version: 66.07.10.p01
glider: 574
mission: 4
dive: 492
start: 1 15 113 17 19 17
data:
$ID,574
$MISSION,4
$DIVE,492
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,160
$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,-7380.3838
$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,1745
$C_ROLL_CLIMB,1670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$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,471
$GPS1,150113,171725,-4054.160,-438.757,61,0.8,62,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-72.0
$GPS2,150113,171854,-4054.150,-438.758,16,1.1,16,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4103.503,-431.597
$TGT_RADIUS,1852.000
$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,172.6,20000,-12.6,-5.632
$D_GRID,980
$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,-0.67,-107.0,0.0,0.0,0,52,0.00,0.00,-24.80,0.000,2,0.000,0.000,69,1752,1948,0,0,0,0,0,0
$GC,55,-0.67,-107.0,3.1,-1.1,4,124,12.43,2.30,-45.42,0.000,4,0.260,0.063,2745,3146,3265,0,0,0,0,0,0
$GC,168,-0.67,-107.0,12.2,-13.1,22,176,0.05,2.25,0.00,0.000,6,0.136,0.044,2762,1749,3267,0,0,0,0,0,0
$GC,250,-0.71,-107.0,21.0,-10.6,35,257,0.00,2.35,0.00,0.000,4,0.000,0.064,2762,353,3266,0,0,0,0,0,0
$GC,506,-0.80,-107.0,48.8,-11.0,79,511,0.12,2.17,0.00,0.000,6,0.088,0.039,2707,1743,3267,0,0,0,0,0,0
$GC,733,-0.73,-107.0,74.7,-9.7,108,738,0.12,2.35,0.00,0.000,4,0.155,0.060,2743,330,3267,0,0,0,0,0,0
$GC,934,-0.80,-107.0,92.7,-8.9,125,939,0.08,2.20,0.00,0.000,6,0.123,0.037,2708,1747,3268,0,0,0,0,0,0
$GC,1266,-0.75,-107.0,124.5,-9.5,148,1271,0.10,2.25,0.00,0.000,4,0.167,0.048,2727,3153,3268,0,0,0,0,0,0
$GC,1321,-0.79,-107.0,130.1,-9.9,151,1327,0.00,2.25,0.00,0.000,6,0.000,0.043,2727,1737,3268,0,0,0,0,0,0
$GC,1650,-0.79,-107.0,160.1,-9.4,171,1653,0.00,1.80,0.00,0.000,4,0.000,0.047,2720,2872,3269,0,0,0,0,0,0
$GC,1699,-0.79,-107.0,165.1,-9.5,173,1704,0.00,1.80,0.00,0.000,6,0.000,0.043,2720,1748,3269,0,0,0,0,0,0
$GC,2027,-0.79,-107.0,196.9,-9.9,189,2030,0.00,2.10,0.00,0.000,4,0.000,0.047,2713,3061,3269,0,0,0,0,0,0
$GC,2073,-0.79,-107.0,201.3,-9.6,191,2077,0.00,2.10,0.00,0.000,6,0.000,0.044,2713,1742,3269,0,0,0,0,0,0
$GC,2396,-0.79,-107.0,232.9,-9.8,202,2400,0.00,1.77,0.00,0.000,4,0.000,0.044,2706,2864,3270,0,0,0,0,0,0
$GC,2440,-0.79,-107.0,237.5,-10.2,203,2445,0.03,1.80,0.00,0.000,6,0.153,0.043,2717,1737,3270,0,0,0,0,0,0
$GC,2770,-0.79,-107.0,269.2,-9.9,214,2774,0.00,2.28,0.00,0.000,4,0.000,0.048,2711,3151,3270,0,0,0,0,0,0
