version: 66.07.10.p01
glider: 573
mission: 12
dive: 527
start: 11 19 115 7 46 8
data:
$ID,573
$MISSION,12
$DIVE,527
$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,-22641.969
$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,36
$R_STBD_OVSHOOT,30
$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,526
$GPS1,191115,073521,-4505.546,630.516,43,0.9,43,-24.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-66.6
$GPS2,191115,074548,-4505.476,630.645,28,1.8,28,-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,311.9,9111,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.76,-116.8,0.0,0.0,0,42,0.00,0.00,-13.40,0.000,2,0.000,0.000,67,2050,1400,0,0,0,0,0,0
$GC,45,-0.76,-116.8,3.0,-2.0,2,109,11.60,2.35,-42.03,0.000,4,0.223,0.070,2932,655,2428,0,0,0,0,0,0
$GC,132,-0.63,-116.8,9.3,-13.3,15,140,0.15,2.28,0.00,0.000,6,0.142,0.044,2970,2051,2429,0,0,0,0,0,0
$GC,191,-0.63,-116.8,17.9,-14.9,24,198,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2051,2430,0,0,0,0,0,0
$GC,249,-0.63,-116.8,25.5,-12.2,33,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2051,2430,0,0,0,0,0,0
$GC,405,-0.63,-116.8,37.6,-5.5,58,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2051,2430,0,0,0,0,0,0
$GC,552,-0.63,-116.8,47.7,-8.0,83,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2051,2430,0,0,0,0,0,0
$GC,900,-0.66,-116.8,80.2,-8.7,144,904,0.00,2.28,0.00,0.000,4,0.000,0.058,2960,3466,2430,0,0,0,0,0,0
$GC,951,-0.69,-116.8,85.1,-9.6,146,955,0.00,2.20,0.00,0.000,6,0.000,0.038,2960,2053,2430,0,0,0,0,0,0
$GC,1272,-0.69,-116.8,115.8,-9.9,162,1276,0.00,2.22,0.00,0.000,4,0.000,0.054,2960,659,2430,0,0,0,0,0,0
$GC,1396,-0.69,-116.8,129.4,-10.2,167,1400,0.00,2.22,0.00,0.000,6,0.000,0.041,2951,2054,2430,0,0,0,0,0,0
$GC,1720,-0.69,-116.8,161.3,-9.9,183,1724,0.00,2.28,0.00,0.000,4,0.000,0.057,2941,3469,2430,0,0,0,0,0,0
$GC,1763,-0.69,-116.8,165.7,-10.6,185,1768,0.08,2.20,0.00,0.000,6,0.178,0.039,2960,2052,2431,0,0,0,0,0,0
$GC,2091,-0.69,-116.8,197.4,-9.7,201,2095,0.00,2.25,0.00,0.000,4,0.000,0.054,2960,651,2431,0,0,0,0,0,0
$GC,2209,-0.69,-116.8,209.3,-8.9,206,2213,0.00,2.25,0.00,0.000,6,0.000,0.041,2951,2063,2431,0,0,0,0,0,0
$GC,2531,-0.69,-116.8,238.5,-8.8,222,2535,0.00,2.28,0.00,0.000,4,0.000,0.063,2940,3463,2431,0,0,0,0,0,0
$GC,2574,-0.69,-116.8,242.6,-9.1,224,2579,0.08,2.20,0.00,0.000,6,0.177,0.039,2959,2046,2431,0,0,0,0,0,0
$GC,2902,-0.69,-116.8,271.2,-8.9,240,2906,0.00,2.22,0.00,0.000,4,0.000,0.053,2959,653,2431,0,0,0,0,0,0
$GC,2929,-0.69,-116.8,274.0,-9.5,241,2933,0.00,2.22,0.00,0.000,6,0.000,0.040,2950,2066,2431,0,0,0,0,0,0
$GC,3256,-0.69,-116.8,303.5,-8.8,257,3260,0.00,2.28,0.00,0.000,4,0.000,0.062,2940,3469,2431,0,0,0,0,0,0
$GC,3300,-0.69,-116.8,307.7,-9.0,259,3305,0.08,2.22,0.00,0.000,6,0.177,0.041,2958,2061,2431,0,0,0,0,0,0
$GC,3629,-0.73,-116.8,335.1,-8.5,275,3633,0.00,2.25,0.00,0.000,4,0.000,0.054,2959,660,2431,0,0,0,0,0,0
$GC,3708,-0.73,-116.8,342.5,-9.0,278,3714,0.00,2.20,0.00,0.000,6,0.000,0.040,2950,2064,2431,0,0,0,0,0,0
$GC,4023,-0.73,-116.8,371.0,-9.1,294,4027,0.00,2.25,0.00,0.000,4,0.000,0.063,2939,3465,2431,0,0,0,0,0,0
