version: 66.07.10.p01
glider: 574
mission: 4
dive: 181
start: 11 5 112 4 40 37
data:
$ID,574
$MISSION,4
$DIVE,181
$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,-5996.2764
$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,32
$R_STBD_OVSHOOT,36
$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,160
$GPS1,051112,043123,-4215.179,-714.980,52,1.4,53,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-68.1
$GPS2,051112,043942,-4215.122,-714.998,17,1.5,18,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,-0.097
$KALMAN_X,-331387.9,-104.9,835.0,459023.2,-7160.0
$KALMAN_Y,264820.7,-130.6,374.3,-197479.6,1796.1
$MHEAD_RNG_PITCHd_Wd,136.3,55718,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.58,0.000,2,0.000,0.000,66,1901,2499,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.7,10,139,12.75,2.35,-28.58,0.000,4,0.272,0.077,2834,511,3422,0,0,0,0,0,0
$GC,236,-0.49,-145.9,14.4,-8.3,34,244,0.08,2.22,0.00,0.000,6,0.148,0.038,2851,1906,3424,0,0,0,0,0,0
$GC,316,-0.55,-145.9,20.1,-7.3,47,323,0.00,0.85,0.00,0.000,4,0.000,0.050,2850,2455,3424,0,0,0,0,0,0
$GC,349,-0.67,-145.9,23.3,-8.8,52,357,0.12,0.85,0.00,0.000,6,0.057,0.050,2791,1916,3424,0,0,0,0,0,0
$GC,429,-0.56,-145.9,32.2,-12.0,65,435,0.15,1.48,0.00,0.000,4,0.157,0.062,2832,1024,3424,0,0,0,0,0,0
$GC,501,-0.54,-145.9,38.9,-8.5,77,506,0.00,1.42,0.00,0.000,6,0.000,0.039,2826,1925,3424,0,0,0,0,0,0
$GC,734,-0.54,-145.9,57.8,-8.2,118,741,0.00,0.40,0.00,0.000,4,0.000,0.052,2824,2212,3424,0,0,0,0,0,0
$GC,771,-0.54,-145.9,60.9,-8.5,124,776,0.00,0.45,0.00,0.000,6,0.000,0.053,2824,1914,3424,0,0,0,0,0,0
$GC,1113,-0.52,-145.9,87.9,-7.5,185,1118,0.08,2.30,0.00,0.000,4,0.190,0.065,2842,508,3424,0,0,0,0,0,0
$GC,1176,-0.52,-145.9,92.8,-8.0,196,1181,0.00,2.20,0.00,0.000,6,0.000,0.038,2836,1923,3424,0,0,0,0,0,0
$GC,1503,-0.62,-145.9,115.0,-7.0,229,1508,0.08,2.20,0.00,0.000,4,0.132,0.053,2793,3319,3424,0,0,0,0,0,0
$GC,1591,-0.59,-145.9,123.1,-9.7,234,1600,0.08,2.20,0.00,0.000,6,0.138,0.041,2818,1914,3424,0,0,0,0,0,0
$GC,1913,-0.66,-145.9,150.0,-8.7,255,1918,0.05,2.25,0.00,0.000,4,0.173,0.050,2786,3328,3424,0,0,0,0,0,0
$GC,1985,-0.62,-145.9,157.8,-10.9,259,1991,0.05,2.20,0.00,0.000,6,0.150,0.040,2805,1914,3424,0,0,0,0,0,0
$GC,2306,-0.67,-145.9,188.0,-9.3,280,2310,0.00,2.22,0.00,0.000,4,0.000,0.049,2796,3321,3424,0,0,0,0,0,0
