version: 66.07.10.p01
glider: 573
mission: 4
dive: 198
start: 11 12 112 23 21 19
data:
$ID,573
$MISSION,4
$DIVE,198
$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,-4925.0078
$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,36
$R_STBD_OVSHOOT,38
$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,177
$GPS1,121112,231259,-4223.782,-728.251,39,1.4,39,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-67.3
$GPS2,121112,232024,-4223.712,-728.317,16,1.4,17,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,0.003
$KALMAN_X,-241865.2,-244.3,701.9,450156.3,-8912.7
$KALMAN_Y,-118757.9,-84.2,3.1,148578.8,3069.4
$MHEAD_RNG_PITCHd_Wd,111.0,16266,-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,-121.6,0.0,0.0,0,82,0.00,0.00,-54.53,0.000,2,0.000,0.000,93,1821,2783,0,0,0,0,0,0
$GC,84,-0.71,-121.6,3.1,-1.3,9,122,11.40,2.28,-18.12,0.000,4,0.252,0.070,2776,3212,3360,0,0,0,0,0,0
$GC,312,-0.62,-121.6,24.2,-9.7,47,320,0.12,2.20,0.00,0.000,6,0.144,0.042,2817,1828,3362,0,0,0,0,0,0
$GC,390,-0.58,-121.6,31.9,-9.2,60,397,0.05,0.00,0.00,0.000,6,0.233,0.000,2829,1827,3362,0,0,0,0,0,0
$GC,628,-0.58,-121.6,51.3,-9.5,101,633,0.00,0.73,0.00,0.000,4,0.000,0.054,2826,2298,3362,0,0,0,0,0,0
$GC,746,-0.58,-121.6,62.1,-9.8,122,752,0.00,0.77,0.00,0.000,6,0.000,0.047,2826,1799,3362,0,0,0,0,0,0
$GC,1090,-0.56,-121.6,92.6,-8.5,183,1096,0.00,2.28,0.00,0.000,4,0.000,0.057,2816,3211,3362,0,0,0,0,0,0
$GC,1201,-0.54,-121.6,102.8,-7.9,199,1208,0.08,2.17,0.00,0.000,6,0.139,0.041,2843,1825,3362,0,0,0,0,0,0
$GC,1522,-0.54,-121.6,127.5,-7.8,220,1526,0.00,2.00,0.00,0.000,4,0.000,0.056,2834,3105,3363,0,0,0,0,0,0
$GC,1624,-0.54,-121.6,136.0,-8.7,226,1628,0.00,2.00,0.00,0.000,6,0.000,0.042,2834,1809,3362,0,0,0,0,0,0
$GC,1955,-0.54,-121.6,162.4,-7.6,247,1959,0.00,2.25,0.00,0.000,4,0.000,0.057,2824,3221,3363,0,0,0,0,0,0
$GC,2061,-0.54,-121.6,170.7,-7.7,253,2067,0.05,2.17,0.00,0.000,6,0.148,0.041,2843,1827,3363,0,0,0,0,0,0
$GC,2382,-0.57,-121.6,193.8,-7.6,274,2386,0.00,0.73,0.00,0.000,4,0.000,0.052,2839,2310,3363,0,0,0,0,0,0
$GC,2454,-0.62,-121.6,199.4,-7.3,278,2459,0.00,0.75,0.00,0.000,6,0.000,0.047,2839,1811,3363,0,0,0,0,0,0
$GC,2782,-0.67,-121.6,222.8,-7.2,299,2787,0.10,0.40,0.00,0.000,4,0.097,0.060,2787,1548,3364,0,0,0,0,0,0
$GC,2792,-0.69,-121.6,224.0,-7.4,299,2797,0.00,0.43,0.00,0.000,6,0.000,0.053,2785,1827,3364,0,0,0,0,0,0
$GC,3117,-0.62,-121.6,252.7,-9.0,320,3122,0.12,2.20,0.00,0.000,4,0.182,0.056,2808,3215,3364,0,0,0,0,0,0
