version: 66.07.10.p01
glider: 573
mission: 12
dive: 528
start: 11 19 115 14 11 51
data:
$ID,573
$MISSION,12
$DIVE,528
$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,-22645.986
$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,40
$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,527
$GPS1,191115,140154,-4505.188,627.696,39,1.4,39,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-68.6
$GPS2,191115,141130,-4505.154,627.767,16,0.8,17,-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,317.8,5371,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.08,0.000,2,0.000,0.000,80,2076,1627,0,0,0,0,0,0
$GC,55,-0.76,-116.8,3.3,-1.4,4,106,11.48,0.00,-31.90,0.000,6,0.222,0.000,2935,2075,2427,0,0,0,0,0,0
$GC,158,-0.68,-116.8,10.4,-12.3,20,166,0.10,2.33,0.00,0.000,4,0.184,0.050,2961,662,2428,0,0,0,0,0,0
$GC,272,-0.68,-116.8,20.3,-10.3,38,279,0.00,2.22,0.00,0.000,6,0.000,0.040,2952,2048,2429,0,0,0,0,0,0
$GC,425,-0.68,-116.8,42.7,-12.0,63,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2049,2429,0,0,0,0,0,0
$GC,776,-0.68,-116.8,75.5,-9.9,124,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2049,2429,0,0,0,0,0,0
$GC,1111,-0.68,-116.8,107.7,-8.1,146,1114,0.00,2.30,0.00,0.000,4,0.000,0.060,2941,3471,2429,0,0,0,0,0,0
$GC,1156,-0.68,-116.8,112.3,-9.6,148,1161,0.08,2.20,0.00,0.000,6,0.175,0.040,2959,2059,2429,0,0,0,0,0,0
$GC,1483,-0.68,-116.8,141.7,-10.1,164,1487,0.00,2.22,0.00,0.000,4,0.000,0.054,2959,660,2429,0,0,0,0,0,0
$GC,1560,-0.68,-116.8,150.0,-10.7,167,1566,0.00,2.22,0.00,0.000,6,0.000,0.040,2951,2058,2429,0,0,0,0,0,0
$GC,1879,-0.68,-116.8,182.8,-10.4,183,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2058,2429,0,0,0,0,0,0
$GC,2186,-0.68,-116.8,212.8,-9.3,198,2190,0.00,2.28,0.00,0.000,4,0.000,0.061,2940,3464,2429,0,0,0,0,0,0
$GC,2226,-0.68,-116.8,216.5,-9.5,200,2230,0.08,2.17,0.00,0.000,6,0.174,0.037,2958,2058,2429,0,0,0,0,0,0
$GC,2554,-0.72,-116.8,244.7,-8.6,216,2558,0.00,2.22,0.00,0.000,4,0.000,0.055,2959,657,2429,0,0,0,0,0,0
$GC,2586,-0.72,-116.8,247.9,-9.4,217,2590,0.00,2.22,0.00,0.000,6,0.000,0.042,2950,2056,2429,0,0,0,0,0,0
$GC,2910,-0.72,-116.8,277.0,-9.3,233,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2056,2429,0,0,0,0,0,0
$GC,3216,-0.72,-116.8,306.2,-9.4,248,3220,0.00,2.28,0.00,0.000,4,0.000,0.060,2939,3465,2430,0,0,0,0,0,0
$GC,3249,-0.72,-116.8,309.5,-10.1,249,3253,0.00,2.20,0.00,0.000,6,0.000,0.038,2939,2059,2430,0,0,0,0,0,0
$GC,3565,-0.72,-116.8,340.2,-9.4,265,3569,0.00,2.22,0.00,0.000,4,0.000,0.054,2939,661,2429,0,0,0,0,0,0
$GC,3671,-0.72,-116.8,351.0,-10.3,270,3676,0.08,2.20,0.00,0.000,6,0.186,0.041,2949,2063,2429,0,0,0,0,0,0
$GC,3998,-0.72,-116.8,379.2,-8.3,286,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2063,2429,0,0,0,0,0,0
$GC,4307,-0.72,-116.8,405.4,-8.3,301,4311,0.00,2.28,0.00,0.000,4,0.000,0.063,2939,3461,2430,0,0,0,0,0,0
$GC,4348,-0.72,-116.8,408.8,-8.1,303,4352,0.00,2.17,0.00,0.000,6,0.000,0.038,2939,2056,2430,0,0,0,0,0,0
$GC,4675,-0.72,-116.8,435.1,-7.9,319,4679,0.00,2.25,0.00,0.000,4,0.000,0.055,2938,661,2429,0,0,0,0,0,0
