version: 66.07.10.p01
glider: 574
mission: 4
dive: 207
start: 11 12 112 5 51 47
data:
$ID,574
$MISSION,4
$DIVE,207
$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,596.31458
$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,-6083.9941
$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,59
$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,186
$GPS1,121112,053524,-4208.157,-716.733,42,1.6,43,-21.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-70.1
$GPS2,121112,055053,-4208.185,-716.825,41,1.1,42,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.150,0.181
$KALMAN_X,-325674.1,120.4,930.1,450509.6,-3421.3
$KALMAN_Y,235114.0,120.5,-294.6,-154533.9,-4188.6
$MHEAD_RNG_PITCHd_Wd,61.5,96018,-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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,92,0.00,0.00,-65.72,0.000,2,0.000,0.000,67,1937,2626,0,0,0,0,0,0
$GC,95,-0.52,-145.9,3.2,-1.8,11,139,12.98,0.45,-22.27,0.000,4,0.278,0.132,2831,1661,3424,0,0,0,0,0,0
$GC,231,-0.59,-145.9,15.3,-7.1,33,238,0.00,0.35,0.00,0.000,6,0.000,0.047,2831,1908,3425,0,0,0,0,0,0
$GC,311,-0.67,-145.9,21.3,-8.3,46,319,0.10,2.20,0.00,0.000,4,0.110,0.050,2783,3272,3425,0,0,0,0,0,0
$GC,374,-0.64,-145.9,27.1,-9.6,56,382,0.05,2.17,0.00,0.000,6,0.149,0.044,2799,1915,3425,0,0,0,0,0,0
$GC,454,-0.57,-145.9,36.4,-12.2,69,459,0.10,1.55,0.00,0.000,4,0.183,0.059,2825,969,3425,0,0,0,0,0,0
$GC,506,-0.54,-145.9,42.0,-10.0,78,514,0.03,1.48,0.00,0.000,6,0.195,0.037,2830,1904,3425,0,0,0,0,0,0
$GC,745,-0.63,-145.9,63.2,-9.4,119,750,0.08,2.25,0.00,0.000,4,0.133,0.053,2791,3318,3425,0,0,0,0,0,0
$GC,759,-0.72,-145.9,64.5,-9.7,121,763,0.00,2.20,0.00,0.000,6,0.000,0.041,2791,1899,3425,0,0,0,0,0,0
$GC,1111,-0.72,-145.9,101.7,-9.7,182,1114,0.00,1.58,0.00,0.000,4,0.000,0.057,2791,920,3425,0,0,0,0,0,0
$GC,1149,-0.69,-145.9,105.9,-11.0,184,1153,0.00,1.55,0.00,0.000,6,0.000,0.034,2785,1916,3425,0,0,0,0,0,0
$GC,1476,-0.69,-145.9,138.0,-9.8,205,1480,0.00,2.20,0.00,0.000,4,0.000,0.048,2776,3324,3425,0,0,0,0,0,0
$GC,1556,-0.69,-145.9,146.4,-10.7,210,1560,0.00,2.20,0.00,0.000,6,0.000,0.040,2776,1903,3425,0,0,0,0,0,0
$GC,1882,-0.66,-145.9,181.3,-10.8,231,1887,0.10,2.22,0.00,0.000,4,0.173,0.047,2792,3323,3425,0,0,0,0,0,0
$GC,1936,-0.66,-145.9,187.8,-11.1,234,1944,0.00,2.20,0.00,0.000,6,0.000,0.038,2792,1913,3425,0,0,0,0,0,0
