version: 66.07.10.p01
glider: 573
mission: 4
dive: 47
start: 10 5 112 19 18 7
data:
$ID,573
$MISSION,4
$DIVE,47
$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,1
$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,-4112.2837
$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,1863
$C_ROLL_CLIMB,1664
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,26
$GPS1,051012,191023,-4251.264,-933.444,40,0.8,40,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-72.2
$GPS2,051012,191712,-4251.295,-933.487,18,1.2,19,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.148,0.158
$KALMAN_X,-29932.4,391.1,-877.4,68672.0,-1281.3
$KALMAN_Y,-41800.7,56.0,-156.6,20548.8,-4414.5
$MHEAD_RNG_PITCHd_Wd,64.5,25128,-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,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,69,0.00,0.00,-43.15,0.000,2,0.000,0.000,83,1867,2850,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.0,-2.0,7,103,11.50,2.28,-15.02,0.000,4,0.267,0.068,2788,450,3358,0,0,0,0,0,0
$GC,322,-0.58,-121.6,34.9,-12.9,49,328,0.20,2.22,0.00,0.000,6,0.166,0.045,2834,1866,3360,0,0,0,0,0,0
$GC,557,-0.54,-121.6,58.4,-9.9,90,564,0.00,0.65,0.00,0.000,4,0.000,0.055,2831,2300,3361,0,0,0,0,0,0
$GC,690,-0.51,-121.6,71.6,-10.2,113,696,0.05,0.68,0.00,0.000,6,0.158,0.050,2849,1852,3361,0,0,0,0,0,0
$GC,1038,-0.51,-121.6,105.6,-10.1,170,1041,0.00,0.50,0.00,0.000,4,0.000,0.055,2847,2189,3361,0,0,0,0,0,0
$GC,1166,-0.51,-121.6,118.7,-10.4,181,1168,0.00,0.50,0.00,0.000,6,0.000,0.052,2847,1856,3361,0,0,0,0,0,0
$GC,1489,-0.51,-121.6,151.3,-10.1,211,1492,0.00,0.65,0.00,0.000,4,0.000,0.054,2844,2289,3361,0,0,0,0,0,0
$GC,1748,-0.51,-121.6,177.9,-9.9,234,1752,0.00,0.62,0.00,0.000,6,0.000,0.050,2844,1867,3361,0,0,0,0,0,0
$GC,2079,-0.51,-121.6,209.3,-9.6,265,2083,0.00,0.45,0.00,0.000,4,0.000,0.057,2844,1550,3362,0,0,0,0,0,0
$GC,2251,-0.51,-121.6,227.5,-9.7,280,2255,0.05,0.50,0.00,0.000,6,0.232,0.053,2854,1875,3361,0,0,0,0,0,0
$GC,2573,-0.51,-121.6,256.0,-9.0,307,2576,0.00,0.82,0.00,0.000,4,0.000,0.055,2851,2421,3362,0,0,0,0,0,0
$GC,2678,-0.51,-121.6,265.6,-8.8,311,2683,0.00,0.88,0.00,0.000,6,0.000,0.047,2851,1850,3362,0,0,0,0,0,0
$GC,2995,-0.51,-121.6,292.0,-8.2,327,2999,0.00,1.17,0.00,0.000,4,0.000,0.055,2845,2605,3362,0,0,0,0,0,0
$GC,3146,-0.51,-121.6,304.7,-8.6,333,3152,0.00,1.15,0.00,0.000,6,0.000,0.046,2845,1861,3362,0,0,0,0,0,0
$GC,3464,-0.51,-121.6,330.8,-8.4,349,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1861,3363,0,0,0,0,0,0
$GC,3771,-0.51,-121.6,357.1,-8.8,364,3775,0.00,0.47,0.00,0.000,4,0.000,0.056,2843,2185,3362,0,0,0,0,0,0
$GC,3939,-0.51,-121.6,371.6,-8.9,371,3943,0.00,0.50,0.00,0.000,6,0.000,0.051,2843,1850,3362,0,0,0,0,0,0
$GC,4262,-0.51,-121.6,400.5,-9.2,387,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1850,3362,0,0,0,0,0,0
$GC,4569,-0.51,-121.6,429.0,-9.3,402,4572,0.00,0.80,0.00,0.000,4,0.000,0.054,2839,2375,3362,0,0,0,0,0,0
$GC,4683,-0.51,-121.6,439.6,-9.3,407,4688,0.03,0.77,0.00,0.000,6,0.180,0.050,2850,1858,3362,0,0,0,0,0,0
$GC,5017,-0.51,-121.6,471.2,-9.7,423,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1858,3362,0,0,0,0,0,0
$GC,5324,-0.51,-121.6,501.3,-9.7,438,5328,0.00,0.93,0.00,0.000,4,0.000,0.055,2846,2457,3361,0,0,0,0,0,0
$GC,5440,-0.51,-121.6,512.5,-9.6,441,5445,0.00,0.93,0.00,0.000,6,0.000,0.048,2846,1858,3361,0,0,0,0,0,0
