version: 66.07.10.p01
glider: 573
mission: 4
dive: 201
start: 11 13 112 20 2 53
data:
$ID,573
$MISSION,4
$DIVE,201
$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,-4935.1113
$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,32
$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,180
$GPS1,131112,195429,-4221.525,-730.961,58,1.1,58,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-67.4
$GPS2,131112,200158,-4221.477,-731.117,18,1.2,19,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.154,0.152
$KALMAN_X,-261141.9,222.7,36.8,465784.5,-8421.7
$KALMAN_Y,-112368.2,23.8,-1005.8,147233.8,4885.2
$MHEAD_RNG_PITCHd_Wd,67.2,127574,-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,-121.6,0.0,0.0,0,93,0.00,0.00,-66.25,0.000,2,0.000,0.000,88,1820,2766,0,0,0,0,0,0
$GC,96,-0.71,-121.6,3.0,-1.4,11,134,11.12,2.30,-19.12,0.000,4,0.242,0.068,2775,3227,3358,0,0,0,0,0,0
$GC,362,-0.62,-121.6,33.6,-11.8,56,369,0.12,2.25,0.00,0.000,6,0.146,0.044,2816,1816,3360,0,0,0,0,0,0
$GC,601,-0.58,-121.6,56.1,-9.0,97,607,0.08,1.58,0.00,0.000,4,0.210,0.057,2827,2783,3360,0,0,0,0,0,0
$GC,696,-0.58,-121.6,65.6,-10.2,114,704,0.00,1.52,0.00,0.000,6,0.000,0.045,2828,1819,3361,0,0,0,0,0,0
$GC,1044,-0.56,-121.6,98.5,-9.1,175,1049,0.00,2.22,0.00,0.000,4,0.000,0.058,2817,3228,3361,0,0,0,0,0,0
$GC,1166,-0.53,-121.6,110.9,-9.9,184,1171,0.08,2.20,0.00,0.000,6,0.136,0.042,2845,1826,3361,0,0,0,0,0,0
$GC,1494,-0.53,-121.6,139.2,-8.6,205,1498,0.00,2.22,0.00,0.000,4,0.000,0.057,2834,3231,3361,0,0,0,0,0,0
$GC,1571,-0.53,-121.6,146.0,-8.0,209,1577,0.00,2.22,0.00,0.000,6,0.000,0.041,2834,1812,3361,0,0,0,0,0,0
$GC,1891,-0.55,-121.6,169.3,-7.5,230,1895,0.00,2.22,0.00,0.000,4,0.000,0.058,2824,3224,3361,0,0,0,0,0,0
$GC,1972,-0.55,-121.6,175.7,-8.2,235,1977,0.08,2.17,0.00,0.000,6,0.178,0.042,2844,1816,3361,0,0,0,0,0,0
$GC,2297,-0.61,-121.6,198.8,-7.0,256,2301,0.05,0.38,0.00,0.000,4,0.163,0.059,2807,1561,3362,0,0,0,0,0,0
$GC,2306,-0.65,-121.6,199.7,-6.9,256,2314,0.00,0.43,0.00,0.000,6,0.000,0.053,2805,1838,3362,0,0,0,0,0,0
$GC,2627,-0.60,-121.6,224.0,-7.6,277,2632,0.08,2.17,0.00,0.000,4,0.206,0.058,2811,3225,3362,0,0,0,0,0,0
$GC,2741,-0.57,-121.6,232.0,-6.1,284,2746,0.10,2.17,0.00,0.000,6,0.161,0.042,2839,1816,3362,0,0,0,0,0,0
$GC,3073,-0.62,-121.6,251.5,-5.8,305,3076,0.00,1.38,0.00,0.000,4,0.000,0.053,2839,952,3362,0,0,0,0,0,0
