version: 66.07.10.p01
glider: 573
mission: 4
dive: 193
start: 11 11 112 12 59 44
data:
$ID,573
$MISSION,4
$DIVE,193
$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,-4908.4165
$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,27
$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,172
$GPS1,111112,125105,-4215.755,-715.959,56,0.9,56,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-63.4
$GPS2,111112,125848,-4215.795,-716.006,19,1.0,20,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.022,-0.215
$KALMAN_X,-216356.9,-116.5,369.7,441603.4,-959.7
$KALMAN_Y,-131821.8,-120.5,1260.0,175068.7,-1689.1
$MHEAD_RNG_PITCHd_Wd,207.7,26867,-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,22,begin dive
$GC,24,-0.71,-121.2,0.0,0.0,0,75,0.00,0.00,-48.67,0.000,2,0.000,0.000,81,1832,2652,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.4,8,121,11.50,2.28,-24.25,0.000,4,0.253,0.073,2779,3215,3357,0,0,0,0,0,0
$GC,265,-0.61,-121.6,21.2,-9.9,39,272,0.12,2.22,0.00,0.000,6,0.155,0.044,2818,1822,3359,0,0,0,0,0,0
$GC,345,-0.57,-121.6,28.2,-7.2,52,352,0.05,0.00,0.00,0.000,6,0.246,0.000,2830,1822,3359,0,0,0,0,0,0
$GC,425,-0.55,-121.6,34.9,-8.6,65,429,0.00,0.50,0.00,0.000,4,0.000,0.056,2829,2155,3359,0,0,0,0,0,0
$GC,521,-0.53,-121.6,44.0,-9.0,82,529,0.05,0.52,0.00,0.000,6,0.155,0.053,2847,1808,3360,0,0,0,0,0,0
$GC,758,-0.53,-121.6,66.3,-8.4,123,765,0.00,2.17,0.00,0.000,4,0.000,0.059,2837,3139,3360,0,0,0,0,0,0
$GC,860,-0.53,-121.6,74.3,-7.7,141,867,0.00,2.08,0.00,0.000,6,0.000,0.042,2837,1822,3360,0,0,0,0,0,0
$GC,1202,-0.53,-121.6,103.1,-8.6,198,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1822,3360,0,0,0,0,0,0
$GC,1516,-0.53,-121.6,128.3,-7.7,218,1520,0.00,1.15,0.00,0.000,4,0.000,0.054,2832,2551,3360,0,0,0,0,0,0
$GC,1610,-0.53,-121.6,136.3,-8.4,223,1617,0.08,1.17,0.00,0.000,6,0.179,0.044,2851,1802,3360,0,0,0,0,0,0
$GC,1932,-0.53,-121.6,157.5,-6.2,244,1936,0.00,2.25,0.00,0.000,4,0.000,0.057,2840,3222,3360,0,0,0,0,0,0
$GC,2037,-0.53,-121.6,165.0,-6.8,250,2045,0.00,2.17,0.00,0.000,6,0.000,0.043,2840,1829,3360,0,0,0,0,0,0
$GC,2358,-0.53,-121.6,187.3,-7.2,271,2362,0.00,2.00,0.00,0.000,4,0.000,0.057,2831,3107,3360,0,0,0,0,0,0
$GC,2477,-0.53,-121.6,195.9,-6.8,278,2482,0.08,2.00,0.00,0.000,6,0.180,0.044,2850,1812,3360,0,0,0,0,0,0
