version: 66.07.10.p01
glider: 573
mission: 4
dive: 118
start: 10 23 112 1 6 20
data:
$ID,573
$MISSION,4
$DIVE,118
$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,-4659.7524
$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,32
$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,97
$GPS1,231012,005335,-4332.015,-809.267,36,1.2,36,-21.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-73.3
$GPS2,231012,010525,-4332.087,-809.260,28,2.1,48,-21.2
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.018,0.216
$KALMAN_X,-114542.7,-119.5,-441.5,268068.2,1681.6
$KALMAN_Y,-193804.2,-128.5,335.8,96701.3,-194.5
$MHEAD_RNG_PITCHd_Wd,16.4,127006,-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,-121.4,0.0,0.0,0,75,0.00,0.00,-48.60,0.000,2,0.000,0.000,82,1818,2834,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.0,-1.4,8,109,11.30,0.00,-16.17,0.000,6,0.253,0.000,2788,1818,3358,0,0,0,0,0,0
$GC,181,-0.62,-121.6,14.3,-12.7,25,189,0.12,0.40,0.00,0.000,4,0.176,0.055,2822,2099,3360,0,0,0,0,0,0
$GC,232,-0.56,-121.6,19.8,-10.6,33,240,0.03,0.43,0.00,0.000,6,0.174,0.054,2832,1809,3360,0,0,0,0,0,0
$GC,313,-0.54,-121.6,27.6,-10.0,46,320,0.05,0.00,0.00,0.000,6,0.230,0.000,2846,1809,3360,0,0,0,0,0,0
$GC,391,-0.54,-121.6,34.9,-9.2,59,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1809,3360,0,0,0,0,0,0
$GC,624,-0.54,-121.6,55.8,-9.1,100,631,0.00,0.73,0.00,0.000,4,0.000,0.051,2842,2286,3361,0,0,0,0,0,0
$GC,732,-0.54,-121.6,65.6,-9.0,119,736,0.00,0.70,0.00,0.000,6,0.000,0.047,2843,1822,3361,0,0,0,0,0,0
$GC,1073,-0.54,-121.6,97.6,-9.9,180,1081,0.00,1.10,0.00,0.000,4,0.000,0.050,2837,2528,3361,0,0,0,0,0,0
$GC,1180,-0.54,-121.6,108.0,-9.6,190,1185,0.00,1.12,0.00,0.000,6,0.000,0.044,2837,1807,3361,0,0,0,0,0,0
$GC,1507,-0.54,-121.6,140.3,-9.9,211,1511,0.00,0.70,0.00,0.000,4,0.000,0.050,2834,2274,3361,0,0,0,0,0,0
$GC,1646,-0.54,-121.6,154.1,-9.5,219,1650,0.00,0.70,0.00,0.000,6,0.000,0.046,2834,1815,3361,0,0,0,0,0,0
$GC,1970,-0.54,-121.6,184.6,-9.4,240,1974,0.00,0.80,0.00,0.000,4,0.000,0.050,2829,2344,3361,0,0,0,0,0,0
$GC,2072,-0.54,-121.6,194.2,-9.3,246,2076,0.03,0.80,0.00,0.000,6,0.171,0.045,2842,1812,3361,0,0,0,0,0,0
$GC,2403,-0.54,-121.6,224.3,-8.9,267,2406,0.00,0.57,0.00,0.000,4,0.000,0.051,2839,2205,3361,0,0,0,0,0,0
$GC,2506,-0.54,-121.6,233.5,-8.4,273,2510,0.00,0.57,0.00,0.000,6,0.000,0.048,2839,1813,3361,0,0,0,0,0,0
$GC,2839,-0.54,-121.6,263.1,-8.7,292,2843,0.00,0.32,0.00,0.000,4,0.000,0.057,2838,2048,3361,0,0,0,0,0,0
$GC,2922,-0.54,-121.6,270.5,-8.7,295,2924,0.00,0.35,0.00,0.000,6,0.000,0.055,2838,1807,3361,0,0,0,0,0,0
$GC,3233,-0.54,-121.6,298.2,-8.9,310,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1807,3361,0,0,0,0,0,0
$GC,3545,-0.54,-121.6,325.2,-8.7,325,3548,0.00,0.98,0.00,0.000,4,0.000,0.050,2834,2441,3361,0,0,0,0,0,0
$GC,3644,-0.54,-121.6,334.4,-8.6,329,3649,0.00,0.95,0.00,0.000,6,0.000,0.044,2834,1824,3361,0,0,0,0,0,0
$GC,3968,-0.54,-121.6,362.4,-8.9,345,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1824,3361,0,0,0,0,0,0
$GC,4275,-0.54,-121.6,389.2,-8.4,360,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1823,3361,0,0,0,0,0,0
$GC,4603,-0.54,-121.6,418.1,-9.0,373,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1824,3361,0,0,0,0,0,0
$GC,4909,-0.54,-121.6,445.1,-8.8,383,4913,0.00,0.73,0.00,0.000,4,0.000,0.049,2830,2306,3361,0,0,0,0,0,0