$GC,2377,-0.67,-145.9,195.7,-10.5,284,2385,0.00,2.20,0.00,0.000,6,0.000,0.038,2796,1909,3424,0,0,0,0,0,0
$GC,2699,-0.69,-145.9,226.0,-9.7,305,2703,0.00,2.20,0.00,0.000,4,0.000,0.057,2796,509,3425,0,0,0,0,0,0
$GC,2787,-0.61,-145.9,236.1,-11.2,310,2796,0.08,2.17,0.00,0.000,6,0.151,0.034,2811,1917,3425,0,0,0,0,0,0
$GC,3123,-0.57,-145.9,268.2,-9.5,329,3125,0.05,0.00,0.00,0.000,6,0.234,0.000,2824,1917,3425,0,0,0,0,0,0
$GC,3430,-0.65,-145.9,293.2,-7.8,344,3434,0.08,2.28,0.00,0.000,4,0.130,0.058,2794,509,3425,0,0,0,0,0,0
$GC,3494,-0.59,-145.9,299.2,-10.4,347,3498,0.15,2.15,0.00,0.000,6,0.159,0.034,2824,1922,3425,0,0,0,0,0,0
$GC,3823,-0.68,-145.9,323.5,-7.0,363,3827,0.10,2.17,0.00,0.000,4,0.113,0.049,2780,3309,3425,0,0,0,0,0,0
$GC,3909,-0.64,-145.9,330.9,-9.0,367,3914,0.10,2.15,0.00,0.000,6,0.171,0.037,2804,1901,3425,0,0,0,0,0,0
$GC,4238,-0.68,-145.9,356.6,-7.7,383,4242,0.00,0.57,0.00,0.000,4,0.000,0.052,2804,1514,3424,0,0,0,0,0,0
$GC,4253,-0.73,-145.9,357.9,-7.6,383,4259,0.08,0.62,0.00,0.000,6,0.132,0.036,2776,1938,3424,0,0,0,0,0,0
$GC,4571,-0.73,-145.9,387.4,-9.5,399,4575,0.00,1.55,0.00,0.000,4,0.000,0.043,2769,2942,3425,0,0,0,0,0,0
$GC,4631,-0.65,-145.9,394.0,-10.5,401,4638,0.08,1.60,0.00,0.000,6,0.149,0.037,2792,1900,3424,0,0,0,0,0,0
$GC,4945,-0.59,-145.9,426.8,-10.7,413,4949,0.10,1.67,0.00,0.000,4,0.184,0.054,2820,825,3424,0,0,0,0,0,0
$GC,5012,-0.59,-145.9,433.6,-10.1,415,5016,0.00,1.65,0.00,0.000,6,0.000,0.034,2813,1892,3424,0,0,0,0,0,0
$GC,5352,-0.65,-145.9,463.7,-8.9,426,5356,0.00,2.20,0.00,0.000,4,0.000,0.057,2813,512,3424,0,0,0,0,0,0
$GC,5423,-0.65,-145.9,470.9,-9.9,428,5428,0.00,2.17,0.00,0.000,6,0.000,0.034,2808,1915,3424,0,0,0,0,0,0
$GC,5754,-0.71,-145.9,499.9,-8.8,439,5759,0.08,2.20,0.00,0.000,4,0.133,0.048,2768,3321,3423,0,0,0,0,0,0
$GC,5763,-0.75,-145.9,501.0,-8.9,439,5768,0.00,2.17,0.00,0.000,6,0.000,0.037,2768,1914,3422,0,0,0,0,0,0
$GC,6088,-0.64,-145.9,539.6,-12.7,450,6092,0.15,2.22,0.00,0.000,4,0.174,0.044,2797,3322,3422,0,0,0,0,0,0
$GC,6154,-0.64,-145.9,546.9,-10.3,452,6159,0.00,2.15,0.00,0.000,6,0.000,0.034,2797,1909,3422,0,0,0,0,0,0
$GC,6489,-0.59,-145.9,582.1,-10.6,463,6494,0.10,2.20,0.00,0.000,4,0.181,0.054,2824,514,3422,0,0,0,0,0,0
$GC,6560,-0.59,-145.9,589.9,-11.0,465,6565,0.00,2.17,0.00,0.000,6,0.000,0.034,2816,1914,3422,0,0,0,0,0,0
$GC,6896,-0.67,-145.9,620.8,-9.3,476,6900,0.00,2.20,0.00,0.000,4,0.000,0.047,2806,3325,3421,0,0,0,0,0,0
