version: 66.07.10.p01
glider: 573
mission: 4
dive: 354
start: 12 18 112 18 53 25
data:
$ID,573
$MISSION,4
$DIVE,354
$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,1
$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,-5455.7148
$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,18
$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,333
$GPS1,181212,184535,-4140.600,-612.020,29,1.1,29,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.7
$GPS2,181212,185305,-4140.685,-612.124,30,1.0,31,-22.2
$SPEED_LIMITS,0.192,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,-4140.685,-557.665
$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,112.2,20000,-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,-43.00,0.000,2,0.000,0.000,85,1993,2283,0,0,0,0,0,0
$GC,74,-1.00,-121.6,3.0,-0.6,7,135,10.80,0.00,-44.28,0.000,6,0.230,0.000,2723,1993,3357,0,0,0,0,0,0
$GC,208,-1.00,-121.6,11.0,-10.4,29,215,0.00,1.15,0.00,0.000,4,0.000,0.059,2723,1287,3359,0,0,0,0,0,0
$GC,283,-1.00,-121.6,18.6,-10.0,41,290,0.00,1.17,0.00,0.000,6,0.000,0.053,2717,2017,3358,0,0,0,0,0,0
$GC,363,-1.02,-121.6,26.9,-9.9,54,371,0.00,0.93,0.00,0.000,4,0.000,0.060,2713,2590,3359,0,0,0,0,0,0
$GC,385,-1.02,-121.6,29.2,-10.0,57,392,0.00,0.95,0.00,0.000,6,0.000,0.054,2714,2000,3359,0,0,0,0,0,0
$GC,462,-1.02,-121.6,36.8,-9.8,70,469,0.00,2.33,0.00,0.000,4,0.000,0.060,2713,588,3359,0,0,0,0,0,0
$GC,552,-0.98,-121.6,46.0,-10.3,85,558,0.12,2.28,0.00,0.000,6,0.176,0.047,2735,2011,3359,0,0,0,0,0,0
$GC,785,-1.01,-121.6,67.3,-7.9,126,792,0.00,2.28,0.00,0.000,4,0.000,0.062,2725,3403,3360,0,0,0,0,0,0
$GC,896,-1.03,-121.6,76.3,-8.3,145,900,0.00,2.22,0.00,0.000,6,0.000,0.050,2725,1999,3360,0,0,0,0,0,0
$GC,1242,-1.07,-121.6,103.9,-8.0,201,1246,0.00,2.28,0.00,0.000,4,0.000,0.063,2715,3404,3361,0,0,0,0,0,0
$GC,1332,-1.09,-121.6,112.1,-8.9,206,1336,0.00,2.22,0.00,0.000,6,0.000,0.049,2715,1997,3361,0,0,0,0,0,0
$GC,1659,-1.09,-121.6,140.5,-8.8,227,1663,0.00,2.28,0.00,0.000,4,0.000,0.058,2714,586,3361,0,0,0,0,0,0
$GC,1753,-1.09,-121.6,150.3,-10.1,232,1761,0.00,2.25,0.00,0.000,6,0.000,0.047,2704,1992,3361,0,0,0,0,0,0
$GC,2075,-1.09,-121.6,179.4,-8.9,253,2079,0.00,1.67,0.00,0.000,4,0.000,0.057,2696,3038,3361,0,0,0,0,0,0
$GC,2112,-1.09,-121.6,182.9,-10.0,255,2115,0.00,1.65,0.00,0.000,6,0.000,0.049,2697,1994,3362,0,0,0,0,0,0
$GC,2442,-1.09,-121.6,213.1,-9.2,276,2446,0.00,2.25,0.00,0.000,4,0.000,0.057,2696,594,3362,0,0,0,0,0,0
