version: 66.07.10.p01
glider: 573
mission: 4
dive: 51
start: 10 6 112 21 21 7
data:
$ID,573
$MISSION,4
$DIVE,51
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$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,450
$T_MISSION,520
$T_ABORT,720
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-4125.019
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1863
$C_ROLL_CLIMB,1664
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,-87.947678
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,20
$GC_LAST_COLLECTION,30
$GPS1,061012,211335,-4254.952,-925.876,36,0.9,36,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-74.1
$GPS2,061012,212012,-4255.037,-925.919,18,1.4,18,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.026,0.215
$KALMAN_X,-40839.3,-93.4,812.5,88689.8,-7237.5
$KALMAN_Y,-60298.3,210.7,659.1,31140.6,-8820.5
$MHEAD_RNG_PITCHd_Wd,14.5,15852,-15.4,-7.407
$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,23,-0.71,-121.6,0.0,0.0,0,75,0.00,0.00,-49.33,0.000,2,0.000,0.000,85,1866,2895,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.4,8,109,11.40,2.22,-13.15,0.000,4,0.264,0.068,2786,504,3356,0,0,0,0,0,0
$GC,188,-0.58,-121.6,16.5,-13.1,26,196,0.17,2.17,0.00,0.000,6,0.149,0.045,2832,1862,3358,0,0,0,0,0,0
$GC,268,-0.54,-121.6,25.5,-10.3,39,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1862,3358,0,0,0,0,0,0
$GC,345,-0.50,-121.6,33.5,-10.1,52,352,0.10,0.35,0.00,0.000,4,0.187,0.061,2857,2110,3358,0,0,0,0,0,0
$GC,469,-0.50,-121.6,44.6,-9.0,73,474,0.00,0.38,0.00,0.000,6,0.000,0.057,2858,1853,3358,0,0,0,0,0,0
$GC,702,-0.50,-121.6,65.0,-8.6,114,709,0.00,0.28,0.00,0.000,4,0.000,0.063,2856,2051,3358,0,0,0,0,0,0
$GC,967,-0.50,-121.6,88.4,-8.7,160,972,0.00,0.28,0.00,0.000,6,0.000,0.063,2856,1855,3359,0,0,0,0,0,0
$GC,1300,-0.50,-121.6,118.8,-9.3,202,1303,0.00,0.70,0.00,0.000,4,0.000,0.054,2853,2311,3359,0,0,0,0,0,0
$GC,1451,-0.50,-121.6,132.9,-8.7,215,1456,0.00,0.68,0.00,0.000,6,0.000,0.049,2853,1868,3359,0,0,0,0,0,0
$GC,1775,-0.50,-121.6,162.8,-9.1,246,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1868,3359,0,0,0,0,0,0
$GC,2095,-0.50,-121.6,192.9,-9.4,276,2098,0.00,1.02,0.00,0.000,4,0.000,0.055,2849,2520,3360,0,0,0,0,0,0
$GC,2234,-0.50,-121.6,206.1,-9.8,288,2242,0.00,1.02,0.00,0.000,6,0.000,0.046,2849,1857,3360,0,0,0,0,0,0
$GC,2561,-0.50,-121.6,234.5,-7.9,319,2565,0.00,0.30,0.00,0.000,4,0.000,0.061,2847,2076,3360,0,0,0,0,0,0
$GC,2698,-0.50,-121.6,245.3,-7.8,331,2702,0.00,0.30,0.00,0.000,6,0.000,0.060,2847,1859,3360,0,0,0,0,0,0
