version: 66.07.10.p01
glider: 574
mission: 4
dive: 217
start: 11 15 112 1 9 14
data:
$ID,574
$MISSION,4
$DIVE,217
$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,-6117.1982
$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,48
$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,1
$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,196
$GPS1,151112,005857,-4207.013,-714.775,105,3.0,124,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-70.1
$GPS2,151112,010819,-4206.950,-714.804,18,1.9,18,-22.0
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.006,0.235
$KALMAN_X,-346545.3,760.4,1618.6,472795.4,-5197.2
$KALMAN_Y,182283.6,-63.9,1212.9,-100720.1,-11989.8
$MHEAD_RNG_PITCHd_Wd,23.5,92439,-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,-145.9,0.0,0.0,0,69,0.00,0.00,-42.60,0.000,2,0.000,0.000,65,1934,2447,0,0,0,0,0,0
$GC,71,-0.52,-145.9,3.0,-1.2,7,122,12.80,2.38,-31.98,0.000,4,0.272,0.074,2832,502,3422,0,0,0,0,0,0
$GC,177,-0.45,-145.9,12.6,-13.3,24,185,0.12,2.22,0.00,0.000,6,0.133,0.036,2864,1905,3424,0,0,0,0,0,0
$GC,258,-0.62,-145.9,21.3,-10.3,37,265,0.15,0.00,0.00,0.000,6,0.094,0.000,2805,1910,3424,0,0,0,0,0,0
$GC,336,-0.60,-145.9,31.0,-12.6,50,343,0.00,0.55,0.00,0.000,4,0.000,0.049,2803,2282,3424,0,0,0,0,0,0
$GC,384,-0.63,-145.9,36.9,-11.7,58,391,0.00,0.57,0.00,0.000,6,0.000,0.050,2804,1904,3424,0,0,0,0,0,0
$GC,623,-0.68,-145.9,57.3,-8.4,99,628,0.00,1.42,0.00,0.000,4,0.000,0.046,2800,2795,3424,0,0,0,0,0,0
$GC,682,-0.71,-145.9,62.5,-9.4,109,687,0.00,1.40,0.00,0.000,6,0.000,0.047,2801,1921,3424,0,0,0,0,0,0
$GC,1025,-0.77,-145.9,92.8,-7.4,170,1030,0.10,0.00,0.00,0.000,6,0.116,0.000,2763,1920,3425,0,0,0,0,0,0
$GC,1350,-0.73,-145.9,121.1,-9.0,201,1354,0.00,0.55,0.00,0.000,4,0.000,0.043,2760,2304,3425,0,0,0,0,0,0
$GC,1405,-0.69,-145.9,126.6,-9.5,204,1410,0.10,0.62,0.00,0.000,6,0.171,0.048,2784,1902,3425,0,0,0,0,0,0
$GC,1732,-0.69,-145.9,154.8,-8.8,225,1736,0.00,1.62,0.00,0.000,4,0.000,0.046,2778,2928,3425,0,0,0,0,0,0
$GC,1767,-0.69,-145.9,158.0,-9.5,227,1771,0.00,1.60,0.00,0.000,6,0.000,0.044,2778,1917,3425,0,0,0,0,0,0
$GC,2097,-0.69,-145.9,188.1,-9.1,248,2100,0.00,1.02,0.00,0.000,4,0.000,0.044,2775,2575,3425,0,0,0,0,0,0
$GC,2118,-0.69,-145.9,190.4,-9.4,249,2122,0.00,1.05,0.00,0.000,6,0.000,0.044,2775,1912,3425,0,0,0,0,0,0
$GC,2443,-0.69,-145.9,220.0,-9.2,270,2447,0.03,1.75,0.00,0.000,4,0.275,0.047,2779,3021,3425,0,0,0,0,0,0
