version: 66.07.10.p01
glider: 573
mission: 4
dive: 16
start: 9 27 112 6 59 3
data:
$ID,573
$MISSION,4
$DIVE,16
$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,-4015.2854
$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,1876
$C_ROLL_CLIMB,1531
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,33
$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
$GPS1,270912,065128,-4251.537,-1047.992,62,1.1,67,-21.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-55.8
$GPS2,270912,065842,-4251.551,-1047.961,19,1.7,19,-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,124.3,232314,-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,-121.6,0.0,0.0,0,121,0.00,0.00,-95.28,0.000,2,0.000,0.000,83,1829,3102,0,0,0,0,0,0
$GC,123,-0.92,-121.6,3.6,-6.7,16,150,11.15,2.25,-5.38,0.000,4,0.258,0.072,2727,472,3361,0,0,0,0,0,0
$GC,377,-0.80,-121.6,64.8,-22.3,59,383,0.17,2.25,0.00,0.000,6,0.190,0.047,2761,1884,3363,0,0,0,0,0,0
$GC,725,-0.75,-121.6,110.2,-13.7,120,733,0.08,1.27,0.00,0.000,4,0.241,0.057,2771,2684,3362,0,0,0,0,0,0
$GC,849,-0.75,-121.6,127.0,-13.5,141,854,0.00,1.27,0.00,0.000,6,0.000,0.049,2771,1871,3363,0,0,0,0,0,0
$GC,1198,-0.72,-121.6,175.7,-13.4,202,1206,0.05,1.40,0.00,0.000,4,0.250,0.057,2774,2742,3363,0,0,0,0,0,0
$GC,1380,-0.72,-121.6,199.7,-13.8,233,1385,0.00,1.35,0.00,0.000,6,0.000,0.048,2775,1875,3363,0,0,0,0,0,0
$GC,1729,-0.70,-121.6,244.8,-12.4,294,1737,0.08,1.20,0.00,0.000,4,0.227,0.057,2785,2630,3364,0,0,0,0,0,0
$GC,1935,-0.70,-121.6,269.6,-12.4,316,1939,0.00,1.17,0.00,0.000,6,0.000,0.048,2786,1872,3363,0,0,0,0,0,0
$GC,2266,-0.70,-121.6,310.9,-12.7,347,2270,0.00,1.12,0.00,0.000,4,0.000,0.055,2780,2587,3364,0,0,0,0,0,0
$GC,2474,-0.70,-121.6,337.1,-11.7,365,2480,0.00,1.12,0.00,0.000,6,0.000,0.048,2781,1867,3364,0,0,0,0,0,0
$GC,2799,-0.70,-121.6,377.0,-12.7,396,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1866,3364,0,0,0,0,0,0
$GC,3118,-0.70,-121.6,418.5,-12.9,426,3122,0.00,0.98,0.00,0.000,4,0.000,0.057,2776,2492,3364,0,0,0,0,0,0
$GC,3280,-0.70,-121.6,439.7,-12.6,440,3289,0.08,0.98,0.00,0.000,6,0.204,0.050,2792,1869,3364,0,0,0,0,0,0
$GC,3607,-0.70,-121.6,479.1,-12.1,471,3611,0.00,1.58,0.00,0.000,4,0.000,0.059,2785,2865,3364,0,0,0,0,0,0
$GC,3759,-0.73,-121.6,498.0,-12.0,484,3766,0.00,1.52,0.00,0.000,6,0.000,0.047,2786,1879,3363,0,0,0,0,0,0
$GC,4092,-0.73,-121.6,539.5,-12.3,497,4096,0.00,1.02,0.00,0.000,4,0.000,0.058,2782,2533,3363,0,0,0,0,0,0
$GC,4214,-0.73,-121.6,554.5,-11.8,500,4219,0.00,1.05,0.00,0.000,6,0.000,0.050,2781,1861,3362,0,0,0,0,0,0
$GC,4532,-0.73,-121.6,593.3,-12.4,511,4536,0.00,1.15,0.00,0.000,4,0.000,0.058,2776,2590,3362,0,0,0,0,0,0
$GC,4682,-0.73,-121.6,612.3,-13.3,515,4687,0.00,1.12,0.00,0.000,6,0.000,0.049,2776,1870,3362,0,0,0,0,0,0
$GC,5006,-0.73,-121.6,654.9,-13.4,526,5010,0.00,1.20,0.00,0.000,4,0.000,0.057,2770,2634,3361,0,0,0,0,0,0
$GC,5168,-0.73,-121.6,676.5,-13.1,530,5174,0.05,1.20,0.00,0.000,6,0.233,0.048,2781,1866,3361,0,0,0,0,0,0
$GC,5481,-0.73,-121.6,716.1,-12.8,541,5484,0.00,1.02,0.00,0.000,4,0.000,0.059,2776,2517,3361,0,0,0,0,0,0
