version: 66.07.10.p01
glider: 573
mission: 4
dive: 68
start: 10 11 112 13 35 19
data:
$ID,573
$MISSION,4
$DIVE,68
$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,-4178.8193
$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,32
$R_STBD_OVSHOOT,37
$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,47
$GPS1,111012,132736,-4251.821,-919.498,31,0.9,31,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-71.8
$GPS2,111012,133424,-4251.848,-919.534,15,1.5,15,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2e
$TGT_LATLONG,-4252.000,-915.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.147,0.159
$KALMAN_X,-65354.8,-148.1,410.1,122361.1,-2569.6
$KALMAN_Y,-138310.5,1.7,1261.2,114669.6,-9760.4
$MHEAD_RNG_PITCHd_Wd,64.1,6160,-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,-121.6,0.0,0.0,0,81,0.00,0.00,-54.67,0.000,2,0.000,0.000,85,1865,2921,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.1,-1.8,9,115,11.43,2.28,-12.20,0.000,4,0.262,0.073,2779,3265,3360,0,0,0,0,0,0
$GC,380,-0.61,-121.6,38.3,-12.4,59,386,0.17,2.17,0.00,0.000,6,0.162,0.044,2828,1859,3361,0,0,0,0,0,0
$GC,616,-0.57,-121.6,63.7,-10.9,100,621,0.00,0.38,0.00,0.000,4,0.000,0.057,2827,2119,3362,0,0,0,0,0,0
$GC,761,-0.53,-121.6,79.2,-10.6,126,769,0.08,0.40,0.00,0.000,6,0.143,0.054,2854,1840,3362,0,0,0,0,0,0
$GC,1105,-0.53,-121.6,110.4,-8.9,174,1109,0.00,0.60,0.00,0.000,4,0.000,0.054,2851,2245,3362,0,0,0,0,0,0
$GC,1228,-0.53,-121.6,121.6,-9.2,181,1232,0.00,0.60,0.00,0.000,6,0.000,0.050,2851,1850,3362,0,0,0,0,0,0
$GC,1553,-0.53,-121.6,151.8,-9.5,202,1557,0.00,0.65,0.00,0.000,4,0.000,0.051,2848,2291,3363,0,0,0,0,0,0
$GC,1675,-0.53,-121.6,163.3,-9.7,209,1679,0.00,0.62,0.00,0.000,6,0.000,0.049,2848,1868,3363,0,0,0,0,0,0
$GC,2006,-0.53,-121.6,195.4,-9.9,230,2009,0.00,0.62,0.00,0.000,4,0.000,0.054,2845,2291,3362,0,0,0,0,0,0
$GC,2116,-0.53,-121.6,207.3,-10.6,236,2124,0.00,0.65,0.00,0.000,6,0.000,0.048,2845,1862,3363,0,0,0,0,0,0
$GC,2437,-0.53,-121.6,240.6,-10.6,257,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1861,3363,0,0,0,0,0,0
$GC,2755,-0.53,-121.6,274.3,-10.2,274,2759,0.00,0.52,0.00,0.000,4,0.000,0.054,2843,2216,3364,0,0,0,0,0,0
$GC,2916,-0.53,-121.6,291.1,-9.9,281,2919,0.00,0.52,0.00,0.000,6,0.000,0.051,2842,1854,3364,0,0,0,0,0,0
$GC,3250,-0.53,-121.6,326.2,-10.4,297,3254,0.00,0.30,0.00,0.000,4,0.000,0.060,2841,2072,3364,0,0,0,0,0,0
$GC,3508,-0.53,-121.6,352.2,-9.6,308,3510,0.00,0.32,0.00,0.000,6,0.000,0.057,2841,1848,3364,0,0,0,0,0,0
$GC,3826,-0.53,-121.6,383.6,-10.3,324,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1848,3364,0,0,0,0,0,0
$GC,4137,-0.53,-121.6,414.1,-9.2,339,4140,0.00,0.85,0.00,0.000,4,0.000,0.053,2837,2404,3363,0,0,0,0,0,0
$GC,4229,-0.53,-121.6,422.3,-9.3,343,4232,0.00,0.80,0.00,0.000,6,0.000,0.048,2837,1870,3363,0,0,0,0,0,0
$GC,4562,-0.53,-121.6,452.0,-8.8,359,4566,0.00,0.70,0.00,0.000,4,0.000,0.053,2834,2332,3363,0,0,0,0,0,0
$GC,4791,-0.53,-121.6,470.8,-8.2,369,4795,0.03,0.70,0.00,0.000,6,0.176,0.048,2845,1861,3363,0,0,0,0,0,0
$GC,5124,-0.53,-121.6,496.4,-7.4,385,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1861,3362,0,0,0,0,0,0
$GC,5429,-0.53,-121.6,519.4,-7.5,396,5433,0.00,0.60,0.00,0.000,4,0.000,0.055,2842,2263,3362,0,0,0,0,0,0
$GC,5568,-0.53,-121.6,530.4,-7.4,400,5572,0.00,0.62,0.00,0.000,6,0.000,0.050,2843,1851,3361,0,0,0,0,0,0
$GC,5903,-0.53,-121.6,558.4,-8.7,411,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1851,3361,0,0,0,0,0,0
