version: 66.07.10.p01
glider: 573
mission: 12
dive: 451
start: 11 2 115 13 29 24
data:
$ID,573
$MISSION,12
$DIVE,451
$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,-22404.236
$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,38
$R_STBD_OVSHOOT,29
$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,450
$GPS1,021115,132133,-4504.391,635.562,30,0.9,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-69.2
$GPS2,021115,132904,-4504.426,635.646,19,0.9,19,-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,297.4,15253,-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,-116.8,0.0,0.0,0,47,0.00,0.00,-19.90,0.000,2,0.000,0.000,63,2045,1525,0,0,0,0,0,0
$GC,50,-0.76,-116.8,3.1,-0.9,3,107,11.88,2.35,-38.50,0.000,4,0.233,0.072,2925,3472,2424,0,0,0,0,0,0
$GC,143,-0.66,-116.8,6.8,-8.5,17,151,0.12,2.28,0.00,0.000,6,0.142,0.043,2964,2064,2426,0,0,0,0,0,0
$GC,202,-0.66,-116.8,12.3,-8.5,26,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2064,2427,0,0,0,0,0,0
$GC,260,-0.66,-116.8,17.7,-9.1,35,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2064,2427,0,0,0,0,0,0
$GC,318,-0.66,-116.8,23.1,-9.3,44,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2064,2427,0,0,0,0,0,0
$GC,473,-0.66,-116.8,38.7,-9.9,69,480,0.00,2.33,0.00,0.000,4,0.000,0.054,2964,644,2427,0,0,0,0,0,0
$GC,523,-0.66,-116.8,43.9,-10.2,77,528,0.00,2.25,0.00,0.000,6,0.000,0.037,2955,2071,2427,0,0,0,0,0,0
$GC,871,-0.66,-116.8,79.2,-10.2,138,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2071,2428,0,0,0,0,0,0
$GC,1197,-0.66,-116.8,111.9,-9.8,155,1201,0.00,2.25,0.00,0.000,4,0.000,0.059,2945,3468,2428,0,0,0,0,0,0
$GC,1329,-0.66,-116.8,125.2,-9.5,161,1334,0.10,2.22,0.00,0.000,6,0.170,0.040,2970,2046,2428,0,0,0,0,0,0
$GC,1659,-0.66,-116.8,153.2,-8.2,177,1663,0.00,2.22,0.00,0.000,4,0.000,0.054,2970,658,2428,0,0,0,0,0,0
$GC,1702,-0.66,-116.8,156.9,-9.1,179,1706,0.00,2.20,0.00,0.000,6,0.000,0.038,2962,2060,2428,0,0,0,0,0,0
$GC,2031,-0.66,-116.8,184.6,-8.5,195,2035,0.00,2.28,0.00,0.000,4,0.000,0.061,2951,3463,2428,0,0,0,0,0,0
$GC,2097,-0.66,-116.8,190.6,-8.8,198,2102,0.03,2.22,0.00,0.000,6,0.173,0.039,2962,2053,2428,0,0,0,0,0,0
$GC,2424,-0.66,-116.8,218.8,-9.1,214,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2052,2428,0,0,0,0,0,0
$GC,2735,-0.66,-116.8,246.4,-8.8,229,2739,0.00,2.25,0.00,0.000,4,0.000,0.055,2962,661,2428,0,0,0,0,0,0
$GC,2762,-0.66,-116.8,249.2,-9.5,230,2767,0.00,2.22,0.00,0.000,6,0.000,0.038,2953,2061,2428,0,0,0,0,0,0
$GC,3084,-0.66,-116.8,278.0,-9.0,246,3089,0.05,2.30,0.00,0.000,4,0.229,0.063,2954,3463,2428,0,0,0,0,0,0
$GC,3124,-0.66,-116.8,281.5,-8.8,248,3128,0.00,2.20,0.00,0.000,6,0.000,0.039,2954,2048,2428,0,0,0,0,0,0
$GC,3449,-0.66,-116.8,309.9,-8.5,264,3453,0.00,2.22,0.00,0.000,4,0.000,0.055,2954,661,2428,0,0,0,0,0,0
$GC,3476,-0.66,-116.8,312.5,-9.3,265,3481,0.05,2.22,0.00,0.000,6,0.152,0.038,2962,2063,2428,0,0,0,0,0,0
$GC,3800,-0.70,-116.8,338.4,-7.9,281,3804,0.00,2.28,0.00,0.000,4,0.000,0.063,2952,3463,2428,0,0,0,0,0,0
$GC,3832,-0.70,-116.8,341.3,-8.7,282,3838,0.00,2.22,0.00,0.000,6,0.000,0.040,2952,2055,2428,0,0,0,0,0,0
$GC,4147,-0.70,-116.8,365.9,-7.6,298,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2055,2428,0,0,0,0,0,0
$GC,4458,-0.70,-116.8,389.7,-7.7,313,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2055,2428,0,0,0,0,0,0
