version: 66.07.10.p01
glider: 573
mission: 4
dive: 143
start: 10 29 112 22 37 51
data:
$ID,573
$MISSION,4
$DIVE,143
$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,-4741.9395
$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,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,122
$GPS1,291012,223030,-4235.964,-750.075,38,1.6,38,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-73.2
$GPS2,291012,223656,-4235.944,-750.128,17,1.5,18,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.063,-0.207
$KALMAN_X,-163825.8,345.5,854.6,341640.2,-7025.8
$KALMAN_Y,-163720.5,25.9,-139.1,170917.4,3284.8
$MHEAD_RNG_PITCHd_Wd,184.8,20477,-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,-121.6,0.0,0.0,0,75,0.00,0.00,-48.42,0.000,2,0.000,0.000,83,1831,2589,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.0,-0.8,8,127,11.07,2.25,-28.40,0.000,4,0.246,0.071,2777,3215,3359,0,0,0,0,0,0
$GC,329,-0.62,-121.6,27.1,-11.2,50,337,0.12,2.20,0.00,0.000,6,0.142,0.043,2819,1825,3360,0,0,0,0,0,0
$GC,408,-0.58,-121.6,34.9,-9.5,63,413,0.05,0.35,0.00,0.000,4,0.236,0.059,2829,2062,3360,0,0,0,0,0,0
$GC,551,-0.58,-121.6,47.9,-8.6,88,559,0.00,0.38,0.00,0.000,6,0.000,0.054,2829,1805,3361,0,0,0,0,0,0
$GC,786,-0.56,-121.6,69.8,-9.6,129,792,0.00,0.50,0.00,0.000,4,0.000,0.052,2827,2142,3361,0,0,0,0,0,0
$GC,861,-0.56,-121.6,77.0,-9.9,142,865,0.00,0.47,0.00,0.000,6,0.000,0.050,2827,1819,3361,0,0,0,0,0,0
$GC,1208,-0.54,-121.6,110.4,-9.5,191,1212,0.08,0.43,0.00,0.000,4,0.194,0.057,2844,2107,3361,0,0,0,0,0,0
$GC,1278,-0.54,-121.6,117.1,-9.1,195,1283,0.00,0.45,0.00,0.000,6,0.000,0.051,2844,1807,3361,0,0,0,0,0,0
$GC,1603,-0.54,-121.6,148.9,-10.4,216,1606,0.00,0.52,0.00,0.000,4,0.000,0.053,2842,2167,3362,0,0,0,0,0,0
$GC,1697,-0.54,-121.6,158.7,-9.7,221,1702,0.00,0.52,0.00,0.000,6,0.000,0.049,2842,1819,3362,0,0,0,0,0,0
$GC,2015,-0.54,-121.6,187.9,-8.9,242,2019,0.00,0.88,0.00,0.000,4,0.000,0.051,2839,2391,3362,0,0,0,0,0,0
$GC,2122,-0.54,-121.6,197.0,-8.4,248,2126,0.00,0.88,0.00,0.000,6,0.000,0.044,2839,1816,3362,0,0,0,0,0,0
$GC,2448,-0.54,-121.6,223.4,-7.4,269,2451,0.00,1.92,0.00,0.000,4,0.000,0.054,2829,3044,3362,0,0,0,0,0,0
$GC,2541,-0.54,-121.6,231.0,-7.7,274,2550,0.03,1.90,0.00,0.000,6,0.165,0.041,2840,1819,3362,0,0,0,0,0,0
$GC,2865,-0.54,-121.6,258.2,-9.5,294,2869,0.00,0.25,0.00,0.000,4,0.000,0.063,2839,2007,3362,0,0,0,0,0,0
$GC,2925,-0.54,-121.6,264.0,-9.1,296,2933,0.00,0.30,0.00,0.000,6,0.000,0.059,2840,1799,3362,0,0,0,0,0,0