$GC,2480,-0.69,-145.9,223.5,-9.3,272,2485,0.00,1.75,0.00,0.000,6,0.000,0.043,2779,1913,3425,0,0,0,0,0,0
$GC,2812,-0.69,-145.9,252.3,-8.7,293,2816,0.00,1.38,0.00,0.000,4,0.000,0.045,2774,2785,3425,0,0,0,0,0,0
$GC,2843,-0.69,-145.9,255.4,-9.3,294,2849,0.05,1.40,0.00,0.000,6,0.213,0.042,2785,1901,3425,0,0,0,0,0,0
$GC,3165,-0.72,-145.9,282.5,-8.4,310,3169,0.00,2.22,0.00,0.000,4,0.000,0.048,2777,3319,3425,0,0,0,0,0,0
$GC,3209,-0.72,-145.9,286.6,-8.6,312,3214,0.00,2.20,0.00,0.000,6,0.000,0.040,2777,1913,3425,0,0,0,0,0,0
$GC,3536,-0.72,-145.9,314.9,-8.6,328,3540,0.00,1.80,0.00,0.000,4,0.000,0.047,2770,3061,3425,0,0,0,0,0,0
$GC,3575,-0.68,-145.9,318.5,-9.1,329,3581,0.05,1.80,0.00,0.000,6,0.145,0.039,2787,1910,3425,0,0,0,0,0,0
$GC,3893,-0.72,-145.9,344.7,-8.1,345,3897,0.00,1.98,0.00,0.000,4,0.000,0.047,2779,3173,3425,0,0,0,0,0,0
$GC,3930,-0.72,-145.9,348.5,-8.6,346,3938,0.00,1.98,0.00,0.000,6,0.000,0.037,2779,1904,3425,0,0,0,0,0,0
$GC,4247,-0.76,-145.9,376.7,-9.2,362,4251,0.00,2.22,0.00,0.000,4,0.000,0.048,2770,3319,3425,0,0,0,0,0,0
$GC,4296,-0.73,-145.9,381.7,-9.6,364,4300,0.00,2.17,0.00,0.000,6,0.000,0.037,2770,1913,3424,0,0,0,0,0,0
$GC,4616,-0.73,-145.9,412.9,-9.9,378,4620,0.00,2.22,0.00,0.000,4,0.000,0.048,2761,3324,3424,0,0,0,0,0,0
$GC,4659,-0.69,-145.9,417.5,-10.5,379,4664,0.08,2.20,0.00,0.000,6,0.140,0.036,2785,1903,3424,0,0,0,0,0,0
$GC,4983,-0.72,-145.9,447.4,-9.3,390,4986,0.00,1.88,0.00,0.000,4,0.000,0.046,2778,3098,3424,0,0,0,0,0,0
$GC,5022,-0.72,-145.9,451.2,-9.5,391,5025,0.00,1.80,0.00,0.000,6,0.000,0.037,2778,1906,3424,0,0,0,0,0,0
$GC,5357,-0.75,-145.9,483.3,-9.4,402,5360,0.00,1.27,0.00,0.000,4,0.000,0.044,2774,2719,3423,0,0,0,0,0,0
$GC,5383,-0.75,-145.9,486.2,-9.5,402,5389,0.00,1.27,0.00,0.000,6,0.000,0.040,2774,1907,3423,0,0,0,0,0,0
$GC,5696,-0.75,-145.9,514.8,-9.0,413,5700,0.00,1.88,0.00,0.000,4,0.000,0.047,2767,3109,3423,0,0,0,0,0,0
$GC,5734,-0.75,-145.9,518.4,-8.9,414,5738,0.00,1.85,0.00,0.000,6,0.000,0.037,2768,1917,3423,0,0,0,0,0,0
$GC,6069,-0.75,-145.9,546.7,-8.3,425,6073,0.00,1.55,0.00,0.000,4,0.000,0.045,2762,2900,3423,0,0,0,0,0,0
$GC,6104,-0.72,-145.9,549.5,-8.9,426,6108,0.03,1.52,0.00,0.000,6,0.179,0.040,2771,1917,3422,0,0,0,0,0,0
$GC,6443,-0.72,-145.9,576.0,-7.8,437,6447,0.00,1.08,0.00,0.000,4,0.000,0.043,2768,2609,3422,0,0,0,0,0,0