$GC,5020,-0.54,-121.6,455.3,-8.7,386,5025,0.08,0.75,0.00,0.000,6,0.181,0.046,2850,1813,3361,0,0,0,0,0,0
$GC,5350,-0.56,-121.6,482.6,-8.3,397,5353,0.00,0.68,0.00,0.000,4,0.000,0.052,2846,2266,3361,0,0,0,0,0,0
$GC,5455,-0.58,-121.6,491.7,-8.5,400,5459,0.00,0.68,0.00,0.000,6,0.000,0.047,2847,1820,3361,0,0,0,0,0,0
$GC,5790,-0.58,-121.6,520.2,-8.9,411,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1820,3361,0,0,0,0,0,0
$GC,6096,-0.58,-121.6,544.8,-7.5,421,6099,0.00,0.77,0.00,0.000,4,0.000,0.051,2843,2329,3361,0,0,0,0,0,0
$GC,6184,-0.60,-121.6,551.7,-7.7,423,6189,0.00,0.77,0.00,0.000,6,0.000,0.047,2843,1821,3361,0,0,0,0,0,0
$GC,6502,-0.60,-121.6,578.6,-8.6,434,6506,0.00,0.35,0.00,0.000,4,0.000,0.057,2841,2073,3361,0,0,0,0,0,0
$GC,6585,-0.60,-121.6,585.9,-9.1,436,6589,0.00,0.38,0.00,0.000,6,0.000,0.054,2841,1817,3361,0,0,0,0,0,0
$GC,6908,-0.60,-121.6,613.7,-8.7,447,6912,0.00,0.32,0.00,0.000,4,0.000,0.058,2840,2051,3360,0,0,0,0,0,0
$GC,7009,-0.60,-121.6,622.4,-8.5,450,7013,0.00,0.32,0.00,0.000,6,0.000,0.057,2840,1818,3360,0,0,0,0,0,0
$GC,7349,-0.60,-121.6,649.9,-7.9,461,7353,0.00,0.55,0.00,0.000,4,0.000,0.053,2837,2192,3360,0,0,0,0,0,0
$GC,7460,-0.60,-121.6,658.6,-7.2,464,7464,0.00,0.57,0.00,0.000,6,0.000,0.050,2837,1811,3360,0,0,0,0,0,0
$GC,7789,-0.60,-121.6,685.7,-8.5,475,7793,0.00,0.32,0.00,0.000,4,0.000,0.057,2836,2044,3359,0,0,0,0,0,0
$GC,7933,-0.60,-121.6,698.2,-8.6,479,7935,0.00,0.32,0.00,0.000,6,0.000,0.059,2836,1819,3359,0,0,0,0,0,0
$GC,8259,-0.60,-121.6,727.1,-9.1,490,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1819,3358,0,0,0,0,0,0
$GC,8565,-0.60,-121.6,754.3,-8.7,500,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1819,3357,0,0,0,0,0,0
$GC,8871,-0.60,-121.6,780.7,-8.5,510,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1819,3357,0,0,0,0,0,0
$GC,9177,-0.60,-121.6,807.2,-8.7,520,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1819,3356,0,0,0,0,0,0
$GC,9484,-0.60,-121.6,834.2,-8.8,530,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1819,3355,0,0,0,0,0,0
$GC,9790,-0.60,-121.6,861.3,-9.1,540,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1819,3355,0,0,0,0,0,0
$GC,10096,-0.60,-121.6,887.6,-8.4,550,10099,0.00,0.25,0.00,0.000,4,0.000,0.065,2835,2004,3354,0,0,0,0,0,0
$GC,10150,-0.60,-121.6,892.3,-8.7,551,10152,0.00,0.28,0.00,0.000,6,0.000,0.062,2835,1817,3354,0,0,0,0,0,0
$GC,10464,-0.60,-121.6,918.2,-8.2,562,10468,0.00,0.35,0.00,0.000,4,0.000,0.058,2834,2062,3353,0,0,0,0,0,0
$GC,10513,-0.60,-121.6,922.3,-9.0,563,10517,0.00,0.38,0.00,0.000,6,0.000,0.057,2834,1811,3353,0,0,0,0,0,0
$GC,10836,-0.60,-121.6,949.5,-8.5,574,10840,0.00,0.45,0.00,0.000,4,0.000,0.056,2832,2124,3353,0,0,0,0,0,0
$GC,10958,-0.60,-121.6,960.1,-8.7,577,10962,0.00,0.47,0.00,0.000,6,0.000,0.054,2831,1808,3353,0,0,0,0,0,0
$GC,11276,-0.60,-121.6,988.4,-9.3,588,11279,0.00,0.40,0.00,0.000,4,0.000,0.057,2830,2094,3352,0,0,0,0,0,0
$STATE,11396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11396,begin apogee
$GC,11401,-0.23,0.0,1000.3,10.0,591,11504,0.32,0.00,99.95,1.304,6,0.132,0.000,2940,1643,2862,0,0,0,0,0,0
$STATE,11505,end apogee,CONTROL_FINISHED_OK
$STATE,11505,begin climb
$GC,11506,0.71,121.6,1006.1,0.0,595,11617,0.93,1.00,102.90,1.275,4,0.098,0.055,3249,1062,2365,0,0,0,0,0,0
$GC,11666,0.71,187.8,1003.7,4.7,600,11732,0.00,0.98,58.88,1.253,6,0.000,0.045,3249,1642,2096,0,0,0,0,0,0
