version: 66.07.10.p01
glider: 574
mission: 4
dive: 487
start: 1 14 113 2 45 16
data:
$ID,574
$MISSION,4
$DIVE,487
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,4200
$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,3
$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,-7367.5732
$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,2980
$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,27
$R_STBD_OVSHOOT,62
$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,466
$GPS1,140113,022804,-4054.851,-441.495,56,1.0,62,-22.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-71.1
$GPS2,140113,024452,-4054.721,-441.541,46,1.1,46,-22.6
$SPEED_LIMITS,0.099,0.194
$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,130.8,61034,-12.0,-5.690
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.64,-116.8,0.0,0.0,0,52,0.00,0.00,-25.00,0.000,2,0.000,0.000,69,1749,1780,0,0,0,0,0,0
$GC,55,-0.64,-116.8,3.1,-0.8,4,135,12.75,2.22,-59.08,0.000,4,0.270,0.066,2751,3096,3300,0,0,0,0,0,0
$GC,233,-0.72,-116.8,12.5,-8.4,33,240,0.00,2.22,0.00,0.000,6,0.000,0.049,2750,1733,3301,0,0,0,0,0,0
$GC,314,-0.72,-116.8,20.0,-9.4,46,321,0.00,1.35,0.00,0.000,4,0.000,0.062,2751,914,3302,0,0,0,0,0,0
$GC,579,-0.75,-116.8,46.7,-10.2,92,584,0.00,1.25,0.00,0.000,6,0.000,0.039,2751,1703,3301,0,0,0,0,0,0
$GC,813,-0.80,-116.8,70.8,-10.3,125,817,0.10,2.30,0.00,0.000,4,0.103,0.060,2703,320,3302,0,0,0,0,0,0
$GC,1041,-0.75,-116.8,96.2,-10.6,145,1046,0.15,2.20,0.00,0.000,6,0.146,0.037,2736,1730,3302,0,0,0,0,0,0
$GC,1362,-0.79,-116.8,129.2,-10.0,166,1366,0.00,2.33,0.00,0.000,4,0.000,0.059,2736,319,3302,0,0,0,0,0,0
$GC,1620,-0.86,-116.8,156.2,-10.3,181,1625,0.10,2.20,0.00,0.000,6,0.101,0.036,2689,1730,3302,0,0,0,0,0,0
$GC,1936,-0.78,-116.8,189.5,-10.5,197,1940,0.12,2.22,0.00,0.000,4,0.158,0.046,2714,3138,3302,0,0,0,0,0,0
$GC,2042,-0.83,-116.8,200.4,-9.5,201,2049,0.00,2.28,0.00,0.000,6,0.000,0.044,2714,1719,3302,0,0,0,0,0,0
$GC,2355,-0.81,-116.8,228.4,-8.9,212,2359,0.00,2.28,0.00,0.000,4,0.000,0.046,2705,3146,3302,0,0,0,0,0,0
$GC,2451,-0.81,-116.8,237.1,-8.9,215,2455,0.00,2.22,0.00,0.000,6,0.000,0.040,2705,1728,3302,0,0,0,0,0,0
$GC,2786,-0.78,-116.8,270.4,-10.4,226,2790,0.08,1.75,0.00,0.000,4,0.180,0.044,2718,2848,3302,0,0,0,0,0,0
$GC,2842,-0.80,-116.8,276.5,-11.4,227,2845,0.00,1.77,0.00,0.000,6,0.000,0.042,2718,1733,3302,0,0,0,0,0,0
$GC,3160,-0.80,-116.8,311.8,-11.6,238,3163,0.00,1.42,0.00,0.000,4,0.000,0.044,2715,2632,3302,0,0,0,0,0,0
