version: 66.07.10.p01
glider: 573
mission: 4
dive: 66
start: 10 11 112 0 21 25
data:
$ID,573
$MISSION,4
$DIVE,66
$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,-4172.4937
$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,32
$R_STBD_OVSHOOT,36
$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,45
$GPS1,111012,001304,-4252.497,-919.501,72,1.2,72,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-73.6
$GPS2,111012,002031,-4252.536,-919.476,28,1.5,28,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,0.162
$KALMAN_X,-62359.9,285.4,25.4,119377.4,-2150.9
$KALMAN_Y,-129331.7,283.7,738.2,104649.0,-8311.0
$MHEAD_RNG_PITCHd_Wd,63.0,6156,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-121.6,0.0,0.0,0,82,0.00,0.00,-54.67,0.000,2,0.000,0.000,84,1873,2988,0,0,0,0,0,0
$GC,84,-0.71,-121.6,3.1,-1.8,9,110,11.20,2.30,-9.50,0.000,4,0.256,0.068,2788,451,3358,0,0,0,0,0,0
$GC,322,-0.57,-121.6,36.6,-13.9,49,328,0.20,2.22,0.00,0.000,6,0.165,0.044,2834,1860,3360,0,0,0,0,0,0
$GC,558,-0.54,-121.6,59.2,-8.4,90,565,0.00,1.30,0.00,0.000,4,0.000,0.056,2829,2682,3360,0,0,0,0,0,0
$GC,656,-0.51,-121.6,68.0,-8.8,107,660,0.08,1.27,0.00,0.000,6,0.150,0.044,2855,1859,3360,0,0,0,0,0,0
$GC,996,-0.51,-121.6,99.9,-9.3,168,1003,0.00,0.62,0.00,0.000,4,0.000,0.054,2852,2264,3360,0,0,0,0,0,0
$GC,1104,-0.51,-121.6,110.1,-9.5,175,1108,0.00,0.60,0.00,0.000,6,0.000,0.049,2852,1860,3360,0,0,0,0,0,0
$GC,1429,-0.51,-121.6,140.8,-9.5,196,1433,0.00,1.00,0.00,0.000,4,0.000,0.054,2847,2501,3360,0,0,0,0,0,0
$GC,1551,-0.51,-121.6,151.9,-9.1,203,1554,0.00,0.98,0.00,0.000,6,0.000,0.046,2848,1861,3360,0,0,0,0,0,0
$GC,1881,-0.51,-121.6,184.1,-9.8,224,1885,0.00,0.80,0.00,0.000,4,0.000,0.054,2842,2381,3361,0,0,0,0,0,0
$GC,2001,-0.51,-121.6,196.1,-10.3,231,2005,0.00,0.77,0.00,0.000,6,0.000,0.047,2844,1864,3361,0,0,0,0,0,0
$GC,2332,-0.51,-121.6,230.8,-10.7,252,2336,0.00,0.68,0.00,0.000,4,0.000,0.054,2840,2313,3361,0,0,0,0,0,0
$GC,2501,-0.51,-121.6,249.1,-11.5,262,2505,0.03,0.68,0.00,0.000,6,0.181,0.048,2850,1861,3361,0,0,0,0,0,0
$GC,2827,-0.51,-121.6,283.1,-10.3,278,2830,0.00,0.28,0.00,0.000,4,0.000,0.062,2849,2064,3361,0,0,0,0,0,0
$GC,3085,-0.51,-121.6,307.8,-8.8,289,3087,0.00,0.30,0.00,0.000,6,0.000,0.060,2849,1856,3361,0,0,0,0,0,0
$GC,3404,-0.51,-121.6,336.1,-8.9,305,3408,0.00,0.38,0.00,0.000,4,0.000,0.057,2848,2120,3362,0,0,0,0,0,0
$GC,3459,-0.51,-121.6,341.3,-9.0,307,3461,0.00,0.38,0.00,0.000,6,0.000,0.054,2848,1863,3362,0,0,0,0,0,0
$GC,3778,-0.51,-121.6,371.0,-9.6,323,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1863,3362,0,0,0,0,0,0
$GC,4085,-0.51,-121.6,399.7,-9.0,338,4089,0.00,0.70,0.00,0.000,4,0.000,0.054,2844,2322,3362,0,0,0,0,0,0
$GC,4221,-0.51,-121.6,412.1,-9.2,344,4224,0.00,0.68,0.00,0.000,6,0.000,0.047,2845,1865,3362,0,0,0,0,0,0
$GC,4552,-0.51,-121.6,441.0,-8.4,360,4556,0.00,0.30,0.00,0.000,4,0.000,0.061,2842,2083,3362,0,0,0,0,0,0
$GC,4657,-0.51,-121.6,449.9,-9.2,364,4660,0.00,0.32,0.00,0.000,6,0.000,0.059,2843,1859,3362,0,0,0,0,0,0
$GC,4971,-0.51,-121.6,475.0,-8.0,379,4975,0.00,0.38,0.00,0.000,4,0.000,0.058,2842,2124,3361,0,0,0,0,0,0
$GC,5153,-0.51,-121.6,489.6,-7.5,387,5157,0.00,0.38,0.00,0.000,6,0.000,0.057,2840,1861,3361,0,0,0,0,0,0
