version: 66.07.10.p01
glider: 573
mission: 4
dive: 255
start: 11 27 112 3 38 54
data:
$ID,573
$MISSION,4
$DIVE,255
$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,-5119.3662
$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,31
$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,234
$GPS1,271112,033005,-4146.938,-626.216,31,0.8,31,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-72.4
$GPS2,271112,033759,-4146.910,-626.254,42,0.9,42,-22.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.238,0.030
$KALMAN_X,-309130.2,-1536.5,-599.3,604551.3,2491.3
$KALMAN_Y,-212024.6,-20.8,486.9,309450.7,-2091.5
$MHEAD_RNG_PITCHd_Wd,105.0,121162,-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,-42.70,0.000,2,0.000,0.000,83,1812,2509,0,0,0,0,0,0
$GC,72,-0.92,-121.6,3.1,-0.7,7,122,10.73,2.30,-32.50,0.000,4,0.235,0.071,2711,3231,3357,0,0,0,0,0,0
$GC,295,-0.83,-121.6,24.7,-12.0,44,303,0.12,2.25,0.00,0.000,6,0.148,0.044,2751,1822,3359,0,0,0,0,0,0
$GC,376,-0.80,-121.6,33.4,-10.2,57,381,0.00,0.60,0.00,0.000,4,0.000,0.054,2749,2220,3359,0,0,0,0,0,0
$GC,473,-0.78,-121.6,43.2,-10.0,74,481,0.05,0.62,0.00,0.000,6,0.155,0.051,2766,1815,3360,0,0,0,0,0,0
$GC,712,-0.78,-121.6,66.4,-10.0,115,717,0.00,2.28,0.00,0.000,4,0.000,0.059,2756,3224,3360,0,0,0,0,0,0
$GC,824,-0.78,-121.6,78.3,-10.7,135,830,0.00,2.22,0.00,0.000,6,0.000,0.045,2756,1825,3360,0,0,0,0,0,0
$GC,1158,-0.78,-121.6,113.5,-10.5,180,1161,0.00,1.88,0.00,0.000,4,0.000,0.057,2748,3018,3361,0,0,0,0,0,0
$GC,1226,-0.78,-121.6,121.1,-11.1,184,1231,0.10,1.88,0.00,0.000,6,0.172,0.045,2773,1802,3361,0,0,0,0,0,0
$GC,1558,-0.82,-121.6,155.9,-10.9,205,1562,0.00,2.28,0.00,0.000,4,0.000,0.057,2764,3227,3361,0,0,0,0,0,0
$GC,1653,-0.82,-121.6,166.6,-10.6,210,1661,0.00,2.22,0.00,0.000,6,0.000,0.044,2763,1811,3361,0,0,0,0,0,0
$GC,1976,-0.84,-121.6,198.4,-9.7,231,1980,0.00,2.25,0.00,0.000,4,0.000,0.057,2753,3225,3361,0,0,0,0,0,0
$GC,2046,-0.84,-121.6,205.3,-9.4,235,2050,0.00,2.20,0.00,0.000,6,0.000,0.044,2753,1811,3361,0,0,0,0,0,0
$GC,2370,-0.84,-121.6,234.6,-8.5,256,2374,0.00,2.25,0.00,0.000,4,0.000,0.057,2743,3230,3361,0,0,0,0,0,0
$GC,2453,-0.84,-121.6,241.8,-8.9,261,2457,0.00,2.17,0.00,0.000,6,0.000,0.043,2743,1815,3361,0,0,0,0,0,0
$GC,2787,-0.84,-121.6,270.5,-8.6,279,2791,0.00,2.25,0.00,0.000,4,0.000,0.057,2732,3232,3361,0,0,0,0,0,0
