version: 66.07.10.p01
glider: 573
mission: 12
dive: 435
start: 10 29 115 22 14 43
data:
$ID,573
$MISSION,12
$DIVE,435
$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,-22354.893
$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,31
$R_STBD_OVSHOOT,50
$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,434
$GPS1,291015,220523,-4459.304,628.700,38,1.0,38,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-69.5
$GPS2,291015,221422,-4459.298,628.747,18,1.0,18,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,338.9,8720,-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,25,-0.76,-116.8,0.0,0.0,0,46,0.00,0.00,-19.48,0.000,2,0.000,0.000,70,2086,1518,0,0,0,0,0,0
$GC,49,-0.76,-116.8,3.2,-2.5,3,113,11.73,2.38,-42.90,0.000,4,0.231,0.066,2931,655,2427,0,0,0,0,0,0
$GC,342,-0.66,-116.8,29.2,-11.3,50,350,0.12,2.25,0.00,0.000,6,0.136,0.041,2963,2047,2428,0,0,0,0,0,0
$GC,495,-0.66,-116.8,44.8,-10.2,75,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2047,2428,0,0,0,0,0,0
$GC,846,-0.66,-116.8,79.1,-9.5,136,851,0.00,2.28,0.00,0.000,4,0.000,0.058,2953,3466,2428,0,0,0,0,0,0
$GC,900,-0.66,-116.8,84.8,-9.8,140,905,0.03,2.22,0.00,0.000,6,0.173,0.037,2964,2050,2429,0,0,0,0,0,0
$GC,1222,-0.66,-116.8,113.7,-9.2,156,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2050,2429,0,0,0,0,0,0
$GC,1533,-0.66,-116.8,142.0,-9.3,171,1537,0.00,2.25,0.00,0.000,4,0.000,0.054,2963,654,2429,0,0,0,0,0,0
$GC,1553,-0.66,-116.8,144.3,-9.2,172,1558,0.00,2.25,0.00,0.000,6,0.000,0.039,2955,2069,2429,0,0,0,0,0,0
$GC,1881,-0.66,-116.8,176.0,-9.6,188,1886,0.05,2.25,0.00,0.000,4,0.230,0.059,2955,3468,2429,0,0,0,0,0,0
$GC,1953,-0.66,-116.8,182.9,-9.2,191,1957,0.00,2.20,0.00,0.000,6,0.000,0.038,2955,2063,2429,0,0,0,0,0,0
$GC,2277,-0.66,-116.8,212.8,-9.2,207,2281,0.03,2.28,0.00,0.000,4,0.268,0.053,2966,652,2429,0,0,0,0,0,0
$GC,2297,-0.66,-116.8,215.3,-9.8,208,2302,0.00,2.22,0.00,0.000,6,0.000,0.037,2957,2064,2429,0,0,0,0,0,0
$GC,2625,-0.66,-116.8,245.6,-9.4,224,2629,0.00,2.25,0.00,0.000,4,0.000,0.060,2946,3470,2429,0,0,0,0,0,0
$GC,2657,-0.66,-116.8,248.8,-10.0,225,2663,0.05,2.22,0.00,0.000,6,0.144,0.039,2964,2058,2429,0,0,0,0,0,0
$GC,2976,-0.66,-116.8,275.5,-8.3,241,2980,0.00,2.22,0.00,0.000,4,0.000,0.054,2964,658,2429,0,0,0,0,0,0
$GC,3025,-0.66,-116.8,280.3,-8.8,243,3029,0.00,2.22,0.00,0.000,6,0.000,0.040,2956,2058,2430,0,0,0,0,0,0
$GC,3347,-0.66,-116.8,309.4,-9.4,259,3351,0.05,2.28,0.00,0.000,4,0.227,0.060,2957,3471,2429,0,0,0,0,0,0
$GC,3390,-0.70,-116.8,313.6,-9.2,261,3394,0.00,2.17,0.00,0.000,6,0.000,0.040,2957,2060,2429,0,0,0,0,0,0
$GC,3718,-0.70,-116.8,344.2,-9.2,277,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2060,2429,0,0,0,0,0,0
$GC,4027,-0.70,-116.8,373.0,-9.4,292,4031,0.00,2.25,0.00,0.000,4,0.000,0.055,2957,658,2429,0,0,0,0,0,0
$GC,4047,-0.70,-116.8,375.4,-9.8,293,4052,0.00,2.22,0.00,0.000,6,0.000,0.041,2948,2058,2430,0,0,0,0,0,0
$GC,4375,-0.70,-116.8,406.6,-9.4,309,4379,0.00,2.25,0.00,0.000,4,0.000,0.060,2937,3466,2429,0,0,0,0,0,0
$GC,4407,-0.70,-116.8,409.9,-9.8,310,4414,0.05,2.20,0.00,0.000,6,0.150,0.038,2955,2064,2429,0,0,0,0,0,0
$GC,4722,-0.70,-116.8,437.8,-8.8,326,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2064,2429,0,0,0,0,0,0
