version: 66.07.10.p01
glider: 573
mission: 4
dive: 53
start: 10 7 112 10 26 13
data:
$ID,573
$MISSION,4
$DIVE,53
$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,-4131.4873
$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,29
$R_STBD_OVSHOOT,38
$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,32
$GPS1,071012,101835,-4255.155,-925.218,38,0.9,38,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-71.7
$GPS2,071012,102518,-4255.212,-925.226,19,1.0,20,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.084,0.200
$KALMAN_X,-43971.2,114.3,580.4,92786.3,-5457.3
$KALMAN_Y,-68702.5,149.3,135.8,39807.0,-6755.7
$MHEAD_RNG_PITCHd_Wd,44.3,15102,-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,-121.6,0.0,0.0,0,75,0.00,0.00,-48.80,0.000,2,0.000,0.000,90,1863,2906,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.6,8,109,11.27,1.48,-12.90,0.000,4,0.260,0.071,2787,949,3357,0,0,0,0,0,0
$GC,222,-0.59,-121.6,20.7,-13.9,32,230,0.12,1.45,0.00,0.000,6,0.148,0.046,2823,1858,3358,0,0,0,0,0,0
$GC,303,-0.55,-121.6,30.1,-10.9,45,308,0.08,0.00,0.00,0.000,6,0.196,0.000,2841,1858,3359,0,0,0,0,0,0
$GC,536,-0.55,-121.6,52.8,-9.6,86,543,0.00,0.45,0.00,0.000,4,0.000,0.056,2839,2168,3359,0,0,0,0,0,0
$GC,722,-0.55,-121.6,70.6,-10.0,118,727,0.00,0.47,0.00,0.000,6,0.000,0.054,2840,1847,3359,0,0,0,0,0,0
$GC,1070,-0.55,-121.6,104.6,-9.8,176,1074,0.00,0.52,0.00,0.000,4,0.000,0.054,2837,2201,3359,0,0,0,0,0,0
$GC,1332,-0.55,-121.6,130.0,-9.7,199,1336,0.00,0.50,0.00,0.000,6,0.000,0.053,2837,1859,3359,0,0,0,0,0,0
$GC,1662,-0.55,-121.6,163.3,-10.3,230,1665,0.00,0.88,0.00,0.000,4,0.000,0.054,2833,2427,3359,0,0,0,0,0,0
$GC,1765,-0.55,-121.6,173.9,-10.2,239,1768,0.00,0.85,0.00,0.000,6,0.000,0.047,2834,1864,3360,0,0,0,0,0,0
$GC,2095,-0.52,-121.6,211.3,-11.5,270,2099,0.08,0.30,0.00,0.000,4,0.198,0.063,2850,2077,3360,0,0,0,0,0,0
$GC,2143,-0.52,-121.6,216.9,-11.0,274,2145,0.00,0.32,0.00,0.000,6,0.000,0.058,2850,1853,3360,0,0,0,0,0,0
$GC,2465,-0.52,-121.6,252.7,-11.2,303,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1853,3360,0,0,0,0,0,0
$GC,2772,-0.52,-121.6,286.6,-11.1,318,2776,0.00,0.85,0.00,0.000,4,0.000,0.053,2846,2410,3360,0,0,0,0,0,0
$GC,2887,-0.52,-121.6,299.1,-11.3,323,2891,0.00,0.82,0.00,0.000,6,0.000,0.047,2846,1861,3360,0,0,0,0,0,0
$GC,3221,-0.52,-121.6,335.9,-10.8,339,3225,0.00,1.35,0.00,0.000,4,0.000,0.056,2840,2718,3361,0,0,0,0,0,0
$GC,3348,-0.52,-121.6,350.1,-10.8,344,3357,0.00,1.33,0.00,0.000,6,0.000,0.044,2840,1863,3361,0,0,0,0,0,0