$GC,2899,-0.81,-121.6,280.9,-8.9,284,2903,0.10,2.20,0.00,0.000,6,0.174,0.043,2758,1812,3361,0,0,0,0,0,0
$GC,3226,-0.83,-121.6,309.5,-9.1,300,3230,0.00,1.02,0.00,0.000,4,0.000,0.054,2755,2474,3361,0,0,0,0,0,0
$GC,3305,-0.85,-121.6,317.0,-9.4,303,3309,0.00,1.02,0.00,0.000,6,0.000,0.047,2754,1812,3361,0,0,0,0,0,0
$GC,3629,-0.88,-121.6,345.5,-8.7,319,3633,0.00,2.25,0.00,0.000,4,0.000,0.056,2754,408,3361,0,0,0,0,0,0
$GC,3724,-0.84,-121.6,355.1,-9.4,323,3728,0.00,2.22,0.00,0.000,6,0.000,0.042,2744,1832,3361,0,0,0,0,0,0
$GC,4053,-0.84,-121.6,384.2,-9.2,339,4057,0.00,2.28,0.00,0.000,4,0.000,0.055,2744,418,3361,0,0,0,0,0,0
$GC,4159,-0.79,-121.6,395.6,-10.8,343,4165,0.08,2.20,0.00,0.000,6,0.151,0.041,2759,1818,3361,0,0,0,0,0,0
$GC,4473,-0.82,-121.6,427.7,-10.7,355,4476,0.00,1.25,0.00,0.000,4,0.000,0.052,2759,1029,3361,0,0,0,0,0,0
$GC,4506,-0.82,-121.6,431.4,-10.5,356,4510,0.00,1.25,0.00,0.000,6,0.000,0.044,2754,1827,3361,0,0,0,0,0,0
$GC,4847,-0.84,-121.6,469.1,-11.0,367,4851,0.00,2.28,0.00,0.000,4,0.000,0.054,2754,406,3361,0,0,0,0,0,0
$GC,4930,-0.81,-121.6,479.0,-12.0,369,4934,0.03,2.22,0.00,0.000,6,0.193,0.042,2753,1817,3361,0,0,0,0,0,0
$GC,5254,-0.83,-121.6,510.8,-9.5,380,5258,0.00,2.25,0.00,0.000,4,0.000,0.054,2753,409,3361,0,0,0,0,0,0
$GC,5326,-0.80,-121.6,518.4,-9.7,382,5331,0.08,2.20,0.00,0.000,6,0.198,0.041,2761,1821,3361,0,0,0,0,0,0
$GC,5656,-0.85,-121.6,546.3,-8.2,393,5660,0.00,0.70,0.00,0.000,4,0.000,0.054,2761,1368,3361,0,0,0,0,0,0
$GC,5683,-0.88,-121.6,548.7,-8.9,393,5689,0.03,0.68,0.00,0.000,6,0.099,0.049,2728,1815,3361,0,0,0,0,0,0
$GC,5996,-0.88,-121.6,575.4,-8.7,404,6000,0.00,2.25,0.00,0.000,4,0.000,0.054,2728,412,3360,0,0,0,0,0,0
$GC,6101,-0.81,-121.6,585.9,-9.6,407,6106,0.10,2.20,0.00,0.000,6,0.145,0.042,2761,1808,3360,0,0,0,0,0,0
$GC,6436,-0.86,-121.6,614.6,-8.9,418,6440,0.00,1.52,0.00,0.000,4,0.000,0.054,2755,2773,3360,0,0,0,0,0,0
$GC,6520,-0.88,-121.6,622.6,-9.7,420,6524,0.00,1.48,0.00,0.000,6,0.000,0.045,2755,1828,3360,0,0,0,0,0,0
$GC,6844,-0.92,-121.6,653.8,-10.0,431,6849,0.10,2.30,0.00,0.000,4,0.102,0.056,2705,404,3359,0,0,0,0,0,0
$GC,6950,-0.81,-121.6,667.3,-12.5,434,6955,0.22,2.22,0.00,0.000,6,0.163,0.043,2756,1827,3358,0,0,0,0,0,0
$GC,7273,-0.84,-121.6,700.3,-10.0,445,7277,0.00,2.28,0.00,0.000,4,0.000,0.056,2756,413,3358,0,0,0,0,0,0
$GC,7327,-0.82,-121.6,706.3,-11.2,446,7333,0.00,2.22,0.00,0.000,6,0.000,0.043,2747,1817,3358,0,0,0,0,0,0
