version: 66.07.10.p01
glider: 573
mission: 12
dive: 314
start: 10 2 115 14 16 16
data:
$ID,573
$MISSION,12
$DIVE,314
$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,-22016.979
$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,40
$R_STBD_OVSHOOT,48
$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,313
$GPS1,021015,140703,-4459.329,636.330,31,0.9,31,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-65.6
$GPS2,021015,141556,-4459.339,636.451,42,0.9,42,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,208.3,8651,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,41,0.00,0.00,-14.25,0.000,2,0.000,0.000,82,2036,1402,0,0,0,0,0,0
$GC,44,-0.76,-116.8,3.1,-3.2,2,113,11.52,2.38,-49.40,0.000,4,0.231,0.075,2926,3444,2425,0,0,0,0,0,0
$GC,227,-0.67,-116.8,19.5,-17.1,31,235,0.10,2.20,0.00,0.000,6,0.143,0.041,2958,2069,2428,0,0,0,0,0,0
$GC,286,-0.67,-116.8,25.3,-8.7,40,293,0.00,2.33,0.00,0.000,4,0.000,0.055,2959,652,2428,0,0,0,0,0,0
$GC,321,-0.63,-116.8,28.4,-8.7,45,329,0.05,2.25,0.00,0.000,6,0.157,0.044,2967,2038,2428,0,0,0,0,0,0
$GC,476,-0.63,-116.8,42.8,-10.2,70,481,0.00,2.35,0.00,0.000,4,0.000,0.064,2957,3472,2428,0,0,0,0,0,0
$GC,546,-0.63,-116.8,49.7,-9.8,82,552,0.10,2.25,0.00,0.000,6,0.178,0.043,2981,2050,2428,0,0,0,0,0,0
$GC,894,-0.63,-116.8,82.7,-10.4,140,898,0.00,2.22,0.00,0.000,4,0.000,0.056,2982,657,2428,0,0,0,0,0,0
$GC,935,-0.63,-116.8,86.9,-10.8,142,939,0.00,2.25,0.00,0.000,6,0.000,0.044,2973,2069,2428,0,0,0,0,0,0
$GC,1261,-0.63,-116.8,119.7,-10.6,158,1265,0.00,2.28,0.00,0.000,4,0.000,0.062,2962,3466,2428,0,0,0,0,0,0
$GC,1332,-0.63,-116.8,127.5,-10.5,161,1337,0.03,2.22,0.00,0.000,6,0.176,0.041,2972,2058,2428,0,0,0,0,0,0
$GC,1656,-0.63,-116.8,157.9,-8.6,177,1660,0.00,2.25,0.00,0.000,4,0.000,0.057,2972,653,2429,0,0,0,0,0,0
$GC,1743,-0.63,-116.8,165.3,-9.0,181,1747,0.05,2.25,0.00,0.000,6,0.226,0.044,2976,2069,2429,0,0,0,0,0,0
$GC,2071,-0.63,-116.8,191.4,-8.0,197,2075,0.00,2.28,0.00,0.000,4,0.000,0.063,2965,3470,2429,0,0,0,0,0,0
$GC,2136,-0.63,-116.8,197.2,-8.9,200,2141,0.00,2.22,0.00,0.000,6,0.000,0.041,2965,2057,2429,0,0,0,0,0,0
$GC,2464,-0.63,-116.8,225.5,-8.9,216,2469,0.05,2.25,0.00,0.000,4,0.223,0.057,2976,661,2429,0,0,0,0,0,0
$GC,2503,-0.63,-116.8,229.2,-9.9,218,2507,0.00,2.22,0.00,0.000,6,0.000,0.042,2967,2070,2429,0,0,0,0,0,0
$GC,2830,-0.63,-116.8,261.1,-9.6,234,2834,0.00,2.28,0.00,0.000,4,0.000,0.061,2957,3474,2429,0,0,0,0,0,0
