version: 66.07.10.p01
glider: 573
mission: 12
dive: 216
start: 9 10 115 14 13 19
data:
$ID,573
$MISSION,12
$DIVE,216
$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,-21682.494
$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,37
$R_STBD_OVSHOOT,33
$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,215
$GPS1,100915,140421,-4459.536,631.140,39,0.9,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-69.3
$GPS2,100915,141259,-4459.582,631.225,18,1.6,18,-24.4
$SPEED_LIMITS,0.148,0.223
$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,67.7,9122,-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,-116.8,0.0,0.0,0,34,0.00,0.00,-8.40,0.000,2,0.000,0.000,65,2073,1290,0,0,0,0,0,0
$GC,37,-0.76,-116.8,3.1,-0.0,1,118,11.85,2.35,-58.78,0.000,4,0.243,0.063,2931,647,2427,0,0,0,0,0,0
$GC,396,-0.62,-116.8,31.8,-13.9,59,404,0.15,2.28,0.00,0.000,6,0.148,0.040,2969,2060,2428,0,0,0,0,0,0
$GC,546,-0.62,-116.8,47.9,-9.8,84,553,0.00,2.30,0.00,0.000,4,0.000,0.053,2969,652,2428,0,0,0,0,0,0
$GC,590,-0.58,-116.8,52.5,-11.4,91,596,0.12,2.25,0.00,0.000,6,0.177,0.042,2992,2064,2428,0,0,0,0,0,0
$GC,939,-0.61,-116.8,83.6,-8.7,152,945,0.00,2.25,0.00,0.000,4,0.000,0.064,2981,3465,2428,0,0,0,0,0,0
$GC,993,-0.65,-116.8,88.1,-8.7,161,998,0.00,2.20,0.00,0.000,6,0.000,0.039,2981,2048,2428,0,0,0,0,0,0
$GC,1331,-0.65,-116.8,118.5,-9.1,204,1335,0.00,2.22,0.00,0.000,4,0.000,0.053,2982,648,2428,0,0,0,0,0,0
$GC,1374,-0.65,-116.8,122.9,-10.2,207,1380,0.00,2.25,0.00,0.000,6,0.000,0.039,2973,2069,2428,0,0,0,0,0,0
$GC,1699,-0.65,-116.8,152.9,-9.0,238,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2069,2428,0,0,0,0,0,0
$GC,2019,-0.65,-116.8,180.0,-7.8,268,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2069,2428,0,0,0,0,0,0
$GC,2337,-0.65,-116.8,205.9,-8.6,298,2341,0.00,2.22,0.00,0.000,4,0.000,0.061,2962,3462,2429,0,0,0,0,0,0
$GC,2392,-0.65,-116.8,211.0,-9.0,302,2398,0.00,2.17,0.00,0.000,6,0.000,0.038,2963,2060,2429,0,0,0,0,0,0
$GC,2720,-0.65,-116.8,241.7,-10.1,333,2724,0.00,2.22,0.00,0.000,4,0.000,0.054,2962,649,2429,0,0,0,0,0,0
$GC,2759,-0.62,-116.8,245.8,-10.1,336,2764,0.10,2.20,0.00,0.000,6,0.184,0.042,2977,2072,2429,0,0,0,0,0,0
$GC,3084,-0.65,-116.8,274.7,-8.9,366,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2071,2429,0,0,0,0,0,0
$GC,3404,-0.68,-116.8,303.2,-8.9,396,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2072,2429,0,0,0,0,0,0
$GC,3723,-0.72,-116.8,329.3,-7.9,426,3727,0.08,2.20,0.00,0.000,4,0.126,0.060,2921,3463,2429,0,0,0,0,0,0
$GC,3764,-0.64,-116.8,333.2,-10.0,429,3768,0.17,2.15,0.00,0.000,6,0.157,0.040,2969,2059,2429,0,0,0,0,0,0
$GC,4093,-0.64,-116.8,361.6,-8.6,460,4097,0.00,2.22,0.00,0.000,4,0.000,0.056,2969,656,2429,0,0,0,0,0,0
$GC,4160,-0.64,-116.8,367.9,-8.9,465,4166,0.00,2.22,0.00,0.000,6,0.000,0.043,2960,2060,2429,0,0,0,0,0,0
$GC,4485,-0.64,-116.8,398.4,-9.5,496,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2060,2429,0,0,0,0,0,0
$GC,4795,-0.64,-116.8,428.0,-9.8,512,4799,0.00,2.25,0.00,0.000,4,0.000,0.063,2950,3469,2429,0,0,0,0,0,0
$GC,4844,-0.64,-116.8,433.2,-10.1,514,4850,0.05,2.20,0.00,0.000,6,0.157,0.041,2967,2059,2429,0,0,0,0,0,0
