version: 66.07.10.p01
glider: 573
mission: 4
dive: 320
start: 12 11 112 8 16 51
data:
$ID,573
$MISSION,4
$DIVE,320
$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,300
$T_MISSION,325
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-5340.7607
$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,3052
$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,2000
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$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,299
$GPS1,111212,080923,-4134.455,-548.213,72,1.0,72,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.3
$GPS2,111212,081631,-4134.446,-548.293,18,1.0,18,-22.3
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4134.446,-533.857
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.247,0.010
$KALMAN_X,-377392.6,44.8,179.0,704612.1,-3258.3
$KALMAN_Y,-227005.3,-227.1,759.8,319635.8,-463.6
$MHEAD_RNG_PITCHd_Wd,112.3,20000,-21.8,-11.111
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.00,-121.6,0.0,0.0,0,71,0.00,0.00,-42.92,0.000,2,0.000,0.000,81,2004,2349,0,0,0,0,0,0
$GC,74,-1.00,-121.6,3.1,-1.4,7,135,11.40,2.40,-40.10,0.000,4,0.250,0.073,2729,584,3359,0,0,0,0,0,0
$GC,202,-0.95,-121.6,12.0,-11.5,28,210,0.08,2.33,0.00,0.000,6,0.165,0.050,2741,2000,3360,0,0,0,0,0,0
$GC,284,-0.99,-121.6,20.1,-9.7,41,291,0.00,1.55,0.00,0.000,4,0.000,0.060,2736,2951,3361,0,0,0,0,0,0
$GC,322,-0.99,-121.6,24.1,-10.4,47,330,0.00,1.55,0.00,0.000,6,0.000,0.052,2736,1996,3361,0,0,0,0,0,0
$GC,401,-1.01,-121.6,32.1,-9.6,60,408,0.00,2.33,0.00,0.000,4,0.000,0.060,2735,594,3361,0,0,0,0,0,0
$GC,491,-1.01,-121.6,41.5,-10.7,75,496,0.00,2.28,0.00,0.000,6,0.000,0.048,2725,2013,3361,0,0,0,0,0,0
$GC,723,-1.01,-121.6,64.7,-10.1,116,728,0.00,2.33,0.00,0.000,4,0.000,0.060,2724,591,3361,0,0,0,0,0,0
$GC,797,-0.98,-121.6,72.1,-10.0,129,804,0.05,2.28,0.00,0.000,6,0.172,0.048,2730,1997,3362,0,0,0,0,0,0
$GC,1140,-1.01,-121.6,103.2,-8.9,186,1144,0.00,0.95,0.00,0.000,4,0.000,0.057,2731,1395,3362,0,0,0,0,0,0
$GC,1252,-1.01,-121.6,113.6,-8.9,192,1259,0.00,0.95,0.00,0.000,6,0.000,0.050,2726,2003,3362,0,0,0,0,0,0
$GC,1574,-1.04,-121.6,142.3,-9.0,213,1578,0.00,0.55,0.00,0.000,4,0.000,0.059,2724,2367,3362,0,0,0,0,0,0
$GC,1593,-1.06,-121.6,144.1,-9.0,214,1596,0.00,0.57,0.00,0.000,6,0.000,0.056,2724,1992,3362,0,0,0,0,0,0
$GC,1925,-1.06,-121.6,173.7,-8.9,235,1929,0.00,2.30,0.00,0.000,4,0.000,0.063,2713,3410,3363,0,0,0,0,0,0
$GC,2009,-1.06,-121.6,181.9,-9.8,240,2013,0.00,2.22,0.00,0.000,6,0.000,0.048,2714,2010,3363,0,0,0,0,0,0
