version: 66.07.10.p01
glider: 573
mission: 4
dive: 247
start: 11 25 112 6 11 1
data:
$ID,573
$MISSION,4
$DIVE,247
$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,333
$T_MISSION,348
$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,-5090.9917
$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,31
$R_STBD_OVSHOOT,36
$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,226
$GPS1,251112,060305,-4149.682,-628.911,36,1.4,36,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-69.8
$GPS2,251112,061006,-4149.660,-628.860,18,1.5,18,-22.1
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.119,0.208
$KALMAN_X,-309140.8,-60.9,-228.4,599143.0,-221.9
$KALMAN_Y,-195652.2,-24.0,-71.3,288552.4,-2674.4
$MHEAD_RNG_PITCHd_Wd,51.8,65047,-20.1,-10.010
$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,-0.92,-121.6,0.0,0.0,0,70,0.00,0.00,-42.83,0.000,2,0.000,0.000,82,1824,2535,0,0,0,0,0,0
$GC,72,-0.92,-121.6,3.0,-1.0,7,116,10.50,0.32,-28.17,0.000,4,0.226,0.145,2721,1609,3358,0,0,0,0,0,0
$GC,161,-0.83,-121.6,11.2,-13.4,21,168,0.08,0.32,0.00,0.000,6,0.154,0.057,2745,1827,3360,0,0,0,0,0,0
$GC,241,-0.78,-121.6,21.9,-11.5,34,249,0.10,0.32,0.00,0.000,4,0.178,0.062,2771,1616,3360,0,0,0,0,0,0
$GC,258,-0.76,-121.6,23.9,-12.1,36,265,0.00,0.30,0.00,0.000,6,0.000,0.060,2771,1819,3360,0,0,0,0,0,0
$GC,337,-0.76,-121.6,31.7,-8.9,49,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1818,3360,0,0,0,0,0,0
$GC,571,-0.76,-121.6,54.2,-10.0,90,578,0.00,0.47,0.00,0.000,4,0.000,0.055,2769,2146,3361,0,0,0,0,0,0
$GC,660,-0.76,-121.6,63.4,-10.8,105,666,0.00,0.50,0.00,0.000,6,0.000,0.051,2769,1813,3360,0,0,0,0,0,0
$GC,1004,-0.76,-121.6,100.1,-10.4,166,1008,0.00,2.25,0.00,0.000,4,0.000,0.057,2758,3233,3361,0,0,0,0,0,0
$GC,1086,-0.76,-121.6,108.8,-11.2,171,1091,0.08,2.20,0.00,0.000,6,0.186,0.043,2776,1819,3361,0,0,0,0,0,0
$GC,1412,-0.78,-121.6,140.0,-9.4,192,1416,0.00,0.80,0.00,0.000,4,0.000,0.054,2776,1296,3361,0,0,0,0,0,0
$GC,1473,-0.82,-121.6,146.2,-9.1,195,1479,0.00,0.82,0.00,0.000,6,0.000,0.047,2773,1828,3361,0,0,0,0,0,0
$GC,1795,-0.86,-121.6,173.7,-8.6,216,1800,0.08,2.30,0.00,0.000,4,0.122,0.055,2725,409,3362,0,0,0,0,0,0
$GC,1912,-0.76,-121.6,186.2,-11.2,223,1917,0.20,2.20,0.00,0.000,6,0.159,0.041,2770,1822,3361,0,0,0,0,0,0
$GC,2237,-0.81,-121.6,214.8,-8.7,244,2241,0.00,2.28,0.00,0.000,4,0.000,0.054,2770,406,3362,0,0,0,0,0,0
$GC,2300,-0.81,-121.6,221.0,-9.9,248,2304,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,1820,3362,0,0,0,0,0,0