$GC,4716,-0.72,-116.8,438.5,-8.0,321,4721,0.08,2.20,0.00,0.000,6,0.185,0.040,2948,2060,2429,0,0,0,0,0,0
$GC,5043,-0.72,-116.8,462.3,-7.3,337,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2060,2429,0,0,0,0,0,0
$GC,5351,-0.72,-116.8,485.7,-7.8,352,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2060,2429,0,0,0,0,0,0
$GC,5661,-0.72,-116.8,510.9,-8.4,367,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2060,2429,0,0,0,0,0,0
$GC,5969,-0.72,-116.8,537.4,-8.6,382,5973,0.00,2.28,0.00,0.000,4,0.000,0.063,2938,3460,2428,0,0,0,0,0,0
$GC,6018,-0.72,-116.8,541.7,-8.8,384,6022,0.00,2.20,0.00,0.000,6,0.000,0.038,2938,2063,2429,0,0,0,0,0,0
$GC,6338,-0.72,-116.8,570.6,-9.0,400,6342,0.00,2.28,0.00,0.000,4,0.000,0.054,2938,650,2429,0,0,0,0,0,0
$GC,6377,-0.72,-116.8,574.4,-9.8,402,6382,0.10,2.22,0.00,0.000,6,0.165,0.040,2955,2067,2429,0,0,0,0,0,0
$GC,6704,-0.77,-116.8,600.9,-7.8,418,6706,0.05,0.00,0.00,0.000,6,0.162,0.000,2913,2067,2429,0,0,0,0,0,0
$GC,7013,-0.73,-116.8,628.8,-8.8,433,7015,0.12,0.00,0.00,0.000,6,0.160,0.000,2947,2067,2429,0,0,0,0,0,0
$GC,7322,-0.77,-116.8,652.2,-7.5,448,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2067,2428,0,0,0,0,0,0
$GC,7632,-0.80,-116.8,676.0,-8.3,463,7634,0.08,0.00,0.00,0.000,6,0.122,0.000,2900,2068,2428,0,0,0,0,0,0
$GC,7940,-0.74,-116.8,707.1,-10.0,478,7945,0.15,2.28,0.00,0.000,4,0.158,0.063,2933,3465,2428,0,0,0,0,0,0
$GC,8002,-0.74,-116.8,712.6,-8.9,481,8007,0.00,2.20,0.00,0.000,6,0.000,0.039,2933,2051,2428,0,0,0,0,0,0
$GC,8330,-0.74,-116.8,741.3,-8.7,497,8334,0.00,2.25,0.00,0.000,4,0.000,0.055,2933,660,2428,0,0,0,0,0,0
$GC,8407,-0.74,-116.8,748.8,-9.8,500,8414,0.05,2.22,0.00,0.000,6,0.148,0.039,2943,2054,2428,0,0,0,0,0,0
$GC,8724,-0.78,-116.8,774.3,-8.0,516,8728,0.00,2.30,0.00,0.000,4,0.000,0.057,2932,3481,2428,0,0,0,0,0,0
$GC,8763,-0.81,-116.8,777.8,-9.3,518,8767,0.00,2.22,0.00,0.000,6,0.000,0.039,2932,2054,2428,0,0,0,0,0,0
$GC,9089,-0.81,-116.8,805.5,-8.6,534,9093,0.00,2.25,0.00,0.000,4,0.000,0.056,2932,663,2427,0,0,0,0,0,0
$GC,9166,-0.81,-116.8,812.5,-9.6,537,9171,0.00,2.22,0.00,0.000,6,0.000,0.037,2924,2070,2427,0,0,0,0,0,0
$GC,9482,-0.81,-116.8,840.0,-8.9,553,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2070,2427,0,0,0,0,0,0
$GC,9790,-0.81,-116.8,867.6,-9.0,568,9794,0.00,2.25,0.00,0.000,4,0.000,0.060,2913,3462,2427,0,0,0,0,0,0
$GC,9862,-0.81,-116.8,874.3,-9.9,571,9866,0.00,2.20,0.00,0.000,6,0.000,0.040,2913,2063,2426,0,0,0,0,0,0
$GC,10184,-0.81,-116.8,903.2,-8.8,587,10188,0.00,2.28,0.00,0.000,4,0.000,0.054,2913,652,2427,0,0,0,0,0,0
$GC,10233,-0.77,-116.8,908.0,-9.2,589,10238,0.12,2.22,0.00,0.000,6,0.160,0.041,2938,2060,2426,0,0,0,0,0,0
$GC,10550,-0.80,-116.8,932.6,-7.7,604,10554,0.00,2.30,0.00,0.000,4,0.000,0.063,2927,3466,2426,0,0,0,0,0,0
$GC,10589,-0.80,-116.8,935.8,-8.2,606,10593,0.00,2.20,0.00,0.000,6,0.000,0.041,2927,2057,2426,0,0,0,0,0,0
$GC,10916,-0.80,-116.8,960.9,-7.7,622,10920,0.00,2.25,0.00,0.000,4,0.000,0.055,2927,659,2426,0,0,0,0,0,0
$GC,10959,-0.80,-116.8,964.5,-8.3,624,10963,0.00,2.22,0.00,0.000,6,0.000,0.041,2919,2068,2426,0,0,0,0,0,0
