version: 66.07.10.p01
glider: 573
mission: 4
dive: 103
start: 10 19 112 2 39 41
data:
$ID,573
$MISSION,4
$DIVE,103
$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,-4610.3584
$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,38
$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,82
$GPS1,191012,023153,-4311.742,-833.385,82,1.2,82,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-69.4
$GPS2,191012,023847,-4311.761,-833.345,44,1.2,44,-21.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.201,-0.130
$KALMAN_X,-102040.9,365.3,362.8,221483.0,-2055.9
$KALMAN_Y,-196473.4,443.2,-109.4,136893.1,-1269.9
$MHEAD_RNG_PITCHd_Wd,144.2,55271,-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,-42.92,0.000,2,0.000,0.000,82,1809,2865,0,0,0,0,0,0
$GC,71,-0.92,-121.6,3.0,-1.7,7,103,10.85,2.25,-14.88,0.000,4,0.250,0.068,2730,409,3355,0,0,0,0,0,0
$GC,302,-0.79,-121.6,36.5,-18.5,46,309,0.12,2.22,0.00,0.000,6,0.157,0.044,2759,1808,3356,0,0,0,0,0,0
$GC,538,-0.75,-121.6,70.4,-13.1,87,544,0.08,1.20,0.00,0.000,4,0.224,0.054,2771,2572,3357,0,0,0,0,0,0
$GC,667,-0.72,-121.6,88.5,-14.2,110,673,0.03,1.15,0.00,0.000,6,0.183,0.045,2779,1827,3357,0,0,0,0,0,0
$GC,994,-0.72,-121.6,130.4,-12.9,141,998,0.00,0.73,0.00,0.000,4,0.000,0.051,2777,2302,3357,0,0,0,0,0,0
$GC,1131,-0.72,-121.6,147.8,-12.6,149,1135,0.00,0.73,0.00,0.000,6,0.000,0.047,2777,1818,3357,0,0,0,0,0,0
$GC,1460,-0.72,-121.6,190.1,-12.7,170,1464,0.00,0.88,0.00,0.000,4,0.000,0.052,2773,2385,3357,0,0,0,0,0,0
$GC,1605,-0.72,-121.6,208.6,-12.2,178,1613,0.00,0.88,0.00,0.000,6,0.000,0.044,2773,1814,3357,0,0,0,0,0,0
$GC,1926,-0.70,-121.6,247.3,-12.2,199,1931,0.08,0.60,0.00,0.000,4,0.211,0.053,2788,2209,3357,0,0,0,0,0,0
$GC,2041,-0.70,-121.6,260.8,-12.0,205,2045,0.00,0.57,0.00,0.000,6,0.000,0.049,2788,1818,3358,0,0,0,0,0,0
$GC,2374,-0.70,-121.6,299.6,-11.7,221,2378,0.00,0.93,0.00,0.000,4,0.000,0.052,2784,2421,3358,0,0,0,0,0,0
$GC,2502,-0.70,-121.6,315.7,-11.7,226,2511,0.00,0.93,0.00,0.000,6,0.000,0.045,2784,1820,3358,0,0,0,0,0,0
$GC,2819,-0.70,-121.6,355.4,-12.8,242,2822,0.00,1.50,0.00,0.000,4,0.000,0.054,2777,2771,3358,0,0,0,0,0,0
$GC,3003,-0.70,-121.6,378.2,-11.5,250,3009,0.08,1.48,0.00,0.000,6,0.193,0.042,2794,1820,3358,0,0,0,0,0,0
$GC,3331,-0.70,-121.6,414.8,-11.0,266,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1820,3358,0,0,0,0,0,0
$GC,3643,-0.72,-121.6,449.2,-10.8,281,3646,0.00,0.88,0.00,0.000,4,0.000,0.051,2790,2393,3358,0,0,0,0,0,0
$GC,3788,-0.72,-121.6,465.0,-10.6,287,3792,0.00,0.88,0.00,0.000,6,0.000,0.045,2791,1818,3358,0,0,0,0,0,0
$GC,4111,-0.72,-121.6,499.6,-10.9,303,4115,0.00,0.65,0.00,0.000,4,0.000,0.051,2788,2262,3358,0,0,0,0,0,0
