version: 66.07.10.p01
glider: 573
mission: 4
dive: 104
start: 10 19 112 6 43 26
data:
$ID,573
$MISSION,4
$DIVE,104
$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,-4613.4458
$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,31
$R_STBD_OVSHOOT,34
$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,83
$GPS1,191012,063529,-4312.661,-831.221,38,1.6,38,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-68.3
$GPS2,191012,064232,-4312.681,-831.181,23,1.5,23,-21.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,-0.114
$KALMAN_X,-102228.9,294.7,426.5,224618.7,-2148.8
$KALMAN_Y,-196685.2,328.3,661.7,134736.2,-2256.2
$MHEAD_RNG_PITCHd_Wd,139.6,52766,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.92,-121.6,0.0,0.0,0,87,0.00,0.00,-59.92,0.000,2,0.000,0.000,83,1822,3005,0,0,0,0,0,0
$GC,89,-0.92,-121.6,3.3,-1.9,10,115,10.80,2.28,-9.45,0.000,4,0.248,0.067,2720,411,3358,0,0,0,0,0,0
$GC,366,-0.78,-121.6,53.3,-18.9,57,372,0.20,2.22,0.00,0.000,6,0.174,0.042,2764,1831,3359,0,0,0,0,0,0
$GC,596,-0.74,-121.6,89.2,-13.6,98,602,0.08,1.00,0.00,0.000,4,0.226,0.052,2776,2474,3360,0,0,0,0,0,0
$GC,786,-0.74,-121.6,114.3,-13.6,119,790,0.00,1.02,0.00,0.000,6,0.000,0.046,2776,1810,3360,0,0,0,0,0,0
$GC,1116,-0.72,-121.6,160.3,-13.6,140,1120,0.00,0.93,0.00,0.000,4,0.000,0.051,2772,2410,3360,0,0,0,0,0,0
$GC,1262,-0.70,-121.6,181.4,-14.7,148,1271,0.05,0.90,0.00,0.000,6,0.164,0.045,2789,1820,3360,0,0,0,0,0,0
$GC,1583,-0.70,-121.6,222.4,-12.0,169,1586,0.00,1.35,0.00,0.000,4,0.000,0.053,2784,2681,3360,0,0,0,0,0,0
$GC,1710,-0.70,-121.6,237.3,-11.5,176,1719,0.00,1.35,0.00,0.000,6,0.000,0.042,2784,1814,3361,0,0,0,0,0,0
$GC,2033,-0.70,-121.6,273.5,-10.9,194,2037,0.00,0.88,0.00,0.000,4,0.000,0.050,2780,2387,3361,0,0,0,0,0,0
$GC,2169,-0.70,-121.6,289.0,-11.5,200,2173,0.03,0.85,0.00,0.000,6,0.187,0.046,2788,1820,3361,0,0,0,0,0,0
$GC,2500,-0.70,-121.6,326.5,-11.8,216,2503,0.00,0.43,0.00,0.000,4,0.000,0.054,2787,2121,3361,0,0,0,0,0,0
$GC,2674,-0.70,-121.6,347.5,-12.1,223,2679,0.00,0.47,0.00,0.000,6,0.000,0.052,2788,1801,3361,0,0,0,0,0,0
$GC,2991,-0.70,-121.6,386.0,-12.5,239,2995,0.00,0.85,0.00,0.000,4,0.000,0.050,2784,2362,3361,0,0,0,0,0,0
$GC,3159,-0.70,-121.6,407.9,-12.9,246,3164,0.00,0.82,0.00,0.000,6,0.000,0.044,2784,1822,3361,0,0,0,0,0,0
$GC,3481,-0.70,-121.6,447.8,-12.7,262,3484,0.00,0.93,0.00,0.000,4,0.000,0.050,2780,2428,3361,0,0,0,0,0,0
$GC,3620,-0.70,-121.6,465.4,-12.5,268,3626,0.08,0.95,0.00,0.000,6,0.191,0.044,2797,1808,3361,0,0,0,0,0,0
$GC,3948,-0.72,-121.6,502.0,-10.8,284,3952,0.00,0.75,0.00,0.000,4,0.000,0.051,2794,2304,3361,0,0,0,0,0,0
$GC,4065,-0.75,-121.6,515.1,-11.6,287,4069,0.00,0.75,0.00,0.000,6,0.000,0.047,2794,1812,3361,0,0,0,0,0,0
$GC,4389,-0.77,-121.6,550.7,-11.1,298,4391,0.08,0.00,0.00,0.000,6,0.125,0.000,2754,1811,3361,0,0,0,0,0,0