$GC,4060,-0.73,-116.8,374.7,-9.5,295,4065,0.00,2.20,0.00,0.000,6,0.000,0.038,2939,2063,2431,0,0,0,0,0,0
$GC,4377,-0.73,-116.8,403.8,-9.1,311,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2063,2430,0,0,0,0,0,0
$GC,4685,-0.73,-116.8,430.8,-8.6,326,4689,0.00,2.22,0.00,0.000,4,0.000,0.053,2939,658,2431,0,0,0,0,0,0
$GC,4751,-0.73,-116.8,436.7,-8.6,329,4756,0.03,2.22,0.00,0.000,6,0.169,0.041,2941,2053,2431,0,0,0,0,0,0
$GC,5079,-0.73,-116.8,463.6,-8.3,345,5083,0.00,2.28,0.00,0.000,4,0.000,0.057,2930,3471,2430,0,0,0,0,0,0
$GC,5111,-0.73,-116.8,466.5,-8.1,346,5117,0.05,2.20,0.00,0.000,6,0.205,0.040,2943,2052,2431,0,0,0,0,0,0
$GC,5426,-0.73,-116.8,492.6,-8.4,362,5430,0.00,2.25,0.00,0.000,4,0.000,0.054,2943,651,2430,0,0,0,0,0,0
$GC,5475,-0.73,-116.8,497.2,-9.4,364,5479,0.00,2.25,0.00,0.000,6,0.000,0.041,2935,2060,2430,0,0,0,0,0,0
$GC,5796,-0.73,-116.8,526.4,-9.2,380,5800,0.00,2.28,0.00,0.000,4,0.000,0.063,2924,3463,2430,0,0,0,0,0,0
$GC,5858,-0.73,-116.8,532.0,-8.7,383,5863,0.08,2.20,0.00,0.000,6,0.177,0.040,2944,2051,2430,0,0,0,0,0,0
$GC,6185,-0.73,-116.8,559.9,-8.2,399,6189,0.00,2.25,0.00,0.000,4,0.000,0.054,2944,654,2430,0,0,0,0,0,0
$GC,6228,-0.73,-116.8,563.9,-9.1,401,6232,0.00,2.25,0.00,0.000,6,0.000,0.041,2935,2061,2430,0,0,0,0,0,0
$GC,6556,-0.73,-116.8,591.5,-8.3,417,6560,0.00,2.30,0.00,0.000,4,0.000,0.063,2924,3466,2430,0,0,0,0,0,0
$GC,6628,-0.73,-116.8,598.0,-9.0,420,6633,0.05,2.22,0.00,0.000,6,0.137,0.041,2952,2062,2430,0,0,0,0,0,0
$GC,6951,-0.78,-116.8,623.5,-8.1,436,6953,0.05,0.00,0.00,0.000,6,0.164,0.000,2915,2062,2430,0,0,0,0,0,0
$GC,7260,-0.75,-116.8,652.6,-9.4,451,7264,0.10,2.30,0.00,0.000,4,0.164,0.055,2941,645,2430,0,0,0,0,0,0
$GC,7300,-0.75,-116.8,656.2,-8.3,453,7304,0.00,2.22,0.00,0.000,6,0.000,0.038,2932,2063,2430,0,0,0,0,0,0
$GC,7627,-0.75,-116.8,684.6,-8.4,469,7631,0.00,2.30,0.00,0.000,4,0.000,0.064,2922,3465,2430,0,0,0,0,0,0
$GC,7648,-0.75,-116.8,686.8,-9.8,470,7653,0.08,2.22,0.00,0.000,6,0.174,0.040,2941,2055,2429,0,0,0,0,0,0
$GC,7974,-0.75,-116.8,713.5,-8.3,486,7978,0.00,2.28,0.00,0.000,4,0.000,0.055,2941,650,2429,0,0,0,0,0,0
$GC,8018,-0.75,-116.8,717.4,-8.9,488,8022,0.00,2.25,0.00,0.000,6,0.000,0.042,2932,2053,2429,0,0,0,0,0,0
$GC,8344,-0.75,-116.8,745.3,-8.8,504,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2053,2429,0,0,0,0,0,0
$GC,8656,-0.75,-116.8,771.1,-8.0,519,8659,0.00,2.28,0.00,0.000,4,0.000,0.060,2922,3468,2429,0,0,0,0,0,0
$GC,8727,-0.75,-116.8,777.2,-8.8,522,8732,0.05,2.22,0.00,0.000,6,0.138,0.040,2949,2065,2429,0,0,0,0,0,0
$GC,9055,-0.80,-116.8,799.6,-6.9,538,9057,0.08,0.00,0.00,0.000,6,0.122,0.000,2909,2065,2429,0,0,0,0,0,0
$GC,9364,-0.80,-116.8,824.8,-8.3,553,9369,0.05,2.28,0.00,0.000,4,0.208,0.055,2921,653,2428,0,0,0,0,0,0
$GC,9419,-0.80,-116.8,829.9,-8.9,555,9424,0.00,2.22,0.00,0.000,6,0.000,0.041,2913,2062,2428,0,0,0,0,0,0
$GC,9735,-0.80,-116.8,856.8,-8.7,571,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2062,2428,0,0,0,0,0,0
$GC,10044,-0.80,-116.8,883.6,-8.5,586,10048,0.00,2.30,0.00,0.000,4,0.000,0.064,2902,3465,2428,0,0,0,0,0,0
$GC,10099,-0.80,-116.8,888.7,-9.1,588,10105,0.05,2.22,0.00,0.000,6,0.144,0.041,2930,2063,2428,0,0,0,0,0,0
