version: 66.07.10.p01
glider: 573
mission: 4
dive: 441
start: 1 7 113 17 14 46
data:
$ID,573
$MISSION,4
$DIVE,441
$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,340
$T_MISSION,355
$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,170
$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,0
$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,200
$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,-5718.1016
$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,18
$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,1890
$C_ROLL_CLIMB,1572
$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,420
$GPS1,070113,170558,-4221.361,-428.171,39,1.6,42,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-62.9
$GPS2,070113,171352,-4221.374,-428.082,43,1.1,43,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.017,0.223
$KALMAN_X,-109082.9,206.4,280.4,236719.8,-2288.0
$KALMAN_Y,-104557.5,-420.2,-616.6,57099.1,-2018.9
$MHEAD_RNG_PITCHd_Wd,17.9,3657,-21.1,-9.804
$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,25,begin dive
$GC,27,-1.18,-106.6,0.0,0.0,0,46,0.00,0.00,-17.48,0.000,2,0.000,0.000,82,1897,1129,0,0,0,0,0,0
$GC,49,-1.18,-165.4,3.0,-0.8,3,171,10.45,1.58,-100.20,0.000,4,0.221,0.080,2666,971,3538,0,0,0,0,0,0
$GC,232,-1.15,-165.4,15.9,-13.4,33,240,0.05,1.50,0.00,0.000,6,0.162,0.051,2677,1887,3540,0,0,0,0,0,0
$GC,313,-1.15,-165.4,24.3,-10.6,46,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1887,3540,0,0,0,0,0,0
$GC,392,-1.15,-165.4,31.7,-11.0,59,397,0.00,2.33,0.00,0.000,4,0.000,0.061,2677,479,3540,0,0,0,0,0,0
$GC,463,-1.11,-165.4,39.7,-11.8,71,469,0.10,2.28,0.00,0.000,6,0.196,0.048,2691,1896,3540,0,0,0,0,0,0
$GC,696,-1.15,-165.4,65.8,-10.0,107,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1897,3541,0,0,0,0,0,0
$GC,1016,-1.20,-165.4,100.2,-11.3,137,1020,0.08,2.15,0.00,0.000,4,0.122,0.060,2637,3224,3541,0,0,0,0,0,0
$GC,1076,-1.17,-165.4,107.8,-11.7,140,1085,0.10,2.15,0.00,0.000,6,0.154,0.050,2669,1880,3541,0,0,0,0,0,0
$GC,1399,-1.19,-165.4,144.1,-11.7,161,1403,0.00,0.77,0.00,0.000,4,0.000,0.060,2666,2376,3541,0,0,0,0,0,0
$GC,1454,-1.21,-165.4,151.3,-12.2,164,1458,0.00,0.77,0.00,0.000,6,0.000,0.054,2666,1883,3542,0,0,0,0,0,0
$GC,1781,-1.24,-165.4,188.6,-11.5,185,1785,0.00,1.42,0.00,0.000,4,0.000,0.058,2660,2759,3542,0,0,0,0,0,0
$GC,1836,-1.24,-165.4,195.4,-10.7,188,1840,0.00,1.38,0.00,0.000,6,0.000,0.050,2660,1898,3542,0,0,0,0,0,0
