version: 66.07.10.p01
glider: 573
mission: 4
dive: 15
start: 9 27 112 1 56 21
data:
$ID,573
$MISSION,4
$DIVE,15
$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,363
$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,-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,-4012.168
$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,1825
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,40
$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,-1
$GPS1,270912,014705,-4252.473,-1049.592,50,1.2,50,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.1
$GPS2,270912,015600,-4252.483,-1049.593,17,1.4,17,-21.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,-0.304
$KALMAN_X,-151.7,-151.7,-151.7,138.2,-343.1
$KALMAN_Y,273.5,273.5,273.5,229.1,618.8
$MHEAD_RNG_PITCHd_Wd,123.8,234072,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.92,-121.6,0.0,0.0,0,145,0.00,0.00,-118.35,0.000,2,0.000,0.000,87,1835,3182,0,0,0,0,0,0
$GC,147,-0.92,-121.6,3.3,-5.1,20,168,11.15,2.30,-3.92,0.000,4,0.263,0.069,2729,406,3357,0,0,0,0,0,0
$GC,322,-0.80,-121.6,33.8,-16.7,49,327,0.15,2.25,0.00,0.000,6,0.188,0.046,2757,1819,3359,0,0,0,0,0,0
$GC,556,-0.75,-121.6,76.1,-15.9,90,564,0.08,0.60,0.00,0.000,4,0.228,0.058,2771,2219,3359,0,0,0,0,0,0
$GC,821,-0.71,-121.6,108.3,-13.5,136,829,0.05,0.60,0.00,0.000,6,0.171,0.054,2787,1823,3359,0,0,0,0,0,0
$GC,1174,-0.71,-121.6,152.3,-10.9,197,1179,0.00,2.22,0.00,0.000,4,0.000,0.059,2777,3234,3359,0,0,0,0,0,0
$GC,1385,-0.71,-121.6,175.9,-11.1,234,1392,0.03,2.20,0.00,0.000,6,0.187,0.045,2785,1825,3359,0,0,0,0,0,0
$GC,1737,-0.71,-121.6,217.3,-12.4,295,1742,0.00,0.82,0.00,0.000,4,0.000,0.055,2782,2363,3359,0,0,0,0,0,0
$GC,1993,-0.71,-121.6,248.9,-11.9,340,2001,0.00,0.82,0.00,0.000,6,0.000,0.050,2782,1820,3360,0,0,0,0,0,0
$GC,2325,-0.71,-121.6,286.3,-11.3,372,2328,0.00,1.10,0.00,0.000,4,0.000,0.056,2777,2522,3359,0,0,0,0,0,0
$GC,2453,-0.71,-121.6,300.3,-10.9,383,2459,0.00,1.10,0.00,0.000,6,0.000,0.047,2777,1818,3359,0,0,0,0,0,0
$GC,2778,-0.71,-121.6,336.6,-11.6,414,2782,0.00,1.38,0.00,0.000,4,0.000,0.056,2771,2692,3360,0,0,0,0,0,0
$GC,3008,-0.71,-121.6,363.8,-12.4,434,3017,0.08,1.38,0.00,0.000,6,0.200,0.047,2788,1814,3360,0,0,0,0,0,0
$GC,3335,-0.71,-121.6,400.0,-11.5,465,3339,0.00,1.23,0.00,0.000,4,0.000,0.056,2783,2596,3359,0,0,0,0,0,0
$GC,3595,-0.71,-121.6,431.6,-12.5,488,3599,0.00,1.17,0.00,0.000,6,0.000,0.049,2783,1833,3360,0,0,0,0,0,0
$GC,3926,-0.71,-121.6,474.1,-12.4,519,3930,0.00,1.23,0.00,0.000,4,0.000,0.057,2777,2619,3359,0,0,0,0,0,0
$GC,4096,-0.71,-121.6,495.3,-12.3,534,4099,0.00,1.23,0.00,0.000,6,0.000,0.049,2777,1826,3359,0,0,0,0,0,0
$GC,4416,-0.71,-121.6,535.7,-12.6,547,4419,0.00,1.08,0.00,0.000,4,0.000,0.056,2773,2515,3358,0,0,0,0,0,0
$GC,4627,-0.71,-121.6,562.4,-12.5,553,4633,0.08,1.10,0.00,0.000,6,0.206,0.050,2789,1811,3358,0,0,0,0,0,0
$GC,4956,-0.71,-121.6,600.6,-11.7,564,4960,0.00,0.82,0.00,0.000,4,0.000,0.057,2786,2352,3357,0,0,0,0,0,0
$GC,5173,-0.71,-121.6,626.2,-11.8,570,5178,0.00,0.82,0.00,0.000,6,0.000,0.051,2786,1819,3357,0,0,0,0,0,0
$GC,5497,-0.71,-121.6,664.3,-11.7,581,5501,0.00,1.05,0.00,0.000,4,0.000,0.058,2781,2489,3356,0,0,0,0,0,0
