version: 66.07.10.p01
glider: 574
mission: 4
dive: 289
start: 11 29 112 12 40 24
data:
$ID,574
$MISSION,4
$DIVE,289
$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,-6763.2222
$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,52
$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,4
$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,268
$GPS1,291112,122953,-4143.602,-625.350,42,1.1,43,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-75.2
$GPS2,291112,123929,-4143.608,-625.375,46,1.5,47,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.235,0.006
$KALMAN_X,-405348.2,178.4,915.3,599987.7,-13143.1
$KALMAN_Y,25972.2,-800.4,667.7,100140.8,1613.2
$MHEAD_RNG_PITCHd_Wd,126.7,121360,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.59,-145.9,0.0,0.0,0,57,0.00,0.00,-30.38,0.000,2,0.000,0.000,68,1896,2009,0,0,0,0,0,0
$GC,60,-0.59,-145.9,3.0,-1.3,5,140,12.65,2.33,-58.42,0.000,4,0.265,0.077,2811,516,3424,0,0,0,0,0,0
$GC,237,-0.61,-145.9,13.7,-9.7,34,245,0.00,2.20,0.00,0.000,6,0.000,0.038,2810,1897,3424,0,0,0,0,0,0
$GC,318,-0.71,-145.9,20.3,-8.2,47,326,0.08,2.30,0.00,0.000,4,0.124,0.053,2770,3318,3423,0,0,0,0,0,0
$GC,382,-0.77,-145.9,26.1,-9.5,57,389,0.00,2.22,0.00,0.000,6,0.000,0.044,2770,1923,3424,0,0,0,0,0,0
$GC,459,-0.77,-145.9,33.5,-9.2,70,466,0.00,0.50,0.00,0.000,4,0.000,0.046,2771,2264,3424,0,0,0,0,0,0
$GC,726,-0.82,-145.9,57.7,-9.1,116,734,0.03,0.55,0.00,0.000,6,0.112,0.049,2746,1901,3424,0,0,0,0,0,0
$GC,962,-0.77,-145.9,79.5,-9.1,157,966,0.08,0.38,0.00,0.000,4,0.185,0.046,2763,2172,3424,0,0,0,0,0,0
$GC,1218,-0.77,-145.9,102.1,-8.8,200,1222,0.00,0.40,0.00,0.000,6,0.000,0.052,2763,1906,3425,0,0,0,0,0,0
$GC,1545,-0.77,-145.9,129.2,-8.8,221,1548,0.00,1.52,0.00,0.000,4,0.000,0.058,2763,957,3426,0,0,0,0,0,0
$GC,1583,-0.72,-145.9,133.1,-9.9,223,1588,0.05,1.50,0.00,0.000,6,0.151,0.035,2773,1921,3425,0,0,0,0,0,0
$GC,1910,-0.77,-145.9,164.1,-10.3,244,1914,0.00,0.82,0.00,0.000,4,0.000,0.051,2773,1398,3426,0,0,0,0,0,0
$GC,1937,-0.80,-145.9,167.2,-10.1,245,1943,0.00,0.82,0.00,0.000,6,0.000,0.037,2771,1936,3425,0,0,0,0,0,0
$GC,2258,-0.85,-145.9,200.3,-10.1,266,2263,0.10,2.30,0.00,0.000,4,0.105,0.057,2724,513,3425,0,0,0,0,0,0
$GC,2330,-0.69,-145.9,209.8,-12.6,270,2338,0.22,2.15,0.00,0.000,6,0.148,0.033,2782,1897,3426,0,0,0,0,0,0
$GC,2652,-0.77,-145.9,240.4,-9.4,291,2656,0.00,1.75,0.00,0.000,4,0.000,0.055,2782,806,3426,0,0,0,0,0,0
$GC,2696,-0.79,-145.9,245.2,-9.8,293,2702,0.05,1.73,0.00,0.000,6,0.078,0.035,2750,1917,3426,0,0,0,0,0,0
