version: 66.07.10.p01
glider: 574
mission: 4
dive: 151
start: 10 27 112 21 18 0
data:
$ID,574
$MISSION,4
$DIVE,151
$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,-5895.6958
$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,31
$R_STBD_OVSHOOT,65
$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,130
$GPS1,271012,210835,-4211.445,-717.193,30,1.1,31,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-71.1
$GPS2,271012,211705,-4211.391,-717.170,52,0.9,53,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.090,-0.217
$KALMAN_X,-232616.1,-383.9,-951.9,359392.6,3492.9
$KALMAN_Y,171674.5,-238.4,-659.4,-96278.2,3968.3
$MHEAD_RNG_PITCHd_Wd,224.5,103146,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-54.72,0.000,2,0.000,0.000,66,1940,2435,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.4,9,139,12.70,1.98,-37.67,0.000,4,0.274,0.076,2835,732,3421,0,0,0,0,0,0
$GC,201,-0.49,-145.9,10.3,-9.9,28,208,0.05,1.83,0.00,0.000,6,0.155,0.039,2847,1876,3423,0,0,0,0,0,0
$GC,281,-0.49,-145.9,18.6,-11.5,41,288,0.00,0.80,0.00,0.000,4,0.000,0.044,2845,2406,3423,0,0,0,0,0,0
$GC,331,-0.51,-145.9,24.3,-11.2,49,338,0.00,0.77,0.00,0.000,6,0.000,0.048,2845,1912,3423,0,0,0,0,0,0
$GC,409,-0.51,-145.9,31.8,-10.0,62,416,0.00,1.12,0.00,0.000,4,0.000,0.060,2845,1214,3423,0,0,0,0,0,0
$GC,486,-0.51,-145.9,38.9,-9.2,75,491,0.00,1.10,0.00,0.000,6,0.000,0.037,2842,1922,3424,0,0,0,0,0,0
$GC,720,-0.51,-145.9,60.5,-8.5,116,725,0.00,1.20,0.00,0.000,4,0.000,0.057,2842,1182,3424,0,0,0,0,0,0
$GC,799,-0.51,-145.9,68.3,-10.1,130,804,0.00,1.12,0.00,0.000,6,0.000,0.034,2838,1916,3423,0,0,0,0,0,0
$GC,1141,-0.51,-145.9,98.8,-9.1,191,1145,0.00,1.73,0.00,0.000,4,0.000,0.058,2837,845,3424,0,0,0,0,0,0
$GC,1210,-0.51,-145.9,105.3,-9.5,197,1214,0.05,1.67,0.00,0.000,6,0.226,0.035,2843,1938,3424,0,0,0,0,0,0
$GC,1541,-0.61,-145.9,132.6,-8.0,218,1545,0.10,0.85,0.00,0.000,4,0.109,0.053,2799,1404,3424,0,0,0,0,0,0
$GC,1560,-0.66,-145.9,134.3,-8.3,219,1564,0.00,0.77,0.00,0.000,6,0.000,0.037,2796,1920,3424,0,0,0,0,0,0
$GC,1892,-0.58,-145.9,168.5,-11.6,240,1896,0.10,0.35,0.00,0.000,4,0.181,0.057,2821,1688,3424,0,0,0,0,0,0
$GC,1994,-0.55,-145.9,179.6,-10.9,246,1998,0.00,0.32,0.00,0.000,6,0.000,0.045,2820,1936,3424,0,0,0,0,0,0
$GC,2326,-0.52,-145.9,213.9,-9.9,267,2331,0.08,2.00,0.00,0.000,4,0.196,0.058,2838,683,3424,0,0,0,0,0,0
