version: 66.07.10.p01
glider: 573
mission: 4
dive: 163
start: 11 3 112 16 37 37
data:
$ID,573
$MISSION,4
$DIVE,163
$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,-4808.6899
$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,30
$R_STBD_OVSHOOT,33
$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,142
$GPS1,031112,162959,-4212.581,-735.448,39,1.0,39,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.0
$GPS2,031112,163642,-4212.533,-735.446,14,1.6,15,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.174,0.129
$KALMAN_X,-215983.8,202.2,1297.5,413492.2,-7390.6
$KALMAN_Y,-140448.6,-288.4,178.8,191004.5,2132.6
$MHEAD_RNG_PITCHd_Wd,75.4,31476,-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,-121.6,0.0,0.0,0,100,0.00,0.00,-72.60,0.000,2,0.000,0.000,86,1841,3117,0,0,0,0,0,0
$GC,102,-0.71,-121.6,3.3,-1.9,12,128,10.93,2.38,-5.93,0.000,4,0.240,0.068,2786,406,3360,0,0,0,0,0,0
$GC,231,-0.59,-121.6,22.0,-13.0,33,238,0.15,2.28,0.00,0.000,6,0.139,0.044,2826,1826,3361,0,0,0,0,0,0
$GC,311,-0.56,-121.6,30.1,-9.5,46,318,0.00,0.62,0.00,0.000,4,0.000,0.053,2823,2246,3363,0,0,0,0,0,0
$GC,427,-0.53,-121.6,41.3,-9.6,66,435,0.05,0.65,0.00,0.000,6,0.137,0.049,2844,1819,3363,0,0,0,0,0,0
$GC,663,-0.53,-121.6,62.3,-8.8,107,667,0.00,1.10,0.00,0.000,4,0.000,0.054,2839,2519,3363,0,0,0,0,0,0
$GC,778,-0.53,-121.6,72.1,-8.6,127,782,0.00,1.10,0.00,0.000,6,0.000,0.045,2839,1815,3363,0,0,0,0,0,0
$GC,1126,-0.53,-121.6,101.8,-8.7,187,1130,0.00,1.65,0.00,0.000,4,0.000,0.055,2831,2883,3364,0,0,0,0,0,0
$GC,1245,-0.53,-121.6,112.6,-8.8,194,1249,0.08,1.65,0.00,0.000,6,0.174,0.043,2852,1824,3364,0,0,0,0,0,0
$GC,1577,-0.53,-121.6,141.1,-8.8,215,1581,0.00,1.05,0.00,0.000,4,0.000,0.053,2846,2501,3364,0,0,0,0,0,0
$GC,1665,-0.53,-121.6,149.7,-9.5,220,1669,0.00,1.08,0.00,0.000,6,0.000,0.044,2846,1816,3364,0,0,0,0,0,0
$GC,1991,-0.53,-121.6,180.3,-9.2,241,1995,0.00,1.67,0.00,0.000,4,0.000,0.054,2838,2899,3364,0,0,0,0,0,0
$GC,2095,-0.53,-121.6,189.8,-8.7,247,2099,0.00,1.67,0.00,0.000,6,0.000,0.043,2839,1822,3364,0,0,0,0,0,0
$GC,2425,-0.53,-121.6,219.5,-9.3,268,2429,0.00,1.45,0.00,0.000,4,0.000,0.054,2832,2742,3364,0,0,0,0,0,0
$GC,2530,-0.53,-121.6,229.5,-9.5,274,2536,0.05,1.45,0.00,0.000,6,0.207,0.043,2846,1816,3364,0,0,0,0,0,0
