version: 66.07.10.p01
glider: 574
mission: 4
dive: 283
start: 11 27 112 21 37 0
data:
$ID,574
$MISSION,4
$DIVE,283
$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,480
$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,0
$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,-6742.2251
$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,24
$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,58
$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,262
$GPS1,271112,212723,-4142.395,-618.449,38,1.7,39,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-75.9
$GPS2,271112,213605,-4142.335,-618.432,41,1.0,41,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.228,-0.057
$KALMAN_X,-365310.8,849.9,756.0,568887.1,-16600.3
$KALMAN_Y,18236.4,-97.1,693.7,109463.2,-2075.0
$MHEAD_RNG_PITCHd_Wd,129.1,112795,-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,-0.59,-145.9,0.0,0.0,0,63,0.00,0.00,-36.58,0.000,2,0.000,0.000,67,1942,2156,0,0,0,0,0,0
$GC,66,-0.59,-145.9,3.1,-1.0,6,133,12.30,2.17,-48.75,0.000,4,0.257,0.066,2803,3293,3422,0,0,0,0,0,0
$GC,225,-0.67,-145.9,12.3,-9.0,32,232,0.00,2.20,0.00,0.000,6,0.000,0.046,2803,1923,3423,0,0,0,0,0,0
$GC,305,-0.76,-145.9,19.3,-8.4,45,313,0.10,0.30,0.00,0.000,4,0.106,0.067,2758,1714,3423,0,0,0,0,0,0
$GC,322,-0.83,-145.9,20.8,-8.7,47,329,0.00,0.25,0.00,0.000,6,0.000,0.051,2757,1906,3423,0,0,0,0,0,0
$GC,403,-0.80,-145.9,28.7,-9.7,60,410,0.00,2.20,0.00,0.000,4,0.000,0.048,2748,3295,3423,0,0,0,0,0,0
$GC,470,-0.77,-145.9,35.7,-10.3,71,476,0.08,2.17,0.00,0.000,6,0.181,0.042,2765,1904,3423,0,0,0,0,0,0
$GC,706,-0.79,-145.9,58.0,-9.4,112,713,0.00,2.28,0.00,0.000,4,0.000,0.060,2765,507,3423,0,0,0,0,0,0
$GC,764,-0.70,-145.9,64.0,-10.6,122,770,0.10,2.15,0.00,0.000,6,0.169,0.036,2781,1900,3423,0,0,0,0,0,0
$GC,1108,-0.76,-145.9,92.2,-7.9,183,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1900,3424,0,0,0,0,0,0
$GC,1442,-0.83,-145.9,121.2,-9.2,215,1446,0.10,2.00,0.00,0.000,4,0.108,0.048,2729,3184,3424,0,0,0,0,0,0
$GC,1496,-0.73,-145.9,127.5,-11.1,218,1501,0.12,2.00,0.00,0.000,6,0.135,0.040,2768,1911,3424,0,0,0,0,0,0
$GC,1824,-0.78,-145.9,160.3,-10.7,239,1828,0.00,1.12,0.00,0.000,4,0.000,0.044,2765,2638,3425,0,0,0,0,0,0
$GC,1885,-0.84,-145.9,167.4,-11.2,242,1893,0.05,1.12,0.00,0.000,6,0.076,0.043,2731,1920,3425,0,0,0,0,0,0
$GC,2207,-0.77,-145.9,206.6,-12.5,263,2212,0.12,2.22,0.00,0.000,4,0.162,0.047,2755,3320,3425,0,0,0,0,0,0
