version: 66.07.10.p01
glider: 574
mission: 4
dive: 477
start: 1 11 113 0 2 55
data:
$ID,574
$MISSION,4
$DIVE,477
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,560
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,600
$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,170
$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,-7341.8232
$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,19
$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,1730
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,42
$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,456
$GPS1,100113,234935,-4102.748,-451.542,29,1.2,29,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-71.7
$GPS2,110113,000235,-4102.707,-451.500,33,0.9,33,-22.6
$SPEED_LIMITS,0.110,0.202
$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,116.0,72017,-13.5,-6.346
$D_GRID,990
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.72,-116.8,0.0,0.0,0,52,0.00,0.00,-23.67,0.000,2,0.000,0.000,69,1725,1881,0,0,0,0,0,0
$GC,55,-0.72,-116.8,3.1,-1.5,4,129,12.07,2.30,-53.67,0.000,4,0.256,0.065,2736,3119,3303,0,0,0,0,0,0
$GC,262,-0.72,-116.8,18.8,-10.0,38,270,0.03,2.25,0.00,0.000,6,0.161,0.047,2746,1735,3304,0,0,0,0,0,0
$GC,343,-0.72,-116.8,26.7,-9.9,51,349,0.00,1.02,0.00,0.000,4,0.000,0.061,2746,1108,3305,0,0,0,0,0,0
$GC,405,-0.72,-116.8,33.1,-10.3,61,409,0.00,0.95,0.00,0.000,6,0.000,0.037,2743,1723,3305,0,0,0,0,0,0
$GC,641,-0.75,-116.8,58.2,-10.6,102,648,0.00,0.93,0.00,0.000,4,0.000,0.056,2743,1150,3305,0,0,0,0,0,0
$GC,802,-0.75,-116.8,74.4,-9.5,118,806,0.00,0.90,0.00,0.000,6,0.000,0.039,2741,1730,3305,0,0,0,0,0,0
$GC,1129,-0.78,-116.8,110.1,-11.4,146,1132,0.00,0.77,0.00,0.000,4,0.000,0.055,2741,1251,3305,0,0,0,0,0,0
$GC,1218,-0.82,-116.8,120.1,-11.0,151,1222,0.05,0.75,0.00,0.000,6,0.073,0.041,2704,1738,3305,0,0,0,0,0,0
$GC,1549,-0.78,-116.8,160.8,-12.1,172,1553,0.10,0.82,0.00,0.000,4,0.161,0.055,2731,1237,3305,0,0,0,0,0,0
$GC,1638,-0.80,-116.8,171.5,-11.6,177,1642,0.00,0.75,0.00,0.000,6,0.000,0.039,2729,1727,3306,0,0,0,0,0,0
$GC,1957,-0.80,-116.8,205.1,-10.1,197,1961,0.00,0.40,0.00,0.000,4,0.000,0.052,2729,2022,3306,0,0,0,0,0,0
$GC,2005,-0.80,-116.8,209.5,-9.6,199,2009,0.00,0.47,0.00,0.000,6,0.000,0.052,2729,1709,3305,0,0,0,0,0,0
$GC,2337,-0.80,-116.8,241.7,-9.3,215,2341,0.00,0.40,0.00,0.000,4,0.000,0.046,2728,1998,3306,0,0,0,0,0,0
$GC,2428,-0.80,-116.8,250.4,-9.5,219,2432,0.00,0.40,0.00,0.000,6,0.000,0.055,2729,1732,3306,0,0,0,0,0,0