$GC,2628,-0.83,-121.6,251.2,-9.4,269,2632,0.00,2.25,0.00,0.000,4,0.000,0.054,2761,413,3362,0,0,0,0,0,0
$GC,2721,-0.80,-121.6,261.0,-10.4,273,2725,0.00,2.20,0.00,0.000,6,0.000,0.041,2750,1830,3362,0,0,0,0,0,0
$GC,3049,-0.80,-121.6,293.4,-9.7,289,3054,0.03,2.20,0.00,0.000,4,0.286,0.056,2749,3225,3362,0,0,0,0,0,0
$GC,3058,-0.80,-121.6,294.8,-10.1,289,3063,0.00,2.20,0.00,0.000,6,0.000,0.043,2749,1822,3362,0,0,0,0,0,0
$GC,3382,-0.80,-121.6,326.0,-9.4,305,3387,0.05,1.90,0.00,0.000,4,0.232,0.054,2759,654,3362,0,0,0,0,0,0
$GC,3431,-0.80,-121.6,331.3,-9.9,307,3436,0.00,1.83,0.00,0.000,6,0.000,0.041,2752,1815,3362,0,0,0,0,0,0
$GC,3761,-0.80,-121.6,360.3,-8.5,323,3765,0.00,2.25,0.00,0.000,4,0.000,0.054,2752,406,3362,0,0,0,0,0,0
$GC,3876,-0.76,-121.6,370.9,-9.4,328,3880,0.12,2.20,0.00,0.000,6,0.165,0.041,2774,1826,3362,0,0,0,0,0,0
$GC,4203,-0.81,-121.6,396.7,-8.0,344,4207,0.00,1.45,0.00,0.000,4,0.000,0.054,2769,2749,3362,0,0,0,0,0,0
$GC,4281,-0.84,-121.6,403.2,-8.0,347,4286,0.03,1.45,0.00,0.000,6,0.099,0.044,2735,1819,3362,0,0,0,0,0,0
$GC,4611,-0.84,-121.6,432.4,-9.0,358,4616,0.03,2.20,0.00,0.000,4,0.275,0.057,2734,3215,3362,0,0,0,0,0,0
$GC,4710,-0.84,-121.6,442.1,-9.8,361,4715,0.00,2.17,0.00,0.000,6,0.000,0.042,2734,1822,3362,0,0,0,0,0,0
$GC,5046,-0.84,-121.6,476.9,-10.8,372,5050,0.05,2.22,0.00,0.000,4,0.233,0.056,2734,3215,3362,0,0,0,0,0,0
$GC,5117,-0.82,-121.6,485.1,-11.6,374,5122,0.05,2.20,0.00,0.000,6,0.151,0.043,2753,1811,3361,0,0,0,0,0,0
$GC,5446,-0.85,-121.6,520.2,-10.9,385,5450,0.00,2.22,0.00,0.000,4,0.000,0.057,2743,3213,3361,0,0,0,0,0,0
$GC,5529,-0.85,-121.6,530.3,-12.0,387,5534,0.00,2.20,0.00,0.000,6,0.000,0.044,2743,1812,3361,0,0,0,0,0,0
$GC,5848,-0.85,-121.6,566.3,-11.2,398,5852,0.00,2.25,0.00,0.000,4,0.000,0.057,2732,3225,3360,0,0,0,0,0,0
$GC,5964,-0.85,-121.6,579.3,-11.1,401,5969,0.03,2.20,0.00,0.000,6,0.183,0.044,2742,1819,3360,0,0,0,0,0,0
$GC,6282,-0.85,-121.6,611.7,-10.1,412,6286,0.00,2.20,0.00,0.000,4,0.000,0.057,2732,3215,3360,0,0,0,0,0,0
$GC,6377,-0.85,-121.6,621.7,-10.7,415,6382,0.05,2.17,0.00,0.000,6,0.216,0.044,2744,1816,3360,0,0,0,0,0,0
$GC,6711,-0.85,-121.6,654.6,-9.7,426,6715,0.00,2.22,0.00,0.000,4,0.000,0.057,2734,3217,3360,0,0,0,0,0,0
$GC,6799,-0.85,-121.6,663.9,-11.0,428,6804,0.00,2.20,0.00,0.000,6,0.000,0.044,2733,1822,3359,0,0,0,0,0,0
$GC,7119,-0.85,-121.6,694.6,-9.5,439,7123,0.03,2.25,0.00,0.000,4,0.272,0.058,2733,3218,3359,0,0,0,0,0,0
$GC,7252,-0.85,-121.6,707.8,-9.5,443,7257,0.05,2.20,0.00,0.000,6,0.218,0.045,2745,1807,3358,0,0,0,0,0,0
