version: 66.07.10.p01
glider: 574
mission: 4
dive: 326
start: 12 6 112 12 15 26
data:
$ID,574
$MISSION,4
$DIVE,326
$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,300
$T_MISSION,325
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,-6885.9766
$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,1950
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,57
$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,305
$GPS1,061212,120635,-4159.686,-601.850,39,1.1,39,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-71.7
$GPS2,061212,121505,-4159.651,-601.751,47,1.1,47,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4205.050,-549.149
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,142.1,20000,-19.9,-11.111
$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,24,begin dive
$GC,26,-0.84,-145.9,0.0,0.0,0,100,0.00,0.00,-71.47,0.000,2,0.000,0.000,66,1975,2366,0,0,0,0,0,0
$GC,102,-0.84,-145.9,3.1,-1.8,12,158,12.00,2.20,-36.40,0.000,4,0.257,0.063,2726,3329,3422,0,0,0,0,0,0
$GC,225,-0.84,-145.9,13.5,-12.3,32,233,0.03,2.22,0.00,0.000,6,0.192,0.050,2735,1952,3422,0,0,0,0,0,0
$GC,306,-0.91,-145.9,22.8,-11.2,45,313,0.00,2.12,0.00,0.000,4,0.000,0.066,2735,667,3422,0,0,0,0,0,0
$GC,351,-0.85,-145.9,27.8,-12.4,52,358,0.00,1.98,0.00,0.000,6,0.000,0.038,2727,1924,3422,0,0,0,0,0,0
$GC,430,-0.85,-145.9,36.2,-10.4,65,435,0.00,2.25,0.00,0.000,4,0.000,0.050,2716,3349,3423,0,0,0,0,0,0
$GC,512,-0.85,-145.9,46.3,-12.1,79,518,0.08,2.20,0.00,0.000,6,0.183,0.044,2734,1943,3422,0,0,0,0,0,0
$GC,745,-0.93,-145.9,71.6,-10.3,120,753,0.05,1.35,0.00,0.000,4,0.171,0.045,2704,2793,3423,0,0,0,0,0,0
$GC,805,-0.96,-145.9,78.2,-11.6,130,810,0.00,1.35,0.00,0.000,6,0.000,0.047,2704,1940,3422,0,0,0,0,0,0
$GC,1140,-0.96,-145.9,115.1,-10.6,173,1143,0.00,0.85,0.00,0.000,4,0.000,0.056,2703,1387,3423,0,0,0,0,0,0
$GC,1161,-0.96,-145.9,117.9,-10.9,174,1165,0.00,0.90,0.00,0.000,6,0.000,0.039,2699,1971,3423,0,0,0,0,0,0
$GC,1488,-0.96,-145.9,151.3,-10.5,195,1492,0.00,2.15,0.00,0.000,4,0.000,0.049,2689,3350,3424,0,0,0,0,0,0
$GC,1568,-0.94,-145.9,160.4,-11.4,200,1572,0.08,2.17,0.00,0.000,6,0.185,0.041,2706,1946,3423,0,0,0,0,0,0
$GC,1895,-0.94,-145.9,194.7,-10.6,221,1898,0.00,2.22,0.00,0.000,4,0.000,0.057,2706,544,3424,0,0,0,0,0,0
$GC,1965,-0.89,-145.9,203.3,-12.4,225,1970,0.10,2.15,0.00,0.000,6,0.187,0.034,2721,1952,3424,0,0,0,0,0,0
$GC,2291,-0.96,-145.9,237.0,-10.1,246,2294,0.00,0.62,0.00,0.000,4,0.000,0.046,2719,2391,3424,0,0,0,0,0,0