$GC,2832,-0.79,-107.0,275.4,-10.0,216,2836,0.00,2.20,0.00,0.000,6,0.000,0.040,2711,1741,3270,0,0,0,0,0,0
$GC,3168,-0.79,-107.0,308.9,-9.9,227,3172,0.00,2.12,0.00,0.000,4,0.000,0.047,2702,3071,3270,0,0,0,0,0,0
$GC,3217,-0.74,-107.0,314.2,-10.7,228,3222,0.12,2.10,0.00,0.000,6,0.142,0.041,2737,1740,3270,0,0,0,0,0,0
$GC,3530,-0.80,-107.0,344.9,-10.1,238,3534,0.00,1.77,0.00,0.000,4,0.000,0.045,2731,2871,3271,0,0,0,0,0,0
$GC,3591,-0.85,-107.0,351.3,-10.3,239,3597,0.05,1.80,0.00,0.000,6,0.073,0.042,2696,1746,3271,0,0,0,0,0,0
$GC,3905,-0.81,-107.0,384.3,-10.6,250,3909,0.10,2.28,0.00,0.000,4,0.163,0.045,2714,3158,3271,0,0,0,0,0,0
$GC,3967,-0.81,-107.0,390.8,-10.1,252,3971,0.00,2.22,0.00,0.000,6,0.000,0.040,2714,1739,3271,0,0,0,0,0,0
$GC,4307,-0.81,-107.0,425.8,-10.2,263,4311,0.00,0.85,0.00,0.000,4,0.000,0.041,2712,2298,3271,0,0,0,0,0,0
$GC,4345,-0.81,-107.0,429.9,-9.7,264,4350,0.00,0.88,0.00,0.000,6,0.000,0.044,2711,1742,3271,0,0,0,0,0,0
$GC,4681,-0.81,-107.0,461.6,-9.4,275,4685,0.00,1.62,0.00,0.000,4,0.000,0.043,2704,2762,3271,0,0,0,0,0,0
$GC,4724,-0.81,-107.0,465.9,-9.3,276,4729,0.00,1.60,0.00,0.000,6,0.000,0.041,2705,1751,3271,0,0,0,0,0,0
$GC,5056,-0.81,-107.0,495.9,-9.2,287,5060,0.00,1.58,0.00,0.000,4,0.000,0.043,2700,2742,3271,0,0,0,0,0,0
$GC,5102,-0.78,-107.0,500.4,-10.1,288,5106,0.08,1.58,0.00,0.000,6,0.122,0.041,2735,1748,3271,0,0,0,0,0,0
$GC,5431,-0.84,-107.0,532.1,-10.0,299,5435,0.08,1.33,0.00,0.000,4,0.126,0.044,2695,2577,3271,0,0,0,0,0,0
$GC,5469,-0.80,-107.0,536.4,-10.4,300,5473,0.05,1.33,0.00,0.000,6,0.135,0.042,2714,1737,3271,0,0,0,0,0,0
$GC,5803,-0.80,-107.0,572.6,-11.4,311,5807,0.00,1.80,0.00,0.000,4,0.000,0.045,2711,2858,3271,0,0,0,0,0,0
$GC,5847,-0.80,-107.0,578.1,-12.6,312,5851,0.00,1.77,0.00,0.000,6,0.000,0.040,2711,1741,3271,0,0,0,0,0,0
$GC,6179,-0.80,-107.0,618.0,-12.2,323,6182,0.00,1.23,0.00,0.000,4,0.000,0.042,2706,2524,3271,0,0,0,0,0,0
$GC,6224,-0.80,-107.0,623.9,-11.9,324,6228,0.00,1.23,0.00,0.000,6,0.000,0.042,2706,1746,3271,0,0,0,0,0,0
$GC,6553,-0.80,-107.0,662.6,-11.5,335,6558,0.05,1.85,0.00,0.000,4,0.213,0.044,2713,2917,3271,0,0,0,0,0,0
$GC,6597,-0.82,-107.0,667.7,-11.5,336,6601,0.00,1.88,0.00,0.000,6,0.000,0.039,2713,1737,3270,0,0,0,0,0,0
$GC,6927,-0.85,-107.0,703.1,-10.5,347,6931,0.00,2.25,0.00,0.000,4,0.000,0.046,2705,3158,3271,0,0,0,0,0,0
$GC,6988,-0.85,-107.0,709.6,-10.4,348,6994,0.00,2.25,0.00,0.000,6,0.000,0.039,2705,1748,3271,0,0,0,0,0,0