$GC,10414,-0.80,-116.8,913.6,-8.0,604,10418,0.00,2.25,0.00,0.000,4,0.000,0.054,2929,646,2428,0,0,0,0,0,0
$GC,10446,-0.80,-116.8,916.5,-9.9,605,10451,0.00,2.22,0.00,0.000,6,0.000,0.038,2922,2070,2428,0,0,0,0,0,0
$GC,10763,-0.80,-116.8,943.1,-8.5,621,10767,0.00,2.28,0.00,0.000,4,0.000,0.061,2911,3466,2428,0,0,0,0,0,0
$GC,10829,-0.80,-116.8,949.2,-9.5,624,10833,0.00,2.22,0.00,0.000,6,0.000,0.039,2911,2055,2427,0,0,0,0,0,0
$GC,11155,-0.80,-116.8,978.7,-9.0,640,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2055,2427,0,0,0,0,0,0
$STATE,11422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11422,begin apogee
$GC,11429,-0.19,0.0,1001.6,8.5,653,11544,0.68,0.00,112.47,1.261,6,0.138,0.000,3115,1599,1950,0,0,0,0,0,0
$STATE,11545,end apogee,CONTROL_FINISHED_OK
$STATE,11545,begin climb
$GC,11548,0.76,116.8,1004.5,0.0,659,11671,0.98,0.00,120.07,1.213,6,0.087,0.000,3430,1599,1474,0,0,0,0,0,0
$GC,11973,0.76,116.8,969.9,9.6,680,11977,0.00,2.35,0.00,0.000,4,0.000,0.056,3440,200,1467,0,0,0,0,0,0
$GC,12061,0.76,116.8,960.4,10.8,684,12066,0.00,2.28,0.00,0.000,6,0.000,0.037,3441,1623,1465,0,0,0,0,0,0
$GC,12388,0.76,116.8,928.0,10.1,700,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1624,1464,0,0,0,0,0,0
$GC,12698,0.76,116.8,897.5,9.8,715,12700,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1624,1464,0,0,0,0,0,0
$GC,13006,0.76,116.8,868.7,9.0,730,13010,0.00,2.35,0.00,0.000,4,0.000,0.054,3451,192,1463,0,0,0,0,0,0
$GC,13090,0.76,116.8,860.7,9.5,734,13095,0.08,2.20,0.00,0.000,6,0.177,0.037,3431,1598,1462,0,0,0,0,0,0
$GC,13417,0.77,133.0,835.1,7.7,750,13438,0.00,2.30,15.57,1.087,4,0.000,0.053,3440,199,1406,0,0,0,0,0,0
$GC,13505,0.77,133.0,827.1,9.0,754,13510,0.00,2.22,0.00,0.000,6,0.000,0.037,3440,1616,1404,0,0,0,0,0,0
$GC,13832,0.77,133.1,799.1,8.5,770,13833,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1616,1404,0,0,0,0,0,0
$GC,14142,0.77,133.1,772.3,8.9,785,14146,0.00,2.30,0.00,0.000,4,0.000,0.054,3449,198,1403,0,0,0,0,0,0
$GC,14236,0.77,133.1,763.1,9.3,789,14241,0.08,2.20,0.00,0.000,6,0.171,0.036,3430,1610,1403,0,0,0,0,0,0
$GC,14560,0.81,134.7,735.6,8.5,805,14564,0.00,2.30,0.00,0.000,4,0.000,0.054,3438,199,1403,0,0,0,0,0,0
$GC,14631,0.81,134.7,729.0,8.9,808,14635,0.00,2.17,0.00,0.000,6,0.000,0.035,3439,1601,1402,0,0,0,0,0,0
$GC,14952,0.81,134.7,700.6,8.9,824,14956,0.00,2.30,0.00,0.000,4,0.000,0.054,3448,193,1402,0,0,0,0,0,0
$GC,15035,0.81,134.7,692.6,9.2,828,15039,0.00,2.20,0.00,0.000,6,0.000,0.036,3448,1613,1402,0,0,0,0,0,0
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$STATE,22432,end climb,SURFACE_DEPTH_REACHED
$STATE,22433,begin surface coast
$FINISH,1.8,1.014206
$STATE,22447,end surface coast,CONTROL_FINISHED_OK
$STATE,22447,begin surface
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$TCM_TEMP,11.10
$XPDR_PINGS,1
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$10V_AH,9.7,64.636
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353208
$DATA_FILE_SIZE,93743,1264
$CAP_FILE_SIZE,195335,0
$CFSIZE,2097086464,2022965248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191115,140154,-4505.188,627.696,39,1.4,39,-24.4