$GC,5659,-0.73,-121.6,739.3,-12.6,546,5663,0.00,1.00,0.00,0.000,6,0.000,0.052,2776,1877,3360,0,0,0,0,0,0
$GC,5988,-0.73,-121.6,780.1,-12.1,557,5992,0.00,0.55,0.00,0.000,4,0.000,0.060,2774,2242,3359,0,0,0,0,0,0
$GC,6194,-0.73,-121.6,805.8,-11.9,563,6198,0.00,0.57,0.00,0.000,6,0.000,0.057,2774,1870,3359,0,0,0,0,0,0
$GC,6529,-0.73,-121.6,844.6,-11.3,574,6533,0.00,0.85,0.00,0.000,4,0.000,0.057,2770,2422,3358,0,0,0,0,0,0
$GC,6785,-0.73,-121.6,872.8,-11.1,581,6790,0.05,0.85,0.00,0.000,6,0.233,0.054,2781,1877,3358,0,0,0,0,0,0
$GC,7103,-0.73,-121.6,905.0,-9.9,592,7107,0.00,1.55,0.00,0.000,4,0.000,0.062,2774,2850,3357,0,0,0,0,0,0
$GC,7247,-0.75,-121.6,919.5,-10.4,596,7252,0.00,1.50,0.00,0.000,6,0.000,0.050,2774,1881,3357,0,0,0,0,0,0
$GC,7577,-0.75,-121.6,954.1,-10.8,607,7580,0.00,1.05,0.00,0.000,4,0.000,0.060,2769,2547,3356,0,0,0,0,0,0
$GC,7798,-0.75,-121.6,978.7,-11.7,613,7803,0.00,1.05,0.00,0.000,6,0.000,0.051,2769,1874,3356,0,0,0,0,0,0
$STATE,7993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7993,begin apogee
$GC,7997,-0.23,0.0,1001.0,11.4,620,8101,0.57,0.00,100.93,1.314,6,0.158,0.000,2946,1532,2862,0,0,0,0,0,0
$STATE,8101,end apogee,CONTROL_FINISHED_OK
$STATE,8101,begin climb
$GC,8103,0.92,121.6,1005.7,0.0,623,8214,1.15,0.90,104.55,1.279,4,0.112,0.057,3313,993,2366,0,0,0,0,0,0
$GC,8314,0.92,168.9,997.0,7.4,629,8359,0.00,0.93,41.67,1.247,6,0.000,0.050,3313,1540,2174,0,0,0,0,0,0
$GC,8689,0.92,205.7,967.1,8.0,642,8728,0.00,1.58,32.30,1.235,4,0.000,0.057,3313,2458,2022,0,0,0,0,0,0
$GC,8879,0.95,205.7,949.7,10.1,647,8885,0.00,1.52,0.00,0.000,6,0.000,0.053,3319,1533,2018,0,0,0,0,0,0
$GC,9192,0.97,211.2,920.1,9.7,658,9201,0.00,0.65,5.38,0.892,4,0.000,0.051,3319,1949,2000,0,0,0,0,0,0
$GC,9364,1.00,211.2,902.5,10.7,663,9369,0.05,0.70,0.00,0.000,6,0.173,0.060,3344,1521,1999,0,0,0,0,0,0
$GC,9699,1.00,211.2,865.1,11.0,674,9702,0.00,1.92,0.00,0.000,4,0.000,0.060,3344,2724,1998,0,0,0,0,0,0
$GC,9893,1.00,211.2,842.3,11.8,679,9900,0.00,1.95,0.00,0.000,6,0.000,0.052,3353,1520,1998,0,0,0,0,0,0
$GC,10206,1.00,211.2,805.5,11.8,690,10210,0.00,0.73,0.00,0.000,4,0.000,0.057,3353,1990,1998,0,0,0,0,0,0
$GC,10311,1.00,211.2,793.0,11.4,693,10315,0.00,0.75,0.00,0.000,6,0.000,0.060,3356,1525,1998,0,0,0,0,0,0
$GC,10646,1.00,211.2,754.7,11.6,704,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1525,1997,0,0,0,0,0,0
$GC,10952,1.00,211.2,719.7,11.4,714,10956,0.00,1.40,0.00,0.000,4,0.000,0.059,3357,2405,1996,0,0,0,0,0,0
$GC,11164,0.98,211.2,694.7,11.7,720,11169,0.08,1.40,0.00,0.000,6,0.176,0.055,3339,1531,1996,0,0,0,0,0,0
$GC,11494,0.98,211.2,658.2,11.1,731,11497,0.00,0.88,0.00,0.000,4,0.000,0.057,3339,2097,1996,0,0,0,0,0,0
$GC,11671,0.98,211.2,637.8,11.3,736,11676,0.00,0.90,0.00,0.000,6,0.000,0.057,3343,1529,1995,0,0,0,0,0,0
$GC,12001,0.98,211.2,601.2,11.1,747,12005,0.00,1.02,0.00,0.000,4,0.000,0.056,3343,2186,1995,0,0,0,0,0,0
$GC,12145,0.98,211.2,584.8,10.8,751,12150,0.00,1.05,0.00,0.000,6,0.000,0.055,3348,1525,1995,0,0,0,0,0,0