$GC,2397,-0.52,-145.9,220.9,-8.3,271,2403,0.00,1.85,0.00,0.000,6,0.000,0.031,2834,1894,3424,0,0,0,0,0,0
$GC,2724,-0.62,-145.9,245.0,-7.0,292,2728,0.05,2.05,0.00,0.000,4,0.168,0.045,2801,3217,3424,0,0,0,0,0,0
$GC,2784,-0.59,-145.9,250.4,-9.1,295,2791,0.05,2.03,0.00,0.000,6,0.140,0.037,2819,1904,3424,0,0,0,0,0,0
$GC,3103,-0.57,-145.9,276.2,-8.0,311,3107,0.00,1.73,0.00,0.000,4,0.000,0.054,2819,813,3424,0,0,0,0,0,0
$GC,3180,-0.54,-145.9,283.0,-8.0,314,3185,0.05,1.67,0.00,0.000,6,0.153,0.031,2831,1913,3424,0,0,0,0,0,0
$GC,3502,-0.54,-145.9,307.9,-8.0,330,3505,0.00,0.28,0.00,0.000,4,0.000,0.059,2831,1715,3424,0,0,0,0,0,0
$GC,3592,-0.54,-145.9,315.5,-8.5,334,3596,0.00,0.28,0.00,0.000,6,0.000,0.047,2830,1933,3424,0,0,0,0,0,0
$GC,3924,-0.54,-145.9,342.4,-8.1,350,3928,0.00,2.25,0.00,0.000,4,0.000,0.055,2830,515,3424,0,0,0,0,0,0
$GC,4001,-0.54,-145.9,349.2,-8.1,353,4008,0.00,2.10,0.00,0.000,6,0.000,0.030,2822,1890,3424,0,0,0,0,0,0
$GC,4320,-0.54,-145.9,376.1,-8.6,369,4324,0.00,0.35,0.00,0.000,4,0.000,0.054,2822,1649,3424,0,0,0,0,0,0
$GC,4391,-0.54,-145.9,382.8,-8.7,372,4396,0.05,0.40,0.00,0.000,6,0.226,0.041,2832,1938,3424,0,0,0,0,0,0
$GC,4727,-0.54,-145.9,408.8,-7.8,387,4730,0.00,1.48,0.00,0.000,4,0.000,0.052,2832,1010,3424,0,0,0,0,0,0
$GC,4809,-0.54,-145.9,415.8,-8.4,389,4814,0.00,1.38,0.00,0.000,6,0.000,0.032,2828,1900,3424,0,0,0,0,0,0
$GC,5133,-0.54,-145.9,443.2,-8.7,400,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1900,3423,0,0,0,0,0,0
$GC,5440,-0.54,-145.9,470.2,-8.9,410,5443,0.00,0.73,0.00,0.000,4,0.000,0.050,2828,1434,3423,0,0,0,0,0,0
$GC,5516,-0.54,-145.9,477.0,-8.3,412,5521,0.00,0.75,0.00,0.000,6,0.000,0.034,2825,1933,3423,0,0,0,0,0,0
$GC,5846,-0.54,-145.9,503.8,-7.9,423,5850,0.00,1.25,0.00,0.000,4,0.000,0.051,2825,1144,3423,0,0,0,0,0,0
$GC,5928,-0.54,-145.9,510.5,-7.9,425,5933,0.00,1.17,0.00,0.000,6,0.000,0.032,2822,1907,3422,0,0,0,0,0,0
$GC,6253,-0.54,-145.9,536.4,-7.8,436,6257,0.03,0.68,0.00,0.000,4,0.288,0.050,2833,1477,3422,0,0,0,0,0,0
$GC,6335,-0.54,-145.9,542.6,-6.5,438,6339,0.00,0.68,0.00,0.000,6,0.000,0.035,2831,1931,3421,0,0,0,0,0,0
$GC,6659,-0.54,-145.9,564.9,-6.9,449,6662,0.00,1.20,0.00,0.000,4,0.000,0.052,2831,1174,3421,0,0,0,0,0,0
$GC,6747,-0.54,-145.9,571.3,-7.2,451,6752,0.00,1.12,0.00,0.000,6,0.000,0.032,2827,1911,3421,0,0,0,0,0,0
$GC,7066,-0.54,-145.9,592.1,-6.5,462,7070,0.00,1.38,0.00,0.000,4,0.000,0.051,2827,1048,3421,0,0,0,0,0,0