$GC,11286,-0.80,-116.8,989.2,-7.7,640,11290,0.00,2.28,0.00,0.000,4,0.000,0.062,2908,3463,2426,0,0,0,0,0,0
$GC,11341,-0.80,-116.8,993.7,-7.7,642,11347,0.05,2.20,0.00,0.000,6,0.201,0.039,2920,2048,2426,0,0,0,0,0,0
$STATE,11428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11428,begin apogee
$GC,11434,-0.19,0.0,1000.4,7.7,647,11549,0.65,0.00,111.72,1.261,6,0.138,0.000,3117,1586,1950,0,0,0,0,0,0
$STATE,11550,end apogee,CONTROL_FINISHED_OK
$STATE,11550,begin climb
$GC,11553,0.76,116.8,1003.7,0.0,653,11681,0.95,2.53,119.28,1.217,4,0.086,0.055,3435,204,1473,0,0,0,0,0,0
$GC,11730,0.76,116.8,992.4,9.1,661,11736,0.00,2.42,0.00,0.000,6,0.000,0.035,3435,1612,1470,0,0,0,0,0,0
$GC,12047,0.76,118.4,965.6,8.5,677,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1613,1466,0,0,0,0,0,0
$GC,12356,0.76,118.4,938.3,9.0,692,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1613,1464,0,0,0,0,0,0
$GC,12666,0.76,118.4,911.5,8.6,707,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1613,1463,0,0,0,0,0,0
$GC,12974,0.76,125.7,886.5,8.2,722,12988,0.00,2.35,8.40,0.996,4,0.000,0.054,3445,203,1437,0,0,0,0,0,0
$GC,13041,0.76,125.7,880.4,9.6,725,13045,0.03,2.20,0.00,0.000,6,0.259,0.036,3433,1609,1436,0,0,0,0,0,0
$GC,13374,0.77,135.8,853.7,8.0,741,13393,0.00,2.28,11.57,1.043,4,0.000,0.054,3433,2990,1396,0,0,0,0,0,0
$GC,13432,0.77,142.7,848.6,8.2,743,13447,0.00,2.17,8.62,0.976,6,0.000,0.037,3441,1602,1368,0,0,0,0,0,0
$GC,13769,0.77,142.7,818.6,9.2,760,13773,0.00,2.28,0.00,0.000,4,0.000,0.057,3452,195,1365,0,0,0,0,0,0
$GC,13869,0.77,142.7,808.7,10.3,764,13876,0.05,2.22,0.00,0.000,6,0.136,0.037,3432,1593,1364,0,0,0,0,0,0
$GC,14185,0.82,142.7,781.3,8.6,780,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1593,1364,0,0,0,0,0,0
$GC,14496,0.86,146.2,755.2,8.4,795,14503,0.10,0.00,4.60,0.742,6,0.099,0.000,3484,1593,1353,0,0,0,0,0,0
$GC,14803,0.81,146.2,722.0,11.2,810,14808,0.12,2.30,0.00,0.000,4,0.145,0.054,3458,195,1353,0,0,0,0,0,0
$GC,14852,0.81,146.2,716.6,10.3,812,14857,0.00,2.22,0.00,0.000,6,0.000,0.036,3458,1609,1353,0,0,0,0,0,0
$GC,15173,0.81,146.2,685.5,9.4,828,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1609,1352,0,0,0,0,0,0
$GC,15483,0.81,146.2,656.2,9.6,843,15485,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1609,1352,0,0,0,0,0,0
$GC,15791,0.81,146.2,625.9,9.8,858,15795,0.00,2.28,0.00,0.000,4,0.000,0.054,3468,198,1353,0,0,0,0,0,0
$GC,15857,0.81,146.2,618.6,11.0,861,15862,0.05,2.20,0.00,0.000,6,0.134,0.037,3448,1597,1352,0,0,0,0,0,0
$GC,16185,0.81,146.2,587.6,9.3,877,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1597,1352,0,0,0,0,0,0
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$STATE,22491,end climb,SURFACE_DEPTH_REACHED
$STATE,22491,begin surface coast
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$FG_AHR_10Vo,0.000
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$MEM,353248
$DATA_FILE_SIZE,94048,1278
$CAP_FILE_SIZE,191312,0
$CFSIZE,2097086464,2022834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191115,202933,-4504.715,625.475,37,1.0,37,-24.4