version: 66.07.10.p01
glider: 573
mission: 4
dive: 31
start: 10 1 112 7 22 59
data:
$ID,573
$MISSION,4
$DIVE,31
$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,450
$T_MISSION,520
$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,-4062.4272
$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,29
$R_STBD_OVSHOOT,32
$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,10
$GPS1,011012,071135,-4238.809,-1007.672,32,1.0,32,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-74.9
$GPS2,011012,072238,-4238.810,-1007.721,21,1.0,22,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$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,112.5,119478,-15.4,-7.407
$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,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,81,0.00,0.00,-54.70,0.000,2,0.000,0.000,85,1838,3049,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.2,-2.0,9,110,11.93,2.22,-7.70,0.000,4,0.275,0.073,2779,3223,3358,0,0,0,0,0,0
$GC,360,-0.60,-121.6,42.2,-14.2,56,368,0.12,2.22,0.00,0.000,6,0.151,0.046,2819,1822,3360,0,0,0,0,0,0
$GC,599,-0.54,-121.6,67.9,-10.0,97,605,0.10,0.55,0.00,0.000,4,0.197,0.058,2843,2178,3360,0,0,0,0,0,0
$GC,830,-0.51,-121.6,89.4,-8.8,137,835,0.00,0.55,0.00,0.000,6,0.000,0.054,2842,1813,3361,0,0,0,0,0,0
$GC,1179,-0.49,-121.6,123.7,-9.6,198,1187,0.08,0.88,0.00,0.000,4,0.194,0.054,2857,2371,3361,0,0,0,0,0,0
$GC,1373,-0.49,-121.6,141.7,-9.2,231,1378,0.00,0.85,0.00,0.000,6,0.000,0.050,2857,1817,3360,0,0,0,0,0,0
$GC,1721,-0.49,-121.6,174.5,-9.1,292,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1817,3361,0,0,0,0,0,0
$GC,2073,-0.49,-121.6,205.4,-8.1,353,2078,0.00,1.50,0.00,0.000,4,0.000,0.057,2850,2762,3361,0,0,0,0,0,0
$GC,2211,-0.49,-121.6,216.3,-7.6,377,2216,0.00,1.48,0.00,0.000,6,0.000,0.047,2851,1813,3361,0,0,0,0,0,0
$GC,2560,-0.49,-121.6,245.0,-9.5,438,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1813,3362,0,0,0,0,0,0
$GC,2894,-0.49,-121.6,275.4,-8.8,474,2898,0.00,0.93,0.00,0.000,4,0.000,0.054,2846,2416,3362,0,0,0,0,0,0
$GC,3090,-0.49,-121.6,291.7,-8.8,491,3097,0.08,0.93,0.00,0.000,6,0.179,0.048,2864,1819,3362,0,0,0,0,0,0
$GC,3416,-0.49,-121.6,317.4,-8.4,522,3419,0.00,0.82,0.00,0.000,4,0.000,0.056,2862,2360,3362,0,0,0,0,0,0
$GC,3566,-0.51,-121.6,329.9,-8.4,535,3570,0.00,0.82,0.00,0.000,6,0.000,0.050,2861,1819,3362,0,0,0,0,0,0
$GC,3896,-0.51,-121.6,358.5,-8.5,566,3899,0.00,0.73,0.00,0.000,4,0.000,0.057,2858,2301,3362,0,0,0,0,0,0
