version: 66.07.10.p01
glider: 573
mission: 4
dive: 144
start: 10 30 112 5 7 1
data:
$ID,573
$MISSION,4
$DIVE,144
$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,-4745.2139
$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,34
$R_STBD_OVSHOOT,38
$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,123
$GPS1,301012,045859,-4237.958,-751.272,40,1.2,40,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-70.6
$GPS2,301012,050606,-4237.963,-751.322,17,1.2,18,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.148,-0.158
$KALMAN_X,-165811.9,-108.0,55.6,343254.5,-4012.5
$KALMAN_Y,-161615.7,12.5,-397.3,165348.8,4461.5
$MHEAD_RNG_PITCHd_Wd,158.6,16832,-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,-121.2,0.0,0.0,0,75,0.00,0.00,-48.25,0.000,2,0.000,0.000,82,1822,2757,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.2,-1.3,8,115,11.12,2.25,-19.75,0.000,4,0.247,0.066,2788,449,3359,0,0,0,0,0,0
$GC,252,-0.60,-121.6,21.9,-13.1,37,260,0.12,2.17,0.00,0.000,6,0.138,0.043,2821,1815,3361,0,0,0,0,0,0
$GC,333,-0.56,-121.6,30.3,-9.8,50,341,0.08,0.68,0.00,0.000,4,0.190,0.051,2838,2260,3361,0,0,0,0,0,0
$GC,423,-0.56,-121.6,38.3,-8.9,65,428,0.00,0.68,0.00,0.000,6,0.000,0.048,2838,1816,3361,0,0,0,0,0,0
$GC,657,-0.56,-121.6,60.3,-9.2,106,662,0.00,0.52,0.00,0.000,4,0.000,0.052,2835,2173,3361,0,0,0,0,0,0
$GC,767,-0.56,-121.6,71.0,-9.6,126,775,0.00,0.55,0.00,0.000,6,0.000,0.049,2836,1814,3361,0,0,0,0,0,0
$GC,1121,-0.56,-121.6,106.7,-10.3,181,1125,0.00,0.50,0.00,0.000,4,0.000,0.051,2833,2161,3362,0,0,0,0,0,0
$GC,1205,-0.56,-121.6,115.5,-10.1,186,1209,0.00,0.50,0.00,0.000,6,0.000,0.049,2833,1818,3361,0,0,0,0,0,0
$GC,1537,-0.56,-121.6,147.6,-9.6,207,1540,0.00,1.10,0.00,0.000,4,0.000,0.051,2828,2524,3362,0,0,0,0,0,0
$GC,1640,-0.56,-121.6,157.0,-9.2,213,1644,0.00,1.08,0.00,0.000,6,0.000,0.044,2828,1824,3362,0,0,0,0,0,0
$GC,1972,-0.54,-121.6,190.4,-10.7,234,1976,0.08,0.90,0.00,0.000,4,0.197,0.051,2844,2400,3362,0,0,0,0,0,0
$GC,2065,-0.54,-121.6,200.7,-10.5,239,2071,0.00,0.90,0.00,0.000,6,0.000,0.044,2844,1817,3363,0,0,0,0,0,0
$GC,2385,-0.54,-121.6,235.5,-10.6,260,2389,0.00,1.23,0.00,0.000,4,0.000,0.052,2838,2597,3363,0,0,0,0,0,0
$GC,2521,-0.54,-121.6,249.8,-10.1,268,2524,0.00,1.20,0.00,0.000,6,0.000,0.044,2838,1817,3363,0,0,0,0,0,0
$GC,2847,-0.54,-121.6,282.1,-9.8,284,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1818,3363,0,0,0,0,0,0
$GC,3158,-0.54,-121.6,310.5,-9.5,299,3162,0.00,1.20,0.00,0.000,4,0.000,0.051,2832,2584,3363,0,0,0,0,0,0
