version: 66.07.10.p01
glider: 574
mission: 4
dive: 456
start: 1 5 113 6 13 43
data:
$ID,574
$MISSION,4
$DIVE,456
$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,-7283.6421
$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,29
$R_STBD_OVSHOOT,69
$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,435
$GPS1,050113,061153,-4117.874,-508.790,42,1.3,42,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-73.7
$GPS2,050113,061322,-4117.875,-508.793,16,1.2,20,-22.5
$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,98.6,98948,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.05,0.000,2,0.000,0.000,69,1762,1908,0,0,0,0,0,0
$GC,55,-0.69,-116.8,3.1,-1.5,4,129,12.30,2.22,-51.00,0.000,4,0.259,0.066,2744,3111,3304,0,0,0,0,0,0
$GC,227,-0.65,-116.8,19.7,-13.9,32,235,0.05,2.20,0.00,0.000,6,0.142,0.049,2762,1753,3305,0,0,0,0,0,0
$GC,309,-0.69,-116.8,30.0,-12.4,45,316,0.00,1.00,0.00,0.000,4,0.000,0.060,2762,1128,3305,0,0,0,0,0,0
$GC,371,-0.75,-116.8,37.7,-12.5,55,376,0.03,0.93,0.00,0.000,6,0.102,0.037,2738,1730,3305,0,0,0,0,0,0
$GC,605,-0.71,-116.8,62.6,-11.5,94,607,0.08,0.00,0.00,0.000,6,0.187,0.000,2753,1730,3305,0,0,0,0,0,0
$GC,925,-0.76,-116.8,94.6,-9.4,124,929,0.00,0.85,0.00,0.000,4,0.000,0.047,2753,2295,3305,0,0,0,0,0,0
$GC,986,-0.76,-116.8,100.2,-7.8,129,993,0.00,0.88,0.00,0.000,6,0.000,0.047,2753,1744,3306,0,0,0,0,0,0
$GC,1307,-0.76,-116.8,123.2,-8.6,150,1310,0.00,0.80,0.00,0.000,4,0.000,0.058,2753,1238,3306,0,0,0,0,0,0
$GC,1362,-0.76,-116.8,128.0,-8.4,153,1365,0.00,0.77,0.00,0.000,6,0.000,0.037,2750,1754,3306,0,0,0,0,0,0
$GC,1693,-0.78,-116.8,157.3,-8.7,174,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1754,3306,0,0,0,0,0,0
$GC,2005,-0.78,-116.8,185.8,-9.4,194,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1754,3307,0,0,0,0,0,0
$GC,2325,-0.78,-116.8,216.1,-9.4,212,2329,0.00,0.60,0.00,0.000,4,0.000,0.054,2750,1377,3307,0,0,0,0,0,0
$GC,2393,-0.82,-116.8,222.3,-9.7,215,2397,0.05,0.55,0.00,0.000,6,0.072,0.041,2712,1750,3307,0,0,0,0,0,0
$GC,2726,-0.78,-116.8,255.7,-9.8,231,2728,0.08,0.00,0.00,0.000,6,0.181,0.000,2730,1750,3307,0,0,0,0,0,0
$GC,3036,-0.78,-116.8,283.9,-8.8,246,3040,0.00,0.52,0.00,0.000,4,0.000,0.054,2731,1410,3308,0,0,0,0,0,0
$GC,3082,-0.74,-116.8,287.7,-8.2,248,3086,0.00,0.50,0.00,0.000,6,0.000,0.042,2730,1750,3308,0,0,0,0,0,0
$GC,3404,-0.71,-116.8,313.7,-8.0,261,3408,0.10,0.88,0.00,0.000,4,0.169,0.046,2753,2327,3308,0,0,0,0,0,0