$GC,7154,-0.54,-145.9,598.7,-7.6,464,7159,0.00,1.33,0.00,0.000,6,0.000,0.032,2823,1908,3420,0,0,0,0,0,0
$GC,7473,-0.54,-145.9,622.2,-7.6,475,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1908,3420,0,0,0,0,0,0
$GC,7779,-0.54,-145.9,645.7,-7.6,485,7783,0.00,0.98,0.00,0.000,4,0.000,0.050,2823,1287,3420,0,0,0,0,0,0
$GC,7862,-0.54,-145.9,652.1,-7.1,487,7867,0.05,0.98,0.00,0.000,6,0.233,0.034,2832,1923,3419,0,0,0,0,0,0
$GC,8186,-0.57,-145.9,676.0,-7.6,498,8189,0.00,1.02,0.00,0.000,4,0.000,0.050,2832,1266,3419,0,0,0,0,0,0
$GC,8263,-0.59,-145.9,682.4,-7.9,500,8267,0.00,1.00,0.00,0.000,6,0.000,0.034,2829,1915,3419,0,0,0,0,0,0
$GC,8592,-0.59,-145.9,710.9,-9.2,511,8596,0.00,0.43,0.00,0.000,4,0.000,0.053,2829,1627,3418,0,0,0,0,0,0
$GC,8664,-0.59,-145.9,717.9,-9.5,513,8668,0.00,0.43,0.00,0.000,6,0.000,0.043,2828,1922,3417,0,0,0,0,0,0
$GC,8999,-0.62,-145.9,750.9,-10.1,524,9003,0.00,1.25,0.00,0.000,4,0.000,0.051,2828,1135,3417,0,0,0,0,0,0
$GC,9081,-0.62,-145.9,759.8,-10.5,526,9086,0.00,1.20,0.00,0.000,6,0.000,0.035,2823,1907,3417,0,0,0,0,0,0
$GC,9406,-0.62,-145.9,793.8,-10.8,537,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1907,3417,0,0,0,0,0,0
$GC,9712,-0.62,-145.9,826.4,-10.6,547,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1907,3417,0,0,0,0,0,0
$GC,10018,-0.62,-145.9,857.4,-9.8,557,10022,0.00,0.60,0.00,0.000,4,0.000,0.049,2823,1513,3417,0,0,0,0,0,0
$GC,10086,-0.62,-145.9,863.8,-9.1,559,10089,0.00,0.60,0.00,0.000,6,0.000,0.039,2823,1921,3417,0,0,0,0,0,0
$GC,10426,-0.62,-145.9,890.9,-7.3,570,10429,0.00,0.40,0.00,0.000,4,0.000,0.053,2823,1642,3416,0,0,0,0,0,0
$GC,10493,-0.62,-145.9,895.5,-6.8,572,10497,0.00,0.38,0.00,0.000,6,0.000,0.046,2822,1914,3416,0,0,0,0,0,0
$GC,10834,-0.62,-145.9,918.3,-6.5,583,10837,0.00,0.80,0.00,0.000,4,0.000,0.049,2823,1396,3416,0,0,0,0,0,0
$GC,10911,-0.64,-145.9,923.6,-6.3,585,10916,0.00,0.80,0.00,0.000,6,0.000,0.036,2820,1931,3416,0,0,0,0,0,0
$GC,11241,-0.64,-145.9,946.9,-7.4,596,11244,0.00,0.93,0.00,0.000,4,0.000,0.048,2820,1339,3416,0,0,0,0,0,0
$GC,11335,-0.66,-145.9,954.3,-7.5,598,11340,0.00,0.88,0.00,0.000,6,0.000,0.034,2817,1915,3415,0,0,0,0,0,0
$GC,11648,-0.66,-145.9,978.0,-7.8,609,11651,0.00,0.45,0.00,0.000,4,0.000,0.051,2817,1607,3416,0,0,0,0,0,0
$GC,11715,-0.66,-145.9,983.1,-7.3,611,11719,0.00,0.43,0.00,0.000,6,0.000,0.042,2816,1912,3416,0,0,0,0,0,0