$GC,7581,-0.85,-121.6,737.5,-9.1,454,7585,0.00,2.25,0.00,0.000,4,0.000,0.058,2735,3226,3357,0,0,0,0,0,0
$GC,7703,-0.85,-121.6,749.2,-9.6,457,7708,0.00,2.20,0.00,0.000,6,0.000,0.044,2734,1825,3357,0,0,0,0,0,0
$GC,8016,-0.85,-121.6,777.6,-8.9,468,8020,0.00,2.20,0.00,0.000,4,0.000,0.058,2725,3212,3357,0,0,0,0,0,0
$GC,8084,-0.85,-121.6,784.2,-9.5,470,8089,0.10,2.17,0.00,0.000,6,0.171,0.044,2751,1814,3356,0,0,0,0,0,0
$GC,8420,-0.87,-121.6,814.6,-9.1,481,8424,0.00,2.22,0.00,0.000,4,0.000,0.059,2741,3213,3356,0,0,0,0,0,0
$GC,8508,-0.87,-121.6,823.4,-9.5,483,8513,0.00,2.20,0.00,0.000,6,0.000,0.044,2741,1821,3355,0,0,0,0,0,0
$GC,8827,-0.90,-121.6,853.3,-9.3,494,8831,0.00,2.25,0.00,0.000,4,0.000,0.059,2731,3221,3354,0,0,0,0,0,0
$GC,8916,-0.90,-121.6,862.2,-9.4,496,8922,0.00,2.22,0.00,0.000,6,0.000,0.045,2731,1812,3355,0,0,0,0,0,0
$GC,9229,-0.90,-121.6,892.7,-9.8,507,9233,0.00,2.25,0.00,0.000,4,0.000,0.058,2721,3213,3354,0,0,0,0,0,0
$GC,9329,-0.90,-121.6,902.8,-10.1,510,9333,0.00,2.20,0.00,0.000,6,0.000,0.044,2721,1822,3354,0,0,0,0,0,0
$GC,9665,-0.86,-121.6,938.3,-11.0,521,9669,0.10,1.85,0.00,0.000,4,0.200,0.058,2737,2959,3353,0,0,0,0,0,0
$GC,9747,-0.86,-121.6,946.6,-10.4,523,9752,0.00,1.80,0.00,0.000,6,0.000,0.044,2737,1822,3353,0,0,0,0,0,0
$GC,10071,-0.86,-121.6,978.8,-10.3,534,10075,0.00,0.38,0.00,0.000,4,0.000,0.059,2736,2083,3353,0,0,0,0,0,0
$GC,10193,-0.86,-121.6,992.2,-10.8,537,10197,0.00,0.43,0.00,0.000,6,0.000,0.056,2736,1804,3352,0,0,0,0,0,0
$STATE,10295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10296,begin apogee
$GC,10300,-0.23,0.0,1003.0,10.8,541,10405,0.68,0.00,101.38,1.286,6,0.130,0.000,2947,1639,2863,0,0,0,0,0,0
$STATE,10406,end apogee,CONTROL_FINISHED_OK
$STATE,10406,begin climb
$GC,10407,0.92,121.6,1008.0,0.0,544,10521,1.08,2.47,104.68,1.253,4,0.082,0.056,3320,245,2365,0,0,0,0,0,0
$GC,10663,0.87,190.5,1000.5,6.2,552,10733,0.05,2.33,61.60,1.231,6,0.210,0.042,3309,1647,2084,0,0,0,0,0,0
$GC,11063,0.88,219.1,968.3,8.4,565,11094,0.00,2.22,26.05,1.199,4,0.000,0.055,3308,2975,1967,0,0,0,0,0,0
$GC,11172,0.88,219.1,957.8,10.2,568,11176,0.00,2.15,0.00,0.000,6,0.000,0.046,3317,1652,1963,0,0,0,0,0,0
$GC,11502,0.88,219.8,925.2,10.0,579,11506,0.00,1.40,0.00,0.000,4,0.000,0.053,3317,2509,1962,0,0,0,0,0,0
$GC,11579,0.88,225.8,917.2,9.7,581,11590,0.05,1.40,6.28,0.979,6,0.155,0.048,3306,1646,1941,0,0,0,0,0,0
$GC,11909,0.92,236.0,886.1,9.4,592,11925,0.00,2.08,10.62,1.074,4,0.000,0.055,3306,2932,1899,0,0,0,0,0,0
$GC,12009,0.94,236.0,876.1,10.4,595,12012,0.00,2.08,0.00,0.000,6,0.000,0.046,3315,1633,1898,0,0,0,0,0,0