$GC,2258,-0.69,-145.9,221.1,-10.4,255,2262,0.00,2.05,0.00,0.000,4,0.000,0.046,2784,3224,3425,0,0,0,0,0,0
$GC,2296,-0.69,-145.9,225.6,-11.0,257,2301,0.00,2.05,0.00,0.000,6,0.000,0.040,2784,1913,3425,0,0,0,0,0,0
$GC,2627,-0.69,-145.9,258.2,-9.6,277,2631,0.00,2.22,0.00,0.000,4,0.000,0.048,2777,3327,3425,0,0,0,0,0,0
$GC,2674,-0.66,-145.9,262.7,-9.3,279,2679,0.10,2.20,0.00,0.000,6,0.161,0.038,2802,1898,3425,0,0,0,0,0,0
$GC,3004,-0.74,-145.9,290.1,-8.1,295,3008,0.10,1.60,0.00,0.000,4,0.114,0.045,2757,2905,3425,0,0,0,0,0,0
$GC,3030,-0.70,-145.9,293.0,-9.7,296,3035,0.08,1.55,0.00,0.000,6,0.148,0.041,2780,1914,3425,0,0,0,0,0,0
$GC,3357,-0.70,-145.9,321.4,-8.7,312,3361,0.00,2.22,0.00,0.000,4,0.000,0.049,2771,3327,3425,0,0,0,0,0,0
$GC,3406,-0.67,-145.9,326.1,-9.0,314,3411,0.05,2.20,0.00,0.000,6,0.139,0.037,2789,1911,3425,0,0,0,0,0,0
$GC,3728,-0.71,-145.9,354.6,-9.0,330,3732,0.00,1.80,0.00,0.000,4,0.000,0.047,2783,3061,3425,0,0,0,0,0,0
$GC,3761,-0.71,-145.9,357.8,-9.5,331,3765,0.00,1.80,0.00,0.000,6,0.000,0.038,2783,1904,3424,0,0,0,0,0,0
$GC,4085,-0.74,-145.9,388.5,-9.5,347,4089,0.00,1.92,0.00,0.000,4,0.000,0.047,2778,3115,3424,0,0,0,0,0,0
$GC,4116,-0.74,-145.9,392.0,-10.0,348,4121,0.00,1.88,0.00,0.000,6,0.000,0.038,2778,1913,3424,0,0,0,0,0,0
$GC,4456,-0.74,-145.9,423.8,-9.2,361,4460,0.00,1.80,0.00,0.000,4,0.000,0.045,2770,3073,3423,0,0,0,0,0,0
$GC,4490,-0.74,-145.9,427.0,-9.5,362,4494,0.00,1.80,0.00,0.000,6,0.000,0.039,2771,1898,3423,0,0,0,0,0,0
$GC,4830,-0.74,-145.9,458.4,-9.2,373,4834,0.00,2.22,0.00,0.000,4,0.000,0.047,2763,3321,3423,0,0,0,0,0,0
$GC,4907,-0.71,-145.9,466.3,-10.0,375,4912,0.05,2.17,0.00,0.000,6,0.148,0.036,2779,1918,3422,0,0,0,0,0,0
$GC,5237,-0.74,-145.9,496.4,-9.1,386,5240,0.00,2.20,0.00,0.000,4,0.000,0.047,2771,3319,3422,0,0,0,0,0,0
$GC,5280,-0.71,-145.9,500.8,-10.1,387,5284,0.00,2.17,0.00,0.000,6,0.000,0.035,2771,1913,3422,0,0,0,0,0,0
$GC,5604,-0.71,-145.9,532.1,-9.8,398,5608,0.00,2.22,0.00,0.000,4,0.000,0.047,2764,3325,3422,0,0,0,0,0,0
$GC,5659,-0.67,-145.9,538.1,-10.7,399,5665,0.08,2.20,0.00,0.000,6,0.135,0.035,2789,1906,3422,0,0,0,0,0,0
$GC,5972,-0.73,-145.9,567.2,-9.4,410,5976,0.00,2.22,0.00,0.000,4,0.000,0.047,2780,3322,3421,0,0,0,0,0,0
$GC,6028,-0.75,-145.9,572.8,-9.8,411,6032,0.00,2.17,0.00,0.000,6,0.000,0.037,2780,1907,3420,0,0,0,0,0,0