$GC,2336,-1.06,-121.6,211.4,-9.0,261,2340,0.00,2.25,0.00,0.000,4,0.000,0.057,2713,593,3363,0,0,0,0,0,0
$GC,2362,-1.06,-121.6,214.4,-10.2,262,2370,0.00,2.25,0.00,0.000,6,0.000,0.045,2703,2001,3363,0,0,0,0,0,0
$GC,2684,-1.06,-121.6,243.8,-9.2,283,2688,0.00,2.28,0.00,0.000,4,0.000,0.057,2703,593,3363,0,0,0,0,0,0
$GC,2779,-1.01,-121.6,253.4,-9.6,288,2784,0.12,2.22,0.00,0.000,6,0.177,0.045,2725,2009,3363,0,0,0,0,0,0
$GC,3101,-1.03,-121.6,280.9,-8.6,304,3105,0.00,2.28,0.00,0.000,4,0.000,0.057,2726,593,3363,0,0,0,0,0,0
$GC,3121,-1.03,-121.6,282.6,-9.1,305,3125,0.00,2.22,0.00,0.000,6,0.000,0.045,2715,2006,3364,0,0,0,0,0,0
$GC,3449,-1.03,-121.6,312.0,-9.4,321,3453,0.00,2.22,0.00,0.000,4,0.000,0.060,2704,3401,3363,0,0,0,0,0,0
$GC,3521,-1.03,-121.6,319.3,-10.0,324,3526,0.03,2.22,0.00,0.000,6,0.168,0.047,2715,1998,3363,0,0,0,0,0,0
$GC,3849,-1.03,-121.6,351.2,-10.1,340,3853,0.00,2.28,0.00,0.000,4,0.000,0.057,2715,582,3363,0,0,0,0,0,0
$GC,3944,-1.00,-121.6,361.6,-10.6,344,3949,0.08,2.22,0.00,0.000,6,0.199,0.046,2723,1998,3363,0,0,0,0,0,0
$GC,4263,-1.03,-121.6,392.5,-9.7,359,4267,0.00,0.98,0.00,0.000,4,0.000,0.057,2719,2628,3363,0,0,0,0,0,0
$GC,4287,-1.03,-121.6,395.0,-9.2,360,4290,0.00,1.00,0.00,0.000,6,0.000,0.051,2718,1995,3363,0,0,0,0,0,0
$GC,4627,-1.06,-121.6,427.1,-9.3,372,4631,0.00,2.30,0.00,0.000,4,0.000,0.062,2708,3413,3363,0,0,0,0,0,0
$GC,4709,-1.06,-121.6,435.2,-9.7,374,4714,0.00,2.25,0.00,0.000,6,0.000,0.047,2708,1996,3363,0,0,0,0,0,0
$GC,5034,-1.06,-121.6,465.4,-9.2,385,5038,0.00,2.28,0.00,0.000,4,0.000,0.062,2698,3403,3363,0,0,0,0,0,0
$GC,5116,-1.06,-121.6,473.7,-10.5,387,5121,0.00,2.22,0.00,0.000,6,0.000,0.048,2698,2001,3363,0,0,0,0,0,0
$GC,5435,-1.06,-121.6,502.8,-9.2,398,5439,0.00,2.28,0.00,0.000,4,0.000,0.057,2698,585,3362,0,0,0,0,0,0
$GC,5446,-1.06,-121.6,503.9,-9.4,398,5450,0.10,2.25,0.00,0.000,6,0.192,0.045,2712,2007,3362,0,0,0,0,0,0
$GC,5769,-1.06,-121.6,532.8,-9.0,409,5773,0.00,2.25,0.00,0.000,4,0.000,0.061,2701,3413,3362,0,0,0,0,0,0
$GC,5847,-1.06,-121.6,540.5,-9.9,411,5851,0.00,2.25,0.00,0.000,6,0.000,0.047,2702,1976,3361,0,0,0,0,0,0
$GC,6171,-1.06,-121.6,574.2,-11.0,422,6175,0.00,2.22,0.00,0.000,4,0.000,0.057,2702,594,3361,0,0,0,0,0,0
$GC,6200,-1.04,-121.6,577.5,-11.7,423,6205,0.10,2.22,0.00,0.000,6,0.187,0.045,2716,2010,3361,0,0,0,0,0,0
$GC,6541,-1.08,-121.6,614.9,-10.8,434,6544,0.00,0.77,0.00,0.000,4,0.000,0.057,2716,1514,3360,0,0,0,0,0,0