$GC,2764,-0.80,-116.8,281.4,-9.3,235,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1732,3307,0,0,0,0,0,0
$GC,3089,-0.80,-116.8,312.2,-9.5,249,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1732,3308,0,0,0,0,0,0
$GC,3395,-0.83,-116.8,342.3,-10.0,259,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1732,3308,0,0,0,0,0,0
$GC,3702,-0.86,-116.8,373.5,-10.3,269,3706,0.08,0.47,0.00,0.000,4,0.128,0.063,2693,1428,3308,0,0,0,0,0,0
$GC,3736,-0.80,-116.8,377.4,-11.8,270,3740,0.08,0.45,0.00,0.000,6,0.137,0.042,2718,1740,3308,0,0,0,0,0,0
$GC,4077,-0.80,-116.8,414.7,-10.9,281,4080,0.00,0.50,0.00,0.000,4,0.000,0.057,2718,1428,3308,0,0,0,0,0,0
$GC,4154,-0.80,-116.8,423.1,-10.7,283,4158,0.00,0.45,0.00,0.000,6,0.000,0.042,2717,1731,3308,0,0,0,0,0,0
$GC,4484,-0.80,-116.8,456.0,-9.8,294,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1731,3308,0,0,0,0,0,0
$GC,4790,-0.80,-116.8,483.1,-8.6,304,4794,0.00,0.52,0.00,0.000,4,0.000,0.057,2717,1403,3308,0,0,0,0,0,0
$GC,4858,-0.80,-116.8,488.9,-7.7,306,4862,0.00,0.47,0.00,0.000,6,0.000,0.044,2715,1726,3308,0,0,0,0,0,0
$GC,5199,-0.80,-116.8,518.3,-8.7,317,5202,0.00,1.55,0.00,0.000,4,0.000,0.056,2716,791,3308,0,0,0,0,0,0
$GC,5282,-0.83,-116.8,526.2,-9.0,319,5286,0.00,1.45,0.00,0.000,6,0.000,0.037,2715,1714,3308,0,0,0,0,0,0
$GC,5606,-0.83,-116.8,556.7,-9.7,330,5610,0.00,0.98,0.00,0.000,4,0.000,0.057,2715,1110,3308,0,0,0,0,0,0
$GC,5695,-0.83,-116.8,565.6,-9.9,332,5699,0.00,0.98,0.00,0.000,6,0.000,0.038,2714,1738,3308,0,0,0,0,0,0
$GC,6014,-0.83,-116.8,596.4,-9.8,343,6017,0.00,0.90,0.00,0.000,4,0.000,0.058,2714,1190,3307,0,0,0,0,0,0
$GC,6081,-0.83,-116.8,603.1,-9.6,345,6085,0.00,0.82,0.00,0.000,6,0.000,0.041,2712,1726,3307,0,0,0,0,0,0
$GC,6422,-0.83,-116.8,638.3,-10.7,356,6426,0.00,2.30,0.00,0.000,4,0.000,0.060,2711,327,3307,0,0,0,0,0,0
$GC,6533,-0.87,-116.8,650.3,-10.0,359,6537,0.00,2.17,0.00,0.000,6,0.000,0.034,2703,1727,3306,0,0,0,0,0,0
$GC,6857,-0.87,-116.8,683.7,-10.4,370,6861,0.00,1.33,0.00,0.000,4,0.000,0.055,2703,926,3306,0,0,0,0,0,0
$GC,6934,-0.87,-116.8,691.5,-9.7,372,6938,0.00,1.27,0.00,0.000,6,0.000,0.037,2701,1732,3306,0,0,0,0,0,0
$GC,7264,-0.84,-116.8,723.5,-9.7,383,7268,0.00,1.35,0.00,0.000,4,0.000,0.057,2701,919,3306,0,0,0,0,0,0
$GC,7332,-0.84,-116.8,730.0,-9.1,385,7336,0.00,1.27,0.00,0.000,6,0.000,0.039,2701,1724,3306,0,0,0,0,0,0
$GC,7673,-0.84,-116.8,761.1,-9.1,396,7677,0.00,0.70,0.00,0.000,4,0.000,0.055,2700,1294,3306,0,0,0,0,0,0
$GC,7722,-0.81,-116.8,765.5,-8.4,397,7727,0.05,0.70,0.00,0.000,6,0.151,0.042,2717,1749,3306,0,0,0,0,0,0