$GC,3100,-0.65,-121.6,253.5,-6.3,306,3104,0.03,1.35,0.00,0.000,6,0.099,0.042,2800,1819,3362,0,0,0,0,0,0
$GC,3427,-0.59,-121.6,278.3,-8.2,322,3432,0.10,2.22,0.00,0.000,4,0.177,0.057,2816,3224,3362,0,0,0,0,0,0
$GC,3589,-0.59,-121.6,291.3,-7.8,329,3594,0.00,2.20,0.00,0.000,6,0.000,0.041,2816,1815,3361,0,0,0,0,0,0
$GC,3913,-0.59,-121.6,317.6,-8.2,345,3917,0.00,2.22,0.00,0.000,4,0.000,0.057,2806,3224,3362,0,0,0,0,0,0
$GC,4006,-0.59,-121.6,325.5,-8.8,349,4011,0.10,2.17,0.00,0.000,6,0.160,0.042,2834,1810,3361,0,0,0,0,0,0
$GC,4335,-0.64,-121.6,351.0,-7.7,365,4340,0.05,0.55,0.00,0.000,4,0.166,0.054,2795,2173,3361,0,0,0,0,0,0
$GC,4497,-0.62,-121.6,365.0,-8.2,372,4502,0.10,0.55,0.00,0.000,6,0.160,0.049,2822,1811,3361,0,0,0,0,0,0
$GC,4825,-0.65,-121.6,389.8,-7.6,388,4828,0.00,1.70,0.00,0.000,4,0.000,0.051,2822,722,3361,0,0,0,0,0,0
$GC,4863,-0.63,-121.6,393.1,-8.0,389,4869,0.00,1.73,0.00,0.000,6,0.000,0.042,2814,1822,3361,0,0,0,0,0,0
$GC,5197,-0.63,-121.6,420.9,-8.5,402,5201,0.00,2.25,0.00,0.000,4,0.000,0.054,2814,416,3361,0,0,0,0,0,0
$GC,5262,-0.58,-121.6,427.3,-9.4,404,5267,0.08,2.20,0.00,0.000,6,0.149,0.041,2830,1818,3361,0,0,0,0,0,0
$GC,5597,-0.58,-121.6,456.0,-8.7,415,5601,0.00,2.22,0.00,0.000,4,0.000,0.058,2820,3226,3361,0,0,0,0,0,0
$GC,5726,-0.58,-121.6,467.3,-8.7,419,5730,0.00,2.15,0.00,0.000,6,0.000,0.042,2820,1824,3360,0,0,0,0,0,0
$GC,6066,-0.61,-121.6,496.3,-8.4,430,6070,0.00,1.42,0.00,0.000,4,0.000,0.052,2820,927,3360,0,0,0,0,0,0
$GC,6092,-0.61,-121.6,498.7,-9.0,430,6099,0.00,1.42,0.00,0.000,6,0.000,0.043,2814,1827,3360,0,0,0,0,0,0
$GC,6406,-0.63,-121.6,525.2,-8.4,441,6409,0.00,1.67,0.00,0.000,4,0.000,0.054,2814,755,3360,0,0,0,0,0,0
$GC,6444,-0.59,-121.6,528.8,-8.8,442,6449,0.05,1.67,0.00,0.000,6,0.161,0.042,2824,1825,3359,0,0,0,0,0,0
$GC,6779,-0.59,-121.6,558.6,-9.1,453,6782,0.00,2.20,0.00,0.000,4,0.000,0.060,2813,3224,3359,0,0,0,0,0,0
$GC,6923,-0.59,-121.6,572.5,-9.9,457,6928,0.00,2.20,0.00,0.000,6,0.000,0.043,2814,1816,3358,0,0,0,0,0,0
$GC,7253,-0.59,-121.6,604.7,-9.9,468,7257,0.05,2.05,0.00,0.000,4,0.233,0.060,2816,3092,3358,0,0,0,0,0,0
$GC,7354,-0.59,-121.6,614.4,-9.3,471,7357,0.00,1.98,0.00,0.000,6,0.000,0.043,2816,1811,3357,0,0,0,0,0,0
$GC,7694,-0.59,-121.6,644.4,-8.6,482,7697,0.00,2.25,0.00,0.000,4,0.000,0.060,2805,3222,3357,0,0,0,0,0,0
$GC,7821,-0.59,-121.6,655.9,-8.9,485,7828,0.05,2.20,0.00,0.000,6,0.151,0.044,2824,1818,3357,0,0,0,0,0,0