$GC,5034,-0.70,-116.8,463.6,-8.2,341,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2064,2429,0,0,0,0,0,0
$GC,5342,-0.70,-116.8,488.7,-8.1,356,5346,0.00,2.28,0.00,0.000,4,0.000,0.054,2955,652,2429,0,0,0,0,0,0
$GC,5385,-0.70,-116.8,492.4,-8.3,358,5390,0.00,2.20,0.00,0.000,6,0.000,0.038,2946,2073,2429,0,0,0,0,0,0
$GC,5712,-0.70,-116.8,518.8,-8.2,374,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2073,2429,0,0,0,0,0,0
$GC,6022,-0.70,-116.8,544.6,-8.6,389,6026,0.00,2.25,0.00,0.000,4,0.000,0.059,2936,3471,2429,0,0,0,0,0,0
$GC,6088,-0.70,-116.8,550.5,-9.3,392,6093,0.10,2.20,0.00,0.000,6,0.165,0.041,2961,2054,2429,0,0,0,0,0,0
$GC,6415,-0.74,-116.8,576.7,-8.2,408,6419,0.00,2.28,0.00,0.000,4,0.000,0.057,2962,651,2429,0,0,0,0,0,0
$GC,6437,-0.77,-116.8,578.6,-8.4,409,6442,0.05,2.20,0.00,0.000,6,0.160,0.041,2913,2059,2429,0,0,0,0,0,0
$GC,6758,-0.71,-116.8,609.3,-9.4,425,6763,0.15,2.30,0.00,0.000,4,0.164,0.062,2944,3469,2428,0,0,0,0,0,0
$GC,6830,-0.71,-116.8,615.5,-8.7,428,6834,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2067,2428,0,0,0,0,0,0
$GC,7151,-0.71,-116.8,641.6,-8.4,444,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2067,2428,0,0,0,0,0,0
$GC,7461,-0.71,-116.8,667.0,-8.1,459,7465,0.00,2.30,0.00,0.000,4,0.000,0.056,2944,646,2428,0,0,0,0,0,0
$GC,7490,-0.71,-116.8,669.5,-9.2,460,7494,0.08,2.20,0.00,0.000,6,0.191,0.040,2952,2059,2428,0,0,0,0,0,0
$GC,7807,-0.74,-116.8,695.0,-8.2,475,7811,0.00,2.30,0.00,0.000,4,0.000,0.061,2942,3469,2427,0,0,0,0,0,0
$GC,7846,-0.74,-116.8,698.5,-8.8,477,7851,0.00,2.20,0.00,0.000,6,0.000,0.042,2942,2052,2427,0,0,0,0,0,0
$GC,8174,-0.74,-116.8,725.9,-8.3,493,8178,0.00,2.28,0.00,0.000,4,0.000,0.058,2942,657,2427,0,0,0,0,0,0
$GC,8223,-0.74,-116.8,730.4,-9.7,495,8227,0.00,2.25,0.00,0.000,6,0.000,0.041,2933,2059,2427,0,0,0,0,0,0
$GC,8545,-0.74,-116.8,756.6,-8.0,511,8549,0.00,2.28,0.00,0.000,4,0.000,0.062,2922,3465,2426,0,0,0,0,0,0
$GC,8607,-0.74,-116.8,762.0,-8.0,514,8611,0.08,2.20,0.00,0.000,6,0.181,0.041,2940,2057,2426,0,0,0,0,0,0
$GC,8937,-0.74,-116.8,786.4,-7.2,530,8941,0.00,2.28,0.00,0.000,4,0.000,0.057,2941,656,2426,0,0,0,0,0,0
$GC,8965,-0.74,-116.8,788.6,-8.1,531,8969,0.00,2.22,0.00,0.000,6,0.000,0.043,2931,2073,2426,0,0,0,0,0,0
$GC,9292,-0.74,-116.8,813.1,-7.5,547,9296,0.00,2.25,0.00,0.000,4,0.000,0.060,2921,3471,2426,0,0,0,0,0,0
$GC,9325,-0.74,-116.8,815.7,-8.4,548,9331,0.08,2.20,0.00,0.000,6,0.180,0.041,2939,2058,2426,0,0,0,0,0,0
$GC,9640,-0.74,-116.8,838.8,-7.3,564,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2058,2426,0,0,0,0,0,0
$GC,9951,-0.74,-116.8,860.7,-7.1,579,9955,0.00,2.25,0.00,0.000,4,0.000,0.056,2939,659,2426,0,0,0,0,0,0
$GC,10023,-0.74,-116.8,866.6,-7.5,582,10027,0.00,2.17,0.00,0.000,6,0.000,0.040,2931,2059,2426,0,0,0,0,0,0
$GC,10349,-0.74,-116.8,890.0,-7.2,598,10353,0.00,2.30,0.00,0.000,4,0.000,0.061,2920,3472,2425,0,0,0,0,0,0
$GC,10392,-0.74,-116.8,893.4,-7.8,600,10397,0.08,2.20,0.00,0.000,6,0.181,0.041,2938,2051,2425,0,0,0,0,0,0
$GC,10718,-0.74,-116.8,916.4,-6.9,616,10722,0.00,2.28,0.00,0.000,4,0.000,0.056,2939,649,2425,0,0,0,0,0,0
$GC,10757,-0.74,-116.8,919.5,-8.6,618,10761,0.00,2.22,0.00,0.000,6,0.000,0.041,2930,2071,2425,0,0,0,0,0,0
