version: 66.07.10.p01
glider: 574
mission: 4
dive: 187
start: 11 6 112 20 16 30
data:
$ID,574
$MISSION,4
$DIVE,187
$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,-6016.4648
$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,26
$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,166
$GPS1,061112,200704,-4212.464,-705.230,65,1.2,69,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-73.5
$GPS2,061112,201536,-4212.468,-705.138,46,1.1,47,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-709.970
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.095,0.154
$KALMAN_X,-349361.6,523.3,2153.5,488423.1,-9088.1
$KALMAN_Y,269500.6,-9.4,258.3,-197243.8,-1440.9
$MHEAD_RNG_PITCHd_Wd,53.5,7167,-19.2,-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,25,-0.71,-81.0,0.0,0.0,0,52,0.00,0.00,-25.80,0.000,2,0.000,0.000,66,1928,2419,0,0,0,0,0,0
$GC,55,-0.72,-145.9,3.1,-1.8,4,105,12.27,2.22,-31.52,0.000,4,0.267,0.070,2766,3289,3421,0,0,0,0,0,0
$GC,237,-0.72,-145.9,21.4,-13.1,34,244,0.00,2.25,0.00,0.000,6,0.000,0.054,2765,1919,3423,0,0,0,0,0,0
$GC,315,-0.66,-145.9,32.1,-14.9,47,321,0.12,1.55,0.00,0.000,4,0.190,0.063,2794,955,3423,0,0,0,0,0,0
$GC,386,-0.66,-145.9,42.0,-13.6,59,391,0.00,1.48,0.00,0.000,6,0.000,0.042,2790,1871,3423,0,0,0,0,0,0
$GC,620,-0.66,-145.9,68.4,-10.9,100,625,0.00,0.80,0.00,0.000,4,0.000,0.049,2785,2398,3423,0,0,0,0,0,0
$GC,655,-0.66,-145.9,72.0,-10.6,106,660,0.00,0.77,0.00,0.000,6,0.000,0.051,2786,1909,3423,0,0,0,0,0,0
$GC,1003,-0.66,-145.9,108.6,-10.6,159,1007,0.00,2.30,0.00,0.000,4,0.000,0.066,2786,503,3424,0,0,0,0,0,0
$GC,1053,-0.68,-145.9,114.6,-11.2,162,1058,0.05,2.22,0.00,0.000,6,0.235,0.041,2786,1920,3424,0,0,0,0,0,0
$GC,1380,-0.68,-145.9,149.7,-11.5,183,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1920,3424,0,0,0,0,0,0
$GC,1692,-0.68,-145.9,184.8,-11.1,203,1696,0.00,2.33,0.00,0.000,4,0.000,0.063,2787,498,3425,0,0,0,0,0,0
$GC,1741,-0.71,-145.9,191.0,-11.3,206,1745,0.00,2.22,0.00,0.000,6,0.000,0.040,2780,1910,3425,0,0,0,0,0,0
$GC,2067,-0.71,-145.9,227.3,-11.5,227,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1910,3425,0,0,0,0,0,0
$GC,2388,-0.71,-145.9,263.7,-11.9,246,2391,0.00,0.60,0.00,0.000,4,0.000,0.057,2780,1528,3425,0,0,0,0,0,0
$GC,2433,-0.71,-145.9,269.4,-12.4,248,2436,0.00,0.60,0.00,0.000,6,0.000,0.043,2778,1927,3424,0,0,0,0,0,0
$GC,2765,-0.71,-145.9,309.2,-12.0,264,2769,0.00,2.20,0.00,0.000,4,0.000,0.061,2778,571,3425,0,0,0,0,0,0