$GC,6557,-1.11,-121.6,616.9,-11.0,434,6560,0.00,0.75,0.00,0.000,6,0.000,0.054,2713,1997,3360,0,0,0,0,0,0
$GC,6881,-1.14,-121.6,651.1,-10.6,445,6886,0.08,2.30,0.00,0.000,4,0.124,0.063,2661,3410,3360,0,0,0,0,0,0
$GC,6970,-1.09,-121.6,661.8,-12.3,447,6976,0.15,2.22,0.00,0.000,6,0.171,0.049,2701,1995,3359,0,0,0,0,0,0
$GC,7283,-1.09,-121.6,694.3,-10.4,458,7287,0.00,2.25,0.00,0.000,4,0.000,0.059,2701,596,3358,0,0,0,0,0,0
$GC,7389,-1.06,-121.6,706.1,-10.9,461,7393,0.08,2.22,0.00,0.000,6,0.210,0.047,2708,1999,3358,0,0,0,0,0,0
$GC,7712,-1.09,-121.6,736.9,-9.4,472,7717,0.00,2.28,0.00,0.000,4,0.000,0.062,2698,3409,3358,0,0,0,0,0,0
$GC,7790,-1.09,-121.6,744.5,-9.7,474,7794,0.00,2.25,0.00,0.000,6,0.000,0.050,2698,2002,3358,0,0,0,0,0,0
$GC,8114,-1.09,-121.6,775.3,-9.6,485,8118,0.00,2.28,0.00,0.000,4,0.000,0.060,2697,591,3356,0,0,0,0,0,0
$GC,8203,-1.05,-121.6,784.5,-10.4,487,8209,0.10,2.25,0.00,0.000,6,0.194,0.047,2711,2010,3357,0,0,0,0,0,0
$GC,8517,-1.09,-121.6,813.0,-9.1,498,8521,0.00,2.28,0.00,0.000,4,0.000,0.063,2701,3414,3356,0,0,0,0,0,0
$GC,8600,-1.09,-121.6,821.2,-9.3,500,8604,0.00,2.25,0.00,0.000,6,0.000,0.049,2701,1989,3355,0,0,0,0,0,0
$GC,8919,-1.09,-121.6,851.0,-9.4,511,8923,0.00,2.22,0.00,0.000,4,0.000,0.058,2701,594,3355,0,0,0,0,0,0
$GC,8996,-1.09,-121.6,859.1,-10.2,513,9000,0.00,2.25,0.00,0.000,6,0.000,0.047,2691,1994,3355,0,0,0,0,0,0
$GC,9320,-1.09,-121.6,891.2,-10.2,524,9325,0.00,2.28,0.00,0.000,4,0.000,0.062,2680,3404,3354,0,0,0,0,0,0
$GC,9392,-1.09,-121.6,899.0,-10.8,526,9397,0.08,2.25,0.00,0.000,6,0.195,0.050,2698,1989,3354,0,0,0,0,0,0
$GC,9722,-1.09,-121.6,932.4,-10.3,537,9725,0.00,0.62,0.00,0.000,4,0.000,0.060,2698,1579,3354,0,0,0,0,0,0
$STATE,9758,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9758,begin apogee
$GC,9763,-0.23,0.0,936.5,10.5,538,9869,0.88,0.00,102.75,1.229,6,0.139,0.000,2969,1642,2862,0,0,0,0,0,0
$STATE,9870,end apogee,CONTROL_FINISHED_OK
$STATE,9870,begin climb
$GC,9872,1.00,121.6,941.7,0.0,541,9981,1.20,0.00,105.70,1.195,6,0.073,0.000,3375,1642,2366,0,0,0,0,0,0
$GC,10277,0.94,218.6,929.3,5.2,555,10370,0.08,2.40,85.25,1.187,4,0.207,0.058,3355,3039,1970,0,0,0,0,0,0
$GC,10447,0.94,263.4,916.9,8.4,560,10494,0.00,2.35,41.03,1.152,6,0.000,0.049,3365,1638,1788,0,0,0,0,0,0
$GC,10801,0.99,293.9,884.9,9.2,571,10836,0.00,2.40,28.00,1.138,4,0.000,0.060,3366,3035,1662,0,0,0,0,0,0
$GC,10915,1.01,303.2,873.4,10.5,574,10931,0.00,2.30,9.15,1.008,6,0.000,0.051,3376,1631,1626,0,0,0,0,0,0