$GC,6465,-0.72,-145.9,577.8,-7.7,437,6469,0.00,1.08,0.00,0.000,6,0.000,0.041,2768,1912,3422,0,0,0,0,0,0
$GC,6783,-0.72,-145.9,603.4,-8.2,448,6786,0.00,1.88,0.00,0.000,4,0.000,0.045,2760,3108,3421,0,0,0,0,0,0
$GC,6821,-0.69,-145.9,607.0,-9.2,449,6826,0.08,1.85,0.00,0.000,6,0.145,0.037,2784,1917,3421,0,0,0,0,0,0
$GC,7156,-0.75,-145.9,635.2,-8.7,460,7160,0.00,1.42,0.00,0.000,4,0.000,0.044,2779,2818,3421,0,0,0,0,0,0
$GC,7191,-0.79,-145.9,638.4,-9.9,461,7195,0.03,1.40,0.00,0.000,6,0.112,0.039,2761,1915,3421,0,0,0,0,0,0
$GC,7531,-0.79,-145.9,671.6,-9.8,472,7534,0.00,0.95,0.00,0.000,4,0.000,0.043,2757,2541,3420,0,0,0,0,0,0
$GC,7552,-0.76,-145.9,673.8,-10.7,472,7556,0.00,1.00,0.00,0.000,6,0.000,0.041,2757,1890,3420,0,0,0,0,0,0
$GC,7870,-0.76,-145.9,706.4,-10.3,483,7874,0.00,2.28,0.00,0.000,4,0.000,0.047,2748,3329,3420,0,0,0,0,0,0
$GC,7919,-0.67,-145.9,711.9,-11.6,484,7924,0.15,2.20,0.00,0.000,6,0.142,0.035,2793,1910,3419,0,0,0,0,0,0
$GC,8238,-0.74,-145.9,740.4,-8.8,495,8242,0.05,2.25,0.00,0.000,4,0.174,0.047,2765,3323,3419,0,0,0,0,0,0
$GC,8281,-0.71,-145.9,744.7,-10.1,496,8286,0.05,2.17,0.00,0.000,6,0.150,0.036,2780,1923,3419,0,0,0,0,0,0
$GC,8605,-0.76,-145.9,773.8,-8.9,507,8609,0.00,2.10,0.00,0.000,4,0.000,0.046,2773,3254,3419,0,0,0,0,0,0
$GC,8648,-0.76,-145.9,778.1,-9.9,508,8652,0.00,2.10,0.00,0.000,6,0.000,0.036,2773,1910,3418,0,0,0,0,0,0
$GC,8973,-0.79,-145.9,806.4,-8.5,519,8977,0.00,2.22,0.00,0.000,4,0.000,0.047,2765,3321,3418,0,0,0,0,0,0
$GC,9016,-0.79,-145.9,810.5,-9.0,520,9021,0.00,2.20,0.00,0.000,6,0.000,0.036,2765,1907,3418,0,0,0,0,0,0
$GC,9340,-0.79,-145.9,835.8,-7.6,531,9344,0.00,2.22,0.00,0.000,4,0.000,0.047,2756,3325,3417,0,0,0,0,0,0
$GC,9389,-0.74,-145.9,839.9,-8.5,532,9395,0.03,2.20,0.00,0.000,6,0.173,0.035,2765,1906,3416,0,0,0,0,0,0
$GC,9714,-0.76,-145.9,862.5,-6.9,543,9718,0.00,2.22,0.00,0.000,4,0.000,0.046,2757,3318,3416,0,0,0,0,0,0
$GC,9777,-0.72,-145.9,867.3,-7.8,545,9781,0.10,2.15,0.00,0.000,6,0.174,0.034,2780,1903,3416,0,0,0,0,0,0
$GC,10112,-0.77,-145.9,890.3,-6.9,556,10116,0.00,2.25,0.00,0.000,4,0.000,0.047,2772,3326,3416,0,0,0,0,0,0
$GC,10155,-0.77,-145.9,893.7,-7.7,557,10159,0.00,2.20,0.00,0.000,6,0.000,0.034,2771,1914,3416,0,0,0,0,0,0
$GC,10480,-0.80,-145.9,917.3,-7.4,568,10484,0.00,2.22,0.00,0.000,4,0.000,0.047,2764,3322,3416,0,0,0,0,0,0
$GC,10542,-0.80,-145.9,922.2,-8.0,570,10546,0.00,2.17,0.00,0.000,6,0.000,0.037,2764,1903,3415,0,0,0,0,0,0
