version: 66.07.10.p01
glider: 573
mission: 4
dive: 80
start: 10 14 112 19 59 32
data:
$ID,573
$MISSION,4
$DIVE,80
$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,-4217.2422
$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,59
$GPS1,141012,195205,-4255.309,-900.305,51,1.0,51,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.5
$GPS2,141012,195837,-4255.343,-900.283,19,1.2,20,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3e
$TGT_LATLONG,-4252.000,-842.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.065,0.207
$KALMAN_X,-85650.5,30.9,666.4,168433.4,-4363.9
$KALMAN_Y,-184999.2,240.9,323.4,155576.4,-6231.5
$MHEAD_RNG_PITCHd_Wd,38.9,25578,-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,-121.6,0.0,0.0,0,69,0.00,0.00,-42.70,0.000,2,0.000,0.000,82,1867,2871,0,0,0,0,0,0
$GC,71,-0.71,-121.6,3.0,-1.4,7,103,11.18,0.00,-14.27,0.000,6,0.252,0.000,2787,1867,3359,0,0,0,0,0,0
$GC,175,-0.61,-121.6,13.1,-11.1,24,183,0.12,0.35,0.00,0.000,4,0.177,0.058,2820,2115,3361,0,0,0,0,0,0
$GC,220,-0.54,-121.6,18.1,-11.1,31,228,0.08,0.38,0.00,0.000,6,0.142,0.053,2847,1854,3360,0,0,0,0,0,0
$GC,301,-0.54,-121.6,25.4,-9.0,44,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1855,3361,0,0,0,0,0,0
$GC,379,-0.54,-121.6,32.5,-9.5,57,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1854,3361,0,0,0,0,0,0
$GC,612,-0.54,-121.6,54.9,-9.6,98,619,0.00,1.12,0.00,0.000,4,0.000,0.052,2842,2575,3361,0,0,0,0,0,0
$GC,722,-0.54,-121.6,65.2,-9.4,117,728,0.00,1.10,0.00,0.000,6,0.000,0.044,2842,1859,3361,0,0,0,0,0,0
$GC,1067,-0.54,-121.6,98.7,-9.8,178,1072,0.00,0.85,0.00,0.000,4,0.000,0.052,2838,2414,3362,0,0,0,0,0,0
$GC,1177,-0.54,-121.6,109.4,-9.0,186,1185,0.00,0.85,0.00,0.000,6,0.000,0.045,2839,1858,3361,0,0,0,0,0,0
$GC,1498,-0.54,-121.6,139.6,-9.5,207,1502,0.00,0.93,0.00,0.000,4,0.000,0.051,2834,2456,3361,0,0,0,0,0,0
$GC,1618,-0.54,-121.6,150.8,-9.0,214,1622,0.00,0.90,0.00,0.000,6,0.000,0.045,2834,1858,3362,0,0,0,0,0,0
$GC,1950,-0.52,-121.6,182.3,-9.5,235,1954,0.08,0.75,0.00,0.000,4,0.194,0.051,2849,2345,3362,0,0,0,0,0,0
$GC,2053,-0.52,-121.6,191.4,-8.0,241,2057,0.00,0.73,0.00,0.000,6,0.000,0.046,2849,1856,3362,0,0,0,0,0,0
$GC,2384,-0.52,-121.6,220.1,-8.1,262,2388,0.00,0.68,0.00,0.000,4,0.000,0.050,2847,2311,3362,0,0,0,0,0,0
$GC,2512,-0.52,-121.6,231.4,-8.6,269,2517,0.00,0.68,0.00,0.000,6,0.000,0.046,2847,1861,3362,0,0,0,0,0,0
$GC,2842,-0.52,-121.6,259.3,-8.4,289,2846,0.00,1.00,0.00,0.000,4,0.000,0.051,2842,2509,3362,0,0,0,0,0,0
