version: 66.07.10.p01
glider: 573
mission: 4
dive: 17
start: 9 27 112 11 56 52
data:
$ID,573
$MISSION,4
$DIVE,17
$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,-4018.6536
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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
$GPS1,270912,114905,-4249.771,-1045.547,74,1.0,74,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-68.3
$GPS2,270912,115631,-4249.651,-1045.544,16,0.9,17,-21.3
$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,125.4,229978,-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,24,-0.92,-121.6,0.0,0.0,0,86,0.00,0.00,-60.45,0.000,2,0.000,0.000,84,1878,3145,0,0,0,0,0,0
$GC,88,-0.92,-121.6,3.2,-3.7,10,115,11.23,2.42,-4.90,0.000,4,0.265,0.069,2730,406,3362,0,0,0,0,0,0
$GC,300,-0.79,-121.6,43.8,-17.8,46,308,0.12,2.28,0.00,0.000,6,0.173,0.047,2758,1819,3363,0,0,0,0,0,0
$GC,539,-0.74,-121.6,80.8,-14.3,87,544,0.10,1.45,0.00,0.000,4,0.212,0.057,2774,2727,3363,0,0,0,0,0,0
$GC,700,-0.74,-121.6,103.9,-13.9,115,705,0.00,1.42,0.00,0.000,6,0.000,0.048,2775,1822,3363,0,0,0,0,0,0
$GC,1048,-0.71,-121.6,150.3,-13.5,176,1056,0.08,1.17,0.00,0.000,4,0.229,0.057,2785,2563,3364,0,0,0,0,0,0
$GC,1210,-0.71,-121.6,170.5,-12.1,204,1218,0.00,1.17,0.00,0.000,6,0.000,0.049,2785,1808,3364,0,0,0,0,0,0
$GC,1562,-0.71,-121.6,211.9,-11.2,265,1567,0.00,2.25,0.00,0.000,4,0.000,0.059,2774,3230,3364,0,0,0,0,0,0
$GC,1734,-0.71,-121.6,230.8,-11.0,295,1740,0.08,2.17,0.00,0.000,6,0.203,0.044,2790,1816,3364,0,0,0,0,0,0
$GC,2075,-0.71,-121.6,271.6,-11.5,340,2078,0.00,1.42,0.00,0.000,4,0.000,0.057,2785,2718,3365,0,0,0,0,0,0
$GC,2233,-0.71,-121.6,289.1,-10.2,354,2237,0.00,1.40,0.00,0.000,6,0.000,0.048,2785,1818,3364,0,0,0,0,0,0
$GC,2565,-0.71,-121.6,324.9,-11.0,385,2568,0.00,0.90,0.00,0.000,4,0.000,0.054,2780,2402,3365,0,0,0,0,0,0
$GC,2779,-0.71,-121.6,349.7,-11.9,404,2783,0.00,0.90,0.00,0.000,6,0.000,0.051,2781,1814,3365,0,0,0,0,0,0
$GC,3111,-0.71,-121.6,387.5,-11.1,435,3114,0.00,1.15,0.00,0.000,4,0.000,0.056,2776,2548,3365,0,0,0,0,0,0
$GC,3370,-0.71,-121.6,417.4,-11.5,458,3375,0.03,1.12,0.00,0.000,6,0.206,0.050,2785,1821,3365,0,0,0,0,0,0
$GC,3702,-0.71,-121.6,454.9,-11.6,489,3706,0.00,1.33,0.00,0.000,4,0.000,0.057,2779,2662,3365,0,0,0,0,0,0
$GC,3885,-0.71,-121.6,476.1,-11.5,505,3888,0.00,1.30,0.00,0.000,6,0.000,0.049,2779,1823,3364,0,0,0,0,0,0
$GC,4209,-0.71,-121.6,515.9,-12.6,528,4213,0.00,0.93,0.00,0.000,4,0.000,0.056,2775,2424,3364,0,0,0,0,0,0
$GC,4404,-0.71,-121.6,541.5,-12.8,533,4410,0.08,0.95,0.00,0.000,6,0.207,0.051,2790,1815,3364,0,0,0,0,0,0
$GC,4716,-0.71,-121.6,581.0,-12.6,544,4720,0.00,0.98,0.00,0.000,4,0.000,0.056,2787,2442,3363,0,0,0,0,0,0
$GC,4885,-0.71,-121.6,602.2,-11.7,549,4889,0.00,0.95,0.00,0.000,6,0.000,0.051,2787,1822,3363,0,0,0,0,0,0
$GC,5225,-0.71,-121.6,643.7,-12.1,560,5228,0.00,1.42,0.00,0.000,4,0.000,0.058,2781,2725,3362,0,0,0,0,0,0
$GC,5369,-0.71,-121.6,661.3,-12.8,564,5374,0.00,1.42,0.00,0.000,6,0.000,0.048,2781,1818,3362,0,0,0,0,0,0
$GC,5699,-0.71,-121.6,702.1,-12.5,575,5702,0.00,1.15,0.00,0.000,4,0.000,0.058,2776,2550,3361,0,0,0,0,0,0
