version: 66.07.10.p01
glider: 573
mission: 12
dive: 57
start: 8 7 115 22 26 20
data:
$ID,573
$MISSION,12
$DIVE,57
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$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,335
$T_MISSION,350
$T_ABORT,1440
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$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,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$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,-21199.215
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,-87.994217
$PRESSURE_SLOPE,0.00011693723
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,56
$GPS1,070815,221904,-4455.933,624.295,34,1.4,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-71.0
$GPS2,070815,222559,-4455.862,624.330,13,0.9,14,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,115.4,15303,-19.6,-9.950
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.83,-126.5,0.0,0.0,0,58,0.00,0.00,-32.38,0.000,2,0.000,0.000,67,2086,1795,0,0,0,0,0,0
$GC,60,-0.83,-126.5,3.2,-3.6,5,106,11.68,2.28,-24.42,0.000,4,0.253,0.080,2899,3446,2469,0,0,0,0,0,0
$GC,381,-0.75,-126.5,39.7,-12.0,57,389,0.10,2.20,0.00,0.000,6,0.159,0.042,2931,2061,2472,0,0,0,0,0,0
$GC,528,-0.72,-126.5,55.8,-10.9,82,533,0.08,0.00,0.00,0.000,6,0.210,0.000,2948,2062,2472,0,0,0,0,0,0
$GC,874,-0.72,-126.5,96.4,-10.7,143,879,0.00,2.28,0.00,0.000,4,0.000,0.063,2939,3459,2472,0,0,0,0,0,0
$GC,912,-0.72,-126.5,101.3,-12.7,149,919,0.00,2.20,0.00,0.000,6,0.000,0.038,2939,2053,2473,0,0,0,0,0,0
$GC,1237,-0.72,-126.5,139.1,-11.2,180,1241,0.00,2.22,0.00,0.000,4,0.000,0.054,2939,648,2473,0,0,0,0,0,0
$GC,1277,-0.68,-126.5,143.6,-11.5,183,1282,0.12,2.20,0.00,0.000,6,0.188,0.044,2962,2046,2473,0,0,0,0,0,0
$GC,1604,-0.71,-126.5,174.7,-9.8,213,1608,0.00,2.28,0.00,0.000,4,0.000,0.063,2951,3472,2473,0,0,0,0,0,0
$GC,1727,-0.74,-126.5,187.2,-9.1,223,1733,0.00,2.17,0.00,0.000,6,0.000,0.041,2952,2056,2473,0,0,0,0,0,0
$GC,2052,-0.74,-126.5,218.1,-9.5,254,2056,0.00,2.20,0.00,0.000,4,0.000,0.053,2952,650,2473,0,0,0,0,0,0
$GC,2103,-0.74,-126.5,223.3,-10.3,258,2107,0.00,2.22,0.00,0.000,6,0.000,0.044,2943,2074,2473,0,0,0,0,0,0
$GC,2434,-0.74,-126.5,257.8,-10.8,289,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2074,2473,0,0,0,0,0,0
$GC,2751,-0.74,-126.5,292.4,-11.1,319,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2074,2473,0,0,0,0,0,0
$GC,3072,-0.74,-126.5,326.6,-10.3,349,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2074,2474,0,0,0,0,0,0