$GC,2947,-0.52,-121.6,268.0,-7.4,293,2953,0.00,1.00,0.00,0.000,6,0.000,0.044,2842,1856,3363,0,0,0,0,0,0
$GC,3265,-0.52,-121.6,294.7,-8.6,309,3269,0.00,0.47,0.00,0.000,4,0.000,0.053,2840,2184,3363,0,0,0,0,0,0
$GC,3377,-0.52,-121.6,304.5,-9.1,314,3381,0.00,0.45,0.00,0.000,6,0.000,0.050,2839,1865,3362,0,0,0,0,0,0
$GC,3709,-0.52,-121.6,335.8,-9.4,330,3712,0.00,1.40,0.00,0.000,4,0.000,0.054,2833,2760,3363,0,0,0,0,0,0
$GC,3824,-0.52,-121.6,346.8,-9.9,335,3828,0.03,1.35,0.00,0.000,6,0.164,0.044,2845,1872,3362,0,0,0,0,0,0
$GC,4157,-0.52,-121.6,378.5,-9.6,351,4161,0.00,0.55,0.00,0.000,4,0.000,0.051,2845,1489,3363,0,0,0,0,0,0
$GC,4257,-0.52,-121.6,388.7,-9.7,355,4261,0.00,0.57,0.00,0.000,6,0.000,0.047,2842,1867,3363,0,0,0,0,0,0
$GC,4580,-0.52,-121.6,417.0,-8.3,371,4584,0.00,0.38,0.00,0.000,4,0.000,0.055,2841,2144,3362,0,0,0,0,0,0
$GC,4839,-0.52,-121.6,438.4,-8.6,382,4841,0.00,0.43,0.00,0.000,6,0.000,0.052,2841,1855,3362,0,0,0,0,0,0
$GC,5157,-0.52,-121.6,464.4,-8.0,398,5160,0.00,1.77,0.00,0.000,4,0.000,0.055,2832,3010,3363,0,0,0,0,0,0
$GC,5302,-0.52,-121.6,476.5,-8.2,404,5307,0.05,1.75,0.00,0.000,6,0.144,0.042,2852,1869,3363,0,0,0,0,0,0
$GC,5623,-0.54,-121.6,501.4,-8.2,420,5627,0.00,0.30,0.00,0.000,4,0.000,0.058,2850,2098,3362,0,0,0,0,0,0
$GC,5695,-0.57,-121.6,507.6,-8.0,422,5699,0.00,0.35,0.00,0.000,6,0.000,0.056,2851,1853,3362,0,0,0,0,0,0
$GC,6030,-0.59,-121.6,537.8,-9.4,433,6032,0.05,0.00,0.00,0.000,6,0.169,0.000,2813,1853,3362,0,0,0,0,0,0
$GC,6336,-0.55,-121.6,571.4,-11.0,443,6340,0.10,1.23,0.00,0.000,4,0.171,0.054,2835,2632,3361,0,0,0,0,0,0
$GC,6441,-0.55,-121.6,581.8,-9.5,446,6446,0.00,1.17,0.00,0.000,6,0.000,0.044,2835,1867,3361,0,0,0,0,0,0
$GC,6776,-0.55,-121.6,613.2,-9.4,457,6780,0.00,0.70,0.00,0.000,4,0.000,0.052,2832,2332,3361,0,0,0,0,0,0
$GC,6870,-0.55,-121.6,622.4,-9.6,459,6876,0.00,0.73,0.00,0.000,6,0.000,0.047,2832,1854,3360,0,0,0,0,0,0
$GC,7182,-0.55,-121.6,649.3,-8.4,470,7186,0.00,0.80,0.00,0.000,4,0.000,0.053,2828,2381,3360,0,0,0,0,0,0
$GC,7317,-0.55,-121.6,660.3,-8.0,474,7321,0.00,0.77,0.00,0.000,6,0.000,0.048,2828,1861,3359,0,0,0,0,0,0
$GC,7657,-0.55,-121.6,685.8,-7.4,485,7661,0.00,0.50,0.00,0.000,4,0.000,0.054,2826,2204,3359,0,0,0,0,0,0
$GC,7813,-0.55,-121.6,697.2,-6.8,489,7818,0.00,0.52,0.00,0.000,6,0.000,0.051,2826,1854,3359,0,0,0,0,0,0
$GC,8131,-0.55,-121.6,721.6,-7.8,500,8136,0.05,0.28,0.00,0.000,4,0.223,0.063,2836,2048,3358,0,0,0,0,0,0
