version: 66.07.10.p01
glider: 574
mission: 4
dive: 122
start: 10 19 112 21 42 24
data:
$ID,574
$MISSION,4
$DIVE,122
$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,-5799.9468
$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,30
$R_STBD_OVSHOOT,62
$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,101
$GPS1,191012,213352,-4247.428,-752.489,26,1.5,42,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-71.1
$GPS2,191012,214130,-4247.427,-752.486,19,1.4,20,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.109,-0.208
$KALMAN_X,-156827.0,149.6,364.1,233789.7,-9008.4
$KALMAN_Y,90148.1,-279.9,-320.7,-81784.5,3883.1
$MHEAD_RNG_PITCHd_Wd,173.9,106649,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,75,0.00,0.00,-48.35,0.000,2,0.000,0.000,70,1934,2551,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.1,-1.4,8,127,12.65,2.40,-27.20,0.000,4,0.276,0.081,2831,513,3425,0,0,0,0,0,0
$GC,264,-0.52,-145.9,21.0,-10.2,39,272,0.05,2.17,0.00,0.000,6,0.155,0.039,2841,1880,3426,0,0,0,0,0,0
$GC,345,-0.52,-145.9,28.4,-9.2,52,352,0.00,0.62,0.00,0.000,4,0.000,0.047,2839,2309,3426,0,0,0,0,0,0
$GC,415,-0.52,-145.9,34.5,-8.5,64,422,0.00,0.62,0.00,0.000,6,0.000,0.054,2838,1910,3426,0,0,0,0,0,0
$GC,653,-0.52,-145.9,57.0,-9.1,105,658,0.00,0.65,0.00,0.000,4,0.000,0.063,2839,1493,3426,0,0,0,0,0,0
$GC,736,-0.52,-145.9,65.3,-9.7,120,744,0.00,0.68,0.00,0.000,6,0.000,0.040,2837,1933,3426,0,0,0,0,0,0
$GC,1083,-0.52,-145.9,97.5,-9.1,181,1087,0.00,1.35,0.00,0.000,4,0.000,0.061,2837,1105,3426,0,0,0,0,0,0
$GC,1177,-0.52,-145.9,106.8,-9.0,190,1185,0.00,1.27,0.00,0.000,6,0.000,0.039,2832,1915,3426,0,0,0,0,0,0
$GC,1498,-0.52,-145.9,136.5,-9.4,211,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1915,3426,0,0,0,0,0,0
$GC,1811,-0.50,-145.9,165.6,-9.4,231,1816,0.08,0.90,0.00,0.000,4,0.201,0.059,2849,1364,3425,0,0,0,0,0,0
$GC,1897,-0.52,-145.9,173.4,-8.2,236,1900,0.00,0.85,0.00,0.000,6,0.000,0.042,2848,1919,3426,0,0,0,0,0,0
$GC,2229,-0.54,-145.9,202.8,-8.8,257,2233,0.00,0.75,0.00,0.000,4,0.000,0.059,2848,1445,3426,0,0,0,0,0,0
$GC,2317,-0.54,-145.9,211.0,-8.6,262,2321,0.00,0.73,0.00,0.000,6,0.000,0.040,2846,1920,3426,0,0,0,0,0,0
$GC,2643,-0.54,-145.9,238.6,-8.6,283,2647,0.00,1.00,0.00,0.000,4,0.000,0.058,2845,1291,3426,0,0,0,0,0,0
$GC,2738,-0.56,-145.9,247.3,-8.7,288,2746,0.00,0.98,0.00,0.000,6,0.000,0.040,2841,1917,3426,0,0,0,0,0,0
$GC,3067,-0.56,-145.9,275.2,-8.7,305,3070,0.00,0.85,0.00,0.000,4,0.000,0.057,2841,1384,3426,0,0,0,0,0,0
$GC,3158,-0.56,-145.9,283.4,-8.8,309,3162,0.00,0.80,0.00,0.000,6,0.000,0.041,2838,1911,3426,0,0,0,0,0,0
$GC,3492,-0.56,-145.9,310.6,-7.5,325,3496,0.00,0.60,0.00,0.000,4,0.000,0.057,2838,1528,3426,0,0,0,0,0,0
$GC,3564,-0.56,-145.9,316.2,-7.3,328,3568,0.00,0.60,0.00,0.000,6,0.000,0.043,2837,1919,3426,0,0,0,0,0,0
$GC,3891,-0.56,-145.9,338.7,-6.7,344,3895,0.00,1.88,0.00,0.000,4,0.000,0.060,2837,732,3426,0,0,0,0,0,0
$GC,3986,-0.56,-145.9,345.1,-6.1,348,3990,0.00,1.80,0.00,0.000,6,0.000,0.035,2833,1903,3426,0,0,0,0,0,0
$GC,4313,-0.56,-145.9,365.6,-6.5,364,4317,0.00,0.25,0.00,0.000,4,0.000,0.055,2832,2116,3426,0,0,0,0,0,0