$GC,2860,-0.53,-121.6,258.0,-8.8,294,2863,0.00,1.77,0.00,0.000,4,0.000,0.055,2837,2961,3365,0,0,0,0,0,0
$GC,2975,-0.53,-121.6,268.3,-8.8,299,2979,0.00,1.73,0.00,0.000,6,0.000,0.043,2837,1821,3364,0,0,0,0,0,0
$GC,3308,-0.53,-121.6,299.8,-9.5,315,3312,0.00,1.08,0.00,0.000,4,0.000,0.052,2832,2510,3364,0,0,0,0,0,0
$GC,3408,-0.53,-121.6,309.7,-9.5,319,3414,0.05,1.10,0.00,0.000,6,0.203,0.045,2847,1804,3365,0,0,0,0,0,0
$GC,3732,-0.53,-121.6,339.8,-9.6,335,3736,0.00,2.22,0.00,0.000,4,0.000,0.057,2836,3221,3365,0,0,0,0,0,0
$GC,3848,-0.53,-121.6,351.2,-9.3,340,3853,0.00,2.17,0.00,0.000,6,0.000,0.042,2836,1825,3364,0,0,0,0,0,0
$GC,4176,-0.53,-121.6,381.4,-8.9,356,4179,0.00,0.80,0.00,0.000,4,0.000,0.052,2833,2352,3364,0,0,0,0,0,0
$GC,4281,-0.53,-121.6,390.8,-8.9,360,4290,0.05,0.85,0.00,0.000,6,0.202,0.047,2847,1801,3364,0,0,0,0,0,0
$GC,4596,-0.53,-121.6,414.4,-7.2,373,4599,0.00,1.40,0.00,0.000,4,0.000,0.054,2841,2690,3364,0,0,0,0,0,0
$GC,4697,-0.53,-121.6,421.5,-6.6,376,4701,0.00,1.35,0.00,0.000,6,0.000,0.045,2841,1823,3364,0,0,0,0,0,0
$GC,5037,-0.53,-121.6,446.1,-7.4,387,5041,0.00,1.35,0.00,0.000,4,0.000,0.054,2835,2678,3364,0,0,0,0,0,0
$GC,5141,-0.53,-121.6,454.4,-8.2,390,5146,0.00,1.35,0.00,0.000,6,0.000,0.043,2835,1817,3364,0,0,0,0,0,0
$GC,5477,-0.53,-121.6,481.8,-8.4,401,5481,0.00,2.03,0.00,0.000,4,0.000,0.057,2825,3101,3364,0,0,0,0,0,0
$GC,5587,-0.53,-121.6,491.9,-9.1,404,5593,0.05,2.00,0.00,0.000,6,0.142,0.043,2846,1821,3363,0,0,0,0,0,0
$GC,5917,-0.53,-121.6,521.0,-8.9,415,5920,0.00,1.45,0.00,0.000,4,0.000,0.055,2839,2734,3363,0,0,0,0,0,0
$GC,6022,-0.53,-121.6,530.6,-9.1,418,6027,0.00,1.45,0.00,0.000,6,0.000,0.044,2839,1812,3363,0,0,0,0,0,0
$GC,6357,-0.53,-121.6,560.0,-8.4,429,6361,0.00,1.42,0.00,0.000,4,0.000,0.055,2833,2711,3362,0,0,0,0,0,0
$GC,6458,-0.53,-121.6,568.2,-7.9,432,6463,0.03,1.40,0.00,0.000,6,0.166,0.046,2844,1814,3362,0,0,0,0,0,0
$GC,6799,-0.55,-121.6,592.5,-6.9,443,6803,0.00,1.10,0.00,0.000,4,0.000,0.054,2839,2523,3362,0,0,0,0,0,0
$GC,6905,-0.57,-121.6,600.1,-6.6,446,6909,0.00,1.10,0.00,0.000,6,0.000,0.046,2839,1815,3361,0,0,0,0,0,0
$GC,7240,-0.57,-121.6,624.3,-7.3,457,7244,0.00,0.93,0.00,0.000,4,0.000,0.053,2835,2421,3361,0,0,0,0,0,0
$GC,7323,-0.57,-121.6,630.5,-6.8,459,7328,0.00,0.95,0.00,0.000,6,0.000,0.047,2835,1812,3360,0,0,0,0,0,0