$GC,3241,-0.54,-121.6,294.1,-9.5,312,3244,0.00,0.95,0.00,0.000,4,0.000,0.050,2835,2418,3362,0,0,0,0,0,0
$GC,3323,-0.54,-121.6,301.7,-8.6,315,3329,0.00,0.93,0.00,0.000,6,0.000,0.044,2836,1819,3362,0,0,0,0,0,0
$GC,3641,-0.54,-121.6,328.7,-8.3,331,3645,0.00,0.43,0.00,0.000,4,0.000,0.054,2834,2121,3362,0,0,0,0,0,0
$GC,3747,-0.54,-121.6,337.6,-7.8,335,3753,0.00,0.45,0.00,0.000,6,0.000,0.051,2833,1815,3362,0,0,0,0,0,0
$GC,4064,-0.54,-121.6,366.0,-9.4,351,4068,0.00,1.35,0.00,0.000,4,0.000,0.053,2827,2674,3362,0,0,0,0,0,0
$GC,4181,-0.54,-121.6,377.8,-9.3,356,4187,0.08,1.33,0.00,0.000,6,0.179,0.042,2848,1824,3362,0,0,0,0,0,0
$GC,4518,-0.54,-121.6,409.4,-9.4,371,4521,0.00,1.02,0.00,0.000,4,0.000,0.051,2842,2492,3362,0,0,0,0,0,0
$GC,4611,-0.56,-121.6,418.3,-9.3,373,4618,0.00,1.05,0.00,0.000,6,0.000,0.043,2843,1814,3362,0,0,0,0,0,0
$GC,4924,-0.56,-121.6,444.7,-8.0,384,4928,0.00,0.47,0.00,0.000,4,0.000,0.052,2841,2151,3362,0,0,0,0,0,0
$GC,5114,-0.56,-121.6,457.6,-6.7,389,5118,0.00,0.50,0.00,0.000,6,0.000,0.050,2841,1818,3362,0,0,0,0,0,0
$GC,5433,-0.56,-121.6,479.1,-7.0,400,5436,0.00,0.68,0.00,0.000,4,0.000,0.052,2837,2277,3362,0,0,0,0,0,0
$GC,5554,-0.56,-121.6,489.1,-8.7,403,5559,0.00,0.70,0.00,0.000,6,0.000,0.045,2837,1818,3362,0,0,0,0,0,0
$GC,5872,-0.56,-121.6,519.8,-10.1,414,5876,0.00,0.65,0.00,0.000,4,0.000,0.052,2834,2252,3361,0,0,0,0,0,0
$GC,5983,-0.56,-121.6,530.2,-8.8,417,5988,0.00,0.68,0.00,0.000,6,0.000,0.047,2834,1808,3361,0,0,0,0,0,0
$GC,6312,-0.56,-121.6,559.8,-9.2,428,6316,0.00,0.68,0.00,0.000,4,0.000,0.052,2831,2260,3361,0,0,0,0,0,0
$GC,6395,-0.56,-121.6,567.9,-10.3,430,6399,0.00,0.68,0.00,0.000,6,0.000,0.047,2831,1818,3361,0,0,0,0,0,0
$GC,6719,-0.56,-121.6,600.1,-9.7,441,6722,0.00,1.00,0.00,0.000,4,0.000,0.052,2827,2461,3360,0,0,0,0,0,0
$GC,6840,-0.56,-121.6,611.5,-9.0,444,6845,0.00,1.00,0.00,0.000,6,0.000,0.044,2827,1818,3359,0,0,0,0,0,0
$GC,7159,-0.56,-121.6,636.7,-7.5,455,7163,0.00,0.98,0.00,0.000,4,0.000,0.052,2822,2445,3359,0,0,0,0,0,0
$GC,7260,-0.56,-121.6,644.0,-7.0,458,7265,0.03,0.95,0.00,0.000,6,0.170,0.046,2834,1824,3359,0,0,0,0,0,0
$GC,7600,-0.56,-121.6,669.8,-7.6,469,7604,0.00,0.90,0.00,0.000,4,0.000,0.051,2830,2410,3359,0,0,0,0,0,0
$GC,7702,-0.56,-121.6,677.3,-7.4,472,7705,0.00,0.90,0.00,0.000,6,0.000,0.046,2829,1819,3359,0,0,0,0,0,0
$GC,8041,-0.56,-121.6,701.7,-7.5,483,8045,0.00,0.68,0.00,0.000,4,0.000,0.053,2827,2269,3358,0,0,0,0,0,0
