version: 66.07.10.p01
glider: 573
mission: 12
dive: 137
start: 8 24 115 21 18 1
data:
$ID,573
$MISSION,12
$DIVE,137
$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,390
$T_MISSION,420
$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,120
$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,-21432.283
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,37
$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,136
$GPS1,240815,210928,-4507.227,632.352,39,1.0,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-73.4
$GPS2,240815,211741,-4507.279,632.366,14,1.5,14,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,323.4,12515,-17.9,-8.547
$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,-0.76,-116.8,0.0,0.0,0,52,0.00,0.00,-26.67,0.000,2,0.000,0.000,70,2062,1677,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.5,-4.2,4,106,11.90,2.28,-31.33,0.000,4,0.250,0.062,2935,664,2426,0,0,0,0,0,0
$GC,145,-0.61,-116.8,7.5,-9.9,18,153,0.15,2.22,0.00,0.000,6,0.160,0.037,2972,2049,2428,0,0,0,0,0,0
$GC,204,-0.57,-116.8,13.8,-9.9,27,212,0.10,0.00,0.00,0.000,6,0.191,0.000,2996,2049,2428,0,0,0,0,0,0
$GC,262,-0.57,-116.8,19.5,-9.9,36,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2049,2428,0,0,0,0,0,0
$GC,320,-0.57,-116.8,24.8,-9.2,45,327,0.00,2.33,0.00,0.000,4,0.000,0.060,2986,3475,2428,0,0,0,0,0,0
$GC,341,-0.57,-116.8,26.8,-9.0,48,349,0.00,2.22,0.00,0.000,6,0.000,0.040,2986,2069,2428,0,0,0,0,0,0
$GC,498,-0.57,-116.8,41.5,-9.5,73,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2069,2428,0,0,0,0,0,0
$GC,845,-0.57,-116.8,73.5,-8.6,134,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2069,2428,0,0,0,0,0,0
$GC,1193,-0.57,-116.8,105.3,-9.5,191,1197,0.00,2.22,0.00,0.000,4,0.000,0.050,2986,654,2428,0,0,0,0,0,0
$GC,1223,-0.57,-116.8,108.3,-10.5,193,1228,0.08,2.22,0.00,0.000,6,0.199,0.039,2994,2077,2428,0,0,0,0,0,0
$GC,1548,-0.62,-116.8,139.8,-9.0,223,1552,0.00,2.20,0.00,0.000,4,0.000,0.057,2984,3463,2428,0,0,0,0,0,0
$GC,1644,-0.68,-116.8,148.4,-9.1,231,1649,0.05,2.17,0.00,0.000,6,0.168,0.037,2943,2047,2428,0,0,0,0,0,0
$GC,1972,-0.62,-116.8,181.5,-10.0,261,1977,0.15,2.20,0.00,0.000,4,0.174,0.052,2983,655,2428,0,0,0,0,0,0
$GC,2011,-0.62,-116.8,185.2,-8.9,264,2015,0.00,2.20,0.00,0.000,6,0.000,0.039,2974,2070,2428,0,0,0,0,0,0
$GC,2336,-0.62,-116.8,211.9,-8.5,294,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2070,2429,0,0,0,0,0,0
$GC,2655,-0.62,-116.8,237.8,-8.4,324,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2070,2428,0,0,0,0,0,0
$GC,2974,-0.62,-116.8,264.8,-8.0,354,2978,0.00,2.25,0.00,0.000,4,0.000,0.050,2974,652,2429,0,0,0,0,0,0
$GC,3002,-0.62,-116.8,267.3,-8.5,356,3007,0.05,2.20,0.00,0.000,6,0.224,0.038,2975,2073,2429,0,0,0,0,0,0
$GC,3327,-0.62,-116.8,294.1,-8.3,386,3331,0.00,2.25,0.00,0.000,4,0.000,0.050,2976,652,2429,0,0,0,0,0,0
$GC,3354,-0.62,-116.8,296.5,-9.2,388,3358,0.00,2.17,0.00,0.000,6,0.000,0.039,2967,2059,2429,0,0,0,0,0,0
$GC,3679,-0.62,-116.8,325.6,-9.7,418,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2059,2429,0,0,0,0,0,0
$GC,3998,-0.62,-116.8,357.8,-10.3,448,4002,0.00,2.22,0.00,0.000,4,0.000,0.061,2956,3463,2429,0,0,0,0,0,0