$GC,8046,-0.81,-116.8,791.2,-8.0,408,8049,0.00,1.42,0.00,0.000,4,0.000,0.054,2718,888,3306,0,0,0,0,0,0
$GC,8106,-0.81,-116.8,796.6,-8.5,409,8112,0.00,1.33,0.00,0.000,6,0.000,0.036,2715,1730,3306,0,0,0,0,0,0
$GC,8420,-0.83,-116.8,823.7,-9.0,420,8424,0.00,0.43,0.00,0.000,4,0.000,0.057,2715,1451,3305,0,0,0,0,0,0
$GC,8660,-0.88,-116.8,847.1,-10.3,427,8664,0.00,0.45,0.00,0.000,6,0.000,0.046,2715,1740,3306,0,0,0,0,0,0
$GC,8995,-0.88,-116.8,883.2,-11.3,438,8999,0.00,1.38,0.00,0.000,4,0.000,0.056,2715,912,3305,0,0,0,0,0,0
$GC,9063,-0.93,-116.8,890.9,-11.1,440,9067,0.05,1.27,0.00,0.000,6,0.085,0.037,2685,1722,3306,0,0,0,0,0,0
$GC,9404,-0.91,-116.8,932.4,-12.5,451,9408,0.00,2.30,0.00,0.000,4,0.000,0.058,2685,332,3305,0,0,0,0,0,0
$GC,9471,-0.86,-116.8,941.0,-12.4,453,9475,0.10,2.20,0.00,0.000,6,0.168,0.036,2701,1742,3306,0,0,0,0,0,0
$GC,9806,-0.89,-116.8,978.8,-11.3,464,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1742,3305,0,0,0,0,0,0
$STATE,9927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9928,begin apogee
$GC,9933,-0.26,0.0,992.3,11.0,468,10041,0.65,0.00,104.60,1.477,6,0.122,0.000,2898,1633,2827,0,0,0,0,0,0
$STATE,10042,end apogee,CONTROL_FINISHED_OK
$STATE,10042,begin loiter
$GC,10325,-0.25,212.0,1025.4,-7.8,481,10524,0.00,1.33,190.73,1.478,4,0.000,0.041,2899,2384,1961,0,0,0,0,0,0
$STATE,10617,end loiter,LOITER_COMPLETE
$STATE,10617,begin climb
$GC,10619,0.72,116.8,1028.4,0.0,490,10623,0.95,1.23,0.00,0.000,6,0.105,0.048,3208,1638,1956,0,0,0,0,0,0
$GC,10944,0.48,131.0,1010.0,5.8,501,10948,0.25,2.25,0.00,0.000,4,0.185,0.044,3146,3043,1953,0,0,0,0,0,0
$GC,11128,0.34,169.1,1000.7,5.0,506,11132,0.22,2.25,0.00,0.000,6,0.175,0.045,3097,1631,1952,0,0,0,0,0,0
$GC,11440,0.34,223.1,987.3,4.4,516,11455,0.00,1.05,9.38,1.225,4,0.000,0.042,3097,2295,1917,0,0,0,0,0,0
$GC,11612,0.34,276.0,979.7,4.4,521,11669,0.00,1.05,50.28,1.432,6,0.000,0.050,3100,1644,1700,0,0,0,0,0,0
$GC,11976,0.41,300.5,960.2,5.5,533,12007,0.05,1.70,22.73,1.372,4,0.167,0.044,3125,2670,1601,0,0,0,0,0,0
$GC,12096,0.44,318.4,953.1,5.7,536,12120,0.00,1.67,17.65,1.327,6,0.000,0.049,3131,1638,1529,0,0,0,0,0,0
$GC,12447,0.49,319.3,931.5,6.3,548,12450,0.00,1.42,0.00,0.000,4,0.000,0.044,3131,2543,1525,0,0,0,0,0,0
$GC,12549,0.54,334.1,925.1,5.8,551,12569,0.05,1.45,15.38,1.304,6,0.081,0.050,3159,1644,1464,0,0,0,0,0,0
$GC,12889,0.54,334.1,903.4,6.5,562,12892,0.00,0.73,0.00,0.000,4,0.000,0.042,3159,2130,1462,0,0,0,0,0,0
