version: 66.07.10.p01
glider: 573
mission: 4
dive: 197
start: 11 12 112 16 38 8
data:
$ID,573
$MISSION,4
$DIVE,197
$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,-4921.7524
$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,32
$R_STBD_OVSHOOT,34
$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,176
$GPS1,121112,162929,-4222.552,-726.340,43,0.9,43,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-69.6
$GPS2,121112,163713,-4222.500,-726.366,15,0.8,17,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.124,-0.178
$KALMAN_X,-234182.6,13.8,-1168.1,446742.8,-2207.8
$KALMAN_Y,-121545.2,-16.1,162.6,153376.1,2982.9
$MHEAD_RNG_PITCHd_Wd,167.0,16387,-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,-121.6,0.0,0.0,0,76,0.00,0.00,-49.00,0.000,2,0.000,0.000,87,1818,2840,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.2,-1.5,8,110,11.30,2.28,-15.12,0.000,4,0.249,0.069,2776,3229,3355,0,0,0,0,0,0
$GC,294,-0.62,-121.6,23.9,-10.7,44,302,0.12,2.25,0.00,0.000,6,0.148,0.043,2816,1813,3358,0,0,0,0,0,0
$GC,374,-0.57,-121.6,31.3,-8.9,57,379,0.08,0.00,0.00,0.000,6,0.203,0.000,2835,1813,3358,0,0,0,0,0,0
$GC,609,-0.57,-121.6,52.2,-8.7,98,616,0.00,0.90,0.00,0.000,4,0.000,0.053,2831,2386,3358,0,0,0,0,0,0
$GC,699,-0.57,-121.6,60.0,-8.9,113,704,0.00,0.88,0.00,0.000,6,0.000,0.048,2831,1819,3358,0,0,0,0,0,0
$GC,930,-0.57,-121.6,81.0,-8.8,154,935,0.00,1.65,0.00,0.000,4,0.000,0.056,2823,2851,3359,0,0,0,0,0,0
$GC,1052,-0.57,-121.6,92.0,-8.8,176,1057,0.00,1.62,0.00,0.000,6,0.000,0.044,2823,1818,3359,0,0,0,0,0,0
$GC,1382,-0.54,-121.6,120.4,-8.5,208,1386,0.10,2.22,0.00,0.000,4,0.184,0.057,2839,3223,3359,0,0,0,0,0,0
$GC,1465,-0.54,-121.6,127.4,-7.6,213,1470,0.00,2.20,0.00,0.000,6,0.000,0.041,2840,1821,3359,0,0,0,0,0,0
$GC,1791,-0.59,-121.6,153.4,-8.3,234,1795,0.00,2.03,0.00,0.000,4,0.000,0.054,2839,545,3360,0,0,0,0,0,0
$GC,1845,-0.56,-121.6,157.9,-8.7,237,1848,0.00,1.98,0.00,0.000,6,0.000,0.041,2830,1833,3360,0,0,0,0,0,0
$GC,2174,-0.56,-121.6,186.8,-8.8,258,2178,0.00,2.15,0.00,0.000,4,0.000,0.057,2820,3198,3360,0,0,0,0,0,0
$GC,2262,-0.56,-121.6,194.5,-8.6,263,2269,0.03,2.17,0.00,0.000,6,0.176,0.041,2831,1806,3360,0,0,0,0,0,0
$GC,2582,-0.56,-121.6,221.5,-8.5,284,2586,0.00,1.75,0.00,0.000,4,0.000,0.055,2823,2921,3360,0,0,0,0,0,0
$GC,2670,-0.56,-121.6,228.8,-8.4,289,2674,0.05,1.70,0.00,0.000,6,0.211,0.042,2836,1814,3360,0,0,0,0,0,0