$GC,2256,-0.77,-145.9,213.1,-11.6,266,2261,0.00,2.22,0.00,0.000,6,0.000,0.041,2755,1898,3424,0,0,0,0,0,0
$GC,2583,-0.77,-145.9,249.8,-11.0,287,2587,0.00,2.22,0.00,0.000,4,0.000,0.047,2746,3317,3425,0,0,0,0,0,0
$GC,2637,-0.74,-145.9,256.3,-11.3,290,2642,0.08,2.20,0.00,0.000,6,0.127,0.039,2770,1905,3425,0,0,0,0,0,0
$GC,2959,-0.79,-145.9,288.5,-10.0,306,2963,0.00,2.22,0.00,0.000,4,0.000,0.046,2763,3324,3425,0,0,0,0,0,0
$GC,3032,-0.81,-145.9,296.3,-10.7,309,3036,0.00,2.20,0.00,0.000,6,0.000,0.039,2763,1911,3425,0,0,0,0,0,0
$GC,3355,-0.81,-145.9,328.8,-10.2,325,3359,0.00,2.15,0.00,0.000,4,0.000,0.044,2754,3295,3425,0,0,0,0,0,0
$GC,3402,-0.81,-145.9,333.7,-10.3,327,3406,0.00,2.12,0.00,0.000,6,0.000,0.038,2753,1909,3425,0,0,0,0,0,0
$GC,3730,-0.81,-145.9,365.7,-9.4,343,3734,0.00,2.20,0.00,0.000,4,0.000,0.054,2754,506,3425,0,0,0,0,0,0
$GC,3802,-0.77,-145.9,373.5,-9.8,346,3806,0.03,2.15,0.00,0.000,6,0.178,0.030,2754,1907,3426,0,0,0,0,0,0
$GC,4139,-0.80,-145.9,404.2,-9.3,362,4143,0.00,1.45,0.00,0.000,4,0.000,0.042,2749,2852,3425,0,0,0,0,0,0
$GC,4207,-0.80,-145.9,410.6,-9.2,364,4210,0.00,1.45,0.00,0.000,6,0.000,0.039,2749,1913,3425,0,0,0,0,0,0
$GC,4547,-0.80,-145.9,442.5,-9.1,375,4551,0.00,0.75,0.00,0.000,4,0.000,0.041,2746,2414,3425,0,0,0,0,0,0
$GC,4624,-0.83,-145.9,449.6,-9.0,377,4629,0.00,0.80,0.00,0.000,6,0.000,0.042,2746,1899,3425,0,0,0,0,0,0
$GC,4954,-0.81,-145.9,479.3,-9.0,388,4958,0.00,2.00,0.00,0.000,4,0.000,0.044,2737,3178,3425,0,0,0,0,0,0
$GC,4998,-0.75,-145.9,483.7,-9.9,389,5003,0.12,1.95,0.00,0.000,6,0.151,0.037,2770,1918,3425,0,0,0,0,0,0
$GC,5328,-0.81,-145.9,511.7,-8.6,400,5332,0.00,2.20,0.00,0.000,4,0.000,0.046,2763,3319,3424,0,0,0,0,0,0
$GC,5394,-0.90,-145.9,517.6,-8.9,402,5399,0.12,2.15,0.00,0.000,6,0.093,0.035,2710,1910,3424,0,0,0,0,0,0
$GC,5729,-0.83,-145.9,550.4,-9.7,413,5734,0.12,2.20,0.00,0.000,4,0.171,0.050,2744,508,3424,0,0,0,0,0,0
$GC,5795,-0.77,-145.9,557.0,-9.6,415,5800,0.10,2.15,0.00,0.000,6,0.174,0.031,2759,1925,3424,0,0,0,0,0,0
$GC,6130,-0.82,-145.9,583.2,-7.9,426,6134,0.00,1.48,0.00,0.000,4,0.000,0.050,2760,1004,3424,0,0,0,0,0,0
$GC,6174,-0.80,-145.9,587.0,-7.9,427,6178,0.00,1.40,0.00,0.000,6,0.000,0.033,2756,1913,3423,0,0,0,0,0,0
$GC,6504,-0.84,-145.9,614.2,-8.5,438,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1913,3422,0,0,0,0,0,0
$GC,6810,-0.88,-145.9,642.3,-9.6,448,6814,0.08,1.00,0.00,0.000,4,0.132,0.049,2718,1292,3422,0,0,0,0,0,0