$GC,2819,-0.71,-145.9,316.5,-13.2,266,2827,0.00,2.10,0.00,0.000,6,0.000,0.037,2769,1910,3425,0,0,0,0,0,0
$GC,3135,-0.71,-145.9,355.6,-12.2,282,3139,0.00,1.60,0.00,0.000,4,0.000,0.057,2769,927,3424,0,0,0,0,0,0
$GC,3190,-0.71,-145.9,362.6,-11.4,284,3195,0.05,1.52,0.00,0.000,6,0.168,0.036,2777,1910,3424,0,0,0,0,0,0
$GC,3511,-0.71,-145.9,397.3,-10.3,300,3515,0.00,0.88,0.00,0.000,4,0.000,0.055,2779,1364,3425,0,0,0,0,0,0
$GC,3572,-0.71,-145.9,403.8,-10.6,302,3577,0.00,0.88,0.00,0.000,6,0.000,0.038,2776,1928,3424,0,0,0,0,0,0
$GC,3884,-0.71,-145.9,434.8,-9.8,313,3888,0.00,2.30,0.00,0.000,4,0.000,0.060,2776,502,3424,0,0,0,0,0,0
$GC,3939,-0.71,-145.9,440.6,-10.0,314,3944,0.00,2.17,0.00,0.000,6,0.000,0.036,2768,1899,3424,0,0,0,0,0,0
$GC,4257,-0.71,-145.9,473.4,-10.7,325,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1899,3424,0,0,0,0,0,0
$GC,4564,-0.71,-145.9,505.8,-10.5,335,4567,0.00,0.32,0.00,0.000,4,0.000,0.060,2768,1680,3423,0,0,0,0,0,0
$GC,4601,-0.71,-145.9,509.9,-10.2,336,4606,0.05,0.38,0.00,0.000,6,0.236,0.047,2777,1933,3423,0,0,0,0,0,0
$GC,4936,-0.73,-145.9,540.7,-9.2,347,4940,0.00,2.33,0.00,0.000,4,0.000,0.058,2778,494,3423,0,0,0,0,0,0
$GC,4985,-0.76,-145.9,545.7,-10.3,348,4990,0.00,2.20,0.00,0.000,6,0.000,0.036,2771,1906,3423,0,0,0,0,0,0
$GC,5304,-0.76,-145.9,577.1,-10.2,359,5307,0.00,0.30,0.00,0.000,4,0.000,0.059,2771,1691,3423,0,0,0,0,0,0
$GC,5375,-0.76,-145.9,585.3,-11.4,361,5379,0.00,0.35,0.00,0.000,6,0.000,0.050,2769,1931,3422,0,0,0,0,0,0
$GC,5710,-0.76,-145.9,622.3,-11.0,372,5714,0.00,2.30,0.00,0.000,4,0.000,0.057,2769,502,3422,0,0,0,0,0,0
$GC,5771,-0.76,-145.9,629.5,-11.0,374,5775,0.00,2.17,0.00,0.000,6,0.000,0.037,2760,1910,3422,0,0,0,0,0,0
$GC,6106,-0.74,-145.9,667.8,-11.4,385,6110,0.00,0.30,0.00,0.000,4,0.000,0.054,2758,2143,3421,0,0,0,0,0,0
$GC,6160,-0.74,-145.9,674.1,-11.1,386,6164,0.00,0.38,0.00,0.000,6,0.000,0.054,2758,1894,3420,0,0,0,0,0,0
$GC,6479,-0.72,-145.9,708.3,-10.5,397,6483,0.08,1.25,0.00,0.000,4,0.205,0.055,2773,1110,3421,0,0,0,0,0,0
$GC,6546,-0.72,-145.9,715.1,-9.6,399,6549,0.00,1.25,0.00,0.000,6,0.000,0.038,2769,1914,3420,0,0,0,0,0,0
$GC,6886,-0.72,-145.9,748.9,-10.2,410,6889,0.00,1.98,0.00,0.000,4,0.000,0.057,2769,684,3420,0,0,0,0,0,0
$GC,6946,-0.74,-145.9,755.3,-10.2,411,6952,0.00,1.92,0.00,0.000,6,0.000,0.037,2761,1913,3419,0,0,0,0,0,0
$GC,7259,-0.74,-145.9,788.1,-10.7,422,7263,0.00,0.45,0.00,0.000,4,0.000,0.056,2761,1615,3419,0,0,0,0,0,0
$GC,7319,-0.74,-145.9,795.0,-11.0,423,7325,0.00,0.47,0.00,0.000,6,0.000,0.046,2759,1929,3419,0,0,0,0,0,0
