version: 66.07.10.p01
glider: 574
mission: 4
dive: 145
start: 10 26 112 5 7 30
data:
$ID,574
$MISSION,4
$DIVE,145
$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,-5875.7793
$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,57
$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,124
$GPS1,261012,045835,-4203.829,-731.143,28,1.1,29,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-73.8
$GPS2,261012,050636,-4203.796,-731.009,32,1.2,33,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.235,0.008
$KALMAN_X,-239718.1,57.6,181.5,346109.4,-1287.3
$KALMAN_Y,160178.0,-75.9,-794.0,-70734.6,6463.0
$MHEAD_RNG_PITCHd_Wd,109.9,16703,-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,-145.9,0.0,0.0,0,93,0.00,0.00,-66.40,0.000,2,0.000,0.000,66,1918,2652,0,0,0,0,0,0
$GC,95,-0.52,-145.9,3.0,-1.3,11,140,12.50,2.33,-23.35,0.000,4,0.269,0.073,2833,518,3424,0,0,0,0,0,0
$GC,230,-0.52,-145.9,15.0,-9.9,33,238,0.03,2.15,0.00,0.000,6,0.186,0.032,2834,1889,3425,0,0,0,0,0,0
$GC,311,-0.52,-145.9,22.4,-9.3,46,318,0.00,0.50,0.00,0.000,4,0.000,0.042,2833,2248,3425,0,0,0,0,0,0
$GC,361,-0.52,-145.9,27.1,-9.3,54,368,0.00,0.52,0.00,0.000,6,0.000,0.050,2833,1908,3425,0,0,0,0,0,0
$GC,440,-0.52,-145.9,34.8,-9.3,67,445,0.00,0.47,0.00,0.000,4,0.000,0.059,2832,1591,3425,0,0,0,0,0,0
$GC,510,-0.52,-145.9,41.1,-9.2,79,515,0.00,0.50,0.00,0.000,6,0.000,0.040,2831,1937,3425,0,0,0,0,0,0
$GC,742,-0.52,-145.9,62.1,-8.9,120,750,0.00,0.70,0.00,0.000,4,0.000,0.051,2831,1501,3425,0,0,0,0,0,0
$GC,795,-0.52,-145.9,66.8,-8.9,129,801,0.00,0.60,0.00,0.000,6,0.000,0.038,2828,1905,3425,0,0,0,0,0,0
$GC,1139,-0.52,-145.9,99.6,-10.0,190,1144,0.05,0.77,0.00,0.000,4,0.234,0.053,2838,1425,3425,0,0,0,0,0,0
$GC,1209,-0.52,-145.9,106.2,-9.5,195,1213,0.00,0.73,0.00,0.000,6,0.000,0.037,2836,1910,3425,0,0,0,0,0,0
$GC,1538,-0.52,-145.9,136.9,-9.4,216,1542,0.00,0.62,0.00,0.000,4,0.000,0.054,2836,1505,3425,0,0,0,0,0,0
$GC,1607,-0.52,-145.9,143.2,-9.0,220,1610,0.00,0.60,0.00,0.000,6,0.000,0.038,2834,1914,3425,0,0,0,0,0,0
$GC,1938,-0.52,-145.9,172.6,-8.7,241,1942,0.00,0.90,0.00,0.000,4,0.000,0.053,2834,1350,3425,0,0,0,0,0,0
$GC,2022,-0.52,-145.9,180.5,-9.1,246,2026,0.00,0.85,0.00,0.000,6,0.000,0.035,2831,1917,3425,0,0,0,0,0,0
$GC,2354,-0.52,-145.9,209.6,-8.6,267,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1917,3425,0,0,0,0,0,0
$GC,2666,-0.52,-145.9,235.0,-7.8,287,2670,0.00,1.48,0.00,0.000,4,0.000,0.056,2830,1004,3425,0,0,0,0,0,0