$GC,3388,-0.74,-126.5,359.2,-10.0,379,3392,0.00,2.20,0.00,0.000,4,0.000,0.062,2932,3462,2474,0,0,0,0,0,0
$GC,3463,-0.74,-126.5,366.9,-10.2,385,3467,0.00,2.15,0.00,0.000,6,0.000,0.038,2932,2054,2473,0,0,0,0,0,0
$GC,3797,-0.74,-126.5,403.1,-10.8,415,3801,0.00,2.20,0.00,0.000,4,0.000,0.054,2932,651,2473,0,0,0,0,0,0
$GC,3823,-0.71,-126.5,406.3,-11.8,416,3828,0.08,2.22,0.00,0.000,6,0.174,0.043,2947,2060,2473,0,0,0,0,0,0
$GC,4144,-0.71,-126.5,438.0,-9.7,432,4148,0.00,2.22,0.00,0.000,4,0.000,0.064,2937,3465,2473,0,0,0,0,0,0
$GC,4198,-0.71,-126.5,443.6,-9.9,434,4205,0.03,2.17,0.00,0.000,6,0.191,0.039,2946,2054,2473,0,0,0,0,0,0
$GC,4515,-0.71,-126.5,470.9,-8.4,450,4519,0.00,2.17,0.00,0.000,4,0.000,0.054,2948,651,2473,0,0,0,0,0,0
$GC,4586,-0.71,-126.5,477.5,-8.9,453,4591,0.00,2.22,0.00,0.000,6,0.000,0.043,2939,2067,2473,0,0,0,0,0,0
$GC,4909,-0.71,-126.5,506.5,-9.3,469,4913,0.00,2.22,0.00,0.000,4,0.000,0.065,2928,3465,2473,0,0,0,0,0,0
$GC,4980,-0.71,-126.5,513.9,-10.0,472,4986,0.05,2.17,0.00,0.000,6,0.173,0.039,2945,2058,2472,0,0,0,0,0,0
$GC,5303,-0.71,-126.5,544.3,-9.6,488,5306,0.00,2.17,0.00,0.000,4,0.000,0.054,2947,654,2472,0,0,0,0,0,0
$GC,5335,-0.71,-126.5,547.7,-9.8,489,5341,0.00,2.22,0.00,0.000,6,0.000,0.043,2939,2064,2472,0,0,0,0,0,0
$GC,5651,-0.71,-126.5,578.2,-9.7,505,5656,0.03,2.25,0.00,0.000,4,0.285,0.067,2937,3465,2472,0,0,0,0,0,0
$GC,5690,-0.71,-126.5,582.4,-11.0,507,5695,0.05,2.15,0.00,0.000,6,0.230,0.039,2947,2053,2471,0,0,0,0,0,0
$GC,6016,-0.74,-126.5,614.8,-10.1,523,6020,0.00,2.17,0.00,0.000,4,0.000,0.053,2949,654,2471,0,0,0,0,0,0
$GC,6059,-0.74,-126.5,619.8,-11.4,525,6064,0.00,2.20,0.00,0.000,6,0.000,0.042,2940,2055,2472,0,0,0,0,0,0
$GC,6387,-0.74,-126.5,653.9,-10.6,541,6391,0.00,2.25,0.00,0.000,4,0.000,0.063,2929,3475,2471,0,0,0,0,0,0
$GC,6413,-0.74,-126.5,656.9,-11.5,542,6419,0.03,2.17,0.00,0.000,6,0.193,0.039,2937,2068,2470,0,0,0,0,0,0
$GC,6735,-0.74,-126.5,689.1,-9.6,558,6739,0.00,2.20,0.00,0.000,4,0.000,0.052,2938,657,2471,0,0,0,0,0,0
$GC,6856,-0.74,-126.5,701.9,-10.3,563,6862,0.00,2.22,0.00,0.000,6,0.000,0.042,2929,2068,2470,0,0,0,0,0,0
$GC,7173,-0.74,-126.5,732.1,-9.5,579,7178,0.05,2.22,0.00,0.000,4,0.236,0.064,2929,3475,2470,0,0,0,0,0,0
$GC,7244,-0.74,-126.5,739.1,-9.4,582,7249,0.00,2.20,0.00,0.000,6,0.000,0.041,2929,2051,2470,0,0,0,0,0,0
$GC,7567,-0.74,-126.5,769.5,-9.4,598,7572,0.05,2.17,0.00,0.000,4,0.233,0.054,2945,652,2469,0,0,0,0,0,0