$GC,12475,0.98,211.2,547.8,11.5,762,12478,0.00,0.85,0.00,0.000,4,0.000,0.057,3347,2076,1995,0,0,0,0,0,0
$GC,12609,0.98,211.2,532.4,11.2,766,12613,0.03,0.85,0.00,0.000,6,0.210,0.057,3343,1531,1995,0,0,0,0,0,0
$GC,12931,0.98,211.2,497.8,10.6,777,12934,0.00,1.02,0.00,0.000,4,0.000,0.056,3343,2191,1995,0,0,0,0,0,0
$GC,13149,0.98,216.2,474.7,9.7,796,13159,0.00,1.05,4.97,0.726,6,0.000,0.056,3347,1527,1980,0,0,0,0,0,0
$GC,13477,0.98,225.6,442.2,9.5,827,13491,0.00,1.42,9.60,0.878,4,0.000,0.058,3347,2412,1942,0,0,0,0,0,0
$GC,13635,0.98,233.9,426.5,9.6,841,13650,0.03,1.40,8.68,0.840,6,0.208,0.054,3345,1527,1907,0,0,0,0,0,0
$GC,13977,0.98,244.5,393.4,9.4,873,13992,0.00,0.65,10.02,0.850,4,0.000,0.059,3345,1945,1864,0,0,0,0,0,0
$GC,14138,1.00,260.8,377.8,9.1,887,14157,0.00,0.68,15.38,0.883,6,0.000,0.059,3347,1527,1798,0,0,0,0,0,0
$GC,14475,1.03,260.8,345.0,10.0,919,14479,0.00,0.85,0.00,0.000,4,0.000,0.057,3348,2076,1794,0,0,0,0,0,0
$GC,14650,1.06,260.8,326.9,10.4,934,14658,0.00,0.88,0.00,0.000,6,0.000,0.056,3352,1531,1793,0,0,0,0,0,0
$GC,14977,1.08,272.1,295.6,9.4,965,14991,0.00,0.32,10.48,0.799,4,0.000,0.053,3351,1747,1751,0,0,0,0,0,0
$GC,15169,1.11,279.2,276.8,9.6,982,15182,0.05,0.32,7.05,0.716,6,0.086,0.067,3382,1538,1724,0,0,0,0,0,0
$GC,15508,1.11,279.2,235.3,12.6,1023,15513,0.00,0.62,0.00,0.000,4,0.000,0.056,3382,1949,1723,0,0,0,0,0,0
$GC,15761,1.11,279.2,203.1,11.9,1067,15766,0.00,0.65,0.00,0.000,6,0.000,0.061,3385,1534,1722,0,0,0,0,0,0
$GC,16110,1.11,279.2,160.1,11.5,1128,16117,0.00,0.32,0.00,0.000,4,0.000,0.060,3385,1756,1722,0,0,0,0,0,0
$GC,16290,1.11,279.2,135.2,13.4,1159,16295,0.00,0.35,0.00,0.000,6,0.000,0.067,3387,1530,1722,0,0,0,0,0,0
$GC,16639,1.11,279.2,83.9,14.8,1220,16646,0.00,0.73,0.00,0.000,4,0.000,0.054,3387,2010,1722,0,0,0,0,0,0
$GC,16808,1.11,279.2,59.6,14.3,1249,16813,0.03,0.75,0.00,0.000,6,0.210,0.057,3382,1528,1722,0,0,0,0,0,0
$GC,17045,1.11,279.2,26.2,14.9,1290,17052,0.00,0.60,0.00,0.000,4,0.000,0.053,3382,1930,1722,0,0,0,0,0,0
$GC,17189,1.11,279.2,4.1,16.5,1314,17196,0.00,0.62,0.00,0.000,6,0.000,0.060,3384,1526,1722,0,0,0,0,0,0
$STATE,17203,end climb,SURFACE_DEPTH_REACHED
$STATE,17203,begin surface coast
$FINISH,1.3,1.026691
$STATE,17222,end surface coast,CONTROL_FINISHED_OK
$STATE,17222,begin surface
$SM_CCo,17297,0.00,0.000,0,0,1718,280.62
$SM_GC,1.81,8.75,0.00,0.00,0.050,0.000,0.000,96,1876,1718,-9.09,0.00,280.62
$IRIDIUM_FIX,-4236.17,-1049.80,270912,010153
$TT8_MAMPS,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.6,7.576
$10V_AH,10.3,4.800
$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,22.425,70.525,351.000,0.000,0.000,24.700,37.634,263.793,0.000,0.000,22.013,3301.291,9521.445,430.806,4329.002,142.236,0.000,1933.118,0.000,3961.237,0.000,1.009,0.000
$DEVICE_MAMPS,257.805,71.910,1313.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,937.630,1806.864,776.518,155.884,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,80254,1319
$CAP_FILE_SIZE,177693,0
$CFSIZE,2097086464,2092564480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270912,114905,-4249.771,-1045.547,74,1.0,74,-21.3