$GC,7632,-0.74,-145.9,830.1,-11.4,434,7635,0.00,0.93,0.00,0.000,4,0.000,0.053,2759,1348,3418,0,0,0,0,0,0
$GC,7692,-0.74,-145.9,837.1,-11.9,435,7698,0.08,0.88,0.00,0.000,6,0.208,0.041,2770,1908,3418,0,0,0,0,0,0
$GC,8004,-0.74,-145.9,869.9,-10.6,446,8008,0.00,0.65,0.00,0.000,4,0.000,0.054,2770,1492,3417,0,0,0,0,0,0
$GC,8064,-0.74,-145.9,876.7,-11.2,447,8070,0.00,0.68,0.00,0.000,6,0.000,0.042,2769,1927,3417,0,0,0,0,0,0
$GC,8377,-0.74,-145.9,912.2,-11.7,458,8381,0.00,1.70,0.00,0.000,4,0.000,0.055,2769,884,3416,0,0,0,0,0,0
$GC,8448,-0.74,-145.9,920.9,-12.1,460,8453,0.00,1.60,0.00,0.000,6,0.000,0.038,2762,1902,3416,0,0,0,0,0,0
$GC,8784,-0.74,-145.9,962.7,-12.9,471,8788,0.00,0.75,0.00,0.000,4,0.000,0.053,2763,1425,3416,0,0,0,0,0,0
$GC,8852,-0.74,-145.9,971.5,-13.4,473,8855,0.00,0.75,0.00,0.000,6,0.000,0.043,2759,1916,3416,0,0,0,0,0,0
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9104,-0.19,0.0,1003.5,12.8,481,9232,0.65,0.00,124.93,1.537,6,0.145,0.000,2948,1646,2827,0,0,0,0,0,0
$STATE,9233,end apogee,CONTROL_FINISHED_OK
$STATE,9233,begin climb
$GC,9234,0.72,145.9,1011.3,0.0,485,9375,0.90,2.17,131.88,1.511,4,0.079,0.047,3241,2844,2231,0,0,0,0,0,0
$GC,9475,0.51,145.9,1010.3,7.8,492,9480,0.30,2.00,0.00,0.000,6,0.208,0.047,3183,1662,2227,0,0,0,0,0,0
$GC,9793,0.43,161.0,990.1,6.5,503,9813,0.12,0.52,13.75,1.379,4,0.215,0.063,3157,1348,2170,0,0,0,0,0,0
$GC,9868,0.43,179.2,985.3,6.3,505,9890,0.00,0.50,17.52,1.401,6,0.000,0.044,3156,1664,2095,0,0,0,0,0,0
$GC,10196,0.43,179.2,961.7,7.5,516,10200,0.00,0.25,0.00,0.000,4,0.000,0.058,3156,1853,2093,0,0,0,0,0,0
$GC,10250,0.43,179.2,957.5,7.4,517,10255,0.00,0.35,0.00,0.000,6,0.000,0.063,3158,1640,2093,0,0,0,0,0,0
$GC,10568,0.43,179.2,933.4,7.6,528,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1639,2093,0,0,0,0,0,0
$GC,10875,0.43,192.0,912.5,6.6,538,10891,0.00,1.05,12.32,1.317,4,0.000,0.046,3158,2287,2044,0,0,0,0,0,0
$GC,10952,0.43,211.5,907.3,6.2,540,10976,0.00,1.02,18.83,1.383,6,0.000,0.052,3162,1651,1963,0,0,0,0,0,0
$GC,11306,0.43,226.2,884.1,6.5,552,11323,0.00,0.00,14.35,1.336,6,0.000,0.000,3162,1652,1903,0,0,0,0,0,0
$GC,11612,0.46,228.7,862.2,7.3,562,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1651,1901,0,0,0,0,0,0
$GC,11919,0.48,235.2,840.0,7.0,572,11932,0.00,0.70,8.65,1.206,4,0.000,0.047,3162,2090,1868,0,0,0,0,0,0
$GC,11984,0.51,242.4,835.5,7.0,574,11998,0.00,0.70,8.60,1.206,6,0.000,0.056,3165,1654,1838,0,0,0,0,0,0