$GC,5867,-0.71,-121.6,723.6,-12.7,580,5871,0.03,1.12,0.00,0.000,6,0.210,0.050,2784,1821,3361,0,0,0,0,0,0
$GC,6206,-0.71,-121.6,763.3,-11.4,591,6210,0.00,1.17,0.00,0.000,4,0.000,0.058,2779,2571,3360,0,0,0,0,0,0
$GC,6344,-0.71,-121.6,779.1,-11.5,595,6349,0.00,1.20,0.00,0.000,6,0.000,0.050,2779,1805,3360,0,0,0,0,0,0
$GC,6680,-0.71,-121.6,820.6,-12.6,606,6683,0.00,1.17,0.00,0.000,4,0.000,0.059,2773,2554,3359,0,0,0,0,0,0
$GC,6936,-0.71,-121.6,853.8,-12.6,613,6942,0.08,1.15,0.00,0.000,6,0.208,0.050,2789,1821,3359,0,0,0,0,0,0
$GC,7255,-0.74,-121.6,889.5,-11.1,624,7259,0.00,1.62,0.00,0.000,4,0.000,0.061,2783,2880,3359,0,0,0,0,0,0
$GC,7405,-0.77,-121.6,906.0,-11.1,628,7410,0.00,1.65,0.00,0.000,6,0.000,0.050,2782,1821,3358,0,0,0,0,0,0
$GC,7729,-0.79,-121.6,940.3,-10.3,639,7733,0.00,1.02,0.00,0.000,4,0.000,0.060,2778,2474,3357,0,0,0,0,0,0
$GC,7899,-0.81,-121.6,957.8,-9.9,644,7903,0.03,1.02,0.00,0.000,6,0.111,0.053,2757,1816,3358,0,0,0,0,0,0
$GC,8238,-0.81,-121.6,994.8,-11.2,655,8242,0.00,1.00,0.00,0.000,4,0.000,0.058,2753,2452,3357,0,0,0,0,0,0
$STATE,8285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8285,begin apogee
$GC,8290,-0.23,0.0,1000.4,10.9,656,8396,0.60,0.00,101.12,1.318,6,0.159,0.000,2941,1646,2862,0,0,0,0,0,0
$STATE,8396,end apogee,CONTROL_FINISHED_OK
$STATE,8396,begin climb
$GC,8398,0.92,121.6,1005.1,0.0,660,8509,1.17,1.33,104.18,1.284,4,0.109,0.057,3318,866,2366,0,0,0,0,0,0
$GC,8698,0.92,150.6,985.3,8.4,669,8729,0.00,1.33,26.08,1.229,6,0.000,0.048,3318,1655,2247,0,0,0,0,0,0
$GC,9053,0.92,169.2,953.1,9.0,681,9072,0.00,0.00,16.62,1.174,6,0.000,0.000,3318,1656,2172,0,0,0,0,0,0
$GC,9392,0.92,191.9,923.0,8.8,692,9416,0.00,0.70,20.88,1.194,4,0.000,0.053,3318,2114,2078,0,0,0,0,0,0
$GC,9572,0.92,210.0,907.2,9.0,697,9593,0.00,0.77,16.85,1.161,6,0.000,0.057,3321,1644,2006,0,0,0,0,0,0
$GC,9929,0.95,222.3,875.1,9.3,709,9943,0.00,0.00,11.85,1.108,6,0.000,0.000,3321,1644,1955,0,0,0,0,0,0
$GC,10235,0.98,222.3,844.6,10.1,719,10239,0.00,0.80,0.00,0.000,4,0.000,0.057,3321,2150,1952,0,0,0,0,0,0
$GC,10351,1.01,222.3,832.2,11.0,722,10356,0.05,0.82,0.00,0.000,6,0.171,0.056,3348,1643,1951,0,0,0,0,0,0
$GC,10675,1.01,222.3,793.6,12.1,733,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1643,1951,0,0,0,0,0,0
$GC,10981,1.01,222.3,754.7,12.8,743,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1643,1950,0,0,0,0,0,0
$GC,11288,1.01,222.3,714.2,13.4,753,11291,0.00,0.95,0.00,0.000,4,0.000,0.059,3348,2250,1950,0,0,0,0,0,0
$GC,11426,1.01,222.3,695.5,13.0,757,11431,0.00,0.98,0.00,0.000,6,0.000,0.057,3353,1646,1950,0,0,0,0,0,0
$GC,11761,1.01,222.3,651.5,13.1,768,11765,0.00,0.35,0.00,0.000,4,0.000,0.064,3353,1883,1949,0,0,0,0,0,0
$GC,11883,1.01,222.3,636.0,13.0,771,11885,0.00,0.40,0.00,0.000,6,0.000,0.067,3354,1636,1950,0,0,0,0,0,0
$GC,12197,1.01,222.3,597.0,12.0,782,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1636,1949,0,0,0,0,0,0
$GC,12503,1.01,222.3,561.9,11.1,792,12507,0.00,0.50,0.00,0.000,4,0.000,0.061,3354,1966,1949,0,0,0,0,0,0
$GC,12624,1.01,222.3,548.8,10.4,795,12627,0.00,0.52,0.00,0.000,6,0.000,0.062,3357,1638,1949,0,0,0,0,0,0