$GC,5166,-0.64,-116.8,462.9,-9.1,530,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2058,2429,0,0,0,0,0,0
$GC,5475,-0.64,-116.8,490.8,-9.0,545,5479,0.00,2.20,0.00,0.000,4,0.000,0.056,2969,655,2429,0,0,0,0,0,0
$GC,5530,-0.64,-116.8,496.1,-9.8,547,5536,0.00,2.22,0.00,0.000,6,0.000,0.044,2960,2061,2429,0,0,0,0,0,0
$GC,5846,-0.64,-116.8,523.6,-8.7,563,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2061,2429,0,0,0,0,0,0
$GC,6156,-0.64,-116.8,550.2,-8.6,578,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2061,2428,0,0,0,0,0,0
$GC,6465,-0.64,-116.8,577.6,-9.0,593,6469,0.00,2.25,0.00,0.000,4,0.000,0.054,2960,656,2427,0,0,0,0,0,0
$GC,6505,-0.64,-116.8,581.3,-9.1,595,6509,0.10,2.17,0.00,0.000,6,0.183,0.043,2975,2060,2428,0,0,0,0,0,0
$GC,6832,-0.70,-116.8,609.3,-8.5,611,6836,0.00,2.25,0.00,0.000,4,0.000,0.064,2965,3466,2428,0,0,0,0,0,0
$GC,6881,-0.75,-116.8,613.8,-8.9,613,6887,0.05,2.20,0.00,0.000,6,0.070,0.041,2922,2058,2428,0,0,0,0,0,0
$GC,7204,-0.68,-116.8,645.4,-9.4,629,7206,0.15,0.00,0.00,0.000,6,0.166,0.000,2962,2058,2428,0,0,0,0,0,0
$GC,7512,-0.68,-116.8,671.9,-9.0,644,7516,0.00,2.20,0.00,0.000,4,0.000,0.056,2962,651,2428,0,0,0,0,0,0
$GC,7556,-0.68,-116.8,676.1,-9.6,646,7560,0.00,2.22,0.00,0.000,6,0.000,0.044,2952,2058,2427,0,0,0,0,0,0
$GC,7883,-0.68,-116.8,707.0,-9.5,662,7887,0.00,2.25,0.00,0.000,4,0.000,0.055,2953,654,2427,0,0,0,0,0,0
$GC,7904,-0.68,-116.8,709.2,-10.1,663,7909,0.00,2.22,0.00,0.000,6,0.000,0.043,2944,2062,2427,0,0,0,0,0,0
$GC,8232,-0.68,-116.8,741.4,-9.9,679,8236,0.08,2.28,0.00,0.000,4,0.198,0.065,2950,3471,2427,0,0,0,0,0,0
$GC,8280,-0.68,-116.8,746.2,-9.3,681,8285,0.00,2.20,0.00,0.000,6,0.000,0.042,2951,2066,2427,0,0,0,0,0,0
$GC,8601,-0.68,-116.8,776.3,-9.5,697,8605,0.00,2.22,0.00,0.000,4,0.000,0.056,2951,653,2427,0,0,0,0,0,0
$GC,8650,-0.68,-116.8,781.5,-10.1,699,8655,0.05,2.22,0.00,0.000,6,0.158,0.042,2958,2058,2427,0,0,0,0,0,0
$GC,8973,-0.72,-116.8,809.4,-8.7,715,8977,0.00,2.25,0.00,0.000,4,0.000,0.063,2949,3464,2427,0,0,0,0,0,0
$GC,9038,-0.72,-116.8,815.4,-9.3,718,9043,0.00,2.20,0.00,0.000,6,0.000,0.042,2948,2056,2426,0,0,0,0,0,0
$GC,9366,-0.72,-116.8,842.0,-8.0,734,9370,0.00,2.22,0.00,0.000,4,0.000,0.057,2948,658,2426,0,0,0,0,0,0
$GC,9415,-0.72,-116.8,846.3,-8.2,736,9420,0.00,2.22,0.00,0.000,6,0.000,0.043,2939,2063,2426,0,0,0,0,0,0
$GC,9737,-0.72,-116.8,872.6,-8.1,752,9741,0.00,2.28,0.00,0.000,4,0.000,0.056,2939,649,2426,0,0,0,0,0,0
$GC,9781,-0.68,-116.8,876.8,-9.1,754,9786,0.08,2.25,0.00,0.000,6,0.151,0.044,2955,2064,2426,0,0,0,0,0,0
$GC,10109,-0.71,-116.8,900.9,-7.2,770,10113,0.00,2.25,0.00,0.000,4,0.000,0.055,2956,655,2426,0,0,0,0,0,0
$GC,10147,-0.71,-116.8,904.0,-7.8,771,10153,0.00,2.22,0.00,0.000,6,0.000,0.044,2947,2058,2426,0,0,0,0,0,0
$GC,10463,-0.71,-116.8,928.1,-8.0,787,10467,0.00,2.28,0.00,0.000,4,0.000,0.063,2937,3475,2425,0,0,0,0,0,0
$GC,10529,-0.71,-116.8,933.6,-8.3,790,10534,0.03,2.22,0.00,0.000,6,0.177,0.043,2946,2058,2426,0,0,0,0,0,0
$GC,10857,-0.71,-116.8,957.2,-7.0,806,10861,0.00,2.22,0.00,0.000,4,0.000,0.057,2948,655,2426,0,0,0,0,0,0
$GC,10884,-0.71,-116.8,959.4,-7.8,807,10889,0.00,2.22,0.00,0.000,6,0.000,0.044,2939,2060,2425,0,0,0,0,0,0