$GC,2804,-0.55,-121.6,217.3,-6.7,299,2808,0.00,2.22,0.00,0.000,4,0.000,0.059,2840,3221,3361,0,0,0,0,0,0
$GC,2926,-0.55,-121.6,225.9,-6.6,306,2934,0.00,2.20,0.00,0.000,6,0.000,0.042,2840,1813,3361,0,0,0,0,0,0
$GC,3247,-0.55,-121.6,247.6,-7.1,327,3251,0.00,2.05,0.00,0.000,4,0.000,0.057,2830,3120,3361,0,0,0,0,0,0
$GC,3362,-0.55,-121.6,256.0,-7.7,333,3366,0.00,2.00,0.00,0.000,6,0.000,0.042,2830,1806,3361,0,0,0,0,0,0
$GC,3696,-0.55,-121.6,282.5,-8.3,349,3700,0.00,2.25,0.00,0.000,4,0.000,0.058,2820,3228,3361,0,0,0,0,0,0
$GC,3802,-0.55,-121.6,292.3,-8.8,353,3809,0.05,2.17,0.00,0.000,6,0.154,0.041,2839,1828,3360,0,0,0,0,0,0
$GC,4120,-0.55,-121.6,320.1,-9.0,369,4124,0.00,0.62,0.00,0.000,4,0.000,0.054,2836,2245,3360,0,0,0,0,0,0
$GC,4226,-0.55,-121.6,330.2,-8.9,373,4232,0.00,0.68,0.00,0.000,6,0.000,0.048,2836,1803,3361,0,0,0,0,0,0
$GC,4544,-0.55,-121.6,358.8,-9.1,389,4548,0.00,2.25,0.00,0.000,4,0.000,0.057,2826,3229,3360,0,0,0,0,0,0
$GC,4672,-0.55,-121.6,370.9,-8.7,394,4681,0.03,2.17,0.00,0.000,6,0.177,0.041,2837,1828,3360,0,0,0,0,0,0
$GC,4988,-0.55,-121.6,398.3,-8.6,410,4992,0.00,1.65,0.00,0.000,4,0.000,0.056,2829,2864,3360,0,0,0,0,0,0
$GC,5093,-0.55,-121.6,407.7,-8.6,414,5098,0.00,1.62,0.00,0.000,6,0.000,0.042,2830,1822,3360,0,0,0,0,0,0
$GC,5429,-0.55,-121.6,437.0,-8.6,425,5433,0.00,2.22,0.00,0.000,4,0.000,0.059,2820,3223,3360,0,0,0,0,0,0
$GC,5544,-0.55,-121.6,447.3,-9.0,428,5550,0.05,2.20,0.00,0.000,6,0.156,0.042,2837,1812,3360,0,0,0,0,0,0
$GC,5863,-0.55,-121.6,473.0,-8.1,439,5867,0.00,2.15,0.00,0.000,4,0.000,0.059,2828,3167,3360,0,0,0,0,0,0
$GC,5956,-0.55,-121.6,480.9,-8.2,441,5963,0.00,2.10,0.00,0.000,6,0.000,0.042,2828,1825,3359,0,0,0,0,0,0
$GC,6270,-0.55,-121.6,506.2,-8.1,452,6274,0.05,1.98,0.00,0.000,4,0.231,0.058,2829,3063,3359,0,0,0,0,0,0
$GC,6370,-0.55,-121.6,514.0,-7.7,455,6374,0.00,1.92,0.00,0.000,6,0.000,0.044,2830,1818,3359,0,0,0,0,0,0
$GC,6710,-0.55,-121.6,540.8,-8.0,466,6714,0.00,2.25,0.00,0.000,4,0.000,0.060,2819,3229,3358,0,0,0,0,0,0
$GC,6820,-0.55,-121.6,549.9,-8.5,469,6826,0.05,2.20,0.00,0.000,6,0.153,0.042,2838,1825,3358,0,0,0,0,0,0
$GC,7144,-0.55,-121.6,574.9,-7.7,480,7148,0.00,1.55,0.00,0.000,4,0.000,0.057,2831,2792,3358,0,0,0,0,0,0
$GC,7246,-0.55,-121.6,583.0,-8.9,483,7249,0.00,1.52,0.00,0.000,6,0.000,0.045,2831,1816,3358,0,0,0,0,0,0