$GC,3460,-0.78,-116.8,318.1,-8.1,262,3464,0.03,0.90,0.00,0.000,6,0.105,0.047,2726,1751,3309,0,0,0,0,0,0
$GC,3777,-0.78,-116.8,344.0,-8.4,273,3781,0.00,0.77,0.00,0.000,4,0.000,0.056,2726,1258,3309,0,0,0,0,0,0
$GC,3899,-0.78,-116.8,354.8,-9.2,276,3904,0.00,0.77,0.00,0.000,6,0.000,0.037,2723,1761,3309,0,0,0,0,0,0
$GC,4218,-0.78,-116.8,382.8,-8.8,287,4222,0.00,2.33,0.00,0.000,4,0.000,0.059,2723,345,3309,0,0,0,0,0,0
$GC,4296,-0.78,-116.8,390.1,-9.2,289,4301,0.05,2.17,0.00,0.000,6,0.141,0.034,2733,1739,3309,0,0,0,0,0,0
$GC,4626,-0.78,-116.8,417.5,-8.3,300,4629,0.00,1.02,0.00,0.000,4,0.000,0.044,2729,2423,3309,0,0,0,0,0,0
$GC,4687,-0.80,-116.8,423.3,-9.0,301,4692,0.00,1.05,0.00,0.000,6,0.000,0.044,2729,1753,3309,0,0,0,0,0,0
$GC,5000,-0.82,-116.8,452.7,-9.6,312,5004,0.00,2.28,0.00,0.000,4,0.000,0.057,2729,335,3309,0,0,0,0,0,0
$GC,5121,-0.82,-116.8,464.6,-9.3,315,5127,0.00,2.20,0.00,0.000,6,0.000,0.033,2729,1753,3309,0,0,0,0,0,0
$GC,5435,-0.82,-116.8,493.0,-9.1,326,5438,0.00,1.30,0.00,0.000,4,0.000,0.054,2729,956,3309,0,0,0,0,0,0
$GC,5506,-0.82,-116.8,499.8,-8.7,328,5511,0.00,1.23,0.00,0.000,6,0.000,0.036,2728,1746,3309,0,0,0,0,0,0
$GC,5842,-0.82,-116.8,529.9,-9.0,339,5846,0.00,0.47,0.00,0.000,4,0.000,0.054,2729,1438,3308,0,0,0,0,0,0
$GC,5931,-0.85,-116.8,538.0,-9.8,341,5935,0.00,0.50,0.00,0.000,6,0.000,0.043,2728,1765,3308,0,0,0,0,0,0
$GC,6250,-0.88,-116.8,565.9,-8.8,352,6255,0.08,2.35,0.00,0.000,4,0.125,0.058,2694,343,3308,0,0,0,0,0,0
$GC,6362,-0.82,-116.8,576.8,-10.0,355,6367,0.12,2.15,0.00,0.000,6,0.161,0.033,2721,1742,3307,0,0,0,0,0,0
$GC,6680,-0.82,-116.8,605.3,-9.1,366,6684,0.00,2.28,0.00,0.000,4,0.000,0.057,2721,332,3307,0,0,0,0,0,0
$GC,6741,-0.82,-116.8,611.1,-8.9,368,6745,0.00,2.17,0.00,0.000,6,0.000,0.033,2715,1750,3307,0,0,0,0,0,0
$GC,7082,-0.82,-116.8,644.0,-9.8,379,7085,0.00,0.52,0.00,0.000,4,0.000,0.053,2715,1413,3307,0,0,0,0,0,0
$GC,7160,-0.79,-116.8,652.1,-10.1,381,7164,0.00,0.50,0.00,0.000,6,0.000,0.042,2715,1754,3307,0,0,0,0,0,0
$GC,7489,-0.79,-116.8,686.7,-10.7,392,7493,0.00,2.30,0.00,0.000,4,0.000,0.056,2715,336,3307,0,0,0,0,0,0
$GC,7567,-0.77,-116.8,695.2,-10.5,394,7572,0.08,2.17,0.00,0.000,6,0.185,0.034,2733,1751,3307,0,0,0,0,0,0
$GC,7891,-0.80,-116.8,726.5,-9.8,405,7895,0.00,0.62,0.00,0.000,4,0.000,0.043,2731,2191,3306,0,0,0,0,0,0
$GC,7946,-0.80,-116.8,732.2,-10.7,406,7950,0.00,0.70,0.00,0.000,6,0.000,0.045,2730,1741,3307,0,0,0,0,0,0