$GC,3258,-0.54,-121.6,320.8,-9.5,303,3262,0.00,1.20,0.00,0.000,6,0.000,0.042,2832,1811,3363,0,0,0,0,0,0
$GC,3582,-0.54,-121.6,348.7,-8.2,319,3585,0.00,1.48,0.00,0.000,4,0.000,0.054,2824,2747,3362,0,0,0,0,0,0
$GC,3704,-0.54,-121.6,357.8,-6.0,324,3710,0.05,1.42,0.00,0.000,6,0.143,0.042,2845,1824,3363,0,0,0,0,0,0
$GC,4026,-0.54,-121.6,376.9,-6.0,340,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1824,3363,0,0,0,0,0,0
$GC,4338,-0.54,-121.6,396.7,-6.2,355,4341,0.00,1.05,0.00,0.000,4,0.000,0.051,2840,2498,3363,0,0,0,0,0,0
$GC,4443,-0.56,-121.6,404.8,-7.6,359,4448,0.00,1.05,0.00,0.000,6,0.000,0.043,2840,1813,3363,0,0,0,0,0,0
$GC,4778,-0.56,-121.6,436.6,-10.2,370,4782,0.00,1.62,0.00,0.000,4,0.000,0.054,2832,2881,3362,0,0,0,0,0,0
$GC,4879,-0.56,-121.6,446.3,-8.9,373,4883,0.00,1.62,0.00,0.000,6,0.000,0.042,2833,1826,3362,0,0,0,0,0,0
$GC,5220,-0.56,-121.6,473.7,-7.3,384,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1825,3363,0,0,0,0,0,0
$GC,5526,-0.56,-121.6,494.7,-6.5,394,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1826,3362,0,0,0,0,0,0
$GC,5832,-0.56,-121.6,523.9,-10.5,404,5835,0.00,0.60,0.00,0.000,4,0.000,0.050,2829,2231,3361,0,0,0,0,0,0
$GC,5936,-0.56,-121.6,535.1,-11.3,407,5941,0.00,0.65,0.00,0.000,6,0.000,0.046,2829,1801,3362,0,0,0,0,0,0
$GC,6271,-0.56,-121.6,574.6,-11.8,418,6275,0.00,1.27,0.00,0.000,4,0.000,0.052,2824,2616,3361,0,0,0,0,0,0
$GC,6410,-0.56,-121.6,592.2,-12.8,422,6416,0.05,1.25,0.00,0.000,6,0.214,0.043,2837,1813,3361,0,0,0,0,0,0
$GC,6746,-0.56,-121.6,633.1,-11.6,433,6749,0.00,0.73,0.00,0.000,4,0.000,0.053,2834,2295,3361,0,0,0,0,0,0
$GC,6847,-0.56,-121.6,643.0,-9.5,436,6851,0.00,0.73,0.00,0.000,6,0.000,0.046,2833,1809,3360,0,0,0,0,0,0
$GC,7187,-0.56,-121.6,668.0,-6.6,447,7190,0.00,0.70,0.00,0.000,4,0.000,0.052,2830,2276,3359,0,0,0,0,0,0
$GC,7288,-0.56,-121.6,674.0,-6.1,450,7292,0.00,0.68,0.00,0.000,6,0.000,0.047,2830,1822,3359,0,0,0,0,0,0
$GC,7628,-0.56,-121.6,700.4,-9.1,461,7632,0.00,0.28,0.00,0.000,4,0.000,0.062,2830,1622,3359,0,0,0,0,0,0
$GC,7666,-0.56,-121.6,703.4,-7.3,462,7670,0.00,0.32,0.00,0.000,6,0.000,0.057,2829,1838,3359,0,0,0,0,0,0
$GC,8001,-0.56,-121.6,733.9,-10.0,473,8004,0.00,1.10,0.00,0.000,4,0.000,0.054,2824,2549,3358,0,0,0,0,0,0
$GC,8111,-0.56,-121.6,746.8,-10.9,476,8117,0.05,1.15,0.00,0.000,6,0.216,0.044,2837,1812,3358,0,0,0,0,0,0
$GC,8441,-0.56,-121.6,775.6,-5.9,487,8445,0.00,1.60,0.00,0.000,4,0.000,0.055,2829,2820,3357,0,0,0,0,0,0
