version: 66.07.10.p01
glider: 573
mission: 4
dive: 167
start: 11 4 112 19 34 7
data:
$ID,573
$MISSION,4
$DIVE,167
$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,-4821.9473
$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,31
$R_STBD_OVSHOOT,35
$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,146
$GPS1,041112,192559,-4205.066,-721.910,38,1.1,38,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-72.5
$GPS2,041112,193312,-4205.021,-721.807,19,1.3,20,-22.0
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.142,0.163
$KALMAN_X,-216667.5,183.9,649.8,433423.4,-2285.8
$KALMAN_Y,-137535.1,99.8,-155.2,201949.0,1462.4
$MHEAD_RNG_PITCHd_Wd,63.1,9627,-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,23,begin dive
$GC,24,-0.71,-121.4,0.0,0.0,0,87,0.00,0.00,-59.97,0.000,2,0.000,0.000,84,1828,3032,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.2,-1.6,10,115,10.98,2.33,-8.32,0.000,4,0.241,0.067,2786,392,3358,0,0,0,0,0,0
$GC,345,-0.59,-121.6,37.9,-13.7,53,351,0.20,2.25,0.00,0.000,6,0.152,0.044,2834,1818,3361,0,0,0,0,0,0
$GC,582,-0.57,-121.6,61.9,-9.9,94,587,0.00,1.62,0.00,0.000,4,0.000,0.055,2826,2851,3361,0,0,0,0,0,0
$GC,687,-0.57,-121.6,71.9,-9.3,113,691,0.00,1.62,0.00,0.000,6,0.000,0.046,2826,1822,3361,0,0,0,0,0,0
$GC,1039,-0.54,-121.6,106.4,-9.4,168,1044,0.08,2.25,0.00,0.000,4,0.199,0.058,2834,3228,3362,0,0,0,0,0,0
$GC,1138,-0.54,-121.6,115.5,-8.5,174,1143,0.00,2.20,0.00,0.000,6,0.000,0.043,2834,1822,3362,0,0,0,0,0,0
$GC,1465,-0.54,-121.6,144.7,-8.6,195,1469,0.00,1.98,0.00,0.000,4,0.000,0.057,2824,3083,3362,0,0,0,0,0,0
$GC,1570,-0.54,-121.6,153.5,-8.4,201,1574,0.08,1.98,0.00,0.000,6,0.181,0.044,2844,1808,3363,0,0,0,0,0,0
$GC,1899,-0.54,-121.6,179.3,-7.9,222,1903,0.00,1.17,0.00,0.000,4,0.000,0.054,2839,2559,3363,0,0,0,0,0,0
$GC,1986,-0.54,-121.6,186.2,-8.2,227,1990,0.00,1.15,0.00,0.000,6,0.000,0.046,2839,1818,3362,0,0,0,0,0,0
$GC,2316,-0.54,-121.6,212.6,-8.2,248,2319,0.00,1.55,0.00,0.000,4,0.000,0.055,2832,2791,3362,0,0,0,0,0,0
$GC,2410,-0.54,-121.6,220.9,-8.4,253,2417,0.00,1.55,0.00,0.000,6,0.000,0.044,2832,1805,3363,0,0,0,0,0,0
$GC,2730,-0.54,-121.6,251.0,-9.9,274,2733,0.00,1.42,0.00,0.000,4,0.000,0.054,2826,2707,3363,0,0,0,0,0,0
$GC,2847,-0.54,-121.6,262.5,-10.0,279,2853,0.08,1.40,0.00,0.000,6,0.179,0.044,2846,1818,3363,0,0,0,0,0,0
$GC,3176,-0.54,-121.6,290.8,-8.2,295,3180,0.00,2.22,0.00,0.000,4,0.000,0.057,2835,3222,3363,0,0,0,0,0,0
