version: 66.07.10.p01
glider: 573
mission: 4
dive: 72
start: 10 12 112 15 28 26
data:
$ID,573
$MISSION,4
$DIVE,72
$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,-4191.5259
$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,36
$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,51
$GPS1,121012,152036,-4251.801,-912.501,38,1.1,38,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-74.0
$GPS2,121012,152731,-4251.833,-912.521,16,0.9,18,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3e
$TGT_LATLONG,-4245.000,-845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.043,0.213
$KALMAN_X,-72607.9,51.1,242.8,139131.8,-3094.1
$KALMAN_Y,-152843.2,377.4,123.9,129986.6,-6395.4
$MHEAD_RNG_PITCHd_Wd,32.8,39509,-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,-48.92,0.000,2,0.000,0.000,89,1867,2898,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.6,8,109,11.20,2.30,-12.90,0.000,4,0.256,0.064,2786,455,3359,0,0,0,0,0,0
$GC,277,-0.58,-121.6,29.0,-14.2,42,285,0.17,2.22,0.00,0.000,6,0.147,0.042,2833,1857,3360,0,0,0,0,0,0
$GC,357,-0.55,-121.6,37.9,-10.6,55,362,0.00,0.30,0.00,0.000,4,0.000,0.060,2832,2083,3360,0,0,0,0,0,0
$GC,564,-0.52,-121.6,60.1,-11.4,91,569,0.05,0.32,0.00,0.000,6,0.153,0.057,2850,1850,3360,0,0,0,0,0,0
$GC,908,-0.52,-121.6,93.1,-10.0,152,913,0.00,1.23,0.00,0.000,4,0.000,0.054,2844,2627,3361,0,0,0,0,0,0
$GC,1012,-0.52,-121.6,104.0,-10.6,166,1017,0.00,1.20,0.00,0.000,6,0.000,0.044,2845,1855,3361,0,0,0,0,0,0
$GC,1339,-0.52,-121.6,135.6,-9.9,187,1343,0.00,1.23,0.00,0.000,4,0.000,0.054,2839,2632,3362,0,0,0,0,0,0
$GC,1449,-0.52,-121.6,147.2,-9.9,193,1456,0.00,1.20,0.00,0.000,6,0.000,0.043,2839,1856,3361,0,0,0,0,0,0
$GC,1770,-0.52,-121.6,180.7,-10.7,214,1774,0.00,0.73,0.00,0.000,4,0.000,0.052,2835,2331,3361,0,0,0,0,0,0
$GC,1892,-0.52,-121.6,193.5,-10.0,221,1896,0.03,0.70,0.00,0.000,6,0.177,0.047,2846,1860,3361,0,0,0,0,0,0
$GC,2222,-0.52,-121.6,226.4,-9.5,242,2226,0.00,0.85,0.00,0.000,4,0.000,0.052,2842,2418,3361,0,0,0,0,0,0
$GC,2309,-0.52,-121.6,234.6,-9.3,247,2313,0.00,0.82,0.00,0.000,6,0.000,0.046,2843,1866,3361,0,0,0,0,0,0
$GC,2628,-0.52,-121.6,263.6,-8.8,265,2632,0.00,0.68,0.00,0.000,4,0.000,0.053,2839,2315,3362,0,0,0,0,0,0
$GC,2823,-0.52,-121.6,279.6,-7.6,273,2829,0.00,0.70,0.00,0.000,6,0.000,0.047,2840,1852,3362,0,0,0,0,0,0
$GC,3141,-0.52,-121.6,304.3,-7.9,289,3145,0.00,1.33,0.00,0.000,4,0.000,0.053,2833,2701,3362,0,0,0,0,0,0
$GC,3257,-0.52,-121.6,314.0,-8.4,294,3263,0.08,1.30,0.00,0.000,6,0.181,0.042,2853,1855,3362,0,0,0,0,0,0
$GC,3584,-0.52,-121.6,339.6,-8.2,310,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1855,3362,0,0,0,0,0,0
$GC,3896,-0.52,-121.6,366.4,-8.6,325,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1855,3362,0,0,0,0,0,0
$GC,4203,-0.52,-121.6,393.4,-8.8,340,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1855,3361,0,0,0,0,0,0
$GC,4515,-0.52,-121.6,421.5,-9.5,355,4518,0.00,0.35,0.00,0.000,4,0.000,0.057,2851,2112,3362,0,0,0,0,0,0
$GC,4772,-0.52,-121.6,447.0,-9.8,366,4774,0.00,0.38,0.00,0.000,6,0.000,0.054,2851,1856,3361,0,0,0,0,0,0
$GC,5090,-0.54,-121.6,477.0,-9.0,382,5093,0.00,0.43,0.00,0.000,4,0.000,0.054,2848,2162,3361,0,0,0,0,0,0
$GC,5180,-0.56,-121.6,485.2,-8.9,386,5184,0.00,0.43,0.00,0.000,6,0.000,0.052,2849,1864,3361,0,0,0,0,0,0