$GC,6844,-0.79,-145.9,645.8,-11.3,449,6849,0.12,0.95,0.00,0.000,6,0.142,0.035,2753,1921,3422,0,0,0,0,0,0
$GC,7184,-0.81,-145.9,680.1,-10.2,460,7188,0.00,2.15,0.00,0.000,4,0.000,0.044,2745,3313,3421,0,0,0,0,0,0
$GC,7250,-0.84,-145.9,687.7,-11.1,462,7254,0.00,2.17,0.00,0.000,6,0.000,0.036,2745,1912,3421,0,0,0,0,0,0
$GC,7585,-0.84,-145.9,724.7,-11.0,473,7589,0.00,2.17,0.00,0.000,4,0.000,0.045,2737,3315,3421,0,0,0,0,0,0
$GC,7650,-0.84,-145.9,732.4,-10.9,475,7655,0.00,2.17,0.00,0.000,6,0.000,0.036,2737,1914,3420,0,0,0,0,0,0
$GC,7986,-0.82,-145.9,768.9,-10.7,486,7990,0.00,1.48,0.00,0.000,4,0.000,0.041,2731,2858,3420,0,0,0,0,0,0
$GC,8021,-0.77,-145.9,772.5,-10.9,487,8025,0.08,1.48,0.00,0.000,6,0.135,0.038,2756,1905,3420,0,0,0,0,0,0
$GC,8361,-0.80,-145.9,806.7,-9.9,498,8365,0.00,2.20,0.00,0.000,4,0.000,0.044,2748,3311,3420,0,0,0,0,0,0
$GC,8410,-0.80,-145.9,811.8,-10.3,499,8414,0.00,2.15,0.00,0.000,6,0.000,0.035,2748,1920,3419,0,0,0,0,0,0
$GC,8728,-0.80,-145.9,841.9,-9.3,510,8732,0.00,2.20,0.00,0.000,4,0.000,0.046,2740,3315,3419,0,0,0,0,0,0
$GC,8783,-0.78,-145.9,847.5,-9.8,511,8789,0.05,2.17,0.00,0.000,6,0.138,0.036,2757,1914,3419,0,0,0,0,0,0
$GC,9096,-0.82,-145.9,874.5,-8.6,522,9100,0.00,2.20,0.00,0.000,4,0.000,0.046,2751,3315,3418,0,0,0,0,0,0
$GC,9168,-0.86,-145.9,881.2,-8.7,524,9173,0.00,2.17,0.00,0.000,6,0.000,0.036,2750,1915,3418,0,0,0,0,0,0
$GC,9504,-0.89,-145.9,910.6,-8.6,535,9508,0.08,1.73,0.00,0.000,4,0.130,0.044,2708,3016,3418,0,0,0,0,0,0
$GC,9543,-0.77,-145.9,914.6,-10.1,536,9548,0.20,1.70,0.00,0.000,6,0.152,0.037,2762,1903,3418,0,0,0,0,0,0
$GC,9878,-0.81,-145.9,942.2,-8.0,547,9882,0.00,1.15,0.00,0.000,4,0.000,0.042,2759,2649,3417,0,0,0,0,0,0
$GC,9905,-0.84,-145.9,944.8,-8.3,547,9911,0.00,1.12,0.00,0.000,6,0.000,0.039,2759,1916,3417,0,0,0,0,0,0
$GC,10218,-0.87,-145.9,969.7,-7.8,558,10223,0.08,2.10,0.00,0.000,4,0.133,0.046,2718,3249,3417,0,0,0,0,0,0
$GC,10261,-0.76,-145.9,973.9,-10.9,559,10266,0.12,2.08,0.00,0.000,6,0.133,0.036,2758,1915,3417,0,0,0,0,0,0
$STATE,10586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10586,begin apogee
$GC,10591,-0.21,0.0,1000.0,8.1,570,10723,0.60,0.00,129.02,1.528,6,0.120,0.000,2945,1641,2827,0,0,0,0,0,0
$STATE,10724,end apogee,CONTROL_FINISHED_OK
$STATE,10724,begin climb
$GC,10726,0.59,145.9,1008.1,0.0,574,10870,0.77,2.55,135.12,1.494,4,0.071,0.060,3210,273,2231,0,0,0,0,0,0