$GC,3031,-0.50,-121.6,273.3,-8.3,350,3034,0.00,1.02,0.00,0.000,4,0.000,0.054,2842,2517,3360,0,0,0,0,0,0
$GC,3146,-0.50,-121.6,283.1,-8.7,355,3149,0.00,1.00,0.00,0.000,6,0.000,0.047,2843,1860,3360,0,0,0,0,0,0
$GC,3479,-0.50,-121.6,312.6,-8.8,371,3484,0.05,1.35,0.00,0.000,4,0.228,0.055,2848,2710,3360,0,0,0,0,0,0
$GC,3619,-0.50,-121.6,325.3,-9.3,377,3623,0.00,1.33,0.00,0.000,6,0.000,0.044,2848,1854,3360,0,0,0,0,0,0
$GC,3948,-0.50,-121.6,356.7,-9.9,393,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1853,3360,0,0,0,0,0,0
$GC,4255,-0.50,-121.6,387.9,-9.7,408,4259,0.00,0.62,0.00,0.000,4,0.000,0.054,2845,2270,3360,0,0,0,0,0,0
$GC,4349,-0.50,-121.6,397.2,-9.5,412,4353,0.00,0.62,0.00,0.000,6,0.000,0.050,2845,1858,3360,0,0,0,0,0,0
$GC,4676,-0.50,-121.6,428.3,-9.5,428,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1858,3360,0,0,0,0,0,0
$GC,4987,-0.50,-121.6,456.9,-9.3,443,4990,0.00,0.55,0.00,0.000,4,0.000,0.057,2842,2230,3360,0,0,0,0,0,0
$GC,5100,-0.50,-121.6,467.1,-8.6,448,5104,0.03,0.55,0.00,0.000,6,0.177,0.052,2852,1855,3360,0,0,0,0,0,0
$GC,5431,-0.50,-121.6,494.0,-8.0,464,5435,0.00,0.82,0.00,0.000,4,0.000,0.057,2848,2393,3359,0,0,0,0,0,0
$GC,5536,-0.50,-121.6,502.3,-7.5,469,5541,0.00,0.82,0.00,0.000,6,0.000,0.048,2848,1854,3359,0,0,0,0,0,0
$GC,5872,-0.50,-121.6,527.1,-7.5,480,5875,0.00,0.82,0.00,0.000,4,0.000,0.056,2845,2390,3359,0,0,0,0,0,0
$GC,5993,-0.50,-121.6,536.3,-8.0,483,5997,0.00,0.82,0.00,0.000,6,0.000,0.048,2845,1852,3359,0,0,0,0,0,0
$GC,6311,-0.50,-121.6,561.9,-8.4,494,6315,0.00,1.12,0.00,0.000,4,0.000,0.057,2839,2572,3358,0,0,0,0,0,0
$GC,6438,-0.50,-121.6,573.0,-8.6,497,6445,0.08,1.10,0.00,0.000,6,0.182,0.047,2859,1864,3358,0,0,0,0,0,0
$GC,6752,-0.53,-121.6,597.6,-7.9,508,6755,0.00,1.15,0.00,0.000,4,0.000,0.059,2854,2592,3357,0,0,0,0,0,0
$GC,6868,-0.57,-121.6,606.7,-7.9,511,6873,0.00,1.15,0.00,0.000,6,0.000,0.047,2854,1852,3357,0,0,0,0,0,0
$GC,7193,-0.59,-121.6,632.1,-7.8,522,7197,0.08,0.80,0.00,0.000,4,0.129,0.057,2812,2369,3357,0,0,0,0,0,0
$GC,7328,-0.56,-121.6,644.4,-9.2,526,7332,0.08,0.75,0.00,0.000,6,0.148,0.050,2838,1869,3357,0,0,0,0,0,0
$GC,7667,-0.56,-121.6,674.0,-8.6,537,7670,0.00,0.85,0.00,0.000,4,0.000,0.057,2834,2422,3356,0,0,0,0,0,0
$GC,7794,-0.56,-121.6,685.0,-8.8,540,7800,0.00,0.88,0.00,0.000,6,0.000,0.050,2835,1856,3355,0,0,0,0,0,0
$GC,8106,-0.56,-121.6,711.2,-8.3,551,8110,0.00,0.73,0.00,0.000,4,0.000,0.057,2831,2329,3354,0,0,0,0,0,0
$GC,8223,-0.56,-121.6,720.9,-8.4,554,8227,0.00,0.73,0.00,0.000,6,0.000,0.050,2832,1858,3355,0,0,0,0,0,0