$GC,7647,-0.57,-121.6,653.2,-7.0,470,7651,0.00,1.12,0.00,0.000,4,0.000,0.054,2830,2528,3360,0,0,0,0,0,0
$GC,7764,-0.57,-121.6,661.3,-6.9,473,7768,0.00,1.10,0.00,0.000,6,0.000,0.047,2830,1821,3359,0,0,0,0,0,0
$GC,8088,-0.57,-121.6,683.7,-6.8,484,8092,0.00,1.33,0.00,0.000,4,0.000,0.055,2824,2656,3358,0,0,0,0,0,0
$GC,8199,-0.57,-121.6,691.6,-7.2,487,8204,0.00,1.30,0.00,0.000,6,0.000,0.044,2824,1816,3358,0,0,0,0,0,0
$GC,8529,-0.57,-121.6,717.5,-8.4,498,8532,0.00,1.02,0.00,0.000,4,0.000,0.054,2819,2474,3358,0,0,0,0,0,0
$GC,8617,-0.57,-121.6,725.4,-8.6,500,8622,0.05,1.02,0.00,0.000,6,0.208,0.046,2833,1818,3358,0,0,0,0,0,0
$GC,8935,-0.57,-121.6,753.2,-9.0,511,8939,0.00,1.17,0.00,0.000,4,0.000,0.055,2827,2565,3357,0,0,0,0,0,0
$GC,9040,-0.57,-121.6,763.3,-9.5,514,9045,0.00,1.17,0.00,0.000,6,0.000,0.045,2827,1816,3357,0,0,0,0,0,0
$GC,9375,-0.57,-121.6,796.1,-9.9,525,9379,0.00,0.98,0.00,0.000,4,0.000,0.054,2822,2440,3356,0,0,0,0,0,0
$GC,9477,-0.57,-121.6,806.2,-9.5,528,9480,0.00,0.95,0.00,0.000,6,0.000,0.048,2823,1826,3356,0,0,0,0,0,0
$GC,9816,-0.57,-121.6,839.5,-9.5,539,9820,0.00,0.28,0.00,0.000,4,0.000,0.061,2821,2026,3356,0,0,0,0,0,0
$GC,9951,-0.57,-121.6,851.6,-8.6,543,9955,0.00,0.30,0.00,0.000,6,0.000,0.061,2822,1813,3355,0,0,0,0,0,0
$GC,10291,-0.57,-121.6,880.4,-8.4,554,10295,0.00,0.98,0.00,0.000,4,0.000,0.054,2817,2436,3355,0,0,0,0,0,0
$GC,10385,-0.57,-121.6,887.9,-8.3,556,10392,0.08,0.98,0.00,0.000,6,0.176,0.047,2837,1813,3356,0,0,0,0,0,0
$GC,10699,-0.60,-121.6,910.3,-7.2,567,10702,0.00,1.48,0.00,0.000,4,0.000,0.057,2831,2738,3355,0,0,0,0,0,0
$GC,10810,-0.62,-121.6,918.8,-7.9,570,10814,0.00,1.42,0.00,0.000,6,0.000,0.045,2831,1825,3355,0,0,0,0,0,0
$GC,11139,-0.62,-121.6,944.5,-8.0,581,11143,0.00,0.75,0.00,0.000,4,0.000,0.053,2827,2315,3355,0,0,0,0,0,0
$GC,11233,-0.62,-121.6,952.3,-8.1,583,11239,0.00,0.77,0.00,0.000,6,0.000,0.048,2828,1815,3355,0,0,0,0,0,0
$GC,11546,-0.62,-121.6,979.3,-9.0,594,11549,0.00,0.80,0.00,0.000,4,0.000,0.054,2824,2337,3354,0,0,0,0,0,0
$GC,11662,-0.62,-121.6,990.3,-8.9,597,11666,0.00,0.82,0.00,0.000,6,0.000,0.048,2824,1806,3355,0,0,0,0,0,0
$STATE,11801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11801,begin apogee
$GC,11805,-0.23,0.0,1002.2,8.6,602,11909,0.38,0.00,100.88,1.304,6,0.121,0.000,2947,1640,2862,0,0,0,0,0,0