$GC,3017,-0.79,-145.9,277.3,-10.1,310,3021,0.00,2.17,0.00,0.000,4,0.000,0.047,2741,3315,3425,0,0,0,0,0,0
$GC,3106,-0.79,-145.9,287.0,-10.9,314,3111,0.03,2.17,0.00,0.000,6,0.171,0.037,2750,1915,3425,0,0,0,0,0,0
$GC,3433,-0.79,-145.9,320.5,-10.3,330,3437,0.00,2.20,0.00,0.000,4,0.000,0.047,2742,3316,3426,0,0,0,0,0,0
$GC,3477,-0.76,-145.9,325.4,-10.7,332,3482,0.05,2.17,0.00,0.000,6,0.139,0.037,2760,1914,3426,0,0,0,0,0,0
$GC,3804,-0.76,-145.9,356.5,-9.4,348,3808,0.00,2.20,0.00,0.000,4,0.000,0.046,2753,3318,3426,0,0,0,0,0,0
$GC,3853,-0.76,-145.9,361.5,-9.6,350,3858,0.00,2.17,0.00,0.000,6,0.000,0.036,2753,1911,3426,0,0,0,0,0,0
$GC,4175,-0.76,-145.9,391.7,-9.5,366,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1911,3426,0,0,0,0,0,0
$GC,4493,-0.76,-145.9,420.1,-8.8,378,4496,0.00,0.77,0.00,0.000,4,0.000,0.041,2750,2428,3425,0,0,0,0,0,0
$GC,4633,-0.80,-145.9,433.2,-9.1,382,4636,0.00,0.80,0.00,0.000,6,0.000,0.042,2750,1903,3425,0,0,0,0,0,0
$GC,4967,-0.80,-145.9,463.1,-8.8,393,4971,0.00,2.22,0.00,0.000,4,0.000,0.046,2742,3316,3425,0,0,0,0,0,0
$GC,5034,-0.83,-145.9,469.6,-9.3,395,5038,0.00,2.15,0.00,0.000,6,0.000,0.035,2742,1911,3425,0,0,0,0,0,0
$GC,5369,-0.83,-145.9,501.4,-9.6,406,5373,0.00,2.22,0.00,0.000,4,0.000,0.045,2733,3324,3425,0,0,0,0,0,0
$GC,5445,-0.83,-145.9,509.2,-9.7,408,5450,0.00,2.17,0.00,0.000,6,0.000,0.035,2733,1915,3424,0,0,0,0,0,0
$GC,5770,-0.80,-145.9,541.4,-10.1,419,5775,0.08,2.20,0.00,0.000,4,0.197,0.044,2741,3315,3424,0,0,0,0,0,0
$GC,5858,-0.82,-145.9,550.7,-9.9,421,5864,0.00,2.17,0.00,0.000,6,0.000,0.035,2741,1910,3424,0,0,0,0,0,0
$GC,6171,-0.82,-145.9,582.1,-10.1,432,6175,0.00,0.90,0.00,0.000,4,0.000,0.048,2741,1322,3424,0,0,0,0,0,0
$GC,6205,-0.78,-145.9,585.6,-10.7,433,6210,0.05,0.90,0.00,0.000,6,0.153,0.036,2753,1923,3423,0,0,0,0,0,0
$GC,6546,-0.83,-145.9,617.6,-9.3,444,6550,0.00,2.28,0.00,0.000,4,0.000,0.052,2753,504,3422,0,0,0,0,0,0
$GC,6608,-0.80,-145.9,623.6,-10.0,446,6612,0.00,2.15,0.00,0.000,6,0.000,0.032,2746,1912,3422,0,0,0,0,0,0
$GC,6942,-0.80,-145.9,653.5,-8.8,457,6945,0.00,1.25,0.00,0.000,4,0.000,0.042,2742,2729,3421,0,0,0,0,0,0
$GC,7002,-0.80,-145.9,659.0,-8.9,458,7008,0.00,1.27,0.00,0.000,6,0.000,0.037,2742,1909,3421,0,0,0,0,0,0
$GC,7315,-0.80,-145.9,685.6,-8.6,469,7319,0.00,1.85,0.00,0.000,4,0.000,0.044,2737,3091,3421,0,0,0,0,0,0
$GC,7353,-0.77,-145.9,689.1,-8.9,470,7358,0.08,1.83,0.00,0.000,6,0.131,0.036,2762,1915,3421,0,0,0,0,0,0
$GC,7688,-0.82,-145.9,716.9,-8.5,481,7692,0.00,2.20,0.00,0.000,4,0.000,0.046,2756,3311,3421,0,0,0,0,0,0
