version: 66.07.10.p01
glider: 573
mission: 4
dive: 209
start: 11 16 112 3 40 32
data:
$ID,573
$MISSION,4
$DIVE,209
$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,-4961.9214
$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,30
$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,188
$GPS1,161112,033205,-4211.211,-732.044,35,1.3,35,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-70.3
$GPS2,161112,033937,-4211.139,-732.077,19,1.4,20,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.169,0.136
$KALMAN_X,-300802.4,334.0,501.0,503559.0,-7721.2
$KALMAN_Y,-110997.8,-41.5,-976.1,165053.4,2273.0
$MHEAD_RNG_PITCHd_Wd,73.2,114974,-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,-48.72,0.000,2,0.000,0.000,81,1833,2402,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.0,-0.8,8,140,11.32,2.35,-41.30,0.000,4,0.247,0.067,2790,415,3359,0,0,0,0,0,0
$GC,237,-0.60,-121.6,16.0,-14.4,34,244,0.12,2.25,0.00,0.000,6,0.146,0.044,2821,1816,3360,0,0,0,0,0,0
$GC,317,-0.56,-121.6,26.2,-13.1,47,325,0.08,0.52,0.00,0.000,4,0.190,0.057,2839,2162,3360,0,0,0,0,0,0
$GC,585,-0.56,-121.6,51.7,-9.3,93,590,0.00,0.52,0.00,0.000,6,0.000,0.053,2839,1813,3360,0,0,0,0,0,0
$GC,815,-0.56,-121.6,72.6,-9.2,134,821,0.00,2.25,0.00,0.000,4,0.000,0.060,2829,3221,3361,0,0,0,0,0,0
$GC,929,-0.56,-121.6,83.5,-9.8,154,935,0.00,2.17,0.00,0.000,6,0.000,0.044,2829,1824,3361,0,0,0,0,0,0
$GC,1263,-0.56,-121.6,115.0,-9.2,195,1266,0.00,2.00,0.00,0.000,4,0.000,0.057,2819,3077,3361,0,0,0,0,0,0
$GC,1333,-0.53,-121.6,121.4,-8.5,199,1338,0.10,1.98,0.00,0.000,6,0.161,0.044,2847,1803,3361,0,0,0,0,0,0
$GC,1657,-0.59,-121.6,147.9,-7.7,220,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1803,3362,0,0,0,0,0,0
$GC,1971,-0.66,-121.6,170.7,-7.2,240,1976,0.10,2.28,0.00,0.000,4,0.099,0.058,2784,3230,3362,0,0,0,0,0,0
$GC,2138,-0.59,-121.6,185.7,-9.1,250,2143,0.12,2.20,0.00,0.000,6,0.135,0.042,2826,1818,3362,0,0,0,0,0,0
$GC,2465,-0.62,-121.6,211.9,-8.2,271,2469,0.00,2.20,0.00,0.000,4,0.000,0.059,2816,3222,3362,0,0,0,0,0,0
$GC,2588,-0.62,-121.6,222.7,-8.7,278,2593,0.00,2.20,0.00,0.000,6,0.000,0.043,2816,1815,3362,0,0,0,0,0,0
$GC,2915,-0.62,-121.6,251.1,-8.9,299,2919,0.00,2.22,0.00,0.000,4,0.000,0.058,2806,3221,3362,0,0,0,0,0,0
$GC,2936,-0.62,-121.6,253.4,-9.4,300,2941,0.03,2.17,0.00,0.000,6,0.168,0.043,2816,1827,3362,0,0,0,0,0,0
$GC,3263,-0.62,-121.6,285.5,-10.3,316,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1826,3362,0,0,0,0,0,0
$GC,3574,-0.62,-121.6,316.6,-10.0,331,3578,0.00,0.95,0.00,0.000,4,0.000,0.054,2812,2436,3362,0,0,0,0,0,0
$GC,3642,-0.62,-121.6,323.7,-10.1,334,3645,0.00,0.95,0.00,0.000,6,0.000,0.045,2812,1813,3362,0,0,0,0,0,0
$GC,3974,-0.62,-121.6,356.5,-9.8,350,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1813,3362,0,0,0,0,0,0
$GC,4285,-0.62,-121.6,386.3,-9.5,365,4289,0.00,2.22,0.00,0.000,4,0.000,0.059,2802,3227,3362,0,0,0,0,0,0
$GC,4371,-0.62,-121.6,394.7,-10.2,369,4376,0.08,2.17,0.00,0.000,6,0.179,0.043,2821,1816,3362,0,0,0,0,0,0
$GC,4705,-0.65,-121.6,425.6,-8.9,381,4708,0.00,0.98,0.00,0.000,4,0.000,0.054,2821,1189,3362,0,0,0,0,0,0