$GC,3665,-0.52,-121.6,381.1,-9.8,360,3668,0.00,0.90,0.00,0.000,4,0.000,0.054,2836,2443,3361,0,0,0,0,0,0
$GC,3779,-0.52,-121.6,391.9,-9.8,365,3783,0.00,0.88,0.00,0.000,6,0.000,0.047,2836,1865,3360,0,0,0,0,0,0
$GC,4113,-0.52,-121.6,423.2,-9.4,381,4115,0.05,0.00,0.00,0.000,6,0.223,0.000,2847,1864,3361,0,0,0,0,0,0
$GC,4420,-0.52,-121.6,448.3,-8.1,396,4424,0.00,1.23,0.00,0.000,4,0.000,0.056,2842,2644,3360,0,0,0,0,0,0
$GC,4525,-0.52,-121.6,457.2,-8.1,400,4533,0.00,1.23,0.00,0.000,6,0.000,0.045,2842,1853,3361,0,0,0,0,0,0
$GC,4841,-0.52,-121.6,483.0,-8.2,416,4845,0.00,0.47,0.00,0.000,4,0.000,0.056,2839,2176,3360,0,0,0,0,0,0
$GC,5002,-0.52,-121.6,495.1,-7.2,423,5006,0.00,0.45,0.00,0.000,6,0.000,0.056,2839,1867,3360,0,0,0,0,0,0
$GC,5331,-0.52,-121.6,518.8,-6.9,435,5335,0.00,0.43,0.00,0.000,4,0.000,0.058,2838,2162,3359,0,0,0,0,0,0
$GC,5442,-0.52,-121.6,526.6,-6.4,438,5446,0.00,0.45,0.00,0.000,6,0.000,0.054,2838,1860,3359,0,0,0,0,0,0
$GC,5771,-0.52,-121.6,549.6,-7.2,449,5775,0.00,0.82,0.00,0.000,4,0.000,0.055,2834,2395,3358,0,0,0,0,0,0
$GC,5915,-0.52,-121.6,560.7,-7.6,453,5921,0.08,0.82,0.00,0.000,6,0.179,0.048,2854,1859,3358,0,0,0,0,0,0
$GC,6246,-0.55,-121.6,584.4,-7.2,464,6249,0.00,0.35,0.00,0.000,4,0.000,0.061,2852,2103,3357,0,0,0,0,0,0
$GC,6373,-0.57,-121.6,594.7,-8.0,467,6378,0.00,0.38,0.00,0.000,6,0.000,0.057,2852,1850,3357,0,0,0,0,0,0
$GC,6686,-0.60,-121.6,619.7,-8.1,478,6690,0.08,0.57,0.00,0.000,4,0.126,0.057,2810,2225,3357,0,0,0,0,0,0
$GC,6824,-0.56,-121.6,633.6,-10.1,482,6829,0.10,0.55,0.00,0.000,6,0.170,0.054,2837,1863,3356,0,0,0,0,0,0
$GC,7159,-0.56,-121.6,664.9,-9.0,493,7162,0.00,0.88,0.00,0.000,4,0.000,0.057,2834,2430,3356,0,0,0,0,0,0
$GC,7286,-0.56,-121.6,676.5,-8.5,496,7291,0.00,0.88,0.00,0.000,6,0.000,0.050,2833,1864,3356,0,0,0,0,0,0
$GC,7598,-0.56,-121.6,704.0,-8.9,507,7602,0.00,0.52,0.00,0.000,4,0.000,0.058,2831,2216,3355,0,0,0,0,0,0
$GC,7742,-0.56,-121.6,716.4,-8.8,511,7746,0.00,0.55,0.00,0.000,6,0.000,0.053,2832,1853,3355,0,0,0,0,0,0
$GC,8071,-0.56,-121.6,744.3,-8.7,522,8075,0.00,0.95,0.00,0.000,4,0.000,0.057,2827,2461,3354,0,0,0,0,0,0
$GC,8206,-0.56,-121.6,755.9,-8.3,526,8210,0.00,0.90,0.00,0.000,6,0.000,0.050,2827,1869,3354,0,0,0,0,0,0
$GC,8546,-0.56,-121.6,787.3,-8.9,537,8549,0.00,0.73,0.00,0.000,4,0.000,0.057,2824,2343,3353,0,0,0,0,0,0
$GC,8656,-0.56,-121.6,797.7,-8.4,540,8661,0.05,0.75,0.00,0.000,6,0.220,0.050,2837,1853,3353,0,0,0,0,0,0
$GC,8985,-0.56,-121.6,825.4,-8.5,551,8988,0.00,0.77,0.00,0.000,4,0.000,0.057,2833,2359,3353,0,0,0,0,0,0