$GC,2170,-1.24,-165.4,231.0,-10.6,205,2174,0.00,0.45,0.00,0.000,4,0.000,0.061,2658,2195,3542,0,0,0,0,0,0
$GC,2253,-1.24,-165.4,239.9,-10.2,208,2259,0.00,0.50,0.00,0.000,6,0.000,0.057,2658,1874,3542,0,0,0,0,0,0
$GC,2570,-1.24,-165.4,273.3,-11.0,224,2573,0.00,1.90,0.00,0.000,4,0.000,0.061,2649,3073,3542,0,0,0,0,0,0
$GC,2624,-1.24,-165.4,279.8,-11.3,226,2629,0.00,1.88,0.00,0.000,6,0.000,0.048,2649,1898,3542,0,0,0,0,0,0
$GC,2955,-1.24,-165.4,318.1,-11.8,240,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1898,3541,0,0,0,0,0,0
$GC,3261,-1.24,-165.4,355.1,-12.3,250,3265,0.00,2.12,0.00,0.000,4,0.000,0.060,2639,3209,3542,0,0,0,0,0,0
$GC,3317,-1.22,-165.4,362.6,-13.5,251,3323,0.08,2.08,0.00,0.000,6,0.190,0.049,2655,1887,3542,0,0,0,0,0,0
$GC,3629,-1.22,-165.4,402.2,-12.5,262,3633,0.00,1.27,0.00,0.000,4,0.000,0.058,2651,2677,3542,0,0,0,0,0,0
$GC,3673,-1.22,-165.4,407.7,-11.4,263,3677,0.00,1.25,0.00,0.000,6,0.000,0.050,2651,1891,3542,0,0,0,0,0,0
$GC,4003,-1.22,-165.4,445.6,-11.1,274,4007,0.00,2.30,0.00,0.000,4,0.000,0.062,2640,3307,3541,0,0,0,0,0,0
$GC,4068,-1.22,-165.4,453.0,-10.6,276,4073,0.05,2.25,0.00,0.000,6,0.161,0.048,2657,1892,3541,0,0,0,0,0,0
$GC,4405,-1.24,-165.4,485.9,-9.8,287,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1892,3541,0,0,0,0,0,0
$GC,4711,-1.26,-165.4,515.6,-9.7,297,4715,0.00,1.77,0.00,0.000,4,0.000,0.060,2649,3004,3541,0,0,0,0,0,0
$GC,4772,-1.26,-165.4,521.8,-9.9,298,4777,0.00,1.77,0.00,0.000,6,0.000,0.048,2649,1889,3540,0,0,0,0,0,0
$GC,5085,-1.26,-165.4,553.3,-10.1,309,5089,0.00,2.08,0.00,0.000,4,0.000,0.061,2640,3170,3540,0,0,0,0,0,0
$GC,5140,-1.26,-165.4,559.4,-10.9,310,5145,0.00,2.05,0.00,0.000,6,0.000,0.049,2640,1888,3540,0,0,0,0,0,0
$GC,5453,-1.26,-165.4,592.2,-10.7,321,5456,0.00,1.08,0.00,0.000,4,0.000,0.058,2640,1214,3539,0,0,0,0,0,0
$GC,5493,-1.24,-165.4,596.5,-10.5,322,5497,0.03,1.08,0.00,0.000,6,0.192,0.051,2644,1891,3539,0,0,0,0,0,0
$GC,5827,-1.24,-165.4,631.5,-10.5,333,5831,0.00,1.08,0.00,0.000,4,0.000,0.060,2640,2568,3538,0,0,0,0,0,0
$GC,5877,-1.24,-165.4,636.8,-10.4,334,5881,0.00,1.08,0.00,0.000,6,0.000,0.052,2640,1889,3538,0,0,0,0,0,0
$GC,6201,-1.24,-165.4,669.5,-10.1,345,6205,0.00,1.30,0.00,0.000,4,0.000,0.060,2634,2688,3538,0,0,0,0,0,0
$GC,6256,-1.24,-165.4,675.2,-10.3,346,6261,0.03,1.27,0.00,0.000,6,0.175,0.052,2643,1887,3537,0,0,0,0,0,0
$GC,6574,-1.24,-165.4,707.6,-10.5,357,6578,0.00,0.77,0.00,0.000,4,0.000,0.061,2640,2378,3537,0,0,0,0,0,0