$GC,8265,-0.84,-116.8,761.8,-9.2,417,8269,0.00,1.67,0.00,0.000,4,0.000,0.054,2731,691,3306,0,0,0,0,0,0
$GC,8377,-0.92,-116.8,771.6,-8.4,420,8381,0.10,1.65,0.00,0.000,6,0.065,0.034,2681,1751,3306,0,0,0,0,0,0
$GC,8706,-0.84,-116.8,803.5,-9.9,431,8710,0.12,2.30,0.00,0.000,4,0.155,0.055,2716,349,3306,0,0,0,0,0,0
$GC,8807,-0.84,-116.8,813.1,-8.6,434,8811,0.00,2.15,0.00,0.000,6,0.000,0.034,2715,1748,3306,0,0,0,0,0,0
$GC,9147,-0.84,-116.8,844.0,-9.1,445,9151,0.00,2.12,0.00,0.000,4,0.000,0.055,2715,437,3306,0,0,0,0,0,0
$GC,9224,-0.84,-116.8,851.2,-9.2,447,9228,0.00,2.05,0.00,0.000,6,0.000,0.034,2714,1747,3306,0,0,0,0,0,0
$GC,9549,-0.87,-116.8,883.1,-10.4,458,9553,0.00,2.30,0.00,0.000,4,0.000,0.055,2714,342,3306,0,0,0,0,0,0
$GC,9645,-0.90,-116.8,893.4,-11.1,461,9649,0.00,2.17,0.00,0.000,6,0.000,0.034,2714,1753,3306,0,0,0,0,0,0
$GC,9980,-0.92,-116.8,930.6,-11.2,472,9985,0.08,2.28,0.00,0.000,4,0.134,0.055,2685,353,3306,0,0,0,0,0,0
$GC,10063,-0.83,-116.8,940.9,-11.8,474,10068,0.15,2.15,0.00,0.000,6,0.151,0.034,2716,1753,3306,0,0,0,0,0,0
$GC,10382,-0.86,-116.8,975.4,-10.5,485,10385,0.00,1.92,0.00,0.000,4,0.000,0.054,2716,568,3306,0,0,0,0,0,0
$GC,10459,-0.86,-116.8,983.9,-10.9,487,10463,0.00,1.85,0.00,0.000,6,0.000,0.034,2715,1749,3306,0,0,0,0,0,0
$STATE,10635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10635,begin apogee
$GC,10640,-0.25,0.0,1001.8,10.3,493,10749,0.60,0.00,105.10,1.483,6,0.123,0.000,2898,1621,2827,0,0,0,0,0,0
$STATE,10749,end apogee,CONTROL_FINISHED_OK
$STATE,10749,begin climb
$GC,10752,0.69,116.8,1009.9,0.0,496,10868,0.90,2.08,108.32,1.456,4,0.076,0.062,3200,475,2350,0,0,0,0,0,0
$GC,11121,0.42,392.4,1029.2,-3.8,507,11387,0.30,1.77,258.48,1.444,6,0.193,0.035,3127,1631,1227,0,0,0,0,0,0
$GC,11724,0.63,392.4,984.3,9.1,527,11729,0.17,0.90,0.00,0.000,4,0.090,0.058,3191,1080,1219,0,0,0,0,0,0
$GC,11759,0.68,392.4,981.0,9.4,528,11763,0.00,0.82,0.00,0.000,6,0.000,0.036,3191,1630,1218,0,0,0,0,0,0
$GC,12100,0.71,392.4,949.6,9.0,539,12104,0.08,2.33,0.00,0.000,4,0.135,0.066,3226,217,1218,0,0,0,0,0,0
$GC,12188,0.67,392.4,941.5,8.6,541,12193,0.10,2.12,0.00,0.000,6,0.175,0.034,3202,1614,1216,0,0,0,0,0,0
$GC,12506,0.67,392.4,914.2,8.4,552,12510,0.00,2.33,0.00,0.000,4,0.000,0.066,3202,217,1216,0,0,0,0,0,0
$GC,12624,0.73,392.4,904.6,7.6,555,12627,0.00,2.15,0.00,0.000,6,0.000,0.034,3202,1620,1215,0,0,0,0,0,0
$GC,12942,0.73,392.4,878.5,8.2,566,12946,0.00,2.20,0.00,0.000,4,0.000,0.046,3202,3020,1215,0,0,0,0,0,0