$GC,12324,0.54,265.7,813.7,6.0,585,12350,0.08,0.88,22.27,1.349,4,0.135,0.063,3194,1131,1743,0,0,0,0,0,0
$GC,12406,0.54,271.7,807.6,7.0,586,12417,0.00,0.82,6.38,1.098,6,0.000,0.043,3193,1652,1719,0,0,0,0,0,0
$GC,12723,0.54,271.7,784.0,7.5,597,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1654,1717,0,0,0,0,0,0
$GC,13029,0.54,271.7,760.6,7.8,607,13033,0.00,0.93,0.00,0.000,4,0.000,0.062,3197,1087,1716,0,0,0,0,0,0
$GC,13097,0.54,271.7,755.1,7.7,609,13100,0.00,0.88,0.00,0.000,6,0.000,0.044,3197,1649,1715,0,0,0,0,0,0
$GC,13437,0.54,271.7,725.0,9.2,620,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1650,1715,0,0,0,0,0,0
$GC,13743,0.54,271.7,697.5,8.9,630,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1650,1715,0,0,0,0,0,0
$GC,14049,0.54,271.7,668.9,9.6,640,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1650,1714,0,0,0,0,0,0
$GC,14355,0.54,271.7,639.4,9.8,650,14359,0.00,0.32,0.00,0.000,4,0.000,0.057,3197,1889,1714,0,0,0,0,0,0
$GC,14404,0.54,271.7,634.5,9.4,651,14408,0.00,0.40,0.00,0.000,6,0.000,0.064,3199,1641,1714,0,0,0,0,0,0
$GC,14728,0.54,271.7,603.6,9.3,662,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1641,1714,0,0,0,0,0,0
$GC,15034,0.54,271.7,576.4,8.5,672,15038,0.00,0.57,0.00,0.000,4,0.000,0.065,3200,1270,1714,0,0,0,0,0,0
$GC,15089,0.54,271.7,571.8,7.6,673,15093,0.00,0.60,0.00,0.000,6,0.000,0.047,3200,1659,1713,0,0,0,0,0,0
$GC,15407,0.54,271.7,545.2,8.2,684,15410,0.00,0.45,0.00,0.000,4,0.000,0.066,3201,1369,1714,0,0,0,0,0,0
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$STATE,21728,end climb,SURFACE_DEPTH_REACHED
$STATE,21729,begin surface coast
$FINISH,2.0,1.026480
$STATE,21736,end surface coast,CONTROL_FINISHED_OK
$STATE,21736,begin surface
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$IRIDIUM_FIX,-4155.38,-705.34,061112,141447
$TT8_MAMPS,0.026964
$HUMID,46.73
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$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.5,44.850
$10V_AH,10.2,34.091
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.825,95.000,418.225,0.000,0.000,24.864,38.625,298.232,0.250,0.000,48.643,2824.613,15348.222,505.094,3461.089,180.712,33.359,1820.196,0.000,3017.055,0.000,2.831,0.000
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$SENSOR_SECS,725.386,1197.953,740.220,86.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,66832,1116
$CAP_FILE_SIZE,190256,0
$CFSIZE,2097086464,2068119552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071112,022106,-4210.370,-704.579,29,1.4,30,-21.9