$GC,8236,-0.55,-121.6,729.8,-7.9,503,8238,0.00,0.28,0.00,0.000,6,0.000,0.060,2836,1857,3357,0,0,0,0,0,0
$GC,8567,-0.55,-121.6,757.9,-9.1,514,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1858,3357,0,0,0,0,0,0
$GC,8873,-0.55,-121.6,785.6,-8.9,524,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1858,3357,0,0,0,0,0,0
$GC,9179,-0.55,-121.6,813.5,-9.1,534,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1858,3356,0,0,0,0,0,0
$GC,9485,-0.55,-121.6,841.3,-9.1,544,9489,0.00,0.62,0.00,0.000,4,0.000,0.054,2834,2273,3355,0,0,0,0,0,0
$GC,9586,-0.55,-121.6,850.1,-8.9,547,9590,0.00,0.60,0.00,0.000,6,0.000,0.050,2834,1867,3354,0,0,0,0,0,0
$GC,9926,-0.55,-121.6,881.0,-9.2,558,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1867,3354,0,0,0,0,0,0
$GC,10232,-0.55,-121.6,910.2,-9.7,568,10236,0.00,0.32,0.00,0.000,4,0.000,0.060,2833,2102,3353,0,0,0,0,0,0
$GC,10489,-0.55,-121.6,935.4,-10.5,575,10491,0.00,0.38,0.00,0.000,6,0.000,0.057,2833,1850,3353,0,0,0,0,0,0
$GC,10803,-0.55,-121.6,965.7,-9.6,586,10806,0.00,0.62,0.00,0.000,4,0.000,0.054,2830,2268,3352,0,0,0,0,0,0
$GC,10964,-0.55,-121.6,980.4,-9.5,590,10970,0.00,0.62,0.00,0.000,6,0.000,0.051,2830,1857,3353,0,0,0,0,0,0
$STATE,11214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11214,begin apogee
$GC,11218,-0.23,0.0,1001.8,8.4,599,11321,0.38,0.00,99.80,1.315,6,0.129,0.000,2951,1668,2862,0,0,0,0,0,0
$STATE,11322,end apogee,CONTROL_FINISHED_OK
$STATE,11322,begin climb
$GC,11323,0.71,121.6,1005.9,0.0,602,11434,0.88,1.08,102.90,1.281,4,0.095,0.055,3246,1047,2365,0,0,0,0,0,0
$GC,11479,0.71,177.9,1002.4,5.1,607,11534,0.00,1.00,50.03,1.250,6,0.000,0.045,3246,1652,2136,0,0,0,0,0,0
$GC,11847,0.71,210.7,980.6,6.1,619,11881,0.00,1.08,28.92,1.232,4,0.000,0.051,3246,2302,2002,0,0,0,0,0,0
$GC,11982,0.74,242.9,971.7,6.1,623,12017,0.00,1.05,29.90,1.226,6,0.000,0.049,3251,1666,1871,0,0,0,0,0,0
$GC,12347,0.78,249.6,946.6,7.1,635,12356,0.08,0.00,6.18,0.989,6,0.125,0.000,3296,1666,1844,0,0,0,0,0,0
$GC,12653,0.78,249.6,915.9,10.3,645,12657,0.08,0.38,0.00,0.000,4,0.180,0.064,3280,1422,1843,0,0,0,0,0,0
$GC,12745,0.78,249.6,906.6,9.5,647,12748,0.00,0.40,0.00,0.000,6,0.000,0.055,3279,1678,1843,0,0,0,0,0,0
$GC,13054,0.78,249.6,875.9,10.0,657,13057,0.00,0.38,0.00,0.000,4,0.000,0.063,3281,1432,1842,0,0,0,0,0,0
$GC,13147,0.78,249.6,866.5,9.9,659,13149,0.00,0.38,0.00,0.000,6,0.000,0.057,3281,1673,1842,0,0,0,0,0,0
$GC,13455,0.78,249.6,838.0,9.1,669,13456,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1673,1841,0,0,0,0,0,0