$GC,3001,-0.61,-121.6,256.2,-8.0,309,3005,0.00,1.85,0.00,0.000,4,0.000,0.054,2836,644,3360,0,0,0,0,0,0
$GC,3049,-0.59,-121.6,260.1,-8.3,311,3052,0.00,1.83,0.00,0.000,6,0.000,0.042,2827,1825,3360,0,0,0,0,0,0
$GC,3383,-0.63,-121.6,286.5,-7.9,327,3387,0.00,0.45,0.00,0.000,4,0.000,0.054,2828,1523,3360,0,0,0,0,0,0
$GC,3399,-0.66,-121.6,288.1,-8.0,327,3404,0.00,0.45,0.00,0.000,6,0.000,0.051,2826,1821,3360,0,0,0,0,0,0
$GC,3717,-0.70,-121.6,313.6,-8.1,343,3721,0.08,1.42,0.00,0.000,4,0.123,0.055,2772,2722,3360,0,0,0,0,0,0
$GC,3817,-0.64,-121.6,324.0,-10.5,347,3821,0.12,1.40,0.00,0.000,6,0.145,0.043,2813,1818,3360,0,0,0,0,0,0
$GC,4140,-0.61,-121.6,354.4,-9.5,363,4144,0.00,2.22,0.00,0.000,4,0.000,0.057,2803,3221,3360,0,0,0,0,0,0
$GC,4254,-0.57,-121.6,365.7,-9.7,368,4259,0.12,2.17,0.00,0.000,6,0.154,0.042,2838,1810,3360,0,0,0,0,0,0
$GC,4581,-0.62,-121.6,393.6,-8.4,384,4585,0.03,1.40,0.00,0.000,4,0.242,0.055,2797,2689,3360,0,0,0,0,0,0
$GC,4651,-0.59,-121.6,400.0,-9.9,387,4655,0.08,1.35,0.00,0.000,6,0.135,0.044,2824,1819,3360,0,0,0,0,0,0
$GC,4991,-0.63,-121.6,429.2,-8.4,398,4995,0.00,2.22,0.00,0.000,4,0.000,0.055,2824,415,3359,0,0,0,0,0,0
$GC,5073,-0.59,-121.6,437.1,-9.2,400,5078,0.03,2.20,0.00,0.000,6,0.193,0.042,2824,1815,3359,0,0,0,0,0,0
$GC,5397,-0.59,-121.6,464.9,-8.8,411,5401,0.00,2.20,0.00,0.000,4,0.000,0.057,2814,3223,3359,0,0,0,0,0,0
$GC,5513,-0.59,-121.6,475.8,-9.2,414,5519,0.03,2.20,0.00,0.000,6,0.177,0.042,2825,1813,3359,0,0,0,0,0,0
$GC,5832,-0.59,-121.6,504.0,-8.7,425,5836,0.00,1.58,0.00,0.000,4,0.000,0.057,2818,2802,3358,0,0,0,0,0,0
$GC,5937,-0.59,-121.6,513.4,-9.0,428,5942,0.00,1.52,0.00,0.000,6,0.000,0.044,2818,1825,3357,0,0,0,0,0,0
$GC,6272,-0.59,-121.6,541.4,-8.1,439,6276,0.00,2.22,0.00,0.000,4,0.000,0.058,2808,3224,3358,0,0,0,0,0,0
$GC,6388,-0.59,-121.6,552.0,-9.0,442,6394,0.03,2.20,0.00,0.000,6,0.174,0.042,2819,1821,3357,0,0,0,0,0,0
$GC,6707,-0.59,-121.6,580.6,-9.2,453,6710,0.00,1.17,0.00,0.000,4,0.000,0.055,2814,2566,3356,0,0,0,0,0,0
$GC,6823,-0.59,-121.6,592.1,-9.0,456,6828,0.05,1.17,0.00,0.000,6,0.216,0.044,2826,1815,3357,0,0,0,0,0,0
$GC,7147,-0.59,-121.6,622.6,-9.5,467,7151,0.00,0.93,0.00,0.000,4,0.000,0.054,2822,2412,3355,0,0,0,0,0,0
$GC,7248,-0.59,-121.6,632.4,-9.7,470,7252,0.00,0.90,0.00,0.000,6,0.000,0.047,2822,1821,3355,0,0,0,0,0,0
$GC,7588,-0.59,-121.6,667.3,-10.5,481,7592,0.00,1.50,0.00,0.000,4,0.000,0.055,2815,2763,3355,0,0,0,0,0,0