$GC,4022,-0.51,-121.6,369.0,-8.4,577,4026,0.00,0.73,0.00,0.000,6,0.000,0.051,2858,1820,3362,0,0,0,0,0,0
$GC,4352,-0.51,-121.6,397.3,-8.5,608,4355,0.00,0.52,0.00,0.000,4,0.000,0.057,2856,2181,3361,0,0,0,0,0,0
$GC,4536,-0.51,-121.6,413.1,-7.9,624,4544,0.00,0.57,0.00,0.000,6,0.000,0.054,2855,1805,3360,0,0,0,0,0,0
$GC,4863,-0.51,-121.6,439.2,-7.7,655,4866,0.00,0.57,0.00,0.000,4,0.000,0.057,2853,2195,3360,0,0,0,0,0,0
$GC,5014,-0.51,-121.6,451.2,-7.7,668,5021,0.00,0.57,0.00,0.000,6,0.000,0.054,2853,1820,3359,0,0,0,0,0,0
$GC,5340,-0.51,-121.6,476.8,-7.5,699,5344,0.00,0.25,0.00,0.000,4,0.000,0.070,2852,2004,3359,0,0,0,0,0,0
$GC,5525,-0.51,-121.6,491.8,-8.9,715,5527,0.00,0.28,0.00,0.000,6,0.000,0.067,2852,1821,3359,0,0,0,0,0,0
$GC,5847,-0.51,-121.6,519.0,-8.6,732,5851,0.00,0.52,0.00,0.000,4,0.000,0.058,2849,2174,3358,0,0,0,0,0,0
$GC,6099,-0.51,-121.6,542.3,-9.6,739,6103,0.00,0.52,0.00,0.000,6,0.000,0.057,2849,1821,3358,0,0,0,0,0,0
$GC,6422,-0.51,-121.6,572.6,-9.2,750,6426,0.00,0.80,0.00,0.000,4,0.000,0.057,2846,2342,3357,0,0,0,0,0,0
$GC,6523,-0.51,-121.6,581.8,-8.8,753,6527,0.00,0.80,0.00,0.000,6,0.000,0.053,2846,1817,3357,0,0,0,0,0,0
$GC,6863,-0.51,-121.6,612.9,-9.3,764,6866,0.00,0.88,0.00,0.000,4,0.000,0.057,2842,2384,3357,0,0,0,0,0,0
$GC,6978,-0.51,-121.6,623.8,-9.7,767,6983,0.00,0.88,0.00,0.000,6,0.000,0.052,2842,1819,3357,0,0,0,0,0,0
$GC,7302,-0.51,-121.6,652.3,-8.8,778,7306,0.00,1.42,0.00,0.000,4,0.000,0.060,2835,2714,3356,0,0,0,0,0,0
$GC,7463,-0.51,-121.6,667.5,-9.1,782,7470,0.08,1.42,0.00,0.000,6,0.184,0.049,2854,1807,3356,0,0,0,0,0,0
$GC,7777,-0.53,-121.6,695.4,-8.9,793,7780,0.00,0.95,0.00,0.000,4,0.000,0.058,2850,2428,3355,0,0,0,0,0,0
$GC,7938,-0.56,-121.6,710.0,-8.9,797,7944,0.00,0.95,0.00,0.000,6,0.000,0.051,2850,1819,3355,0,0,0,0,0,0
$GC,8251,-0.56,-121.6,737.3,-8.7,808,8254,0.00,0.55,0.00,0.000,4,0.000,0.061,2847,2185,3354,0,0,0,0,0,0
$GC,8361,-0.56,-121.6,747.0,-9.1,811,8365,0.00,0.57,0.00,0.000,6,0.000,0.055,2848,1809,3354,0,0,0,0,0,0
$GC,8690,-0.56,-121.6,775.4,-8.8,822,8693,0.00,1.02,0.00,0.000,4,0.000,0.058,2842,2464,3354,0,0,0,0,0,0
$GC,8862,-0.56,-121.6,790.4,-8.7,827,8867,0.00,1.00,0.00,0.000,6,0.000,0.050,2843,1823,3354,0,0,0,0,0,0
$GC,9197,-0.56,-121.6,816.9,-7.7,838,9201,0.00,0.85,0.00,0.000,4,0.000,0.058,2839,2382,3353,0,0,0,0,0,0
$GC,9342,-0.56,-121.6,827.8,-7.1,842,9346,0.00,0.88,0.00,0.000,6,0.000,0.053,2839,1819,3353,0,0,0,0,0,0
$GC,9671,-0.56,-121.6,852.6,-7.8,853,9675,0.00,1.20,0.00,0.000,4,0.000,0.060,2833,2578,3353,0,0,0,0,0,0