$GC,7640,-0.82,-121.6,738.5,-10.3,457,7644,0.00,2.28,0.00,0.000,4,0.000,0.055,2747,405,3357,0,0,0,0,0,0
$GC,7764,-0.78,-121.6,751.5,-10.7,460,7770,0.12,2.22,0.00,0.000,6,0.168,0.043,2769,1825,3357,0,0,0,0,0,0
$GC,8077,-0.84,-121.6,777.0,-7.8,471,8081,0.05,1.20,0.00,0.000,4,0.166,0.055,2726,2581,3356,0,0,0,0,0,0
$GC,8238,-0.84,-121.6,791.5,-8.5,475,8244,0.05,1.20,0.00,0.000,6,0.152,0.047,2744,1813,3356,0,0,0,0,0,0
$GC,8551,-0.84,-121.6,817.5,-8.2,486,8555,0.00,2.25,0.00,0.000,4,0.000,0.060,2734,3218,3355,0,0,0,0,0,0
$GC,8729,-0.84,-121.6,832.7,-8.7,491,8734,0.05,2.20,0.00,0.000,6,0.226,0.046,2745,1830,3355,0,0,0,0,0,0
$GC,9053,-0.84,-121.6,858.5,-7.8,502,9057,0.00,2.25,0.00,0.000,4,0.000,0.060,2736,3227,3354,0,0,0,0,0,0
$GC,9192,-0.84,-121.6,869.9,-8.1,506,9196,0.00,2.20,0.00,0.000,6,0.000,0.045,2735,1814,3354,0,0,0,0,0,0
$GC,9516,-0.84,-121.6,896.5,-8.3,517,9520,0.00,2.25,0.00,0.000,4,0.000,0.060,2725,3217,3354,0,0,0,0,0,0
$GC,9650,-0.81,-121.6,907.6,-7.9,521,9655,0.12,2.20,0.00,0.000,6,0.163,0.046,2759,1813,3353,0,0,0,0,0,0
$GC,9979,-0.83,-121.6,932.5,-7.9,532,9983,0.00,2.28,0.00,0.000,4,0.000,0.060,2750,3222,3353,0,0,0,0,0,0
$GC,10116,-0.83,-121.6,944.3,-8.6,536,10120,0.00,2.20,0.00,0.000,6,0.000,0.047,2750,1820,3352,0,0,0,0,0,0
$STATE,10449,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10449,begin apogee
$GC,10453,-0.23,0.0,975.0,9.4,547,10557,0.62,0.00,100.78,1.270,6,0.127,0.000,2947,1642,2862,0,0,0,0,0,0
$STATE,10558,end apogee,CONTROL_FINISHED_OK
$STATE,10558,begin climb
$GC,10560,0.92,121.6,979.5,0.0,550,10672,1.08,2.45,103.95,1.232,4,0.082,0.055,3312,3039,2367,0,0,0,0,0,0
$GC,10834,0.88,211.1,969.7,5.1,558,10921,0.08,2.30,79.75,1.216,6,0.194,0.046,3306,1651,2001,0,0,0,0,0,0
$GC,11246,0.91,252.0,938.5,7.8,572,11286,0.00,0.77,36.65,1.193,4,0.000,0.059,3309,1198,1834,0,0,0,0,0,0
$GC,11371,0.97,281.4,928.5,8.4,576,11403,0.05,0.73,27.73,1.170,6,0.069,0.047,3341,1648,1713,0,0,0,0,0,0
$GC,11739,0.99,281.4,891.7,10.7,588,11742,0.00,0.30,0.00,0.000,4,0.000,0.067,3343,1452,1706,0,0,0,0,0,0
$GC,11850,1.01,281.4,879.5,10.7,591,11854,0.00,0.32,0.00,0.000,6,0.000,0.057,3343,1655,1706,0,0,0,0,0,0
$GC,12180,1.04,281.4,843.3,11.1,602,12184,0.00,1.27,0.00,0.000,4,0.000,0.057,3349,883,1705,0,0,0,0,0,0
