version: 66.07.10.p01
glider: 573
mission: 4
dive: 119
start: 10 23 112 7 46 51
data:
$ID,573
$MISSION,4
$DIVE,119
$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,-4663.1162
$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,46
$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,98
$GPS1,231012,073905,-4329.245,-809.991,35,1.0,35,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-66.9
$GPS2,231012,074556,-4329.255,-809.948,15,1.0,17,-21.3
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.039,0.213
$KALMAN_X,-115220.0,-373.8,14.4,267623.0,593.4
$KALMAN_Y,-193627.4,-130.7,-426.6,102538.5,1437.0
$MHEAD_RNG_PITCHd_Wd,31.6,122086,-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,23,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,86,0.00,0.00,-60.05,0.000,2,0.000,0.000,77,1837,3025,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.1,-1.5,10,114,11.25,0.00,-8.52,0.000,6,0.252,0.000,2789,1837,3356,0,0,0,0,0,0
$GC,187,-0.62,-121.6,16.1,-11.6,26,195,0.12,0.52,0.00,0.000,4,0.174,0.056,2824,1499,3358,0,0,0,0,0,0
$GC,308,-0.58,-121.6,29.0,-10.4,46,315,0.00,0.47,0.00,0.000,6,0.000,0.051,2822,1814,3358,0,0,0,0,0,0
$GC,387,-0.53,-121.6,37.7,-10.3,59,392,0.10,0.50,0.00,0.000,4,0.178,0.057,2849,1492,3358,0,0,0,0,0,0
$GC,457,-0.53,-121.6,45.2,-10.7,71,462,0.00,0.50,0.00,0.000,6,0.000,0.050,2847,1824,3358,0,0,0,0,0,0
$GC,690,-0.53,-121.6,68.3,-10.1,112,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1824,3358,0,0,0,0,0,0
$GC,1032,-0.53,-121.6,98.2,-8.7,173,1036,0.00,0.30,0.00,0.000,4,0.000,0.060,2845,2049,3358,0,0,0,0,0,0
$GC,1134,-0.53,-121.6,107.2,-8.7,182,1138,0.00,0.32,0.00,0.000,6,0.000,0.056,2845,1816,3358,0,0,0,0,0,0
$GC,1465,-0.53,-121.6,136.8,-9.2,203,1469,0.00,0.30,0.00,0.000,4,0.000,0.059,2844,2038,3358,0,0,0,0,0,0
$GC,1559,-0.53,-121.6,145.6,-9.4,208,1561,0.00,0.32,0.00,0.000,6,0.000,0.057,2844,1816,3358,0,0,0,0,0,0
$GC,1875,-0.53,-121.6,174.8,-9.3,228,1878,0.00,0.28,0.00,0.000,4,0.000,0.060,2843,2022,3358,0,0,0,0,0,0
$GC,1985,-0.53,-121.6,185.6,-9.2,234,1988,0.00,0.30,0.00,0.000,6,0.000,0.057,2843,1814,3358,0,0,0,0,0,0
$GC,2301,-0.53,-121.6,216.4,-10.1,254,2305,0.00,0.43,0.00,0.000,4,0.000,0.054,2841,2114,3358,0,0,0,0,0,0
$GC,2395,-0.53,-121.6,226.0,-10.4,259,2401,0.00,0.45,0.00,0.000,6,0.000,0.051,2841,1810,3358,0,0,0,0,0,0
$GC,2720,-0.53,-121.6,259.0,-10.3,279,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1810,3358,0,0,0,0,0,0
$GC,3028,-0.53,-121.6,289.9,-9.8,294,3031,0.00,0.55,0.00,0.000,4,0.000,0.052,2839,2182,3358,0,0,0,0,0,0
$GC,3121,-0.53,-121.6,299.0,-9.5,298,3125,0.00,0.55,0.00,0.000,6,0.000,0.047,2838,1817,3358,0,0,0,0,0,0
$GC,3448,-0.53,-121.6,328.7,-8.8,314,3452,0.00,0.32,0.00,0.000,4,0.000,0.057,2837,2053,3359,0,0,0,0,0,0
$GC,3538,-0.53,-121.6,336.5,-8.3,318,3542,0.00,0.32,0.00,0.000,6,0.000,0.057,2837,1818,3358,0,0,0,0,0,0
$GC,3870,-0.53,-121.6,362.6,-7.4,334,3874,0.00,0.52,0.00,0.000,4,0.000,0.052,2835,2176,3358,0,0,0,0,0,0
$GC,3953,-0.53,-121.6,369.3,-8.0,337,3959,0.00,0.55,0.00,0.000,6,0.000,0.049,2835,1809,3359,0,0,0,0,0,0
$GC,4271,-0.53,-121.6,393.8,-7.8,353,4274,0.00,0.25,0.00,0.000,4,0.000,0.061,2834,1998,3358,0,0,0,0,0,0
$GC,4348,-0.53,-121.6,400.3,-7.8,356,4350,0.05,0.28,0.00,0.000,6,0.214,0.060,2847,1806,3358,0,0,0,0,0,0
$GC,4663,-0.53,-121.6,422.7,-6.9,367,4666,0.00,0.73,0.00,0.000,4,0.000,0.051,2843,2291,3359,0,0,0,0,0,0