$GC,4695,-0.73,-121.6,592.4,-13.5,308,4700,0.12,1.12,0.00,0.000,4,0.175,0.054,2782,2529,3361,0,0,0,0,0,0
$GC,4830,-0.73,-121.6,608.4,-11.1,312,4834,0.00,1.08,0.00,0.000,6,0.000,0.046,2782,1825,3361,0,0,0,0,0,0
$GC,5170,-0.73,-121.6,646.7,-11.3,323,5173,0.00,0.47,0.00,0.000,4,0.000,0.053,2780,2156,3360,0,0,0,0,0,0
$GC,5347,-0.73,-121.6,666.7,-11.2,328,5352,0.00,0.52,0.00,0.000,6,0.000,0.051,2780,1807,3360,0,0,0,0,0,0
$GC,5677,-0.73,-121.6,703.9,-11.3,339,5680,0.00,1.10,0.00,0.000,4,0.000,0.054,2775,2512,3359,0,0,0,0,0,0
$GC,5855,-0.73,-121.6,724.3,-11.5,344,5859,0.00,1.08,0.00,0.000,6,0.000,0.046,2775,1820,3359,0,0,0,0,0,0
$GC,6184,-0.73,-121.6,762.0,-11.6,355,6188,0.00,1.05,0.00,0.000,4,0.000,0.054,2770,2495,3359,0,0,0,0,0,0
$GC,6323,-0.73,-121.6,778.1,-12.3,359,6328,0.00,1.05,0.00,0.000,6,0.000,0.046,2770,1819,3358,0,0,0,0,0,0
$STATE,6535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6535,begin apogee
$GC,6539,-0.23,0.0,803.1,11.7,366,6641,0.55,0.00,98.70,1.174,6,0.141,0.000,2944,1648,2862,0,0,0,0,0,0
$STATE,6641,end apogee,CONTROL_FINISHED_OK
$STATE,6641,begin climb
$GC,6643,0.92,121.6,808.0,0.0,369,6750,1.10,1.38,99.97,1.141,4,0.098,0.054,3312,862,2366,0,0,0,0,0,0
$GC,6850,0.92,181.6,799.5,6.7,375,6906,0.00,1.30,51.45,1.118,6,0.000,0.044,3312,1645,2121,0,0,0,0,0,0
$GC,7230,0.95,193.3,765.3,9.3,388,7245,0.00,0.30,10.43,1.008,4,0.000,0.050,3312,1856,2073,0,0,0,0,0,0
$GC,7365,0.98,209.0,752.8,9.1,392,7385,0.03,0.32,15.20,1.034,6,0.103,0.063,3339,1647,2009,0,0,0,0,0,0
$GC,7703,0.98,209.0,714.4,11.7,403,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1647,2004,0,0,0,0,0,0
$GC,8009,0.98,209.0,678.9,11.6,413,8013,0.00,0.32,0.00,0.000,4,0.000,0.058,3340,1871,2003,0,0,0,0,0,0
$GC,8080,0.98,209.0,670.5,11.2,415,8082,0.00,0.38,0.00,0.000,6,0.000,0.060,3341,1639,2003,0,0,0,0,0,0
$GC,8411,0.98,209.0,634.1,11.0,426,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1638,2002,0,0,0,0,0,0
$GC,8717,0.98,209.0,601.3,10.9,436,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1639,2002,0,0,0,0,0,0
$GC,9024,0.98,209.0,569.1,10.5,446,9027,0.00,0.52,0.00,0.000,4,0.000,0.057,3341,1989,2001,0,0,0,0,0,0
$GC,9125,0.98,209.0,558.3,11.8,449,9128,0.00,0.52,0.00,0.000,6,0.000,0.056,3344,1644,2001,0,0,0,0,0,0
$GC,9464,0.98,209.0,519.2,11.9,460,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1644,2000,0,0,0,0,0,0
$GC,9772,0.98,209.0,486.2,10.4,472,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1644,2000,0,0,0,0,0,0
$GC,10083,0.98,209.0,453.2,10.5,487,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1644,2000,0,0,0,0,0,0
$GC,10390,0.98,209.0,420.3,10.7,502,10394,0.00,0.38,0.00,0.000,4,0.000,0.058,3343,1900,2000,0,0,0,0,0,0
$GC,10450,0.98,209.0,413.8,10.8,504,10458,0.00,0.40,0.00,0.000,6,0.000,0.058,3345,1644,2000,0,0,0,0,0,0