$GC,10882,-0.80,-145.9,950.2,-8.5,581,10886,0.00,2.25,0.00,0.000,4,0.000,0.047,2756,3324,3415,0,0,0,0,0,0
$GC,10944,-0.76,-145.9,956.0,-9.6,583,10948,0.00,2.15,0.00,0.000,6,0.000,0.035,2756,1910,3415,0,0,0,0,0,0
$GC,11278,-0.76,-145.9,985.9,-8.8,594,11282,0.00,2.22,0.00,0.000,4,0.000,0.047,2747,3320,3415,0,0,0,0,0,0
$GC,11343,-0.68,-145.9,992.5,-10.2,596,11348,0.12,2.20,0.00,0.000,6,0.143,0.037,2785,1909,3414,0,0,0,0,0,0
$STATE,11465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11466,begin apogee
$GC,11470,-0.19,0.0,1002.5,8.2,600,11599,0.52,0.00,125.65,1.573,6,0.126,0.000,2947,1639,2827,0,0,0,0,0,0
$STATE,11600,end apogee,CONTROL_FINISHED_OK
$STATE,11600,begin climb
$GC,11601,0.52,145.9,1010.5,0.0,604,11742,0.68,2.53,133.12,1.541,4,0.076,0.044,3167,3052,2232,0,0,0,0,0,0
$GC,11843,0.34,202.3,1009.5,5.5,611,11903,0.20,2.33,52.83,1.505,6,0.189,0.042,3132,1662,2001,0,0,0,0,0,0
$GC,12222,0.35,270.5,989.3,5.1,624,12290,0.00,2.47,61.17,1.512,4,0.000,0.061,3132,242,1723,0,0,0,0,0,0
$GC,12391,0.44,344.3,979.9,4.9,629,12467,0.08,2.25,68.47,1.499,6,0.134,0.033,3155,1665,1424,0,0,0,0,0,0
$GC,12781,0.59,344.3,952.0,7.6,642,12786,0.15,2.38,0.00,0.000,4,0.094,0.063,3212,244,1415,0,0,0,0,0,0
$GC,12869,0.50,344.3,943.0,10.3,644,12875,0.10,2.22,0.00,0.000,6,0.161,0.034,3183,1643,1412,0,0,0,0,0,0
$GC,13182,0.50,344.3,913.7,9.4,655,13186,0.00,2.33,0.00,0.000,4,0.000,0.064,3185,240,1412,0,0,0,0,0,0
$GC,13286,0.50,344.3,903.5,9.9,658,13291,0.00,2.22,0.00,0.000,6,0.000,0.034,3185,1658,1411,0,0,0,0,0,0
$GC,13617,0.55,344.3,872.3,9.3,669,13621,0.00,2.17,0.00,0.000,4,0.000,0.046,3185,3054,1411,0,0,0,0,0,0
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$STATE,22766,end climb,SURFACE_DEPTH_REACHED
$STATE,22766,begin surface coast
$FINISH,1.4,1.012898
$STATE,22833,end surface coast,CONTROL_FINISHED_OK
$STATE,22834,begin surface
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$HUMID,47.16
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$TCM_TEMP,11.70
$XPDR_PINGS,0
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$10V_AH,10.1,38.293
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354600
$DATA_FILE_SIZE,73694,1179
$CAP_FILE_SIZE,230739,0
$CFSIZE,2097086464,2063433728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,073206,-4206.820,-715.893,28,1.9,29,-22.0