$GC,7710,-0.59,-121.6,681.0,-11.3,484,7715,0.00,1.48,0.00,0.000,6,0.000,0.044,2815,1821,3355,0,0,0,0,0,0
$GC,8029,-0.59,-121.6,716.0,-11.0,495,8033,0.03,1.62,0.00,0.000,4,0.278,0.057,2817,2858,3354,0,0,0,0,0,0
$GC,8150,-0.59,-121.6,729.2,-10.9,498,8155,0.00,1.62,0.00,0.000,6,0.000,0.044,2817,1825,3354,0,0,0,0,0,0
$GC,8469,-0.59,-121.6,761.5,-10.0,509,8473,0.00,0.75,0.00,0.000,4,0.000,0.054,2814,2313,3354,0,0,0,0,0,0
$GC,8570,-0.59,-121.6,771.0,-9.0,512,8574,0.00,0.77,0.00,0.000,6,0.000,0.048,2814,1804,3354,0,0,0,0,0,0
$GC,8910,-0.59,-121.6,801.8,-8.6,523,8914,0.05,1.52,0.00,0.000,4,0.231,0.056,2818,2749,3353,0,0,0,0,0,0
$GC,9026,-0.59,-121.6,811.3,-8.0,526,9031,0.00,1.48,0.00,0.000,6,0.000,0.044,2818,1814,3352,0,0,0,0,0,0
$GC,9351,-0.59,-121.6,836.1,-7.4,537,9355,0.00,1.70,0.00,0.000,4,0.000,0.057,2811,2874,3352,0,0,0,0,0,0
$GC,9467,-0.59,-121.6,845.0,-7.7,540,9472,0.03,1.65,0.00,0.000,6,0.181,0.044,2821,1827,3352,0,0,0,0,0,0
$GC,9792,-0.59,-121.6,868.7,-7.3,551,9795,0.00,0.82,0.00,0.000,4,0.000,0.054,2818,2361,3351,0,0,0,0,0,0
$GC,9886,-0.59,-121.6,875.7,-6.9,553,9892,0.00,0.88,0.00,0.000,6,0.000,0.047,2818,1800,3351,0,0,0,0,0,0
$GC,10199,-0.59,-121.6,899.0,-7.7,564,10203,0.00,2.22,0.00,0.000,4,0.000,0.058,2808,3193,3351,0,0,0,0,0,0
$GC,10309,-0.59,-121.6,908.0,-8.4,567,10315,0.05,2.15,0.00,0.000,6,0.151,0.043,2826,1830,3350,0,0,0,0,0,0
$GC,10634,-0.59,-121.6,931.8,-7.3,578,10637,0.00,0.30,0.00,0.000,4,0.000,0.063,2827,1616,3350,0,0,0,0,0,0
$GC,10694,-0.59,-121.6,936.4,-7.3,579,10700,0.00,0.32,0.00,0.000,6,0.000,0.059,2825,1830,3351,0,0,0,0,0,0
$GC,11007,-0.59,-121.6,959.4,-7.7,590,11010,0.00,1.50,0.00,0.000,4,0.000,0.057,2818,2776,3350,0,0,0,0,0,0
$GC,11123,-0.59,-121.6,968.7,-8.4,593,11128,0.00,1.52,0.00,0.000,6,0.000,0.044,2818,1811,3350,0,0,0,0,0,0
$GC,11447,-0.59,-121.6,994.3,-7.8,604,11451,0.00,0.93,0.00,0.000,4,0.000,0.054,2814,2408,3350,0,0,0,0,0,0
$STATE,11517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11517,begin apogee
$GC,11522,-0.23,0.0,1000.4,8.7,606,11625,0.40,0.00,100.18,1.302,6,0.135,0.000,2945,1650,2862,0,0,0,0,0,0
$STATE,11626,end apogee,CONTROL_FINISHED_OK
$STATE,11626,begin climb
$GC,11628,0.71,121.6,1004.3,0.0,609,11739,0.90,0.52,104.32,1.267,4,0.094,0.051,3244,1332,2366,0,0,0,0,0,0