$GC,2475,-1.06,-121.6,216.5,-9.8,278,2480,0.10,2.22,0.00,0.000,6,0.184,0.046,2711,2010,3362,0,0,0,0,0,0
$GC,2795,-1.06,-121.6,245.6,-9.2,298,2799,0.00,2.30,0.00,0.000,4,0.000,0.057,2711,586,3362,0,0,0,0,0,0
$GC,2882,-1.06,-121.6,254.3,-10.6,303,2886,0.00,2.22,0.00,0.000,6,0.000,0.046,2701,2000,3362,0,0,0,0,0,0
$GC,3212,-1.08,-121.6,288.3,-10.7,319,3216,0.00,2.28,0.00,0.000,4,0.000,0.056,2701,588,3362,0,0,0,0,0,0
$GC,3238,-1.08,-121.6,291.9,-11.4,320,3243,0.00,2.25,0.00,0.000,6,0.000,0.045,2690,1998,3362,0,0,0,0,0,0
$GC,3566,-1.08,-121.6,329.0,-11.5,336,3570,0.00,2.20,0.00,0.000,4,0.000,0.056,2691,620,3362,0,0,0,0,0,0
$GC,3633,-1.05,-121.6,337.5,-12.2,339,3638,0.12,2.20,0.00,0.000,6,0.173,0.045,2714,2002,3362,0,0,0,0,0,0
$GC,3964,-1.08,-121.6,372.9,-10.3,355,3968,0.00,2.20,0.00,0.000,4,0.000,0.058,2703,3388,3362,0,0,0,0,0,0
$GC,4012,-1.08,-121.6,378.0,-10.9,357,4016,0.00,2.17,0.00,0.000,6,0.000,0.047,2703,1999,3362,0,0,0,0,0,0
$GC,4327,-1.08,-121.6,409.6,-9.6,371,4331,0.00,2.28,0.00,0.000,4,0.000,0.057,2704,583,3362,0,0,0,0,0,0
$GC,4423,-1.08,-121.6,419.3,-9.4,374,4428,0.00,2.25,0.00,0.000,6,0.000,0.046,2692,2012,3362,0,0,0,0,0,0
$GC,4759,-1.08,-121.6,448.8,-8.5,385,4762,0.00,1.85,0.00,0.000,4,0.000,0.058,2683,3194,3362,0,0,0,0,0,0
$GC,4797,-1.06,-121.6,452.3,-8.3,386,4802,0.10,1.88,0.00,0.000,6,0.168,0.048,2710,1999,3362,0,0,0,0,0,0
$GC,5133,-1.09,-121.6,480.8,-8.7,397,5137,0.00,2.25,0.00,0.000,4,0.000,0.057,2710,593,3361,0,0,0,0,0,0
$GC,5221,-1.09,-121.6,489.8,-10.1,399,5227,0.00,2.25,0.00,0.000,6,0.000,0.045,2700,2001,3361,0,0,0,0,0,0
$GC,5534,-1.09,-121.6,520.8,-10.1,410,5538,0.00,2.25,0.00,0.000,4,0.000,0.060,2689,3413,3361,0,0,0,0,0,0
$GC,5589,-1.09,-121.6,526.8,-10.8,411,5595,0.00,2.22,0.00,0.000,6,0.000,0.047,2689,2006,3361,0,0,0,0,0,0
$GC,5902,-1.09,-121.6,561.4,-11.2,422,5906,0.00,2.28,0.00,0.000,4,0.000,0.057,2689,592,3361,0,0,0,0,0,0
$GC,6004,-1.06,-121.6,573.2,-11.2,425,6009,0.12,2.22,0.00,0.000,6,0.177,0.047,2712,2002,3360,0,0,0,0,0,0
$GC,6345,-1.11,-121.6,608.9,-10.5,436,6349,0.00,1.08,0.00,0.000,4,0.000,0.056,2712,1326,3360,0,0,0,0,0,0
$GC,6389,-1.14,-121.6,613.9,-10.8,437,6393,0.03,1.05,0.00,0.000,6,0.094,0.050,2671,1997,3359,0,0,0,0,0,0
$GC,6719,-1.12,-121.6,649.6,-10.8,448,6724,0.08,2.30,0.00,0.000,4,0.204,0.058,2688,595,3358,0,0,0,0,0,0
$GC,6808,-1.09,-121.6,659.6,-11.6,450,6814,0.10,2.22,0.00,0.000,6,0.186,0.047,2702,2001,3358,0,0,0,0,0,0