$GC,5521,-0.56,-121.6,514.1,-8.3,400,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1864,3361,0,0,0,0,0,0
$GC,5827,-0.56,-121.6,538.9,-8.0,410,5830,0.00,0.30,0.00,0.000,4,0.000,0.061,2847,2085,3361,0,0,0,0,0,0
$GC,5962,-0.58,-121.6,549.9,-8.1,414,5965,0.00,0.30,0.00,0.000,6,0.000,0.060,2848,1867,3360,0,0,0,0,0,0
$GC,6302,-0.58,-121.6,577.9,-8.2,425,6305,0.00,0.43,0.00,0.000,4,0.000,0.057,2846,2162,3360,0,0,0,0,0,0
$GC,6395,-0.58,-121.6,585.9,-8.8,427,6397,0.00,0.45,0.00,0.000,6,0.000,0.051,2846,1858,3360,0,0,0,0,0,0
$GC,6703,-0.58,-121.6,612.1,-8.8,437,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1858,3359,0,0,0,0,0,0
$GC,7009,-0.58,-121.6,638.4,-8.6,447,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1859,3358,0,0,0,0,0,0
$GC,7315,-0.58,-121.6,664.2,-8.4,457,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1858,3358,0,0,0,0,0,0
$GC,7622,-0.58,-121.6,689.3,-8.1,467,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1858,3358,0,0,0,0,0,0
$GC,7928,-0.58,-121.6,714.8,-8.2,477,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1858,3357,0,0,0,0,0,0
$GC,8234,-0.58,-121.6,740.5,-8.3,487,8238,0.00,0.28,0.00,0.000,4,0.000,0.065,2845,1654,3356,0,0,0,0,0,0
$GC,8301,-0.61,-121.6,746.0,-8.6,489,8305,0.03,0.32,0.00,0.000,6,0.099,0.060,2813,1876,3356,0,0,0,0,0,0
$GC,8641,-0.58,-121.6,778.0,-9.3,500,8643,0.08,0.00,0.00,0.000,6,0.198,0.000,2831,1876,3355,0,0,0,0,0,0
$GC,8946,-0.58,-121.6,802.7,-8.1,510,8950,0.00,0.28,0.00,0.000,4,0.000,0.066,2830,2081,3354,0,0,0,0,0,0
$GC,9001,-0.58,-121.6,807.2,-8.6,511,9003,0.00,0.32,0.00,0.000,6,0.000,0.060,2830,1860,3354,0,0,0,0,0,0
$GC,9315,-0.58,-121.6,831.3,-7.6,522,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1859,3353,0,0,0,0,0,0
$GC,9621,-0.58,-121.6,856.3,-8.3,532,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1860,3353,0,0,0,0,0,0
$GC,9927,-0.58,-121.6,883.8,-9.5,542,9931,0.00,0.55,0.00,0.000,4,0.000,0.057,2828,2228,3353,0,0,0,0,0,0
$GC,10062,-0.58,-121.6,896.4,-9.8,546,10065,0.00,0.52,0.00,0.000,6,0.000,0.053,2828,1871,3352,0,0,0,0,0,0
$GC,10401,-0.58,-121.6,927.7,-9.0,557,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1871,3352,0,0,0,0,0,0
$GC,10708,-0.58,-121.6,954.6,-8.6,567,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1871,3352,0,0,0,0,0,0
$GC,11014,-0.58,-121.6,979.3,-7.8,577,11017,0.00,0.65,0.00,0.000,4,0.000,0.054,2825,2304,3351,0,0,0,0,0,0
$GC,11153,-0.58,-121.6,990.0,-7.2,581,11157,0.00,0.68,0.00,0.000,6,0.000,0.050,2826,1862,3351,0,0,0,0,0,0
$STATE,11303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11303,begin apogee
$GC,11307,-0.23,0.0,1001.9,8.0,586,11410,0.38,0.00,99.78,1.320,6,0.132,0.000,2946,1658,2862,0,0,0,0,0,0
$STATE,11410,end apogee,CONTROL_FINISHED_OK
$STATE,11410,begin climb
$GC,11412,0.71,121.6,1005.5,0.0,589,11522,0.90,0.62,103.28,1.285,4,0.098,0.058,3245,1287,2366,0,0,0,0,0,0
$GC,11572,0.71,180.6,1000.6,5.0,594,11629,0.00,0.62,52.55,1.255,6,0.000,0.049,3244,1660,2125,0,0,0,0,0,0
$GC,11935,0.74,198.5,976.8,6.7,606,11956,0.00,1.40,16.25,1.187,4,0.000,0.053,3244,2535,2052,0,0,0,0,0,0
$GC,12101,0.76,198.5,964.7,7.6,611,12105,0.00,1.40,0.00,0.000,6,0.000,0.048,3250,1676,2048,0,0,0,0,0,0
$GC,12437,0.79,214.9,941.8,6.7,622,12456,0.08,0.73,15.05,1.168,4,0.125,0.050,3289,2133,1986,0,0,0,0,0,0
$GC,12590,0.76,214.9,928.4,8.6,626,12595,0.10,0.77,0.00,0.000,6,0.169,0.052,3267,1653,1984,0,0,0,0,0,0