$GC,2918,-0.63,-116.8,269.9,-9.4,238,2923,0.05,2.22,0.00,0.000,6,0.150,0.042,2974,2064,2429,0,0,0,0,0,0
$GC,3247,-0.66,-116.8,298.0,-8.9,254,3251,0.00,2.25,0.00,0.000,4,0.000,0.055,2974,650,2429,0,0,0,0,0,0
$GC,3301,-0.66,-116.8,303.6,-9.8,256,3306,0.00,2.25,0.00,0.000,6,0.000,0.041,2965,2066,2429,0,0,0,0,0,0
$GC,3622,-0.66,-116.8,334.6,-9.7,272,3626,0.00,2.28,0.00,0.000,4,0.000,0.064,2955,3463,2429,0,0,0,0,0,0
$GC,3671,-0.66,-116.8,339.7,-10.6,274,3676,0.03,2.20,0.00,0.000,6,0.170,0.040,2964,2064,2429,0,0,0,0,0,0
$GC,3998,-0.66,-116.8,370.7,-9.5,290,4002,0.00,2.28,0.00,0.000,4,0.000,0.055,2964,650,2429,0,0,0,0,0,0
$GC,4075,-0.66,-116.8,378.4,-9.8,293,4080,0.00,2.25,0.00,0.000,6,0.000,0.042,2955,2061,2429,0,0,0,0,0,0
$GC,4397,-0.66,-116.8,409.8,-9.8,309,4402,0.05,2.33,0.00,0.000,4,0.220,0.065,2956,3477,2429,0,0,0,0,0,0
$GC,4481,-0.66,-116.8,418.2,-10.1,313,4486,0.00,2.20,0.00,0.000,6,0.000,0.044,2956,2055,2429,0,0,0,0,0,0
$GC,4808,-0.66,-116.8,450.3,-10.1,329,4812,0.00,2.25,0.00,0.000,4,0.000,0.057,2956,652,2429,0,0,0,0,0,0
$GC,4873,-0.66,-116.8,457.4,-10.5,332,4878,0.05,2.28,0.00,0.000,6,0.148,0.045,2965,2064,2429,0,0,0,0,0,0
$GC,5200,-0.66,-116.8,489.3,-9.6,348,5203,0.00,2.30,0.00,0.000,4,0.000,0.065,2954,3474,2429,0,0,0,0,0,0
$GC,5271,-0.66,-116.8,496.5,-10.5,351,5277,0.03,2.25,0.00,0.000,6,0.174,0.044,2964,2060,2429,0,0,0,0,0,0
$GC,5600,-0.69,-116.8,528.1,-9.8,367,5604,0.00,2.28,0.00,0.000,4,0.000,0.058,2964,647,2429,0,0,0,0,0,0
$GC,5661,-0.69,-116.8,534.6,-10.3,370,5665,0.00,2.25,0.00,0.000,6,0.000,0.044,2955,2070,2428,0,0,0,0,0,0
$GC,5993,-0.69,-116.8,568.9,-10.3,386,5996,0.00,2.28,0.00,0.000,4,0.000,0.064,2945,3475,2428,0,0,0,0,0,0
$GC,6082,-0.69,-116.8,578.1,-10.4,390,6086,0.00,2.22,0.00,0.000,6,0.000,0.044,2945,2056,2428,0,0,0,0,0,0
$GC,6413,-0.69,-116.8,610.3,-9.4,406,6417,0.00,2.25,0.00,0.000,4,0.000,0.058,2945,651,2429,0,0,0,0,0,0
$GC,6446,-0.69,-116.8,613.5,-10.0,407,6451,0.05,2.28,0.00,0.000,6,0.148,0.045,2954,2064,2428,0,0,0,0,0,0
$GC,6767,-0.69,-116.8,639.6,-8.0,423,6772,0.00,2.30,0.00,0.000,4,0.000,0.066,2943,3470,2428,0,0,0,0,0,0
$GC,6800,-0.69,-116.8,642.4,-7.7,424,6806,0.00,2.25,0.00,0.000,6,0.000,0.044,2944,2057,2428,0,0,0,0,0,0
$GC,7115,-0.69,-116.8,668.6,-8.2,440,7120,0.05,2.28,0.00,0.000,4,0.223,0.059,2960,652,2428,0,0,0,0,0,0
$GC,7177,-0.69,-116.8,673.3,-7.6,443,7181,0.00,2.25,0.00,0.000,6,0.000,0.046,2951,2066,2428,0,0,0,0,0,0