$GC,4359,-0.56,-145.9,368.6,-6.9,366,4362,0.00,0.30,0.00,0.000,6,0.000,0.057,2832,1904,3426,0,0,0,0,0,0
$GC,4691,-0.56,-145.9,390.4,-6.5,382,4694,0.00,1.05,0.00,0.000,4,0.000,0.057,2832,1225,3426,0,0,0,0,0,0
$GC,4791,-0.56,-145.9,397.1,-6.6,386,4796,0.00,1.08,0.00,0.000,6,0.000,0.036,2827,1924,3425,0,0,0,0,0,0
$GC,5120,-0.56,-145.9,419.4,-7.0,398,5124,0.00,0.90,0.00,0.000,4,0.000,0.056,2827,1357,3425,0,0,0,0,0,0
$GC,5209,-0.56,-145.9,426.2,-7.4,400,5213,0.00,0.85,0.00,0.000,6,0.000,0.037,2824,1912,3425,0,0,0,0,0,0
$GC,5527,-0.54,-145.9,450.2,-7.4,411,5531,0.00,0.47,0.00,0.000,4,0.000,0.058,2824,1596,3425,0,0,0,0,0,0
$GC,5616,-0.52,-145.9,456.6,-7.1,413,5621,0.10,0.47,0.00,0.000,6,0.181,0.044,2847,1919,3425,0,0,0,0,0,0
$GC,5934,-0.55,-145.9,475.1,-6.1,424,5938,0.00,0.98,0.00,0.000,4,0.000,0.055,2847,1305,3425,0,0,0,0,0,0
$GC,6029,-0.59,-145.9,481.7,-7.0,426,6035,0.05,0.90,0.00,0.000,6,0.076,0.037,2811,1906,3425,0,0,0,0,0,0
$GC,6341,-0.54,-145.9,513.2,-10.6,437,6346,0.10,0.52,0.00,0.000,4,0.179,0.056,2836,1573,3424,0,0,0,0,0,0
$GC,6429,-0.54,-145.9,521.8,-9.6,439,6433,0.00,0.52,0.00,0.000,6,0.000,0.042,2835,1926,3424,0,0,0,0,0,0
$GC,6747,-0.54,-145.9,551.6,-9.5,450,6751,0.00,1.08,0.00,0.000,4,0.000,0.055,2836,1252,3423,0,0,0,0,0,0
$GC,6840,-0.54,-145.9,560.9,-10.9,452,6846,0.00,1.02,0.00,0.000,6,0.000,0.036,2831,1921,3423,0,0,0,0,0,0
$GC,7153,-0.54,-145.9,591.0,-9.6,463,7157,0.00,1.15,0.00,0.000,4,0.000,0.055,2831,1197,3422,0,0,0,0,0,0
$GC,7257,-0.54,-145.9,601.0,-8.9,466,7262,0.00,1.10,0.00,0.000,6,0.000,0.036,2826,1913,3422,0,0,0,0,0,0
$GC,7593,-0.54,-145.9,631.7,-9.0,477,7596,0.00,1.20,0.00,0.000,4,0.000,0.056,2826,1163,3422,0,0,0,0,0,0
$GC,7697,-0.54,-145.9,641.6,-8.7,480,7703,0.05,1.17,0.00,0.000,6,0.236,0.036,2834,1922,3421,0,0,0,0,0,0
$GC,8032,-0.54,-145.9,668.4,-8.0,491,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1922,3420,0,0,0,0,0,0
$GC,8339,-0.54,-145.9,693.1,-8.3,501,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1922,3420,0,0,0,0,0,0
$GC,8645,-0.54,-145.9,718.5,-8.3,511,8648,0.00,0.93,0.00,0.000,4,0.000,0.053,2834,1336,3419,0,0,0,0,0,0
$GC,8733,-0.57,-145.9,726.4,-9.0,513,8738,0.00,0.90,0.00,0.000,6,0.000,0.036,2831,1925,3419,0,0,0,0,0,0
$GC,9052,-0.57,-145.9,754.5,-9.0,524,9055,0.00,0.70,0.00,0.000,4,0.000,0.052,2831,1466,3417,0,0,0,0,0,0
$GC,9139,-0.57,-145.9,762.7,-9.8,526,9144,0.00,0.68,0.00,0.000,6,0.000,0.038,2828,1914,3418,0,0,0,0,0,0
$GC,9458,-0.57,-145.9,791.3,-8.9,537,9461,0.00,0.88,0.00,0.000,4,0.000,0.053,2828,1357,3417,0,0,0,0,0,0
$GC,9545,-0.57,-145.9,799.4,-9.5,539,9550,0.00,0.85,0.00,0.000,6,0.000,0.037,2824,1910,3417,0,0,0,0,0,0
$GC,9864,-0.57,-145.9,827.4,-8.7,550,9867,0.00,0.40,0.00,0.000,4,0.000,0.055,2824,1640,3417,0,0,0,0,0,0
$GC,9946,-0.57,-145.9,834.5,-8.2,552,9950,0.00,0.43,0.00,0.000,6,0.000,0.046,2823,1927,3416,0,0,0,0,0,0
$GC,10269,-0.57,-145.9,859.6,-7.5,563,10273,0.00,1.02,0.00,0.000,4,0.000,0.054,2823,1283,3416,0,0,0,0,0,0
$GC,10371,-0.57,-145.9,866.5,-6.4,566,10375,0.00,0.95,0.00,0.000,6,0.000,0.039,2821,1907,3416,0,0,0,0,0,0
