version: 66.07.10.p01
glider: 573
mission: 4
dive: 120
start: 10 23 112 14 28 21
data:
$ID,573
$MISSION,4
$DIVE,120
$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,-4666.3926
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,41
$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,99
$GPS1,231012,142029,-4325.912,-809.754,38,1.1,38,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-74.0
$GPS2,231012,142726,-4325.899,-809.750,17,1.0,17,-21.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.009,0.216
$KALMAN_X,-115996.6,92.3,-492.4,268706.3,971.3
$KALMAN_Y,-193817.9,42.0,24.3,108323.1,430.1
$MHEAD_RNG_PITCHd_Wd,19.0,113570,-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,24,-0.71,-121.3,0.0,0.0,0,75,0.00,0.00,-48.58,0.000,2,0.000,0.000,82,1833,2964,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.0,-1.2,8,104,11.20,0.68,-10.85,0.000,4,0.251,0.103,2788,1414,3359,0,0,0,0,0,0
$GC,142,-0.60,-121.6,10.4,-10.2,18,149,0.10,0.62,0.00,0.000,6,0.147,0.048,2820,1825,3361,0,0,0,0,0,0
$GC,222,-0.56,-121.6,19.5,-11.0,31,229,0.08,0.00,0.00,0.000,6,0.190,0.000,2840,1825,3361,0,0,0,0,0,0
$GC,301,-0.56,-121.6,27.3,-10.0,44,308,0.00,0.38,0.00,0.000,4,0.000,0.058,2840,1574,3361,0,0,0,0,0,0
$GC,372,-0.56,-121.6,34.4,-9.9,56,379,0.00,0.35,0.00,0.000,6,0.000,0.054,2839,1815,3361,0,0,0,0,0,0
$GC,609,-0.56,-121.6,56.9,-9.5,97,614,0.00,1.00,0.00,0.000,4,0.000,0.051,2834,2462,3361,0,0,0,0,0,0
$GC,699,-0.56,-121.6,65.6,-9.4,113,703,0.00,1.00,0.00,0.000,6,0.000,0.046,2834,1813,3361,0,0,0,0,0,0
$GC,1041,-0.54,-121.6,100.3,-10.1,174,1045,0.00,0.70,0.00,0.000,4,0.000,0.050,2830,2277,3361,0,0,0,0,0,0
$GC,1143,-0.54,-121.6,110.6,-9.7,180,1148,0.03,0.70,0.00,0.000,6,0.171,0.047,2842,1810,3361,0,0,0,0,0,0
$GC,1475,-0.54,-121.6,142.5,-9.7,201,1479,0.00,0.73,0.00,0.000,4,0.000,0.051,2838,2293,3361,0,0,0,0,0,0
$GC,1568,-0.54,-121.6,151.5,-8.8,206,1576,0.00,0.73,0.00,0.000,6,0.000,0.046,2839,1818,3362,0,0,0,0,0,0
$GC,1889,-0.54,-121.6,180.2,-8.9,227,1892,0.00,0.38,0.00,0.000,4,0.000,0.054,2837,2091,3362,0,0,0,0,0,0
$GC,1983,-0.54,-121.6,188.8,-9.2,232,1985,0.00,0.40,0.00,0.000,6,0.000,0.053,2837,1819,3361,0,0,0,0,0,0
$GC,2299,-0.54,-121.6,216.4,-8.9,252,2302,0.00,0.40,0.00,0.000,4,0.000,0.054,2835,2107,3362,0,0,0,0,0,0
$GC,2400,-0.54,-121.6,225.4,-8.3,258,2403,0.00,0.43,0.00,0.000,6,0.000,0.054,2835,1810,3362,0,0,0,0,0,0
$GC,2724,-0.54,-121.6,254.6,-9.0,278,2727,0.00,0.45,0.00,0.000,4,0.000,0.053,2833,2126,3362,0,0,0,0,0,0
$GC,2852,-0.54,-121.6,266.6,-9.6,283,2857,0.00,0.47,0.00,0.000,6,0.000,0.050,2833,1806,3362,0,0,0,0,0,0
$GC,3169,-0.54,-121.6,295.1,-9.3,299,3173,0.00,0.43,0.00,0.000,4,0.000,0.053,2831,2110,3362,0,0,0,0,0,0
$GC,3282,-0.54,-121.6,305.4,-9.1,304,3286,0.03,0.43,0.00,0.000,6,0.174,0.052,2842,1813,3362,0,0,0,0,0,0
$GC,3613,-0.54,-121.6,334.9,-9.0,320,3617,0.00,0.68,0.00,0.000,4,0.000,0.050,2839,2267,3362,0,0,0,0,0,0
$GC,3729,-0.54,-121.6,345.0,-8.7,325,3732,0.00,0.65,0.00,0.000,6,0.000,0.047,2840,1824,3362,0,0,0,0,0,0
$GC,4062,-0.54,-121.6,375.0,-8.8,341,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1824,3362,0,0,0,0,0,0
$GC,4370,-0.54,-121.6,399.4,-7.7,356,4373,0.00,1.60,0.00,0.000,4,0.000,0.053,2831,2841,3363,0,0,0,0,0,0
$GC,4486,-0.54,-121.6,408.7,-8.6,360,4491,0.00,1.60,0.00,0.000,6,0.000,0.042,2832,1811,3362,0,0,0,0,0,0