$GC,6209,-0.53,-121.6,586.4,-9.3,421,6212,0.00,0.35,0.00,0.000,4,0.000,0.058,2841,2098,3360,0,0,0,0,0,0
$GC,6377,-0.53,-121.6,602.1,-8.7,426,6381,0.00,0.32,0.00,0.000,6,0.000,0.059,2841,1864,3360,0,0,0,0,0,0
$GC,6717,-0.53,-121.6,634.6,-9.5,437,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1864,3360,0,0,0,0,0,0
$GC,7023,-0.53,-121.6,662.2,-8.7,447,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1863,3359,0,0,0,0,0,0
$GC,7330,-0.53,-121.6,687.3,-8.2,457,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1864,3358,0,0,0,0,0,0
$GC,7636,-0.53,-121.6,711.7,-7.9,467,7639,0.00,0.25,0.00,0.000,4,0.000,0.068,2841,1679,3358,0,0,0,0,0,0
$GC,7830,-0.53,-121.6,727.6,-7.7,472,7833,0.00,0.30,0.00,0.000,6,0.000,0.061,2840,1875,3357,0,0,0,0,0,0
$GC,8139,-0.53,-121.6,751.5,-7.9,482,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1876,3357,0,0,0,0,0,0
$GC,8445,-0.53,-121.6,775.6,-7.7,492,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1876,3356,0,0,0,0,0,0
$GC,8751,-0.53,-121.6,799.4,-7.7,502,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1876,3356,0,0,0,0,0,0
$GC,9057,-0.53,-121.6,823.4,-8.1,512,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1876,3355,0,0,0,0,0,0
$GC,9363,-0.53,-121.6,848.9,-8.6,522,9367,0.00,0.40,0.00,0.000,4,0.000,0.060,2840,1607,3355,0,0,0,0,0,0
$GC,9464,-0.53,-121.6,857.8,-8.2,525,9468,0.00,0.38,0.00,0.000,6,0.000,0.058,2838,1858,3354,0,0,0,0,0,0
$GC,9804,-0.53,-121.6,889.3,-9.4,536,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1858,3354,0,0,0,0,0,0
$GC,10110,-0.53,-121.6,917.6,-9.1,546,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1859,3353,0,0,0,0,0,0
$GC,10416,-0.53,-121.6,944.8,-8.9,556,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1858,3353,0,0,0,0,0,0
$GC,10723,-0.53,-121.6,971.3,-8.3,566,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1859,3352,0,0,0,0,0,0
$GC,11029,-0.53,-121.6,996.5,-8.1,576,11032,0.00,0.45,0.00,0.000,4,0.000,0.060,2838,1557,3352,0,0,0,0,0,0
$STATE,11072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11072,begin apogee
$GC,11076,-0.23,0.0,1000.1,7.8,577,11179,0.32,0.00,99.82,1.323,6,0.138,0.000,2946,1676,2862,0,0,0,0,0,0
$STATE,11179,end apogee,CONTROL_FINISHED_OK
$STATE,11180,begin climb
$GC,11181,0.71,121.6,1003.9,0.0,580,11288,0.90,0.00,104.05,1.289,6,0.100,0.000,3241,1676,2366,0,0,0,0,0,0
$GC,11583,0.71,172.8,987.4,5.3,594,11632,0.00,1.17,44.47,1.264,4,0.000,0.056,3241,2369,2157,0,0,0,0,0,0
$GC,11761,0.71,188.9,976.0,6.7,599,11782,0.00,1.15,15.02,1.183,6,0.000,0.050,3245,1674,2091,0,0,0,0,0,0
$GC,12118,0.73,199.8,950.7,7.0,611,12133,0.00,1.42,10.68,1.116,4,0.000,0.055,3245,2563,2047,0,0,0,0,0,0
$GC,12261,0.76,199.8,939.2,8.1,615,12265,0.00,1.45,0.00,0.000,6,0.000,0.048,3251,1669,2045,0,0,0,0,0,0
$GC,12585,0.78,199.8,914.9,7.4,626,12589,0.08,0.98,0.00,0.000,4,0.129,0.057,3289,2273,2044,0,0,0,0,0,0
$GC,12753,0.75,199.8,899.6,8.7,631,12758,0.08,0.98,0.00,0.000,6,0.145,0.052,3267,1657,2043,0,0,0,0,0,0
$GC,13092,0.75,199.8,873.3,7.5,642,13096,0.00,0.52,0.00,0.000,4,0.000,0.057,3267,2003,2042,0,0,0,0,0,0
$GC,13315,0.75,226.3,857.1,6.3,648,13343,0.00,0.55,23.83,1.198,6,0.000,0.054,3270,1653,1939,0,0,0,0,0,0
$GC,13661,0.75,226.3,831.2,7.7,660,13664,0.00,1.12,0.00,0.000,4,0.000,0.057,3269,2353,1935,0,0,0,0,0,0
$GC,13771,0.75,226.3,822.1,7.4,663,13776,0.00,1.10,0.00,0.000,6,0.000,0.050,3274,1672,1935,0,0,0,0,0,0