$GC,7121,-1.12,-121.6,689.8,-9.5,461,7125,0.00,1.48,0.00,0.000,4,0.000,0.058,2696,2919,3358,0,0,0,0,0,0
$GC,7189,-1.12,-121.6,696.5,-9.4,463,7193,0.00,1.48,0.00,0.000,6,0.000,0.050,2696,1996,3358,0,0,0,0,0,0
$GC,7530,-1.12,-121.6,728.4,-9.2,474,7534,0.00,2.28,0.00,0.000,4,0.000,0.063,2685,3404,3357,0,0,0,0,0,0
$GC,7613,-1.12,-121.6,736.2,-9.3,476,7617,0.00,2.22,0.00,0.000,6,0.000,0.049,2685,1997,3356,0,0,0,0,0,0
$GC,7931,-1.12,-121.6,764.7,-9.2,487,7935,0.00,2.28,0.00,0.000,4,0.000,0.059,2685,591,3356,0,0,0,0,0,0
$GC,8032,-1.09,-121.6,774.8,-10.0,490,8036,0.10,2.25,0.00,0.000,6,0.191,0.047,2699,2007,3355,0,0,0,0,0,0
$GC,8361,-1.12,-121.6,804.6,-9.3,501,8365,0.00,2.25,0.00,0.000,4,0.000,0.062,2689,3404,3355,0,0,0,0,0,0
$GC,8444,-1.12,-121.6,813.1,-10.0,503,8448,0.00,2.25,0.00,0.000,6,0.000,0.050,2689,2002,3355,0,0,0,0,0,0
$GC,8763,-1.12,-121.6,844.8,-10.2,514,8767,0.00,2.30,0.00,0.000,4,0.000,0.060,2689,582,3354,0,0,0,0,0,0
$GC,8860,-1.09,-121.6,855.1,-10.9,517,8865,0.08,2.25,0.00,0.000,6,0.209,0.048,2695,2001,3355,0,0,0,0,0,0
$GC,9195,-1.11,-121.6,888.9,-10.0,528,9199,0.00,0.68,0.00,0.000,4,0.000,0.059,2692,2444,3354,0,0,0,0,0,0
$GC,9211,-1.11,-121.6,890.8,-9.7,528,9215,0.00,0.73,0.00,0.000,6,0.000,0.056,2692,1995,3354,0,0,0,0,0,0
$GC,9536,-1.11,-121.6,921.9,-9.5,539,9540,0.00,2.30,0.00,0.000,4,0.000,0.060,2692,586,3353,0,0,0,0,0,0
$GC,9636,-1.09,-121.6,932.3,-10.5,542,9641,0.08,2.28,0.00,0.000,6,0.211,0.049,2699,2010,3353,0,0,0,0,0,0
$STATE,9779,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9779,begin apogee
$GC,9784,-0.23,0.0,945.6,9.4,547,9891,0.88,0.00,103.38,1.232,6,0.123,0.000,2973,1625,2862,0,0,0,0,0,0
$STATE,9892,end apogee,CONTROL_FINISHED_OK
$STATE,9892,begin climb
$GC,9894,1.00,121.6,950.5,0.0,550,10010,1.15,2.55,105.85,1.197,4,0.067,0.056,3374,3037,2365,0,0,0,0,0,0
$GC,10145,0.90,195.2,944.3,6.6,557,10220,0.15,2.35,66.30,1.179,6,0.179,0.048,3348,1626,2065,0,0,0,0,0,0
$GC,10551,0.90,232.3,910.2,8.8,571,10590,0.00,2.40,33.33,1.159,4,0.000,0.059,3348,3028,1914,0,0,0,0,0,0
$GC,10681,0.90,246.0,897.6,10.3,575,10701,0.05,2.30,13.18,1.076,6,0.231,0.050,3347,1621,1859,0,0,0,0,0,0
$GC,11021,0.97,273.8,865.4,9.4,586,11053,0.00,2.38,26.42,1.131,4,0.000,0.062,3359,218,1745,0,0,0,0,0,0
$GC,11136,1.01,299.3,854.0,9.6,589,11166,0.00,2.30,24.33,1.120,6,0.000,0.047,3358,1633,1640,0,0,0,0,0,0
$GC,11486,1.11,330.2,821.2,9.2,601,11520,0.15,1.20,29.08,1.126,4,0.082,0.062,3429,946,1514,0,0,0,0,0,0
