version: 66.07.10.p01
glider: 573
mission: 4
dive: 71
start: 10 12 112 8 46 43
data:
$ID,573
$MISSION,4
$DIVE,71
$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,-4188.2544
$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,31
$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,50
$GPS1,121012,083554,-4251.035,-914.975,38,1.4,38,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-71.7
$GPS2,121012,084548,-4251.053,-914.983,16,1.3,16,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3e
$TGT_LATLONG,-4245.000,-845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.190,0.105
$KALMAN_X,-70538.0,120.2,-137.0,134011.4,-2227.3
$KALMAN_Y,-149882.1,102.2,1548.2,127320.4,-12471.7
$MHEAD_RNG_PITCHd_Wd,82.6,42288,-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,-48.60,0.000,2,0.000,0.000,83,1870,2939,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.5,8,109,11.18,2.25,-11.85,0.000,4,0.252,0.073,2778,3256,3360,0,0,0,0,0,0
$GC,364,-0.61,-121.6,38.0,-12.0,57,369,0.17,2.17,0.00,0.000,6,0.158,0.042,2827,1849,3361,0,0,0,0,0,0
$GC,597,-0.57,-121.6,61.4,-8.5,98,602,0.00,0.65,0.00,0.000,4,0.000,0.052,2824,2279,3362,0,0,0,0,0,0
$GC,737,-0.53,-121.6,74.5,-9.9,123,744,0.05,0.62,0.00,0.000,6,0.157,0.047,2842,1858,3362,0,0,0,0,0,0
$GC,1082,-0.53,-121.6,110.5,-10.7,173,1086,0.00,0.85,0.00,0.000,4,0.000,0.052,2839,2413,3362,0,0,0,0,0,0
$GC,1194,-0.53,-121.6,122.5,-9.6,179,1200,0.00,0.85,0.00,0.000,6,0.000,0.044,2839,1859,3363,0,0,0,0,0,0
$GC,1513,-0.53,-121.6,149.2,-8.6,200,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1859,3362,0,0,0,0,0,0
$GC,1827,-0.53,-121.6,176.9,-8.7,220,1830,0.00,0.75,0.00,0.000,4,0.000,0.051,2836,2353,3363,0,0,0,0,0,0
$GC,1931,-0.53,-121.6,186.6,-9.2,226,1936,0.00,0.75,0.00,0.000,6,0.000,0.045,2836,1858,3363,0,0,0,0,0,0
$GC,2258,-0.53,-121.6,217.5,-10.0,247,2262,0.03,0.90,0.00,0.000,4,0.263,0.052,2841,2438,3363,0,0,0,0,0,0
$GC,2377,-0.53,-121.6,228.7,-8.8,254,2380,0.00,0.88,0.00,0.000,6,0.000,0.045,2841,1856,3363,0,0,0,0,0,0
$GC,2697,-0.53,-121.6,257.5,-9.1,273,2701,0.00,0.77,0.00,0.000,4,0.000,0.051,2838,2368,3363,0,0,0,0,0,0
$GC,2789,-0.53,-121.6,265.7,-9.1,277,2792,0.00,0.75,0.00,0.000,6,0.000,0.047,2838,1864,3363,0,0,0,0,0,0
$GC,3122,-0.53,-121.6,294.8,-8.6,293,3126,0.00,0.47,0.00,0.000,4,0.000,0.053,2836,2189,3363,0,0,0,0,0,0
$GC,3260,-0.53,-121.6,306.5,-8.5,299,3264,0.00,0.47,0.00,0.000,6,0.000,0.050,2836,1858,3363,0,0,0,0,0,0
$GC,3594,-0.53,-121.6,336.3,-9.2,315,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1858,3363,0,0,0,0,0,0
$GC,3901,-0.53,-121.6,365.0,-9.3,330,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1857,3363,0,0,0,0,0,0
$GC,4213,-0.53,-121.6,393.3,-8.9,345,4216,0.00,1.10,0.00,0.000,4,0.000,0.053,2831,2565,3363,0,0,0,0,0,0
$GC,4370,-0.53,-121.6,407.3,-8.1,352,4375,0.05,1.05,0.00,0.000,6,0.149,0.044,2850,1869,3363,0,0,0,0,0,0
$GC,4702,-0.53,-121.6,433.8,-7.7,368,4706,0.00,1.00,0.00,0.000,4,0.000,0.052,2845,2517,3363,0,0,0,0,0,0
$GC,4830,-0.53,-121.6,444.4,-8.8,373,4836,0.00,1.02,0.00,0.000,6,0.000,0.044,2845,1851,3363,0,0,0,0,0,0
$GC,5148,-0.53,-121.6,470.7,-8.3,389,5152,0.00,1.15,0.00,0.000,4,0.000,0.054,2840,2588,3362,0,0,0,0,0,0
$GC,5270,-0.53,-121.6,481.3,-8.6,394,5274,0.00,1.12,0.00,0.000,6,0.000,0.044,2840,1857,3362,0,0,0,0,0,0
$GC,5611,-0.53,-121.6,511.3,-8.8,409,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1857,3362,0,0,0,0,0,0