$GC,6346,-0.79,-145.9,603.1,-9.5,422,6351,0.08,2.10,0.00,0.000,4,0.135,0.045,2743,3231,3420,0,0,0,0,0,0
$GC,6383,-0.68,-145.9,607.3,-11.5,423,6388,0.12,2.05,0.00,0.000,6,0.147,0.035,2781,1910,3419,0,0,0,0,0,0
$GC,6713,-0.62,-145.9,639.2,-9.3,434,6718,0.10,2.25,0.00,0.000,4,0.189,0.054,2806,508,3419,0,0,0,0,0,0
$GC,6790,-0.62,-145.9,646.2,-9.2,436,6795,0.00,2.17,0.00,0.000,6,0.000,0.031,2798,1917,3419,0,0,0,0,0,0
$GC,7121,-0.69,-145.9,670.0,-6.8,447,7124,0.00,2.17,0.00,0.000,4,0.000,0.047,2790,3312,3419,0,0,0,0,0,0
$GC,7198,-0.80,-145.9,675.7,-7.4,449,7203,0.08,2.17,0.00,0.000,6,0.076,0.036,2753,1910,3419,0,0,0,0,0,0
$GC,7522,-0.78,-145.9,701.7,-8.0,460,7526,0.00,2.22,0.00,0.000,4,0.000,0.045,2743,3322,3418,0,0,0,0,0,0
$GC,7584,-0.67,-145.9,707.3,-9.7,462,7589,0.17,2.17,0.00,0.000,6,0.160,0.036,2789,1907,3417,0,0,0,0,0,0
$GC,7918,-0.74,-145.9,732.2,-7.5,473,7922,0.00,2.22,0.00,0.000,4,0.000,0.046,2782,3321,3416,0,0,0,0,0,0
$GC,8015,-0.78,-145.9,740.0,-8.4,476,8019,0.05,2.17,0.00,0.000,6,0.175,0.036,2759,1904,3417,0,0,0,0,0,0
$GC,8349,-0.78,-145.9,769.1,-8.9,487,8352,0.00,2.22,0.00,0.000,4,0.000,0.046,2751,3315,3416,0,0,0,0,0,0
$GC,8426,-0.70,-145.9,777.0,-10.6,489,8431,0.10,2.17,0.00,0.000,6,0.144,0.036,2781,1914,3416,0,0,0,0,0,0
$GC,8750,-0.74,-145.9,804.8,-8.7,500,8754,0.00,2.25,0.00,0.000,4,0.000,0.054,2781,504,3416,0,0,0,0,0,0
$GC,8816,-0.71,-145.9,811.7,-10.9,502,8820,0.00,2.17,0.00,0.000,6,0.000,0.034,2774,1924,3415,0,0,0,0,0,0
$GC,9151,-0.73,-145.9,843.3,-9.3,513,9155,0.00,2.15,0.00,0.000,4,0.000,0.048,2765,3312,3415,0,0,0,0,0,0
$GC,9240,-0.76,-145.9,852.2,-10.5,515,9246,0.00,2.17,0.00,0.000,6,0.000,0.037,2766,1916,3415,0,0,0,0,0,0
$GC,9553,-0.76,-145.9,881.6,-9.3,526,9557,0.00,2.22,0.00,0.000,4,0.000,0.047,2757,3319,3415,0,0,0,0,0,0
$GC,9624,-0.71,-145.9,888.9,-11.0,528,9629,0.08,2.20,0.00,0.000,6,0.140,0.036,2781,1902,3414,0,0,0,0,0,0
$GC,9954,-0.75,-145.9,916.6,-8.4,539,9958,0.00,2.22,0.00,0.000,4,0.000,0.046,2772,3314,3414,0,0,0,0,0,0
$GC,10042,-0.75,-145.9,924.7,-9.1,541,10048,0.00,2.17,0.00,0.000,6,0.000,0.035,2772,1913,3414,0,0,0,0,0,0
$GC,10355,-0.78,-145.9,950.8,-8.2,552,10359,0.00,2.25,0.00,0.000,4,0.000,0.054,2772,501,3414,0,0,0,0,0,0
$GC,10377,-0.76,-145.9,952.8,-9.2,552,10382,0.00,2.20,0.00,0.000,6,0.000,0.034,2768,1919,3414,0,0,0,0,0,0
$GC,10690,-0.78,-145.9,980.3,-8.7,563,10694,0.00,2.28,0.00,0.000,4,0.000,0.054,2768,508,3414,0,0,0,0,0,0