$GC,6629,-1.24,-165.4,713.7,-10.7,358,6633,0.00,0.77,0.00,0.000,6,0.000,0.056,2640,1893,3536,0,0,0,0,0,0
$GC,6948,-1.24,-165.4,748.5,-11.3,369,6952,0.00,2.28,0.00,0.000,4,0.000,0.063,2630,3293,3536,0,0,0,0,0,0
$GC,7003,-1.22,-165.4,755.1,-11.5,370,7008,0.10,2.22,0.00,0.000,6,0.173,0.050,2655,1887,3536,0,0,0,0,0,0
$GC,7316,-1.24,-165.4,790.2,-11.3,380,7320,0.00,0.57,0.00,0.000,4,0.000,0.060,2655,1501,3535,0,0,0,0,0,0
$GC,7354,-1.24,-165.4,794.6,-11.0,381,7359,0.00,0.62,0.00,0.000,6,0.000,0.056,2653,1892,3535,0,0,0,0,0,0
$GC,7690,-1.27,-165.4,830.5,-10.5,392,7694,0.00,1.33,0.00,0.000,4,0.000,0.062,2647,2715,3534,0,0,0,0,0,0
$GC,7739,-1.27,-165.4,835.9,-10.6,393,7744,0.00,1.33,0.00,0.000,6,0.000,0.053,2647,1884,3534,0,0,0,0,0,0
$GC,8064,-1.29,-165.4,868.7,-10.0,404,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1884,3533,0,0,0,0,0,0
$GC,8371,-1.29,-165.4,898.0,-9.3,414,8374,0.00,1.65,0.00,0.000,4,0.000,0.063,2640,2920,3533,0,0,0,0,0,0
$GC,8414,-1.29,-165.4,902.2,-9.5,415,8418,0.00,1.65,0.00,0.000,6,0.000,0.051,2640,1893,3532,0,0,0,0,0,0
$GC,8745,-1.29,-165.4,931.8,-9.0,426,8748,0.00,1.00,0.00,0.000,4,0.000,0.061,2635,2520,3532,0,0,0,0,0,0
$GC,8788,-1.29,-165.4,936.0,-9.2,427,8792,0.00,1.00,0.00,0.000,6,0.000,0.054,2635,1889,3531,0,0,0,0,0,0
$GC,9118,-1.29,-165.4,967.8,-9.9,438,9122,0.00,1.73,0.00,0.000,4,0.000,0.062,2627,2973,3531,0,0,0,0,0,0
$GC,9173,-1.29,-165.4,973.6,-10.2,439,9177,0.00,1.75,0.00,0.000,6,0.000,0.051,2627,1885,3530,0,0,0,0,0,0
$STATE,9429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9429,begin apogee
$GC,9434,-0.28,0.0,1001.4,11.0,448,9581,1.08,0.00,143.65,1.252,6,0.133,0.000,2956,1572,2862,0,0,0,0,0,0
$STATE,9582,end apogee,CONTROL_FINISHED_OK
$STATE,9582,begin climb
$GC,9584,1.18,165.4,1012.7,0.0,453,9744,1.38,2.58,149.77,1.219,4,0.062,0.060,3441,170,2185,0,0,0,0,0,0
$GC,9890,0.98,225.4,1007.0,6.1,462,9950,0.28,2.30,53.90,1.200,6,0.175,0.044,3371,1574,1943,0,0,0,0,0,0
$GC,10270,0.95,262.1,979.7,7.5,475,10308,0.00,0.60,33.03,1.189,4,0.000,0.054,3371,1947,1793,0,0,0,0,0,0
$GC,10354,0.95,286.8,972.7,8.3,477,10383,0.03,0.60,23.88,1.157,6,0.190,0.060,3365,1580,1692,0,0,0,0,0,0
$GC,10703,0.98,289.2,940.5,9.7,489,10706,0.00,0.57,0.00,0.000,4,0.000,0.063,3368,1210,1685,0,0,0,0,0,0
$GC,10804,0.98,289.2,930.6,9.9,492,10808,0.00,0.57,0.00,0.000,6,0.000,0.054,3367,1572,1685,0,0,0,0,0,0
$GC,11145,0.98,289.2,896.2,10.2,503,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,1573,1684,0,0,0,0,0,0