$GC,7301,-0.85,-107.0,738.9,-8.9,359,7305,0.00,2.25,0.00,0.000,4,0.000,0.045,2697,3155,3271,0,0,0,0,0,0
$GC,7379,-0.85,-107.0,746.0,-8.9,361,7383,0.00,2.25,0.00,0.000,6,0.000,0.039,2697,1744,3271,0,0,0,0,0,0
$GC,7704,-0.80,-107.0,773.9,-8.6,372,7709,0.10,2.30,0.00,0.000,4,0.171,0.057,2724,338,3270,0,0,0,0,0,0
$GC,7894,-0.84,-107.0,789.8,-8.4,377,7899,0.00,2.22,0.00,0.000,6,0.000,0.035,2723,1762,3270,0,0,0,0,0,0
$GC,8207,-0.89,-107.0,815.3,-8.2,388,8212,0.10,2.35,0.00,0.000,4,0.109,0.057,2681,339,3270,0,0,0,0,0,0
$GC,8371,-0.83,-107.0,830.3,-9.1,393,8376,0.15,2.17,0.00,0.000,6,0.153,0.036,2714,1743,3270,0,0,0,0,0,0
$GC,8706,-0.85,-107.0,857.5,-8.2,404,8710,0.00,2.30,0.00,0.000,4,0.000,0.056,2715,339,3270,0,0,0,0,0,0
$GC,8822,-0.85,-107.0,866.9,-8.5,407,8826,0.00,2.22,0.00,0.000,6,0.000,0.037,2715,1740,3270,0,0,0,0,0,0
$GC,9141,-0.89,-107.0,890.0,-7.4,418,9146,0.08,2.35,0.00,0.000,4,0.132,0.057,2682,336,3269,0,0,0,0,0,0
$GC,9272,-0.83,-107.0,900.8,-8.2,422,9277,0.12,2.22,0.00,0.000,6,0.159,0.035,2707,1761,3269,0,0,0,0,0,0
$GC,9607,-0.85,-107.0,926.7,-7.9,433,9611,0.00,2.35,0.00,0.000,4,0.000,0.057,2707,336,3270,0,0,0,0,0,0
$GC,9759,-0.85,-107.0,939.4,-9.2,437,9763,0.00,2.17,0.00,0.000,6,0.000,0.034,2701,1744,3270,0,0,0,0,0,0
$GC,10072,-0.85,-107.0,966.0,-8.7,447,10076,0.00,2.30,0.00,0.000,4,0.000,0.057,2702,339,3269,0,0,0,0,0,0
$GC,10183,-0.85,-107.0,976.5,-9.8,450,10187,0.00,2.22,0.00,0.000,6,0.000,0.036,2702,1742,3269,0,0,0,0,0,0
$STATE,10229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10230,begin apogee
$GC,10235,-0.26,0.0,980.5,8.7,452,10335,0.62,0.00,96.30,1.467,6,0.115,0.000,2893,1665,2827,0,0,0,0,0,0
$STATE,10335,end apogee,CONTROL_FINISHED_OK
$STATE,10336,begin loiter
$GC,10629,-0.25,215.6,1011.0,-7.7,465,10826,0.00,0.00,194.35,1.472,6,0.000,0.000,2893,1665,1947,0,0,0,0,0,0
$GC,11115,-0.34,215.6,1009.6,3.6,481,11119,0.08,1.40,0.00,0.000,4,0.135,0.044,2865,2549,1939,0,0,0,0,0,0
$GC,11372,-0.38,215.6,999.0,3.9,488,11376,0.00,1.40,0.00,0.000,6,0.000,0.046,2865,1676,1937,0,0,0,0,0,0
$GC,11691,-0.41,215.6,986.6,3.8,499,11695,0.05,1.85,0.00,0.000,4,0.177,0.044,2836,2860,1935,0,0,0,0,0,0
$GC,11902,-0.38,215.6,978.7,3.4,505,11907,0.08,1.90,0.00,0.000,6,0.182,0.044,2853,1677,1935,0,0,0,0,0,0
$GC,12232,-0.38,215.6,967.6,3.4,516,12236,0.00,2.33,0.00,0.000,4,0.000,0.060,2853,262,1934,0,0,0,0,0,0
$GC,12355,-0.30,215.6,963.3,3.7,519,12361,0.12,2.20,0.00,0.000,6,0.168,0.034,2880,1677,1933,0,0,0,0,0,0
