version: 66.07.10.p01
glider: 573
mission: 4
dive: 457
start: 1 11 113 13 19 29
data:
$ID,573
$MISSION,4
$DIVE,457
$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,-5761.7979
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$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,436
$GPS1,110113,131105,-4227.873,-417.425,28,1.4,28,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-68.0
$GPS2,110113,131835,-4227.896,-417.431,34,1.0,34,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.273,0.018
$KALMAN_X,-158335.9,61.8,-209.9,301302.1,-3503.0
$KALMAN_Y,-136608.3,-12.2,453.7,75575.1,-1978.1
$MHEAD_RNG_PITCHd_Wd,108.3,184547,-16.8,-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,24,begin dive
$GC,27,-1.00,-165.4,0.0,0.0,0,41,0.00,0.00,-12.02,0.000,2,0.000,0.000,82,1911,1096,0,0,0,0,0,0
$GC,43,-1.00,-165.4,3.0,-0.5,2,177,10.43,2.33,-113.85,0.000,4,0.212,0.070,2724,498,3533,0,0,0,0,0,0
$GC,279,-0.93,-165.4,13.6,-11.4,41,287,0.08,2.28,0.00,0.000,6,0.135,0.047,2740,1910,3534,0,0,0,0,0,0
$GC,360,-0.93,-165.4,22.1,-10.3,54,367,0.00,0.75,0.00,0.000,4,0.000,0.058,2737,2402,3535,0,0,0,0,0,0
$GC,444,-0.96,-165.4,31.3,-11.3,68,452,0.00,0.77,0.00,0.000,6,0.000,0.055,2737,1908,3534,0,0,0,0,0,0
$GC,684,-1.00,-165.4,57.2,-10.5,109,689,0.00,0.70,0.00,0.000,4,0.000,0.059,2734,2356,3535,0,0,0,0,0,0
$GC,797,-1.02,-165.4,69.7,-10.7,122,800,0.00,0.70,0.00,0.000,6,0.000,0.054,2734,1908,3535,0,0,0,0,0,0
$GC,1133,-1.06,-165.4,105.1,-10.2,152,1138,0.08,0.77,0.00,0.000,4,0.119,0.060,2681,2393,3535,0,0,0,0,0,0
$GC,1257,-1.02,-165.4,117.9,-9.9,159,1261,0.10,0.75,0.00,0.000,6,0.128,0.053,2716,1908,3535,0,0,0,0,0,0
$GC,1587,-1.02,-165.4,147.6,-8.3,180,1591,0.00,1.27,0.00,0.000,4,0.000,0.058,2710,2704,3536,0,0,0,0,0,0
$GC,1676,-1.02,-165.4,155.3,-8.5,185,1679,0.00,1.25,0.00,0.000,6,0.000,0.048,2710,1911,3536,0,0,0,0,0,0
$GC,2007,-1.02,-165.4,185.8,-9.0,206,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1911,3536,0,0,0,0,0,0
$GC,2328,-1.02,-165.4,215.6,-9.3,224,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1911,3536,0,0,0,0,0,0
$GC,2636,-1.02,-165.4,246.1,-10.2,239,2640,0.00,0.47,0.00,0.000,4,0.000,0.059,2708,2229,3536,0,0,0,0,0,0
$GC,2708,-1.02,-165.4,253.9,-10.5,242,2712,0.00,0.50,0.00,0.000,6,0.000,0.054,2708,1904,3536,0,0,0,0,0,0
$GC,3036,-1.02,-165.4,288.5,-11.0,258,3039,0.00,0.90,0.00,0.000,4,0.000,0.057,2704,2472,3536,0,0,0,0,0,0
$GC,3128,-1.02,-165.4,298.6,-11.3,262,3132,0.00,0.88,0.00,0.000,6,0.000,0.051,2704,1913,3536,0,0,0,0,0,0