$GC,11238,1.08,310.5,838.9,10.7,585,11253,0.08,1.80,7.82,0.949,4,0.122,0.059,3415,2704,1596,0,0,0,0,0,0
$GC,11291,1.04,310.5,832.2,12.8,586,11296,0.10,1.75,0.00,0.000,6,0.164,0.051,3392,1635,1595,0,0,0,0,0,0
$GC,11610,1.09,310.5,796.5,11.3,597,11614,0.00,2.35,0.00,0.000,4,0.000,0.066,3403,221,1593,0,0,0,0,0,0
$GC,11671,1.09,310.5,789.1,12.3,599,11675,0.00,2.28,0.00,0.000,6,0.000,0.047,3403,1634,1592,0,0,0,0,0,0
$GC,12006,1.14,312.4,751.3,11.0,610,12010,0.00,2.28,0.00,0.000,4,0.000,0.060,3403,3042,1592,0,0,0,0,0,0
$GC,12083,1.14,320.2,742.4,10.6,612,12099,0.00,2.30,10.25,0.991,6,0.000,0.051,3413,1622,1556,0,0,0,0,0,0
$GC,12406,1.17,325.9,706.9,10.8,623,12417,0.00,1.45,6.68,0.876,4,0.000,0.061,3420,758,1533,0,0,0,0,0,0
$GC,12456,1.14,337.1,701.1,10.4,624,12472,0.00,1.42,12.40,0.993,6,0.000,0.048,3420,1633,1487,0,0,0,0,0,0
$GC,12803,1.18,337.4,662.7,11.1,636,12807,0.00,1.92,0.00,0.000,4,0.000,0.060,3420,2832,1483,0,0,0,0,0,0
$GC,12847,1.18,338.4,657.2,11.0,637,12851,0.00,1.95,0.00,0.000,6,0.000,0.054,3428,1638,1483,0,0,0,0,0,0
$GC,13177,1.21,338.4,620.5,11.2,648,13181,0.00,1.95,0.00,0.000,4,0.000,0.061,3428,2822,1482,0,0,0,0,0,0
$GC,13228,1.19,338.7,614.8,11.1,649,13231,0.00,1.92,0.00,0.000,6,0.000,0.054,3437,1621,1482,0,0,0,0,0,0
$GC,13551,1.19,338.7,577.2,11.7,660,13555,0.00,0.45,0.00,0.000,4,0.000,0.057,3437,1913,1481,0,0,0,0,0,0
$GC,13600,1.19,338.7,571.3,12.6,661,13604,0.00,0.47,0.00,0.000,6,0.000,0.063,3439,1625,1482,0,0,0,0,0,0
$GC,13924,1.19,338.7,532.2,12.4,672,13928,0.00,1.00,0.00,0.000,4,0.000,0.063,3444,1007,1481,0,0,0,0,0,0
$GC,13962,1.15,338.7,527.4,12.2,673,13966,0.05,1.00,0.00,0.000,6,0.168,0.050,3428,1629,1481,0,0,0,0,0,0
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$STATE,18411,end climb,SURFACE_DEPTH_REACHED
$STATE,18411,begin surface coast
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$STATE,18443,end surface coast,CONTROL_FINISHED_OK
$STATE,18443,begin surface
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$10V_AH,10.0,45.561
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.150,180.300,446.750,0.000,0.000,25.699,39.729,233.471,0.000,0.000,20.104,2555.432,12416.025,544.680,3205.284,219.137,0.000,1825.851,0.000,2861.707,0.000,1.010,0.000
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$MEM,354604
$DATA_FILE_SIZE,60282,993
$CAP_FILE_SIZE,190351,0
$CFSIZE,2097086464,2051932160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111212,132656,-4134.275,-548.744,32,4.3,51,-22.3