$GC,7771,-0.89,-145.9,724.8,-9.8,483,7776,0.05,2.17,0.00,0.000,6,0.077,0.036,2722,1909,3420,0,0,0,0,0,0
$GC,8089,-0.84,-145.9,757.8,-10.6,494,8094,0.08,2.20,0.00,0.000,4,0.194,0.044,2730,3315,3420,0,0,0,0,0,0
$GC,8138,-0.84,-145.9,763.4,-11.8,495,8143,0.00,2.17,0.00,0.000,6,0.000,0.035,2730,1909,3420,0,0,0,0,0,0
$GC,8457,-0.80,-145.9,798.2,-11.1,506,8462,0.10,2.20,0.00,0.000,4,0.181,0.045,2746,3312,3419,0,0,0,0,0,0
$GC,8506,-0.80,-145.9,804.0,-11.0,507,8510,0.00,2.17,0.00,0.000,6,0.000,0.035,2746,1913,3419,0,0,0,0,0,0
$GC,8824,-0.80,-145.9,837.4,-10.3,518,8828,0.00,2.20,0.00,0.000,4,0.000,0.046,2739,3317,3418,0,0,0,0,0,0
$GC,8868,-0.80,-145.9,842.2,-11.3,519,8873,0.00,2.17,0.00,0.000,6,0.000,0.035,2739,1915,3418,0,0,0,0,0,0
$GC,9192,-0.80,-145.9,874.6,-9.8,530,9196,0.00,2.15,0.00,0.000,4,0.000,0.046,2730,3277,3418,0,0,0,0,0,0
$GC,9236,-0.74,-145.9,879.3,-11.3,531,9241,0.12,2.12,0.00,0.000,6,0.128,0.035,2770,1905,3417,0,0,0,0,0,0
$GC,9560,-0.81,-145.9,908.3,-9.0,542,9564,0.05,2.22,0.00,0.000,4,0.175,0.046,2742,3307,3417,0,0,0,0,0,0
$GC,9619,-0.81,-145.9,914.2,-9.9,543,9625,0.00,2.17,0.00,0.000,6,0.000,0.036,2742,1910,3417,0,0,0,0,0,0
$GC,9933,-0.81,-145.9,942.9,-9.1,554,9937,0.00,2.20,0.00,0.000,4,0.000,0.046,2737,3315,3417,0,0,0,0,0,0
$GC,9995,-0.79,-145.9,948.6,-9.4,556,10000,0.08,2.15,0.00,0.000,6,0.177,0.035,2754,1910,3416,0,0,0,0,0,0
$GC,10330,-0.83,-145.9,977.8,-8.7,567,10334,0.00,2.12,0.00,0.000,4,0.000,0.046,2750,3265,3416,0,0,0,0,0,0
$GC,10373,-0.88,-145.9,982.3,-10.2,568,10378,0.03,2.10,0.00,0.000,6,0.110,0.035,2726,1913,3416,0,0,0,0,0,0
$STATE,10575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10575,begin apogee
$GC,10580,-0.21,0.0,1001.6,9.6,575,10712,0.70,0.00,128.88,1.489,6,0.131,0.000,2939,1637,2827,0,0,0,0,0,0
$STATE,10713,end apogee,CONTROL_FINISHED_OK
$STATE,10713,begin climb
$GC,10715,0.59,145.9,1010.1,0.0,579,10856,0.77,0.38,135.27,1.480,4,0.068,0.059,3199,1425,2232,0,0,0,0,0,0
$GC,10918,0.37,204.8,1012.5,5.4,585,10979,0.22,0.35,56.15,1.414,6,0.178,0.044,3142,1660,1992,0,0,0,0,0,0
$GC,11298,0.35,245.5,989.9,6.0,598,11340,0.00,1.02,37.05,1.403,4,0.000,0.039,3142,2286,1825,0,0,0,0,0,0
$GC,11408,0.38,281.5,982.8,6.2,601,11448,0.00,1.00,33.75,1.374,6,0.000,0.047,3144,1661,1679,0,0,0,0,0,0
$GC,11763,0.48,299.1,958.8,6.8,613,11782,0.08,0.00,16.67,1.319,6,0.131,0.000,3175,1662,1607,0,0,0,0,0,0
$GC,12102,0.51,310.8,934.4,7.0,624,12116,0.00,0.00,11.73,1.251,6,0.000,0.000,3175,1662,1558,0,0,0,0,0,0
