version: 66.07.10.p01
glider: 573
mission: 4
dive: 145
start: 10 30 112 9 54 15
data:
$ID,573
$MISSION,4
$DIVE,145
$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,-4748.4629
$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,28
$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,124
$GPS1,301012,094700,-4239.012,-750.192,40,1.7,40,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-64.5
$GPS2,301012,095320,-4238.974,-750.253,16,2.1,36,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4247.000,-750.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,-0.080
$KALMAN_X,-168644.2,-100.4,385.8,347213.6,-5440.0
$KALMAN_Y,-159608.7,-228.7,191.3,161123.9,4053.5
$MHEAD_RNG_PITCHd_Wd,133.5,14869,-15.5,-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,-119.6,0.0,0.0,0,110,0.00,0.00,-84.05,0.000,2,0.000,0.000,82,1833,2617,0,0,0,0,0,0
$GC,113,-0.71,-121.6,3.0,-1.0,14,157,10.98,2.30,-27.67,0.000,4,0.245,0.066,2788,398,3355,0,0,0,0,0,0
$GC,277,-0.60,-121.6,17.3,-11.8,41,284,0.12,2.25,0.00,0.000,6,0.144,0.043,2821,1809,3357,0,0,0,0,0,0
$GC,357,-0.56,-121.6,25.7,-10.0,54,365,0.05,0.65,0.00,0.000,4,0.226,0.052,2832,2239,3357,0,0,0,0,0,0
$GC,463,-0.56,-121.6,36.2,-9.6,72,470,0.00,0.65,0.00,0.000,6,0.000,0.049,2832,1810,3357,0,0,0,0,0,0
$GC,702,-0.56,-121.6,59.7,-10.3,113,707,0.00,0.70,0.00,0.000,4,0.000,0.053,2829,2271,3357,0,0,0,0,0,0
$GC,798,-0.56,-121.6,69.7,-10.7,130,803,0.00,0.68,0.00,0.000,6,0.000,0.048,2829,1822,3357,0,0,0,0,0,0
$GC,1147,-0.56,-121.6,109.1,-11.7,183,1151,0.00,1.20,0.00,0.000,4,0.000,0.053,2824,2589,3357,0,0,0,0,0,0
$GC,1265,-0.56,-121.6,122.4,-10.2,190,1269,0.00,1.17,0.00,0.000,6,0.000,0.044,2823,1827,3357,0,0,0,0,0,0
$GC,1597,-0.54,-121.6,158.0,-10.7,211,1602,0.08,1.10,0.00,0.000,4,0.192,0.052,2838,2525,3358,0,0,0,0,0,0
$GC,1686,-0.54,-121.6,166.9,-9.1,216,1690,0.00,1.12,0.00,0.000,6,0.000,0.044,2838,1803,3358,0,0,0,0,0,0
$GC,2012,-0.54,-121.6,196.9,-9.1,237,2016,0.00,0.43,0.00,0.000,4,0.000,0.053,2836,2104,3358,0,0,0,0,0,0
$GC,2149,-0.54,-121.6,209.3,-8.8,245,2153,0.00,0.43,0.00,0.000,6,0.000,0.052,2836,1809,3358,0,0,0,0,0,0
$GC,2479,-0.54,-121.6,236.2,-7.5,266,2482,0.00,1.00,0.00,0.000,4,0.000,0.052,2832,2457,3358,0,0,0,0,0,0
$GC,2586,-0.54,-121.6,243.2,-5.9,272,2589,0.00,0.98,0.00,0.000,6,0.000,0.044,2832,1819,3358,0,0,0,0,0,0
$GC,2908,-0.54,-121.6,260.8,-6.0,290,2912,0.03,0.88,0.00,0.000,4,0.262,0.052,2838,2381,3358,0,0,0,0,0,0
$GC,3013,-0.54,-121.6,266.0,-4.7,294,3021,0.00,0.88,0.00,0.000,6,0.000,0.044,2838,1811,3358,0,0,0,0,0,0
$GC,3330,-0.54,-121.6,283.4,-5.7,310,3333,0.00,1.08,0.00,0.000,4,0.000,0.053,2833,2502,3358,0,0,0,0,0,0
$GC,3413,-0.54,-121.6,288.2,-5.5,313,3419,0.00,1.08,0.00,0.000,6,0.000,0.044,2833,1811,3358,0,0,0,0,0,0