$GC,12344,0.97,253.7,844.8,9.0,606,12366,0.05,1.33,17.10,1.128,4,0.164,0.052,3343,2428,1826,0,0,0,0,0,0
$GC,12440,0.97,253.7,834.9,10.8,609,12444,0.00,1.25,0.00,0.000,6,0.000,0.048,3349,1655,1825,0,0,0,0,0,0
$GC,12780,0.97,253.7,799.8,10.2,620,12784,0.00,0.52,0.00,0.000,4,0.000,0.052,3348,2000,1823,0,0,0,0,0,0
$GC,12848,0.97,253.7,792.7,10.6,622,12852,0.03,0.55,0.00,0.000,6,0.204,0.054,3342,1647,1823,0,0,0,0,0,0
$GC,13187,0.97,260.0,759.4,9.7,633,13197,0.00,0.55,6.30,0.902,4,0.000,0.046,3341,2036,1802,0,0,0,0,0,0
$GC,13247,0.98,269.8,753.6,9.5,634,13262,0.00,0.65,10.68,1.021,6,0.000,0.053,3344,1631,1763,0,0,0,0,0,0
$GC,13592,0.98,282.4,720.9,9.3,646,13611,0.00,1.35,12.60,1.031,4,0.000,0.053,3344,2441,1709,0,0,0,0,0,0
$GC,13673,0.98,282.8,713.0,10.0,648,13677,0.00,1.27,0.00,0.000,6,0.000,0.049,3349,1654,1708,0,0,0,0,0,0
$GC,13997,0.98,285.3,681.1,9.9,659,14003,0.00,0.00,3.80,0.641,6,0.000,0.000,3349,1654,1698,0,0,0,0,0,0
$GC,14303,0.98,285.3,649.7,10.4,669,14307,0.00,0.55,0.00,0.000,4,0.000,0.054,3349,2018,1698,0,0,0,0,0,0
$GC,14346,0.98,289.4,645.1,9.8,670,14357,0.05,0.62,5.32,0.793,6,0.237,0.053,3341,1630,1682,0,0,0,0,0,0
$GC,14676,1.01,289.4,611.2,10.1,681,14677,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1629,1682,0,0,0,0,0,0
$GC,14982,1.04,289.4,580.6,10.2,691,14985,0.00,0.50,0.00,0.000,4,0.000,0.059,3343,1298,1681,0,0,0,0,0,0
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$STATE,20000,end climb,SURFACE_DEPTH_REACHED
$STATE,20001,begin surface coast
$FINISH,1.8,1.024298
$STATE,20032,end surface coast,CONTROL_FINISHED_OK
$STATE,20032,begin surface
$SM_CCo,20108,0.00,0.000,0,0,1439,349.06
$SM_GC,2.66,8.75,0.00,0.00,0.040,0.000,0.000,83,1830,1439,-9.11,0.31,349.06
$IRIDIUM_FIX,-4135.14,-628.07,251112,000037
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$HUMID,44.52
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.1,39.435
$10V_AH,10.2,37.080
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.825,149.950,422.225,0.000,0.000,28.264,46.548,220.228,0.000,0.000,20.141,2697.783,13686.545,511.887,3431.891,195.848,33.370,1886.371,0.000,3076.510,0.000,1.010,0.000
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$SENSOR_SECS,681.423,1112.432,669.018,78.174,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354324
$DATA_FILE_SIZE,60340,1024
$CAP_FILE_SIZE,196501,0
$CFSIZE,2097086464,2061500416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251112,114723,-4148.693,-627.954,41,1.1,41,-22.1