$GC,12407,0.56,316.4,912.5,7.2,634,12415,0.00,0.00,6.28,1.065,6,0.000,0.000,3175,1662,1537,0,0,0,0,0,0
$GC,12713,0.61,316.4,889.3,7.8,644,12715,0.10,0.00,0.00,0.000,6,0.112,0.000,3216,1662,1536,0,0,0,0,0,0
$GC,13020,0.57,316.4,861.0,9.5,654,13024,0.08,2.30,0.00,0.000,4,0.197,0.065,3210,244,1535,0,0,0,0,0,0
$GC,13029,0.54,316.4,859.8,9.6,654,13034,0.05,2.17,0.00,0.000,6,0.164,0.035,3194,1638,1534,0,0,0,0,0,0
$GC,13358,0.51,316.4,828.9,9.6,665,13363,0.05,2.25,0.00,0.000,4,0.230,0.065,3187,276,1534,0,0,0,0,0,0
$GC,13409,0.47,316.4,823.8,10.0,666,13414,0.08,2.12,0.00,0.000,6,0.190,0.035,3171,1659,1533,0,0,0,0,0,0
$GC,13727,0.51,316.4,795.1,8.8,677,13730,0.00,1.70,0.00,0.000,4,0.000,0.043,3172,2772,1533,0,0,0,0,0,0
$GC,13795,0.53,316.4,788.8,9.5,679,13799,0.00,1.77,0.00,0.000,6,0.000,0.048,3173,1659,1533,0,0,0,0,0,0
$GC,14135,0.57,316.4,758.6,8.8,690,14140,0.08,2.33,0.00,0.000,4,0.132,0.063,3213,235,1533,0,0,0,0,0,0
$GC,14218,0.48,316.4,750.2,9.7,692,14223,0.15,2.20,0.00,0.000,6,0.173,0.037,3174,1642,1532,0,0,0,0,0,0
$GC,14536,0.51,316.4,723.4,8.3,703,14540,0.00,0.55,0.00,0.000,4,0.000,0.044,3174,2041,1533,0,0,0,0,0,0
$GC,14664,0.58,316.4,712.7,8.3,706,14670,0.08,0.65,0.00,0.000,6,0.130,0.054,3208,1639,1533,0,0,0,0,0,0
$GC,14977,0.52,316.4,683.8,9.5,717,14982,0.10,2.30,0.00,0.000,4,0.185,0.067,3189,237,1533,0,0,0,0,0,0
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$STATE,22956,end climb,SURFACE_DEPTH_REACHED
$STATE,22956,begin surface coast
$FINISH,1.8,1.023506
$STATE,23005,end surface coast,CONTROL_FINISHED_OK
$STATE,23005,begin surface
$SM_CCo,23082,0.00,0.000,0,0,1468,333.11
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$IRIDIUM_FIX,-4129.38,-624.55,291112,060624
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$HUMID,47.12
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$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.1,67.994
$10V_AH,10.0,46.136
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.350,169.875,441.725,0.000,0.000,29.577,40.347,333.376,0.250,0.000,50.702,3155.138,15735.509,569.610,3943.794,238.897,33.358,2064.316,0.000,3456.994,0.000,2.833,0.000
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$SENSOR_SECS,793.757,1403.268,801.657,109.269,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354532
$DATA_FILE_SIZE,87049,1229
$CAP_FILE_SIZE,221529,0
$CFSIZE,2097086464,2053996544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291112,190622,-4144.283,-626.454,43,1.5,43,-22.2