$GC,11082,-0.74,-116.8,944.8,-7.8,634,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2071,2425,0,0,0,0,0,0
$GC,11393,-0.74,-116.8,968.6,-7.5,649,11397,0.00,2.25,0.00,0.000,4,0.000,0.061,2919,3466,2424,0,0,0,0,0,0
$GC,11438,-0.74,-116.8,972.2,-8.0,651,11443,0.10,2.20,0.00,0.000,6,0.165,0.040,2945,2048,2424,0,0,0,0,0,0
$GC,11772,-0.79,-116.8,994.8,-6.7,667,11776,0.00,2.25,0.00,0.000,4,0.000,0.057,2946,658,2424,0,0,0,0,0,0
$GC,11805,-0.79,-116.8,997.4,-7.0,668,11809,0.00,2.17,0.00,0.000,6,0.000,0.038,2937,2063,2424,0,0,0,0,0,0
$STATE,11857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11857,begin apogee
$GC,11863,-0.19,0.0,1001.0,6.9,671,11978,0.60,0.00,110.15,1.266,6,0.137,0.000,3119,1590,1950,0,0,0,0,0,0
$STATE,11979,end apogee,CONTROL_FINISHED_OK
$STATE,11979,begin climb
$GC,11981,0.76,116.8,1002.7,0.0,677,12108,0.93,2.55,117.53,1.222,4,0.086,0.055,3436,200,1473,0,0,0,0,0,0
$GC,12148,0.76,116.8,990.5,10.9,685,12153,0.00,2.40,0.00,0.000,6,0.000,0.035,3436,1610,1470,0,0,0,0,0,0
$GC,12475,0.76,116.8,958.5,9.7,701,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1611,1465,0,0,0,0,0,0
$GC,12785,0.76,116.8,928.1,9.9,716,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1611,1464,0,0,0,0,0,0
$GC,13094,0.76,116.8,898.5,9.6,731,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1611,1463,0,0,0,0,0,0
$GC,13403,0.76,116.8,868.1,10.1,746,13407,0.00,2.33,0.00,0.000,4,0.000,0.056,3447,189,1462,0,0,0,0,0,0
$GC,13453,0.76,116.8,862.8,10.6,748,13457,0.05,2.22,0.00,0.000,6,0.137,0.036,3427,1593,1461,0,0,0,0,0,0
$GC,13775,0.76,116.8,831.9,9.5,764,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1593,1461,0,0,0,0,0,0
$GC,14084,0.76,116.8,804.0,8.8,779,14088,0.00,2.28,0.00,0.000,4,0.000,0.054,3436,192,1461,0,0,0,0,0,0
$GC,14194,0.76,116.8,793.7,9.4,784,14199,0.00,2.22,0.00,0.000,6,0.000,0.035,3436,1603,1461,0,0,0,0,0,0
$GC,14521,0.76,125.2,766.2,8.1,800,14530,0.00,0.00,7.40,0.923,6,0.000,0.000,3436,1603,1438,0,0,0,0,0,0
$GC,14832,0.77,134.2,741.1,8.1,815,14847,0.00,2.22,10.38,0.986,4,0.000,0.052,3436,2997,1402,0,0,0,0,0,0
$GC,14893,0.77,134.2,735.9,9.3,817,14897,0.00,2.17,0.00,0.000,6,0.000,0.037,3445,1592,1402,0,0,0,0,0,0
$GC,15220,0.77,135.1,707.7,8.5,833,15224,0.00,2.28,0.00,0.000,4,0.000,0.057,3457,197,1400,0,0,0,0,0,0
$GC,15308,0.77,135.1,699.4,9.4,837,15313,0.05,2.22,0.00,0.000,6,0.138,0.037,3436,1604,1400,0,0,0,0,0,0
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$STATE,22934,end climb,SURFACE_DEPTH_REACHED
$STATE,22934,begin surface coast
$FINISH,1.9,1.015485
$STATE,22978,end surface coast,CONTROL_FINISHED_OK
$STATE,22979,begin surface
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$10V_AH,9.6,54.421
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.750,167.950,279.900,17.850,0.000,26.257,25.418,326.994,0.000,0.000,21.555,2832.474,16513.502,415.112,3492.623,290.590,0.000,1727.033,0.000,2964.428,0.000,0.540,0.000
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$MEM,353212
$DATA_FILE_SIZE,94015,1310
$CAP_FILE_SIZE,193087,0
$CFSIZE,2097086464,2035023872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301015,043934,-4456.740,628.291,40,0.9,40,-24.4