version: 66.07.10.p01
glider: 574
mission: 4
dive: 446
start: 1 2 113 12 25 21
data:
$ID,574
$MISSION,4
$DIVE,446
$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,520
$T_MISSION,550
$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,120
$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,2
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-7258.6367
$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,2985
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,76
$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,425
$GPS1,020113,122335,-4121.900,-511.002,37,1.0,37,-22.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-70.4
$GPS2,020113,122500,-4121.901,-510.997,17,1.0,17,-22.4
$SPEED_LIMITS,0.111,0.202
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$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,94.9,103933,-13.7,-6.410
$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,-0.69,-116.8,0.0,0.0,0,70,0.00,0.00,-43.05,0.000,2,0.000,0.000,68,1781,1925,0,0,0,0,0,0
$GC,73,-0.69,-116.8,3.0,-0.9,7,141,11.80,2.17,-47.55,0.000,4,0.248,0.061,2746,3115,3305,0,0,0,0,0,0
$GC,204,-0.62,-116.8,14.6,-14.9,28,212,0.10,2.17,0.00,0.000,6,0.137,0.043,2778,1752,3306,0,0,0,0,0,0
$GC,285,-0.64,-116.8,24.5,-11.5,41,292,0.00,2.33,0.00,0.000,4,0.000,0.063,2778,349,3306,0,0,0,0,0,0
$GC,394,-0.72,-116.8,35.3,-9.9,59,400,0.05,2.10,0.00,0.000,6,0.161,0.034,2746,1707,3306,0,0,0,0,0,0
$GC,630,-0.69,-116.8,60.4,-11.7,100,632,0.08,0.00,0.00,0.000,6,0.185,0.000,2763,1708,3307,0,0,0,0,0,0
$GC,951,-0.72,-116.8,93.4,-9.6,130,954,0.00,1.27,0.00,0.000,4,0.000,0.054,2763,932,3307,0,0,0,0,0,0
$GC,1028,-0.78,-116.8,101.4,-9.8,136,1036,0.05,1.27,0.00,0.000,6,0.075,0.035,2724,1751,3307,0,0,0,0,0,0
$GC,1351,-0.73,-116.8,132.7,-9.5,157,1355,0.10,1.70,0.00,0.000,4,0.168,0.056,2751,714,3307,0,0,0,0,0,0
$GC,1422,-0.76,-116.8,139.0,-8.4,161,1426,0.00,1.60,0.00,0.000,6,0.000,0.034,2746,1747,3308,0,0,0,0,0,0
$GC,1752,-0.76,-116.8,168.1,-8.5,182,1756,0.00,2.30,0.00,0.000,4,0.000,0.058,2746,343,3307,0,0,0,0,0,0
$GC,1824,-0.78,-116.8,174.5,-8.2,186,1832,0.00,2.20,0.00,0.000,6,0.000,0.036,2743,1751,3307,0,0,0,0,0,0
$GC,2148,-0.78,-116.8,202.5,-8.9,207,2152,0.00,1.92,0.00,0.000,4,0.000,0.057,2743,570,3308,0,0,0,0,0,0
$GC,2209,-0.78,-116.8,208.3,-9.7,209,2215,0.00,1.85,0.00,0.000,6,0.000,0.035,2743,1755,3308,0,0,0,0,0,0
$GC,2526,-0.80,-116.8,238.3,-9.7,225,2530,0.00,0.50,0.00,0.000,4,0.000,0.053,2743,1435,3309,0,0,0,0,0,0
$GC,2618,-0.80,-116.8,247.0,-9.5,229,2622,0.00,0.47,0.00,0.000,6,0.000,0.043,2743,1760,3309,0,0,0,0,0,0
$GC,2951,-0.82,-116.8,279.9,-9.8,245,2955,0.08,1.35,0.00,0.000,4,0.129,0.053,2707,940,3309,0,0,0,0,0,0
$GC,3007,-0.73,-116.8,286.1,-10.7,247,3011,0.12,1.25,0.00,0.000,6,0.132,0.034,2742,1750,3309,0,0,0,0,0,0
$GC,3347,-0.73,-116.8,318.1,-9.3,261,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1750,3310,0,0,0,0,0,0
$GC,3654,-0.76,-116.8,345.0,-8.7,271,3657,0.00,0.88,0.00,0.000,4,0.000,0.054,2742,1197,3310,0,0,0,0,0,0