$GC,5764,-0.51,-121.6,543.3,-9.6,452,5768,0.00,0.70,0.00,0.000,4,0.000,0.056,2843,2317,3360,0,0,0,0,0,0
$GC,5947,-0.51,-121.6,561.0,-9.5,457,5952,0.00,0.70,0.00,0.000,6,0.000,0.051,2842,1859,3360,0,0,0,0,0,0
$GC,6271,-0.51,-121.6,593.0,-10.1,468,6275,0.03,0.45,0.00,0.000,4,0.272,0.059,2850,2162,3359,0,0,0,0,0,0
$GC,6454,-0.51,-121.6,611.2,-9.9,473,6456,0.00,0.45,0.00,0.000,6,0.000,0.054,2850,1861,3359,0,0,0,0,0,0
$GC,6773,-0.51,-121.6,641.8,-9.5,484,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1860,3359,0,0,0,0,0,0
$GC,7080,-0.51,-121.6,670.5,-9.1,494,7083,0.00,0.35,0.00,0.000,4,0.000,0.061,2849,2106,3358,0,0,0,0,0,0
$GC,7207,-0.51,-121.6,682.1,-8.7,497,7209,0.00,0.38,0.00,0.000,6,0.000,0.060,2848,1855,3358,0,0,0,0,0,0
$GC,7515,-0.51,-121.6,708.4,-8.3,507,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1855,3358,0,0,0,0,0,0
$GC,7821,-0.51,-121.6,734.0,-8.2,517,7825,0.00,0.65,0.00,0.000,4,0.000,0.057,2846,2285,3357,0,0,0,0,0,0
$GC,7942,-0.53,-121.6,744.0,-8.8,520,7947,0.00,0.65,0.00,0.000,6,0.000,0.051,2846,1861,3356,0,0,0,0,0,0
$GC,8260,-0.53,-121.6,770.0,-8.3,531,8264,0.00,0.62,0.00,0.000,4,0.000,0.058,2843,2275,3356,0,0,0,0,0,0
$GC,8371,-0.53,-121.6,779.3,-8.8,534,8375,0.00,0.65,0.00,0.000,6,0.000,0.051,2842,1850,3356,0,0,0,0,0,0
$GC,8700,-0.53,-121.6,805.3,-8.0,545,8703,0.00,0.55,0.00,0.000,4,0.000,0.057,2840,2221,3355,0,0,0,0,0,0
$GC,8827,-0.53,-121.6,815.4,-8.1,548,8832,0.00,0.55,0.00,0.000,6,0.000,0.054,2841,1859,3355,0,0,0,0,0,0
$GC,9139,-0.53,-121.6,840.4,-8.2,559,9143,0.00,0.82,0.00,0.000,4,0.000,0.057,2837,2394,3355,0,0,0,0,0,0
$GC,9227,-0.53,-121.6,847.8,-8.2,561,9231,0.00,0.82,0.00,0.000,6,0.000,0.050,2837,1859,3355,0,0,0,0,0,0
$GC,9545,-0.53,-121.6,874.5,-8.1,572,9549,0.00,0.32,0.00,0.000,4,0.000,0.062,2835,2090,3354,0,0,0,0,0,0
$GC,9801,-0.53,-121.6,897.0,-9.7,579,9804,0.05,0.35,0.00,0.000,6,0.217,0.062,2848,1856,3354,0,0,0,0,0,0
$GC,10116,-0.55,-121.6,921.9,-7.9,590,10120,0.00,0.38,0.00,0.000,4,0.000,0.061,2846,2125,3353,0,0,0,0,0,0
$GC,10233,-0.58,-121.6,931.6,-8.9,593,10237,0.00,0.40,0.00,0.000,6,0.000,0.058,2846,1859,3353,0,0,0,0,0,0
$GC,10557,-0.61,-121.6,956.8,-7.7,604,10558,0.05,0.00,0.00,0.000,6,0.174,0.000,2816,1859,3353,0,0,0,0,0,0
$GC,10863,-0.59,-121.6,982.6,-8.4,614,10867,0.05,1.35,0.00,0.000,4,0.226,0.059,2821,2707,3353,0,0,0,0,0,0
$GC,11001,-0.59,-121.6,993.8,-7.9,618,11006,0.00,1.33,0.00,0.000,6,0.000,0.047,2822,1857,3353,0,0,0,0,0,0
$STATE,11090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11090,begin apogee
$GC,11094,-0.23,0.0,1001.2,8.5,621,11198,0.40,0.00,100.70,1.331,6,0.141,0.000,2948,1670,2861,0,0,0,0,0,0
$STATE,11199,end apogee,CONTROL_FINISHED_OK
$STATE,11199,begin climb
$GC,11200,0.71,121.6,1004.9,0.0,624,11311,0.90,0.80,103.93,1.297,4,0.103,0.054,3243,1196,2366,0,0,0,0,0,0
$GC,11349,0.71,169.8,1001.0,5.4,628,11396,0.00,0.77,43.78,1.260,6,0.000,0.048,3242,1657,2169,0,0,0,0,0,0
$GC,11720,0.73,201.7,979.3,6.1,641,11754,0.00,1.55,28.38,1.248,4,0.000,0.055,3243,2577,2038,0,0,0,0,0,0
$GC,11852,0.76,202.9,970.3,7.4,645,11855,0.00,1.50,0.00,0.000,6,0.000,0.049,3250,1670,2035,0,0,0,0,0,0
$GC,12192,0.80,217.5,947.2,6.8,656,12212,0.10,0.40,14.75,1.177,4,0.109,0.066,3297,1412,1975,0,0,0,0,0,0
$GC,12325,0.77,217.5,935.6,8.9,660,12329,0.08,0.40,0.00,0.000,6,0.142,0.060,3273,1668,1972,0,0,0,0,0,0
$GC,12664,0.77,217.5,907.6,8.3,671,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1669,1971,0,0,0,0,0,0