$GC,8134,-0.59,-121.6,679.7,-7.6,496,8138,0.00,2.22,0.00,0.000,4,0.000,0.060,2814,3224,3356,0,0,0,0,0,0
$GC,8257,-0.59,-121.6,689.6,-8.0,499,8263,0.05,2.20,0.00,0.000,6,0.217,0.043,2827,1805,3356,0,0,0,0,0,0
$GC,8569,-0.59,-121.6,713.6,-7.8,510,8572,0.00,1.73,0.00,0.000,4,0.000,0.058,2819,2897,3355,0,0,0,0,0,0
$GC,8657,-0.59,-121.6,721.0,-8.3,512,8662,0.00,1.67,0.00,0.000,6,0.000,0.044,2819,1826,3355,0,0,0,0,0,0
$GC,8976,-0.59,-121.6,748.0,-8.6,523,8979,0.00,2.10,0.00,0.000,4,0.000,0.060,2809,3138,3355,0,0,0,0,0,0
$GC,9092,-0.59,-121.6,758.3,-9.0,526,9097,0.05,2.08,0.00,0.000,6,0.152,0.043,2828,1816,3355,0,0,0,0,0,0
$GC,9416,-0.59,-121.6,784.3,-7.9,537,9419,0.00,1.80,0.00,0.000,4,0.000,0.059,2820,2962,3354,0,0,0,0,0,0
$GC,9510,-0.59,-121.6,791.8,-7.4,539,9516,0.00,1.80,0.00,0.000,6,0.000,0.044,2820,1819,3353,0,0,0,0,0,0
$GC,9823,-0.59,-121.6,815.5,-7.6,550,9826,0.00,1.25,0.00,0.000,4,0.000,0.057,2814,2602,3353,0,0,0,0,0,0
$GC,9916,-0.59,-121.6,822.7,-7.5,552,9923,0.05,1.25,0.00,0.000,6,0.220,0.046,2827,1809,3353,0,0,0,0,0,0
$GC,10230,-0.62,-121.6,843.2,-6.4,563,10234,0.00,2.25,0.00,0.000,4,0.000,0.061,2816,3219,3353,0,0,0,0,0,0
$GC,10335,-0.62,-121.6,850.3,-6.0,566,10340,0.00,2.20,0.00,0.000,6,0.000,0.044,2816,1821,3352,0,0,0,0,0,0
$GC,10666,-0.64,-121.6,870.9,-6.2,577,10670,0.00,2.22,0.00,0.000,4,0.000,0.060,2806,3219,3352,0,0,0,0,0,0
$GC,10748,-0.64,-121.6,876.6,-7.1,579,10753,0.00,2.22,0.00,0.000,6,0.000,0.044,2806,1810,3352,0,0,0,0,0,0
$GC,11072,-0.64,-121.6,900.5,-7.5,590,11076,0.00,1.33,0.00,0.000,4,0.000,0.057,2801,2641,3351,0,0,0,0,0,0
$GC,11174,-0.64,-121.6,908.2,-8.0,593,11177,0.00,1.27,0.00,0.000,6,0.000,0.047,2801,1824,3351,0,0,0,0,0,0
$GC,11514,-0.61,-121.6,938.4,-9.1,604,11518,0.08,1.42,0.00,0.000,4,0.207,0.058,2811,2702,3351,0,0,0,0,0,0
$GC,11636,-0.61,-121.6,949.2,-8.5,607,11640,0.00,1.38,0.00,0.000,6,0.000,0.045,2811,1826,3351,0,0,0,0,0,0
$GC,11954,-0.61,-121.6,979.3,-9.9,618,11958,0.00,1.15,0.00,0.000,4,0.000,0.057,2806,2553,3351,0,0,0,0,0,0
$GC,12059,-0.61,-121.6,990.1,-9.9,621,12065,0.05,1.17,0.00,0.000,6,0.213,0.046,2818,1807,3351,0,0,0,0,0,0
$STATE,12179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12179,begin apogee
$GC,12183,-0.23,0.0,1001.6,9.7,625,12287,0.40,0.00,100.72,1.300,6,0.129,0.000,2946,1641,2862,0,0,0,0,0,0
$STATE,12288,end apogee,CONTROL_FINISHED_OK
$STATE,12288,begin climb