$GC,3731,-0.54,-121.6,308.7,-6.9,329,3735,0.00,0.80,0.00,0.000,4,0.000,0.052,2830,2338,3358,0,0,0,0,0,0
$GC,3836,-0.54,-121.6,316.4,-6.9,333,3843,0.05,0.80,0.00,0.000,6,0.210,0.046,2843,1816,3357,0,0,0,0,0,0
$GC,4154,-0.54,-121.6,350.5,-12.1,349,4158,0.00,0.55,0.00,0.000,4,0.000,0.052,2841,2191,3357,0,0,0,0,0,0
$GC,4277,-0.54,-121.6,365.8,-12.5,354,4281,0.00,0.57,0.00,0.000,6,0.000,0.048,2841,1809,3357,0,0,0,0,0,0
$GC,4598,-0.54,-121.6,401.4,-10.9,370,4601,0.00,1.65,0.00,0.000,4,0.000,0.055,2833,2886,3357,0,0,0,0,0,0
$GC,4708,-0.54,-121.6,414.9,-11.8,373,4713,0.00,1.65,0.00,0.000,6,0.000,0.041,2833,1818,3357,0,0,0,0,0,0
$GC,5038,-0.54,-121.6,457.0,-12.5,384,5042,0.00,0.95,0.00,0.000,4,0.000,0.052,2829,2434,3357,0,0,0,0,0,0
$GC,5140,-0.54,-121.6,468.1,-10.8,387,5144,0.03,0.95,0.00,0.000,6,0.173,0.045,2840,1808,3357,0,0,0,0,0,0
$GC,5479,-0.54,-121.6,506.1,-11.0,398,5483,0.00,0.80,0.00,0.000,4,0.000,0.053,2837,2332,3357,0,0,0,0,0,0
$GC,5561,-0.54,-121.6,515.5,-11.8,400,5566,0.00,0.80,0.00,0.000,6,0.000,0.047,2837,1811,3357,0,0,0,0,0,0
$GC,5885,-0.54,-121.6,549.7,-8.7,411,5889,0.00,0.85,0.00,0.000,4,0.000,0.052,2833,2370,3357,0,0,0,0,0,0
$GC,5962,-0.54,-121.6,557.2,-10.3,413,5966,0.00,0.85,0.00,0.000,6,0.000,0.046,2833,1818,3357,0,0,0,0,0,0
$GC,6292,-0.54,-121.6,594.3,-11.7,424,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1818,3356,0,0,0,0,0,0
$GC,6598,-0.57,-121.6,623.3,-10.1,434,6602,0.00,0.93,0.00,0.000,4,0.000,0.053,2829,2419,3356,0,0,0,0,0,0
$GC,6715,-0.62,-121.6,637.3,-11.8,437,6720,0.00,0.93,0.00,0.000,6,0.000,0.046,2829,1822,3355,0,0,0,0,0,0
$STATE,6946,end dive,NO_VERTICAL_VELOCITY
$STATE,6946,begin apogee
$GC,6950,-0.23,0.0,638.7,0.0,445,7049,0.35,0.00,96.43,1.051,6,0.117,0.000,2945,1640,2862,0,0,0,0,0,0
$STATE,7050,end apogee,CONTROL_FINISHED_OK
$STATE,7050,begin climb
$GC,7052,0.71,121.6,638.6,0.0,448,7157,0.93,2.40,97.93,1.021,4,0.106,0.056,3257,251,2366,0,0,0,0,0,0
$GC,7411,0.73,402.1,644.5,-4.3,459,7654,0.00,2.25,234.88,1.026,6,0.000,0.041,3257,1656,1222,0,0,0,0,0,0
$GC,7960,0.83,402.1,604.4,7.4,477,7964,0.10,2.17,0.00,0.000,4,0.102,0.060,3318,358,1208,0,0,0,0,0,0
$GC,8082,0.89,601.8,601.3,-0.9,480,8258,0.00,2.08,169.07,0.999,6,0.000,0.042,3318,1656,409,0,0,0,0,0,0
$GC,8583,1.02,662.6,577.1,4.9,497,8588,0.10,2.35,0.00,0.000,4,0.103,0.061,3380,251,395,0,0,0,0,0,0
$GC,8671,1.05,662.6,567.7,11.6,499,8678,0.05,2.25,0.00,0.000,6,0.139,0.043,3361,1640,394,0,0,0,0,0,0
$GC,8984,1.12,662.6,521.3,19.0,510,8988,0.00,2.28,0.00,0.000,4,0.000,0.060,3371,253,393,0,0,0,0,0,0
$GC,9080,1.15,662.6,497.5,26.8,513,9085,0.05,2.20,0.00,0.000,6,0.166,0.044,3403,1644,393,0,0,0,0,0,0
$GC,9404,1.15,662.6,394.0,30.4,524,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1646,392,0,0,0,0,0,0