$GC,3289,-0.54,-121.6,300.2,-7.7,300,3293,0.00,2.17,0.00,0.000,6,0.000,0.043,2835,1812,3362,0,0,0,0,0,0
$GC,3616,-0.54,-121.6,325.0,-7.5,316,3619,0.00,1.83,0.00,0.000,4,0.000,0.057,2827,2990,3363,0,0,0,0,0,0
$GC,3716,-0.54,-121.6,332.6,-7.3,320,3721,0.03,1.83,0.00,0.000,6,0.181,0.043,2838,1822,3362,0,0,0,0,0,0
$GC,4037,-0.54,-121.6,357.4,-8.3,336,4040,0.00,0.45,0.00,0.000,4,0.000,0.054,2836,2132,3362,0,0,0,0,0,0
$GC,4205,-0.54,-121.6,372.0,-9.3,343,4210,0.00,0.50,0.00,0.000,6,0.000,0.051,2836,1801,3362,0,0,0,0,0,0
$GC,4529,-0.54,-121.6,400.6,-9.1,359,4532,0.00,1.70,0.00,0.000,4,0.000,0.055,2829,2867,3362,0,0,0,0,0,0
$GC,4630,-0.54,-121.6,410.3,-9.1,362,4634,0.05,1.62,0.00,0.000,6,0.219,0.044,2842,1824,3362,0,0,0,0,0,0
$GC,4969,-0.54,-121.6,439.1,-8.2,373,4973,0.00,1.25,0.00,0.000,4,0.000,0.054,2836,2619,3361,0,0,0,0,0,0
$GC,5074,-0.54,-121.6,447.9,-8.2,376,5079,0.00,1.27,0.00,0.000,6,0.000,0.045,2836,1808,3361,0,0,0,0,0,0
$GC,5410,-0.54,-121.6,476.0,-8.3,387,5413,0.00,1.35,0.00,0.000,4,0.000,0.056,2830,2655,3361,0,0,0,0,0,0
$GC,5514,-0.54,-121.6,484.7,-8.4,390,5520,0.05,1.33,0.00,0.000,6,0.211,0.045,2844,1814,3360,0,0,0,0,0,0
$GC,5850,-0.54,-121.6,511.6,-8.4,401,5853,0.00,0.55,0.00,0.000,4,0.000,0.054,2842,2184,3359,0,0,0,0,0,0
$GC,5926,-0.54,-121.6,518.3,-8.5,403,5931,0.00,0.57,0.00,0.000,6,0.000,0.050,2842,1809,3360,0,0,0,0,0,0
$GC,6255,-0.54,-121.6,549.4,-9.7,414,6259,0.00,1.95,0.00,0.000,4,0.000,0.058,2833,3037,3359,0,0,0,0,0,0
$GC,6371,-0.54,-121.6,561.0,-9.6,417,6376,0.00,1.90,0.00,0.000,6,0.000,0.044,2833,1826,3359,0,0,0,0,0,0
$GC,6696,-0.54,-121.6,592.0,-9.4,428,6699,0.00,1.80,0.00,0.000,4,0.000,0.057,2824,2968,3358,0,0,0,0,0,0
$GC,6806,-0.54,-121.6,602.5,-9.1,431,6812,0.05,1.80,0.00,0.000,6,0.149,0.044,2845,1822,3358,0,0,0,0,0,0
$GC,7137,-0.56,-121.6,628.1,-7.1,442,7141,0.00,0.90,0.00,0.000,4,0.000,0.054,2841,2410,3358,0,0,0,0,0,0
$GC,7220,-0.58,-121.6,633.6,-7.0,444,7224,0.00,0.93,0.00,0.000,6,0.000,0.047,2841,1807,3358,0,0,0,0,0,0
$GC,7543,-0.58,-121.6,652.9,-5.7,455,7547,0.00,1.05,0.00,0.000,4,0.000,0.054,2836,2476,3357,0,0,0,0,0,0
$GC,7660,-0.58,-121.6,659.9,-6.0,458,7665,0.00,1.00,0.00,0.000,6,0.000,0.046,2836,1827,3356,0,0,0,0,0,0
$GC,7984,-0.58,-121.6,680.7,-6.8,469,7988,0.00,1.05,0.00,0.000,4,0.000,0.054,2831,2504,3356,0,0,0,0,0,0