$GC,2754,-0.52,-145.9,242.5,-8.2,292,2760,0.08,1.40,0.00,0.000,6,0.191,0.033,2842,1907,3425,0,0,0,0,0,0
$GC,3088,-0.55,-145.9,270.5,-9.5,310,3091,0.00,1.77,0.00,0.000,4,0.000,0.055,2842,781,3426,0,0,0,0,0,0
$GC,3158,-0.57,-145.9,277.7,-10.5,313,3162,0.00,1.73,0.00,0.000,6,0.000,0.032,2837,1914,3425,0,0,0,0,0,0
$GC,3491,-0.57,-145.9,309.8,-9.2,329,3495,0.00,0.88,0.00,0.000,4,0.000,0.041,2833,2509,3425,0,0,0,0,0,0
$GC,3552,-0.60,-145.9,315.5,-8.6,331,3558,0.00,0.95,0.00,0.000,6,0.000,0.041,2833,1899,3425,0,0,0,0,0,0
$GC,3870,-0.60,-145.9,342.6,-8.2,347,3874,0.00,1.27,0.00,0.000,4,0.000,0.053,2833,1087,3425,0,0,0,0,0,0
$GC,3937,-0.60,-145.9,348.3,-8.2,350,3941,0.00,1.25,0.00,0.000,6,0.000,0.032,2827,1918,3425,0,0,0,0,0,0
$GC,4269,-0.60,-145.9,373.2,-7.5,366,4273,0.00,0.47,0.00,0.000,4,0.000,0.052,2828,1597,3425,0,0,0,0,0,0
$GC,4339,-0.60,-145.9,378.4,-7.6,369,4343,0.00,0.45,0.00,0.000,6,0.000,0.039,2825,1923,3425,0,0,0,0,0,0
$GC,4660,-0.60,-145.9,403.9,-8.3,384,4664,0.00,0.50,0.00,0.000,4,0.000,0.052,2825,1587,3425,0,0,0,0,0,0
$GC,4731,-0.60,-145.9,410.4,-8.6,386,4735,0.00,0.47,0.00,0.000,6,0.000,0.037,2824,1916,3425,0,0,0,0,0,0
$GC,5066,-0.60,-145.9,442.1,-9.7,397,5070,0.00,0.88,0.00,0.000,4,0.000,0.050,2824,1352,3425,0,0,0,0,0,0
$GC,5149,-0.60,-145.9,450.5,-10.1,399,5153,0.00,0.85,0.00,0.000,6,0.000,0.034,2822,1915,3425,0,0,0,0,0,0
$GC,5473,-0.60,-145.9,480.4,-9.1,410,5476,0.00,0.88,0.00,0.000,4,0.000,0.050,2821,1348,3425,0,0,0,0,0,0
$GC,5549,-0.60,-145.9,487.7,-9.5,412,5554,0.00,0.85,0.00,0.000,6,0.000,0.032,2818,1915,3424,0,0,0,0,0,0
$GC,5879,-0.60,-145.9,519.2,-9.5,423,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1916,3424,0,0,0,0,0,0
$GC,6186,-0.58,-145.9,547.6,-8.8,433,6189,0.00,0.62,0.00,0.000,4,0.000,0.049,2818,1506,3423,0,0,0,0,0,0
$GC,6257,-0.58,-145.9,554.2,-8.3,435,6261,0.00,0.60,0.00,0.000,6,0.000,0.035,2815,1914,3423,0,0,0,0,0,0
$GC,6592,-0.56,-145.9,583.6,-8.8,446,6596,0.05,0.55,0.00,0.000,4,0.230,0.050,2826,1555,3422,0,0,0,0,0,0
$GC,6663,-0.56,-145.9,589.7,-8.0,448,6667,0.00,0.52,0.00,0.000,6,0.000,0.036,2825,1921,3422,0,0,0,0,0,0
$GC,6997,-0.56,-145.9,617.2,-8.5,459,7001,0.00,1.33,0.00,0.000,4,0.000,0.050,2825,1087,3422,0,0,0,0,0,0
$GC,7080,-0.56,-145.9,624.8,-9.2,461,7085,0.00,1.25,0.00,0.000,6,0.000,0.031,2821,1901,3422,0,0,0,0,0,0
$GC,7404,-0.56,-145.9,654.8,-9.5,472,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1901,3421,0,0,0,0,0,0