$GC,12289,0.71,121.6,1006.7,0.0,628,12401,0.90,1.12,104.30,1.268,4,0.093,0.054,3250,981,2365,0,0,0,0,0,0
$GC,12450,0.69,206.7,1005.6,3.9,633,12532,0.00,1.12,76.65,1.245,6,0.000,0.044,3250,1644,2019,0,0,0,0,0,0
$GC,12839,0.77,232.3,983.6,6.4,645,12870,0.00,2.40,23.42,1.205,4,0.000,0.059,3250,3043,1914,0,0,0,0,0,0
$GC,12964,0.77,237.2,974.4,7.2,648,12975,0.00,2.30,5.32,0.870,6,0.000,0.045,3260,1651,1895,0,0,0,0,0,0
$GC,13311,0.79,237.2,947.0,8.0,660,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1651,1893,0,0,0,0,0,0
$GC,13617,0.82,237.2,923.0,7.6,670,13619,0.08,0.00,0.00,0.000,6,0.122,0.000,3305,1650,1892,0,0,0,0,0,0
$GC,13923,0.78,237.2,895.8,8.8,680,13927,0.12,0.32,0.00,0.000,4,0.154,0.066,3272,1437,1891,0,0,0,0,0,0
$GC,13994,0.78,237.2,890.3,7.4,682,13998,0.00,0.32,0.00,0.000,6,0.000,0.057,3272,1649,1891,0,0,0,0,0,0
$GC,14329,0.78,238.6,865.5,7.3,693,14332,0.00,0.32,0.00,0.000,4,0.000,0.057,3272,1889,1891,0,0,0,0,0,0
$GC,14389,0.78,238.6,860.7,8.2,694,14394,0.00,0.40,0.00,0.000,6,0.000,0.057,3274,1639,1891,0,0,0,0,0,0
$GC,14701,0.78,238.6,835.9,8.1,705,14702,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1639,1891,0,0,0,0,0,0
$GC,15007,0.78,238.6,810.4,8.4,715,15008,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1639,1890,0,0,0,0,0,0
$GC,15314,0.78,238.6,785.5,8.0,725,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1639,1890,0,0,0,0,0,0
$GC,15620,0.78,238.6,760.5,8.2,735,15621,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1639,1890,0,0,0,0,0,0
$GC,15926,0.78,238.6,735.6,8.1,745,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1639,1891,0,0,0,0,0,0
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$STATE,24110,end climb,SURFACE_DEPTH_REACHED
$STATE,24110,begin surface coast
$FINISH,1.7,1.016216
$STATE,24135,end surface coast,CONTROL_FINISHED_OK
$STATE,24135,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.1,31.229
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.875,150.575,401.500,0.000,0.000,25.272,38.846,252.991,0.000,0.000,21.269,3131.347,16925.904,505.230,3885.464,203.061,33.365,2039.670,0.000,3507.902,0.000,1.009,0.000
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$MEM,354484
$DATA_FILE_SIZE,73561,1209
$CAP_FILE_SIZE,216881,0
$CFSIZE,2097086464,2067759104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
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