$GC,2551,-1.04,-145.9,263.6,-9.9,259,2556,0.10,0.68,0.00,0.000,6,0.065,0.047,2671,1948,3424,0,0,0,0,0,0
$GC,2875,-0.98,-145.9,302.2,-12.1,275,2879,0.10,1.48,0.00,0.000,4,0.189,0.044,2688,2882,3424,0,0,0,0,0,0
$GC,2929,-0.98,-145.9,309.2,-11.8,277,2934,0.00,1.45,0.00,0.000,6,0.000,0.042,2688,1950,3424,0,0,0,0,0,0
$GC,3254,-0.96,-145.9,347.2,-11.9,293,3258,0.05,2.22,0.00,0.000,4,0.240,0.054,2703,548,3424,0,0,0,0,0,0
$GC,3322,-0.94,-145.9,355.7,-12.2,296,3326,0.05,2.12,0.00,0.000,6,0.235,0.035,2705,1951,3424,0,0,0,0,0,0
$GC,3649,-0.97,-145.9,391.7,-10.6,312,3653,0.00,2.17,0.00,0.000,4,0.000,0.045,2695,3359,3424,0,0,0,0,0,0
$GC,3715,-0.99,-145.9,399.0,-11.4,315,3719,0.00,2.17,0.00,0.000,6,0.000,0.038,2696,1944,3424,0,0,0,0,0,0
$GC,4039,-0.99,-145.9,434.6,-10.7,326,4043,0.00,2.22,0.00,0.000,4,0.000,0.054,2696,537,3424,0,0,0,0,0,0
$GC,4094,-0.96,-145.9,441.1,-11.4,327,4100,0.08,2.17,0.00,0.000,6,0.204,0.034,2702,1946,3424,0,0,0,0,0,0
$GC,4407,-0.96,-145.9,473.4,-10.3,338,4411,0.00,2.00,0.00,0.000,4,0.000,0.045,2694,3249,3423,0,0,0,0,0,0
$GC,4468,-0.99,-145.9,480.3,-10.9,339,4473,0.00,2.00,0.00,0.000,6,0.000,0.038,2693,1945,3423,0,0,0,0,0,0
$GC,4780,-0.99,-145.9,514.1,-10.9,350,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1944,3423,0,0,0,0,0,0
$GC,5087,-0.99,-145.9,547.3,-11.0,360,5091,0.00,2.20,0.00,0.000,4,0.000,0.046,2683,3349,3422,0,0,0,0,0,0
$GC,5149,-0.99,-145.9,554.5,-11.4,362,5153,0.00,2.15,0.00,0.000,6,0.000,0.037,2683,1950,3421,0,0,0,0,0,0
$GC,5484,-0.96,-145.9,592.5,-11.6,373,5488,0.08,1.48,0.00,0.000,4,0.210,0.051,2699,1028,3422,0,0,0,0,0,0
$GC,5517,-0.96,-145.9,596.5,-12.3,374,5521,0.00,1.42,0.00,0.000,6,0.000,0.036,2694,1947,3422,0,0,0,0,0,0
$GC,5857,-0.96,-145.9,635.5,-11.4,385,5861,0.00,2.20,0.00,0.000,4,0.000,0.047,2683,3363,3421,0,0,0,0,0,0
$GC,5941,-0.98,-145.9,645.7,-11.8,387,5945,0.00,2.20,0.00,0.000,6,0.000,0.038,2683,1934,3421,0,0,0,0,0,0
$GC,6265,-0.96,-145.9,683.9,-11.7,398,6270,0.08,2.20,0.00,0.000,4,0.210,0.054,2698,548,3420,0,0,0,0,0,0
$GC,6336,-0.96,-145.9,692.8,-11.9,400,6340,0.00,2.17,0.00,0.000,6,0.000,0.035,2689,1944,3420,0,0,0,0,0,0
$GC,6666,-0.96,-145.9,728.7,-10.6,411,6670,0.00,2.25,0.00,0.000,4,0.000,0.054,2689,544,3420,0,0,0,0,0,0
$GC,6744,-0.93,-145.9,737.9,-11.6,413,6749,0.12,2.20,0.00,0.000,6,0.177,0.036,2711,1951,3419,0,0,0,0,0,0
$GC,7068,-1.00,-145.9,768.0,-9.1,424,7073,0.08,0.80,0.00,0.000,4,0.132,0.045,2676,2479,3419,0,0,0,0,0,0
$GC,7152,-1.03,-145.9,776.7,-10.3,426,7156,0.00,0.82,0.00,0.000,6,0.000,0.044,2677,1943,3418,0,0,0,0,0,0