$GC,8095,-0.58,-121.6,689.0,-7.7,472,8099,0.00,1.08,0.00,0.000,6,0.000,0.046,2831,1818,3356,0,0,0,0,0,0
$GC,8425,-0.58,-121.6,713.8,-7.5,483,8428,0.00,1.67,0.00,0.000,4,0.000,0.057,2823,2884,3356,0,0,0,0,0,0
$GC,8526,-0.58,-121.6,720.9,-6.3,486,8530,0.00,1.67,0.00,0.000,6,0.000,0.044,2823,1795,3355,0,0,0,0,0,0
$GC,8867,-0.58,-121.6,744.7,-6.7,497,8870,0.00,0.57,0.00,0.000,4,0.000,0.054,2821,2178,3356,0,0,0,0,0,0
$GC,8938,-0.58,-121.6,749.5,-6.5,499,8943,0.00,0.57,0.00,0.000,6,0.000,0.051,2821,1802,3355,0,0,0,0,0,0
$GC,9274,-0.58,-121.6,772.1,-7.1,510,9278,0.00,2.17,0.00,0.000,4,0.000,0.059,2811,3184,3355,0,0,0,0,0,0
$GC,9403,-0.58,-121.6,781.7,-7.7,514,9408,0.08,2.10,0.00,0.000,6,0.184,0.044,2831,1825,3355,0,0,0,0,0,0
$GC,9737,-0.58,-121.6,807.3,-7.9,525,9740,0.00,1.05,0.00,0.000,4,0.000,0.054,2826,2491,3354,0,0,0,0,0,0
$GC,9830,-0.58,-121.6,815.0,-8.8,527,9836,0.00,1.08,0.00,0.000,6,0.000,0.047,2826,1807,3354,0,0,0,0,0,0
$GC,10143,-0.58,-121.6,841.7,-8.9,538,10147,0.00,0.77,0.00,0.000,4,0.000,0.054,2822,2313,3354,0,0,0,0,0,0
$GC,10254,-0.58,-121.6,852.1,-10.1,541,10258,0.00,0.77,0.00,0.000,6,0.000,0.048,2822,1815,3354,0,0,0,0,0,0
$GC,10583,-0.58,-121.6,882.8,-9.4,552,10587,0.00,0.98,0.00,0.000,4,0.000,0.054,2818,2438,3353,0,0,0,0,0,0
$GC,10685,-0.58,-121.6,892.5,-9.0,555,10688,0.00,0.95,0.00,0.000,6,0.000,0.048,2818,1823,3353,0,0,0,0,0,0
$GC,11025,-0.58,-121.6,926.6,-10.1,566,11028,0.00,0.60,0.00,0.000,4,0.000,0.054,2815,2224,3352,0,0,0,0,0,0
$GC,11141,-0.58,-121.6,938.2,-10.7,569,11146,0.05,0.65,0.00,0.000,6,0.215,0.050,2828,1804,3352,0,0,0,0,0,0
$GC,11464,-0.58,-121.6,967.3,-8.8,580,11468,0.00,0.57,0.00,0.000,4,0.000,0.054,2826,2187,3352,0,0,0,0,0,0
$GC,11546,-0.58,-121.6,974.2,-8.1,582,11551,0.00,0.57,0.00,0.000,6,0.000,0.050,2826,1813,3352,0,0,0,0,0,0
$GC,11870,-0.58,-121.6,998.8,-7.5,593,11874,0.00,0.75,0.00,0.000,4,0.000,0.054,2823,2305,3352,0,0,0,0,0,0
$STATE,11884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11884,begin apogee
$GC,11889,-0.23,0.0,1000.2,7.9,593,11994,0.35,0.00,100.45,1.304,6,0.129,0.000,2941,1642,2861,0,0,0,0,0,0
$STATE,11995,end apogee,CONTROL_FINISHED_OK
$STATE,11995,begin climb
$GC,11997,0.71,121.6,1004.0,0.0,597,12108,0.93,1.45,103.35,1.268,4,0.096,0.056,3252,825,2367,0,0,0,0,0,0
$GC,12169,0.68,145.7,997.4,6.4,602,12196,0.00,1.38,22.60,1.197,6,0.000,0.044,3252,1637,2267,0,0,0,0,0,0
