version: 66.07.10.p01
glider: 573
mission: 4
dive: 102
start: 10 18 112 22 36 0
data:
$ID,573
$MISSION,4
$DIVE,102
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,267
$T_MISSION,283
$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,-4607.0737
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,39
$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,81
$GPS1,181012,222523,-4309.356,-834.473,57,1.0,57,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-74.0
$GPS2,181012,223506,-4309.376,-834.444,15,1.4,15,-21.4
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.117,-0.209
$KALMAN_X,-100680.9,241.3,-492.7,219607.8,-592.5
$KALMAN_Y,-194795.0,154.4,-410.9,140217.1,-371.9
$MHEAD_RNG_PITCHd_Wd,172.0,59925,-20.0,-9.988
$D_GRID,800
$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,-0.92,-121.6,0.0,0.0,0,69,0.00,0.00,-42.85,0.000,2,0.000,0.000,82,1830,2868,0,0,0,0,0,0
$GC,71,-0.92,-121.6,3.0,-2.0,7,103,10.95,2.25,-14.10,0.000,4,0.254,0.070,2709,3221,3355,0,0,0,0,0,0
$GC,347,-0.80,-121.6,47.7,-18.3,54,355,0.15,2.20,0.00,0.000,6,0.163,0.043,2755,1819,3357,0,0,0,0,0,0
$GC,583,-0.75,-121.6,84.3,-14.2,95,588,0.10,0.55,0.00,0.000,4,0.205,0.056,2778,2182,3357,0,0,0,0,0,0
$GC,721,-0.75,-121.6,102.1,-12.3,117,724,0.00,0.55,0.00,0.000,6,0.000,0.050,2777,1810,3357,0,0,0,0,0,0
$GC,1050,-0.75,-121.6,143.5,-12.5,138,1053,0.00,0.98,0.00,0.000,4,0.000,0.052,2773,2437,3357,0,0,0,0,0,0
$GC,1185,-0.75,-121.6,160.1,-12.1,146,1189,0.00,0.93,0.00,0.000,6,0.000,0.046,2773,1827,3357,0,0,0,0,0,0
$GC,1517,-0.72,-121.6,201.9,-12.8,167,1521,0.05,1.27,0.00,0.000,4,0.235,0.054,2778,2628,3358,0,0,0,0,0,0
$GC,1634,-0.72,-121.6,216.5,-11.9,174,1638,0.00,1.25,0.00,0.000,6,0.000,0.044,2778,1816,3358,0,0,0,0,0,0
$GC,1958,-0.72,-121.6,255.8,-12.4,194,1962,0.00,0.47,0.00,0.000,4,0.000,0.054,2776,2142,3358,0,0,0,0,0,0
$GC,2139,-0.72,-121.6,277.7,-12.2,202,2142,0.00,0.47,0.00,0.000,6,0.000,0.052,2776,1816,3358,0,0,0,0,0,0
$GC,2471,-0.72,-121.6,319.8,-12.5,218,2474,0.00,1.25,0.00,0.000,4,0.000,0.053,2770,2615,3358,0,0,0,0,0,0
$GC,2593,-0.72,-121.6,335.9,-13.3,223,2599,0.08,1.25,0.00,0.000,6,0.199,0.044,2786,1808,3358,0,0,0,0,0,0
$GC,2917,-0.72,-121.6,376.5,-12.6,239,2921,0.00,0.65,0.00,0.000,4,0.000,0.051,2784,2245,3358,0,0,0,0,0,0
$GC,3079,-0.72,-121.6,397.6,-12.6,246,3083,0.00,0.65,0.00,0.000,6,0.000,0.048,2784,1816,3358,0,0,0,0,0,0
$GC,3406,-0.72,-121.6,434.7,-10.8,262,3409,0.00,0.45,0.00,0.000,4,0.000,0.054,2783,2130,3358,0,0,0,0,0,0
$GC,3521,-0.72,-121.6,447.5,-11.4,267,3524,0.00,0.45,0.00,0.000,6,0.000,0.053,2783,1818,3358,0,0,0,0,0,0
$GC,3855,-0.72,-121.6,484.6,-10.8,283,3858,0.00,1.27,0.00,0.000,4,0.000,0.053,2777,2634,3358,0,0,0,0,0,0
$GC,3992,-0.72,-121.6,499.4,-10.6,289,3996,0.00,1.25,0.00,0.000,6,0.000,0.044,2777,1818,3358,0,0,0,0,0,0
$GC,4321,-0.72,-121.6,537.4,-11.7,300,4324,0.00,1.23,0.00,0.000,4,0.000,0.053,2771,2602,3358,0,0,0,0,0,0