$GC,4766,-0.70,-116.8,414.4,-8.2,328,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2055,2428,0,0,0,0,0,0
$GC,5077,-0.70,-116.8,438.9,-7.8,343,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2055,2428,0,0,0,0,0,0
$GC,5385,-0.70,-116.8,463.8,-8.1,358,5389,0.00,2.28,0.00,0.000,4,0.000,0.058,2952,658,2428,0,0,0,0,0,0
$GC,5447,-0.70,-116.8,469.1,-7.9,361,5451,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,2065,2428,0,0,0,0,0,0
$GC,5774,-0.70,-116.8,498.6,-9.2,377,5776,0.05,0.00,0.00,0.000,6,0.228,0.000,2954,2065,2428,0,0,0,0,0,0
$GC,6082,-0.70,-116.8,526.3,-8.9,392,6087,0.00,2.30,0.00,0.000,4,0.000,0.063,2944,3469,2428,0,0,0,0,0,0
$GC,6121,-0.70,-116.8,529.8,-9.7,394,6126,0.00,2.20,0.00,0.000,6,0.000,0.042,2944,2063,2428,0,0,0,0,0,0
$GC,6447,-0.70,-116.8,559.1,-8.8,410,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2428,0,0,0,0,0,0
$GC,6758,-0.70,-116.8,586.2,-8.6,425,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2062,2427,0,0,0,0,0,0
$GC,7066,-0.70,-116.8,613.1,-8.5,440,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2427,0,0,0,0,0,0
$GC,7377,-0.70,-116.8,638.8,-8.3,455,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2062,2427,0,0,0,0,0,0
$GC,7686,-0.70,-116.8,663.1,-7.5,470,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2062,2426,0,0,0,0,0,0
$GC,7995,-0.70,-116.8,685.6,-7.2,485,7999,0.00,2.30,0.00,0.000,4,0.000,0.056,2944,649,2426,0,0,0,0,0,0
$GC,8058,-0.70,-116.8,690.6,-8.3,488,8063,0.10,2.22,0.00,0.000,6,0.171,0.040,2960,2062,2426,0,0,0,0,0,0
$GC,8386,-0.75,-116.8,713.7,-7.3,504,8390,0.00,2.30,0.00,0.000,4,0.000,0.063,2950,3464,2426,0,0,0,0,0,0
$GC,8413,-0.79,-116.8,715.9,-8.0,505,8418,0.08,2.20,0.00,0.000,6,0.119,0.041,2905,2053,2426,0,0,0,0,0,0
$GC,8734,-0.73,-116.8,746.1,-9.3,521,8736,0.15,0.00,0.00,0.000,6,0.158,0.000,2947,2053,2425,0,0,0,0,0,0
$GC,9042,-0.73,-116.8,769.0,-7.3,536,9046,0.00,2.35,0.00,0.000,4,0.000,0.063,2937,3468,2425,0,0,0,0,0,0
$GC,9085,-0.73,-116.8,772.3,-7.6,538,9089,0.00,2.22,0.00,0.000,6,0.000,0.043,2937,2059,2425,0,0,0,0,0,0
$GC,9412,-0.73,-116.8,796.6,-7.5,554,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2059,2425,0,0,0,0,0,0
$GC,9722,-0.73,-116.8,820.2,-7.4,569,9726,0.00,2.28,0.00,0.000,4,0.000,0.057,2937,654,2424,0,0,0,0,0,0
$GC,9755,-0.73,-116.8,823.2,-8.3,570,9760,0.08,2.25,0.00,0.000,6,0.186,0.044,2946,2068,2425,0,0,0,0,0,0
$GC,10077,-0.76,-116.8,847.4,-7.4,586,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2069,2425,0,0,0,0,0,0
$GC,10387,-0.76,-116.8,870.4,-7.3,601,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2070,2425,0,0,0,0,0,0
$GC,10695,-0.80,-116.8,893.1,-7.4,616,10700,0.05,2.30,0.00,0.000,4,0.165,0.062,2893,3467,2424,0,0,0,0,0,0
$GC,10734,-0.72,-116.8,896.4,-8.8,618,10738,0.20,2.22,0.00,0.000,6,0.146,0.040,2950,2049,2425,0,0,0,0,0,0
$GC,11061,-0.77,-116.8,920.2,-7.4,634,11065,0.00,2.28,0.00,0.000,4,0.000,0.057,2950,651,2425,0,0,0,0,0,0
$GC,11105,-0.77,-116.8,923.7,-8.3,636,11109,0.00,2.25,0.00,0.000,6,0.000,0.042,2942,2071,2424,0,0,0,0,0,0
$GC,11431,-0.77,-116.8,948.4,-7.3,652,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2072,2424,0,0,0,0,0,0
$GC,11742,-0.77,-116.8,971.5,-7.4,667,11746,0.00,2.28,0.00,0.000,4,0.000,0.061,2931,3463,2424,0,0,0,0,0,0