$GC,8546,-0.56,-121.6,747.8,-8.4,565,8550,0.00,0.28,0.00,0.000,4,0.000,0.064,2830,2055,3354,0,0,0,0,0,0
$GC,8614,-0.58,-121.6,753.3,-7.7,567,8617,0.00,0.28,0.00,0.000,6,0.000,0.067,2830,1859,3354,0,0,0,0,0,0
$GC,8954,-0.65,-121.6,779.2,-7.7,578,8959,0.05,2.22,0.00,0.000,4,0.172,0.057,2796,461,3353,0,0,0,0,0,0
$GC,9083,-0.58,-121.6,792.0,-10.3,582,9088,0.17,2.17,0.00,0.000,6,0.168,0.047,2835,1872,3354,0,0,0,0,0,0
$GC,9423,-0.58,-121.6,820.2,-8.2,593,9426,0.00,1.12,0.00,0.000,4,0.000,0.057,2830,2602,3353,0,0,0,0,0,0
$GC,9544,-0.58,-121.6,830.1,-8.0,596,9549,0.00,1.15,0.00,0.000,6,0.000,0.048,2830,1863,3353,0,0,0,0,0,0
$GC,9863,-0.58,-121.6,855.4,-8.0,607,9866,0.00,0.35,0.00,0.000,4,0.000,0.063,2829,2105,3353,0,0,0,0,0,0
$GC,9998,-0.58,-121.6,866.3,-7.2,611,10001,0.00,0.35,0.00,0.000,6,0.000,0.061,2829,1860,3353,0,0,0,0,0,0
$GC,10338,-0.58,-121.6,892.8,-7.9,622,10341,0.00,0.47,0.00,0.000,4,0.000,0.060,2827,2181,3352,0,0,0,0,0,0
$GC,10493,-0.58,-121.6,905.2,-8.6,626,10498,0.00,0.50,0.00,0.000,6,0.000,0.057,2826,1853,3352,0,0,0,0,0,0
$GC,10811,-0.58,-121.6,930.4,-8.0,637,10815,0.00,0.47,0.00,0.000,4,0.000,0.060,2825,2176,3351,0,0,0,0,0,0
$GC,10946,-0.58,-121.6,941.1,-7.5,641,10950,0.00,0.47,0.00,0.000,6,0.000,0.058,2824,1852,3351,0,0,0,0,0,0
$GC,11286,-0.58,-121.6,967.8,-8.1,652,11289,0.00,0.70,0.00,0.000,4,0.000,0.057,2822,2310,3351,0,0,0,0,0,0
$GC,11430,-0.58,-121.6,979.1,-8.4,656,11435,0.00,0.70,0.00,0.000,6,0.000,0.053,2821,1856,3351,0,0,0,0,0,0
$STATE,11697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11697,begin apogee
$GC,11701,-0.23,0.0,1000.2,8.2,665,11804,0.40,0.00,100.07,1.329,6,0.137,0.000,2950,1668,2862,0,0,0,0,0,0
$STATE,11805,end apogee,CONTROL_FINISHED_OK
$STATE,11805,begin climb
$GC,11806,0.71,121.6,1003.5,0.0,668,11917,0.90,1.08,103.85,1.291,4,0.100,0.055,3247,1046,2366,0,0,0,0,0,0
$GC,11963,0.71,136.7,997.8,6.8,673,11982,0.00,1.02,14.40,1.175,6,0.000,0.048,3246,1657,2303,0,0,0,0,0,0
$GC,12300,0.71,154.9,975.1,6.7,684,12321,0.00,0.88,16.62,1.209,4,0.000,0.055,3247,2187,2230,0,0,0,0,0,0
$GC,12420,0.71,154.9,966.5,7.6,687,12426,0.00,0.85,0.00,0.000,6,0.000,0.052,3251,1669,2228,0,0,0,0,0,0
$GC,12733,0.71,168.5,944.6,6.8,698,12748,0.00,0.00,12.90,1.160,6,0.000,0.000,3251,1669,2175,0,0,0,0,0,0
$GC,13040,0.71,185.6,924.0,6.7,708,13058,0.00,0.00,16.38,1.188,6,0.000,0.000,3251,1668,2105,0,0,0,0,0,0
$GC,13346,0.74,220.1,905.2,6.0,718,13381,0.00,0.38,31.88,1.231,4,0.000,0.065,3252,1441,1964,0,0,0,0,0,0