$STATE,11910,end apogee,CONTROL_FINISHED_OK
$STATE,11910,begin climb
$GC,11911,0.71,121.6,1006.9,0.0,605,12022,0.90,1.33,103.35,1.269,4,0.093,0.057,3251,897,2366,0,0,0,0,0,0
$GC,12084,0.69,183.5,1003.2,4.9,610,12144,0.00,1.25,55.97,1.242,6,0.000,0.044,3251,1639,2113,0,0,0,0,0,0
$GC,12468,0.69,190.0,978.0,7.1,623,12477,0.00,0.32,5.93,0.972,4,0.000,0.047,3251,1861,2087,0,0,0,0,0,0
$GC,12544,0.69,191.7,972.3,7.3,625,12548,0.00,0.35,0.00,0.000,6,0.000,0.060,3252,1649,2086,0,0,0,0,0,0
$GC,12873,0.69,191.7,946.8,8.0,636,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1649,2085,0,0,0,0,0,0
$GC,13180,0.71,191.7,922.5,7.8,646,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1649,2085,0,0,0,0,0,0
$GC,13486,0.71,198.4,899.8,7.1,656,13499,0.00,0.50,8.50,1.058,4,0.000,0.062,3255,1336,2053,0,0,0,0,0,0
$GC,13555,0.73,198.4,894.9,7.5,658,13559,0.00,0.50,0.00,0.000,6,0.000,0.051,3255,1656,2053,0,0,0,0,0,0
$GC,13890,0.75,235.1,874.0,5.9,669,13929,0.00,0.80,33.55,1.204,4,0.000,0.052,3255,2147,1903,0,0,0,0,0,0
$GC,14008,0.80,308.6,867.6,4.4,672,14081,0.03,0.82,66.12,1.204,6,0.099,0.052,3286,1644,1604,0,0,0,0,0,0
$GC,14387,0.83,308.6,840.8,7.6,685,14391,0.00,0.57,0.00,0.000,4,0.000,0.060,3289,1278,1594,0,0,0,0,0,0
$GC,14498,0.86,308.6,831.5,8.8,688,14502,0.00,0.60,0.00,0.000,6,0.000,0.049,3288,1654,1593,0,0,0,0,0,0
$GC,14827,0.89,308.6,801.2,9.6,699,14832,0.05,1.05,0.00,0.000,4,0.164,0.060,3326,1013,1593,0,0,0,0,0,0
$GC,14912,0.87,308.6,791.6,11.9,701,14916,0.05,1.00,0.00,0.000,6,0.141,0.047,3308,1645,1592,0,0,0,0,0,0
$GC,15234,0.87,308.6,755.7,11.2,712,15238,0.00,0.68,0.00,0.000,4,0.000,0.060,3310,1220,1591,0,0,0,0,0,0
$GC,15317,0.87,308.6,746.4,10.3,714,15321,0.00,0.68,0.00,0.000,6,0.000,0.048,3310,1646,1591,0,0,0,0,0,0
$GC,15641,0.87,308.6,711.8,10.3,725,15644,0.00,0.98,0.00,0.000,4,0.000,0.060,3314,1044,1591,0,0,0,0,0,0
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$STATE,22935,end climb,SURFACE_DEPTH_REACHED
$STATE,22935,begin surface coast
$FINISH,1.5,1.002461
$STATE,22949,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$MEM,354004
$DATA_FILE_SIZE,70175,1170
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$CFSIZE,2097086464,2072870912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
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