$GC,13040,0.54,335.6,893.0,6.3,566,13044,0.00,0.80,0.00,0.000,6,0.000,0.054,3160,1633,1461,0,0,0,0,0,0
$GC,13364,0.54,335.6,870.1,7.3,577,13368,0.00,1.30,0.00,0.000,4,0.000,0.042,3159,2461,1461,0,0,0,0,0,0
$GC,13470,0.54,335.6,862.3,6.6,580,13474,0.00,1.33,0.00,0.000,6,0.000,0.050,3160,1642,1460,0,0,0,0,0,0
$GC,13805,0.54,335.6,836.8,7.6,591,13809,0.00,0.80,0.00,0.000,4,0.000,0.044,3160,2172,1461,0,0,0,0,0,0
$GC,13911,0.54,335.6,828.6,8.3,594,13915,0.00,0.88,0.00,0.000,6,0.000,0.052,3159,1635,1460,0,0,0,0,0,0
$GC,14246,0.54,335.6,803.6,7.4,605,14250,0.00,0.85,0.00,0.000,4,0.000,0.044,3159,2194,1461,0,0,0,0,0,0
$GC,14324,0.54,335.6,797.9,7.0,607,14328,0.00,0.90,0.00,0.000,6,0.000,0.053,3160,1636,1460,0,0,0,0,0,0
$GC,14654,0.54,338.2,776.7,6.3,618,14664,0.00,1.67,4.68,0.887,4,0.000,0.045,3160,2671,1448,0,0,0,0,0,0
$GC,14742,0.54,368.9,771.3,5.2,620,14778,0.00,1.67,31.27,1.307,6,0.000,0.049,3160,1640,1323,0,0,0,0,0,0
$GC,15087,0.60,395.9,752.1,5.4,631,15119,0.05,0.50,26.42,1.278,4,0.171,0.047,3188,1962,1213,0,0,0,0,0,0
$GC,15264,0.61,435.3,741.8,4.9,636,15306,0.00,0.55,38.40,1.292,6,0.000,0.057,3189,1630,1051,0,0,0,0,0,0
$GC,15614,0.69,442.4,721.4,6.1,647,15625,0.05,1.15,6.80,1.017,4,0.164,0.044,3219,2338,1022,0,0,0,0,0,0
$GC,15687,0.69,442.4,716.2,7.1,649,15691,0.00,1.12,0.00,0.000,6,0.000,0.050,3221,1642,1022,0,0,0,0,0,0
$GC,16016,0.69,442.4,692.0,7.7,660,16017,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1642,1021,0,0,0,0,0,0
$GC,16323,0.69,442.4,666.0,8.7,670,16326,0.00,0.52,0.00,0.000,4,0.000,0.063,3221,1306,1021,0,0,0,0,0,0
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$STATE,23306,end climb,SURFACE_DEPTH_REACHED
$STATE,23306,begin surface coast
$FINISH,2.3,1.026142
$STATE,23314,end surface coast,CONTROL_FINISHED_OK
$STATE,23314,begin surface
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$HUMID,50.47
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$TCM_TEMP,12.00
$XPDR_PINGS,0
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$10V_AH,9.9,67.235
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.500,98.000,518.300,0.000,0.000,29.833,39.090,503.740,0.000,0.000,35.261,2829.526,16638.816,577.992,3781.242,333.567,0.000,2026.604,0.000,3140.673,0.000,1.014,0.000
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$MEM,354596
$DATA_FILE_SIZE,63649,1052
$CAP_FILE_SIZE,204449,0
$CFSIZE,2097086464,2029387776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,110113,063405,-4101.993,-450.371,42,0.9,42,-22.6