$GC,12939,1.01,228.1,517.7,9.7,806,12946,0.00,0.00,5.53,0.781,6,0.000,0.000,3357,1638,1932,0,0,0,0,0,0
$GC,13250,1.01,236.1,488.6,9.6,822,13261,0.00,0.00,8.57,0.884,6,0.000,0.000,3357,1638,1899,0,0,0,0,0,0
$GC,13580,1.01,239.7,457.4,9.8,853,13590,0.00,0.55,4.65,0.686,4,0.000,0.061,3357,1990,1884,0,0,0,0,0,0
$GC,13673,1.01,240.5,448.1,10.0,861,13677,0.00,0.52,0.00,0.000,6,0.000,0.062,3359,1650,1884,0,0,0,0,0,0
$GC,14003,1.01,240.5,412.1,11.4,892,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1650,1883,0,0,0,0,0,0
$GC,14322,1.01,240.5,372.6,13.3,922,14325,0.00,1.30,0.00,0.000,4,0.000,0.059,3359,2463,1883,0,0,0,0,0,0
$GC,14461,1.01,240.5,353.5,14.0,934,14470,0.08,1.33,0.00,0.000,6,0.212,0.053,3348,1640,1883,0,0,0,0,0,0
$GC,14788,1.01,240.5,310.6,13.3,965,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1640,1883,0,0,0,0,0,0
$GC,15108,1.03,240.5,269.0,12.7,995,15111,0.00,0.47,0.00,0.000,4,0.000,0.061,3348,1957,1883,0,0,0,0,0,0
$GC,15213,1.05,240.5,255.0,12.4,1004,15221,0.00,0.50,0.00,0.000,6,0.000,0.060,3350,1640,1883,0,0,0,0,0,0
$GC,15561,1.08,240.5,207.6,13.5,1061,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1640,1883,0,0,0,0,0,0
$GC,15910,1.10,240.5,164.6,10.6,1122,15918,0.08,0.43,0.00,0.000,4,0.137,0.065,3381,1919,1883,0,0,0,0,0,0
$GC,15966,1.08,240.5,157.9,12.3,1131,15971,0.03,0.43,0.00,0.000,6,0.203,0.063,3374,1642,1883,0,0,0,0,0,0
$GC,16314,1.08,240.5,116.4,12.3,1192,16320,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1643,1883,0,0,0,0,0,0
$GC,16665,1.08,240.5,73.9,12.4,1253,16669,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1643,1883,0,0,0,0,0,0
$GC,17013,1.08,261.4,29.9,8.9,1314,17039,0.00,1.15,17.30,0.679,4,0.000,0.057,3374,2363,1795,0,0,0,0,0,0
$GC,17105,1.08,261.4,21.4,12.1,1329,17112,0.00,1.12,0.00,0.000,6,0.000,0.053,3378,1649,1792,0,0,0,0,0,0
$GC,17184,1.08,261.4,12.6,10.5,1342,17191,0.00,0.52,0.00,0.000,4,0.000,0.054,3378,2000,1791,0,0,0,0,0,0
$GC,17205,1.08,280.5,10.7,9.0,1345,17219,0.00,0.55,9.00,0.576,6,0.000,0.057,3381,1640,1717,0,0,0,0,0,0
$STATE,17290,end climb,SURFACE_DEPTH_REACHED
$STATE,17290,begin surface coast
$FINISH,1.1,1.024802
$STATE,17321,end surface coast,CONTROL_FINISHED_OK
$STATE,17321,begin surface
$SM_CCo,17396,0.00,0.000,0,0,1706,283.56
$SM_GC,1.94,8.77,0.00,0.00,0.047,0.000,0.000,92,1828,1706,-9.11,0.25,283.56
$IRIDIUM_FIX,-4236.17,-1049.80,270912,060647
$TT8_MAMPS,0.026964
$HUMID,41.92
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.6,7.711
$10V_AH,10.3,4.960
$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,22.600,63.725,342.625,0.000,0.000,27.644,39.090,272.540,0.000,0.000,18.970,3383.547,9651.439,393.430,4297.381,109.943,0.000,1826.290,0.000,3907.549,0.000,1.007,0.000
$DEVICE_MAMPS,264.690,72.675,1318.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.591,1906.275,785.591,176.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,80035,1364
$CAP_FILE_SIZE,172975,0
$CFSIZE,2097086464,2092433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270912,164829,-4248.340,-1044.460,70,1.5,70,-21.3