$GC,9816,-0.56,-121.6,863.8,-7.2,857,9820,0.00,1.20,0.00,0.000,6,0.000,0.050,2833,1813,3353,0,0,0,0,0,0
$GC,10145,-0.56,-121.6,891.2,-8.5,868,10149,0.00,1.10,0.00,0.000,4,0.000,0.058,2828,2512,3353,0,0,0,0,0,0
$GC,10323,-0.56,-121.6,908.1,-9.6,873,10327,0.00,1.10,0.00,0.000,6,0.000,0.052,2828,1813,3352,0,0,0,0,0,0
$GC,10652,-0.56,-121.6,939.9,-9.7,884,10656,0.00,1.30,0.00,0.000,4,0.000,0.059,2822,2636,3352,0,0,0,0,0,0
$GC,10807,-0.56,-121.6,954.5,-10.1,888,10813,0.08,1.27,0.00,0.000,6,0.192,0.047,2841,1820,3352,0,0,0,0,0,0
$GC,11126,-0.56,-121.6,979.5,-7.3,899,11130,0.00,1.00,0.00,0.000,4,0.000,0.059,2836,2465,3351,0,0,0,0,0,0
$GC,11254,-0.58,-121.6,988.7,-6.2,902,11260,0.00,1.00,0.00,0.000,6,0.000,0.051,2836,1816,3351,0,0,0,0,0,0
$STATE,11412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11412,begin apogee
$GC,11416,-0.23,0.0,1000.1,7.2,908,11519,0.35,0.00,100.30,1.328,6,0.138,0.000,2947,1646,2862,0,0,0,0,0,0
$STATE,11520,end apogee,CONTROL_FINISHED_OK
$STATE,11520,begin climb
$GC,11521,0.71,121.6,1002.8,0.0,911,11631,0.93,1.00,104.22,1.289,4,0.106,0.056,3247,1043,2366,0,0,0,0,0,0
$GC,11686,0.71,145.5,995.8,6.4,916,11712,0.00,1.02,22.60,1.223,6,0.000,0.047,3247,1645,2268,0,0,0,0,0,0
$GC,12042,0.71,145.5,969.2,7.6,928,12045,0.00,0.28,0.00,0.000,4,0.000,0.063,3247,1840,2260,0,0,0,0,0,0
$GC,12118,0.71,170.2,963.5,6.4,930,12144,0.00,0.32,21.88,1.230,6,0.000,0.067,3249,1643,2167,0,0,0,0,0,0
$GC,12479,0.71,170.2,936.3,7.7,942,12483,0.00,0.68,0.00,0.000,4,0.000,0.056,3249,2077,2163,0,0,0,0,0,0
$GC,12606,0.71,170.2,926.3,7.6,945,12612,0.00,0.70,0.00,0.000,6,0.000,0.057,3251,1646,2162,0,0,0,0,0,0
$GC,12919,0.71,170.2,901.6,7.9,956,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1646,2161,0,0,0,0,0,0
$GC,13225,0.71,170.2,878.4,7.5,966,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1646,2161,0,0,0,0,0,0
$GC,13531,0.71,183.8,856.8,6.9,976,13546,0.00,0.00,12.27,1.135,6,0.000,0.000,3251,1646,2112,0,0,0,0,0,0
$GC,13838,0.73,187.3,835.6,7.3,986,13844,0.00,0.00,4.43,0.799,6,0.000,0.000,3251,1646,2097,0,0,0,0,0,0
$GC,14144,0.76,189.4,813.2,7.3,996,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1646,2097,0,0,0,0,0,0
$GC,14451,0.79,212.4,792.4,6.5,1006,14480,0.08,0.00,23.75,1.166,6,0.135,0.000,3288,1646,1995,0,0,0,0,0,0
$GC,14786,0.79,212.4,764.3,8.5,1017,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1646,1991,0,0,0,0,0,0
$GC,15092,0.79,212.4,737.4,8.9,1027,15096,0.00,0.30,0.00,0.000,4,0.000,0.065,3288,1851,1990,0,0,0,0,0,0