$GC,8180,-0.56,-121.6,712.4,-7.5,487,8184,0.00,0.70,0.00,0.000,6,0.000,0.047,2827,1810,3358,0,0,0,0,0,0
$GC,8516,-0.56,-121.6,736.5,-7.0,498,8519,0.00,1.58,0.00,0.000,4,0.000,0.055,2820,2804,3357,0,0,0,0,0,0
$GC,8643,-0.56,-121.6,744.3,-5.5,501,8650,0.03,1.52,0.00,0.000,6,0.173,0.044,2831,1826,3357,0,0,0,0,0,0
$GC,8956,-0.56,-121.6,767.7,-8.9,512,8960,0.00,0.65,0.00,0.000,4,0.000,0.054,2831,1390,3357,0,0,0,0,0,0
$GC,9005,-0.56,-121.6,772.1,-9.0,513,9009,0.00,0.68,0.00,0.000,6,0.000,0.049,2828,1827,3357,0,0,0,0,0,0
$GC,9329,-0.56,-121.6,798.0,-7.6,524,9332,0.00,0.57,0.00,0.000,4,0.000,0.055,2828,1447,3356,0,0,0,0,0,0
$GC,9416,-0.56,-121.6,805.5,-9.3,526,9421,0.00,0.57,0.00,0.000,6,0.000,0.051,2825,1821,3356,0,0,0,0,0,0
$GC,9735,-0.56,-121.6,832.0,-8.5,537,9738,0.00,0.50,0.00,0.000,4,0.000,0.056,2823,2168,3355,0,0,0,0,0,0
$GC,9945,-0.56,-121.6,851.1,-9.4,543,9950,0.05,0.55,0.00,0.000,6,0.210,0.050,2836,1806,3355,0,0,0,0,0,0
$GC,10274,-0.56,-121.6,884.0,-10.4,554,10278,0.00,0.90,0.00,0.000,4,0.000,0.054,2833,2388,3354,0,0,0,0,0,0
$GC,10403,-0.58,-121.6,896.5,-9.4,557,10408,0.00,0.88,0.00,0.000,6,0.000,0.046,2833,1817,3354,0,0,0,0,0,0
$GC,10715,-0.61,-121.6,921.3,-7.4,568,10719,0.00,0.30,0.00,0.000,4,0.000,0.060,2831,2035,3353,0,0,0,0,0,0
$GC,10783,-0.61,-121.6,926.7,-7.6,570,10786,0.00,0.30,0.00,0.000,6,0.000,0.061,2832,1819,3354,0,0,0,0,0,0
$GC,11123,-0.61,-121.6,945.6,-5.5,581,11127,0.00,0.55,0.00,0.000,4,0.000,0.054,2829,2200,3353,0,0,0,0,0,0
$GC,11296,-0.61,-121.6,957.3,-6.7,586,11300,0.00,0.60,0.00,0.000,6,0.000,0.050,2829,1806,3353,0,0,0,0,0,0
$GC,11631,-0.61,-121.6,979.3,-6.3,597,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1806,3353,0,0,0,0,0,0
$STATE,11905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11905,begin apogee
$GC,11909,-0.23,0.0,1001.9,8.7,606,12012,0.38,0.00,100.00,1.304,6,0.125,0.000,2951,1637,2862,0,0,0,0,0,0
$STATE,12013,end apogee,CONTROL_FINISHED_OK
$STATE,12013,begin climb
$GC,12014,0.71,121.6,1006.3,0.0,609,12125,0.88,1.77,102.82,1.272,4,0.092,0.056,3250,635,2366,0,0,0,0,0,0
$GC,12192,0.69,148.6,1001.3,6.3,614,12222,0.00,1.67,24.70,1.209,6,0.000,0.043,3250,1636,2255,0,0,0,0,0,0
$GC,12541,0.69,172.0,978.5,6.4,626,12565,0.00,0.65,20.90,1.206,4,0.000,0.047,3250,2085,2160,0,0,0,0,0,0
$GC,12661,0.69,220.3,970.5,5.4,629,12708,0.00,0.73,43.33,1.238,6,0.000,0.051,3253,1643,1964,0,0,0,0,0,0
$GC,13038,0.72,283.8,951.3,4.8,642,13097,0.00,0.00,57.53,1.235,6,0.000,0.000,3253,1643,1705,0,0,0,0,0,0