$GC,5670,-0.71,-121.6,684.2,-11.1,586,5674,0.00,1.02,0.00,0.000,6,0.000,0.052,2781,1830,3356,0,0,0,0,0,0
$GC,6005,-0.71,-121.6,720.9,-10.7,597,6008,0.00,1.23,0.00,0.000,4,0.000,0.059,2776,2607,3354,0,0,0,0,0,0
$GC,6188,-0.71,-121.6,740.3,-10.0,602,6193,0.00,1.25,0.00,0.000,6,0.000,0.050,2776,1811,3354,0,0,0,0,0,0
$GC,6512,-0.71,-121.6,775.0,-10.9,613,6516,0.03,1.23,0.00,0.000,4,0.283,0.059,2779,2581,3354,0,0,0,0,0,0
$GC,6656,-0.73,-121.6,790.4,-10.9,617,6661,0.00,1.17,0.00,0.000,6,0.000,0.051,2779,1823,3353,0,0,0,0,0,0
$GC,6985,-0.73,-121.6,826.9,-10.8,628,6989,0.00,1.02,0.00,0.000,4,0.000,0.060,2774,2478,3353,0,0,0,0,0,0
$GC,7120,-0.73,-121.6,841.2,-10.3,632,7124,0.00,1.00,0.00,0.000,6,0.000,0.051,2774,1830,3353,0,0,0,0,0,0
$GC,7460,-0.73,-121.6,880.5,-12.0,643,7464,0.00,1.12,0.00,0.000,4,0.000,0.059,2769,2544,3352,0,0,0,0,0,0
$GC,7689,-0.73,-121.6,908.2,-12.4,649,7695,0.00,1.10,0.00,0.000,6,0.000,0.050,2769,1828,3351,0,0,0,0,0,0
$GC,8001,-0.73,-121.6,947.7,-12.7,660,8005,0.00,1.08,0.00,0.000,4,0.000,0.058,2765,2512,3351,0,0,0,0,0,0
$GC,8190,-0.73,-121.6,971.6,-12.6,665,8195,0.08,1.08,0.00,0.000,6,0.203,0.053,2781,1828,3351,0,0,0,0,0,0
$STATE,8446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8446,begin apogee
$GC,8450,-0.23,0.0,1000.9,11.1,674,8552,0.52,0.00,99.53,1.317,6,0.151,0.000,2945,1644,2862,0,0,0,0,0,0
$STATE,8553,end apogee,CONTROL_FINISHED_OK
$STATE,8553,begin climb
$GC,8554,0.92,121.6,1005.5,0.0,677,8666,1.15,1.70,104.43,1.281,4,0.106,0.057,3318,653,2366,0,0,0,0,0,0
$GC,8788,0.92,141.6,993.5,8.9,684,8811,0.00,1.67,18.33,1.195,6,0.000,0.050,3318,1652,2283,0,0,0,0,0,0
$GC,9140,0.92,155.4,961.8,9.2,696,9155,0.00,0.00,12.50,1.135,6,0.000,0.000,3318,1652,2228,0,0,0,0,0,0
$GC,9446,0.92,166.9,932.9,9.4,706,9461,0.00,0.25,11.40,1.116,4,0.000,0.056,3318,1843,2180,0,0,0,0,0,0
$GC,9696,0.92,189.5,909.4,8.8,713,9722,0.00,0.32,20.62,1.183,6,0.000,0.069,3319,1647,2089,0,0,0,0,0,0
$GC,10052,0.94,203.8,876.6,9.2,725,10071,0.00,0.62,13.30,1.125,4,0.000,0.058,3319,2026,2031,0,0,0,0,0,0
$GC,10155,0.97,217.3,866.7,9.3,728,10171,0.00,0.62,13.18,1.109,6,0.000,0.057,3322,1644,1976,0,0,0,0,0,0
$GC,10484,1.00,217.8,834.4,10.0,739,10486,0.05,0.00,0.00,0.000,6,0.176,0.000,3344,1644,1973,0,0,0,0,0,0
$GC,10789,1.00,217.8,800.0,11.5,749,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1644,1971,0,0,0,0,0,0
$GC,11095,1.00,217.8,764.5,11.6,759,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1644,1971,0,0,0,0,0,0
$GC,11402,1.00,217.8,729.1,11.8,769,11405,0.00,0.68,0.00,0.000,4,0.000,0.058,3344,2090,1970,0,0,0,0,0,0
$GC,11574,1.00,217.8,708.1,12.9,774,11578,0.00,0.73,0.00,0.000,6,0.000,0.059,3348,1640,1970,0,0,0,0,0,0
$GC,11908,1.00,217.8,666.9,12.5,785,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1640,1970,0,0,0,0,0,0
$GC,12215,1.00,217.8,627.4,12.8,795,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1640,1970,0,0,0,0,0,0
$GC,12521,1.00,217.8,590.0,11.7,805,12524,0.00,0.35,0.00,0.000,4,0.000,0.068,3347,1871,1969,0,0,0,0,0,0
$GC,12659,1.00,217.8,574.0,11.9,809,12661,0.00,0.38,0.00,0.000,6,0.000,0.067,3349,1640,1969,0,0,0,0,0,0