$GC,4764,-0.53,-121.6,430.1,-7.0,370,4768,0.00,0.70,0.00,0.000,6,0.000,0.047,2844,1821,3359,0,0,0,0,0,0
$GC,5105,-0.53,-121.6,453.1,-6.5,381,5108,0.00,0.65,0.00,0.000,4,0.000,0.051,2841,2260,3359,0,0,0,0,0,0
$GC,5176,-0.53,-121.6,457.9,-6.5,383,5180,0.00,0.68,0.00,0.000,6,0.000,0.047,2841,1814,3359,0,0,0,0,0,0
$GC,5512,-0.53,-121.6,480.4,-6.8,394,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1814,3359,0,0,0,0,0,0
$GC,5817,-0.53,-121.6,503.3,-7.7,404,5821,0.00,0.45,0.00,0.000,4,0.000,0.054,2839,2128,3358,0,0,0,0,0,0
$GC,5928,-0.53,-121.6,512.5,-8.6,407,5932,0.00,0.47,0.00,0.000,6,0.000,0.051,2839,1809,3359,0,0,0,0,0,0
$GC,6257,-0.53,-121.6,540.2,-8.6,418,6261,0.00,0.77,0.00,0.000,4,0.000,0.052,2835,2317,3358,0,0,0,0,0,0
$GC,6345,-0.53,-121.6,548.0,-8.7,420,6349,0.00,0.77,0.00,0.000,6,0.000,0.047,2836,1810,3358,0,0,0,0,0,0
$GC,6663,-0.53,-121.6,576.7,-9.1,431,6667,0.00,0.28,0.00,0.000,4,0.000,0.060,2834,2012,3358,0,0,0,0,0,0
$GC,6740,-0.53,-121.6,584.1,-9.9,433,6744,0.03,0.30,0.00,0.000,6,0.260,0.060,2845,1807,3358,0,0,0,0,0,0
$GC,7069,-0.55,-121.6,612.4,-8.6,444,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1808,3357,0,0,0,0,0,0
$GC,7375,-0.57,-121.6,637.6,-8.1,454,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1807,3357,0,0,0,0,0,0
$GC,7682,-0.60,-121.6,662.6,-8.0,464,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1807,3356,0,0,0,0,0,0
$GC,7988,-0.62,-121.6,687.8,-8.3,474,7992,0.08,0.85,0.00,0.000,4,0.124,0.054,2800,2361,3355,0,0,0,0,0,0
$GC,8123,-0.58,-121.6,701.6,-10.9,478,8127,0.08,0.82,0.00,0.000,6,0.145,0.048,2828,1818,3356,0,0,0,0,0,0
$GC,8462,-0.58,-121.6,732.8,-8.5,489,8466,0.00,1.05,0.00,0.000,4,0.000,0.054,2823,2493,3355,0,0,0,0,0,0
$GC,8567,-0.58,-121.6,742.4,-8.9,492,8572,0.00,1.05,0.00,0.000,6,0.000,0.046,2823,1816,3355,0,0,0,0,0,0
$GC,8902,-0.58,-121.6,774.1,-9.7,503,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1816,3353,0,0,0,0,0,0
$GC,9209,-0.58,-121.6,805.5,-10.5,513,9212,0.00,0.38,0.00,0.000,4,0.000,0.057,2821,2084,3353,0,0,0,0,0,0
$GC,9310,-0.58,-121.6,816.1,-10.5,516,9313,0.00,0.38,0.00,0.000,6,0.000,0.057,2822,1822,3352,0,0,0,0,0,0
$GC,9649,-0.58,-121.6,852.3,-10.5,527,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1822,3352,0,0,0,0,0,0
$GC,9956,-0.58,-121.6,882.8,-9.6,537,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1822,3352,0,0,0,0,0,0
$GC,10262,-0.58,-121.6,909.2,-8.3,547,10265,0.00,0.32,0.00,0.000,4,0.000,0.059,2820,2054,3351,0,0,0,0,0,0
$GC,10406,-0.58,-121.6,920.6,-8.2,551,10411,0.00,0.35,0.00,0.000,6,0.000,0.057,2820,1818,3351,0,0,0,0,0,0
$GC,10735,-0.58,-121.6,946.6,-7.9,562,10739,0.00,0.52,0.00,0.000,4,0.000,0.055,2818,2172,3351,0,0,0,0,0,0
$GC,10887,-0.58,-121.6,959.7,-9.1,566,10891,0.00,0.52,0.00,0.000,6,0.000,0.053,2818,1818,3350,0,0,0,0,0,0
$GC,11210,-0.58,-121.6,991.7,-10.4,577,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1819,3350,0,0,0,0,0,0
$STATE,11301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11301,begin apogee
$GC,11305,-0.23,0.0,1001.2,10.4,580,11407,0.40,0.00,98.90,1.307,6,0.129,0.000,2947,1648,2862,0,0,0,0,0,0
$STATE,11407,end apogee,CONTROL_FINISHED_OK
$STATE,11408,begin climb
$GC,11409,0.71,121.6,1006.7,0.0,583,11519,0.88,0.47,102.35,1.281,4,0.095,0.062,3241,1371,2365,0,0,0,0,0,0
$GC,11551,0.71,214.5,1005.6,3.6,587,11638,0.00,0.45,82.10,1.260,6,0.000,0.052,3241,1645,1986,0,0,0,0,0,0