$GC,13761,0.78,249.6,811.0,8.7,679,13765,0.00,0.28,0.00,0.000,4,0.000,0.069,3282,1483,1840,0,0,0,0,0,0
$GC,13804,0.78,249.6,807.0,8.3,680,13806,0.00,0.28,0.00,0.000,6,0.000,0.063,3283,1665,1841,0,0,0,0,0,0
$GC,14130,0.78,249.6,778.5,8.6,691,14133,0.00,0.38,0.00,0.000,4,0.000,0.067,3284,1415,1841,0,0,0,0,0,0
$GC,14230,0.78,249.6,769.8,9.2,694,14234,0.00,0.38,0.00,0.000,6,0.000,0.057,3284,1670,1840,0,0,0,0,0,0
$GC,14570,0.78,249.6,740.6,8.2,705,14574,0.00,0.65,0.00,0.000,4,0.000,0.060,3287,1250,1840,0,0,0,0,0,0
$GC,14658,0.78,249.6,732.8,8.7,707,14662,0.00,0.65,0.00,0.000,6,0.000,0.050,3287,1666,1840,0,0,0,0,0,0
$GC,14976,0.78,249.6,704.8,8.6,718,14980,0.00,0.47,0.00,0.000,4,0.000,0.063,3289,1355,1839,0,0,0,0,0,0
$GC,15064,0.78,249.6,697.2,8.7,720,15068,0.00,0.50,0.00,0.000,6,0.000,0.054,3289,1676,1840,0,0,0,0,0,0
$GC,15382,0.78,249.6,669.9,8.8,731,15386,0.00,0.75,0.00,0.000,4,0.000,0.059,3293,1198,1839,0,0,0,0,0,0
$GC,15459,0.78,249.6,662.7,9.2,733,15464,0.08,0.73,0.00,0.000,6,0.184,0.049,3273,1660,1839,0,0,0,0,0,0
$GC,15789,0.81,249.6,635.1,8.3,744,15790,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1660,1840,0,0,0,0,0,0
$GC,16095,0.84,249.6,609.4,8.3,754,16096,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1660,1839,0,0,0,0,0,0
$GC,16401,0.86,249.6,583.8,8.3,764,16405,0.08,0.55,0.00,0.000,4,0.123,0.061,3315,1308,1839,0,0,0,0,0,0
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$STATE,22684,end climb,SURFACE_DEPTH_REACHED
$STATE,22684,begin surface coast
$FINISH,1.5,1.026577
$STATE,22715,end surface coast,CONTROL_FINISHED_OK
$STATE,22715,begin surface
$SM_CCo,22790,0.00,0.000,0,0,1839,250.69
$SM_GC,2.41,8.30,0.00,0.00,0.037,0.000,0.000,88,1854,1839,-9.09,-0.25,250.69
$IRIDIUM_FIX,-4236.17,-905.53,141012,131326
$TT8_MAMPS,0.026964
$HUMID,41.80
$INTERNAL_PRESSURE,9.13787
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.7,16.505
$10V_AH,10.4,15.580
$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,21.675,50.775,317.725,0.000,0.000,26.832,39.988,212.749,0.000,0.000,22.338,3067.158,15632.487,405.315,3917.341,153.292,33.357,1856.963,0.000,3581.177,0.000,1.009,0.000
$DEVICE_MAMPS,252.450,68.850,1315.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.658,1468.224,784.837,94.695,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,70314,1208
$CAP_FILE_SIZE,191249,0
$CFSIZE,2097086464,2083487744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151012,022036,-4253.219,-859.433,42,1.3,42,-21.4