$GC,9128,-0.56,-121.6,838.1,-8.9,555,9133,0.00,0.77,0.00,0.000,6,0.000,0.051,2833,1856,3353,0,0,0,0,0,0
$GC,9458,-0.56,-121.6,867.4,-8.8,566,9461,0.00,0.93,0.00,0.000,4,0.000,0.057,2829,2448,3352,0,0,0,0,0,0
$GC,9619,-0.56,-121.6,881.5,-8.0,570,9625,0.00,0.90,0.00,0.000,6,0.000,0.050,2829,1864,3352,0,0,0,0,0,0
$GC,9932,-0.56,-121.6,907.6,-8.4,581,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1863,3352,0,0,0,0,0,0
$GC,10238,-0.56,-121.6,934.0,-8.5,591,10241,0.00,0.73,0.00,0.000,4,0.000,0.058,2825,2337,3351,0,0,0,0,0,0
$GC,10339,-0.56,-121.6,942.5,-8.2,594,10342,0.00,0.73,0.00,0.000,6,0.000,0.053,2826,1857,3351,0,0,0,0,0,0
$GC,10678,-0.56,-121.6,971.0,-8.2,605,10682,0.00,0.70,0.00,0.000,4,0.000,0.057,2823,2315,3350,0,0,0,0,0,0
$GC,10789,-0.56,-121.6,980.3,-8.1,608,10794,0.08,0.70,0.00,0.000,6,0.187,0.052,2842,1860,3351,0,0,0,0,0,0
$STATE,11056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11057,begin apogee
$GC,11060,-0.23,0.0,1000.9,7.9,617,11163,0.32,0.00,99.95,1.329,6,0.133,0.000,2947,1660,2862,0,0,0,0,0,0
$STATE,11164,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11165,0.71,121.6,1005.1,0.0,620,11276,0.90,0.88,103.38,1.296,4,0.099,0.059,3245,1152,2366,0,0,0,0,0,0
$GC,11321,0.71,182.9,1001.7,4.9,625,11382,0.00,0.85,55.15,1.268,6,0.000,0.049,3245,1663,2115,0,0,0,0,0,0
$GC,11689,0.74,197.8,978.7,6.8,637,11704,0.00,0.00,13.35,1.179,6,0.000,0.000,3245,1663,2055,0,0,0,0,0,0
$GC,11995,0.77,205.6,957.3,7.1,647,12006,0.08,0.00,8.27,1.062,6,0.127,0.000,3279,1663,2023,0,0,0,0,0,0
$GC,12301,0.77,205.6,932.1,8.3,657,12305,0.00,0.62,0.00,0.000,4,0.000,0.060,3281,1272,2021,0,0,0,0,0,0
$GC,12439,0.77,205.6,919.7,9.0,661,12443,0.00,0.65,0.00,0.000,6,0.000,0.052,3282,1675,2021,0,0,0,0,0,0
$GC,12774,0.77,205.6,889.9,9.0,672,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1675,2020,0,0,0,0,0,0
$GC,13080,0.77,205.6,862.0,9.1,682,13084,0.00,0.85,0.00,0.000,4,0.000,0.060,3285,1144,2020,0,0,0,0,0,0
$GC,13196,0.77,205.6,851.2,8.2,685,13200,0.00,0.85,0.00,0.000,6,0.000,0.051,3285,1676,2019,0,0,0,0,0,0
$GC,13520,0.77,205.6,822.4,9.0,696,13521,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1676,2019,0,0,0,0,0,0
$GC,13826,0.77,205.6,794.3,9.2,706,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1676,2018,0,0,0,0,0,0
$GC,14132,0.77,205.6,765.1,9.6,716,14136,0.00,0.38,0.00,0.000,4,0.000,0.068,3287,1427,2018,0,0,0,0,0,0
$GC,14199,0.77,205.6,758.8,9.2,718,14204,0.03,0.35,0.00,0.000,6,0.178,0.062,3276,1662,2018,0,0,0,0,0,0