$GC,3317,-0.58,-121.6,268.8,-8.4,329,3322,0.10,2.15,0.00,0.000,6,0.163,0.041,2836,1817,3364,0,0,0,0,0,0
$GC,3645,-0.58,-121.6,294.8,-8.2,345,3649,0.00,2.08,0.00,0.000,4,0.000,0.056,2826,3149,3363,0,0,0,0,0,0
$GC,3705,-0.58,-121.6,300.4,-8.8,347,3711,0.00,2.08,0.00,0.000,6,0.000,0.041,2826,1818,3363,0,0,0,0,0,0
$GC,4024,-0.61,-121.6,328.1,-8.7,363,4028,0.00,2.22,0.00,0.000,4,0.000,0.054,2826,409,3364,0,0,0,0,0,0
$GC,4117,-0.58,-121.6,337.1,-10.0,367,4121,0.08,2.17,0.00,0.000,6,0.198,0.041,2834,1817,3363,0,0,0,0,0,0
$GC,4446,-0.62,-121.6,365.2,-8.3,383,4449,0.00,2.25,0.00,0.000,4,0.000,0.053,2835,404,3363,0,0,0,0,0,0
$GC,4514,-0.60,-121.6,371.6,-9.0,386,4518,0.00,2.20,0.00,0.000,6,0.000,0.041,2823,1827,3364,0,0,0,0,0,0
$GC,4840,-0.60,-121.6,400.0,-8.7,402,4844,0.00,2.20,0.00,0.000,4,0.000,0.057,2813,3227,3363,0,0,0,0,0,0
$GC,4998,-0.60,-121.6,414.3,-9.3,406,5003,0.00,2.17,0.00,0.000,6,0.000,0.041,2814,1810,3363,0,0,0,0,0,0
$GC,5310,-0.57,-121.6,440.9,-8.4,417,5315,0.08,2.25,0.00,0.000,4,0.203,0.057,2821,3224,3363,0,0,0,0,0,0
$GC,5432,-0.57,-121.6,450.7,-7.9,420,5438,0.00,2.17,0.00,0.000,6,0.000,0.041,2821,1828,3363,0,0,0,0,0,0
$GC,5745,-0.57,-121.6,472.8,-6.8,431,5750,0.03,1.40,0.00,0.000,4,0.275,0.055,2824,2704,3362,0,0,0,0,0,0
$GC,5806,-0.60,-121.6,477.1,-7.0,432,5811,0.00,1.38,0.00,0.000,6,0.000,0.043,2824,1815,3362,0,0,0,0,0,0
$GC,6119,-0.63,-121.6,498.2,-6.9,443,6123,0.00,2.17,0.00,0.000,4,0.000,0.054,2824,441,3361,0,0,0,0,0,0
$GC,6168,-0.60,-121.6,501.9,-7.5,444,6172,0.00,2.15,0.00,0.000,6,0.000,0.043,2813,1809,3361,0,0,0,0,0,0
$GC,6487,-0.58,-121.6,526.4,-7.9,455,6491,0.08,2.22,0.00,0.000,4,0.204,0.058,2820,3219,3361,0,0,0,0,0,0
$GC,6625,-0.58,-121.6,537.3,-8.1,459,6630,0.00,2.17,0.00,0.000,6,0.000,0.043,2821,1827,3361,0,0,0,0,0,0
$GC,6960,-0.58,-121.6,562.4,-7.6,470,6964,0.00,1.90,0.00,0.000,4,0.000,0.056,2812,3044,3360,0,0,0,0,0,0
$GC,7071,-0.58,-121.6,571.6,-7.9,473,7076,0.05,1.92,0.00,0.000,6,0.148,0.041,2830,1812,3360,0,0,0,0,0,0
$GC,7401,-0.58,-121.6,596.5,-7.6,484,7405,0.00,1.85,0.00,0.000,4,0.000,0.057,2822,2966,3359,0,0,0,0,0,0
$GC,7512,-0.58,-121.6,605.0,-7.0,487,7516,0.00,1.80,0.00,0.000,6,0.000,0.043,2822,1816,3359,0,0,0,0,0,0
$GC,7841,-0.58,-121.6,630.6,-8.0,498,7845,0.00,1.45,0.00,0.000,4,0.000,0.056,2816,2725,3358,0,0,0,0,0,0
$GC,7963,-0.58,-121.6,641.0,-9.3,501,7968,0.08,1.42,0.00,0.000,6,0.185,0.043,2835,1817,3358,0,0,0,0,0,0