$GC,7504,-0.69,-116.8,698.9,-8.0,459,7508,0.00,2.30,0.00,0.000,4,0.000,0.066,2941,3471,2428,0,0,0,0,0,0
$GC,7588,-0.69,-116.8,706.1,-8.7,463,7593,0.08,2.20,0.00,0.000,6,0.178,0.044,2958,2054,2428,0,0,0,0,0,0
$GC,7916,-0.73,-116.8,730.3,-7.6,479,7920,0.00,2.28,0.00,0.000,4,0.000,0.058,2960,652,2428,0,0,0,0,0,0
$GC,7959,-0.73,-116.8,734.1,-7.9,481,7963,0.00,2.28,0.00,0.000,6,0.000,0.046,2951,2083,2428,0,0,0,0,0,0
$GC,8287,-0.73,-116.8,759.7,-7.7,497,8291,0.00,2.25,0.00,0.000,4,0.000,0.066,2941,3466,2427,0,0,0,0,0,0
$GC,8380,-0.73,-116.8,767.6,-8.6,501,8385,0.00,2.22,0.00,0.000,6,0.000,0.042,2941,2057,2428,0,0,0,0,0,0
$GC,8702,-0.73,-116.8,794.8,-8.7,517,8706,0.00,2.25,0.00,0.000,4,0.000,0.058,2941,656,2427,0,0,0,0,0,0
$GC,8768,-0.73,-116.8,800.8,-9.4,520,8773,0.00,2.25,0.00,0.000,6,0.000,0.045,2932,2056,2428,0,0,0,0,0,0
$GC,9095,-0.73,-116.8,829.3,-8.7,536,9100,0.05,2.30,0.00,0.000,4,0.215,0.060,2933,3468,2427,0,0,0,0,0,0
$GC,9157,-0.73,-116.8,834.8,-9.3,539,9161,0.00,2.20,0.00,0.000,6,0.000,0.041,2933,2057,2427,0,0,0,0,0,0
$GC,9483,-0.73,-116.8,863.8,-8.9,555,9487,0.00,2.25,0.00,0.000,4,0.000,0.057,2933,654,2426,0,0,0,0,0,0
$GC,9533,-0.69,-116.8,868.6,-9.6,557,9537,0.12,2.28,0.00,0.000,6,0.164,0.045,2957,2082,2426,0,0,0,0,0,0
$GC,9856,-0.74,-116.8,893.5,-7.5,573,9860,0.00,2.28,0.00,0.000,4,0.000,0.064,2947,3475,2426,0,0,0,0,0,0
$GC,9905,-0.79,-116.8,897.6,-8.1,575,9909,0.00,2.20,0.00,0.000,6,0.000,0.044,2947,2059,2426,0,0,0,0,0,0
$GC,10227,-0.79,-116.8,921.4,-7.2,591,10231,0.00,2.25,0.00,0.000,4,0.000,0.057,2948,652,2426,0,0,0,0,0,0
$GC,10315,-0.79,-116.8,928.8,-8.2,595,10319,0.00,2.28,0.00,0.000,6,0.000,0.044,2939,2067,2426,0,0,0,0,0,0
$GC,10643,-0.79,-116.8,951.8,-7.2,611,10647,0.00,2.30,0.00,0.000,4,0.000,0.065,2928,3476,2425,0,0,0,0,0,0
$GC,10710,-0.79,-116.8,956.8,-8.2,614,10714,0.00,2.22,0.00,0.000,6,0.000,0.043,2928,2055,2425,0,0,0,0,0,0
$GC,11030,-0.79,-116.8,980.8,-7.6,630,11034,0.00,2.28,0.00,0.000,4,0.000,0.057,2928,650,2425,0,0,0,0,0,0
$GC,11086,-0.75,-116.8,985.5,-7.8,632,11090,0.10,2.25,0.00,0.000,6,0.176,0.045,2945,2064,2425,0,0,0,0,0,0
$STATE,11295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11295,begin apogee
$GC,11301,-0.19,0.0,1000.4,6.8,642,11413,0.57,0.00,108.70,1.285,6,0.143,0.000,3120,1593,1950,0,0,0,0,0,0
$STATE,11413,end apogee,CONTROL_FINISHED_OK
$STATE,11414,begin climb
