version: 66.07.10.p01
glider: 574
mission: 4
dive: 467
start: 1 8 113 5 42 20
data:
$ID,574
$MISSION,4
$DIVE,467
$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,-7313.8232
$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,67
$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,446
$GPS1,080113,052322,-4110.544,-502.150,27,1.3,44,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-72.3
$GPS2,080113,054159,-4110.389,-502.180,66,1.2,66,-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,105.9,87373,-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,26,-0.69,-116.8,0.0,0.0,0,58,0.00,0.00,-30.62,0.000,2,0.000,0.000,68,1755,1952,0,0,0,0,0,0
$GC,61,-0.69,-116.8,3.1,-0.9,5,129,12.30,2.20,-48.95,0.000,4,0.257,0.061,2745,3131,3302,0,0,0,0,0,0
$GC,221,-0.69,-116.8,13.5,-9.1,31,229,0.03,2.22,0.00,0.000,6,0.173,0.046,2752,1755,3303,0,0,0,0,0,0
$GC,302,-0.69,-116.8,20.4,-8.3,44,309,0.00,1.58,0.00,0.000,4,0.000,0.061,2753,804,3304,0,0,0,0,0,0
$GC,353,-0.69,-116.8,25.1,-9.0,52,360,0.00,1.42,0.00,0.000,6,0.000,0.037,2749,1710,3304,0,0,0,0,0,0
$GC,434,-0.71,-116.8,32.7,-9.3,65,438,0.00,1.17,0.00,0.000,4,0.000,0.046,2744,2473,3303,0,0,0,0,0,0
$GC,493,-0.71,-116.8,37.8,-8.6,75,498,0.00,1.15,0.00,0.000,6,0.000,0.045,2744,1746,3304,0,0,0,0,0,0
$GC,730,-0.69,-116.8,59.6,-8.8,116,738,0.08,0.47,0.00,0.000,4,0.187,0.059,2762,1437,3303,0,0,0,0,0,0
$GC,793,-0.72,-116.8,65.3,-9.6,122,798,0.00,0.50,0.00,0.000,6,0.000,0.041,2762,1771,3304,0,0,0,0,0,0
$GC,1118,-0.80,-116.8,97.3,-8.9,153,1123,0.10,1.33,0.00,0.000,4,0.104,0.047,2707,2616,3304,0,0,0,0,0,0
$GC,1187,-0.72,-116.8,104.2,-9.9,158,1191,0.12,1.38,0.00,0.000,6,0.122,0.045,2748,1749,3304,0,0,0,0,0,0
$GC,1520,-0.74,-116.8,133.2,-8.2,179,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1748,3304,0,0,0,0,0,0
$GC,1832,-0.80,-116.8,158.6,-9.0,199,1834,0.08,0.00,0.00,0.000,6,0.127,0.000,2713,1748,3304,0,0,0,0,0,0
$GC,2144,-0.75,-116.8,187.8,-9.2,219,2146,0.10,0.00,0.00,0.000,6,0.164,0.000,2740,1749,3304,0,0,0,0,0,0
$GC,2468,-0.77,-116.8,217.3,-9.1,237,2472,0.00,0.68,0.00,0.000,4,0.000,0.055,2740,1312,3304,0,0,0,0,0,0
$GC,2518,-0.81,-116.8,222.0,-8.6,239,2522,0.00,0.65,0.00,0.000,6,0.000,0.037,2740,1745,3305,0,0,0,0,0,0
$GC,2846,-0.83,-116.8,252.3,-9.6,255,2848,0.08,0.00,0.00,0.000,6,0.125,0.000,2706,1746,3305,0,0,0,0,0,0
$GC,3157,-0.79,-116.8,282.9,-9.9,270,3161,0.10,2.28,0.00,0.000,4,0.164,0.057,2733,378,3305,0,0,0,0,0,0
$GC,3267,-0.84,-116.8,293.2,-9.1,275,3271,0.00,2.12,0.00,0.000,6,0.000,0.036,2729,1752,3305,0,0,0,0,0,0
$GC,3592,-0.84,-116.8,322.5,-9.1,287,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1752,3305,0,0,0,0,0,0
$GC,3897,-0.84,-116.8,350.8,-9.2,297,3901,0.00,2.33,0.00,0.000,4,0.000,0.057,2729,336,3304,0,0,0,0,0,0
$GC,4043,-0.88,-116.8,365.0,-9.8,301,4047,0.10,2.17,0.00,0.000,6,0.104,0.034,2686,1754,3305,0,0,0,0,0,0
$GC,4366,-0.80,-116.8,400.0,-11.1,312,4368,0.15,0.00,0.00,0.000,6,0.150,0.000,2728,1754,3305,0,0,0,0,0,0
$GC,4672,-0.80,-116.8,432.7,-10.7,322,4676,0.00,0.85,0.00,0.000,4,0.000,0.053,2728,1218,3305,0,0,0,0,0,0
$GC,4761,-0.85,-116.8,442.4,-10.8,324,4766,0.03,0.82,0.00,0.000,6,0.106,0.038,2705,1759,3305,0,0,0,0,0,0