$GC,4026,-0.62,-116.8,360.9,-10.5,450,4030,0.10,2.12,0.00,0.000,6,0.177,0.038,2981,2059,2429,0,0,0,0,0,0
$GC,4358,-0.67,-116.8,390.4,-8.6,481,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2060,2429,0,0,0,0,0,0
$GC,4679,-0.71,-116.8,417.0,-8.3,502,4681,0.08,0.00,0.00,0.000,6,0.123,0.000,2935,2059,2429,0,0,0,0,0,0
$GC,4988,-0.65,-116.8,447.6,-10.1,517,4993,0.12,2.22,0.00,0.000,4,0.176,0.055,2968,650,2429,0,0,0,0,0,0
$GC,5027,-0.65,-116.8,451.4,-9.2,519,5031,0.00,2.20,0.00,0.000,6,0.000,0.041,2959,2066,2429,0,0,0,0,0,0
$GC,5353,-0.65,-116.8,482.1,-9.3,535,5357,0.00,2.22,0.00,0.000,4,0.000,0.063,2949,3461,2429,0,0,0,0,0,0
$GC,5384,-0.65,-116.8,485.4,-9.8,536,5391,0.05,2.15,0.00,0.000,6,0.161,0.039,2966,2067,2429,0,0,0,0,0,0
$GC,5701,-0.65,-116.8,514.7,-9.5,552,5705,0.00,2.22,0.00,0.000,4,0.000,0.054,2966,649,2428,0,0,0,0,0,0
$GC,5734,-0.65,-116.8,518.1,-10.8,553,5739,0.00,2.17,0.00,0.000,6,0.000,0.039,2957,2061,2428,0,0,0,0,0,0
$GC,6049,-0.65,-116.8,548.3,-9.4,569,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2061,2428,0,0,0,0,0,0
$GC,6358,-0.65,-116.8,575.5,-8.6,584,6362,0.00,2.20,0.00,0.000,4,0.000,0.063,2947,3460,2428,0,0,0,0,0,0
$GC,6398,-0.65,-116.8,579.1,-9.4,586,6402,0.10,2.15,0.00,0.000,6,0.181,0.040,2972,2054,2427,0,0,0,0,0,0
$GC,6725,-0.69,-116.8,605.3,-8.1,602,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2053,2427,0,0,0,0,0,0
$GC,7034,-0.73,-116.8,629.9,-7.8,617,7038,0.08,2.20,0.00,0.000,4,0.125,0.054,2928,658,2427,0,0,0,0,0,0
$GC,7088,-0.64,-116.8,635.5,-10.6,619,7094,0.15,2.20,0.00,0.000,6,0.150,0.041,2967,2064,2427,0,0,0,0,0,0
$GC,7405,-0.68,-116.8,662.2,-8.4,635,7409,0.00,2.22,0.00,0.000,4,0.000,0.063,2957,3471,2427,0,0,0,0,0,0
$GC,7445,-0.68,-116.8,665.6,-8.4,637,7449,0.00,2.17,0.00,0.000,6,0.000,0.041,2957,2051,2426,0,0,0,0,0,0
$GC,7771,-0.68,-116.8,694.8,-9.2,653,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2051,2426,0,0,0,0,0,0
$GC,8080,-0.68,-116.8,723.9,-9.6,668,8084,0.00,2.20,0.00,0.000,4,0.000,0.054,2957,652,2426,0,0,0,0,0,0
$GC,8141,-0.68,-116.8,730.3,-10.5,671,8146,0.05,2.20,0.00,0.000,6,0.217,0.042,2960,2069,2426,0,0,0,0,0,0
$GC,8467,-0.68,-116.8,761.0,-9.1,687,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2069,2425,0,0,0,0,0,0
$GC,8777,-0.68,-116.8,786.9,-8.1,702,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2069,2425,0,0,0,0,0,0
$GC,9086,-0.68,-116.8,811.0,-7.5,717,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2069,2425,0,0,0,0,0,0
$GC,9395,-0.68,-116.8,832.5,-6.8,732,9399,0.00,2.20,0.00,0.000,4,0.000,0.061,2949,3469,2425,0,0,0,0,0,0
$GC,9427,-0.68,-116.8,834.9,-7.0,733,9434,0.03,2.17,0.00,0.000,6,0.181,0.040,2958,2068,2425,0,0,0,0,0,0
$GC,9745,-0.71,-116.8,854.9,-6.2,749,9749,0.00,2.22,0.00,0.000,4,0.000,0.054,2959,648,2425,0,0,0,0,0,0
$GC,9788,-0.71,-116.8,858.2,-7.1,751,9792,0.00,2.20,0.00,0.000,6,0.000,0.041,2950,2055,2425,0,0,0,0,0,0
$GC,10116,-0.71,-116.8,881.5,-7.7,767,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2055,2425,0,0,0,0,0,0
$GC,10425,-0.71,-116.8,905.6,-8.0,782,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2055,2425,0,0,0,0,0,0
$GC,10734,-0.71,-116.8,930.5,-8.3,797,10738,0.00,2.20,0.00,0.000,4,0.000,0.059,2939,3463,2424,0,0,0,0,0,0