$GC,8281,-0.58,-121.6,666.9,-8.2,512,8285,0.00,1.73,0.00,0.000,4,0.000,0.057,2827,2931,3357,0,0,0,0,0,0
$GC,8382,-0.58,-121.6,675.8,-8.3,515,8386,0.00,1.73,0.00,0.000,6,0.000,0.043,2827,1810,3357,0,0,0,0,0,0
$GC,8722,-0.58,-121.6,706.3,-8.9,526,8726,0.00,2.25,0.00,0.000,4,0.000,0.059,2816,3223,3357,0,0,0,0,0,0
$GC,8879,-0.58,-121.6,720.5,-9.6,530,8885,0.03,2.20,0.00,0.000,6,0.177,0.043,2828,1817,3356,0,0,0,0,0,0
$GC,9191,-0.58,-121.6,746.7,-8.3,541,9195,0.00,1.55,0.00,0.000,4,0.000,0.057,2821,2785,3356,0,0,0,0,0,0
$GC,9307,-0.58,-121.6,756.5,-8.7,544,9311,0.00,1.52,0.00,0.000,6,0.000,0.044,2821,1820,3356,0,0,0,0,0,0
$GC,9631,-0.58,-121.6,783.8,-8.6,555,9635,0.00,0.90,0.00,0.000,4,0.000,0.055,2817,2400,3355,0,0,0,0,0,0
$GC,9747,-0.58,-121.6,794.0,-8.6,558,9753,0.05,0.93,0.00,0.000,6,0.214,0.047,2831,1806,3355,0,0,0,0,0,0
$GC,10072,-0.58,-121.6,819.2,-7.8,569,10076,0.00,2.17,0.00,0.000,4,0.000,0.059,2822,3166,3355,0,0,0,0,0,0
$GC,10182,-0.58,-121.6,828.3,-7.9,572,10187,0.00,2.10,0.00,0.000,6,0.000,0.042,2822,1826,3355,0,0,0,0,0,0
$GC,10507,-0.58,-121.6,855.3,-8.4,583,10511,0.00,2.17,0.00,0.000,4,0.000,0.059,2811,3203,3354,0,0,0,0,0,0
$GC,10640,-0.58,-121.6,867.2,-9.8,587,10645,0.05,2.17,0.00,0.000,6,0.149,0.043,2830,1821,3354,0,0,0,0,0,0
$GC,10975,-0.60,-121.6,895.6,-8.6,598,10979,0.00,1.12,0.00,0.000,4,0.000,0.054,2826,2536,3354,0,0,0,0,0,0
$GC,11086,-0.60,-121.6,905.0,-8.7,601,11091,0.00,1.15,0.00,0.000,6,0.000,0.046,2826,1807,3353,0,0,0,0,0,0
$GC,11415,-0.60,-121.6,931.9,-8.0,612,11419,0.00,1.67,0.00,0.000,4,0.000,0.057,2818,2884,3353,0,0,0,0,0,0
$GC,11537,-0.60,-121.6,941.8,-8.0,615,11542,0.00,1.65,0.00,0.000,6,0.000,0.042,2818,1830,3353,0,0,0,0,0,0
$GC,11856,-0.60,-121.6,966.0,-7.5,626,11859,0.00,0.68,0.00,0.000,4,0.000,0.054,2814,2272,3353,0,0,0,0,0,0
$GC,11958,-0.60,-121.6,973.4,-6.7,629,11961,0.00,0.70,0.00,0.000,6,0.000,0.050,2815,1808,3352,0,0,0,0,0,0
$GC,12298,-0.60,-121.6,998.1,-7.3,640,12302,0.00,0.75,0.00,0.000,4,0.000,0.054,2812,2297,3351,0,0,0,0,0,0
$STATE,12323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12323,begin apogee
$GC,12328,-0.23,0.0,1000.2,7.7,640,12432,0.40,0.00,100.93,1.303,6,0.131,0.000,2944,1647,2861,0,0,0,0,0,0
$STATE,12433,end apogee,CONTROL_FINISHED_OK
$STATE,12433,begin climb
$GC,12434,0.71,121.6,1003.5,0.0,644,12545,0.90,1.15,104.30,1.264,4,0.094,0.052,3247,980,2366,0,0,0,0,0,0
$GC,12591,0.71,147.6,998.2,6.3,649,12622,0.00,1.12,24.10,1.197,6,0.000,0.044,3247,1644,2260,0,0,0,0,0,0