$GC,10984,0.32,182.5,1006.9,6.2,582,11025,0.38,2.22,34.67,1.436,6,0.190,0.034,3120,1646,2081,0,0,0,0,0,0
$GC,11343,0.33,262.7,989.9,4.7,594,11422,0.00,1.27,72.57,1.477,4,0.000,0.039,3120,2412,1755,0,0,0,0,0,0
$GC,11676,0.46,276.0,969.8,7.0,604,11695,0.08,1.20,12.55,1.343,6,0.066,0.047,3160,1663,1701,0,0,0,0,0,0
$GC,12009,0.48,278.3,946.3,7.3,615,12013,0.00,2.20,0.00,0.000,4,0.000,0.043,3160,3053,1697,0,0,0,0,0,0
$GC,12086,0.48,278.3,939.7,8.8,617,12090,0.00,2.25,0.00,0.000,6,0.000,0.044,3166,1650,1696,0,0,0,0,0,0
$GC,12410,0.48,278.3,913.6,8.2,628,12414,0.00,1.75,0.00,0.000,4,0.000,0.063,3167,558,1695,0,0,0,0,0,0
$GC,12459,0.45,278.3,909.3,8.2,629,12464,0.00,1.70,0.00,0.000,6,0.000,0.033,3167,1654,1694,0,0,0,0,0,0
$GC,12783,0.45,278.3,882.9,8.1,640,12787,0.00,0.47,0.00,0.000,4,0.000,0.044,3167,2007,1694,0,0,0,0,0,0
$GC,13035,0.48,278.3,862.6,7.8,647,13039,0.00,0.57,0.00,0.000,6,0.000,0.053,3167,1646,1694,0,0,0,0,0,0
$GC,13359,0.48,296.3,839.8,6.8,658,13384,0.00,2.30,19.42,1.330,4,0.000,0.066,3173,252,1617,0,0,0,0,0,0
$GC,13451,0.48,296.3,833.1,7.9,660,13457,0.00,2.20,0.00,0.000,6,0.000,0.034,3173,1648,1614,0,0,0,0,0,0
$GC,13764,0.48,299.0,810.5,7.3,671,13768,0.00,0.25,0.00,0.000,4,0.000,0.057,3173,1853,1613,0,0,0,0,0,0
$GC,13967,0.53,299.0,794.6,8.3,677,13971,0.00,0.30,0.00,0.000,6,0.000,0.064,3173,1656,1613,0,0,0,0,0,0
$GC,14307,0.53,299.0,766.2,8.7,688,14311,0.00,2.28,0.00,0.000,4,0.000,0.067,3173,252,1613,0,0,0,0,0,0
$GC,14379,0.53,299.0,759.5,9.7,690,14383,0.00,2.17,0.00,0.000,6,0.000,0.037,3173,1645,1612,0,0,0,0,0,0
$GC,14714,0.53,299.0,730.2,8.6,701,14718,0.00,0.80,0.00,0.000,4,0.000,0.044,3173,2189,1612,0,0,0,0,0,0
$GC,14825,0.57,299.0,720.7,8.0,704,14830,0.08,0.88,0.00,0.000,6,0.128,0.053,3211,1648,1612,0,0,0,0,0,0
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$STATE,23010,end climb,SURFACE_DEPTH_REACHED
$STATE,23010,begin surface coast
$FINISH,1.7,1.014904
$STATE,23047,end surface coast,CONTROL_FINISHED_OK
$STATE,23047,begin surface
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$10V_AH,10.1,45.302
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$FG_AHR_10Vo,0.000
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$MEM,354552
$DATA_FILE_SIZE,73577,1202
$CAP_FILE_SIZE,231137,0
$CFSIZE,2097086464,2054881280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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