$GC,4725,-0.65,-121.6,427.7,-9.1,381,4730,0.00,1.00,0.00,0.000,6,0.000,0.045,2817,1828,3362,0,0,0,0,0,0
$GC,5044,-0.68,-121.6,454.6,-8.4,392,5048,0.00,2.20,0.00,0.000,4,0.000,0.059,2806,3227,3361,0,0,0,0,0,0
$GC,5127,-0.68,-121.6,461.8,-8.9,394,5132,0.00,2.20,0.00,0.000,6,0.000,0.044,2806,1822,3361,0,0,0,0,0,0
$GC,5451,-0.68,-121.6,488.3,-8.1,405,5455,0.00,2.20,0.00,0.000,4,0.000,0.059,2796,3216,3361,0,0,0,0,0,0
$GC,5562,-0.66,-121.6,497.6,-8.5,408,5567,0.00,2.20,0.00,0.000,6,0.000,0.044,2797,1806,3361,0,0,0,0,0,0
$GC,5887,-0.63,-121.6,524.4,-8.5,419,5891,0.08,2.25,0.00,0.000,4,0.204,0.060,2803,3215,3360,0,0,0,0,0,0
$GC,5974,-0.63,-121.6,532.2,-9.0,421,5979,0.00,2.17,0.00,0.000,6,0.000,0.044,2803,1822,3360,0,0,0,0,0,0
$GC,6293,-0.63,-121.6,561.0,-9.3,432,6297,0.00,0.55,0.00,0.000,4,0.000,0.055,2803,1454,3359,0,0,0,0,0,0
$GC,6308,-0.63,-121.6,562.7,-9.7,432,6312,0.00,0.57,0.00,0.000,6,0.000,0.050,2801,1828,3360,0,0,0,0,0,0
$GC,6632,-0.63,-121.6,595.0,-10.3,443,6636,0.00,2.17,0.00,0.000,4,0.000,0.060,2791,3216,3359,0,0,0,0,0,0
$GC,6720,-0.61,-121.6,604.7,-11.3,445,6725,0.08,2.20,0.00,0.000,6,0.143,0.044,2818,1813,3359,0,0,0,0,0,0
$GC,7038,-0.64,-121.6,636.7,-10.0,456,7042,0.00,0.45,0.00,0.000,4,0.000,0.057,2816,2127,3358,0,0,0,0,0,0
$GC,7161,-0.68,-121.6,649.4,-10.4,459,7165,0.00,0.47,0.00,0.000,6,0.000,0.054,2816,1815,3358,0,0,0,0,0,0
$GC,7479,-0.71,-121.6,679.7,-9.5,470,7481,0.08,0.00,0.00,0.000,6,0.122,0.000,2772,1814,3357,0,0,0,0,0,0
$GC,7785,-0.64,-121.6,711.5,-10.5,480,7790,0.15,2.25,0.00,0.000,4,0.161,0.056,2813,417,3356,0,0,0,0,0,0
$GC,7857,-0.60,-121.6,718.5,-9.6,482,7862,0.05,2.20,0.00,0.000,6,0.164,0.044,2821,1809,3357,0,0,0,0,0,0
$GC,8187,-0.64,-121.6,745.1,-7.9,493,8191,0.00,2.22,0.00,0.000,4,0.000,0.060,2812,3226,3356,0,0,0,0,0,0
$GC,8274,-0.64,-121.6,752.4,-7.9,495,8281,0.00,2.20,0.00,0.000,6,0.000,0.044,2812,1825,3356,0,0,0,0,0,0
$GC,8588,-0.67,-121.6,776.9,-7.8,506,8591,0.00,0.32,0.00,0.000,4,0.000,0.062,2812,1596,3355,0,0,0,0,0,0
$GC,8599,-0.70,-121.6,777.8,-7.9,506,8603,0.00,0.32,0.00,0.000,6,0.000,0.061,2810,1818,3356,0,0,0,0,0,0
$GC,8928,-0.72,-121.6,804.0,-8.1,517,8933,0.08,2.22,0.00,0.000,4,0.122,0.060,2756,3215,3355,0,0,0,0,0,0
$GC,9134,-0.64,-121.6,824.6,-10.4,523,9139,0.17,2.20,0.00,0.000,6,0.141,0.045,2812,1816,3355,0,0,0,0,0,0
$GC,9464,-0.64,-121.6,852.1,-8.3,534,9468,0.00,1.27,0.00,0.000,4,0.000,0.057,2808,2620,3355,0,0,0,0,0,0
$GC,9569,-0.64,-121.6,861.0,-8.0,537,9574,0.00,1.27,0.00,0.000,6,0.000,0.046,2807,1810,3354,0,0,0,0,0,0
$GC,9905,-0.64,-121.6,888.9,-8.3,548,9909,0.00,2.20,0.00,0.000,4,0.000,0.062,2797,3198,3354,0,0,0,0,0,0
$GC,10028,-0.64,-121.6,899.3,-9.0,551,10033,0.08,2.15,0.00,0.000,6,0.181,0.046,2816,1816,3353,0,0,0,0,0,0
$GC,10339,-0.64,-121.6,922.8,-7.5,562,10343,0.00,0.90,0.00,0.000,4,0.000,0.057,2813,2391,3353,0,0,0,0,0,0
$GC,10444,-0.64,-121.6,931.1,-7.5,565,10449,0.00,0.90,0.00,0.000,6,0.000,0.047,2813,1812,3353,0,0,0,0,0,0
$GC,10780,-0.64,-121.6,957.6,-7.9,576,10784,0.00,2.25,0.00,0.000,4,0.000,0.063,2802,3218,3352,0,0,0,0,0,0