$GC,13041,0.73,392.4,870.7,7.7,569,13046,0.00,2.25,0.00,0.000,6,0.000,0.047,3202,1631,1215,0,0,0,0,0,0
$GC,13377,0.73,392.4,843.5,8.2,580,13381,0.00,2.17,0.00,0.000,4,0.000,0.045,3202,3014,1215,0,0,0,0,0,0
$GC,13448,0.73,392.4,837.4,8.6,582,13453,0.00,2.25,0.00,0.000,6,0.000,0.047,3202,1623,1215,0,0,0,0,0,0
$GC,13779,0.73,392.4,808.2,9.1,593,13782,0.00,1.10,0.00,0.000,4,0.000,0.043,3202,2331,1214,0,0,0,0,0,0
$GC,13941,0.73,392.4,792.5,9.1,597,13946,0.00,1.15,0.00,0.000,6,0.000,0.051,3202,1616,1215,0,0,0,0,0,0
$GC,14254,0.73,392.4,762.4,9.7,608,14258,0.00,2.22,0.00,0.000,4,0.000,0.046,3202,3022,1215,0,0,0,0,0,0
$GC,14370,0.73,392.4,751.2,9.4,611,14375,0.00,2.25,0.00,0.000,6,0.000,0.046,3202,1627,1215,0,0,0,0,0,0
$GC,14695,0.73,392.4,722.2,8.8,622,14698,0.00,0.70,0.00,0.000,4,0.000,0.044,3202,2092,1215,0,0,0,0,0,0
$GC,14852,0.73,392.4,709.4,8.3,626,14856,0.00,0.77,0.00,0.000,6,0.000,0.054,3202,1612,1215,0,0,0,0,0,0
$GC,15170,0.73,392.4,686.4,6.7,637,15174,0.00,2.22,0.00,0.000,4,0.000,0.046,3202,3018,1214,0,0,0,0,0,0
$GC,15287,0.73,418.3,679.2,5.4,640,15317,0.00,2.25,24.83,1.241,6,0.000,0.047,3202,1613,1120,0,0,0,0,0,0
$GC,15638,0.77,419.1,657.4,6.4,652,15642,0.10,1.55,0.00,0.000,4,0.107,0.044,3243,2583,1117,0,0,0,0,0,0
$GC,15740,0.71,419.1,649.7,7.7,655,15744,0.08,1.55,0.00,0.000,6,0.151,0.051,3210,1625,1117,0,0,0,0,0,0
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$STATE,23265,end climb,SURFACE_DEPTH_REACHED
$STATE,23265,begin surface coast
$FINISH,1.7,1.025704
$STATE,23302,end surface coast,CONTROL_FINISHED_OK
$STATE,23302,begin surface
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$IRIDIUM_FIX,-4103.55,-507.25,040113,101024
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$HUMID,50.11
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$TCM_TEMP,12.80
$XPDR_PINGS,0
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$10V_AH,9.8,64.661
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.125,163.375,496.725,0.000,0.000,0.000,0.000,0.000,0.250,0.000,22.625,2902.602,16346.261,561.260,3419.410,227.018,0.000,2129.138,0.000,3352.575,0.000,2.833,0.000
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$MEM,354672
$DATA_FILE_SIZE,63633,1067
$CAP_FILE_SIZE,207024,0
$CFSIZE,2097086464,2032140288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050113,124435,-4117.393,-508.579,37,0.8,37,-22.5