$GC,5483,-0.51,-121.6,515.8,-7.8,400,5487,0.05,0.30,0.00,0.000,4,0.230,0.065,2852,2069,3360,0,0,0,0,0,0
$GC,5739,-0.53,-121.6,534.1,-7.9,407,5743,0.00,0.30,0.00,0.000,6,0.000,0.062,2852,1862,3360,0,0,0,0,0,0
$GC,6057,-0.53,-121.6,556.7,-6.7,418,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1861,3360,0,0,0,0,0,0
$GC,6363,-0.55,-121.6,581.6,-8.2,428,6367,0.00,0.45,0.00,0.000,4,0.000,0.057,2852,1553,3360,0,0,0,0,0,0
$GC,6446,-0.57,-121.6,588.7,-8.5,430,6450,0.00,0.50,0.00,0.000,6,0.000,0.054,2849,1878,3359,0,0,0,0,0,0
$GC,6770,-0.57,-121.6,615.5,-8.4,441,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1878,3358,0,0,0,0,0,0
$GC,7076,-0.57,-121.6,640.4,-7.9,451,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1878,3358,0,0,0,0,0,0
$GC,7382,-0.60,-121.6,664.4,-7.7,461,7387,0.05,0.45,0.00,0.000,4,0.171,0.060,2814,1582,3357,0,0,0,0,0,0
$GC,7518,-0.56,-121.6,676.9,-8.7,465,7522,0.08,0.43,0.00,0.000,6,0.151,0.057,2838,1863,3357,0,0,0,0,0,0
$GC,7857,-0.56,-121.6,702.2,-7.2,476,7861,0.00,0.32,0.00,0.000,4,0.000,0.064,2837,2101,3357,0,0,0,0,0,0
$GC,8019,-0.56,-121.6,713.9,-7.0,480,8024,0.00,0.35,0.00,0.000,6,0.000,0.058,2837,1864,3356,0,0,0,0,0,0
$GC,8331,-0.56,-121.6,738.1,-8.0,491,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1864,3356,0,0,0,0,0,0
$GC,8637,-0.56,-121.6,761.9,-7.9,501,8641,0.00,0.28,0.00,0.000,4,0.000,0.067,2836,2060,3355,0,0,0,0,0,0
$GC,8772,-0.56,-121.6,772.1,-7.6,505,8775,0.00,0.28,0.00,0.000,6,0.000,0.064,2836,1863,3355,0,0,0,0,0,0
$GC,9111,-0.56,-121.6,798.3,-7.7,516,9115,0.00,0.73,0.00,0.000,4,0.000,0.058,2833,2332,3354,0,0,0,0,0,0
$GC,9255,-0.56,-121.6,809.3,-8.3,520,9260,0.00,0.73,0.00,0.000,6,0.000,0.050,2833,1860,3353,0,0,0,0,0,0
$GC,9585,-0.56,-121.6,835.5,-8.3,531,9588,0.00,0.32,0.00,0.000,4,0.000,0.062,2832,2091,3354,0,0,0,0,0,0
$GC,9830,-0.56,-121.6,856.5,-9.0,538,9832,0.00,0.35,0.00,0.000,6,0.000,0.060,2832,1856,3353,0,0,0,0,0,0
$GC,10155,-0.56,-121.6,886.7,-9.5,549,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1856,3353,0,0,0,0,0,0
$GC,10461,-0.56,-121.6,916.5,-9.8,559,10465,0.00,0.68,0.00,0.000,4,0.000,0.058,2829,2300,3352,0,0,0,0,0,0
$GC,10572,-0.56,-121.6,927.3,-9.8,562,10576,0.00,0.68,0.00,0.000,6,0.000,0.050,2829,1857,3352,0,0,0,0,0,0
$GC,10901,-0.56,-121.6,957.9,-9.4,573,10905,0.00,0.25,0.00,0.000,4,0.000,0.069,2829,1672,3352,0,0,0,0,0,0
$GC,10996,-0.56,-121.6,967.0,-9.8,575,11001,0.00,0.30,0.00,0.000,6,0.000,0.063,2827,1864,3352,0,0,0,0,0,0
$GC,11308,-0.56,-121.6,994.6,-8.6,586,11311,0.00,0.32,0.00,0.000,4,0.000,0.062,2827,1643,3352,0,0,0,0,0,0
$GC,11362,-0.56,-121.6,999.6,-9.4,587,11364,0.00,0.35,0.00,0.000,6,0.000,0.062,2826,1867,3352,0,0,0,0,0,0
$STATE,11368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11368,begin apogee
$GC,11372,-0.23,0.0,1000.1,9.3,588,11475,0.38,0.00,99.70,1.322,6,0.135,0.000,2946,1667,2862,0,0,0,0,0,0
$STATE,11476,end apogee,CONTROL_FINISHED_OK
$STATE,11476,begin climb
$GC,11477,0.71,121.6,1004.5,0.0,591,11588,0.90,0.47,103.00,1.289,4,0.101,0.061,3242,1390,2366,0,0,0,0,0,0
$GC,11626,0.71,187.1,1001.2,4.7,595,11688,0.00,0.45,58.25,1.263,6,0.000,0.056,3241,1660,2099,0,0,0,0,0,0
