version: 66.07.10.p01
glider: 573
mission: 4
dive: 55
start: 10 7 112 23 32 38
data:
$ID,573
$MISSION,4
$DIVE,55
$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,-4137.8311
$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,31
$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,34
$GPS1,071012,232459,-4255.637,-922.696,67,1.0,67,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-71.3
$GPS2,071012,233143,-4255.708,-922.665,19,1.1,19,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.041,0.213
$KALMAN_X,-46542.7,82.1,36.6,99421.9,-2795.2
$KALMAN_Y,-78934.3,206.7,393.0,48808.0,-8313.8
$MHEAD_RNG_PITCHd_Wd,10.6,12467,-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,-48.97,0.000,2,0.000,0.000,83,1861,3028,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.3,-1.8,8,103,11.32,2.20,-8.10,0.000,4,0.261,0.067,2789,481,3359,0,0,0,0,0,0
$GC,211,-0.58,-121.6,23.1,-13.5,30,218,0.15,2.20,0.00,0.000,6,0.148,0.044,2828,1862,3361,0,0,0,0,0,0
$GC,291,-0.54,-121.6,32.5,-11.3,43,295,0.05,0.00,0.00,0.000,6,0.242,0.000,2841,1863,3361,0,0,0,0,0,0
$GC,525,-0.52,-121.6,57.0,-10.5,84,531,0.00,0.38,0.00,0.000,4,0.000,0.057,2838,2138,3361,0,0,0,0,0,0
$GC,680,-0.50,-121.6,73.0,-10.5,111,687,0.00,0.40,0.00,0.000,6,0.000,0.054,2838,1861,3361,0,0,0,0,0,0
$GC,1022,-0.48,-121.6,109.2,-10.5,164,1027,0.10,0.65,0.00,0.000,4,0.186,0.054,2862,2279,3361,0,0,0,0,0,0
$GC,1151,-0.50,-121.6,121.1,-8.8,175,1157,0.00,0.65,0.00,0.000,6,0.000,0.048,2862,1851,3361,0,0,0,0,0,0
$GC,1477,-0.50,-121.6,150.8,-9.0,206,1481,0.00,0.65,0.00,0.000,4,0.000,0.053,2859,2289,3361,0,0,0,0,0,0
$GC,1590,-0.50,-121.6,161.1,-9.1,216,1594,0.00,0.62,0.00,0.000,6,0.000,0.050,2859,1868,3361,0,0,0,0,0,0
$GC,1922,-0.50,-121.6,190.1,-8.8,247,1926,0.00,0.50,0.00,0.000,4,0.000,0.055,2856,2213,3361,0,0,0,0,0,0
$GC,2037,-0.50,-121.6,199.7,-8.5,257,2040,0.00,0.52,0.00,0.000,6,0.000,0.051,2857,1854,3362,0,0,0,0,0,0
$GC,2368,-0.50,-121.6,227.1,-8.2,288,2371,0.00,0.30,0.00,0.000,4,0.000,0.060,2856,2078,3362,0,0,0,0,0,0
$GC,2451,-0.50,-121.6,234.2,-8.0,295,2453,0.00,0.32,0.00,0.000,6,0.000,0.058,2856,1853,3362,0,0,0,0,0,0
$GC,2779,-0.50,-121.6,259.8,-7.8,320,2782,0.00,0.68,0.00,0.000,4,0.000,0.053,2853,2301,3362,0,0,0,0,0,0
$GC,2850,-0.50,-121.6,265.2,-7.5,323,2855,0.00,0.68,0.00,0.000,6,0.000,0.047,2853,1855,3362,0,0,0,0,0,0
$GC,3179,-0.50,-121.6,290.0,-8.2,339,3183,0.00,0.65,0.00,0.000,4,0.000,0.054,2850,2292,3362,0,0,0,0,0,0