$GC,3228,-0.80,-116.8,320.1,-12.6,240,3232,0.00,1.42,0.00,0.000,6,0.000,0.043,2715,1732,3302,0,0,0,0,0,0
$GC,3568,-0.80,-116.8,361.1,-12.1,251,3572,0.00,1.40,0.00,0.000,4,0.000,0.043,2712,2620,3302,0,0,0,0,0,0
$GC,3623,-0.80,-116.8,367.7,-11.7,252,3628,0.00,1.40,0.00,0.000,6,0.000,0.041,2712,1733,3302,0,0,0,0,0,0
$GC,3942,-0.80,-116.8,403.3,-11.0,263,3946,0.00,2.25,0.00,0.000,4,0.000,0.046,2703,3146,3302,0,0,0,0,0,0
$GC,4048,-0.80,-116.8,415.0,-10.8,266,4053,0.03,2.25,0.00,0.000,6,0.152,0.039,2714,1725,3302,0,0,0,0,0,0
$GC,4379,-0.80,-116.8,449.5,-10.1,277,4383,0.00,2.25,0.00,0.000,4,0.000,0.046,2706,3138,3302,0,0,0,0,0,0
$GC,4452,-0.82,-116.8,456.9,-9.8,279,4455,0.00,2.20,0.00,0.000,6,0.000,0.038,2706,1730,3302,0,0,0,0,0,0
$GC,4781,-0.82,-116.8,488.3,-9.5,290,4785,0.00,2.25,0.00,0.000,4,0.000,0.044,2696,3146,3302,0,0,0,0,0,0
$GC,4870,-0.82,-116.8,497.2,-10.4,292,4876,0.03,2.22,0.00,0.000,6,0.159,0.037,2707,1737,3302,0,0,0,0,0,0
$GC,5183,-0.82,-116.8,527.3,-9.6,303,5187,0.00,2.22,0.00,0.000,4,0.000,0.044,2698,3138,3301,0,0,0,0,0,0
$GC,5261,-0.82,-116.8,535.1,-9.4,305,5265,0.00,2.22,0.00,0.000,6,0.000,0.037,2698,1730,3301,0,0,0,0,0,0
$GC,5585,-0.79,-116.8,567.2,-10.0,316,5590,0.10,1.70,0.00,0.000,4,0.166,0.041,2719,2824,3300,0,0,0,0,0,0
$GC,5641,-0.83,-116.8,572.9,-9.9,317,5645,0.00,1.73,0.00,0.000,6,0.000,0.039,2718,1731,3300,0,0,0,0,0,0
$GC,5960,-0.86,-116.8,603.9,-9.9,328,5964,0.00,2.22,0.00,0.000,4,0.000,0.044,2712,3138,3300,0,0,0,0,0,0
$GC,6028,-0.90,-116.8,610.8,-10.2,330,6033,0.08,2.20,0.00,0.000,6,0.123,0.036,2677,1725,3300,0,0,0,0,0,0
$GC,6363,-0.82,-116.8,647.5,-11.1,341,6367,0.15,2.28,0.00,0.000,4,0.154,0.043,2709,3145,3299,0,0,0,0,0,0
$GC,6429,-0.85,-116.8,655.0,-10.2,343,6433,0.00,2.20,0.00,0.000,6,0.000,0.037,2709,1724,3299,0,0,0,0,0,0
$GC,6759,-0.85,-116.8,690.8,-11.1,354,6762,0.00,1.33,0.00,0.000,4,0.000,0.041,2705,2578,3299,0,0,0,0,0,0
$GC,6802,-0.85,-116.8,695.9,-11.3,355,6807,0.00,1.35,0.00,0.000,6,0.000,0.041,2705,1722,3298,0,0,0,0,0,0
$GC,7132,-0.85,-116.8,731.7,-10.8,366,7136,0.00,1.60,0.00,0.000,4,0.000,0.043,2699,2731,3297,0,0,0,0,0,0
$GC,7176,-0.85,-116.8,736.7,-10.8,367,7180,0.00,1.58,0.00,0.000,6,0.000,0.039,2699,1734,3298,0,0,0,0,0,0
$GC,7507,-0.80,-116.8,771.8,-10.4,378,7511,0.08,2.25,0.00,0.000,4,0.189,0.044,2708,3136,3297,0,0,0,0,0,0
$GC,7584,-0.83,-116.8,780.1,-10.3,380,7588,0.00,2.20,0.00,0.000,6,0.000,0.036,2708,1726,3297,0,0,0,0,0,0
