version: 66.07.10.p01
glider: 573
mission: 4
dive: 172
start: 11 6 112 4 49 14
data:
$ID,573
$MISSION,4
$DIVE,172
$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,-4838.6655
$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,151
$GPS1,061112,044123,-4208.269,-715.492,41,1.1,41,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-73.9
$GPS2,061112,044819,-4208.267,-715.409,18,1.1,19,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.087,-0.199
$KALMAN_X,-215385.4,-132.4,-142.3,441981.9,286.4
$KALMAN_Y,-135814.3,-103.3,337.4,193913.8,132.4
$MHEAD_RNG_PITCHd_Wd,178.3,107143,-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,-121.6,0.0,0.0,0,70,0.00,0.00,-43.17,0.000,2,0.000,0.000,86,1825,2561,0,0,0,0,0,0
$GC,72,-0.71,-121.6,3.1,-1.2,7,122,11.18,2.28,-28.95,0.000,4,0.248,0.073,2777,3217,3359,0,0,0,0,0,0
$GC,348,-0.61,-121.6,32.6,-12.9,53,353,0.15,2.20,0.00,0.000,6,0.164,0.044,2818,1817,3361,0,0,0,0,0,0
$GC,583,-0.57,-121.6,60.0,-11.0,94,588,0.08,2.15,0.00,0.000,4,0.207,0.058,2828,3152,3361,0,0,0,0,0,0
$GC,706,-0.57,-121.6,72.1,-9.1,116,712,0.00,2.10,0.00,0.000,6,0.000,0.044,2828,1822,3361,0,0,0,0,0,0
$GC,1051,-0.55,-121.6,105.4,-10.6,172,1056,0.05,1.08,0.00,0.000,4,0.231,0.054,2834,2495,3362,0,0,0,0,0,0
$GC,1153,-0.55,-121.6,116.3,-10.7,178,1157,0.00,1.05,0.00,0.000,6,0.000,0.047,2834,1819,3362,0,0,0,0,0,0
$GC,1484,-0.55,-121.6,149.8,-9.7,199,1488,0.00,1.85,0.00,0.000,4,0.000,0.057,2825,3005,3362,0,0,0,0,0,0
$GC,1602,-0.55,-121.6,162.1,-10.1,206,1606,0.08,1.83,0.00,0.000,6,0.181,0.044,2844,1810,3362,0,0,0,0,0,0
$GC,1934,-0.55,-121.6,194.4,-9.7,227,1938,0.00,1.73,0.00,0.000,4,0.000,0.057,2837,2898,3363,0,0,0,0,0,0
$GC,2046,-0.55,-121.6,205.6,-9.7,233,2052,0.00,1.67,0.00,0.000,6,0.000,0.044,2836,1823,3362,0,0,0,0,0,0
$GC,2365,-0.55,-121.6,238.8,-10.9,254,2369,0.00,2.22,0.00,0.000,4,0.000,0.057,2827,3223,3363,0,0,0,0,0,0
$GC,2500,-0.55,-121.6,253.7,-11.1,262,2505,0.03,2.20,0.00,0.000,6,0.180,0.042,2837,1812,3363,0,0,0,0,0,0
$GC,2827,-0.55,-121.6,289.3,-11.1,278,2830,0.00,0.68,0.00,0.000,4,0.000,0.052,2834,2260,3363,0,0,0,0,0,0
$GC,2927,-0.55,-121.6,300.4,-10.6,282,2931,0.00,0.70,0.00,0.000,6,0.000,0.048,2835,1804,3363,0,0,0,0,0,0
$GC,3248,-0.55,-121.6,332.7,-9.8,298,3252,0.00,1.80,0.00,0.000,4,0.000,0.055,2826,2950,3363,0,0,0,0,0,0
$GC,3363,-0.55,-121.6,343.7,-9.3,303,3368,0.08,1.73,0.00,0.000,6,0.183,0.044,2846,1822,3363,0,0,0,0,0,0