$GC,12990,1.00,217.8,539.4,10.2,820,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1640,1969,0,0,0,0,0,0
$GC,13296,1.00,223.3,509.0,9.7,830,13304,0.00,0.00,5.45,0.770,6,0.000,0.000,3349,1640,1951,0,0,0,0,0,0
$GC,13610,1.00,224.5,478.2,9.9,852,13614,0.00,0.70,0.00,0.000,4,0.000,0.062,3349,2098,1951,0,0,0,0,0,0
$GC,13772,1.00,232.9,461.6,9.5,866,13785,0.00,0.73,9.80,0.887,6,0.000,0.057,3352,1643,1911,0,0,0,0,0,0
$GC,14106,1.00,232.9,425.5,10.8,897,14109,0.00,0.95,0.00,0.000,4,0.000,0.059,3353,2247,1910,0,0,0,0,0,0
$GC,14279,1.00,232.9,404.4,12.0,912,14287,0.00,0.95,0.00,0.000,6,0.000,0.057,3356,1651,1910,0,0,0,0,0,0
$GC,14606,1.00,232.9,365.0,12.6,943,14607,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1651,1910,0,0,0,0,0,0
$GC,14925,1.00,232.9,324.1,12.9,973,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1651,1910,0,0,0,0,0,0
$GC,15243,1.00,232.9,283.0,12.9,1003,15247,0.00,0.60,0.00,0.000,4,0.000,0.058,3357,2049,1909,0,0,0,0,0,0
$GC,15360,1.00,232.9,269.0,11.9,1013,15364,0.03,0.62,0.00,0.000,6,0.212,0.058,3351,1646,1910,0,0,0,0,0,0
$GC,15696,1.00,234.1,231.8,9.9,1058,15703,0.00,0.70,0.00,0.000,4,0.000,0.057,3350,2107,1910,0,0,0,0,0,0
$GC,15830,1.00,234.1,217.5,10.1,1081,15835,0.00,0.70,0.00,0.000,6,0.000,0.057,3354,1650,1910,0,0,0,0,0,0
$GC,16178,1.00,234.1,180.8,12.8,1142,16185,0.00,0.30,0.00,0.000,4,0.000,0.069,3355,1436,1910,0,0,0,0,0,0
$GC,16267,1.00,234.1,170.0,11.9,1157,16272,0.00,0.32,0.00,0.000,6,0.000,0.063,3355,1657,1910,0,0,0,0,0,0
$GC,16614,1.00,234.1,121.9,15.0,1218,16621,0.00,0.57,0.00,0.000,4,0.000,0.060,3355,2046,1910,0,0,0,0,0,0
$GC,16692,1.00,234.1,108.2,17.1,1231,16697,0.03,0.60,0.00,0.000,6,0.209,0.059,3349,1655,1910,0,0,0,0,0,0
$GC,17042,1.00,234.1,54.1,15.0,1292,17049,0.00,0.77,0.00,0.000,4,0.000,0.057,3348,2160,1911,0,0,0,0,0,0
$GC,17097,1.04,234.1,46.6,12.7,1301,17102,0.00,0.80,0.00,0.000,6,0.000,0.057,3353,1643,1910,0,0,0,0,0,0
$GC,17335,1.05,482.5,24.9,-3.7,1342,17467,0.00,0.40,126.53,0.647,4,0.000,0.068,3354,1402,893,0,0,0,0,0,0
$STATE,17514,end climb,SURFACE_DEPTH_REACHED
$STATE,17515,begin surface coast
$FINISH,0.9,1.014448
$STATE,17534,end surface coast,CONTROL_FINISHED_OK
$STATE,17534,begin surface
$SM_CCo,17609,0.00,0.000,0,0,879,486.42
$SM_GC,1.74,8.93,0.00,0.00,0.043,0.000,0.000,92,1827,879,-9.10,0.08,486.42
$IRIDIUM_FIX,-4236.17,-1053.24,260912,202059
$TT8_MAMPS,0.027713
$HUMID,41.25
$INTERNAL_PRESSURE,8.99138
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.6,7.439
$10V_AH,10.3,4.643
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.400,56.825,435.050,0.000,0.000,26.919,42.441,334.328,0.000,0.000,20.065,3345.311,9821.319,447.541,4386.075,117.787,0.000,1950.035,0.000,3932.245,0.000,1.008,0.000
$DEVICE_MAMPS,283.050,69.615,1316.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.927,1935.905,789.641,177.553,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,83616,1375
$CAP_FILE_SIZE,173488,0
$CFSIZE,2097086464,2092695552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270912,065128,-4251.537,-1047.992,62,1.1,67,-21.2