$GC,12520,0.68,171.3,974.9,6.4,614,12551,0.00,1.70,22.92,1.212,4,0.000,0.054,3252,2636,2163,0,0,0,0,0,0
$GC,12640,0.69,188.2,966.8,6.7,617,12661,0.03,1.62,16.17,1.175,6,0.170,0.047,3249,1654,2094,0,0,0,0,0,0
$GC,12986,0.71,207.3,944.8,6.6,629,13007,0.00,0.85,17.75,1.175,4,0.000,0.057,3252,1147,2017,0,0,0,0,0,0
$GC,13092,0.74,210.4,937.1,7.3,632,13101,0.00,0.80,4.10,0.742,6,0.000,0.046,3253,1649,2004,0,0,0,0,0,0
$GC,13420,0.77,215.8,913.4,7.2,643,13428,0.00,0.00,6.40,0.962,6,0.000,0.000,3252,1649,1982,0,0,0,0,0,0
$GC,13726,0.80,225.7,891.8,7.0,653,13739,0.08,0.00,10.55,1.095,6,0.125,0.000,3294,1650,1941,0,0,0,0,0,0
$GC,14032,0.78,225.7,867.0,8.0,663,14037,0.08,0.52,0.00,0.000,4,0.178,0.060,3278,1323,1938,0,0,0,0,0,0
$GC,14103,0.78,229.7,861.6,7.2,665,14113,0.00,0.52,4.93,0.845,6,0.000,0.050,3278,1658,1925,0,0,0,0,0,0
$GC,14437,0.78,229.7,835.3,7.8,676,14441,0.00,0.35,0.00,0.000,4,0.000,0.063,3280,1427,1924,0,0,0,0,0,0
$GC,14520,0.78,229.7,828.6,8.6,678,14524,0.00,0.35,0.00,0.000,6,0.000,0.057,3280,1654,1924,0,0,0,0,0,0
$GC,14843,0.78,229.7,803.4,7.8,689,14847,0.00,0.40,0.00,0.000,4,0.000,0.062,3282,1392,1924,0,0,0,0,0,0
$GC,14898,0.78,229.7,799.0,7.6,690,14901,0.00,0.40,0.00,0.000,6,0.000,0.054,3282,1651,1924,0,0,0,0,0,0
$GC,15215,0.78,229.7,773.1,8.3,701,15219,0.00,0.45,0.00,0.000,4,0.000,0.054,3282,1966,1924,0,0,0,0,0,0
$GC,15298,0.78,229.7,766.0,8.2,703,15302,0.00,0.52,0.00,0.000,6,0.000,0.056,3284,1637,1923,0,0,0,0,0,0
$GC,15622,0.78,229.7,738.4,8.6,714,15623,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1637,1923,0,0,0,0,0,0
$GC,15928,0.78,229.7,712.7,8.2,724,15929,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1637,1922,0,0,0,0,0,0
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$STATE,24297,end climb,SURFACE_DEPTH_REACHED
$STATE,24297,begin surface coast
$FINISH,1.5,1.018974
$STATE,24345,end surface coast,CONTROL_FINISHED_OK
$STATE,24345,begin surface
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$HUMID,43.26
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$TCM_TEMP,15.00
$XPDR_PINGS,0
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$10V_AH,10.2,26.581
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354100
$DATA_FILE_SIZE,73462,1241
$CAP_FILE_SIZE,206036,0
$CFSIZE,2097086464,2072346624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,051112,022223,-4203.304,-718.763,27,1.8,43,-22.0