$GC,3699,-0.57,-121.6,369.7,-7.1,319,3702,0.00,2.20,0.00,0.000,4,0.000,0.058,2836,3218,3363,0,0,0,0,0,0
$GC,3821,-0.57,-121.6,378.8,-7.8,324,3826,0.00,2.17,0.00,0.000,6,0.000,0.042,2836,1824,3363,0,0,0,0,0,0
$GC,4143,-0.57,-121.6,401.3,-7.2,340,4147,0.00,1.42,0.00,0.000,4,0.000,0.054,2830,2721,3362,0,0,0,0,0,0
$GC,4248,-0.57,-121.6,409.6,-7.7,343,4253,0.00,1.42,0.00,0.000,6,0.000,0.044,2830,1814,3363,0,0,0,0,0,0
$GC,4584,-0.57,-121.6,437.5,-8.4,354,4588,0.00,1.88,0.00,0.000,4,0.000,0.057,2821,3005,3363,0,0,0,0,0,0
$GC,4700,-0.57,-121.6,447.7,-8.9,357,4705,0.00,1.85,0.00,0.000,6,0.000,0.044,2821,1823,3363,0,0,0,0,0,0
$GC,5024,-0.57,-121.6,477.3,-9.3,368,5029,0.03,1.27,0.00,0.000,4,0.272,0.056,2824,2620,3362,0,0,0,0,0,0
$GC,5129,-0.57,-121.6,486.8,-9.1,371,5134,0.00,1.27,0.00,0.000,6,0.000,0.046,2824,1812,3362,0,0,0,0,0,0
$GC,5465,-0.57,-121.6,515.8,-8.5,382,5469,0.00,1.20,0.00,0.000,4,0.000,0.054,2819,2574,3361,0,0,0,0,0,0
$GC,5566,-0.57,-121.6,524.4,-8.0,385,5570,0.03,1.17,0.00,0.000,6,0.173,0.046,2830,1819,3361,0,0,0,0,0,0
$GC,5905,-0.57,-121.6,552.3,-8.1,396,5909,0.00,0.52,0.00,0.000,4,0.000,0.056,2827,2170,3361,0,0,0,0,0,0
$GC,6027,-0.57,-121.6,561.9,-8.1,399,6031,0.00,0.55,0.00,0.000,6,0.000,0.051,2828,1811,3360,0,0,0,0,0,0
$GC,6345,-0.57,-121.6,586.6,-7.8,410,6349,0.00,1.80,0.00,0.000,4,0.000,0.058,2820,2954,3360,0,0,0,0,0,0
$GC,6456,-0.57,-121.6,595.4,-7.6,413,6461,0.03,1.77,0.00,0.000,6,0.176,0.044,2830,1826,3360,0,0,0,0,0,0
$GC,6786,-0.57,-121.6,618.6,-7.0,424,6789,0.00,1.10,0.00,0.000,4,0.000,0.054,2825,2524,3360,0,0,0,0,0,0
$GC,6891,-0.57,-121.6,626.3,-6.9,427,6896,0.00,1.12,0.00,0.000,6,0.000,0.046,2825,1808,3359,0,0,0,0,0,0
$GC,7227,-0.57,-121.6,649.2,-6.9,438,7230,0.00,1.65,0.00,0.000,4,0.000,0.057,2818,2842,3358,0,0,0,0,0,0
$GC,7343,-0.57,-121.6,657.8,-7.5,441,7349,0.03,1.60,0.00,0.000,6,0.187,0.044,2829,1821,3358,0,0,0,0,0,0
$GC,7667,-0.57,-121.6,681.5,-7.7,452,7670,0.00,1.17,0.00,0.000,4,0.000,0.055,2824,2567,3358,0,0,0,0,0,0
$GC,7777,-0.57,-121.6,690.1,-8.0,455,7782,0.00,1.20,0.00,0.000,6,0.000,0.045,2824,1804,3358,0,0,0,0,0,0
$GC,8107,-0.57,-121.6,716.7,-8.2,466,8111,0.00,1.48,0.00,0.000,4,0.000,0.056,2817,2726,3357,0,0,0,0,0,0
$GC,8234,-0.57,-121.6,727.8,-8.6,469,8241,0.08,1.42,0.00,0.000,6,0.184,0.045,2836,1822,3357,0,0,0,0,0,0
$GC,8547,-0.57,-121.6,752.1,-7.8,480,8551,0.00,1.83,0.00,0.000,4,0.000,0.058,2828,2983,3357,0,0,0,0,0,0