$GC,5080,-0.82,-116.8,476.6,-10.8,335,5083,0.00,0.70,0.00,0.000,4,0.000,0.051,2705,1319,3305,0,0,0,0,0,0
$GC,5135,-0.77,-116.8,482.9,-10.8,336,5140,0.10,0.65,0.00,0.000,6,0.129,0.038,2735,1752,3304,0,0,0,0,0,0
$GC,5454,-0.82,-116.8,513.6,-9.1,347,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1753,3305,0,0,0,0,0,0
$GC,5760,-0.84,-116.8,539.2,-8.0,357,5762,0.08,0.00,0.00,0.000,6,0.129,0.000,2703,1753,3304,0,0,0,0,0,0
$GC,6066,-0.80,-116.8,565.3,-8.4,367,6068,0.10,0.00,0.00,0.000,6,0.164,0.000,2730,1753,3304,0,0,0,0,0,0
$GC,6373,-0.83,-116.8,589.3,-8.0,377,6377,0.00,2.30,0.00,0.000,4,0.000,0.057,2730,344,3303,0,0,0,0,0,0
$GC,6484,-0.89,-116.8,598.6,-8.3,380,6489,0.10,2.15,0.00,0.000,6,0.108,0.033,2688,1745,3303,0,0,0,0,0,0
$GC,6808,-0.81,-116.8,628.6,-9.6,391,6812,0.12,1.55,0.00,0.000,4,0.161,0.045,2715,2722,3302,0,0,0,0,0,0
$GC,6862,-0.81,-116.8,634.3,-10.2,392,6867,0.00,1.55,0.00,0.000,6,0.000,0.041,2716,1740,3302,0,0,0,0,0,0
$GC,7181,-0.81,-116.8,665.1,-9.9,403,7185,0.00,2.28,0.00,0.000,4,0.000,0.057,2715,338,3302,0,0,0,0,0,0
$GC,7281,-0.85,-116.8,675.4,-10.1,406,7285,0.00,2.17,0.00,0.000,6,0.000,0.034,2715,1745,3302,0,0,0,0,0,0
$GC,7616,-0.85,-116.8,709.7,-10.4,417,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1746,3301,0,0,0,0,0,0
$GC,7922,-0.85,-116.8,741.5,-10.4,427,7926,0.00,2.10,0.00,0.000,4,0.000,0.054,2715,447,3301,0,0,0,0,0,0
$GC,7990,-0.85,-116.8,748.7,-10.0,429,7994,0.00,2.03,0.00,0.000,6,0.000,0.034,2715,1757,3300,0,0,0,0,0,0
$GC,8331,-0.85,-116.8,782.9,-9.8,440,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1757,3300,0,0,0,0,0,0
$GC,8637,-0.85,-116.8,813.0,-9.9,450,8641,0.00,0.45,0.00,0.000,4,0.000,0.049,2714,2088,3300,0,0,0,0,0,0
$GC,8687,-0.87,-116.8,818.0,-10.0,451,8691,0.00,0.55,0.00,0.000,6,0.000,0.048,2714,1728,3300,0,0,0,0,0,0
$GC,9011,-0.87,-116.8,847.8,-9.1,462,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1728,3300,0,0,0,0,0,0
$GC,9317,-0.85,-116.8,875.8,-9.2,472,9321,0.00,2.05,0.00,0.000,4,0.000,0.044,2705,3031,3299,0,0,0,0,0,0
$GC,9378,-0.85,-116.8,882.0,-9.9,473,9384,0.00,2.03,0.00,0.000,6,0.000,0.040,2706,1751,3299,0,0,0,0,0,0
$GC,9691,-0.85,-116.8,912.6,-10.0,484,9695,0.00,0.93,0.00,0.000,4,0.000,0.052,2706,1167,3299,0,0,0,0,0,0
$GC,9758,-0.85,-116.8,919.8,-9.9,486,9762,0.00,0.90,0.00,0.000,6,0.000,0.037,2702,1755,3299,0,0,0,0,0,0
$GC,10099,-0.82,-116.8,957.3,-11.2,497,10104,0.05,0.73,0.00,0.000,4,0.226,0.044,2711,2243,3298,0,0,0,0,0,0
$GC,10167,-0.82,-116.8,965.0,-10.7,499,10170,0.00,0.77,0.00,0.000,6,0.000,0.045,2711,1740,3298,0,0,0,0,0,0
$STATE,10476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10476,begin apogee
$GC,10481,-0.25,0.0,1000.9,11.8,509,10588,0.62,0.00,103.20,1.483,6,0.127,0.000,2898,1606,2827,0,0,0,0,0,0
$STATE,10588,end apogee,CONTROL_FINISHED_OK
$STATE,10589,begin climb
$GC,10591,0.69,116.8,1010.3,0.0,512,10707,0.90,2.42,107.85,1.470,4,0.073,0.060,3210,270,2351,0,0,0,0,0,0
$GC,10959,0.40,448.8,1040.4,-5.9,523,11286,0.38,2.10,315.27,1.459,6,0.196,0.034,3117,1630,996,0,0,0,0,0,0