$GC,12061,0.74,210.2,981.0,6.5,613,12086,0.00,0.77,19.88,1.209,4,0.000,0.052,3249,2127,2005,0,0,0,0,0,0
$GC,12176,0.77,220.0,972.9,7.0,616,12192,0.00,0.75,9.88,1.107,6,0.000,0.053,3252,1656,1965,0,0,0,0,0,0
$GC,12498,0.81,220.0,947.3,8.2,627,12500,0.10,0.00,0.00,0.000,6,0.102,0.000,3302,1656,1962,0,0,0,0,0,0
$GC,12804,0.77,220.0,915.5,10.5,637,12809,0.12,0.50,0.00,0.000,4,0.151,0.054,3267,1977,1962,0,0,0,0,0,0
$GC,12905,0.77,220.0,906.2,8.4,640,12908,0.00,0.52,0.00,0.000,6,0.000,0.057,3269,1640,1961,0,0,0,0,0,0
$GC,13245,0.77,220.0,877.3,8.3,651,13246,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1640,1960,0,0,0,0,0,0
$GC,13551,0.77,220.0,852.2,8.2,661,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1640,1960,0,0,0,0,0,0
$GC,13857,0.77,220.0,826.2,8.6,671,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1640,1960,0,0,0,0,0,0
$GC,14163,0.77,220.0,799.2,8.7,681,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1640,1959,0,0,0,0,0,0
$GC,14469,0.77,220.0,771.8,8.9,691,14473,0.00,0.47,0.00,0.000,4,0.000,0.061,3271,1315,1959,0,0,0,0,0,0
$GC,14564,0.77,220.0,763.5,8.6,693,14569,0.00,0.50,0.00,0.000,6,0.000,0.053,3271,1648,1959,0,0,0,0,0,0
$GC,14876,0.77,220.0,735.5,8.9,704,14880,0.00,0.30,0.00,0.000,4,0.000,0.060,3271,1864,1959,0,0,0,0,0,0
$GC,14930,0.77,220.0,730.7,8.1,705,14932,0.00,0.35,0.00,0.000,6,0.000,0.062,3272,1643,1958,0,0,0,0,0,0
$GC,15244,0.77,220.0,704.7,8.1,716,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1643,1958,0,0,0,0,0,0
$GC,15551,0.77,220.0,681.4,7.5,726,15554,0.00,0.35,0.00,0.000,4,0.000,0.057,3272,1894,1958,0,0,0,0,0,0
$GC,15639,0.77,236.3,674.8,6.7,728,15656,0.00,0.40,14.57,1.051,6,0.000,0.060,3274,1641,1898,0,0,0,0,0,0
$GC,15985,0.77,236.3,646.8,8.3,740,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1641,1896,0,0,0,0,0,0
$GC,16292,0.79,236.3,618.7,9.3,750,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1641,1895,0,0,0,0,0,0
$GC,16598,0.81,236.3,590.6,9.2,760,16602,0.00,0.32,0.00,0.000,4,0.000,0.060,3274,1865,1895,0,0,0,0,0,0
$GC,16693,0.81,236.3,581.8,9.5,762,16698,0.00,0.32,0.00,0.000,6,0.000,0.061,3275,1647,1895,0,0,0,0,0,0
$GC,17005,0.83,236.3,551.6,9.9,773,17006,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1647,1895,0,0,0,0,0,0
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$STATE,23374,end climb,SURFACE_DEPTH_REACHED
$STATE,23374,begin surface coast
$FINISH,1.5,1.026692
$STATE,23423,end surface coast,CONTROL_FINISHED_OK
$STATE,23423,begin surface
$SM_CCo,23498,0.00,0.000,0,0,1610,306.87
$SM_GC,2.46,8.40,0.00,0.00,0.039,0.000,0.000,77,1837,1610,-9.11,0.51,306.87
$IRIDIUM_FIX,-4317.42,-808.65,231012,000018
$TT8_MAMPS,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.6,21.135
$10V_AH,10.3,20.080
$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,21.650,36.425,345.975,0.000,0.000,53.080,97.186,339.268,0.000,0.000,51.540,3011.700,16788.287,399.249,3858.215,144.975,33.360,1755.642,0.000,3269.533,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,67.320,1303.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.440,1349.362,780.897,99.449,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,70185,1217
$CAP_FILE_SIZE,185286,0
$CFSIZE,2097086464,2078801920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231012,073905,-4329.245,-809.991,35,1.0,35,-21.3