$GC,3458,-1.02,-165.4,335.3,-10.9,273,3462,0.03,1.00,0.00,0.000,4,0.262,0.057,2710,2534,3536,0,0,0,0,0,0
$GC,3562,-1.02,-165.4,346.8,-9.9,276,3567,0.00,1.00,0.00,0.000,6,0.000,0.050,2710,1908,3536,0,0,0,0,0,0
$GC,3898,-1.02,-165.4,382.4,-10.5,287,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1908,3536,0,0,0,0,0,0
$GC,4205,-1.02,-165.4,412.7,-9.6,297,4208,0.00,1.10,0.00,0.000,4,0.000,0.056,2710,1210,3535,0,0,0,0,0,0
$GC,4277,-1.02,-165.4,419.4,-9.2,299,4281,0.00,1.10,0.00,0.000,6,0.000,0.048,2705,1911,3536,0,0,0,0,0,0
$GC,4612,-1.02,-165.4,449.8,-9.1,310,4616,0.00,1.02,0.00,0.000,4,0.000,0.057,2700,2565,3535,0,0,0,0,0,0
$GC,4681,-1.02,-165.4,455.9,-8.4,312,4685,0.03,1.02,0.00,0.000,6,0.166,0.049,2712,1908,3535,0,0,0,0,0,0
$GC,5022,-1.04,-165.4,486.4,-8.8,323,5025,0.00,0.47,0.00,0.000,4,0.000,0.058,2709,2226,3535,0,0,0,0,0,0
$GC,5111,-1.04,-165.4,494.4,-8.7,325,5115,0.00,0.50,0.00,0.000,6,0.000,0.054,2709,1905,3534,0,0,0,0,0,0
$GC,5430,-1.04,-165.4,523.5,-9.1,336,5433,0.00,0.93,0.00,0.000,4,0.000,0.058,2706,2488,3534,0,0,0,0,0,0
$GC,5532,-1.06,-165.4,533.0,-9.4,339,5536,0.00,0.90,0.00,0.000,6,0.000,0.050,2705,1913,3534,0,0,0,0,0,0
$GC,5873,-1.10,-165.4,565.9,-9.8,350,5877,0.00,1.25,0.00,0.000,4,0.000,0.057,2700,2692,3534,0,0,0,0,0,0
$GC,5922,-1.10,-165.4,571.1,-10.0,351,5927,0.00,1.25,0.00,0.000,6,0.000,0.049,2700,1905,3534,0,0,0,0,0,0
$GC,6247,-1.12,-165.4,604.5,-10.7,362,6251,0.00,2.00,0.00,0.000,4,0.000,0.058,2700,659,3533,0,0,0,0,0,0
$GC,6308,-1.10,-165.4,611.6,-11.6,363,6314,0.00,2.00,0.00,0.000,6,0.000,0.046,2690,1911,3533,0,0,0,0,0,0
$GC,6621,-1.10,-165.4,645.7,-11.0,374,6625,0.00,2.30,0.00,0.000,4,0.000,0.057,2691,495,3533,0,0,0,0,0,0
$GC,6698,-1.05,-165.4,654.9,-11.4,376,6703,0.10,2.25,0.00,0.000,6,0.172,0.046,2707,1923,3533,0,0,0,0,0,0
$GC,7016,-1.08,-165.4,688.3,-10.4,387,7021,0.00,2.28,0.00,0.000,4,0.000,0.058,2707,506,3531,0,0,0,0,0,0
$GC,7105,-1.08,-165.4,698.0,-10.7,389,7111,0.00,2.22,0.00,0.000,6,0.000,0.046,2696,1904,3530,0,0,0,0,0,0
$GC,7419,-1.08,-165.4,728.5,-9.8,400,7423,0.00,2.30,0.00,0.000,4,0.000,0.059,2696,496,3530,0,0,0,0,0,0
$GC,7486,-1.04,-165.4,735.5,-9.4,402,7491,0.10,2.25,0.00,0.000,6,0.168,0.047,2713,1913,3530,0,0,0,0,0,0
$GC,7815,-1.08,-165.4,766.2,-9.5,413,7819,0.00,1.38,0.00,0.000,4,0.000,0.057,2713,1067,3529,0,0,0,0,0,0
$GC,7884,-1.08,-165.4,773.0,-9.9,415,7887,0.00,1.35,0.00,0.000,6,0.000,0.049,2707,1911,3528,0,0,0,0,0,0