$GC,7615,-0.74,-126.5,774.3,-9.6,600,7620,0.00,2.22,0.00,0.000,6,0.000,0.043,2936,2063,2469,0,0,0,0,0,0
$GC,7938,-0.74,-126.5,802.9,-8.9,616,7942,0.00,2.25,0.00,0.000,4,0.000,0.066,2925,3475,2469,0,0,0,0,0,0
$GC,7986,-0.74,-126.5,807.5,-9.2,618,7992,0.03,2.17,0.00,0.000,6,0.187,0.041,2934,2068,2469,0,0,0,0,0,0
$GC,8309,-0.74,-126.5,834.7,-8.5,634,8313,0.00,2.20,0.00,0.000,4,0.000,0.051,2935,655,2469,0,0,0,0,0,0
$GC,8363,-0.74,-126.5,839.9,-9.2,636,8370,0.03,2.20,0.00,0.000,6,0.192,0.042,2935,2055,2469,0,0,0,0,0,0
$GC,8680,-0.76,-126.5,867.8,-9.3,652,8684,0.00,2.22,0.00,0.000,4,0.000,0.063,2925,3471,2469,0,0,0,0,0,0
$GC,8757,-0.76,-126.5,875.5,-9.9,655,8764,0.00,2.17,0.00,0.000,6,0.000,0.039,2925,2056,2469,0,0,0,0,0,0
$GC,9073,-0.76,-126.5,906.9,-10.2,671,9077,0.00,2.17,0.00,0.000,4,0.000,0.052,2926,660,2469,0,0,0,0,0,0
$GC,9112,-0.76,-126.5,911.2,-11.3,673,9117,0.10,2.20,0.00,0.000,6,0.202,0.041,2940,2078,2469,0,0,0,0,0,0
$GC,9440,-0.79,-126.5,941.6,-9.0,689,9443,0.00,2.20,0.00,0.000,4,0.000,0.062,2930,3466,2469,0,0,0,0,0,0
$GC,9483,-0.82,-126.5,945.8,-8.2,691,9487,0.00,2.17,0.00,0.000,6,0.000,0.038,2930,2053,2469,0,0,0,0,0,0
$GC,9810,-0.82,-126.5,974.2,-8.6,707,9814,0.00,2.15,0.00,0.000,4,0.000,0.051,2930,658,2469,0,0,0,0,0,0
$GC,9872,-0.82,-126.5,979.8,-9.0,710,9876,0.00,2.17,0.00,0.000,6,0.000,0.041,2921,2063,2469,0,0,0,0,0,0
$STATE,10135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10136,begin apogee
$GC,10139,-0.19,0.0,1001.4,7.9,723,10258,0.65,0.00,115.38,1.295,6,0.151,0.000,3122,1728,1950,0,0,0,0,0,0
$STATE,10259,end apogee,CONTROL_FINISHED_OK
$STATE,10259,begin climb
$GC,10260,0.83,126.5,1003.2,0.0,729,10388,0.98,2.30,119.85,1.251,4,0.090,0.047,3457,332,1432,0,0,0,0,0,0
$GC,10448,0.80,126.5,985.7,13.0,738,10453,0.00,2.35,0.00,0.000,6,0.000,0.034,3457,1732,1426,0,0,0,0,0,0
$GC,10776,0.80,126.5,946.8,11.6,754,10780,0.00,2.30,0.00,0.000,4,0.000,0.046,3467,328,1422,0,0,0,0,0,0
$GC,10819,0.77,126.5,941.4,11.8,756,10824,0.10,2.28,0.00,0.000,6,0.141,0.034,3433,1737,1421,0,0,0,0,0,0
$GC,11146,0.77,126.5,907.9,10.1,772,11150,0.00,2.28,0.00,0.000,4,0.000,0.047,3442,326,1421,0,0,0,0,0,0
$GC,11166,0.77,126.5,905.7,10.5,773,11171,0.00,2.25,0.00,0.000,6,0.000,0.034,3442,1732,1420,0,0,0,0,0,0
$GC,11493,0.77,126.5,872.9,10.0,789,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1733,1420,0,0,0,0,0,0
$GC,11803,0.77,128.8,842.7,9.8,804,11807,0.00,2.25,0.00,0.000,4,0.000,0.058,3442,3133,1419,0,0,0,0,0,0