$GC,7476,-1.00,-145.9,810.5,-10.6,437,7480,0.00,2.22,0.00,0.000,4,0.000,0.047,2666,3353,3417,0,0,0,0,0,0
$GC,7543,-0.96,-145.9,818.2,-10.9,439,7548,0.12,2.17,0.00,0.000,6,0.170,0.037,2698,1945,3418,0,0,0,0,0,0
$GC,7873,-1.00,-145.9,849.3,-9.3,450,7877,0.00,1.17,0.00,0.000,4,0.000,0.043,2694,2703,3417,0,0,0,0,0,0
$GC,7945,-1.06,-145.9,856.3,-9.7,452,7950,0.03,1.17,0.00,0.000,6,0.106,0.041,2673,1944,3417,0,0,0,0,0,0
$GC,8281,-1.03,-145.9,889.8,-10.2,463,8284,0.00,1.38,0.00,0.000,4,0.000,0.044,2667,2818,3416,0,0,0,0,0,0
$GC,8336,-0.97,-145.9,895.9,-11.6,464,8340,0.08,1.35,0.00,0.000,6,0.158,0.040,2691,1948,3415,0,0,0,0,0,0
$GC,8655,-1.02,-145.9,927.8,-10.2,475,8659,0.00,2.22,0.00,0.000,4,0.000,0.054,2690,538,3415,0,0,0,0,0,0
$GC,8737,-1.00,-145.9,937.8,-12.6,477,8742,0.00,2.20,0.00,0.000,6,0.000,0.036,2681,1946,3415,0,0,0,0,0,0
$GC,9056,-1.00,-145.9,973.6,-11.2,488,9060,0.00,2.25,0.00,0.000,4,0.000,0.055,2681,551,3414,0,0,0,0,0,0
$GC,9105,-0.93,-145.9,979.7,-12.3,489,9110,0.15,2.20,0.00,0.000,6,0.177,0.035,2709,1988,3413,0,0,0,0,0,0
$STATE,9330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9331,begin apogee
$GC,9336,-0.21,0.0,1002.1,9.6,497,9468,0.77,0.00,128.62,1.496,6,0.139,0.000,2940,1504,2827,0,0,0,0,0,0
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9471,0.84,145.9,1010.4,0.0,501,9616,1.02,2.17,135.57,1.480,4,0.065,0.063,3287,336,2231,0,0,0,0,0,0
$GC,9717,0.54,216.1,1010.8,7.5,508,9788,0.40,1.90,64.82,1.420,6,0.210,0.036,3196,1506,1945,0,0,0,0,0,0
$GC,10119,0.51,286.4,980.3,7.5,522,10190,0.08,2.35,63.22,1.415,4,0.226,0.067,3190,183,1658,0,0,0,0,0,0
$GC,10282,0.55,319.7,967.2,9.4,527,10318,0.00,2.10,30.80,1.351,6,0.000,0.036,3190,1518,1523,0,0,0,0,0,0
$GC,10648,0.66,376.6,937.2,8.2,539,10704,0.10,0.62,52.17,1.392,4,0.112,0.066,3229,1164,1291,0,0,0,0,0,0
$GC,10720,0.66,387.5,930.0,10.6,540,10737,0.00,0.52,10.82,1.142,6,0.000,0.041,3229,1500,1247,0,0,0,0,0,0
$GC,11044,0.74,410.2,898.3,10.0,551,11075,0.05,2.30,22.05,1.320,4,0.168,0.070,3254,173,1153,0,0,0,0,0,0
$GC,11115,0.71,410.2,890.0,12.1,553,11119,0.00,2.08,0.00,0.000,6,0.000,0.037,3254,1486,1150,0,0,0,0,0,0
$GC,11444,0.76,426.6,854.5,10.3,564,11465,0.00,2.22,16.00,1.260,4,0.000,0.068,3261,172,1086,0,0,0,0,0,0
$GC,11509,0.77,433.7,847.2,10.8,566,11524,0.00,2.12,7.97,1.104,6,0.000,0.038,3260,1513,1058,0,0,0,0,0,0
$GC,11845,0.83,458.1,813.6,9.9,577,11876,0.05,1.70,24.48,1.292,4,0.171,0.067,3287,517,959,0,0,0,0,0,0