$GC,4810,-0.54,-121.6,436.5,-8.9,371,4815,0.05,0.25,0.00,0.000,4,0.226,0.064,2843,1989,3363,0,0,0,0,0,0
$GC,5066,-0.54,-121.6,460.0,-9.5,378,5068,0.00,0.25,0.00,0.000,6,0.000,0.061,2843,1818,3363,0,0,0,0,0,0
$GC,5380,-0.54,-121.6,490.2,-9.9,389,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1818,3363,0,0,0,0,0,0
$GC,5687,-0.54,-121.6,520.7,-10.0,399,5690,0.00,0.50,0.00,0.000,4,0.000,0.054,2841,2162,3362,0,0,0,0,0,0
$GC,5821,-0.54,-121.6,534.1,-9.9,403,5825,0.00,0.50,0.00,0.000,6,0.000,0.050,2840,1819,3362,0,0,0,0,0,0
$GC,6161,-0.54,-121.6,567.3,-9.5,414,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1819,3361,0,0,0,0,0,0
$GC,6468,-0.54,-121.6,595.0,-8.9,424,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1818,3361,0,0,0,0,0,0
$GC,6774,-0.54,-121.6,622.0,-8.8,434,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1818,3361,0,0,0,0,0,0
$GC,7080,-0.54,-121.6,647.4,-8.3,444,7084,0.00,0.62,0.00,0.000,4,0.000,0.054,2837,2237,3360,0,0,0,0,0,0
$GC,7208,-0.54,-121.6,658.3,-8.8,447,7213,0.00,0.62,0.00,0.000,6,0.000,0.049,2837,1818,3360,0,0,0,0,0,0
$GC,7520,-0.54,-121.6,685.7,-9.1,458,7524,0.00,0.65,0.00,0.000,4,0.000,0.054,2835,2251,3360,0,0,0,0,0,0
$GC,7621,-0.54,-121.6,694.7,-8.5,461,7625,0.00,0.65,0.00,0.000,6,0.000,0.049,2835,1813,3359,0,0,0,0,0,0
$GC,7961,-0.54,-121.6,725.7,-9.3,472,7965,0.00,0.35,0.00,0.000,4,0.000,0.058,2833,2060,3359,0,0,0,0,0,0
$GC,8217,-0.54,-121.6,751.4,-10.9,479,8221,0.00,0.38,0.00,0.000,6,0.000,0.057,2833,1808,3358,0,0,0,0,0,0
$GC,8535,-0.54,-121.6,783.7,-10.0,490,8539,0.00,0.43,0.00,0.000,4,0.000,0.056,2831,2105,3358,0,0,0,0,0,0
$GC,8741,-0.54,-121.6,804.3,-9.2,496,8745,0.05,0.43,0.00,0.000,6,0.213,0.054,2844,1819,3357,0,0,0,0,0,0
$GC,9076,-0.57,-121.6,833.2,-8.2,507,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1819,3357,0,0,0,0,0,0
$GC,9382,-0.60,-121.6,857.7,-8.0,517,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1819,3356,0,0,0,0,0,0
$GC,9688,-0.63,-121.6,881.9,-8.0,527,9693,0.08,0.60,0.00,0.000,4,0.124,0.057,2799,2217,3356,0,0,0,0,0,0
$GC,9782,-0.59,-121.6,890.9,-10.2,529,9789,0.10,0.60,0.00,0.000,6,0.166,0.050,2827,1821,3356,0,0,0,0,0,0
$GC,10095,-0.59,-121.6,916.5,-8.0,540,10099,0.00,0.35,0.00,0.000,4,0.000,0.058,2824,2071,3356,0,0,0,0,0,0
$GC,10351,-0.59,-121.6,935.7,-8.2,547,10353,0.00,0.38,0.00,0.000,6,0.000,0.055,2825,1818,3355,0,0,0,0,0,0
$GC,10666,-0.59,-121.6,958.8,-7.3,558,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1818,3355,0,0,0,0,0,0
$GC,10972,-0.59,-121.6,982.3,-7.9,568,10975,0.00,1.10,0.00,0.000,4,0.000,0.055,2820,2517,3354,0,0,0,0,0,0
$GC,11133,-0.59,-121.6,996.0,-8.4,572,11139,0.00,1.10,0.00,0.000,6,0.000,0.047,2821,1813,3353,0,0,0,0,0,0
$STATE,11199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11200,begin apogee
$GC,11204,-0.23,0.0,1001.7,8.6,575,11306,0.40,0.00,99.78,1.307,6,0.125,0.000,2950,1645,2862,0,0,0,0,0,0
$STATE,11307,end apogee,CONTROL_FINISHED_OK
$STATE,11307,begin climb
$GC,11309,0.71,121.6,1005.6,0.0,578,11419,0.88,0.43,102.68,1.274,4,0.093,0.061,3243,1390,2365,0,0,0,0,0,0
$GC,11452,0.71,181.4,1002.6,5.0,582,11509,0.00,0.40,53.33,1.243,6,0.000,0.054,3243,1638,2121,0,0,0,0,0,0
$GC,11827,0.74,201.5,978.2,6.6,595,11850,0.00,0.90,17.88,1.192,4,0.000,0.051,3243,2186,2040,0,0,0,0,0,0