$STATE,11932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11932,begin apogee
$GC,11937,-0.19,0.0,1000.7,8.3,618,12063,0.45,0.00,123.60,1.523,6,0.137,0.000,2951,1648,2827,0,0,0,0,0,0
$STATE,12064,end apogee,CONTROL_FINISHED_OK
$STATE,12064,begin climb
$GC,12065,0.52,145.9,1006.8,0.0,622,12202,0.68,1.42,130.02,1.486,4,0.078,0.037,3175,2486,2231,0,0,0,0,0,0
$GC,12282,0.34,179.5,1005.6,6.3,629,12319,0.20,1.38,31.08,1.424,6,0.171,0.045,3128,1669,2094,0,0,0,0,0,0
$GC,12648,0.30,228.9,985.1,5.7,641,12695,0.08,0.00,44.00,1.455,6,0.210,0.000,3112,1669,1893,0,0,0,0,0,0
$GC,12987,0.34,282.3,966.1,5.6,652,13037,0.00,0.00,48.05,1.453,6,0.000,0.000,3112,1669,1676,0,0,0,0,0,0
$GC,13322,0.54,312.3,946.0,6.4,663,13358,0.22,2.45,27.35,1.411,4,0.084,0.063,3195,244,1553,0,0,0,0,0,0
$GC,13435,0.48,312.3,934.7,11.1,666,13440,0.08,2.22,0.00,0.000,6,0.164,0.032,3173,1640,1549,0,0,0,0,0,0
$GC,13759,0.45,312.3,904.7,9.1,677,13764,0.05,0.88,0.00,0.000,4,0.243,0.039,3164,2220,1546,0,0,0,0,0,0
$GC,13814,0.45,312.3,899.6,9.2,678,13818,0.00,0.90,0.00,0.000,6,0.000,0.047,3166,1650,1546,0,0,0,0,0,0
$GC,14132,0.45,312.3,870.6,9.6,689,14133,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1650,1546,0,0,0,0,0,0
$GC,14438,0.45,312.3,840.3,10.1,699,14441,0.00,0.45,0.00,0.000,4,0.000,0.042,3166,1971,1546,0,0,0,0,0,0
$GC,14481,0.45,312.3,835.6,10.3,700,14485,0.00,0.52,0.00,0.000,6,0.000,0.054,3166,1643,1545,0,0,0,0,0,0
$GC,14810,0.45,312.3,803.4,9.5,711,14811,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1643,1545,0,0,0,0,0,0
$GC,15116,0.45,312.3,778.2,8.0,721,15120,0.00,0.57,0.00,0.000,4,0.000,0.042,3166,2040,1545,0,0,0,0,0,0
$GC,15171,0.45,314.9,773.9,7.3,722,15175,0.00,0.62,0.00,0.000,6,0.000,0.053,3167,1651,1545,0,0,0,0,0,0
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$STATE,23547,end climb,SURFACE_DEPTH_REACHED
$STATE,23547,begin surface coast
$FINISH,1.6,1.011027
$STATE,23578,end surface coast,CONTROL_FINISHED_OK
$STATE,23578,begin surface
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$TCM_TEMP,11.10
$XPDR_PINGS,0
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$10V_AH,10.2,29.134
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354220
$DATA_FILE_SIZE,70129,1167
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$CFSIZE,2097086464,2072903680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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