$GC,15159,0.79,212.4,731.4,8.9,1029,15164,0.03,0.32,0.00,0.000,6,0.179,0.069,3279,1643,1990,0,0,0,0,0,0
$GC,15499,0.79,212.4,702.4,8.7,1040,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1643,1990,0,0,0,0,0,0
$GC,15805,0.79,212.4,677.1,8.3,1050,15809,0.00,0.50,0.00,0.000,4,0.000,0.065,3281,1312,1990,0,0,0,0,0,0
$GC,15906,0.79,212.4,668.9,8.4,1053,15910,0.00,0.52,0.00,0.000,6,0.000,0.057,3281,1654,1990,0,0,0,0,0,0
$GC,16246,0.79,212.4,642.4,7.7,1064,16247,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1654,1990,0,0,0,0,0,0
$GC,16552,0.79,215.4,619.6,7.3,1074,16553,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1654,1990,0,0,0,0,0,0
$GC,16858,0.79,215.4,596.6,7.5,1084,16862,0.00,0.50,0.00,0.000,4,0.000,0.067,3284,1329,1989,0,0,0,0,0,0
$GC,16940,0.79,225.7,590.2,7.0,1086,16958,0.00,0.50,11.82,0.997,6,0.000,0.057,3284,1648,1941,0,0,0,0,0,0
$GC,17263,0.79,225.7,563.0,8.5,1097,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1648,1939,0,0,0,0,0,0
$GC,17570,0.79,225.7,536.6,8.6,1107,17573,0.00,0.30,0.00,0.000,4,0.000,0.066,3284,1860,1939,0,0,0,0,0,0
$GC,17637,0.79,225.7,530.8,8.7,1109,17640,0.00,0.32,0.00,0.000,6,0.000,0.069,3285,1647,1938,0,0,0,0,0,0
$GC,17976,0.79,225.7,501.0,9.0,1120,17977,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1647,1938,0,0,0,0,0,0
$GC,18296,0.79,225.7,473.8,8.4,1148,18299,0.00,0.57,0.00,0.000,4,0.000,0.065,3288,1267,1938,0,0,0,0,0,0
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$STATE,23848,end climb,SURFACE_DEPTH_REACHED
$STATE,23848,begin surface coast
$FINISH,1.2,1.013424
$STATE,23885,end surface coast,CONTROL_FINISHED_OK
$STATE,23885,begin surface
$SM_CCo,23900,7.85,0.546,0,0,1841,250.20
$SM_GC,4.10,0.00,0.00,7.85,0.000,0.000,0.546,93,1826,1841,-9.16,0.20,250.20
$IRIDIUM_FIX,-4227.40,-1056.78,011012,070717
$TT8_MAMPS,0.026964
$HUMID,41.61
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.6,9.726
$10V_AH,10.3,7.843
$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,22.325,56.550,307.100,7.850,0.000,53.461,121.400,300.681,0.000,0.000,24.991,4672.556,13533.181,431.235,5767.022,150.965,0.000,2260.533,0.000,5230.428,0.000,1.008,0.000
$DEVICE_MAMPS,274.635,74.205,1328.040,546.210,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1350.445,2641.848,1094.802,247.872,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354748
$DATA_FILE_SIZE,113496,1899
$CAP_FILE_SIZE,226025,0
$CFSIZE,2097086464,2090139648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011012,140339,-4238.954,-1004.464,97,1.2,99,-21.4