$GC,12247,1.04,281.4,835.6,11.7,604,12251,0.00,1.23,0.00,0.000,6,0.000,0.045,3349,1650,1705,0,0,0,0,0,0
$GC,12587,1.04,281.4,797.8,10.8,615,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1651,1704,0,0,0,0,0,0
$GC,12894,1.06,281.4,766.5,10.1,625,12898,0.00,0.90,0.00,0.000,4,0.000,0.058,3353,1096,1704,0,0,0,0,0,0
$GC,12950,1.06,288.4,760.8,9.6,626,12960,0.00,0.88,5.55,0.903,6,0.000,0.047,3353,1649,1687,0,0,0,0,0,0
$GC,13267,1.06,288.4,727.4,10.7,637,13271,0.00,0.65,0.00,0.000,4,0.000,0.059,3356,1243,1686,0,0,0,0,0,0
$GC,13355,1.06,288.4,717.5,10.5,639,13359,0.00,0.65,0.00,0.000,6,0.000,0.048,3356,1652,1686,0,0,0,0,0,0
$GC,13673,1.06,288.4,683.1,10.8,650,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1652,1686,0,0,0,0,0,0
$GC,13980,1.06,290.2,652.1,9.9,660,13984,0.00,0.65,0.00,0.000,4,0.000,0.058,3359,1240,1685,0,0,0,0,0,0
$GC,14040,1.06,293.4,645.9,9.8,661,14050,0.00,0.65,6.43,0.866,6,0.000,0.047,3359,1653,1665,0,0,0,0,0,0
$GC,14386,1.06,303.3,612.4,9.5,673,14398,0.00,0.00,10.60,0.955,6,0.000,0.000,3359,1653,1625,0,0,0,0,0,0
$GC,14692,1.08,310.6,582.8,9.6,683,14704,0.00,0.68,8.00,0.886,4,0.000,0.052,3359,2085,1594,0,0,0,0,0,0
$GC,14755,1.10,310.8,576.6,10.0,685,14759,0.00,0.70,0.00,0.000,6,0.000,0.055,3362,1643,1594,0,0,0,0,0,0
$GC,15096,1.12,319.1,543.9,9.6,696,15111,0.05,0.68,9.07,0.891,4,0.167,0.059,3393,1227,1561,0,0,0,0,0,0
$GC,15166,1.12,319.1,536.3,11.3,698,15171,0.00,0.68,0.00,0.000,6,0.000,0.048,3393,1648,1560,0,0,0,0,0,0
$GC,15501,1.12,319.1,500.5,10.8,709,15505,0.00,0.52,0.00,0.000,4,0.000,0.060,3396,1311,1559,0,0,0,0,0,0
$GC,15569,1.10,319.1,492.9,10.7,711,15574,0.05,0.50,0.00,0.000,6,0.168,0.051,3379,1638,1558,0,0,0,0,0,0
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$STATE,19861,end climb,SURFACE_DEPTH_REACHED
$STATE,19861,begin surface coast
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$STATE,19880,end surface coast,CONTROL_FINISHED_OK
$STATE,19880,begin surface
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$HUMID,44.84
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$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.2,40.690
$10V_AH,10.1,38.060
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354696
$DATA_FILE_SIZE,63578,1029
$CAP_FILE_SIZE,189136,0
$CFSIZE,2097086464,2060451840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271112,091235,-4147.829,-625.050,31,1.5,31,-22.2