,11861,0.52,145.9,1004.9,0.0,667,11995,0.70,0.00,129.77,1.514,6,0.080,0.000,3175,1660,2232,0,0,0,0,0,0
$GC,12289,0.36,184.5,988.3,6.1,681,12329,0.17,0.95,34.25,1.446,4,0.187,0.067,3137,1123,2074,0,0,0,0,0,0
$GC,12420,0.31,236.6,981.8,5.6,685,12471,0.05,0.85,46.80,1.452,6,0.166,0.045,3122,1654,1862,0,0,0,0,0,0
$GC,12784,0.35,306.9,960.9,5.0,697,12851,0.00,0.85,62.72,1.457,4,0.000,0.046,3122,2158,1574,0,0,0,0,0,0
$GC,12895,0.41,348.0,954.7,6.0,700,12937,0.08,0.90,38.05,1.414,6,0.122,0.056,3152,1635,1408,0,0,0,0,0,0
$GC,13243,0.46,353.3,929.6,7.2,712,13250,0.00,0.00,5.00,0.997,6,0.000,0.000,3151,1635,1386,0,0,0,0,0,0
$GC,13549,0.51,379.7,909.4,6.5,722,13579,0.08,0.00,25.17,1.390,6,0.130,0.000,3182,1635,1279,0,0,0,0,0,0
$GC,13885,0.51,379.7,879.6,9.0,733,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1635,1273,0,0,0,0,0,0
$GC,14191,0.51,379.7,850.4,9.7,743,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1635,1272,0,0,0,0,0,0
$GC,14497,0.51,379.7,823.2,8.5,753,14501,0.00,0.30,0.00,0.000,4,0.000,0.074,3183,1436,1272,0,0,0,0,0,0
$GC,14540,0.51,379.7,819.5,8.5,754,14543,0.00,0.32,0.00,0.000,6,0.000,0.054,3183,1648,1271,0,0,0,0,0,0
$GC,14866,0.51,379.7,792.5,8.4,765,14869,0.00,0.35,0.00,0.000,4,0.000,0.072,3183,1421,1271,0,0,0,0,0,0
$GC,14926,0.51,379.7,787.4,7.7,766,14931,0.00,0.35,0.00,0.000,6,0.000,0.054,3183,1650,1271,0,0,0,0,0,0
$GC,15238,0.51,379.7,761.7,8.1,777,15241,0.00,0.70,0.00,0.000,4,0.000,0.068,3185,1212,1271,0,0,0,0,0,0
$GC,15292,0.51,379.7,756.9,8.7,778,15296,0.00,0.70,0.00,0.000,6,0.000,0.048,3186,1660,1270,0,0,0,0,0,0
$GC,15610,0.51,379.7,726.9,10.1,789,15614,0.00,0.60,0.00,0.000,4,0.000,0.069,3185,1284,1270,0,0,0,0,0,0
$GC,15652,0.51,379.7,722.5,9.4,790,15657,0.00,0.57,0.00,0.000,6,0.000,0.048,3185,1652,1271,0,0,0,0,0,0
$GC,15982,0.51,379.7,687.1,10.1,801,15985,0.00,0.38,0.00,0.000,4,0.000,0.071,3185,1408,1270,0,0,0,0,0,0
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$STATE,23247,end climb,SURFACE_DEPTH_REACHED
$STATE,23247,begin surface coast
$FINISH,1.6,1.014532
$STATE,23290,end surface coast,CONTROL_FINISHED_OK
$STATE,23290,begin surface
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$HUMID,46.33
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.8,29.826
$10V_AH,10.2,24.721
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.025,64.150,474.350,0.000,0.000,24.717,36.554,540.605,0.250,0.000,18.810,3172.811,15949.186,561.893,4239.097,170.046,33.358,2053.402,0.000,3572.247,0.000,2.832,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,76909,1268
$CAP_FILE_SIZE,211007,0
$CFSIZE,2097086464,2077097984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191012,083929,-4245.117,-750.318,65,1.4,66,-21.6