$GC,7710,-0.56,-145.9,683.1,-9.2,482,7714,0.00,0.32,0.00,0.000,4,0.000,0.056,2820,1673,3420,0,0,0,0,0,0
$GC,7765,-0.56,-145.9,688.2,-9.0,483,7769,0.00,0.35,0.00,0.000,6,0.000,0.043,2819,1927,3420,0,0,0,0,0,0
$GC,8082,-0.56,-145.9,716.7,-9.1,494,8086,0.00,1.67,0.00,0.000,4,0.000,0.052,2819,869,3420,0,0,0,0,0,0
$GC,8170,-0.56,-145.9,725.2,-10.0,496,8176,0.05,1.60,0.00,0.000,6,0.151,0.031,2829,1897,3420,0,0,0,0,0,0
$GC,8489,-0.58,-145.9,752.6,-8.6,507,8493,0.00,0.28,0.00,0.000,4,0.000,0.050,2829,2132,3419,0,0,0,0,0,0
$GC,8544,-0.60,-145.9,757.7,-9.3,508,8548,0.00,0.35,0.00,0.000,6,0.000,0.051,2829,1894,3419,0,0,0,0,0,0
$GC,8862,-0.60,-145.9,785.9,-9.0,519,8865,0.00,1.05,0.00,0.000,4,0.000,0.051,2829,1216,3419,0,0,0,0,0,0
$GC,8956,-0.62,-145.9,794.7,-9.1,521,8962,0.00,1.08,0.00,0.000,6,0.000,0.032,2824,1925,3418,0,0,0,0,0,0
$GC,9268,-0.62,-145.9,822.3,-8.7,532,9272,0.00,1.23,0.00,0.000,4,0.000,0.050,2824,1153,3418,0,0,0,0,0,0
$GC,9351,-0.62,-145.9,829.6,-8.7,534,9356,0.00,1.17,0.00,0.000,6,0.000,0.033,2821,1916,3418,0,0,0,0,0,0
$GC,9675,-0.62,-145.9,856.6,-8.1,545,9679,0.00,0.50,0.00,0.000,4,0.000,0.050,2821,1578,3417,0,0,0,0,0,0
$GC,9742,-0.62,-145.9,862.0,-8.0,547,9745,0.00,0.47,0.00,0.000,6,0.000,0.040,2819,1920,3417,0,0,0,0,0,0
$GC,10082,-0.62,-145.9,887.4,-7.1,558,10086,0.00,1.02,0.00,0.000,4,0.000,0.049,2818,1269,3417,0,0,0,0,0,0
$GC,10164,-0.62,-145.9,893.2,-7.2,560,10169,0.00,0.98,0.00,0.000,6,0.000,0.033,2814,1907,3417,0,0,0,0,0,0
$GC,10489,-0.62,-145.9,916.7,-7.4,571,10493,0.00,0.73,0.00,0.000,4,0.000,0.047,2814,1433,3417,0,0,0,0,0,0
$GC,10576,-0.62,-145.9,923.8,-7.9,573,10581,0.00,0.73,0.00,0.000,6,0.000,0.034,2811,1917,3416,0,0,0,0,0,0
$GC,10895,-0.62,-145.9,950.8,-8.7,584,10899,0.00,0.73,0.00,0.000,4,0.000,0.049,2811,1439,3416,0,0,0,0,0,0
$GC,10971,-0.62,-145.9,957.7,-8.4,586,10975,0.00,0.73,0.00,0.000,6,0.000,0.034,2809,1924,3416,0,0,0,0,0,0
$GC,11300,-0.62,-145.9,986.5,-8.6,597,11304,0.00,0.73,0.00,0.000,4,0.000,0.050,2809,1456,3416,0,0,0,0,0,0
$GC,11372,-0.62,-145.9,992.6,-8.5,599,11376,0.00,0.70,0.00,0.000,6,0.000,0.036,2807,1921,3416,0,0,0,0,0,0
$STATE,11492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11492,begin apogee
$GC,11496,-0.19,0.0,1002.4,8.4,603,11623,0.47,0.00,123.20,1.524,6,0.139,0.000,2949,1658,2827,0,0,0,0,0,0
$STATE,11623,end apogee,CONTROL_FINISHED_OK
$STATE,11623,begin climb
$GC,11625,0.52,145.9,1007.0,0.0,607,11764,0.73,1.75,130.30,1.488,4,0.080,0.040,3180,2650,2231,0,0,0,0,0,0