$GC,8658,-0.57,-121.6,760.6,-7.8,483,8663,0.00,1.83,0.00,0.000,6,0.000,0.044,2828,1822,3356,0,0,0,0,0,0
$GC,8988,-0.57,-121.6,785.9,-7.7,494,8991,0.00,1.48,0.00,0.000,4,0.000,0.057,2822,2748,3356,0,0,0,0,0,0
$GC,9109,-0.57,-121.6,795.5,-7.5,497,9114,0.00,1.48,0.00,0.000,6,0.000,0.044,2822,1814,3356,0,0,0,0,0,0
$GC,9428,-0.57,-121.6,821.2,-8.1,508,9432,0.00,1.45,0.00,0.000,4,0.000,0.056,2815,2721,3355,0,0,0,0,0,0
$GC,9563,-0.57,-121.6,832.5,-8.2,512,9567,0.05,1.40,0.00,0.000,6,0.160,0.046,2834,1827,3355,0,0,0,0,0,0
$GC,9903,-0.59,-121.6,861.1,-8.9,523,9907,0.00,1.02,0.00,0.000,4,0.000,0.056,2829,2485,3354,0,0,0,0,0,0
$GC,10024,-0.59,-121.6,872.6,-10.0,526,10029,0.00,1.08,0.00,0.000,6,0.000,0.047,2829,1802,3355,0,0,0,0,0,0
$GC,10343,-0.59,-121.6,901.7,-9.1,537,10346,0.00,1.67,0.00,0.000,4,0.000,0.057,2822,2866,3354,0,0,0,0,0,0
$GC,10482,-0.59,-121.6,914.3,-8.6,541,10486,0.00,1.65,0.00,0.000,6,0.000,0.045,2821,1818,3354,0,0,0,0,0,0
$GC,10817,-0.59,-121.6,942.7,-8.3,552,10821,0.00,1.17,0.00,0.000,4,0.000,0.057,2816,2562,3353,0,0,0,0,0,0
$GC,10940,-0.59,-121.6,952.6,-7.3,555,10944,0.00,1.17,0.00,0.000,6,0.000,0.047,2817,1810,3353,0,0,0,0,0,0
$GC,11258,-0.59,-121.6,978.7,-8.3,566,11261,0.00,0.47,0.00,0.000,4,0.000,0.056,2814,2135,3353,0,0,0,0,0,0
$GC,11393,-0.59,-121.6,990.0,-7.9,570,11397,0.03,0.47,0.00,0.000,6,0.187,0.054,2824,1815,3353,0,0,0,0,0,0
$STATE,11547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11547,begin apogee
$GC,11551,-0.23,0.0,1002.3,8.0,575,11655,0.38,0.00,100.45,1.308,6,0.131,0.000,2944,1645,2862,0,0,0,0,0,0
$STATE,11655,end apogee,CONTROL_FINISHED_OK
$STATE,11655,begin climb
$GC,11657,0.71,121.6,1006.3,0.0,578,11768,0.90,1.02,104.30,1.272,4,0.095,0.052,3246,1042,2365,0,0,0,0,0,0
$GC,11814,0.71,180.6,1002.0,5.0,583,11874,0.00,1.00,53.28,1.240,6,0.000,0.045,3246,1635,2125,0,0,0,0,0,0
$GC,12181,0.73,196.2,977.1,6.8,595,12200,0.00,1.40,14.20,1.166,4,0.000,0.053,3246,2472,2062,0,0,0,0,0,0
$GC,12297,0.73,221.2,969.2,6.4,598,12326,0.00,1.35,23.73,1.197,6,0.000,0.048,3252,1658,1960,0,0,0,0,0,0
$GC,12652,0.77,237.9,944.7,6.7,610,12669,0.00,0.00,15.82,1.162,6,0.000,0.000,3252,1658,1892,0,0,0,0,0,0
$GC,12958,0.81,251.6,923.7,6.8,620,12974,0.10,0.00,13.45,1.141,6,0.101,0.000,3305,1658,1836,0,0,0,0,0,0
$GC,13292,0.78,251.6,893.7,9.1,631,13296,0.12,0.28,0.00,0.000,4,0.151,0.063,3270,1837,1833,0,0,0,0,0,0