$GC,11808,-0.77,-116.8,976.7,-7.6,670,11812,0.00,2.20,0.00,0.000,6,0.000,0.040,2931,2057,2423,0,0,0,0,0,0
$STATE,12132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12132,begin apogee
$GC,12138,-0.19,0.0,1001.2,7.6,686,12254,0.62,0.00,110.72,1.266,6,0.138,0.000,3120,1591,1949,0,0,0,0,0,0
$STATE,12255,end apogee,CONTROL_FINISHED_OK
$STATE,12255,begin climb
$GC,12257,0.76,116.8,1003.8,0.0,692,12379,0.95,0.00,118.50,1.222,6,0.087,0.000,3429,1591,1474,0,0,0,0,0,0
$GC,12685,0.77,132.1,971.8,7.8,713,12703,0.00,0.00,15.60,1.128,6,0.000,0.000,3428,1591,1411,0,0,0,0,0,0
$GC,13015,0.78,143.2,945.5,8.0,729,13034,0.00,2.40,12.05,1.080,4,0.000,0.058,3440,192,1366,0,0,0,0,0,0
$GC,13084,0.78,155.1,939.7,8.0,732,13104,0.00,2.30,13.88,1.095,6,0.000,0.037,3440,1615,1316,0,0,0,0,0,0
$GC,13433,0.79,168.1,911.7,7.9,749,13449,0.00,0.00,14.05,1.098,6,0.000,0.000,3439,1615,1263,0,0,0,0,0,0
$GC,13762,0.83,173.0,884.4,8.3,765,13772,0.00,2.35,5.70,0.866,4,0.000,0.055,3450,189,1244,0,0,0,0,0,0
$GC,13805,0.83,173.0,880.2,10.0,767,13809,0.00,2.25,0.00,0.000,6,0.000,0.037,3449,1599,1244,0,0,0,0,0,0
$GC,14133,0.83,173.0,848.3,10.1,783,14134,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1599,1243,0,0,0,0,0,0
$GC,14441,0.83,173.0,815.8,11.1,798,14445,0.00,2.30,0.00,0.000,4,0.000,0.056,3459,190,1242,0,0,0,0,0,0
$GC,14473,0.83,173.0,812.1,11.5,799,14477,0.00,2.22,0.00,0.000,6,0.000,0.037,3459,1599,1242,0,0,0,0,0,0
$GC,14795,0.83,173.0,775.6,11.1,815,14796,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1599,1242,0,0,0,0,0,0
$GC,15103,0.83,173.0,740.0,11.6,830,15104,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1599,1242,0,0,0,0,0,0
$GC,15414,0.83,173.0,704.6,11.3,845,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1599,1242,0,0,0,0,0,0
$GC,15722,0.83,173.0,671.0,10.7,860,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1599,1241,0,0,0,0,0,0
$GC,16032,0.83,173.0,639.1,10.4,875,16036,0.00,2.30,0.00,0.000,4,0.000,0.056,3469,196,1241,0,0,0,0,0,0
$GC,16087,0.83,173.0,632.8,10.4,877,16093,0.05,2.20,0.00,0.000,6,0.132,0.037,3448,1589,1241,0,0,0,0,0,0
$GC,16404,0.87,173.0,599.9,10.5,893,16408,0.00,2.30,0.00,0.000,4,0.000,0.056,3458,189,1241,0,0,0,0,0,0
$GC,16465,0.87,173.0,593.0,10.1,896,16469,0.00,2.20,0.00,0.000,6,0.000,0.037,3458,1605,1240,0,0,0,0,0,0
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$STATE,22344,end climb,SURFACE_DEPTH_REACHED
$STATE,22344,begin surface coast
$FINISH,1.9,1.023393
$STATE,22382,end surface coast,CONTROL_FINISHED_OK
$STATE,22383,begin surface
$SM_CCo,22401,13.15,0.056,0,0,1132,200.16
$SM_GC,3.79,0.00,0.00,13.15,0.000,0.000,0.056,74,2054,1132,-9.72,-0.17,200.16
$IRIDIUM_FIX,-4447.43,634.22,280808,222255
$TT8_MAMPS,0.026964
$HUMID,64.72
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.20
$XPDR_PINGS,1
$24V_AH,22.0,53.538
$10V_AH,9.6,56.242
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.650,150.075,290.500,13.150,0.000,24.856,18.923,264.820,0.250,0.000,21.504,2740.626,16119.775,442.019,3277.490,286.505,0.000,1685.023,0.000,2830.320,0.000,0.539,0.000
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$MEM,353256
$DATA_FILE_SIZE,93745,1276
$CAP_FILE_SIZE,182872,0
$CFSIZE,2097086464,2032926720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021115,194403,-4505.033,633.432,27,1.4,27,-24.4