$GC,8225,-1.11,-165.4,806.8,-10.2,426,8229,0.00,2.28,0.00,0.000,4,0.000,0.058,2707,506,3528,0,0,0,0,0,0
$GC,8287,-1.11,-165.4,813.4,-10.4,428,8291,0.00,2.25,0.00,0.000,6,0.000,0.047,2696,1929,3528,0,0,0,0,0,0
$GC,8627,-1.11,-165.4,850.1,-10.7,439,8631,0.00,2.30,0.00,0.000,4,0.000,0.059,2696,501,3527,0,0,0,0,0,0
$GC,8715,-1.09,-165.4,860.3,-11.4,441,8721,0.00,2.25,0.00,0.000,6,0.000,0.047,2685,1920,3527,0,0,0,0,0,0
$GC,9028,-1.09,-165.4,893.6,-10.7,452,9032,0.00,1.48,0.00,0.000,4,0.000,0.058,2685,1018,3526,0,0,0,0,0,0
$GC,9097,-1.07,-165.4,900.9,-10.3,454,9101,0.05,1.42,0.00,0.000,6,0.155,0.050,2697,1906,3525,0,0,0,0,0,0
$GC,9437,-1.09,-165.4,936.3,-10.2,465,9441,0.00,2.10,0.00,0.000,4,0.000,0.060,2698,609,3525,0,0,0,0,0,0
$GC,9497,-1.07,-165.4,943.0,-10.6,466,9503,0.05,2.08,0.00,0.000,6,0.228,0.047,2700,1916,3525,0,0,0,0,0,0
$GC,9810,-1.10,-165.4,975.8,-10.9,477,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1916,3523,0,0,0,0,0,0
$STATE,10053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10053,begin apogee
$GC,10059,-0.29,0.0,1002.3,10.7,485,10205,0.77,0.00,143.05,1.261,6,0.110,0.000,2953,1576,2862,0,0,0,0,0,0
$STATE,10206,end apogee,CONTROL_FINISHED_OK
$STATE,10206,begin climb
$GC,10208,1.00,165.4,1013.9,0.0,490,10368,1.20,2.60,150.15,1.226,4,0.060,0.061,3383,185,2187,0,0,0,0,0,0
$GC,10537,0.79,265.0,1008.4,5.8,500,10634,0.28,2.30,89.20,1.219,6,0.164,0.044,3310,1593,1781,0,0,0,0,0,0
$GC,10958,0.79,299.4,974.9,8.4,514,10994,0.00,2.30,30.80,1.187,4,0.000,0.057,3310,2990,1642,0,0,0,0,0,0
$GC,11057,0.80,323.8,966.0,8.8,517,11087,0.03,2.30,23.98,1.162,6,0.262,0.053,3310,1583,1541,0,0,0,0,0,0
$GC,11423,0.84,333.4,932.0,9.4,529,11434,0.00,0.00,9.10,1.050,6,0.000,0.000,3310,1583,1503,0,0,0,0,0,0
$GC,11729,0.90,353.5,903.5,9.0,539,11754,0.08,1.25,20.10,1.138,4,0.123,0.054,3353,2374,1421,0,0,0,0,0,0
$GC,11799,0.90,362.0,896.9,9.5,541,11814,0.05,1.27,9.18,1.008,6,0.148,0.054,3341,1592,1385,0,0,0,0,0,0
$GC,12135,0.93,379.4,866.9,9.1,552,12155,0.00,0.50,17.23,1.111,4,0.000,0.058,3341,1892,1315,0,0,0,0,0,0
$GC,12240,0.97,404.5,857.0,8.8,555,12270,0.00,0.50,24.95,1.127,6,0.000,0.064,3343,1584,1212,0,0,0,0,0,0
$GC,12602,1.03,430.8,825.2,8.8,567,12634,0.10,1.08,25.05,1.117,4,0.096,0.054,3395,2242,1105,0,0,0,0,0,0
$GC,12711,1.03,448.0,814.0,9.1,570,12733,0.05,1.08,17.58,1.073,6,0.151,0.057,3383,1585,1034,0,0,0,0,0,0
$GC,13041,1.07,448.0,780.2,10.5,581,13045,0.00,1.73,0.00,0.000,4,0.000,0.060,3383,2635,1027,0,0,0,0,0,0