$GC,11959,0.77,201.5,969.2,7.5,599,11963,0.03,0.85,0.00,0.000,6,0.103,0.050,3274,1652,2038,0,0,0,0,0,0
$GC,12298,0.77,201.5,941.7,8.3,610,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1653,2036,0,0,0,0,0,0
$GC,12604,0.77,201.5,916.7,8.2,620,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1652,2035,0,0,0,0,0,0
$GC,12910,0.77,201.5,892.1,8.0,630,12914,0.00,0.35,0.00,0.000,4,0.000,0.067,3276,1411,2035,0,0,0,0,0,0
$GC,13011,0.77,201.5,883.8,8.8,633,13015,0.00,0.35,0.00,0.000,6,0.000,0.059,3276,1650,2034,0,0,0,0,0,0
$GC,13351,0.77,201.5,855.2,8.6,644,13355,0.00,0.25,0.00,0.000,4,0.000,0.065,3276,1837,2033,0,0,0,0,0,0
$GC,13428,0.77,201.5,848.4,8.9,646,13430,0.00,0.32,0.00,0.000,6,0.000,0.065,3277,1632,2033,0,0,0,0,0,0
$GC,13753,0.77,201.5,818.9,9.3,657,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1632,2033,0,0,0,0,0,0
$GC,14060,0.77,201.5,791.8,8.7,667,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1632,2033,0,0,0,0,0,0
$GC,14366,0.77,201.5,764.4,9.1,677,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1632,2033,0,0,0,0,0,0
$GC,14672,0.77,201.5,737.5,8.8,687,14676,0.00,0.25,0.00,0.000,4,0.000,0.073,3278,1449,2032,0,0,0,0,0,0
$GC,14810,0.77,201.5,725.6,7.8,691,14812,0.00,0.30,0.00,0.000,6,0.000,0.059,3278,1646,2032,0,0,0,0,0,0
$GC,15141,0.77,201.5,699.0,7.8,702,15145,0.00,0.52,0.00,0.000,4,0.000,0.061,3280,1302,2032,0,0,0,0,0,0
$GC,15234,0.77,207.0,692.0,7.2,704,15244,0.00,0.55,4.95,0.804,6,0.000,0.052,3281,1656,2017,0,0,0,0,0,0
$GC,15579,0.77,207.0,665.8,7.8,716,15583,0.00,0.60,0.00,0.000,4,0.000,0.054,3281,2066,2017,0,0,0,0,0,0
$GC,15684,0.77,207.0,657.3,7.7,719,15688,0.00,0.68,0.00,0.000,6,0.000,0.054,3284,1637,2016,0,0,0,0,0,0
$GC,16019,0.77,207.0,628.9,8.7,730,16023,0.00,0.25,0.00,0.000,4,0.000,0.070,3285,1455,2016,0,0,0,0,0,0
$GC,16079,0.77,207.0,623.6,8.7,731,16081,0.00,0.30,0.00,0.000,6,0.000,0.060,3285,1654,2016,0,0,0,0,0,0
$GC,16387,0.77,207.0,596.3,9.0,741,16391,0.00,0.28,0.00,0.000,4,0.000,0.068,3285,1461,2016,0,0,0,0,0,0
$GC,16497,0.77,207.0,586.7,9.1,744,16500,0.05,0.28,0.00,0.000,6,0.218,0.062,3274,1649,2016,0,0,0,0,0,0
$GC,16823,0.77,212.5,562.1,7.2,755,16831,0.00,0.00,6.22,0.833,6,0.000,0.000,3275,1649,1994,0,0,0,0,0,0
$GC,17129,0.78,242.3,542.4,6.2,765,17160,0.00,0.28,27.05,1.011,4,0.000,0.063,3274,1830,1874,0,0,0,0,0,0
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$STATE,22572,end climb,SURFACE_DEPTH_REACHED
$STATE,22572,begin surface coast
$FINISH,1.6,1.026670
$STATE,22603,end surface coast,CONTROL_FINISHED_OK
$STATE,22603,begin surface
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$HUMID,42.43
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,15.90
$XPDR_PINGS,0
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$10V_AH,10.2,20.350
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.550,47.125,365.400,0.000,0.000,24.170,41.815,236.404,0.000,0.000,19.255,2984.966,15667.529,432.370,3845.741,160.281,33.356,1899.972,0.000,3482.632,0.000,1.010,0.000
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$MEM,353816
$DATA_FILE_SIZE,66913,1155
$CAP_FILE_SIZE,193631,0
$CFSIZE,2097086464,2078539776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231012,204735,-4322.166,-810.045,43,1.1,43,-21.3