$GC,4249,-0.72,-121.6,515.1,-11.5,308,4253,0.00,0.68,0.00,0.000,6,0.000,0.047,2788,1818,3358,0,0,0,0,0,0
$GC,4584,-0.72,-121.6,554.0,-11.5,319,4588,0.00,0.82,0.00,0.000,4,0.000,0.052,2785,2369,3358,0,0,0,0,0,0
$GC,4719,-0.72,-121.6,569.6,-11.7,323,4722,0.00,0.82,0.00,0.000,6,0.000,0.047,2784,1820,3358,0,0,0,0,0,0
$GC,5059,-0.72,-121.6,611.2,-12.3,334,5062,0.00,0.62,0.00,0.000,4,0.000,0.053,2782,2242,3357,0,0,0,0,0,0
$GC,5186,-0.72,-121.6,626.3,-11.9,337,5192,0.00,0.65,0.00,0.000,6,0.000,0.049,2782,1814,3357,0,0,0,0,0,0
$GC,5499,-0.72,-121.6,662.7,-11.7,348,5503,0.00,0.32,0.00,0.000,4,0.000,0.058,2780,2048,3357,0,0,0,0,0,0
$GC,5755,-0.72,-121.6,694.5,-12.4,355,5757,0.00,0.35,0.00,0.000,6,0.000,0.056,2781,1808,3356,0,0,0,0,0,0
$GC,6069,-0.72,-121.6,733.2,-12.5,366,6073,0.00,2.25,0.00,0.000,4,0.000,0.058,2770,3234,3356,0,0,0,0,0,0
$GC,6220,-0.72,-121.6,752.2,-12.8,370,6225,0.03,2.17,0.00,0.000,6,0.196,0.044,2778,1829,3355,0,0,0,0,0,0
$GC,6537,-0.72,-121.6,790.8,-12.0,381,6541,0.00,0.75,0.00,0.000,4,0.000,0.054,2777,2319,3355,0,0,0,0,0,0
$STATE,6613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6613,begin apogee
$GC,6618,-0.23,0.0,800.3,12.2,383,6719,0.50,0.00,97.82,1.171,6,0.142,0.000,2938,1644,2862,0,0,0,0,0,0
$STATE,6719,end apogee,CONTROL_FINISHED_OK
$STATE,6720,begin climb
$GC,6721,0.92,121.6,804.8,0.0,386,6828,1.12,1.62,99.88,1.141,4,0.099,0.054,3316,716,2366,0,0,0,0,0,0
$GC,6928,0.92,167.1,796.8,7.5,392,6974,0.00,1.55,39.42,1.112,6,0.000,0.044,3316,1654,2180,0,0,0,0,0,0
$GC,7309,0.92,193.6,764.9,8.5,405,7339,0.00,0.77,23.12,1.091,4,0.000,0.051,3316,2134,2071,0,0,0,0,0,0
$GC,7434,0.94,215.0,754.0,8.8,408,7459,0.00,0.77,19.67,1.072,6,0.000,0.051,3319,1649,1984,0,0,0,0,0,0
$GC,7778,0.98,227.1,722.1,9.3,420,7792,0.00,0.40,11.00,1.014,4,0.000,0.049,3319,1914,1935,0,0,0,0,0,0
$GC,7955,1.01,232.0,705.0,9.7,425,7966,0.08,0.45,5.70,0.816,6,0.125,0.058,3355,1634,1916,0,0,0,0,0,0
$GC,8283,1.01,232.0,668.4,11.3,436,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1634,1914,0,0,0,0,0,0
$GC,8590,1.01,232.0,632.6,11.8,446,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1634,1913,0,0,0,0,0,0
$GC,8896,1.01,232.0,597.1,11.4,456,8899,0.00,0.32,0.00,0.000,4,0.000,0.066,3357,1409,1912,0,0,0,0,0,0
$GC,8984,1.01,232.0,586.7,11.0,458,8988,0.00,0.38,0.00,0.000,6,0.000,0.057,3357,1654,1912,0,0,0,0,0,0
$GC,9302,1.01,232.0,550.9,11.4,469,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1654,1912,0,0,0,0,0,0
$GC,9608,1.01,232.0,515.6,11.4,479,9611,0.00,0.40,0.00,0.000,4,0.000,0.063,3359,1389,1911,0,0,0,0,0,0
$GC,9742,1.01,232.0,500.3,12.0,483,9746,0.00,0.38,0.00,0.000,6,0.000,0.058,3359,1645,1911,0,0,0,0,0,0
$GC,10065,1.01,232.0,463.8,11.7,498,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1645,1911,0,0,0,0,0,0