$GC,5917,-0.53,-121.6,538.9,-8.9,419,5920,0.00,0.35,0.00,0.000,4,0.000,0.058,2838,2104,3361,0,0,0,0,0,0
$GC,6173,-0.53,-121.6,562.7,-9.5,426,6175,0.00,0.38,0.00,0.000,6,0.000,0.054,2838,1850,3360,0,0,0,0,0,0
$GC,6487,-0.53,-121.6,591.9,-9.4,437,6491,0.00,0.30,0.00,0.000,4,0.000,0.060,2837,2068,3360,0,0,0,0,0,0
$GC,6670,-0.53,-121.6,609.5,-9.8,442,6673,0.00,0.30,0.00,0.000,6,0.000,0.060,2837,1860,3360,0,0,0,0,0,0
$GC,6990,-0.53,-121.6,638.9,-9.3,453,6994,0.00,0.70,0.00,0.000,4,0.000,0.054,2834,2320,3359,0,0,0,0,0,0
$GC,7174,-0.53,-121.6,656.2,-9.6,458,7178,0.05,0.70,0.00,0.000,6,0.213,0.047,2847,1858,3358,0,0,0,0,0,0
$GC,7497,-0.53,-121.6,684.6,-8.8,469,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1858,3358,0,0,0,0,0,0
$GC,7804,-0.53,-121.6,710.7,-8.3,479,7807,0.00,0.55,0.00,0.000,4,0.000,0.056,2844,2229,3357,0,0,0,0,0,0
$GC,7943,-0.55,-121.6,722.0,-7.9,483,7947,0.00,0.55,0.00,0.000,6,0.000,0.050,2845,1865,3357,0,0,0,0,0,0
$GC,8278,-0.55,-121.6,747.5,-7.4,494,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1865,3357,0,0,0,0,0,0
$GC,8585,-0.57,-121.6,769.7,-7.4,504,8588,0.00,0.45,0.00,0.000,4,0.000,0.060,2845,1555,3356,0,0,0,0,0,0
$GC,8685,-0.57,-121.6,777.3,-7.9,507,8689,0.00,0.45,0.00,0.000,6,0.000,0.054,2842,1859,3356,0,0,0,0,0,0
$GC,9026,-0.57,-121.6,800.7,-6.7,518,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1859,3355,0,0,0,0,0,0
$GC,9332,-0.57,-121.6,821.0,-6.5,528,9335,0.00,0.30,0.00,0.000,4,0.000,0.062,2843,1644,3354,0,0,0,0,0,0
$GC,9471,-0.57,-121.6,830.0,-6.3,532,9475,0.00,0.35,0.00,0.000,6,0.000,0.059,2841,1873,3354,0,0,0,0,0,0
$GC,9806,-0.57,-121.6,851.2,-6.4,543,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1873,3353,0,0,0,0,0,0
$GC,10111,-0.57,-121.6,873.4,-7.6,553,10113,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1873,3353,0,0,0,0,0,0
$GC,10418,-0.57,-121.6,896.5,-7.5,563,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1873,3353,0,0,0,0,0,0
$GC,10724,-0.57,-121.6,919.3,-7.4,573,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1873,3352,0,0,0,0,0,0
$GC,11031,-0.59,-121.6,942.0,-7.4,583,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1873,3352,0,0,0,0,0,0
$GC,11337,-0.61,-121.6,965.7,-8.1,593,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1873,3352,0,0,0,0,0,0
$GC,11643,-0.64,-121.6,990.8,-8.0,603,11645,0.08,0.00,0.00,0.000,6,0.129,0.000,2797,1874,3351,0,0,0,0,0,0
$STATE,11764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11764,begin apogee
$GC,11768,-0.23,0.0,1002.4,9.5,607,11870,0.47,0.00,99.45,1.324,6,0.138,0.000,2948,1663,2862,0,0,0,0,0,0
$STATE,11871,end apogee,CONTROL_FINISHED_OK
$STATE,11871,begin climb
$GC,11872,0.71,121.6,1006.7,0.0,610,11980,0.93,0.00,103.75,1.291,6,0.098,0.000,3245,1663,2366,0,0,0,0,0,0
$GC,12309,0.71,152.5,985.7,6.1,625,12338,0.00,0.00,27.27,1.245,6,0.000,0.000,3245,1663,2240,0,0,0,0,0,0
$GC,12645,0.71,154.2,961.1,7.3,636,12649,0.00,0.68,0.00,0.000,4,0.000,0.054,3245,2097,2234,0,0,0,0,0,0
$GC,12761,0.71,168.2,952.7,6.8,639,12780,0.00,0.70,14.23,1.189,6,0.000,0.052,3249,1659,2176,0,0,0,0,0,0
$GC,13116,0.71,168.2,924.7,7.8,651,13119,0.00,1.23,0.00,0.000,4,0.000,0.056,3248,2425,2173,0,0,0,0,0,0
$GC,13277,0.71,168.2,911.1,8.2,655,13283,0.00,1.23,0.00,0.000,6,0.000,0.050,3254,1668,2172,0,0,0,0,0,0
$GC,13590,0.71,168.2,885.9,7.8,666,13594,0.00,0.28,0.00,0.000,4,0.000,0.063,3254,1860,2172,0,0,0,0,0,0