$GC,12970,0.77,217.5,882.5,8.1,681,12974,0.00,0.32,0.00,0.000,4,0.000,0.068,3274,1453,1970,0,0,0,0,0,0
$GC,13126,0.77,217.5,869.7,8.5,685,13130,0.00,0.35,0.00,0.000,6,0.000,0.061,3274,1676,1970,0,0,0,0,0,0
$GC,13443,0.77,217.5,843.0,8.4,696,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1676,1970,0,0,0,0,0,0
$GC,13750,0.77,217.5,816.2,8.9,706,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1676,1969,0,0,0,0,0,0
$GC,14056,0.77,217.5,790.0,8.7,716,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1676,1969,0,0,0,0,0,0
$GC,14362,0.77,217.5,762.0,9.1,726,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1676,1969,0,0,0,0,0,0
$GC,14668,0.77,217.5,735.1,8.7,736,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1676,1969,0,0,0,0,0,0
$GC,14974,0.77,217.5,710.8,7.7,746,14978,0.00,0.45,0.00,0.000,4,0.000,0.067,3276,1383,1968,0,0,0,0,0,0
$GC,15079,0.77,217.5,702.3,8.9,749,15081,0.00,0.45,0.00,0.000,6,0.000,0.059,3276,1667,1968,0,0,0,0,0,0
$GC,15410,0.77,223.2,678.2,7.2,760,15417,0.00,0.00,5.25,0.839,6,0.000,0.000,3276,1667,1952,0,0,0,0,0,0
$GC,15716,0.77,229.0,657.1,7.2,770,15727,0.00,0.80,7.03,0.928,4,0.000,0.061,3280,1182,1927,0,0,0,0,0,0
$GC,15812,0.77,230.8,650.1,7.3,773,15815,0.00,0.75,0.00,0.000,6,0.000,0.054,3280,1662,1927,0,0,0,0,0,0
$GC,16152,0.77,233.5,625.8,7.3,784,16159,0.00,0.00,5.40,0.823,6,0.000,0.000,3279,1662,1910,0,0,0,0,0,0
$GC,16457,0.77,233.5,602.8,7.7,794,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1662,1909,0,0,0,0,0,0
$GC,16764,0.77,233.5,578.9,7.8,804,16765,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1662,1909,0,0,0,0,0,0
$GC,17070,0.77,233.5,555.2,7.7,814,17071,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1661,1909,0,0,0,0,0,0
$GC,17376,0.77,233.5,531.7,7.6,824,17377,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1661,1909,0,0,0,0,0,0
$GC,17683,0.79,233.5,508.4,7.7,834,17684,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1662,1909,0,0,0,0,0,0
$GC,17993,0.79,233.7,485.1,7.4,847,17997,0.00,0.30,0.00,0.000,4,0.000,0.070,3281,1460,1909,0,0,0,0,0,0
$GC,18085,0.79,233.7,478.2,7.6,851,18089,0.00,0.30,0.00,0.000,6,0.000,0.063,3281,1662,1909,0,0,0,0,0,0
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$GC,21126,0.88,290.9,225.8,11.3,1005,21130,0.00,0.38,0.00,0.000,4,0.000,0.065,3317,1415,1674,0,0,0,0,0,0
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$STATE,23278,end climb,SURFACE_DEPTH_REACHED
$STATE,23279,begin surface coast
$FINISH,1.6,1.015939
$STATE,23321,end surface coast,CONTROL_FINISHED_OK
$STATE,23322,begin surface
$SM_CCo,23396,0.00,0.000,0,0,1671,292.15
$SM_GC,2.42,8.38,0.00,0.00,0.039,0.000,0.000,91,1867,1671,-9.10,0.11,292.15
$IRIDIUM_FIX,-4233.25,-937.87,051012,121217
$TT8_MAMPS,0.026964
$HUMID,42.00
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.6,11.974
$10V_AH,10.3,10.748
$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,22.075,53.300,365.200,0.000,0.000,26.916,37.829,230.348,0.000,0.000,21.153,3348.716,15806.417,420.266,4093.960,128.207,33.347,1891.920,0.000,3732.902,0.000,1.007,0.000
$DEVICE_MAMPS,271.575,69.615,1331.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.767,1547.477,849.492,119.282,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,76926,1291
$CAP_FILE_SIZE,194405,0
$CFSIZE,2097086464,2087813120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061012,014905,-4251.527,-931.692,30,1.4,30,-21.4