$GC,14101,0.75,226.3,795.0,8.3,674,14104,0.00,0.73,0.00,0.000,4,0.000,0.055,3274,2138,1934,0,0,0,0,0,0
$GC,14245,0.75,226.3,782.9,8.3,678,14250,0.00,0.77,0.00,0.000,6,0.000,0.052,3277,1652,1934,0,0,0,0,0,0
$GC,14574,0.75,226.3,755.6,8.5,689,14576,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1651,1933,0,0,0,0,0,0
$GC,14881,0.75,226.3,729.4,8.6,699,14884,0.00,0.85,0.00,0.000,4,0.000,0.054,3278,2196,1933,0,0,0,0,0,0
$GC,14985,0.75,226.3,720.1,9.3,702,14991,0.05,0.85,0.00,0.000,6,0.228,0.053,3268,1662,1933,0,0,0,0,0,0
$GC,15321,0.78,226.3,693.5,7.8,713,15324,0.00,0.90,0.00,0.000,4,0.000,0.057,3268,2243,1933,0,0,0,0,0,0
$GC,15426,0.78,226.3,684.9,8.9,716,15430,0.00,0.93,0.00,0.000,6,0.000,0.052,3272,1661,1933,0,0,0,0,0,0
$GC,15761,0.78,226.3,658.7,7.8,727,15762,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1661,1933,0,0,0,0,0,0
$GC,16067,0.78,226.3,635.1,7.6,737,16070,0.00,0.38,0.00,0.000,4,0.000,0.064,3274,1399,1933,0,0,0,0,0,0
$GC,16149,0.78,235.1,628.9,7.0,739,16160,0.00,0.43,8.00,0.939,6,0.000,0.057,3274,1671,1903,0,0,0,0,0,0
$GC,16468,0.78,256.0,607.4,6.5,749,16492,0.00,0.45,19.67,1.048,4,0.000,0.064,3275,1393,1818,0,0,0,0,0,0
$GC,16549,0.81,277.2,601.9,6.5,751,16574,0.00,0.43,19.88,1.028,6,0.000,0.057,3275,1668,1732,0,0,0,0,0,0
$GC,16904,0.84,288.0,577.1,7.0,763,16916,0.00,0.00,10.52,0.949,6,0.000,0.000,3275,1668,1687,0,0,0,0,0,0
$GC,17210,0.89,301.4,555.9,6.9,773,17227,0.10,0.50,12.98,0.968,4,0.103,0.058,3324,1982,1633,0,0,0,0,0,0
$GC,17288,0.86,301.4,548.4,9.7,775,17293,0.10,0.52,0.00,0.000,6,0.171,0.057,3300,1659,1631,0,0,0,0,0,0
$GC,17611,0.86,301.4,517.9,9.9,786,17612,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1659,1628,0,0,0,0,0,0
$GC,17918,0.86,301.4,486.1,10.4,798,17922,0.00,0.70,0.00,0.000,4,0.000,0.060,3303,1199,1627,0,0,0,0,0,0
$GC,18012,0.88,301.4,476.3,10.7,802,18017,0.00,0.75,0.00,0.000,6,0.000,0.050,3304,1671,1627,0,0,0,0,0,0
$GC,18339,0.88,301.4,441.0,11.0,818,18341,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1670,1626,0,0,0,0,0,0
$GC,18651,0.88,301.4,407.3,10.9,833,18654,0.00,0.47,0.00,0.000,4,0.000,0.062,3305,1355,1627,0,0,0,0,0,0
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$GC,22101,0.88,301.4,37.2,10.2,1093,22106,0.00,0.35,0.00,0.000,6,0.000,0.057,3318,1662,1627,0,0,0,0,0,0
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$STATE,22402,end climb,SURFACE_DEPTH_REACHED
$STATE,22402,begin surface coast
$FINISH,1.4,1.022320
$STATE,22439,end surface coast,CONTROL_FINISHED_OK
$STATE,22439,begin surface
$SM_CCo,22514,0.00,0.000,0,0,1621,304.41
$SM_GC,2.34,8.45,0.00,0.00,0.044,0.000,0.000,99,1862,1621,-9.09,0.00,304.41
$IRIDIUM_FIX,-4236.17,-917.60,111012,060632
$TT8_MAMPS,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.09881
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.7,14.879
$10V_AH,10.3,13.884
$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,21.775,44.900,368.925,0.000,0.000,26.770,43.858,230.217,0.000,0.000,17.799,2931.994,15692.087,437.518,3730.427,124.067,33.349,1794.947,0.000,3370.246,0.000,1.009,0.000
$DEVICE_MAMPS,262.395,76.500,1323.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.866,1306.452,748.611,86.057,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,66868,1150
$CAP_FILE_SIZE,178024,0
$CFSIZE,2097086464,2085060608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111012,195135,-4251.645,-918.362,30,0.9,30,-21.4