$GC,13801,0.71,179.6,869.6,6.9,672,13817,0.00,0.32,10.65,1.108,6,0.000,0.065,3255,1655,2129,0,0,0,0,0,0
$GC,14130,0.71,186.2,845.2,7.1,683,14140,0.00,0.68,7.40,1.006,4,0.000,0.054,3255,2074,2102,0,0,0,0,0,0
$GC,14360,0.71,191.2,828.5,7.2,690,14370,0.00,0.62,5.82,0.918,6,0.000,0.054,3258,1669,2082,0,0,0,0,0,0
$GC,14699,0.71,206.0,805.0,6.8,701,14718,0.00,0.80,14.52,1.123,4,0.000,0.054,3258,2168,2022,0,0,0,0,0,0
$GC,14832,0.73,215.7,795.6,7.0,705,14846,0.00,0.80,9.68,1.041,6,0.000,0.053,3262,1660,1983,0,0,0,0,0,0
$GC,15171,0.76,231.3,771.9,6.8,716,15190,0.00,0.70,15.55,1.108,4,0.000,0.050,3262,2102,1919,0,0,0,0,0,0
$GC,15297,0.79,250.7,763.5,6.6,719,15318,0.00,0.70,18.45,1.110,6,0.000,0.054,3263,1656,1839,0,0,0,0,0,0
$GC,15637,0.83,272.1,741.6,6.5,731,15662,0.08,0.43,20.17,1.108,4,0.125,0.050,3304,1931,1751,0,0,0,0,0,0
$GC,15728,0.83,272.1,733.5,8.3,733,15734,0.05,0.45,0.00,0.000,6,0.214,0.058,3294,1653,1748,0,0,0,0,0,0
$GC,16040,0.83,272.1,706.8,8.7,744,16044,0.00,0.65,0.00,0.000,4,0.000,0.054,3294,2074,1746,0,0,0,0,0,0
$GC,16156,0.83,272.1,695.9,9.2,747,16161,0.00,0.65,0.00,0.000,6,0.000,0.054,3296,1662,1746,0,0,0,0,0,0
$GC,16480,0.83,272.1,665.1,9.8,758,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1662,1745,0,0,0,0,0,0
$GC,16786,0.83,272.1,633.8,10.4,768,16790,0.00,1.05,0.00,0.000,4,0.000,0.056,3297,2320,1744,0,0,0,0,0,0
$GC,16913,0.83,272.1,619.9,11.6,771,16919,0.00,1.05,0.00,0.000,6,0.000,0.050,3301,1664,1744,0,0,0,0,0,0
$GC,17226,0.83,272.1,586.0,11.1,782,17227,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1663,1744,0,0,0,0,0,0
$GC,17532,0.83,272.1,552.8,10.6,792,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1663,1743,0,0,0,0,0,0
$GC,17839,0.83,272.1,522.2,9.7,802,17842,0.00,0.35,0.00,0.000,4,0.000,0.063,3301,1904,1743,0,0,0,0,0,0
$GC,17966,0.83,272.1,510.2,8.1,805,17968,0.00,0.40,0.00,0.000,6,0.000,0.060,3302,1651,1743,0,0,0,0,0,0
$GC,18276,0.83,272.1,481.5,9.4,818,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1651,1743,0,0,0,0,0,0
$GC,18587,0.83,272.1,453.4,8.7,833,18588,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1652,1743,0,0,0,0,0,0
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$GC,23324,0.83,279.6,15.5,10.1,1194,23330,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1659,1724,0,0,0,0,0,0
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$STATE,23451,end climb,SURFACE_DEPTH_REACHED
$STATE,23451,begin surface coast
$FINISH,1.5,1.026606
$STATE,23488,end surface coast,CONTROL_FINISHED_OK
$STATE,23488,begin surface
$SM_CCo,23563,0.00,0.000,0,0,1721,279.88
$SM_GC,2.38,8.43,0.00,0.00,0.045,0.000,0.000,92,1866,1721,-9.09,0.11,279.88
$IRIDIUM_FIX,-4233.25,-917.12,121012,020241
$TT8_MAMPS,0.026964
$HUMID,42.43
$INTERNAL_PRESSURE,9.11834
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.7,15.304
$10V_AH,10.3,14.301
$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,21.600,49.550,353.100,0.000,0.000,64.510,120.015,240.987,0.000,0.000,19.592,3108.345,16406.881,447.444,4064.738,124.801,33.355,1871.127,0.000,3574.242,0.000,1.010,0.000
$DEVICE_MAMPS,263.160,72.675,1324.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.979,1424.889,799.748,92.129,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,73481,1221
$CAP_FILE_SIZE,190434,0
$CFSIZE,2097086464,2084667392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,121012,152036,-4251.801,-912.501,38,1.1,38,-21.4