$GC,7910,-0.83,-116.8,813.2,-10.5,391,7914,0.00,2.25,0.00,0.000,4,0.000,0.045,2700,3136,3296,0,0,0,0,0,0
$GC,7987,-0.83,-116.8,821.4,-10.7,393,7991,0.00,2.22,0.00,0.000,6,0.000,0.037,2700,1737,3297,0,0,0,0,0,0
$GC,8312,-0.83,-116.8,853.3,-9.7,404,8316,0.00,2.25,0.00,0.000,4,0.000,0.044,2691,3145,3296,0,0,0,0,0,0
$GC,8374,-0.83,-116.8,859.5,-9.4,406,8379,0.08,2.22,0.00,0.000,6,0.165,0.037,2710,1728,3296,0,0,0,0,0,0
$GC,8710,-0.83,-116.8,889.4,-8.6,417,8714,0.00,2.25,0.00,0.000,4,0.000,0.045,2701,3137,3296,0,0,0,0,0,0
$GC,8776,-0.83,-116.8,895.5,-8.6,419,8780,0.00,2.25,0.00,0.000,6,0.000,0.038,2701,1724,3295,0,0,0,0,0,0
$GC,9112,-0.80,-116.8,925.6,-9.2,430,9117,0.08,2.25,0.00,0.000,4,0.182,0.044,2710,3138,3295,0,0,0,0,0,0
$GC,9184,-0.86,-116.8,932.4,-9.1,432,9188,0.00,2.22,0.00,0.000,6,0.000,0.037,2710,1721,3295,0,0,0,0,0,0
$GC,9515,-0.86,-116.8,962.6,-9.2,443,9519,0.00,2.28,0.00,0.000,4,0.000,0.056,2710,322,3295,0,0,0,0,0,0
$GC,9627,-0.84,-116.8,973.3,-10.3,446,9631,0.00,2.20,0.00,0.000,6,0.000,0.034,2710,1734,3295,0,0,0,0,0,0
$STATE,9826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9826,begin apogee
$GC,9832,-0.26,0.0,991.1,9.0,453,9937,0.60,0.00,101.62,1.473,6,0.119,0.000,2891,1641,2827,0,0,0,0,0,0
$STATE,9937,end apogee,CONTROL_FINISHED_OK
$STATE,9937,begin loiter
$GC,10225,-0.25,231.6,1021.6,-7.6,466,10440,0.00,2.30,206.98,1.467,4,0.000,0.042,2892,2922,1881,0,0,0,0,0,0
$GC,10531,-0.31,231.6,1026.3,3.2,475,10536,0.00,2.10,0.00,0.000,6,0.000,0.042,2892,1637,1876,0,0,0,0,0,0
$GC,10844,-0.37,231.6,1016.0,3.2,486,10849,0.10,2.22,0.00,0.000,4,0.118,0.043,2852,3043,1873,0,0,0,0,0,0
$GC,10854,-0.42,231.6,1015.7,3.2,486,10858,0.00,2.25,0.00,0.000,6,0.000,0.041,2851,1618,1873,0,0,0,0,0,0
$GC,11178,-0.38,231.6,1005.6,3.0,497,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1618,1872,0,0,0,0,0,0
$GC,11485,-0.36,231.6,996.1,3.2,507,11489,0.00,2.28,0.00,0.000,4,0.000,0.060,2852,223,1872,0,0,0,0,0,0
$GC,11556,-0.25,231.6,993.4,3.4,509,11561,0.17,2.20,0.00,0.000,6,0.169,0.034,2894,1646,1871,0,0,0,0,0,0
$GC,11880,-0.30,231.6,983.0,3.2,520,11884,0.00,1.10,0.00,0.000,4,0.000,0.041,2890,2373,1872,0,0,0,0,0,0
$GC,12138,-0.37,231.6,973.9,3.2,527,12143,0.08,1.15,0.00,0.000,6,0.068,0.046,2851,1642,1872,0,0,0,0,0,0
$GC,12457,-0.34,231.6,961.9,3.8,538,12462,0.08,0.88,0.00,0.000,4,0.190,0.057,2866,1091,1873,0,0,0,0,0,0
$GC,12619,-0.31,231.6,955.7,4.2,542,12624,0.00,0.85,0.00,0.000,6,0.000,0.035,2864,1657,1874,0,0,0,0,0,0