$GC,4459,-0.72,-121.6,553.8,-11.6,304,4465,0.08,1.23,0.00,0.000,6,0.195,0.044,2788,1812,3358,0,0,0,0,0,0
$GC,4794,-0.72,-121.6,592.4,-11.9,315,4798,0.00,0.40,0.00,0.000,4,0.000,0.056,2787,2105,3358,0,0,0,0,0,0
$GC,4978,-0.72,-121.6,614.2,-11.5,320,4980,0.00,0.43,0.00,0.000,6,0.000,0.054,2787,1819,3357,0,0,0,0,0,0
$GC,5297,-0.72,-121.6,651.0,-11.5,331,5301,0.00,0.25,0.00,0.000,4,0.000,0.066,2786,2004,3357,0,0,0,0,0,0
$GC,5554,-0.72,-121.6,680.5,-12.0,338,5556,0.00,0.28,0.00,0.000,6,0.000,0.061,2786,1813,3356,0,0,0,0,0,0
$GC,5868,-0.72,-121.6,715.8,-11.0,349,5872,0.00,0.68,0.00,0.000,4,0.000,0.054,2783,2266,3355,0,0,0,0,0,0
$GC,6124,-0.74,-121.6,743.5,-10.7,356,6129,0.00,0.68,0.00,0.000,6,0.000,0.050,2783,1821,3356,0,0,0,0,0,0
$GC,6442,-0.74,-121.6,776.1,-10.0,367,6446,0.00,1.40,0.00,0.000,4,0.000,0.056,2777,2717,3354,0,0,0,0,0,0
$GC,6587,-0.76,-121.6,791.6,-10.4,371,6592,0.00,1.38,0.00,0.000,6,0.000,0.046,2777,1826,3355,0,0,0,0,0,0
$STATE,6670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6670,begin apogee
$GC,6674,-0.23,0.0,800.7,11.0,374,6775,0.52,0.00,97.72,1.173,6,0.143,0.000,2942,1638,2862,0,0,0,0,0,0
$STATE,6776,end apogee,CONTROL_FINISHED_OK
$STATE,6776,begin climb
$GC,6777,0.92,121.6,805.3,0.0,377,6884,1.12,0.52,100.03,1.144,4,0.098,0.059,3315,1325,2365,0,0,0,0,0,0
$GC,6972,0.92,171.6,797.1,7.2,383,7019,0.00,0.52,42.92,1.116,6,0.000,0.050,3315,1651,2161,0,0,0,0,0,0
$GC,7326,0.92,196.9,767.1,8.6,394,7351,0.00,0.55,21.92,1.090,4,0.000,0.054,3315,1997,2059,0,0,0,0,0,0
$GC,7487,0.95,206.8,752.3,9.4,398,7501,0.00,0.55,9.95,1.000,6,0.000,0.055,3317,1648,2018,0,0,0,0,0,0
$GC,7826,0.98,219.4,720.4,9.3,409,7842,0.05,0.80,12.02,1.006,4,0.167,0.053,3346,2140,1966,0,0,0,0,0,0
$GC,7989,0.98,219.4,702.8,11.5,414,7992,0.00,0.77,0.00,0.000,6,0.000,0.050,3349,1646,1963,0,0,0,0,0,0
$GC,8328,0.98,219.4,665.0,11.2,425,8332,0.00,0.62,0.00,0.000,4,0.000,0.057,3352,1238,1962,0,0,0,0,0,0
$GC,8416,0.98,219.4,655.2,10.2,427,8421,0.00,0.65,0.00,0.000,6,0.000,0.049,3352,1654,1962,0,0,0,0,0,0
$GC,8734,0.98,219.4,621.9,10.2,438,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1654,1961,0,0,0,0,0,0
$GC,9041,0.98,219.4,589.6,10.6,448,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1654,1961,0,0,0,0,0,0
$GC,9347,0.98,219.4,555.6,11.3,458,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1654,1960,0,0,0,0,0,0
$GC,9653,0.98,219.4,521.1,11.3,468,9657,0.00,0.82,0.00,0.000,4,0.000,0.054,3352,2200,1960,0,0,0,0,0,0
$GC,9754,0.98,219.4,509.6,11.2,471,9758,0.05,0.85,0.00,0.000,6,0.167,0.051,3339,1649,1959,0,0,0,0,0,0
$GC,10078,0.98,219.4,475.2,10.6,485,10082,0.00,0.32,0.00,0.000,4,0.000,0.059,3340,1883,1959,0,0,0,0,0,0
$GC,10291,0.98,221.8,451.0,9.9,494,10295,0.00,0.38,0.00,0.000,6,0.000,0.059,3340,1644,1959,0,0,0,0,0,0
$GC,10612,0.98,221.8,413.5,12.0,510,10615,0.00,0.55,0.00,0.000,4,0.000,0.057,3343,1272,1959,0,0,0,0,0,0