$STATE,8613,end dive,NO_VERTICAL_VELOCITY
$STATE,8613,begin apogee
$GC,8618,-0.23,0.0,777.0,0.0,492,8719,0.28,0.00,98.12,1.156,6,0.057,0.000,2967,1651,2862,0,0,0,0,0,0
$STATE,8720,end apogee,CONTROL_FINISHED_OK
$STATE,8720,begin climb
$GC,8722,0.71,121.6,776.9,0.0,495,8830,0.77,2.42,100.07,1.121,4,0.049,0.056,3271,243,2365,0,0,0,0,0,0
$GC,9010,0.66,121.6,763.2,7.4,504,9015,0.12,2.28,0.00,0.000,6,0.155,0.043,3237,1643,2360,0,0,0,0,0,0
$GC,9344,0.67,167.8,745.7,5.5,515,9389,0.00,0.52,38.97,1.104,4,0.000,0.054,3236,1972,2176,0,0,0,0,0,0
$GC,9512,0.70,182.8,735.2,6.8,520,9529,0.00,0.55,13.70,1.030,6,0.000,0.054,3239,1634,2116,0,0,0,0,0,0
$GC,9841,0.75,182.8,712.0,7.8,531,9846,0.08,1.27,0.00,0.000,4,0.120,0.051,3280,2424,2111,0,0,0,0,0,0
$GC,10026,0.72,226.7,699.7,5.6,536,10072,0.08,1.23,38.22,1.080,6,0.140,0.047,3260,1652,1937,0,0,0,0,0,0
$GC,10378,0.76,324.0,684.7,3.4,548,10467,0.00,0.00,85.85,1.087,6,0.000,0.000,3259,1651,1541,0,0,0,0,0,0
$GC,10774,0.86,403.1,672.8,4.2,561,10850,0.10,0.98,69.32,1.070,4,0.103,0.057,3318,1077,1216,0,0,0,0,0,0
$GC,10922,0.89,403.1,660.2,9.8,565,10927,0.00,0.95,0.00,0.000,6,0.000,0.044,3318,1653,1208,0,0,0,0,0,0
$GC,11241,0.94,415.3,630.0,6.9,576,11256,0.00,1.73,9.25,0.907,4,0.000,0.059,3326,629,1169,0,0,0,0,0,0
$GC,11346,0.99,500.9,625.0,3.9,579,11426,0.00,1.65,75.20,1.040,6,0.000,0.044,3326,1647,818,0,0,0,0,0,0
$GC,11734,1.06,507.4,597.9,7.1,591,11744,0.10,2.38,4.22,0.642,4,0.099,0.061,3385,236,792,0,0,0,0,0,0
$GC,11835,1.06,507.4,589.6,9.1,594,11840,0.08,2.28,0.00,0.000,6,0.178,0.044,3366,1656,790,0,0,0,0,0,0
$GC,12169,1.06,507.4,546.2,14.8,605,12173,0.00,2.35,0.00,0.000,4,0.000,0.063,3377,232,788,0,0,0,0,0,0
$GC,12267,1.06,507.4,531.1,11.2,608,12273,0.03,2.28,0.00,0.000,6,0.167,0.043,3366,1652,787,0,0,0,0,0,0
$GC,12603,1.06,507.4,482.8,15.2,619,12607,0.00,1.58,0.00,0.000,4,0.000,0.060,3373,694,787,0,0,0,0,0,0
$GC,12707,1.06,507.4,462.9,18.6,622,12713,0.00,1.52,0.00,0.000,6,0.000,0.043,3373,1650,787,0,0,0,0,0,0
$GC,13043,1.06,507.4,414.3,15.5,633,13046,0.00,1.92,0.00,0.000,4,0.000,0.060,3382,458,786,0,0,0,0,0,0
$GC,13125,1.06,507.4,401.6,14.9,635,13131,0.05,1.88,0.00,0.000,6,0.149,0.044,3364,1649,786,0,0,0,0,0,0
$GC,13455,1.09,507.4,360.3,12.5,651,13459,0.00,1.95,0.00,0.000,4,0.000,0.060,3372,453,786,0,0,0,0,0,0
$GC,13537,1.09,507.4,350.5,10.7,654,13546,0.00,1.88,0.00,0.000,6,0.000,0.043,3372,1646,785,0,0,0,0,0,0
$GC,13854,1.09,507.4,320.4,8.8,670,13857,0.00,1.62,0.00,0.000,4,0.000,0.059,3380,634,785,0,0,0,0,0,0