$GC,11558,1.11,330.2,813.1,11.4,603,11563,0.08,1.15,0.00,0.000,6,0.190,0.047,3413,1633,1510,0,0,0,0,0,0
$GC,11883,1.15,338.8,779.0,10.6,614,11898,0.00,2.33,8.18,0.976,4,0.000,0.060,3413,3035,1481,0,0,0,0,0,0
$GC,11959,1.15,351.6,770.5,10.3,616,11980,0.00,2.30,13.88,1.029,6,0.000,0.054,3423,1621,1428,0,0,0,0,0,0
$GC,12288,1.18,351.6,734.2,11.1,627,12292,0.00,1.33,0.00,0.000,4,0.000,0.056,3423,2434,1423,0,0,0,0,0,0
$GC,12314,1.18,351.6,731.0,11.9,627,12320,0.00,1.30,0.00,0.000,6,0.000,0.054,3428,1633,1423,0,0,0,0,0,0
$GC,12628,1.21,351.6,694.9,11.6,638,12631,0.00,1.20,0.00,0.000,4,0.000,0.057,3428,2379,1422,0,0,0,0,0,0
$GC,12654,1.21,351.6,691.6,11.4,638,12660,0.00,1.23,0.00,0.000,6,0.000,0.056,3434,1621,1422,0,0,0,0,0,0
$GC,12968,1.23,351.6,653.4,12.4,649,12972,0.00,2.28,0.00,0.000,4,0.000,0.060,3434,3035,1421,0,0,0,0,0,0
$GC,13030,1.21,351.6,645.3,13.0,651,13034,0.00,2.28,0.00,0.000,6,0.000,0.054,3444,1614,1421,0,0,0,0,0,0
$GC,13370,1.21,351.6,600.7,13.1,662,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1614,1420,0,0,0,0,0,0
$GC,13676,1.21,351.6,561.5,12.7,672,13680,0.00,2.33,0.00,0.000,4,0.000,0.061,3444,3037,1420,0,0,0,0,0,0
$GC,13759,1.17,351.6,550.4,13.5,674,13763,0.10,2.25,0.00,0.000,6,0.192,0.052,3431,1630,1420,0,0,0,0,0,0
$GC,14077,1.20,351.6,513.1,11.3,685,14081,0.00,2.28,0.00,0.000,4,0.000,0.063,3431,3037,1420,0,0,0,0,0,0
$GC,14132,1.20,351.6,506.3,11.9,686,14138,0.00,2.28,0.00,0.000,6,0.000,0.053,3440,1635,1420,0,0,0,0,0,0
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$STATE,18360,end climb,SURFACE_DEPTH_REACHED
$STATE,18360,begin surface coast
$FINISH,2.0,1.022921
$STATE,18379,end surface coast,CONTROL_FINISHED_OK
$STATE,18379,begin surface
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$TT8_MAMPS,0.026964
$HUMID,47.20
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.8,56.566
$10V_AH,9.9,49.559
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.725,184.075,448.375,0.000,0.000,27.808,38.286,237.782,0.250,0.000,33.634,2563.773,12309.744,543.677,3259.933,220.931,0.000,1834.465,0.000,2891.712,0.000,1.008,0.000
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$SENSOR_SECS,644.977,1155.973,649.226,88.916,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,60288,998
$CAP_FILE_SIZE,190385,0
$CFSIZE,2097086464,2047475712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191212,000205,-4141.377,-612.283,30,0.9,30,-22.2