$GC,3317,-0.50,-121.6,301.4,-8.6,345,3320,0.00,0.62,0.00,0.000,6,0.000,0.049,2850,1868,3363,0,0,0,0,0,0
$GC,3650,-0.50,-121.6,330.1,-8.8,361,3654,0.00,1.40,0.00,0.000,4,0.000,0.055,2843,2760,3363,0,0,0,0,0,0
$GC,3795,-0.50,-121.6,342.6,-8.4,367,3800,0.05,1.40,0.00,0.000,6,0.212,0.044,2856,1855,3363,0,0,0,0,0,0
$GC,4119,-0.53,-121.6,369.0,-8.2,383,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1854,3363,0,0,0,0,0,0
$GC,4427,-0.55,-121.6,394.9,-8.5,398,4430,0.00,0.88,0.00,0.000,4,0.000,0.054,2852,2424,3363,0,0,0,0,0,0
$GC,4542,-0.57,-121.6,404.5,-8.7,403,4545,0.00,0.85,0.00,0.000,6,0.000,0.047,2853,1858,3362,0,0,0,0,0,0
$GC,4875,-0.57,-121.6,433.6,-8.8,419,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1859,3363,0,0,0,0,0,0
$GC,5183,-0.57,-121.6,460.9,-8.9,434,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1859,3362,0,0,0,0,0,0
$GC,5494,-0.57,-121.6,488.8,-9.0,449,5498,0.00,0.40,0.00,0.000,4,0.000,0.057,2851,2138,3361,0,0,0,0,0,0
$GC,5706,-0.59,-121.6,508.0,-8.6,457,5711,0.05,0.43,0.00,0.000,6,0.169,0.054,2818,1855,3361,0,0,0,0,0,0
$GC,6035,-0.56,-121.6,541.2,-10.1,468,6037,0.08,0.00,0.00,0.000,6,0.197,0.000,2836,1855,3360,0,0,0,0,0,0
$GC,6341,-0.56,-121.6,568.6,-8.9,478,6345,0.00,0.60,0.00,0.000,4,0.000,0.055,2834,2256,3360,0,0,0,0,0,0
$GC,6470,-0.56,-121.6,580.2,-9.0,481,6475,0.00,0.57,0.00,0.000,6,0.000,0.051,2834,1865,3359,0,0,0,0,0,0
$GC,6781,-0.56,-121.6,608.2,-9.4,492,6785,0.00,0.57,0.00,0.000,4,0.000,0.056,2831,2248,3359,0,0,0,0,0,0
$GC,6954,-0.56,-121.6,624.6,-9.4,497,6958,0.00,0.60,0.00,0.000,6,0.000,0.052,2831,1853,3358,0,0,0,0,0,0
$GC,7288,-0.56,-121.6,657.4,-9.8,508,7292,0.00,0.40,0.00,0.000,4,0.000,0.059,2830,2131,3358,0,0,0,0,0,0
$GC,7505,-0.56,-121.6,679.3,-10.1,514,7508,0.00,0.40,0.00,0.000,6,0.000,0.057,2830,1864,3357,0,0,0,0,0,0
$GC,7825,-0.56,-121.6,709.6,-9.6,525,7829,0.00,0.70,0.00,0.000,4,0.000,0.057,2826,2321,3357,0,0,0,0,0,0
$GC,7918,-0.56,-121.6,719.1,-9.5,527,7924,0.00,0.70,0.00,0.000,6,0.000,0.049,2827,1860,3356,0,0,0,0,0,0
$GC,8231,-0.56,-121.6,749.6,-9.9,538,8234,0.00,0.82,0.00,0.000,4,0.000,0.057,2823,2395,3357,0,0,0,0,0,0
$GC,8380,-0.56,-121.6,764.3,-9.6,542,8386,0.05,0.82,0.00,0.000,6,0.213,0.049,2835,1858,3356,0,0,0,0,0,0
$GC,8704,-0.56,-121.6,794.5,-9.4,553,8707,0.00,0.88,0.00,0.000,4,0.000,0.057,2831,2426,3355,0,0,0,0,0,0
$GC,8820,-0.56,-121.6,805.9,-9.5,556,8824,0.00,0.88,0.00,0.000,6,0.000,0.050,2831,1860,3355,0,0,0,0,0,0
$GC,9144,-0.56,-121.6,838.4,-10.2,567,9147,0.00,0.60,0.00,0.000,4,0.000,0.057,2829,2258,3355,0,0,0,0,0,0