$GC,7586,-0.55,-121.6,611.3,-8.2,494,7590,0.00,2.25,0.00,0.000,4,0.000,0.059,2821,3225,3357,0,0,0,0,0,0
$GC,7709,-0.55,-121.6,621.5,-8.2,497,7714,0.08,2.20,0.00,0.000,6,0.187,0.043,2839,1806,3357,0,0,0,0,0,0
$GC,8021,-0.57,-121.6,644.4,-7.2,508,8025,0.00,1.95,0.00,0.000,4,0.000,0.059,2830,3049,3356,0,0,0,0,0,0
$GC,8115,-0.57,-121.6,651.3,-7.0,510,8121,0.00,1.92,0.00,0.000,6,0.000,0.043,2830,1821,3355,0,0,0,0,0,0
$GC,8428,-0.57,-121.6,673.1,-7.0,521,8432,0.00,2.22,0.00,0.000,4,0.000,0.060,2820,3219,3355,0,0,0,0,0,0
$GC,8545,-0.57,-121.6,681.9,-7.9,524,8550,0.03,2.20,0.00,0.000,6,0.187,0.044,2831,1818,3355,0,0,0,0,0,0
$GC,8863,-0.57,-121.6,705.7,-7.6,535,8866,0.00,2.05,0.00,0.000,4,0.000,0.060,2821,3119,3355,0,0,0,0,0,0
$GC,8958,-0.57,-121.6,713.4,-7.6,537,8963,0.00,2.03,0.00,0.000,6,0.000,0.043,2821,1809,3355,0,0,0,0,0,0
$GC,9270,-0.57,-121.6,738.6,-8.0,548,9274,0.03,1.58,0.00,0.000,4,0.269,0.057,2823,2783,3354,0,0,0,0,0,0
$GC,9371,-0.57,-121.6,746.0,-6.8,551,9374,0.00,1.50,0.00,0.000,6,0.000,0.045,2824,1828,3354,0,0,0,0,0,0
$GC,9711,-0.57,-121.6,770.5,-7.2,562,9715,0.00,1.50,0.00,0.000,4,0.000,0.057,2818,2764,3354,0,0,0,0,0,0
$GC,9827,-0.57,-121.6,779.1,-7.6,565,9832,0.03,1.52,0.00,0.000,6,0.188,0.045,2828,1803,3354,0,0,0,0,0,0
$GC,10151,-0.57,-121.6,802.3,-7.2,576,10155,0.00,1.75,0.00,0.000,4,0.000,0.057,2821,2923,3354,0,0,0,0,0,0
$GC,10262,-0.57,-121.6,810.5,-7.0,579,10267,0.03,1.73,0.00,0.000,6,0.182,0.044,2830,1827,3353,0,0,0,0,0,0
$GC,10591,-0.57,-121.6,834.3,-7.2,590,10595,0.00,0.65,0.00,0.000,4,0.000,0.055,2828,2254,3353,0,0,0,0,0,0
$GC,10702,-0.57,-121.6,842.9,-7.7,593,10706,0.00,0.70,0.00,0.000,6,0.000,0.048,2828,1797,3353,0,0,0,0,0,0
$GC,11032,-0.57,-121.6,869.1,-8.3,604,11036,0.00,2.28,0.00,0.000,4,0.000,0.059,2817,3224,3352,0,0,0,0,0,0
$GC,11155,-0.57,-121.6,880.3,-8.9,607,11161,0.08,2.17,0.00,0.000,6,0.188,0.043,2836,1824,3352,0,0,0,0,0,0
$GC,11467,-0.60,-121.6,909.9,-9.8,618,11471,0.00,0.62,0.00,0.000,4,0.000,0.055,2834,2238,3352,0,0,0,0,0,0
$GC,11578,-0.62,-121.6,921.1,-10.6,621,11583,0.00,0.65,0.00,0.000,6,0.000,0.050,2834,1813,3351,0,0,0,0,0,0
$GC,11908,-0.65,-121.6,953.6,-9.6,632,11913,0.08,0.73,0.00,0.000,4,0.125,0.056,2790,2277,3351,0,0,0,0,0,0
$GC,12064,-0.62,-121.6,970.7,-11.2,636,12069,0.12,0.73,0.00,0.000,6,0.161,0.047,2824,1805,3351,0,0,0,0,0,0