$GC,10649,0.98,221.8,408.7,12.3,511,10655,0.00,0.57,0.00,0.000,6,0.000,0.050,3342,1644,1959,0,0,0,0,0,0
$GC,10967,0.98,221.8,369.4,12.9,527,10971,0.00,0.70,0.00,0.000,4,0.000,0.054,3342,2116,1959,0,0,0,0,0,0
$GC,11067,0.98,221.8,356.2,12.4,531,11071,0.00,0.75,0.00,0.000,6,0.000,0.050,3346,1636,1959,0,0,0,0,0,0
$GC,11390,0.98,221.8,315.2,12.9,547,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1636,1959,0,0,0,0,0,0
$GC,11697,0.98,221.8,276.5,12.4,562,11701,0.00,0.38,0.00,0.000,4,0.000,0.057,3345,1896,1959,0,0,0,0,0,0
$GC,11812,0.98,221.8,262.6,12.1,567,11816,0.00,0.38,0.00,0.000,6,0.000,0.060,3347,1646,1959,0,0,0,0,0,0
$GC,12136,0.98,221.8,223.3,12.2,586,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1645,1959,0,0,0,0,0,0
$GC,12448,0.98,221.8,186.6,11.7,606,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1646,1959,0,0,0,0,0,0
$GC,12762,0.98,221.8,149.1,12.1,626,12766,0.00,0.28,0.00,0.000,4,0.000,0.059,3347,1841,1959,0,0,0,0,0,0
$GC,12851,0.98,221.8,138.0,12.3,631,12855,0.00,0.32,0.00,0.000,6,0.000,0.062,3349,1631,1959,0,0,0,0,0,0
$GC,13176,0.98,221.8,98.6,12.3,652,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1631,1959,0,0,0,0,0,0
$GC,13522,0.98,221.8,57.1,11.3,713,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1631,1960,0,0,0,0,0,0
$GC,13756,0.98,221.8,31.8,10.3,754,13763,0.00,0.38,0.00,0.000,4,0.000,0.056,3349,1892,1960,0,0,0,0,0,0
$GC,13829,0.98,221.8,23.5,12.2,766,13836,0.00,0.38,0.00,0.000,6,0.000,0.058,3350,1643,1961,0,0,0,0,0,0
$GC,13908,0.98,221.8,12.4,14.4,779,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1643,1961,0,0,0,0,0,0
$GC,13987,1.01,221.8,3.2,10.4,792,13994,0.00,0.40,0.00,0.000,4,0.000,0.059,3351,1914,1962,0,0,0,0,0,0
$STATE,14001,end climb,SURFACE_DEPTH_REACHED
$STATE,14001,begin surface coast
$FINISH,1.5,1.014694
$STATE,14009,end surface coast,CONTROL_FINISHED_OK
$STATE,14009,begin surface
$SM_CCo,14024,12.43,0.555,0,0,1842,250.20
$SM_GC,3.72,0.00,0.00,12.43,0.000,0.000,0.555,90,1808,1842,-9.16,-0.28,250.20
$IRIDIUM_FIX,-4253.80,-835.35,181012,222233
$TT8_MAMPS,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.12811
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,24.0,19.014
$10V_AH,10.3,17.943
$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,21.675,38.950,284.575,12.425,0.000,54.572,80.683,275.917,0.000,0.000,17.866,2058.903,9088.142,340.560,3044.681,97.861,33.342,1367.583,0.000,2563.915,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,82.620,1172.745,554.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.193,1074.833,499.772,67.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354348
$DATA_FILE_SIZE,46910,795
$CAP_FILE_SIZE,132968,0
$CFSIZE,2097086464,2080964608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191012,023153,-4311.742,-833.385,82,1.2,82,-21.3