$GC,12668,-0.37,215.6,953.3,3.2,530,12673,0.08,2.17,0.00,0.000,4,0.133,0.044,2840,3075,1933,0,0,0,0,0,0
$GC,12892,-0.35,215.6,946.4,2.8,536,12898,0.10,2.25,0.00,0.000,6,0.166,0.044,2864,1657,1933,0,0,0,0,0,0
$GC,13205,-0.35,215.6,938.7,2.3,547,13209,0.00,2.28,0.00,0.000,4,0.000,0.062,2864,266,1933,0,0,0,0,0,0
$GC,13221,-0.33,215.6,938.2,2.4,547,13225,0.00,2.17,0.00,0.000,6,0.000,0.036,2863,1668,1933,0,0,0,0,0,0
$GC,13539,-0.33,215.6,929.9,2.7,558,13543,0.00,2.17,0.00,0.000,4,0.000,0.047,2863,3035,1933,0,0,0,0,0,0
$GC,13796,-0.37,215.6,922.8,3.3,565,13802,0.00,2.15,0.00,0.000,6,0.000,0.044,2863,1669,1933,0,0,0,0,0,0
$GC,14109,-0.37,215.6,913.4,2.9,576,14113,0.00,2.22,0.00,0.000,4,0.000,0.045,2859,3073,1933,0,0,0,0,0,0
$GC,14366,-0.40,215.6,905.9,3.7,583,14371,0.00,2.22,0.00,0.000,6,0.000,0.044,2859,1663,1933,0,0,0,0,0,0
$STATE,14524,end loiter,LOITER_COMPLETE
$STATE,14524,begin climb
$GC,14526,0.67,107.0,901.0,0.0,589,14532,1.05,2.28,0.00,0.000,4,0.119,0.044,3176,3070,1932,0,0,0,0,0,0
$GC,14784,0.42,149.9,890.9,4.1,596,14790,0.25,2.25,0.00,0.000,6,0.187,0.044,3123,1668,1933,0,0,0,0,0,0
$GC,15098,0.31,215.0,880.5,3.3,607,15100,0.15,0.00,0.00,0.000,6,0.190,0.000,3084,1667,1933,0,0,0,0,0,0
$GC,15404,0.29,280.7,870.9,3.3,617,15466,0.00,0.00,59.40,1.392,6,0.000,0.000,3084,1667,1681,0,0,0,0,0,0
$GC,15770,0.36,280.7,849.7,6.2,629,15774,0.00,2.33,0.00,0.000,4,0.000,0.064,3091,252,1676,0,0,0,0,0,0
$GC,15960,0.45,280.7,837.8,6.2,634,15966,0.10,2.20,0.00,0.000,6,0.106,0.036,3133,1678,1673,0,0,0,0,0,0
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$STATE,27888,end climb,SURFACE_DEPTH_REACHED
$STATE,27888,begin surface coast
$FINISH,1.8,1.001871
$STATE,27931,end surface coast,CONTROL_FINISHED_OK
$STATE,27931,begin surface
$SM_CCo,28009,0.00,0.000,0,0,1308,372.60
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$TT8_MAMPS,0.026964
$HUMID,49.13
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$TCM_TEMP,13.00
$XPDR_PINGS,0
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$10V_AH,9.8,69.246
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.150,229.575,441.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,18.307,3285.527,19886.594,614.340,4006.285,290.450,0.000,2461.965,0.000,3917.142,0.000,1.014,0.000
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$MEM,354596
$DATA_FILE_SIZE,70137,1187
$CAP_FILE_SIZE,249818,0
$CFSIZE,2097086464,2026930176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160113,010753,-4054.765,-437.689,72,0.9,72,-22.6