$GC,11415,0.76,116.8,1002.3,0.0,647,11538,0.93,2.55,114.47,1.238,4,0.090,0.055,3436,201,1473,0,0,0,0,0,0
$GC,11616,0.76,116.8,987.4,10.1,656,11621,0.00,2.40,0.00,0.000,6,0.000,0.036,3436,1609,1469,0,0,0,0,0,0
$GC,11937,0.73,116.8,955.3,9.9,672,11942,0.08,2.40,0.00,0.000,4,0.182,0.054,3427,200,1466,0,0,0,0,0,0
$GC,11975,0.73,116.8,951.5,9.1,674,11979,0.00,2.28,0.00,0.000,6,0.000,0.036,3427,1610,1466,0,0,0,0,0,0
$GC,12306,0.73,116.8,920.9,9.2,690,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1611,1465,0,0,0,0,0,0
$GC,12617,0.74,133.8,894.6,7.7,705,12639,0.00,2.35,16.45,1.130,4,0.000,0.053,3437,199,1403,0,0,0,0,0,0
$GC,12702,0.74,133.8,887.4,9.1,709,12706,0.00,2.22,0.00,0.000,6,0.000,0.037,3437,1599,1401,0,0,0,0,0,0
$GC,13028,0.74,143.4,860.1,8.1,725,13044,0.00,2.33,10.30,1.044,4,0.000,0.054,3446,199,1365,0,0,0,0,0,0
$GC,13105,0.71,143.4,853.4,8.8,727,13110,0.12,2.22,0.00,0.000,6,0.148,0.037,3411,1600,1364,0,0,0,0,0,0
$GC,13421,0.77,157.8,828.9,7.8,743,13442,0.05,2.33,15.43,1.095,4,0.164,0.054,3458,196,1305,0,0,0,0,0,0
$GC,13488,0.72,157.8,822.2,10.7,746,13493,0.15,2.25,0.00,0.000,6,0.144,0.037,3416,1613,1304,0,0,0,0,0,0
$GC,13808,0.78,159.5,795.1,8.5,762,13813,0.03,2.35,0.00,0.000,4,0.239,0.055,3462,199,1303,0,0,0,0,0,0
$GC,13858,0.73,159.5,790.0,11.3,764,13862,0.15,2.20,0.00,0.000,6,0.143,0.037,3418,1600,1302,0,0,0,0,0,0
$GC,14178,0.77,159.5,761.2,9.2,780,14182,0.00,2.30,0.00,0.000,4,0.000,0.054,3427,199,1302,0,0,0,0,0,0
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$STATE,22156,end climb,SURFACE_DEPTH_REACHED
$STATE,22156,begin surface coast
$FINISH,1.8,1.023363
$STATE,22183,end surface coast,CONTROL_FINISHED_OK
$STATE,22183,begin surface
$SM_CCo,22260,0.00,0.000,0,0,820,276.94
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$TT8_MAMPS,0.026964
$HUMID,63.38
$INTERNAL_PRESSURE,9.23553
$TCM_TEMP,11.40
$XPDR_PINGS,1
$24V_AH,22.4,38.809
$10V_AH,9.7,40.772
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.350,255.075,358.300,0.000,0.000,27.145,19.217,316.177,0.250,0.000,44.461,2838.521,15499.205,481.676,3696.982,263.373,0.000,1964.191,0.000,3157.270,0.000,0.540,0.000
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$MEM,353256
$DATA_FILE_SIZE,93745,1268
$CAP_FILE_SIZE,218744,0
$CFSIZE,2097086464,2050850816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021015,202828,-4502.617,636.890,39,0.8,39,-24.4