$GC,11836,0.32,145.9,1001.8,8.8,614,11841,0.22,1.67,0.00,0.000,6,0.175,0.044,3127,1665,2227,0,0,0,0,0,0
$GC,12171,0.26,151.7,978.0,7.2,625,12179,0.10,0.00,5.32,1.082,6,0.197,0.000,3103,1665,2208,0,0,0,0,0,0
$GC,12477,0.26,181.2,957.9,6.4,635,12508,0.00,0.57,27.30,1.424,4,0.000,0.041,3102,2031,2088,0,0,0,0,0,0
$GC,12580,0.27,220.9,951.3,6.0,638,12621,0.00,0.65,35.75,1.442,6,0.000,0.050,3105,1638,1925,0,0,0,0,0,0
$GC,12946,0.31,290.3,930.6,5.0,650,13011,0.00,1.08,61.50,1.454,4,0.000,0.037,3104,2279,1643,0,0,0,0,0,0
$GC,13050,0.41,348.2,925.6,5.4,653,13108,0.08,1.02,53.12,1.431,6,0.066,0.046,3143,1658,1407,0,0,0,0,0,0
$GC,13432,0.64,401.9,903.6,5.6,666,13487,0.22,0.70,48.50,1.418,4,0.083,0.039,3223,2082,1187,0,0,0,0,0,0
$GC,13504,0.68,431.7,898.6,6.4,668,13538,0.00,0.73,28.60,1.378,6,0.000,0.050,3224,1649,1067,0,0,0,0,0,0
$GC,13863,0.63,431.7,863.8,10.3,680,13867,0.00,0.77,0.00,0.000,4,0.000,0.060,3226,1168,1058,0,0,0,0,0,0
$GC,13918,0.58,431.7,857.7,10.9,681,13923,0.10,0.75,0.00,0.000,6,0.184,0.034,3203,1661,1057,0,0,0,0,0,0
$GC,14235,0.58,431.7,828.2,9.5,692,14239,0.00,0.32,0.00,0.000,4,0.000,0.067,3204,1447,1056,0,0,0,0,0,0
$GC,14273,0.58,431.7,824.6,9.9,693,14275,0.00,0.28,0.00,0.000,6,0.000,0.049,3204,1645,1056,0,0,0,0,0,0
$GC,14604,0.58,431.7,789.8,11.1,704,14608,0.00,0.50,0.00,0.000,4,0.000,0.060,3206,1322,1055,0,0,0,0,0,0
$GC,14647,0.58,431.7,784.7,11.5,705,14651,0.00,0.50,0.00,0.000,6,0.000,0.041,3206,1663,1054,0,0,0,0,0,0
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$STATE,22444,end climb,SURFACE_DEPTH_REACHED
$STATE,22444,begin surface coast
$FINISH,1.5,1.013171
$STATE,22481,end surface coast,CONTROL_FINISHED_OK
$STATE,22481,begin surface
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$IRIDIUM_FIX,-4149.58,-736.64,251012,222206
$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.7,35.649
$10V_AH,10.2,28.298
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.250,75.575,513.600,0.000,0.000,29.399,40.554,275.426,0.250,0.000,34.874,2990.350,15533.851,591.234,3747.053,166.753,33.356,2048.554,0.000,3327.510,0.000,2.832,0.000
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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,354300
$DATA_FILE_SIZE,70378,1183
$CAP_FILE_SIZE,200902,0
$CFSIZE,2097086464,2073690112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261012,112435,-4202.047,-725.343,35,0.9,36,-22.0