$GC,9716,1.15,662.6,378.9,7.6,539,9720,0.00,2.28,0.00,0.000,4,0.000,0.063,3414,251,392,0,0,0,0,0,0
$GC,9816,1.13,662.6,369.6,10.8,543,9821,0.08,2.20,0.00,0.000,6,0.139,0.042,3388,1642,391,0,0,0,0,0,0
$GC,10140,1.15,662.6,335.1,10.1,559,10144,0.00,2.28,0.00,0.000,4,0.000,0.060,3399,242,392,0,0,0,0,0,0
$GC,10234,1.15,662.6,325.3,9.6,563,10239,0.00,2.22,0.00,0.000,6,0.000,0.044,3398,1650,391,0,0,0,0,0,0
$GC,10564,1.18,708.3,300.4,5.5,579,10568,0.00,2.25,0.00,0.000,4,0.000,0.061,3409,249,391,0,0,0,0,0,0
$GC,10687,1.18,807.5,295.9,3.3,584,10692,0.00,2.20,0.00,0.000,6,0.000,0.044,3409,1648,391,0,0,0,0,0,0
$GC,11009,1.18,870.0,284.0,4.8,600,11013,0.00,2.28,0.00,0.000,4,0.000,0.060,3419,244,391,0,0,0,0,0,0
$GC,11108,1.18,870.0,276.8,8.7,604,11118,0.03,2.20,0.00,0.000,6,0.178,0.042,3409,1644,391,0,0,0,0,0,0
$GC,11425,1.18,870.0,252.1,8.6,620,11429,0.00,2.25,0.00,0.000,4,0.000,0.060,3419,251,391,0,0,0,0,0,0
$GC,11520,1.18,870.0,241.8,11.6,626,11525,0.08,2.17,0.00,0.000,6,0.184,0.043,3401,1655,391,0,0,0,0,0,0
$GC,11846,1.21,870.0,209.8,11.4,647,11850,0.00,2.28,0.00,0.000,4,0.000,0.060,3411,244,391,0,0,0,0,0,0
$GC,11943,1.21,870.0,196.7,13.7,653,11947,0.00,2.15,0.00,0.000,6,0.000,0.044,3412,1645,391,0,0,0,0,0,0
$GC,12274,1.21,870.0,149.1,15.5,674,12278,0.00,2.25,0.00,0.000,4,0.000,0.060,3422,248,391,0,0,0,0,0,0
$GC,12356,1.21,870.0,135.2,17.1,679,12360,0.00,2.17,0.00,0.000,6,0.000,0.044,3422,1651,391,0,0,0,0,0,0
$GC,12685,1.21,870.0,76.7,18.5,715,12689,0.00,2.03,0.00,0.000,4,0.000,0.059,3432,388,391,0,0,0,0,0,0
$GC,12762,1.21,870.0,61.7,19.0,729,12769,0.05,1.98,0.00,0.000,6,0.153,0.042,3414,1655,391,0,0,0,0,0,0
$STATE,13117,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,1.6,1.026302
$STATE,13137,end surface coast,CONTROL_FINISHED_OK
$STATE,13137,begin surface
$SM_CCo,13213,0.00,0.000,0,0,390,606.37
$SM_GC,2.47,8.62,0.00,0.00,0.037,0.000,0.000,92,1830,390,-9.09,0.31,606.37
$IRIDIUM_FIX,-4221.55,-749.60,301012,050535
$TT8_MAMPS,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,8.98162
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.6,25.048
$10V_AH,10.2,23.700
$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,21.750,85.275,598.300,0.000,0.000,25.269,36.493,188.371,0.000,0.000,38.883,1984.607,8026.292,585.787,2885.113,110.397,33.365,1684.575,0.000,2559.079,0.000,1.009,0.000
$DEVICE_MAMPS,261.630,65.790,1051.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.267,1150.641,491.254,73.730,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354036
$DATA_FILE_SIZE,46927,793
$CAP_FILE_SIZE,133413,0
$CFSIZE,2097086464,2075328512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301012,133536,-4239.591,-750.974,36,1.1,36,-21.7