$GC,12933,-0.31,231.6,945.2,3.2,553,12936,0.00,0.85,0.00,0.000,4,0.000,0.041,2862,2232,1874,0,0,0,0,0,0
$GC,12982,-0.31,231.6,943.5,2.8,554,12986,0.00,0.93,0.00,0.000,6,0.000,0.047,2862,1645,1874,0,0,0,0,0,0
$GC,13307,-0.31,231.6,932.8,3.2,565,13311,0.00,2.33,0.00,0.000,4,0.000,0.060,2862,230,1874,0,0,0,0,0,0
$GC,13390,-0.22,231.6,929.5,4.1,567,13395,0.20,2.17,0.00,0.000,6,0.153,0.033,2906,1637,1875,0,0,0,0,0,0
$GC,13703,-0.29,231.6,918.6,3.6,577,13708,0.08,2.35,0.00,0.000,4,0.131,0.060,2875,231,1876,0,0,0,0,0,0
$GC,13910,-0.21,231.6,910.2,4.9,583,13915,0.17,2.20,0.00,0.000,6,0.154,0.034,2911,1646,1876,0,0,0,0,0,0
$STATE,14140,end loiter,LOITER_COMPLETE
$STATE,14140,begin climb
$GC,14142,0.64,116.8,901.1,0.0,591,14146,0.80,0.80,0.00,0.000,4,0.102,0.053,3177,1170,1877,0,0,0,0,0,0
$GC,14237,0.43,150.2,896.5,4.6,593,14243,0.17,0.73,0.00,0.000,6,0.168,0.041,3129,1658,1879,0,0,0,0,0,0
$GC,14551,0.34,182.5,882.0,4.6,604,14555,0.15,1.38,0.00,0.000,4,0.181,0.044,3089,2525,1879,0,0,0,0,0,0
$GC,14754,0.32,203.2,872.7,5.0,610,14758,0.00,1.42,0.00,0.000,6,0.000,0.049,3091,1642,1880,0,0,0,0,0,0
$GC,15094,0.32,243.9,857.4,4.3,621,15114,0.00,1.25,13.32,1.266,4,0.000,0.043,3090,2403,1832,0,0,0,0,0,0
$GC,15265,0.32,266.5,849.7,4.9,626,15292,0.00,1.23,22.40,1.331,6,0.000,0.049,3091,1642,1739,0,0,0,0,0,0
$GC,15600,0.36,313.6,835.0,4.1,637,15650,0.00,1.88,45.03,1.363,4,0.000,0.043,3090,2793,1547,0,0,0,0,0,0
$GC,15785,0.46,326.9,825.8,5.3,642,15805,0.12,1.85,13.00,1.248,6,0.090,0.047,3144,1639,1494,0,0,0,0,0,0
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$STATE,27436,end climb,SURFACE_DEPTH_REACHED
$STATE,27437,begin surface coast
$FINISH,1.8,1.012929
$STATE,27479,end surface coast,CONTROL_FINISHED_OK
$STATE,27479,begin surface
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$HUMID,50.15
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$TCM_TEMP,12.80
$XPDR_PINGS,0
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$10V_AH,9.8,68.612
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.300,162.475,440.150,0.000,0.000,60.104,118.722,542.602,0.000,0.000,49.528,3213.356,19981.459,531.031,4452.408,375.707,0.000,2283.465,0.000,3623.669,0.000,1.015,0.000
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$MEM,354624
$DATA_FILE_SIZE,70217,1212
$CAP_FILE_SIZE,246668,0
$CFSIZE,2097086464,2027749376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140113,102535,-4055.149,-440.971,26,1.3,27,-22.6