$GC,11206,-0.71,-116.8,982.7,-7.4,823,11208,0.03,0.00,0.00,0.000,6,0.279,0.000,2948,2060,2425,0,0,0,0,0,0
$STATE,11451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11452,begin apogee
$GC,11457,-0.19,0.0,1000.6,7.4,835,11566,0.55,0.00,106.20,1.287,6,0.142,0.000,3118,1597,1950,0,0,0,0,0,0
$STATE,11567,end apogee,CONTROL_FINISHED_OK
$STATE,11567,begin climb
$GC,11568,0.76,116.8,1002.9,0.0,840,11691,0.93,2.53,111.75,1.247,4,0.090,0.054,3435,208,1472,0,0,0,0,0,0
$GC,11741,0.71,116.8,990.5,10.5,848,11746,0.05,2.40,0.00,0.000,6,0.136,0.034,3419,1617,1469,0,0,0,0,0,0
$GC,12068,0.71,116.8,959.0,10.1,864,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1617,1466,0,0,0,0,0,0
$GC,12377,0.71,116.8,928.0,9.9,879,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1618,1464,0,0,0,0,0,0
$GC,12686,0.71,116.8,897.2,10.1,894,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1617,1464,0,0,0,0,0,0
$GC,12996,0.71,116.8,867.3,9.4,909,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1617,1463,0,0,0,0,0,0
$GC,13305,0.71,116.8,839.2,8.6,924,13309,0.00,2.33,0.00,0.000,4,0.000,0.053,3428,190,1463,0,0,0,0,0,0
$GC,13393,0.68,116.8,830.7,9.3,928,13398,0.08,2.22,0.00,0.000,6,0.135,0.036,3402,1602,1462,0,0,0,0,0,0
$GC,13721,0.73,130.1,805.1,7.9,944,13738,0.00,0.00,11.93,1.058,6,0.000,0.000,3402,1602,1419,0,0,0,0,0,0
$GC,14049,0.78,139.9,779.0,8.1,960,14065,0.10,2.22,10.77,1.023,4,0.096,0.052,3456,2996,1378,0,0,0,0,0,0
$GC,14156,0.70,139.9,767.8,10.7,964,14161,0.17,2.17,0.00,0.000,6,0.152,0.035,3415,1591,1378,0,0,0,0,0,0
$GC,14483,0.71,149.7,740.3,8.1,980,14498,0.00,2.25,10.48,0.999,4,0.000,0.054,3425,200,1339,0,0,0,0,0,0
$GC,14567,0.71,155.4,733.0,8.3,983,14580,0.00,2.22,7.12,0.894,6,0.000,0.037,3425,1612,1316,0,0,0,0,0,0
$GC,14899,0.71,155.4,702.9,9.4,999,14903,0.00,2.33,0.00,0.000,4,0.000,0.053,3434,193,1315,0,0,0,0,0,0
$GC,14939,0.71,155.4,698.7,9.9,1001,14944,0.08,2.20,0.00,0.000,6,0.173,0.035,3416,1605,1314,0,0,0,0,0,0
$GC,15266,0.76,155.4,668.9,9.6,1017,15267,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1605,1314,0,0,0,0,0,0
$GC,15575,0.81,155.4,639.4,9.5,1032,15579,0.10,2.22,0.00,0.000,4,0.098,0.054,3467,2995,1314,0,0,0,0,0,0
$GC,15614,0.72,155.4,634.8,12.4,1034,15619,0.20,2.15,0.00,0.000,6,0.148,0.035,3417,1590,1314,0,0,0,0,0,0
$GC,15941,0.76,155.4,602.6,9.5,1050,15945,0.00,2.25,0.00,0.000,4,0.000,0.055,3428,193,1313,0,0,0,0,0,0
$GC,16086,0.76,155.4,587.9,8.8,1056,16092,0.00,2.20,0.00,0.000,6,0.000,0.037,3427,1597,1313,0,0,0,0,0,0
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$STATE,22398,end climb,SURFACE_DEPTH_REACHED
$STATE,22398,begin surface coast
$FINISH,1.9,1.014310
$STATE,22439,end surface coast,CONTROL_FINISHED_OK
$STATE,22439,begin surface
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$HUMID,62.91
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$TCM_TEMP,12.30
$XPDR_PINGS,0
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$10V_AH,9.9,29.738
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353316
$DATA_FILE_SIZE,113633,1624
$CAP_FILE_SIZE,208830,0
$CFSIZE,2097086464,2063663104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100915,202933,-4500.207,634.560,25,1.3,25,-24.4