$GC,6984,-0.74,-145.9,629.9,-10.6,478,6990,0.08,2.17,0.00,0.000,6,0.071,0.034,2766,1916,3421,0,0,0,0,0,0
$GC,7297,-0.74,-145.9,664.8,-11.3,489,7300,0.00,2.05,0.00,0.000,4,0.000,0.047,2759,3221,3421,0,0,0,0,0,0
$GC,7352,-0.66,-145.9,671.6,-12.6,490,7356,0.12,2.03,0.00,0.000,6,0.140,0.037,2796,1918,3420,0,0,0,0,0,0
$GC,7670,-0.61,-145.9,704.9,-10.1,501,7675,0.05,2.22,0.00,0.000,4,0.241,0.055,2808,511,3420,0,0,0,0,0,0
$GC,7747,-0.59,-145.9,712.7,-9.3,503,7752,0.05,2.17,0.00,0.000,6,0.155,0.035,2817,1910,3420,0,0,0,0,0,0
$GC,8071,-0.69,-145.9,736.5,-7.1,514,8075,0.08,0.40,0.00,0.000,4,0.134,0.050,2784,2200,3420,0,0,0,0,0,0
$GC,8221,-0.75,-145.9,748.1,-7.8,518,8225,0.00,0.45,0.00,0.000,6,0.000,0.051,2784,1904,3419,0,0,0,0,0,0
$GC,8545,-0.77,-145.9,772.6,-7.5,529,8547,0.05,0.00,0.00,0.000,6,0.174,0.000,2759,1904,3419,0,0,0,0,0,0
$GC,8851,-0.75,-145.9,796.5,-7.7,539,8855,0.00,0.80,0.00,0.000,4,0.000,0.053,2759,1382,3419,0,0,0,0,0,0
$GC,8878,-0.68,-145.9,798.8,-8.5,539,8884,0.12,0.82,0.00,0.000,6,0.177,0.036,2787,1926,3418,0,0,0,0,0,0
$GC,9191,-0.72,-145.9,819.4,-6.6,550,9195,0.00,1.15,0.00,0.000,4,0.000,0.045,2783,2680,3418,0,0,0,0,0,0
$GC,9252,-0.75,-145.9,823.7,-7.0,551,9257,0.00,1.20,0.00,0.000,6,0.000,0.041,2783,1909,3418,0,0,0,0,0,0
$GC,9565,-0.79,-145.9,846.8,-7.4,562,9569,0.08,2.25,0.00,0.000,4,0.138,0.056,2755,509,3418,0,0,0,0,0,0
$GC,9692,-0.67,-145.9,861.0,-10.9,565,9699,0.17,2.15,0.00,0.000,6,0.171,0.035,2789,1906,3417,0,0,0,0,0,0
$GC,10005,-0.63,-145.9,888.3,-8.6,576,10007,0.08,0.00,0.00,0.000,6,0.216,0.000,2805,1907,3417,0,0,0,0,0,0
$GC,10311,-0.63,-145.9,910.6,-7.2,586,10315,0.00,1.08,0.00,0.000,4,0.000,0.052,2805,1232,3417,0,0,0,0,0,0
$GC,10399,-0.63,-145.9,917.3,-7.5,588,10404,0.00,1.08,0.00,0.000,6,0.000,0.037,2802,1922,3417,0,0,0,0,0,0
$GC,10718,-0.63,-145.9,941.0,-7.7,599,10722,0.00,1.42,0.00,0.000,4,0.000,0.053,2802,1038,3417,0,0,0,0,0,0
$GC,10812,-0.63,-145.9,948.8,-7.8,601,10818,0.00,1.38,0.00,0.000,6,0.000,0.037,2796,1911,3417,0,0,0,0,0,0
$GC,11125,-0.60,-145.9,974.7,-8.3,612,11129,0.08,1.05,0.00,0.000,4,0.208,0.052,2813,1259,3417,0,0,0,0,0,0
$GC,11196,-0.60,-145.9,980.2,-7.5,614,11201,0.00,1.05,0.00,0.000,6,0.000,0.041,2810,1921,3417,0,0,0,0,0,0
$STATE,11470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11470,begin apogee