$GC,9244,-0.56,-121.6,848.4,-9.7,570,9248,0.00,0.60,0.00,0.000,6,0.000,0.053,2829,1854,3354,0,0,0,0,0,0
$GC,9584,-0.56,-121.6,882.2,-9.8,581,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1853,3354,0,0,0,0,0,0
$GC,9890,-0.56,-121.6,911.1,-9.1,591,9894,0.00,1.05,0.00,0.000,4,0.000,0.057,2824,2522,3353,0,0,0,0,0,0
$GC,10025,-0.56,-121.6,922.6,-8.6,595,10029,0.00,1.00,0.00,0.000,6,0.000,0.049,2824,1869,3353,0,0,0,0,0,0
$GC,10365,-0.56,-121.6,948.1,-7.1,606,10369,0.05,1.40,0.00,0.000,4,0.229,0.059,2829,2745,3353,0,0,0,0,0,0
$GC,10505,-0.56,-121.6,957.6,-6.5,610,10508,0.00,1.38,0.00,0.000,6,0.000,0.047,2829,1855,3353,0,0,0,0,0,0
$GC,10839,-0.56,-121.6,980.7,-7.0,621,10843,0.00,0.85,0.00,0.000,4,0.000,0.057,2825,2404,3352,0,0,0,0,0,0
$GC,10944,-0.56,-121.6,987.9,-6.4,624,10949,0.00,0.85,0.00,0.000,6,0.000,0.050,2825,1855,3352,0,0,0,0,0,0
$STATE,11125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11125,begin apogee
$GC,11129,-0.23,0.0,1000.2,6.9,630,11232,0.38,0.00,100.28,1.324,6,0.136,0.000,2945,1668,2862,0,0,0,0,0,0
$STATE,11233,end apogee,CONTROL_FINISHED_OK
$STATE,11233,begin climb
$GC,11234,0.71,121.6,1003.0,0.0,633,11345,0.90,0.90,103.50,1.287,4,0.100,0.057,3244,1144,2366,0,0,0,0,0,0
$GC,11394,0.71,140.3,995.9,6.6,638,11415,0.00,0.88,17.55,1.195,6,0.000,0.048,3244,1665,2290,0,0,0,0,0,0
$GC,11723,0.71,142.6,972.2,7.3,648,11727,0.00,0.60,0.00,0.000,4,0.000,0.054,3244,2058,2284,0,0,0,0,0,0
$GC,11824,0.71,149.2,964.8,7.1,651,11837,0.00,0.62,8.48,1.098,6,0.000,0.056,3247,1664,2252,0,0,0,0,0,0
$GC,12161,0.71,149.2,939.5,7.4,662,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1664,2251,0,0,0,0,0,0
$GC,12467,0.71,154.1,917.2,7.2,672,12477,0.00,1.12,5.28,0.906,4,0.000,0.054,3246,2365,2233,0,0,0,0,0,0
$GC,12635,0.71,158.1,904.8,7.2,677,12645,0.00,1.10,5.40,0.910,6,0.000,0.052,3251,1673,2216,0,0,0,0,0,0
$GC,12974,0.71,170.0,881.0,6.9,688,12988,0.00,0.00,11.98,1.134,6,0.000,0.000,3252,1673,2168,0,0,0,0,0,0
$GC,13280,0.71,174.3,859.0,7.2,698,13287,0.00,0.00,5.05,0.868,6,0.000,0.000,3252,1672,2151,0,0,0,0,0,0
$GC,13586,0.71,181.5,836.7,7.1,708,13596,0.00,0.00,8.12,1.035,6,0.000,0.000,3252,1673,2121,0,0,0,0,0,0
$GC,13892,0.71,181.5,814.2,7.6,718,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1673,2120,0,0,0,0,0,0
$GC,14199,0.73,191.6,791.9,7.0,728,14211,0.00,0.00,10.52,1.075,6,0.000,0.000,3252,1673,2079,0,0,0,0,0,0
$GC,14505,0.77,208.8,771.8,6.7,738,14524,0.00,0.00,16.55,1.123,6,0.000,0.000,3252,1673,2010,0,0,0,0,0,0