$GC,10800,-0.71,-116.8,936.4,-9.2,800,10805,0.03,2.17,0.00,0.000,6,0.177,0.040,2949,2057,2424,0,0,0,0,0,0
$GC,11128,-0.71,-116.8,963.3,-8.2,816,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2057,2424,0,0,0,0,0,0
$GC,11437,-0.71,-116.8,988.0,-7.6,831,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2057,2424,0,0,0,0,0,0
$STATE,11600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11600,begin apogee
$GC,11605,-0.19,0.0,1000.9,7.6,839,11713,0.55,0.00,105.70,1.294,6,0.144,0.000,3119,1592,1950,0,0,0,0,0,0
$STATE,11714,end apogee,CONTROL_FINISHED_OK
$STATE,11714,begin climb
$GC,11716,0.76,116.8,1003.5,0.0,844,11831,0.93,0.00,111.75,1.254,6,0.092,0.000,3424,1592,1474,0,0,0,0,0,0
$GC,12131,0.76,116.8,967.7,9.9,865,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1592,1465,0,0,0,0,0,0
$GC,12440,0.76,116.8,936.8,10.1,880,12441,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1592,1462,0,0,0,0,0,0
$GC,12750,0.76,116.8,906.4,9.7,895,12754,0.00,2.28,0.00,0.000,4,0.000,0.050,3425,3002,1462,0,0,0,0,0,0
$GC,12815,0.76,116.8,899.6,10.8,898,12820,0.00,2.20,0.00,0.000,6,0.000,0.034,3433,1606,1462,0,0,0,0,0,0
$GC,13143,0.76,116.8,868.4,9.6,914,13147,0.00,2.25,0.00,0.000,4,0.000,0.054,3444,195,1461,0,0,0,0,0,0
$GC,13197,0.70,116.8,862.7,10.0,916,13203,0.08,2.22,0.00,0.000,6,0.136,0.037,3417,1610,1460,0,0,0,0,0,0
$GC,13513,0.70,116.8,835.0,8.6,932,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1610,1460,0,0,0,0,0,0
$GC,13823,0.71,121.7,808.8,8.3,947,13827,0.00,2.20,0.00,0.000,4,0.000,0.052,3417,2999,1460,0,0,0,0,0,0
$GC,13877,0.71,121.7,803.6,9.3,949,13883,0.00,2.17,0.00,0.000,6,0.000,0.034,3426,1603,1460,0,0,0,0,0,0
$GC,14193,0.71,121.7,775.4,9.2,965,14197,0.00,2.25,0.00,0.000,4,0.000,0.053,3436,192,1460,0,0,0,0,0,0
$GC,14242,0.67,121.7,770.4,10.5,967,14248,0.10,2.20,0.00,0.000,6,0.131,0.035,3401,1604,1459,0,0,0,0,0,0
$GC,14564,0.73,121.7,743.2,8.6,983,14568,0.00,2.20,0.00,0.000,4,0.000,0.053,3401,2992,1459,0,0,0,0,0,0
$GC,14604,0.73,121.7,739.6,9.2,985,14608,0.00,2.15,0.00,0.000,6,0.000,0.035,3410,1591,1459,0,0,0,0,0,0
$GC,14931,0.76,126.1,711.9,8.3,1001,14941,0.05,0.00,7.45,0.927,6,0.164,0.000,3448,1590,1435,0,0,0,0,0,0
$GC,15239,0.72,126.1,682.2,9.4,1016,15244,0.10,2.22,0.00,0.000,4,0.159,0.053,3431,196,1434,0,0,0,0,0,0
$GC,15282,0.72,126.1,678.0,10.0,1018,15287,0.00,2.20,0.00,0.000,6,0.000,0.036,3431,1599,1435,0,0,0,0,0,0
$GC,15610,0.72,126.1,648.8,9.2,1034,15614,0.00,2.20,0.00,0.000,4,0.000,0.053,3431,2993,1434,0,0,0,0,0,0
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$STATE,22750,end climb,SURFACE_DEPTH_REACHED
$STATE,22750,begin surface coast
$FINISH,1.7,1.013838
$STATE,22788,end surface coast,CONTROL_FINISHED_OK
$STATE,22788,begin surface
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$10V_AH,10.1,19.553
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$FG_AHR_10Vo,0.000
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$MEM,353168
$DATA_FILE_SIZE,113628,1654
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$CFSIZE,2097086464,2074050560
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