$GC,11897,0.83,458.1,807.3,11.4,578,11902,0.00,1.55,0.00,0.000,6,0.000,0.039,3287,1489,956,0,0,0,0,0,0
$GC,12216,0.87,458.1,771.3,11.3,589,12220,0.00,2.20,0.00,0.000,4,0.000,0.047,3287,2906,954,0,0,0,0,0,0
$GC,12294,0.84,458.1,761.7,13.0,591,12298,0.00,2.22,0.00,0.000,6,0.000,0.050,3297,1504,953,0,0,0,0,0,0
$GC,12618,0.91,458.1,723.5,11.7,602,12622,0.00,1.33,0.00,0.000,4,0.000,0.044,3297,2352,951,0,0,0,0,0,0
$GC,12653,0.93,458.1,719.3,12.3,603,12656,0.00,1.38,0.00,0.000,6,0.000,0.054,3303,1498,951,0,0,0,0,0,0
$GC,12993,0.96,458.1,678.1,11.7,614,12998,0.00,2.22,0.00,0.000,4,0.000,0.047,3303,2917,950,0,0,0,0,0,0
$GC,13065,0.91,458.1,668.6,13.2,616,13070,0.00,2.25,0.00,0.000,6,0.000,0.049,3313,1490,950,0,0,0,0,0,0
$GC,13395,0.91,458.1,627.0,12.9,627,13399,0.00,2.20,0.00,0.000,4,0.000,0.072,3321,160,949,0,0,0,0,0,0
$GC,13438,0.78,458.1,620.5,16.2,628,13443,0.15,2.12,0.00,0.000,6,0.181,0.041,3271,1505,948,0,0,0,0,0,0
$GC,13762,0.88,458.1,584.0,11.1,639,13766,0.08,0.45,0.00,0.000,4,0.132,0.067,3304,1222,947,0,0,0,0,0,0
$GC,13772,0.94,458.1,582.7,11.3,639,13776,0.00,0.45,0.00,0.000,6,0.000,0.047,3304,1520,948,0,0,0,0,0,0
$GC,14101,0.94,458.1,540.9,12.7,650,14105,0.00,2.22,0.00,0.000,4,0.000,0.069,3314,168,948,0,0,0,0,0,0
$GC,14173,0.82,458.1,530.2,15.6,652,14178,0.12,2.05,0.00,0.000,6,0.199,0.041,3285,1483,947,0,0,0,0,0,0
$GC,14503,0.86,458.1,490.9,11.6,663,14507,0.00,2.20,0.00,0.000,4,0.000,0.070,3292,160,947,0,0,0,0,0,0
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$STATE,18621,end climb,SURFACE_DEPTH_REACHED
$STATE,18621,begin surface coast
$FINISH,1.8,1.026425
$STATE,18651,end surface coast,CONTROL_FINISHED_OK
$STATE,18652,begin surface
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$IRIDIUM_FIX,-4143.80,-605.70,061212,060649
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$HUMID,48.38
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.70
$XPDR_PINGS,0
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$10V_AH,10.0,49.661
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.525,177.150,569.575,0.000,0.000,30.177,40.285,278.783,0.250,0.000,49.326,2513.854,12610.804,626.311,3263.218,218.869,0.000,1940.165,0.000,2833.169,0.000,2.831,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.308,1074.152,635.812,77.830,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354508
$DATA_FILE_SIZE,60316,968
$CAP_FILE_SIZE,192124,0
$CFSIZE,2097086464,2049212416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061212,172836,-4159.071,-600.376,27,2.0,27,-22.1