$GC,14812,0.81,212.0,749.9,7.3,748,14821,0.10,0.40,3.80,0.676,4,0.108,0.060,3300,1922,1997,0,0,0,0,0,0
$GC,14887,0.78,212.0,743.3,8.3,750,14892,0.10,0.43,0.00,0.000,6,0.170,0.060,3276,1656,1997,0,0,0,0,0,0
$GC,15216,0.78,212.0,717.2,7.8,761,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1656,1996,0,0,0,0,0,0
$GC,15523,0.78,223.8,695.4,6.9,771,15536,0.00,0.00,11.98,1.045,6,0.000,0.000,3276,1656,1950,0,0,0,0,0,0
$GC,15829,0.78,232.3,674.0,7.1,781,15840,0.00,0.00,9.23,0.986,6,0.000,0.000,3276,1656,1914,0,0,0,0,0,0
$GC,16135,0.81,244.4,652.6,6.9,791,16150,0.00,0.30,11.70,1.014,4,0.000,0.071,3276,1465,1864,0,0,0,0,0,0
$GC,16263,0.84,245.5,643.6,7.4,795,16267,0.00,0.30,0.00,0.000,6,0.000,0.063,3276,1665,1863,0,0,0,0,0,0
$GC,16604,0.87,261.8,620.5,6.7,806,16624,0.08,0.52,16.80,1.037,4,0.129,0.064,3318,1349,1794,0,0,0,0,0,0
$GC,16724,0.84,261.8,609.8,9.2,809,16730,0.10,0.52,0.00,0.000,6,0.164,0.054,3293,1676,1791,0,0,0,0,0,0
$GC,17037,0.84,271.8,586.7,7.0,820,17051,0.00,0.88,9.93,0.950,4,0.000,0.062,3296,1138,1753,0,0,0,0,0,0
$GC,17151,0.84,288.4,578.2,6.7,823,17172,0.00,0.85,16.12,1.001,6,0.000,0.050,3296,1663,1686,0,0,0,0,0,0
$GC,17508,0.86,299.5,553.7,7.0,835,17522,0.00,1.42,10.82,0.942,4,0.000,0.058,3302,782,1639,0,0,0,0,0,0
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$GC,22299,0.88,305.5,36.0,9.1,1192,22306,0.00,0.32,0.00,0.000,4,0.000,0.065,3314,1437,1610,0,0,0,0,0,0
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$STATE,22602,end climb,SURFACE_DEPTH_REACHED
$STATE,22602,begin surface coast
$FINISH,1.6,1.026679
$STATE,22633,end surface coast,CONTROL_FINISHED_OK
$STATE,22633,begin surface
$SM_CCo,22708,0.00,0.000,0,0,1609,307.36
$SM_GC,2.39,8.32,0.00,0.00,0.035,0.000,0.000,83,1870,1609,-9.10,0.20,307.36
$IRIDIUM_FIX,-4239.11,-926.77,071012,161658
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.7,13.055
$10V_AH,10.3,11.964
$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,22.000,65.675,389.600,0.000,0.000,28.213,40.195,222.700,0.000,0.000,22.426,3292.014,15154.772,465.305,4063.065,128.691,33.352,1959.892,0.000,3705.513,0.000,1.010,0.000
$DEVICE_MAMPS,260.865,71.145,1324.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.799,1464.570,818.565,111.011,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354120
$DATA_FILE_SIZE,73584,1248
$CAP_FILE_SIZE,198961,0
$CFSIZE,2097086464,2086731776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081012,055223,-4254.623,-924.494,45,0.9,45,-21.4