$GC,13931,1.09,507.4,312.4,9.1,673,13936,0.00,1.62,0.00,0.000,6,0.000,0.043,3380,1665,785,0,0,0,0,0,0
$GC,14255,1.09,507.4,280.5,9.7,689,14259,0.00,2.30,0.00,0.000,4,0.000,0.060,3390,239,785,0,0,0,0,0,0
$GC,14347,1.09,507.4,271.9,8.7,693,14352,0.08,2.20,0.00,0.000,6,0.181,0.044,3371,1651,785,0,0,0,0,0,0
$GC,14676,1.11,542.4,250.1,6.0,709,14711,0.00,1.80,29.90,0.812,4,0.000,0.060,3379,570,650,0,0,0,0,0,0
$GC,14792,1.14,542.4,241.3,8.3,716,14795,0.00,1.70,0.00,0.000,6,0.000,0.043,3379,1654,644,0,0,0,0,0,0
$GC,15124,1.16,542.4,215.4,9.3,737,15128,0.00,2.30,0.00,0.000,4,0.000,0.060,3389,239,640,0,0,0,0,0,0
$GC,15208,1.16,542.4,206.2,10.9,742,15212,0.00,2.22,0.00,0.000,6,0.000,0.044,3389,1655,640,0,0,0,0,0,0
$GC,15534,1.16,542.4,171.6,11.0,763,15538,0.00,2.03,0.00,0.000,4,0.000,0.059,3399,400,639,0,0,0,0,0,0
$GC,15611,1.16,542.4,162.0,13.0,767,15617,0.00,1.98,0.00,0.000,6,0.000,0.044,3399,1653,638,0,0,0,0,0,0
$GC,15932,1.16,542.4,116.6,16.1,788,15935,0.00,1.98,0.00,0.000,4,0.000,0.059,3408,427,638,0,0,0,0,0,0
$GC,16003,1.16,542.4,103.5,17.4,792,16008,0.00,1.92,0.00,0.000,6,0.000,0.043,3408,1649,638,0,0,0,0,0,0
$GC,16347,1.16,542.4,45.6,16.6,850,16354,0.00,2.10,0.00,0.000,4,0.000,0.060,3417,365,638,0,0,0,0,0,0
$GC,16426,1.14,542.4,32.7,17.3,863,16432,0.10,2.00,0.00,0.000,6,0.171,0.043,3391,1657,637,0,0,0,0,0,0
$STATE,16626,end climb,SURFACE_DEPTH_REACHED
$STATE,16626,begin surface coast
$FINISH,1.8,1.008700
$STATE,16651,end surface coast,CONTROL_FINISHED_OK
$STATE,16651,begin surface
$SM_CCo,16727,0.00,0.000,0,0,636,546.03
$SM_GC,2.50,8.57,0.00,0.00,0.035,0.000,0.000,82,1833,636,-9.11,0.37,546.03
$IRIDIUM_FIX,-4221.55,-746.30,291012,222208
$TT8_MAMPS,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,9.00115
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.9,24.862
$10V_AH,10.2,23.594
$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,21.975,99.400,562.850,0.000,0.000,28.748,38.203,241.529,0.000,0.000,19.881,2336.041,10889.704,578.604,3210.903,131.253,33.361,1805.944,0.000,2842.947,0.000,1.008,0.000
$DEVICE_MAMPS,247.095,65.790,1155.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.257,1101.081,573.201,74.967,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354096
$DATA_FILE_SIZE,53584,901
$CAP_FILE_SIZE,160095,0
$CFSIZE,2097086464,2075459584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301012,094700,-4239.012,-750.192,40,1.7,40,-21.7