$GC,11622,0.68,448.8,994.3,10.6,545,11626,0.25,1.95,0.00,0.000,4,0.093,0.060,3201,439,988,0,0,0,0,0,0
$GC,11694,0.84,448.8,986.5,10.7,547,11698,0.15,1.83,0.00,0.000,6,0.095,0.034,3257,1633,985,0,0,0,0,0,0
$GC,12023,0.78,448.8,945.0,13.0,558,12027,0.08,2.17,0.00,0.000,4,0.196,0.044,3242,3023,985,0,0,0,0,0,0
$GC,12119,0.74,448.8,933.3,11.6,561,12124,0.10,2.20,0.00,0.000,6,0.182,0.045,3227,1637,984,0,0,0,0,0,0
$GC,12453,0.74,448.8,894.5,11.6,572,12457,0.00,1.80,0.00,0.000,4,0.000,0.043,3227,2789,983,0,0,0,0,0,0
$GC,12521,0.74,448.8,887.1,10.6,574,12525,0.00,1.88,0.00,0.000,6,0.000,0.047,3227,1611,983,0,0,0,0,0,0
$GC,12862,0.74,448.8,851.1,10.2,585,12866,0.00,2.30,0.00,0.000,4,0.000,0.067,3227,216,983,0,0,0,0,0,0
$GC,12961,0.74,448.8,841.4,9.5,588,12966,0.00,2.17,0.00,0.000,6,0.000,0.034,3227,1615,981,0,0,0,0,0,0
$GC,13297,0.74,448.8,811.3,8.6,599,13301,0.00,2.33,0.00,0.000,4,0.000,0.067,3227,217,981,0,0,0,0,0,0
$GC,13364,0.74,448.8,806.0,8.6,601,13369,0.00,2.17,0.00,0.000,6,0.000,0.034,3227,1626,980,0,0,0,0,0,0
$GC,13699,0.74,448.8,779.6,8.0,612,13703,0.00,2.35,0.00,0.000,4,0.000,0.067,3231,216,980,0,0,0,0,0,0
$GC,13777,0.77,448.8,773.3,7.9,614,13781,0.00,2.17,0.00,0.000,6,0.000,0.035,3231,1621,980,0,0,0,0,0,0
$GC,14107,0.77,448.8,745.6,8.7,625,14111,0.00,2.35,0.00,0.000,4,0.000,0.066,3237,215,980,0,0,0,0,0,0
$GC,14184,0.74,448.8,738.6,8.0,627,14188,0.00,2.15,0.00,0.000,6,0.000,0.036,3237,1620,980,0,0,0,0,0,0
$GC,14508,0.74,448.8,709.0,9.4,638,14512,0.00,2.35,0.00,0.000,4,0.000,0.067,3240,217,979,0,0,0,0,0,0
$GC,14608,0.70,448.8,699.6,9.4,641,14613,0.10,2.15,0.00,0.000,6,0.168,0.036,3215,1623,979,0,0,0,0,0,0
$GC,14943,0.75,448.8,667.4,9.7,652,14947,0.00,2.20,0.00,0.000,4,0.000,0.046,3215,3020,979,0,0,0,0,0,0
$GC,15107,0.83,448.8,651.3,9.2,656,15113,0.12,2.25,0.00,0.000,6,0.093,0.046,3264,1611,979,0,0,0,0,0,0
$GC,15420,0.75,448.8,616.6,10.9,667,15424,0.15,0.82,0.00,0.000,4,0.168,0.042,3225,2154,979,0,0,0,0,0,0
$GC,15497,0.79,448.8,608.4,10.1,669,15502,0.00,0.85,0.00,0.000,6,0.000,0.053,3225,1622,979,0,0,0,0,0,0
$GC,15827,0.79,448.8,576.8,9.2,680,15831,0.00,2.10,0.00,0.000,4,0.000,0.045,3225,2943,979,0,0,0,0,0,0
$GC,15905,0.82,448.8,570.0,8.0,682,15909,0.08,2.12,0.00,0.000,6,0.125,0.046,3257,1611,979,0,0,0,0,0,0
$GC,16228,0.77,448.8,542.5,8.3,693,16230,0.10,0.00,0.00,0.000,6,0.184,0.000,3233,1611,979,0,0,0,0,0,0
$GC,16534,0.77,448.8,517.6,8.4,703,16538,0.00,2.08,0.00,0.000,4,0.000,0.044,3233,2932,979,0,0,0,0,0,0
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$STATE,21759,end climb,SURFACE_DEPTH_REACHED
$STATE,21759,begin surface coast
$FINISH,1.8,1.013466
$STATE,21796,end surface coast,CONTROL_FINISHED_OK
$STATE,21796,begin surface
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$HUMID,51.33
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$XPDR_PINGS,0
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$10V_AH,9.9,65.992
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354584
$DATA_FILE_SIZE,63612,1030
$CAP_FILE_SIZE,202636,0
$CFSIZE,2097086464,2030698496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080113,114805,-4109.721,-501.324,37,0.9,37,-22.5