$GC,13404,0.79,283.8,925.6,7.6,654,13406,0.08,0.00,0.00,0.000,6,0.124,0.000,3297,1643,1696,0,0,0,0,0,0
$GC,13710,0.79,283.8,894.4,10.3,664,13712,0.08,0.00,0.00,0.000,6,0.174,0.000,3278,1643,1694,0,0,0,0,0,0
$GC,14017,0.83,283.8,860.5,13.5,674,14020,0.00,0.30,0.00,0.000,4,0.000,0.066,3279,1432,1693,0,0,0,0,0,0
$GC,14152,0.86,283.8,846.0,9.7,678,14156,0.00,0.32,0.00,0.000,6,0.000,0.058,3279,1655,1693,0,0,0,0,0,0
$GC,14493,0.89,296.3,820.4,6.9,689,14506,0.10,0.00,10.60,1.069,6,0.101,0.000,3330,1655,1653,0,0,0,0,0,0
$GC,14799,0.85,296.3,787.8,10.6,699,14803,0.12,0.52,0.00,0.000,4,0.161,0.060,3298,1325,1651,0,0,0,0,0,0
$GC,14954,0.85,296.3,769.7,12.6,703,14958,0.00,0.50,0.00,0.000,6,0.000,0.050,3298,1647,1651,0,0,0,0,0,0
$GC,15272,0.85,296.3,734.2,11.2,714,15275,0.00,0.40,0.00,0.000,4,0.000,0.061,3300,1386,1650,0,0,0,0,0,0
$GC,15343,0.85,296.3,725.9,12.1,716,15347,0.00,0.40,0.00,0.000,6,0.000,0.054,3300,1646,1650,0,0,0,0,0,0
$GC,15677,0.85,296.3,685.8,11.8,727,15679,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1646,1650,0,0,0,0,0,0
$GC,15984,0.85,296.3,653.9,9.6,737,15985,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1646,1649,0,0,0,0,0,0
$GC,16290,0.85,296.3,623.0,10.4,747,16293,0.00,1.20,0.00,0.000,4,0.000,0.058,3305,904,1649,0,0,0,0,0,0
$GC,16378,0.85,296.3,613.7,10.6,749,16383,0.00,1.20,0.00,0.000,6,0.000,0.044,3306,1657,1649,0,0,0,0,0,0
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$STATE,22689,end climb,SURFACE_DEPTH_REACHED
$STATE,22689,begin surface coast
$FINISH,1.8,1.026597
$STATE,22720,end surface coast,CONTROL_FINISHED_OK
$STATE,22720,begin surface
$SM_CCo,22796,0.00,0.000,0,0,1627,302.94
$SM_GC,2.77,8.40,0.00,0.00,0.036,0.000,0.000,84,1822,1627,-9.11,0.06,302.94
$IRIDIUM_FIX,-4221.55,-804.08,291012,161631
$TT8_MAMPS,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.6,24.674
$10V_AH,10.2,23.481
$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
$DEVICE_SECS,21.725,68.400,366.025,0.000,0.000,26.361,40.260,202.622,0.000,0.000,20.174,3008.675,15704.027,479.338,3819.139,163.802,33.355,1973.089,0.000,3488.166,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.781,1269.092,751.009,93.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353992
$DATA_FILE_SIZE,66944,1162
$CAP_FILE_SIZE,201031,0
$CFSIZE,2097086464,2075492352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301012,045859,-4237.958,-751.272,40,1.2,40,-21.7