$GC,12929,0.71,169.5,976.3,6.5,660,12951,0.00,0.00,20.12,1.197,6,0.000,0.000,3247,1644,2171,0,0,0,0,0,0
$GC,13235,0.71,186.3,955.5,6.7,670,13254,0.00,0.40,15.93,1.177,4,0.000,0.055,3249,1393,2101,0,0,0,0,0,0
$GC,13326,0.71,205.3,948.9,6.6,672,13347,0.00,0.43,18.05,1.167,6,0.000,0.053,3249,1657,2025,0,0,0,0,0,0
$GC,13667,0.74,211.0,924.8,7.2,684,13675,0.00,0.00,6.05,0.936,6,0.000,0.000,3249,1657,2002,0,0,0,0,0,0
$GC,13972,0.77,221.2,903.1,7.0,694,13986,0.05,0.00,10.80,1.097,6,0.169,0.000,3281,1657,1960,0,0,0,0,0,0
$GC,14311,0.77,221.2,876.5,7.8,705,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1657,1957,0,0,0,0,0,0
$GC,14617,0.77,221.2,852.0,8.1,715,14621,0.00,0.50,0.00,0.000,4,0.000,0.060,3284,1334,1957,0,0,0,0,0,0
$GC,14677,0.77,221.2,847.1,7.7,716,14683,0.05,0.50,0.00,0.000,6,0.210,0.051,3271,1654,1957,0,0,0,0,0,0
$GC,14990,0.77,221.2,822.6,7.9,727,14993,0.00,0.25,0.00,0.000,4,0.000,0.062,3271,1838,1956,0,0,0,0,0,0
$GC,15038,0.77,221.2,818.5,8.0,728,15042,0.00,0.32,0.00,0.000,6,0.000,0.063,3272,1635,1957,0,0,0,0,0,0
$GC,15362,0.77,221.2,791.5,8.3,739,15366,0.00,0.40,0.00,0.000,4,0.000,0.063,3275,1366,1956,0,0,0,0,0,0
$GC,15422,0.77,221.2,786.4,8.0,740,15427,0.00,0.45,0.00,0.000,6,0.000,0.053,3274,1654,1956,0,0,0,0,0,0
$GC,15734,0.77,221.2,760.2,8.4,751,15738,0.00,0.77,0.00,0.000,4,0.000,0.058,3278,1168,1956,0,0,0,0,0,0
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$STATE,24841,end climb,SURFACE_DEPTH_REACHED
$STATE,24841,begin surface coast
$FINISH,1.6,1.026639
$STATE,24879,end surface coast,CONTROL_FINISHED_OK
$STATE,24879,begin surface
$SM_CCo,24955,0.00,0.000,0,0,1546,322.56
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$IRIDIUM_FIX,-4206.99,-729.90,121112,161625
$TT8_MAMPS,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.3,32.005
$10V_AH,10.2,30.795
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.050,132.300,382.050,0.000,0.000,24.859,37.199,255.318,0.000,0.000,18.880,3306.675,17279.686,490.768,4111.025,202.198,33.361,2081.405,0.000,3729.141,0.000,1.008,0.000
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$SENSOR_SECS,854.588,1409.373,835.981,104.881,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354320
$DATA_FILE_SIZE,76968,1288
$CAP_FILE_SIZE,221543,0
$CFSIZE,2097086464,2068185088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131112,061928,-4222.804,-729.248,102,1.7,102,-21.8