$GC,10376,1.01,232.0,427.2,11.7,513,10380,0.00,0.45,0.00,0.000,4,0.000,0.056,3359,1967,1911,0,0,0,0,0,0
$GC,10481,1.01,232.0,414.5,11.1,517,10487,0.00,0.50,0.00,0.000,6,0.000,0.056,3361,1645,1911,0,0,0,0,0,0
$GC,10799,1.01,232.0,377.7,11.7,533,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1646,1910,0,0,0,0,0,0
$GC,11106,1.01,232.0,342.4,11.6,548,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1646,1911,0,0,0,0,0,0
$GC,11418,1.01,232.0,307.1,11.3,563,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1646,1911,0,0,0,0,0,0
$GC,11725,1.01,232.0,269.9,12.2,578,11729,0.00,0.32,0.00,0.000,4,0.000,0.057,3361,1874,1911,0,0,0,0,0,0
$GC,11861,1.01,232.0,253.4,11.7,584,11865,0.03,0.35,0.00,0.000,6,0.204,0.060,3353,1643,1911,0,0,0,0,0,0
$GC,12185,1.01,232.0,214.3,12.1,604,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1643,1911,0,0,0,0,0,0
$GC,12497,1.01,232.0,177.4,11.2,624,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1643,1911,0,0,0,0,0,0
$GC,12811,1.01,232.0,141.5,11.5,644,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1643,1911,0,0,0,0,0,0
$GC,13122,1.01,232.0,107.2,11.7,664,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1643,1911,0,0,0,0,0,0
$GC,13452,1.02,284.2,67.1,7.1,716,13500,0.00,0.68,43.28,0.701,4,0.000,0.050,3353,2068,1703,0,0,0,0,0,0
$GC,13570,1.04,313.0,57.0,8.4,737,13598,0.00,0.65,24.30,0.676,6,0.000,0.050,3355,1646,1586,0,0,0,0,0,0
$GC,13831,1.07,313.0,23.7,15.2,782,13838,0.00,0.75,0.00,0.000,4,0.000,0.056,3359,1163,1577,0,0,0,0,0,0
$GC,13928,1.11,313.0,9.8,13.0,798,13935,0.00,0.75,0.00,0.000,6,0.000,0.046,3359,1651,1576,0,0,0,0,0,0
$STATE,13977,end climb,SURFACE_DEPTH_REACHED
$STATE,13977,begin surface coast
$FINISH,1.5,1.021171
$STATE,14002,end surface coast,CONTROL_FINISHED_OK
$STATE,14003,begin surface
$SM_CCo,14078,0.00,0.000,0,0,1567,317.41
$SM_GC,2.44,8.57,0.00,0.00,0.035,0.000,0.000,94,1822,1567,-9.10,0.08,317.41
$IRIDIUM_FIX,-4253.80,-835.35,181012,222209
$TT8_MAMPS,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.09881
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.0,19.138
$10V_AH,10.3,18.046
$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,21.550,40.675,364.200,0.000,0.000,25.645,38.910,221.480,0.000,0.000,45.845,2017.371,9147.186,372.398,2847.372,110.282,33.342,1380.205,0.000,2490.441,0.000,1.009,0.000
$DEVICE_MAMPS,250.155,68.085,1171.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.926,1097.561,509.549,67.699,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,47084,810
$CAP_FILE_SIZE,126286,0
$CFSIZE,2097086464,2080866304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191012,063529,-4312.661,-831.221,38,1.6,38,-21.3