$GC,11452,1.00,289.2,864.9,10.2,513,11455,0.00,0.98,0.00,0.000,4,0.000,0.061,3372,982,1683,0,0,0,0,0,0
$GC,11523,1.00,289.2,857.3,10.1,515,11528,0.00,0.98,0.00,0.000,6,0.000,0.050,3372,1578,1683,0,0,0,0,0,0
$GC,11859,1.00,292.6,824.6,9.6,526,11866,0.00,0.00,4.90,0.854,6,0.000,0.000,3372,1579,1669,0,0,0,0,0,0
$GC,12165,1.00,302.8,796.2,9.2,536,12179,0.00,0.00,11.43,1.030,6,0.000,0.000,3371,1578,1627,0,0,0,0,0,0
$GC,12472,1.03,312.7,767.9,9.2,546,12486,0.00,0.55,10.75,1.005,4,0.000,0.050,3372,1936,1587,0,0,0,0,0,0
$GC,12608,1.06,320.7,755.5,9.3,550,12622,0.00,0.60,8.85,0.959,6,0.000,0.063,3374,1563,1554,0,0,0,0,0,0
$GC,12948,1.10,332.3,724.1,9.1,561,12968,0.10,1.85,12.32,1.003,4,0.103,0.060,3422,2664,1507,0,0,0,0,0,0
$GC,13019,1.07,332.3,717.0,10.1,563,13023,0.10,1.80,0.00,0.000,6,0.158,0.054,3400,1565,1505,0,0,0,0,0,0
$GC,13353,1.07,332.3,684.3,9.9,574,13354,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1565,1503,0,0,0,0,0,0
$GC,13659,1.07,332.3,653.7,10.3,584,13663,0.00,0.47,0.00,0.000,4,0.000,0.060,3399,1875,1502,0,0,0,0,0,0
$GC,13742,1.07,332.3,645.1,10.0,586,13746,0.00,0.50,0.00,0.000,6,0.000,0.064,3401,1571,1502,0,0,0,0,0,0
$GC,14067,1.07,332.3,612.5,9.9,597,14070,0.00,0.43,0.00,0.000,4,0.000,0.069,3403,1295,1502,0,0,0,0,0,0
$GC,14110,1.07,332.3,608.2,10.1,598,14114,0.00,0.45,0.00,0.000,6,0.000,0.058,3403,1571,1502,0,0,0,0,0,0
$GC,14440,1.07,337.8,576.7,9.5,609,14449,0.00,0.60,5.43,0.758,4,0.000,0.053,3403,1961,1485,0,0,0,0,0,0
$GC,14512,1.07,350.3,570.0,9.0,611,14531,0.00,0.62,13.75,0.938,6,0.000,0.063,3405,1566,1433,0,0,0,0,0,0
$GC,14846,1.09,360.8,539.3,9.2,622,14859,0.00,0.00,10.80,0.890,6,0.000,0.000,3405,1566,1390,0,0,0,0,0,0
$GC,15152,1.12,363.9,510.0,9.6,632,15161,0.00,0.80,3.95,0.591,4,0.000,0.057,3405,2049,1378,0,0,0,0,0,0
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$STATE,19991,end climb,SURFACE_DEPTH_REACHED
$STATE,19991,begin surface coast
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$STATE,20016,end surface coast,CONTROL_FINISHED_OK
$STATE,20017,begin surface
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$HUMID,47.48
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$XPDR_PINGS,2
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$10V_AH,9.9,59.518
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354544
$DATA_FILE_SIZE,57088,934
$CAP_FILE_SIZE,172277,0
$CFSIZE,2097086464,2036072448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070113,225105,-4221.033,-428.462,50,1.7,50,-22.2