$GC,10772,-0.69,-145.9,989.0,-11.8,565,10777,0.08,2.17,0.00,0.000,6,0.157,0.034,2781,1905,3414,0,0,0,0,0,0
$STATE,10906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10906,begin apogee
$GC,10910,-0.19,0.0,1001.4,9.5,570,11039,0.55,0.00,125.20,1.557,6,0.141,0.000,2945,1648,2826,0,0,0,0,0,0
$STATE,11039,end apogee,CONTROL_FINISHED_OK
$STATE,11040,begin climb
$GC,11041,0.52,145.9,1009.0,0.0,574,11182,0.73,2.55,133.07,1.515,4,0.074,0.064,3185,255,2232,0,0,0,0,0,0
$GC,11306,0.33,195.5,1007.6,5.7,582,11360,0.25,2.30,46.30,1.459,6,0.185,0.036,3126,1655,2029,0,0,0,0,0,0
$GC,11679,0.33,267.1,989.6,5.0,595,11748,0.00,2.50,63.75,1.476,4,0.000,0.064,3129,262,1737,0,0,0,0,0,0
$GC,11860,0.42,318.4,979.2,5.7,600,11916,0.03,2.25,47.53,1.456,6,0.110,0.034,3146,1657,1527,0,0,0,0,0,0
$GC,12240,0.56,318.4,950.9,8.0,613,12244,0.15,2.33,0.00,0.000,4,0.094,0.063,3202,254,1521,0,0,0,0,0,0
$GC,12260,0.63,318.4,948.9,9.0,613,12266,0.00,2.20,0.00,0.000,6,0.000,0.036,3202,1640,1520,0,0,0,0,0,0
$GC,12573,0.60,318.4,917.8,9.8,624,12577,0.00,0.50,0.00,0.000,4,0.000,0.047,3202,1994,1519,0,0,0,0,0,0
$GC,12623,0.57,318.4,912.6,9.6,625,12627,0.00,0.55,0.00,0.000,6,0.000,0.054,3203,1656,1519,0,0,0,0,0,0
$GC,12947,0.55,318.4,879.1,10.6,636,12951,0.00,2.30,0.00,0.000,4,0.000,0.067,3206,249,1519,0,0,0,0,0,0
$GC,13081,0.45,318.4,862.9,12.4,640,13086,0.17,2.17,0.00,0.000,6,0.179,0.037,3163,1650,1517,0,0,0,0,0,0
$GC,13410,0.48,318.4,832.1,9.1,651,13414,0.00,2.20,0.00,0.000,4,0.000,0.046,3162,3062,1517,0,0,0,0,0,0
$GC,13481,0.48,318.4,825.3,9.9,653,13486,0.00,2.25,0.00,0.000,6,0.000,0.045,3162,1650,1517,0,0,0,0,0,0
$GC,13811,0.56,318.4,797.1,8.3,664,13815,0.10,0.57,0.00,0.000,4,0.110,0.043,3204,2043,1517,0,0,0,0,0,0
$GC,13827,0.60,318.4,795.6,8.5,664,13831,0.00,0.65,0.00,0.000,6,0.000,0.054,3206,1642,1517,0,0,0,0,0,0
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$STATE,22734,end climb,SURFACE_DEPTH_REACHED
$STATE,22734,begin surface coast
$FINISH,1.6,1.003132
$STATE,22765,end surface coast,CONTROL_FINISHED_OK
$STATE,22765,begin surface
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$10V_AH,10.1,36.849
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70242,1173
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$CFSIZE,2097086464,2064809984
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