$GC,14538,0.77,205.6,730.0,8.4,729,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1662,2018,0,0,0,0,0,0
$GC,14845,0.77,205.6,705.0,7.8,739,14846,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1662,2017,0,0,0,0,0,0
$GC,15151,0.78,217.6,682.8,6.9,749,15164,0.00,0.00,11.35,1.043,6,0.000,0.000,3276,1661,1973,0,0,0,0,0,0
$GC,15457,0.78,222.4,660.9,7.2,759,15467,0.00,0.57,5.57,0.848,4,0.000,0.057,3278,1295,1955,0,0,0,0,0,0
$GC,15567,0.78,222.4,652.7,7.7,762,15571,0.00,0.60,0.00,0.000,6,0.000,0.054,3279,1672,1954,0,0,0,0,0,0
$GC,15896,0.78,222.4,626.8,8.1,773,15897,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1672,1953,0,0,0,0,0,0
$GC,16202,0.78,222.4,602.5,7.8,783,16206,0.00,0.57,0.00,0.000,4,0.000,0.063,3281,1304,1953,0,0,0,0,0,0
$GC,16318,0.78,222.4,593.0,7.7,786,16322,0.00,0.57,0.00,0.000,6,0.000,0.054,3281,1667,1953,0,0,0,0,0,0
$GC,16642,0.78,222.4,566.2,8.5,797,16643,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1667,1953,0,0,0,0,0,0
$GC,16948,0.78,222.4,539.9,8.8,807,16949,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1668,1953,0,0,0,0,0,0
$GC,17254,0.78,222.4,512.0,9.3,817,17255,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1668,1952,0,0,0,0,0,0
$GC,17572,0.78,222.4,481.0,9.8,830,17576,0.00,0.57,0.00,0.000,4,0.000,0.063,3284,1295,1953,0,0,0,0,0,0
$GC,17712,0.78,222.4,466.9,9.9,836,17716,0.00,0.57,0.00,0.000,6,0.000,0.054,3284,1662,1952,0,0,0,0,0,0
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$STATE,22933,end climb,SURFACE_DEPTH_REACHED
$STATE,22933,begin surface coast
$FINISH,1.5,1.026638
$STATE,22970,end surface coast,CONTROL_FINISHED_OK
$STATE,22970,begin surface
$SM_CCo,22985,6.85,0.518,0,0,1841,250.20
$SM_GC,3.56,0.00,0.00,6.85,0.000,0.000,0.518,87,1872,1841,-9.17,0.25,250.20
$IRIDIUM_FIX,-4236.17,-926.77,071012,030320
$TT8_MAMPS,0.026964
$HUMID,42.00
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.6,12.779
$10V_AH,10.3,11.659
$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,22.050,54.900,307.875,6.850,0.000,26.064,38.650,227.091,0.000,0.000,21.980,3373.835,15342.335,406.748,4142.119,124.105,33.352,1892.336,0.000,3785.897,0.000,1.008,0.000
$DEVICE_MAMPS,260.100,71.145,1328.805,517.905,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.009,1590.035,854.136,125.331,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354200
$DATA_FILE_SIZE,76883,1305
$CAP_FILE_SIZE,194081,0
$CFSIZE,2097086464,2087026688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071012,165035,-4254.844,-924.392,37,1.1,37,-21.4