$GC,10766,0.98,209.0,378.9,11.7,520,10769,0.00,0.55,0.00,0.000,4,0.000,0.054,3345,2017,2000,0,0,0,0,0,0
$GC,10911,0.98,209.0,361.9,11.5,526,10915,0.00,0.57,0.00,0.000,6,0.000,0.053,3348,1644,2000,0,0,0,0,0,0
$GC,11232,0.98,209.0,323.8,11.8,542,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1644,2000,0,0,0,0,0,0
$GC,11543,0.98,209.0,287.8,11.1,557,11547,0.00,0.30,0.00,0.000,4,0.000,0.062,3347,1855,2000,0,0,0,0,0,0
$GC,11603,0.98,209.0,280.7,11.1,559,11605,0.00,0.32,0.00,0.000,6,0.000,0.062,3349,1645,2000,0,0,0,0,0,0
$GC,11927,0.98,209.0,244.8,11.1,575,11931,0.00,0.28,0.00,0.000,4,0.000,0.067,3351,1441,2000,0,0,0,0,0,0
$GC,12038,0.98,209.0,231.8,11.4,581,12043,0.00,0.32,0.00,0.000,6,0.000,0.057,3351,1658,2000,0,0,0,0,0,0
$GC,12358,0.98,209.0,194.5,11.4,602,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1658,2000,0,0,0,0,0,0
$GC,12669,0.98,209.0,160.2,11.2,622,12672,0.00,0.65,0.00,0.000,4,0.000,0.051,3351,2101,2000,0,0,0,0,0,0
$GC,12775,0.98,209.0,148.2,11.0,628,12780,0.03,0.68,0.00,0.000,6,0.194,0.050,3344,1650,2000,0,0,0,0,0,0
$GC,13101,0.98,209.0,112.4,11.6,649,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1650,2000,0,0,0,0,0,0
$GC,13427,0.98,212.0,78.2,9.8,693,13433,0.00,0.60,0.00,0.000,4,0.000,0.050,3344,2057,2000,0,0,0,0,0,0
$GC,13545,0.98,214.9,66.3,9.8,714,13553,0.00,0.62,5.10,0.526,6,0.000,0.051,3346,1644,1985,0,0,0,0,0,0
$GC,13897,0.98,214.9,28.1,10.7,775,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1644,1985,0,0,0,0,0,0
$GC,13976,0.98,214.9,18.7,13.3,788,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1644,1985,0,0,0,0,0,0
$GC,14054,0.98,214.9,9.1,11.6,801,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1644,1985,0,0,0,0,0,0
$STATE,14102,end climb,SURFACE_DEPTH_REACHED
$STATE,14103,begin surface coast
$FINISH,1.5,1.026748
$STATE,14128,end surface coast,CONTROL_FINISHED_OK
$STATE,14128,begin surface
$SM_CCo,14143,14.90,0.557,0,0,1841,250.20
$SM_GC,3.14,0.00,0.00,14.90,0.000,0.000,0.557,96,1828,1841,-9.15,0.25,250.20
$IRIDIUM_FIX,-4256.74,-832.43,191012,020209
$TT8_MAMPS,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,9.12811
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,24.0,19.248
$10V_AH,10.3,18.149
$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,21.525,37.450,280.850,14.900,0.000,28.251,37.021,253.104,0.000,0.000,25.800,2050.449,9226.045,349.051,2852.512,107.709,33.343,1342.372,0.000,2490.480,0.000,1.009,0.000
$DEVICE_MAMPS,247.860,67.320,1174.275,556.920,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.309,1097.990,509.044,69.890,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,47031,813
$CAP_FILE_SIZE,127794,0
$CFSIZE,2097086464,2080735232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191012,104035,-4313.816,-829.516,37,1.1,37,-21.3