$GC,10902,-0.64,-121.6,968.1,-9.2,579,10907,0.00,2.20,0.00,0.000,6,0.000,0.045,2802,1822,3352,0,0,0,0,0,0
$GC,11221,-0.64,-121.6,996.3,-9.0,590,11224,0.00,0.82,0.00,0.000,4,0.000,0.057,2799,2356,3352,0,0,0,0,0,0
$STATE,11262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11262,begin apogee
$GC,11267,-0.23,0.0,1000.5,10.1,591,11371,0.43,0.00,100.78,1.301,6,0.132,0.000,2939,1644,2862,0,0,0,0,0,0
$STATE,11372,end apogee,CONTROL_FINISHED_OK
$STATE,11372,begin climb
$GC,11374,0.71,121.6,1004.8,0.0,594,11485,0.93,1.67,103.90,1.265,4,0.093,0.058,3252,689,2367,0,0,0,0,0,0
$GC,11540,0.69,200.0,1002.4,4.2,599,11616,0.00,1.62,71.30,1.242,6,0.000,0.044,3252,1641,2046,0,0,0,0,0,0
$GC,11924,0.74,233.4,980.0,6.0,611,11958,0.00,0.93,30.02,1.219,4,0.000,0.056,3256,1104,1910,0,0,0,0,0,0
$GC,11980,0.81,278.1,976.4,5.6,612,12027,0.05,0.88,41.88,1.221,6,0.068,0.045,3291,1636,1728,0,0,0,0,0,0
$GC,12351,0.86,278.1,947.3,8.3,625,12355,0.00,2.38,0.00,0.000,4,0.000,0.062,3302,233,1719,0,0,0,0,0,0
$GC,12434,0.83,278.1,939.9,8.7,627,12438,0.00,2.33,0.00,0.000,6,0.000,0.044,3302,1670,1719,0,0,0,0,0,0
$GC,12752,0.83,278.1,910.1,9.4,638,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1671,1718,0,0,0,0,0,0
$GC,13058,0.83,278.1,882.1,9.2,648,13062,0.00,0.35,0.00,0.000,4,0.000,0.065,3303,1444,1717,0,0,0,0,0,0
$GC,13141,0.83,278.1,874.5,8.8,650,13145,0.00,0.32,0.00,0.000,6,0.000,0.058,3304,1651,1718,0,0,0,0,0,0
$GC,13465,0.83,278.1,846.6,8.6,661,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1651,1717,0,0,0,0,0,0
$GC,13771,0.83,278.1,820.6,8.5,671,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1651,1716,0,0,0,0,0,0
$GC,14077,0.83,278.1,793.2,9.0,681,14078,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1651,1716,0,0,0,0,0,0
$GC,14383,0.83,278.1,765.8,8.9,691,14384,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1651,1716,0,0,0,0,0,0
$GC,14689,0.83,278.1,737.5,9.1,701,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1651,1715,0,0,0,0,0,0
$GC,14996,0.83,278.1,709.9,9.1,711,14999,0.00,0.60,0.00,0.000,4,0.000,0.060,3306,1269,1715,0,0,0,0,0,0
$GC,15067,0.83,278.1,703.2,9.8,713,15072,0.05,0.60,0.00,0.000,6,0.207,0.051,3293,1646,1715,0,0,0,0,0,0
$GC,15402,0.83,278.1,674.6,8.5,724,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1646,1715,0,0,0,0,0,0
$GC,15708,0.83,278.1,648.7,8.4,734,15709,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1646,1715,0,0,0,0,0,0
$GC,16014,0.83,278.1,622.2,8.6,744,16018,0.00,0.55,0.00,0.000,4,0.000,0.055,3293,2023,1715,0,0,0,0,0,0
$GC,16074,0.83,278.1,617.0,8.2,745,16080,0.00,0.60,0.00,0.000,6,0.000,0.056,3295,1643,1715,0,0,0,0,0,0
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$STATE,23004,end climb,SURFACE_DEPTH_REACHED
$STATE,23004,begin surface coast
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$STATE,23047,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70326,1195
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$CFSIZE,2097086464,2066513920
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