$GC,11842,0.77,128.8,838.6,10.9,806,11846,0.08,2.15,0.00,0.000,6,0.201,0.030,3434,1723,1419,0,0,0,0,0,0
$GC,12168,0.77,131.6,807.0,9.8,822,12172,0.00,2.20,0.00,0.000,4,0.000,0.048,3445,330,1419,0,0,0,0,0,0
$GC,12252,0.77,131.6,798.5,10.4,826,12256,0.00,2.20,0.00,0.000,6,0.000,0.034,3445,1744,1418,0,0,0,0,0,0
$GC,12578,0.77,131.6,765.8,10.3,842,12582,0.00,2.25,0.00,0.000,4,0.000,0.045,3454,330,1418,0,0,0,0,0,0
$GC,12604,0.77,131.6,762.9,10.6,843,12609,0.05,2.20,0.00,0.000,6,0.155,0.033,3436,1739,1419,0,0,0,0,0,0
$GC,12925,0.77,131.6,731.3,10.0,859,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1739,1418,0,0,0,0,0,0
$GC,13235,0.77,137.5,701.9,9.6,874,13245,0.00,0.00,8.75,0.966,6,0.000,0.000,3436,1739,1389,0,0,0,0,0,0
$GC,13544,0.80,143.8,671.5,9.6,889,13559,0.00,2.30,7.68,0.910,4,0.000,0.046,3446,332,1363,0,0,0,0,0,0
$GC,13588,0.80,143.8,666.9,10.9,891,13592,0.00,2.17,0.00,0.000,6,0.000,0.033,3446,1729,1362,0,0,0,0,0,0
$GC,13915,0.80,143.8,633.2,10.0,907,13919,0.00,2.22,0.00,0.000,4,0.000,0.045,3455,330,1361,0,0,0,0,0,0
$GC,13954,0.80,143.8,628.9,11.3,909,13958,0.00,2.17,0.00,0.000,6,0.000,0.034,3455,1730,1361,0,0,0,0,0,0
$GC,14280,0.81,148.8,596.7,9.7,925,14290,0.00,2.22,5.93,0.806,4,0.000,0.044,3465,322,1343,0,0,0,0,0,0
$GC,14328,0.81,148.8,591.7,10.0,927,14334,0.05,2.22,0.00,0.000,6,0.148,0.033,3446,1737,1343,0,0,0,0,0,0
$GC,14652,0.83,157.5,561.5,9.5,943,14664,0.00,0.00,9.95,0.915,6,0.000,0.000,3446,1737,1307,0,0,0,0,0,0
$GC,14959,0.86,157.5,531.1,10.1,958,14963,0.00,2.25,0.00,0.000,4,0.000,0.046,3456,326,1305,0,0,0,0,0,0
$GC,14984,0.86,157.5,528.3,10.1,959,14989,0.00,2.20,0.00,0.000,6,0.000,0.031,3456,1730,1305,0,0,0,0,0,0
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$STATE,19867,end climb,SURFACE_DEPTH_REACHED
$STATE,19867,begin surface coast
$FINISH,1.6,1.001768
$STATE,19894,end surface coast,CONTROL_FINISHED_OK
$STATE,19894,begin surface
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$TT8_MAMPS,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.3,12.122
$10V_AH,10.2,9.331
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.625,182.375,302.475,0.000,0.000,31.337,39.531,239.962,0.000,0.000,16.646,3559.841,12586.741,432.593,3658.845,144.912,0.000,1814.780,0.000,3142.395,0.000,0.539,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353232
$DATA_FILE_SIZE,100491,1422
$CAP_FILE_SIZE,195499,0
$CFSIZE,2097086464,2084601856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080815,040021,-4457.158,628.654,40,1.0,40,-24.4