$GC,10711,-0.57,-145.9,890.2,-7.1,577,10715,0.00,0.68,0.00,0.000,4,0.000,0.053,2821,1470,3416,0,0,0,0,0,0
$GC,10799,-0.57,-145.9,896.9,-7.6,579,10804,0.00,0.70,0.00,0.000,6,0.000,0.039,2818,1930,3415,0,0,0,0,0,0
$GC,11117,-0.57,-145.9,921.7,-8.1,590,11121,0.00,1.20,0.00,0.000,4,0.000,0.054,2818,1176,3415,0,0,0,0,0,0
$GC,11218,-0.57,-145.9,929.7,-7.8,593,11222,0.00,1.10,0.00,0.000,6,0.000,0.037,2812,1900,3415,0,0,0,0,0,0
$GC,11559,-0.54,-145.9,959.8,-9.4,604,11560,0.08,0.00,0.00,0.000,6,0.199,0.000,2830,1902,3414,0,0,0,0,0,0
$GC,11865,-0.57,-145.9,986.5,-8.5,614,11868,0.00,0.40,0.00,0.000,4,0.000,0.057,2830,1628,3414,0,0,0,0,0,0
$GC,11942,-0.60,-145.9,993.3,-9.3,616,11946,0.00,0.45,0.00,0.000,6,0.000,0.044,2830,1931,3414,0,0,0,0,0,0
$STATE,12026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12026,begin apogee
$GC,12030,-0.19,0.0,1000.3,8.5,619,12156,0.40,0.00,123.18,1.532,6,0.137,0.000,2951,1644,2827,0,0,0,0,0,0
$STATE,12157,end apogee,CONTROL_FINISHED_OK
$STATE,12157,begin climb
$GC,12158,0.52,145.9,1007.1,0.0,623,12298,0.73,1.60,129.50,1.491,4,0.086,0.042,3180,2538,2232,0,0,0,0,0,0
$GC,12409,0.34,153.0,1004.5,7.2,631,12422,0.20,1.50,7.32,1.208,6,0.175,0.048,3133,1652,2203,0,0,0,0,0,0
$GC,12735,0.28,227.8,988.1,4.9,642,12806,0.10,0.85,66.70,1.469,4,0.203,0.041,3109,2158,1898,0,0,0,0,0,0
$GC,12859,0.31,282.6,982.3,5.5,646,12913,0.00,0.85,49.95,1.447,6,0.000,0.051,3111,1645,1675,0,0,0,0,0,0
$GC,13226,0.39,353.0,964.6,5.0,658,13296,0.10,0.70,63.47,1.450,4,0.112,0.040,3150,2069,1388,0,0,0,0,0,0
$GC,13346,0.44,377.5,956.6,6.6,661,13373,0.00,0.73,23.50,1.376,6,0.000,0.051,3151,1641,1288,0,0,0,0,0,0
$GC,13687,0.51,387.0,933.0,7.1,673,13698,0.08,0.00,8.85,1.226,6,0.129,0.000,3180,1641,1248,0,0,0,0,0,0
$GC,13992,0.51,387.0,906.8,8.7,683,13996,0.00,0.32,0.00,0.000,4,0.000,0.067,3180,1425,1247,0,0,0,0,0,0
$GC,14040,0.51,387.0,902.4,8.9,684,14042,0.00,0.32,0.00,0.000,6,0.000,0.048,3180,1642,1246,0,0,0,0,0,0
$GC,14360,0.51,387.0,874.7,8.6,695,14361,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1644,1246,0,0,0,0,0,0
$GC,14666,0.51,387.0,850.0,8.0,705,14670,0.00,0.70,0.00,0.000,4,0.000,0.063,3180,1202,1245,0,0,0,0,0,0
$GC,14720,0.51,387.0,845.3,8.4,706,14725,0.00,0.70,0.00,0.000,6,0.000,0.039,3180,1659,1245,0,0,0,0,0,0
$GC,15039,0.51,387.0,819.5,8.1,717,15042,0.00,0.43,0.00,0.000,4,0.000,0.063,3180,1387,1245,0,0,0,0,0,0
$GC,15087,0.51,387.0,815.5,8.0,718,15091,0.00,0.40,0.00,0.000,6,0.000,0.044,3180,1664,1245,0,0,0,0,0,0
$GC,15411,0.51,387.0,787.4,8.9,729,15414,0.00,0.57,0.00,0.000,4,0.000,0.062,3181,1298,1245,0,0,0,0,0,0
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$STATE,23811,end climb,SURFACE_DEPTH_REACHED
$STATE,23812,begin surface coast
$FINISH,1.5,1.026401
$STATE,23884,end surface coast,CONTROL_FINISHED_OK
$STATE,23884,begin surface
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$10V_AH,10.2,25.143
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,73461,1229
$CAP_FILE_SIZE,209040,0
$CFSIZE,2097086464,2076704768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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