$GC,11995,0.75,206.2,977.7,6.6,607,12016,0.05,1.33,16.98,1.200,4,0.164,0.056,3271,2442,2021,0,0,0,0,0,0
$GC,12123,0.75,206.2,966.9,8.8,611,12128,0.03,1.25,0.00,0.000,6,0.171,0.050,3268,1676,2019,0,0,0,0,0,0
$GC,12463,0.75,206.2,939.4,8.1,622,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1677,2017,0,0,0,0,0,0
$GC,12769,0.75,206.2,915.2,7.8,632,12773,0.00,0.93,0.00,0.000,4,0.000,0.054,3268,2260,2016,0,0,0,0,0,0
$GC,12904,0.75,206.3,904.7,7.4,636,12908,0.00,0.95,0.00,0.000,6,0.000,0.053,3271,1659,2015,0,0,0,0,0,0
$GC,13244,0.75,210.4,879.7,7.2,647,13253,0.00,0.85,4.30,0.793,4,0.000,0.057,3272,2197,2004,0,0,0,0,0,0
$GC,13379,0.75,210.4,869.8,7.5,651,13382,0.00,0.85,0.00,0.000,6,0.000,0.054,3275,1655,2004,0,0,0,0,0,0
$GC,13719,0.75,219.8,845.5,7.0,662,13733,0.00,0.62,10.05,1.089,4,0.000,0.050,3275,2059,1966,0,0,0,0,0,0
$GC,13860,0.75,249.5,835.4,6.2,666,13892,0.00,0.65,27.60,1.190,6,0.000,0.056,3278,1652,1844,0,0,0,0,0,0
$GC,14215,0.75,249.5,809.5,7.7,678,14219,0.00,1.17,0.00,0.000,4,0.000,0.056,3278,2381,1839,0,0,0,0,0,0
$GC,14354,0.75,249.5,798.4,7.9,682,14359,0.08,1.15,0.00,0.000,6,0.191,0.051,3264,1669,1838,0,0,0,0,0,0
$GC,14689,0.79,263.5,774.9,6.8,693,14705,0.00,0.43,12.95,1.095,4,0.000,0.059,3264,1931,1787,0,0,0,0,0,0
$GC,14789,0.83,263.5,767.3,7.8,696,14793,0.08,0.45,0.00,0.000,6,0.125,0.059,3302,1652,1784,0,0,0,0,0,0
$GC,15123,0.83,263.5,737.0,9.7,707,15127,0.00,0.62,0.00,0.000,4,0.000,0.056,3302,2058,1784,0,0,0,0,0,0
$GC,15262,0.83,263.5,722.1,10.7,711,15266,0.00,0.62,0.00,0.000,6,0.000,0.055,3304,1665,1783,0,0,0,0,0,0
$GC,15597,0.83,263.5,683.6,11.7,722,15598,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1665,1783,0,0,0,0,0,0
$GC,15903,0.83,263.5,646.5,12.2,732,15906,0.00,0.28,0.00,0.000,4,0.000,0.066,3304,1856,1783,0,0,0,0,0,0
$GC,16004,0.83,263.5,634.4,12.0,735,16008,0.03,0.30,0.00,0.000,6,0.186,0.067,3295,1659,1783,0,0,0,0,0,0
$GC,16343,0.83,263.5,597.0,10.6,746,16344,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1659,1783,0,0,0,0,0,0
$GC,16650,0.83,263.5,566.1,9.9,756,16653,0.00,0.50,0.00,0.000,4,0.000,0.057,3295,1991,1782,0,0,0,0,0,0
$GC,16778,0.83,263.5,553.7,9.0,759,16783,0.00,0.50,0.00,0.000,6,0.000,0.058,3297,1666,1782,0,0,0,0,0,0
$GC,17090,0.83,263.5,525.5,9.1,770,17091,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1665,1783,0,0,0,0,0,0
$GC,17396,0.83,263.5,497.4,9.2,780,17400,0.00,0.55,0.00,0.000,4,0.000,0.057,3297,2037,1782,0,0,0,0,0,0
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$STATE,22925,end climb,SURFACE_DEPTH_REACHED
$STATE,22925,begin surface coast
$FINISH,1.3,1.026498
$STATE,22962,end surface coast,CONTROL_FINISHED_OK
$STATE,22962,begin surface
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$HUMID,41.29
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$XPDR_PINGS,0
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$10V_AH,10.3,13.607
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354196
$DATA_FILE_SIZE,70318,1203
$CAP_FILE_SIZE,197417,0
$CFSIZE,2097086464,2085289984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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