$GC,13472,0.78,264.4,897.8,5.6,722,13518,0.03,0.35,40.50,1.230,6,0.106,0.060,3275,1667,1784,0,0,0,0,0,0
$GC,13841,0.81,264.4,871.1,7.4,734,13845,0.00,0.65,0.00,0.000,4,0.000,0.060,3277,1263,1775,0,0,0,0,0,0
$GC,13937,0.84,264.4,864.1,7.9,736,13942,0.00,0.65,0.00,0.000,6,0.000,0.052,3278,1674,1774,0,0,0,0,0,0
$GC,14249,0.87,264.4,840.8,7.5,747,14253,0.08,0.80,0.00,0.000,4,0.130,0.061,3317,1173,1773,0,0,0,0,0,0
$GC,14364,0.87,264.4,829.6,9.0,750,14369,0.00,0.80,0.00,0.000,6,0.000,0.050,3316,1673,1773,0,0,0,0,0,0
$GC,14688,0.85,264.4,799.5,9.3,761,14693,0.08,0.30,0.00,0.000,4,0.184,0.070,3299,1468,1773,0,0,0,0,0,0
$GC,14944,0.85,264.4,778.2,7.5,768,14946,0.00,0.30,0.00,0.000,6,0.000,0.062,3299,1661,1773,0,0,0,0,0,0
$GC,15258,0.85,264.4,750.1,9.2,779,15262,0.00,1.23,0.00,0.000,4,0.000,0.060,3304,907,1772,0,0,0,0,0,0
$GC,15352,0.85,264.4,740.7,10.0,781,15358,0.00,1.23,0.00,0.000,6,0.000,0.047,3304,1670,1772,0,0,0,0,0,0
$GC,15665,0.85,264.4,709.6,10.0,792,15668,0.00,0.43,0.00,0.000,4,0.000,0.066,3306,1393,1772,0,0,0,0,0,0
$GC,15758,0.85,264.4,699.8,10.0,794,15764,0.00,0.43,0.00,0.000,6,0.000,0.057,3306,1662,1771,0,0,0,0,0,0
$GC,16070,0.85,264.4,668.4,10.1,805,16074,0.00,0.45,0.00,0.000,4,0.000,0.066,3308,1370,1771,0,0,0,0,0,0
$GC,16175,0.85,264.4,657.7,10.4,808,16179,0.00,0.47,0.00,0.000,6,0.000,0.058,3308,1672,1771,0,0,0,0,0,0
$GC,16510,0.85,264.4,624.0,10.2,819,16513,0.00,0.52,0.00,0.000,4,0.000,0.063,3310,1331,1771,0,0,0,0,0,0
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$STATE,23022,end climb,SURFACE_DEPTH_REACHED
$STATE,23022,begin surface coast
$FINISH,1.5,1.014331
$STATE,23059,end surface coast,CONTROL_FINISHED_OK
$STATE,23059,begin surface
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$SM_GC,2.32,8.43,0.00,0.00,0.044,0.000,0.000,91,1865,1770,-9.09,0.06,267.62
$IRIDIUM_FIX,-4236.17,-926.77,061012,141458
$TT8_MAMPS,0.027713
$HUMID,42.20
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.7,12.515
$10V_AH,10.3,11.354
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.225,72.450,336.600,0.000,0.000,25.031,40.195,220.239,0.000,0.000,20.769,3432.108,15107.676,451.233,4385.851,146.494,33.356,2084.438,0.000,4034.796,0.000,1.007,0.000
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$SENSOR_SECS,921.820,1563.724,847.756,119.641,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354196
$DATA_FILE_SIZE,77009,1295
$CAP_FILE_SIZE,210294,0
$CFSIZE,2097086464,2087256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071012,034753,-4254.058,-927.137,40,1.0,40,-21.4