$GC,3714,-0.76,-116.8,350.5,-8.9,272,3720,0.00,0.88,0.00,0.000,6,0.000,0.036,2742,1763,3310,0,0,0,0,0,0
$GC,4028,-0.78,-116.8,379.7,-9.8,283,4032,0.00,1.10,0.00,0.000,4,0.000,0.054,2742,1084,3310,0,0,0,0,0,0
$GC,4071,-0.78,-116.8,384.3,-9.5,284,4076,0.00,1.02,0.00,0.000,6,0.000,0.034,2741,1751,3310,0,0,0,0,0,0
$GC,4402,-0.81,-116.8,417.4,-10.3,295,4405,0.00,0.73,0.00,0.000,4,0.000,0.053,2741,1299,3310,0,0,0,0,0,0
$GC,4451,-0.81,-116.8,422.5,-9.3,296,4455,0.00,0.70,0.00,0.000,6,0.000,0.036,2741,1761,3310,0,0,0,0,0,0
$GC,4775,-0.81,-116.8,453.3,-9.7,307,4779,0.00,0.90,0.00,0.000,4,0.000,0.053,2741,1201,3310,0,0,0,0,0,0
$GC,4859,-0.84,-116.8,461.6,-10.1,309,4863,0.05,0.82,0.00,0.000,6,0.074,0.035,2704,1753,3310,0,0,0,0,0,0
$GC,5183,-0.78,-116.8,494.2,-10.0,320,5188,0.10,1.80,0.00,0.000,4,0.164,0.055,2730,656,3310,0,0,0,0,0,0
$GC,5244,-0.78,-116.8,500.2,-9.4,321,5250,0.00,1.67,0.00,0.000,6,0.000,0.033,2729,1742,3310,0,0,0,0,0,0
$GC,5557,-0.78,-116.8,528.0,-8.9,332,5560,0.00,0.68,0.00,0.000,4,0.000,0.050,2729,1316,3311,0,0,0,0,0,0
$GC,5606,-0.78,-116.8,532.5,-9.0,333,5611,0.00,0.68,0.00,0.000,6,0.000,0.036,2729,1762,3310,0,0,0,0,0,0
$GC,5931,-0.78,-116.8,560.9,-8.8,344,5934,0.00,1.12,0.00,0.000,4,0.000,0.053,2728,1069,3310,0,0,0,0,0,0
$GC,5985,-0.78,-116.8,566.0,-8.9,345,5990,0.00,1.05,0.00,0.000,6,0.000,0.034,2728,1752,3310,0,0,0,0,0,0
$GC,6304,-0.78,-116.8,594.4,-9.0,356,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1753,3310,0,0,0,0,0,0
$GC,6610,-0.78,-116.8,621.9,-8.8,366,6614,0.00,2.30,0.00,0.000,4,0.000,0.057,2728,340,3310,0,0,0,0,0,0
$GC,6716,-0.78,-116.8,631.7,-9.1,369,6721,0.00,2.20,0.00,0.000,6,0.000,0.033,2727,1751,3310,0,0,0,0,0,0
$GC,7052,-0.78,-116.8,662.1,-9.1,380,7055,0.00,0.55,0.00,0.000,4,0.000,0.045,2725,2141,3310,0,0,0,0,0,0
$GC,7095,-0.78,-116.8,666.3,-9.3,381,7099,0.00,0.62,0.00,0.000,6,0.000,0.047,2725,1740,3310,0,0,0,0,0,0
$GC,7425,-0.78,-116.8,697.6,-9.8,392,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1740,3310,0,0,0,0,0,0
$GC,7731,-0.78,-116.8,728.5,-10.4,402,7735,0.00,1.95,0.00,0.000,4,0.000,0.044,2717,2962,3309,0,0,0,0,0,0
$GC,7792,-0.78,-116.8,735.0,-10.3,403,7798,0.00,1.90,0.00,0.000,6,0.000,0.038,2717,1753,3309,0,0,0,0,0,0
$GC,8105,-0.78,-116.8,769.1,-11.3,414,8109,0.00,1.15,0.00,0.000,4,0.000,0.042,2713,2494,3309,0,0,0,0,0,0
$GC,8160,-0.78,-116.8,775.8,-11.7,415,8165,0.03,1.15,0.00,0.000,6,0.165,0.041,2724,1748,3309,0,0,0,0,0,0
$GC,8479,-0.78,-116.8,811.7,-11.4,426,8482,0.00,1.65,0.00,0.000,4,0.000,0.042,2718,2793,3309,0,0,0,0,0,0
$GC,8533,-0.78,-116.8,818.3,-11.6,427,8538,0.00,1.65,0.00,0.000,6,0.000,0.040,2718,1747,3308,0,0,0,0,0,0
$GC,8852,-0.78,-116.8,852.3,-10.5,438,8856,0.00,1.67,0.00,0.000,4,0.000,0.043,2712,2820,3308,0,0,0,0,0,0
$GC,8907,-0.78,-116.8,858.1,-10.6,439,8912,0.05,1.67,0.00,0.000,6,0.138,0.040,2730,1755,3308,0,0,0,0,0,0
$GC,9226,-0.81,-116.8,887.7,-9.2,450,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1755,3308,0,0,0,0,0,0
$GC,9532,-0.85,-116.8,915.7,-9.1,460,9536,0.05,1.52,0.00,0.000,4,0.174,0.043,2699,2711,3308,0,0,0,0,0,0