$GC,11771,0.71,178.7,1001.8,5.1,613,11827,0.00,0.50,52.35,1.234,6,0.000,0.049,3244,1630,2132,0,0,0,0,0,0
$GC,12146,0.76,212.9,979.4,6.0,626,12182,0.08,2.40,30.52,1.224,4,0.118,0.059,3297,252,1994,0,0,0,0,0,0
$GC,12249,0.72,212.9,971.2,8.5,629,12254,0.12,2.35,0.00,0.000,6,0.132,0.042,3256,1670,1990,0,0,0,0,0,0
$GC,12578,0.72,220.8,947.6,7.1,640,12588,0.00,0.00,8.02,1.069,6,0.000,0.000,3256,1671,1962,0,0,0,0,0,0
$GC,12884,0.74,220.8,924.8,7.6,650,12888,0.00,0.85,0.00,0.000,4,0.000,0.056,3260,1140,1960,0,0,0,0,0,0
$GC,12945,0.74,220.8,920.0,7.9,651,12950,0.00,0.82,0.00,0.000,6,0.000,0.047,3260,1652,1960,0,0,0,0,0,0
$GC,13257,0.74,220.8,895.3,8.2,662,13261,0.00,0.30,0.00,0.000,4,0.000,0.063,3261,1449,1959,0,0,0,0,0,0
$GC,13306,0.74,220.8,891.1,9.0,663,13310,0.00,0.30,0.00,0.000,6,0.000,0.058,3261,1641,1960,0,0,0,0,0,0
$GC,13630,0.74,220.8,864.1,8.1,674,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1641,1959,0,0,0,0,0,0
$GC,13936,0.74,220.8,839.9,7.8,684,13939,0.00,0.47,0.00,0.000,4,0.000,0.053,3261,1975,1959,0,0,0,0,0,0
$GC,13985,0.74,226.2,836.0,7.2,685,13995,0.00,0.55,6.10,0.939,6,0.000,0.055,3264,1632,1938,0,0,0,0,0,0
$GC,14308,0.74,230.8,811.9,7.2,696,14315,0.00,0.00,5.57,0.894,6,0.000,0.000,3264,1632,1921,0,0,0,0,0,0
$GC,14614,0.74,251.4,790.9,6.6,706,14636,0.00,0.00,20.15,1.137,6,0.000,0.000,3264,1632,1837,0,0,0,0,0,0
$GC,14921,0.77,274.8,770.7,6.4,716,14945,0.00,0.00,22.25,1.125,6,0.000,0.000,3264,1632,1741,0,0,0,0,0,0
$GC,15227,0.82,303.5,751.5,6.2,726,15257,0.05,0.00,27.02,1.120,6,0.167,0.000,3300,1632,1623,0,0,0,0,0,0
$GC,15563,0.82,303.5,724.9,8.4,737,15567,0.05,0.57,0.00,0.000,4,0.204,0.059,3289,1268,1617,0,0,0,0,0,0
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$STATE,23506,end climb,SURFACE_DEPTH_REACHED
$STATE,23506,begin surface coast
$FINISH,1.5,1.013533
$STATE,23543,end surface coast,CONTROL_FINISHED_OK
$STATE,23543,begin surface
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$IRIDIUM_FIX,-4206.99,-718.35,121112,020214
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$HUMID,43.34
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.90
$XPDR_PINGS,1
$24V_AH,23.1,31.861
$10V_AH,10.2,30.647
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354396
$DATA_FILE_SIZE,73507,1222
$CAP_FILE_SIZE,217151,0
$CFSIZE,2097086464,2068316160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121112,231259,-4223.782,-728.251,39,1.4,39,-21.8