$GC,12908,0.76,214.9,903.0,8.3,637,12911,0.00,0.50,0.00,0.000,4,0.000,0.054,3266,1988,1982,0,0,0,0,0,0
$GC,13009,0.76,214.9,894.6,8.6,640,13012,0.00,0.50,0.00,0.000,6,0.000,0.056,3268,1665,1982,0,0,0,0,0,0
$GC,13348,0.76,214.9,864.6,8.8,651,13352,0.00,0.98,0.00,0.000,4,0.000,0.054,3268,2292,1981,0,0,0,0,0,0
$GC,13487,0.76,214.9,852.0,9.8,655,13492,0.00,1.00,0.00,0.000,6,0.000,0.050,3273,1666,1981,0,0,0,0,0,0
$GC,13822,0.76,214.9,822.1,8.9,666,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1666,1981,0,0,0,0,0,0
$GC,14128,0.76,214.9,794.6,9.0,676,14132,0.00,0.40,0.00,0.000,4,0.000,0.060,3273,1937,1980,0,0,0,0,0,0
$GC,14357,0.76,214.9,774.2,8.7,682,14359,0.00,0.45,0.00,0.000,6,0.000,0.058,3275,1649,1980,0,0,0,0,0,0
$GC,14665,0.76,214.9,746.7,9.1,692,14666,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1649,1980,0,0,0,0,0,0
$GC,14971,0.76,214.9,719.5,8.9,702,14975,0.00,0.80,0.00,0.000,4,0.000,0.054,3275,2166,1980,0,0,0,0,0,0
$GC,15098,0.76,214.9,707.9,9.9,705,15104,0.00,0.80,0.00,0.000,6,0.000,0.052,3278,1657,1980,0,0,0,0,0,0
$GC,15411,0.76,214.9,681.1,8.5,716,15414,0.00,0.98,0.00,0.000,4,0.000,0.056,3278,2281,1979,0,0,0,0,0,0
$GC,15538,0.76,214.9,670.2,8.9,719,15544,0.05,0.98,0.00,0.000,6,0.231,0.050,3270,1664,1980,0,0,0,0,0,0
$GC,15851,0.76,227.3,647.3,6.9,730,15865,0.00,0.75,11.40,1.014,4,0.000,0.050,3269,2175,1935,0,0,0,0,0,0
$GC,15954,0.78,227.3,639.7,8.2,733,15959,0.00,0.82,0.00,0.000,6,0.000,0.051,3273,1653,1934,0,0,0,0,0,0
$GC,16284,0.78,232.5,616.3,7.2,744,16293,0.00,0.73,5.65,0.823,4,0.000,0.050,3273,2122,1915,0,0,0,0,0,0
$GC,16405,0.78,232.5,607.2,7.8,747,16409,0.00,0.73,0.00,0.000,6,0.000,0.052,3276,1663,1916,0,0,0,0,0,0
$GC,16723,0.78,232.5,583.1,7.7,758,16726,0.00,1.00,0.00,0.000,4,0.000,0.056,3276,2301,1915,0,0,0,0,0,0
$GC,16845,0.79,240.4,573.1,7.1,761,16857,0.00,1.00,9.02,0.929,6,0.000,0.050,3281,1669,1880,0,0,0,0,0,0
$GC,17192,0.79,240.4,543.8,8.7,773,17195,0.00,0.45,0.00,0.000,4,0.000,0.055,3281,1972,1880,0,0,0,0,0,0
$GC,17297,0.79,240.4,534.1,10.7,776,17299,0.00,0.50,0.00,0.000,6,0.000,0.057,3283,1658,1879,0,0,0,0,0,0
$GC,17628,0.79,240.4,501.7,10.1,787,17629,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1658,1879,0,0,0,0,0,0
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$STATE,23102,end climb,SURFACE_DEPTH_REACHED
$STATE,23102,begin surface coast
$FINISH,1.6,1.020255
$STATE,23145,end surface coast,CONTROL_FINISHED_OK
$STATE,23145,begin surface
$SM_CCo,23160,2.28,0.188,0,0,1841,250.20
$SM_GC,3.58,0.00,0.00,2.28,0.000,0.000,0.188,95,1863,1841,-9.15,0.00,250.20
$IRIDIUM_FIX,-4236.17,-914.70,121012,080817
$TT8_MAMPS,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,9.11834
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,15.433
$10V_AH,10.3,14.443
$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
$DEVICE_SECS,21.625,53.300,317.600,2.275,0.000,26.434,50.093,224.433,0.000,0.000,19.968,3078.381,16036.577,401.582,3931.790,125.618,33.354,1832.798,0.000,3557.038,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.289,1435.032,788.149,92.442,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,70297,1212
$CAP_FILE_SIZE,189726,0
$CFSIZE,2097086464,2084536320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121012,215623,-4251.088,-912.351,81,0.9,81,-21.4