$GC,9600,-0.81,-116.8,922.0,-9.4,462,9604,0.05,1.52,0.00,0.000,6,0.144,0.041,2717,1743,3308,0,0,0,0,0,0
$GC,9940,-0.81,-116.8,953.4,-9.1,473,9943,0.00,1.25,0.00,0.000,4,0.000,0.042,2714,2543,3308,0,0,0,0,0,0
$GC,9994,-0.81,-116.8,959.0,-10.1,474,9999,0.00,1.25,0.00,0.000,6,0.000,0.041,2714,1748,3308,0,0,0,0,0,0
$GC,10313,-0.81,-116.8,989.6,-9.8,485,10317,0.00,1.15,0.00,0.000,4,0.000,0.041,2710,2492,3309,0,0,0,0,0,0
$GC,10374,-0.81,-116.8,995.8,-9.4,486,10379,0.00,1.15,0.00,0.000,6,0.000,0.041,2711,1754,3309,0,0,0,0,0,0
$STATE,10441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10441,begin apogee
$GC,10447,-0.25,0.0,1002.2,9.7,489,10555,0.62,0.00,105.32,1.485,6,0.127,0.000,2898,1605,2827,0,0,0,0,0,0
$STATE,10556,end apogee,CONTROL_FINISHED_OK
$STATE,10556,begin climb
$GC,10558,0.69,116.8,1009.4,0.0,492,10674,0.90,2.47,108.78,1.451,4,0.072,0.044,3202,3016,2351,0,0,0,0,0,0
$GC,10927,0.40,408.4,1028.4,-4.4,504,11209,0.38,2.20,272.25,1.437,6,0.197,0.044,3119,1627,1161,0,0,0,0,0,0
$GC,11529,0.66,408.4,986.0,9.3,524,11533,0.25,1.65,0.00,0.000,4,0.090,0.039,3204,2697,1153,0,0,0,0,0,0
$GC,11584,0.69,408.4,980.5,9.2,525,11588,0.00,1.73,0.00,0.000,6,0.000,0.045,3210,1625,1152,0,0,0,0,0,0
$GC,11902,0.69,408.4,948.9,10.1,536,11906,0.00,2.08,0.00,0.000,4,0.000,0.063,3210,352,1151,0,0,0,0,0,0
$GC,11971,0.73,408.4,942.2,9.6,538,11974,0.00,1.95,0.00,0.000,6,0.000,0.034,3210,1625,1149,0,0,0,0,0,0
$GC,12311,0.73,408.4,906.4,10.4,549,12315,0.00,1.48,0.00,0.000,4,0.000,0.043,3210,2576,1149,0,0,0,0,0,0
$GC,12360,0.73,408.4,900.9,10.6,550,12365,0.00,1.52,0.00,0.000,6,0.000,0.047,3213,1624,1149,0,0,0,0,0,0
$GC,12685,0.73,408.4,867.2,10.6,561,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1625,1148,0,0,0,0,0,0
$GC,12991,0.73,408.4,835.5,10.4,571,12995,0.00,0.62,0.00,0.000,4,0.000,0.063,3213,1226,1148,0,0,0,0,0,0
$GC,13035,0.73,408.4,830.9,11.0,572,13039,0.00,0.62,0.00,0.000,6,0.000,0.041,3213,1637,1148,0,0,0,0,0,0
$GC,13365,0.73,408.4,796.2,10.5,583,13368,0.00,0.80,0.00,0.000,4,0.000,0.062,3213,1144,1148,0,0,0,0,0,0
$GC,13414,0.73,408.4,790.8,10.0,584,13418,0.00,0.73,0.00,0.000,6,0.000,0.041,3213,1617,1147,0,0,0,0,0,0
$GC,13738,0.73,408.4,755.4,11.0,595,13742,0.00,0.77,0.00,0.000,4,0.000,0.044,3213,2140,1148,0,0,0,0,0,0
$GC,13810,0.73,408.4,747.3,10.8,597,13814,0.00,0.85,0.00,0.000,6,0.000,0.053,3213,1619,1147,0,0,0,0,0,0
$GC,14146,0.73,408.4,711.3,10.6,608,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1619,1147,0,0,0,0,0,0
$GC,14452,0.73,408.4,680.9,9.5,618,14456,0.00,1.48,0.00,0.000,4,0.000,0.044,3213,2550,1147,0,0,0,0,0,0
$GC,14513,0.73,408.4,675.4,8.7,619,14518,0.00,1.50,0.00,0.000,6,0.000,0.050,3213,1624,1147,0,0,0,0,0,0
$GC,14825,0.73,408.4,649.3,8.1,630,14829,0.00,0.55,0.00,0.000,4,0.000,0.066,3213,1273,1147,0,0,0,0,0,0
$GC,14860,0.73,408.4,646.5,7.8,631,14863,0.00,0.50,0.00,0.000,6,0.000,0.046,3213,1618,1147,0,0,0,0,0,0
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$CFSIZE,2097086464,2033483776
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