$GC,13346,0.80,253.9,889.3,7.3,632,13351,0.00,0.32,0.00,0.000,6,0.000,0.064,3271,1637,1833,0,0,0,0,0,0
$GC,13665,0.82,253.9,864.5,7.9,643,13668,0.00,0.45,0.00,0.000,4,0.000,0.054,3271,1935,1832,0,0,0,0,0,0
$GC,13742,0.85,253.9,858.2,7.5,645,13747,0.05,0.47,0.00,0.000,6,0.163,0.056,3305,1639,1832,0,0,0,0,0,0
$GC,14071,0.82,253.9,827.2,9.7,656,14073,0.08,0.00,0.00,0.000,6,0.177,0.000,3286,1639,1832,0,0,0,0,0,0
$GC,14377,0.82,253.9,797.8,9.7,666,14381,0.00,0.32,0.00,0.000,4,0.000,0.057,3286,1865,1831,0,0,0,0,0,0
$GC,14448,0.82,253.9,790.8,9.3,668,14452,0.00,0.35,0.00,0.000,6,0.000,0.060,3287,1645,1831,0,0,0,0,0,0
$GC,14783,0.82,253.9,759.5,9.4,679,14787,0.00,0.28,0.00,0.000,4,0.000,0.065,3289,1440,1831,0,0,0,0,0,0
$GC,14854,0.82,253.9,752.8,9.3,681,14858,0.00,0.32,0.00,0.000,6,0.000,0.057,3289,1655,1831,0,0,0,0,0,0
$GC,15189,0.82,253.9,722.0,9.3,692,15192,0.00,0.43,0.00,0.000,4,0.000,0.056,3289,1955,1831,0,0,0,0,0,0
$GC,15266,0.82,253.9,714.8,9.3,694,15270,0.00,0.50,0.00,0.000,6,0.000,0.055,3291,1641,1830,0,0,0,0,0,0
$GC,15595,0.82,253.9,686.3,8.6,705,15599,0.00,0.73,0.00,0.000,4,0.000,0.058,3294,1172,1830,0,0,0,0,0,0
$GC,15649,0.82,253.9,681.4,9.1,706,15654,0.00,0.75,0.00,0.000,6,0.000,0.047,3294,1651,1830,0,0,0,0,0,0
$GC,15968,0.82,253.9,654.9,8.4,717,15969,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1651,1830,0,0,0,0,0,0
$GC,16274,0.82,253.9,629.1,8.3,727,16275,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1651,1830,0,0,0,0,0,0
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$STATE,23636,end climb,SURFACE_DEPTH_REACHED
$STATE,23636,begin surface coast
$FINISH,1.8,1.026475
$STATE,23679,end surface coast,CONTROL_FINISHED_OK
$STATE,23679,begin surface
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$HUMID,43.46
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$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.2,28.862
$10V_AH,10.2,27.278
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.025,104.525,345.600,0.000,0.000,25.672,38.123,229.469,0.000,0.000,21.299,3114.200,16506.023,452.449,3918.218,170.549,33.362,1972.709,0.000,3553.977,0.000,1.007,0.000
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$MEM,354064
$DATA_FILE_SIZE,70314,1199
$CAP_FILE_SIZE,206478,0
$CFSIZE,2097086464,2071691264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061112,112623,-4210.230,-714.422,41,1.2,41,-21.9