$GC,11474,-0.19,0.0,1001.0,7.7,623,11602,0.45,0.00,124.82,1.532,6,0.138,0.000,2945,1649,2827,0,0,0,0,0,0
$STATE,11603,end apogee,CONTROL_FINISHED_OK
$STATE,11603,begin climb
$GC,11605,0.52,145.9,1006.5,0.0,627,11743,0.73,1.05,132.00,1.515,4,0.080,0.060,3179,1083,2232,0,0,0,0,0,0
$GC,11810,0.34,145.9,1004.2,7.5,634,11815,0.20,0.98,0.00,0.000,6,0.180,0.040,3129,1663,2228,0,0,0,0,0,0
$GC,12145,0.28,159.7,981.5,6.9,645,12164,0.10,1.90,12.32,1.332,4,0.201,0.046,3105,2803,2176,0,0,0,0,0,0
$GC,12259,0.25,190.8,973.7,6.3,648,12295,0.05,1.88,28.77,1.426,6,0.175,0.047,3096,1661,2048,0,0,0,0,0,0
$GC,12614,0.34,202.6,949.0,7.0,660,12630,0.10,2.00,11.15,1.291,4,0.112,0.063,3138,441,2000,0,0,0,0,0,0
$GC,12692,0.29,202.6,943.0,7.9,662,12696,0.12,1.90,0.00,0.000,6,0.175,0.039,3108,1648,1999,0,0,0,0,0,0
$GC,13015,0.32,243.6,922.2,6.0,673,13059,0.00,2.12,37.28,1.421,4,0.000,0.047,3108,2917,1833,0,0,0,0,0,0
$GC,13122,0.37,271.7,915.5,6.4,676,13152,0.00,2.08,25.65,1.398,6,0.000,0.047,3114,1642,1719,0,0,0,0,0,0
$GC,13477,0.54,312.2,893.4,6.0,688,13519,0.20,1.12,36.90,1.406,4,0.080,0.045,3189,2313,1554,0,0,0,0,0,0
$GC,13546,0.47,312.2,887.9,8.5,690,13551,0.10,1.10,0.00,0.000,6,0.168,0.051,3166,1646,1553,0,0,0,0,0,0
$GC,13875,0.47,312.2,863.6,7.5,701,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1646,1548,0,0,0,0,0,0
$GC,14181,0.47,312.2,839.8,7.9,711,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1646,1547,0,0,0,0,0,0
$GC,14487,0.47,312.2,815.2,7.9,721,14491,0.00,0.55,0.00,0.000,4,0.000,0.047,3166,2011,1546,0,0,0,0,0,0
$GC,14531,0.44,312.2,811.6,8.1,722,14535,0.00,0.60,0.00,0.000,6,0.000,0.057,3166,1645,1546,0,0,0,0,0,0
$GC,14861,0.44,312.2,785.3,8.0,733,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1645,1546,0,0,0,0,0,0
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$STATE,23723,end climb,SURFACE_DEPTH_REACHED
$STATE,23724,begin surface coast
$FINISH,1.5,1.026469
$STATE,23755,end surface coast,CONTROL_FINISHED_OK
$STATE,23756,begin surface
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$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.6,43.669
$10V_AH,10.2,33.282
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354316
$DATA_FILE_SIZE,76884,1255
$CAP_FILE_SIZE,227500,0
$CFSIZE,2097086464,2068938752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051112,111906,-4214.307,-713.233,42,0.9,43,-21.9