$GC,12382,-0.62,-121.6,999.3,-8.9,647,12386,0.00,1.25,0.00,0.000,4,0.000,0.056,2818,2599,3351,0,0,0,0,0,0
$STATE,12390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12390,begin apogee
$GC,12396,-0.23,0.0,1000.2,8.8,647,12499,0.38,0.00,100.60,1.304,6,0.138,0.000,2941,1655,2862,0,0,0,0,0,0
$STATE,12500,end apogee,CONTROL_FINISHED_OK
$STATE,12500,begin climb
$GC,12502,0.71,121.6,1004.6,0.0,650,12614,0.93,2.30,104.32,1.269,4,0.098,0.057,3254,352,2365,0,0,0,0,0,0
$GC,12692,0.68,162.9,1000.1,5.7,656,12737,0.00,2.20,37.67,1.230,6,0.000,0.043,3254,1642,2197,0,0,0,0,0,0
$GC,13056,0.68,169.8,976.0,7.1,668,13065,0.00,0.40,6.40,1.000,4,0.000,0.044,3254,1943,2169,0,0,0,0,0,0
$GC,13148,0.68,182.6,969.1,6.9,670,13165,0.05,0.50,13.12,1.131,6,0.216,0.055,3243,1640,2117,0,0,0,0,0,0
$GC,13489,0.68,182.6,942.2,8.1,682,13493,0.00,0.47,0.00,0.000,4,0.000,0.054,3243,1953,2114,0,0,0,0,0,0
$GC,13557,0.68,182.6,936.6,8.3,684,13560,0.00,0.47,0.00,0.000,6,0.000,0.056,3245,1650,2113,0,0,0,0,0,0
$GC,13897,0.70,182.6,909.7,7.7,695,13901,0.00,0.55,0.00,0.000,4,0.000,0.057,3248,1284,2113,0,0,0,0,0,0
$GC,13957,0.70,182.6,904.8,8.2,696,13963,0.00,0.57,0.00,0.000,6,0.000,0.048,3248,1649,2113,0,0,0,0,0,0
$GC,14270,0.70,198.1,882.3,6.8,707,14286,0.00,0.00,14.57,1.149,6,0.000,0.000,3248,1650,2054,0,0,0,0,0,0
$GC,14577,0.73,224.7,862.4,6.3,717,14607,0.00,1.45,24.67,1.180,4,0.000,0.060,3254,805,1945,0,0,0,0,0,0
$GC,14658,0.77,252.2,857.1,6.3,719,14688,0.00,1.38,25.70,1.163,6,0.000,0.045,3254,1645,1832,0,0,0,0,0,0
$GC,15007,0.81,278.4,834.6,6.3,731,15037,0.10,0.00,24.08,1.152,6,0.103,0.000,3304,1645,1726,0,0,0,0,0,0
$GC,15343,0.81,278.4,805.0,8.8,742,15348,0.08,0.62,0.00,0.000,4,0.172,0.059,3288,1263,1720,0,0,0,0,0,0
$GC,15414,0.81,278.4,798.9,8.1,744,15418,0.00,0.62,0.00,0.000,6,0.000,0.049,3288,1654,1719,0,0,0,0,0,0
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$STATE,24918,end climb,SURFACE_DEPTH_REACHED
$STATE,24918,begin surface coast
$FINISH,1.7,1.012771
$STATE,24966,end surface coast,CONTROL_FINISHED_OK
$STATE,24967,begin surface
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,76893,1299
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$CFSIZE,2097086464,2068873216
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