$GC,13096,1.07,448.0,773.9,10.2,582,13100,0.00,1.73,0.00,0.000,6,0.000,0.054,3390,1579,1027,0,0,0,0,0,0
$GC,13414,1.07,448.0,737.5,11.8,593,13418,0.00,1.65,0.00,0.000,4,0.000,0.058,3390,2591,1026,0,0,0,0,0,0
$GC,13469,1.07,448.0,730.4,11.9,594,13474,0.00,1.62,0.00,0.000,6,0.000,0.054,3397,1587,1025,0,0,0,0,0,0
$GC,13788,1.07,448.0,692.5,11.6,605,13792,0.00,1.20,0.00,0.000,4,0.000,0.057,3397,2338,1025,0,0,0,0,0,0
$GC,13848,1.07,448.0,685.3,11.6,606,13854,0.00,1.20,0.00,0.000,6,0.000,0.057,3403,1590,1025,0,0,0,0,0,0
$GC,14162,1.07,448.0,649.5,11.5,617,14165,0.00,1.40,0.00,0.000,4,0.000,0.057,3403,2454,1024,0,0,0,0,0,0
$GC,14245,1.07,448.0,639.7,11.5,619,14250,0.03,1.40,0.00,0.000,6,0.190,0.054,3399,1592,1024,0,0,0,0,0,0
$GC,14569,1.07,448.0,603.3,11.0,630,14573,0.00,0.68,0.00,0.000,4,0.000,0.057,3399,2026,1025,0,0,0,0,0,0
$GC,14646,1.07,448.0,594.7,9.9,632,14651,0.00,0.73,0.00,0.000,6,0.000,0.060,3401,1580,1024,0,0,0,0,0,0
$GC,14977,1.07,448.0,559.1,10.7,643,14981,0.00,2.28,0.00,0.000,4,0.000,0.060,3401,2993,1024,0,0,0,0,0,0
$GC,15060,1.04,448.0,550.1,11.0,645,15065,0.10,2.25,0.00,0.000,6,0.181,0.053,3387,1587,1024,0,0,0,0,0,0
$GC,15373,1.07,448.0,518.5,10.1,655,15377,0.00,1.35,0.00,0.000,4,0.000,0.059,3387,2422,1023,0,0,0,0,0,0
$GC,15442,1.10,448.0,511.3,10.4,657,15445,0.00,1.35,0.00,0.000,6,0.000,0.057,3392,1583,1024,0,0,0,0,0,0
$GC,15783,1.12,448.0,475.6,10.8,668,15786,0.00,0.88,0.00,0.000,4,0.000,0.056,3392,2139,1024,0,0,0,0,0,0
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$STATE,20174,end climb,SURFACE_DEPTH_REACHED
$STATE,20175,begin surface coast
$FINISH,2.2,1.015717
$STATE,20205,end surface coast,CONTROL_FINISHED_OK
$STATE,20205,begin surface
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$SM_GC,3.20,8.82,0.00,0.00,0.037,0.000,0.000,77,1909,939,-9.19,-0.03,471.46
$IRIDIUM_FIX,-4212.81,-416.99,110113,070752
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.00
$XPDR_PINGS,3
$24V_AH,22.2,77.203
$10V_AH,9.9,61.254
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.525,113.800,584.125,0.000,0.000,29.270,43.501,218.417,0.750,0.000,36.596,2490.778,14200.260,627.220,3148.363,261.159,33.373,1963.155,0.000,2792.411,0.000,1.010,0.000
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354564
$DATA_FILE_SIZE,56856,945
$CAP_FILE_SIZE,184302,0
$CFSIZE,2097086464,2033975296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,110113,185835,-4228.778,-416.392,28,1.7,28,-22.1