$GC,11957,0.76,225.4,980.7,7.0,601,11969,0.08,0.00,9.93,1.112,6,0.120,0.000,3278,1645,1943,0,0,0,0,0,0
$GC,12262,0.76,225.4,954.5,8.6,611,12266,0.00,0.28,0.00,0.000,4,0.000,0.068,3279,1459,1940,0,0,0,0,0,0
$GC,12355,0.76,225.4,946.4,8.6,613,12357,0.00,0.30,0.00,0.000,6,0.000,0.058,3280,1654,1940,0,0,0,0,0,0
$GC,12663,0.76,225.4,920.7,8.2,623,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1654,1940,0,0,0,0,0,0
$GC,12969,0.76,225.4,896.0,7.7,633,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1654,1939,0,0,0,0,0,0
$GC,13276,0.76,225.4,872.2,7.7,643,13279,0.00,0.35,0.00,0.000,4,0.000,0.065,3281,1420,1939,0,0,0,0,0,0
$GC,13410,0.76,225.4,861.4,8.4,647,13414,0.00,0.32,0.00,0.000,6,0.000,0.060,3282,1643,1939,0,0,0,0,0,0
$GC,13750,0.76,225.4,833.2,8.6,658,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1643,1938,0,0,0,0,0,0
$GC,14056,0.76,225.4,806.0,9.0,668,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1643,1938,0,0,0,0,0,0
$GC,14362,0.76,225.4,779.1,8.4,678,14364,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1644,1937,0,0,0,0,0,0
$GC,14669,0.76,225.4,754.7,7.7,688,14672,0.00,0.50,0.00,0.000,4,0.000,0.055,3281,1988,1937,0,0,0,0,0,0
$GC,14804,0.76,226.6,744.2,7.4,692,14808,0.03,0.52,0.00,0.000,6,0.181,0.057,3272,1647,1936,0,0,0,0,0,0
$GC,15143,0.76,229.7,719.3,7.3,703,15149,0.00,0.00,4.43,0.761,6,0.000,0.000,3272,1646,1924,0,0,0,0,0,0
$GC,15449,0.76,229.7,696.3,7.5,713,15453,0.00,0.57,0.00,0.000,4,0.000,0.054,3272,2031,1924,0,0,0,0,0,0
$GC,15537,0.76,229.7,689.2,7.7,715,15541,0.00,0.62,0.00,0.000,6,0.000,0.055,3274,1635,1924,0,0,0,0,0,0
$GC,15855,0.76,231.3,665.3,7.3,726,15859,0.00,0.35,0.00,0.000,4,0.000,0.059,3275,1879,1924,0,0,0,0,0,0
$GC,15938,0.76,250.5,659.1,6.6,728,15962,0.00,0.38,19.65,1.069,6,0.000,0.063,3276,1643,1839,0,0,0,0,0,0
$GC,16293,0.79,250.5,632.4,7.7,740,16295,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1644,1837,0,0,0,0,0,0
$GC,16599,0.81,250.5,608.4,7.9,750,16600,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1644,1836,0,0,0,0,0,0
$GC,16905,0.84,250.5,582.6,8.5,760,16907,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1643,1836,0,0,0,0,0,0
$GC,17212,0.87,250.5,557.0,8.3,770,17213,0.08,0.00,0.00,0.000,6,0.127,0.000,3321,1643,1836,0,0,0,0,0,0
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$STATE,23436,end climb,SURFACE_DEPTH_REACHED
$STATE,23436,begin surface coast
$FINISH,1.5,1.017887
$STATE,23473,end surface coast,CONTROL_FINISHED_OK
$STATE,23473,begin surface
$SM_CCo,23548,0.00,0.000,0,0,1820,255.35
$SM_GC,2.41,8.25,0.00,0.00,0.033,0.000,0.000,86,1833,1820,-9.11,0.40,255.35
$IRIDIUM_FIX,-4314.46,-808.23,231012,010148
$TT8_MAMPS,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,9.12811
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.5,21.265
$10V_AH,10.2,20.215
$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,21.550,35.725,322.350,0.000,0.000,26.080,40.105,233.571,0.000,0.000,19.255,3035.220,16658.873,398.767,3713.132,148.242,33.356,1791.499,0.000,3355.688,0.000,1.008,0.000
$DEVICE_MAMPS,260.100,69.615,1307.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.498,1289.668,774.665,96.244,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,70208,1201
$CAP_FILE_SIZE,187596,0
$CFSIZE,2097086464,2078670848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231012,142029,-4325.912,-809.754,38,1.1,38,-21.3