version: 66.07.10.p01
glider: 573
mission: 4
dive: 149
start: 10 31 112 6 16 37
data:
$ID,573
$MISSION,4
$DIVE,149
$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,-4761.7852
$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,27
$R_STBD_OVSHOOT,37
$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,128
$GPS1,311012,060904,-4244.663,-750.362,39,1.2,42,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-73.6
$GPS2,311012,061542,-4244.641,-750.444,19,1.1,20,-21.6
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.124,0.178
$KALMAN_X,-185672.5,1384.1,1033.1,361823.4,-12969.2
$KALMAN_Y,-155359.8,54.5,-683.7,146979.0,4369.4
$MHEAD_RNG_PITCHd_Wd,56.4,92687,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-121.6,0.0,0.0,0,88,0.00,0.00,-60.67,0.000,2,0.000,0.000,83,1823,2884,0,0,0,0,0,0
$GC,90,-0.71,-121.6,3.0,-1.0,10,122,10.98,2.25,-14.18,0.000,4,0.243,0.070,2779,3227,3358,0,0,0,0,0,0
$GC,322,-0.62,-121.6,28.2,-11.4,49,329,0.10,2.22,0.00,0.000,6,0.143,0.042,2812,1815,3360,0,0,0,0,0,0
$GC,399,-0.57,-121.6,36.7,-10.4,62,406,0.10,0.00,0.00,0.000,6,0.176,0.000,2840,1815,3359,0,0,0,0,0,0
$GC,637,-0.57,-121.6,59.1,-9.2,103,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1815,3360,0,0,0,0,0,0
$GC,866,-0.57,-121.6,80.6,-9.3,144,874,0.00,0.93,0.00,0.000,4,0.000,0.051,2836,2409,3360,0,0,0,0,0,0
$GC,958,-0.57,-121.6,88.8,-9.2,160,964,0.00,0.93,0.00,0.000,6,0.000,0.047,2836,1806,3360,0,0,0,0,0,0
$GC,1298,-0.57,-121.6,120.7,-9.4,195,1301,0.00,1.17,0.00,0.000,4,0.000,0.053,2831,2559,3361,0,0,0,0,0,0
$GC,1392,-0.57,-121.6,130.0,-9.2,200,1400,0.00,1.17,0.00,0.000,6,0.000,0.044,2831,1808,3360,0,0,0,0,0,0
$GC,1713,-0.57,-121.6,163.3,-11.2,221,1717,0.00,1.02,0.00,0.000,4,0.000,0.051,2826,2464,3360,0,0,0,0,0,0
$GC,1801,-0.57,-121.6,173.8,-11.6,226,1806,0.00,1.00,0.00,0.000,6,0.000,0.044,2826,1820,3361,0,0,0,0,0,0
$GC,2129,-0.54,-121.6,211.8,-11.2,247,2133,0.08,0.82,0.00,0.000,4,0.194,0.052,2842,2354,3361,0,0,0,0,0,0
$GC,2216,-0.54,-121.6,221.6,-10.1,252,2221,0.00,0.82,0.00,0.000,6,0.000,0.046,2842,1819,3361,0,0,0,0,0,0
$GC,2543,-0.54,-121.6,249.1,-7.4,273,2547,0.00,1.20,0.00,0.000,4,0.000,0.052,2836,2585,3361,0,0,0,0,0,0
$GC,2626,-0.54,-121.6,255.5,-7.4,277,2632,0.00,1.20,0.00,0.000,6,0.000,0.042,2836,1815,3361,0,0,0,0,0,0
$GC,2944,-0.54,-121.6,281.3,-9.1,293,2948,0.00,1.35,0.00,0.000,4,0.000,0.053,2830,2674,3361,0,0,0,0,0,0
$GC,3049,-0.54,-121.6,291.8,-9.7,297,3056,0.05,1.35,0.00,0.000,6,0.207,0.042,2844,1807,3361,0,0,0,0,0,0
$GC,3368,-0.54,-121.6,322.7,-9.9,313,3372,0.00,0.85,0.00,0.000,4,0.000,0.052,2840,2367,3361,0,0,0,0,0,0
$GC,3460,-0.54,-121.6,331.0,-8.3,317,3464,0.00,0.82,0.00,0.000,6,0.000,0.046,2840,1819,3361,0,0,0,0,0,0
$GC,3794,-0.54,-121.6,352.2,-4.5,333,3798,0.00,0.98,0.00,0.000,4,0.000,0.051,2836,2448,3361,0,0,0,0,0,0
$GC,3900,-0.54,-121.6,357.9,-6.1,337,3906,0.00,0.98,0.00,0.000,6,0.000,0.044,2836,1817,3361,0,0,0,0,0,0
$GC,4218,-0.54,-121.6,383.7,-9.0,353,4222,0.00,0.98,0.00,0.000,4,0.000,0.051,2832,2446,3361,0,0,0,0,0,0
$GC,4331,-0.54,-121.6,394.2,-8.4,358,4335,0.00,0.95,0.00,0.000,6,0.000,0.045,2831,1821,3361,0,0,0,0,0,0
$GC,4661,-0.54,-121.6,423.6,-9.5,370,4664,0.00,1.88,0.00,0.000,4,0.000,0.055,2823,3017,3361,0,0,0,0,0,0
$GC,4805,-0.54,-121.6,438.8,-11.1,374,4810,0.05,1.85,0.00,0.000,6,0.146,0.041,2843,1825,3361,0,0,0,0,0,0
$GC,5135,-0.56,-121.6,467.2,-8.4,385,5138,0.00,0.90,0.00,0.000,4,0.000,0.052,2838,2420,3361,0,0,0,0,0,0
$GC,5273,-0.56,-121.6,478.9,-9.5,389,5278,0.00,0.95,0.00,0.000,6,0.000,0.045,2838,1807,3361,0,0,0,0,0,0
$GC,5609,-0.56,-121.6,509.6,-9.0,400,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1806,3361,0,0,0,0,0,0
$GC,5915,-0.56,-121.6,537.9,-9.6,410,5918,0.00,1.08,0.00,0.000,4,0.000,0.054,2834,2494,3360,0,0,0,0,0,0
$GC,6003,-0.56,-121.6,545.5,-8.2,412,6008,0.00,1.05,0.00,0.000,6,0.000,0.044,2834,1818,3360,0,0,0,0,0,0
$GC,6322,-0.56,-121.6,576.1,-9.4,423,6325,0.00,0.35,0.00,0.000,4,0.000,0.057,2832,2067,3360,0,0,0,0,0,0
$GC,6578,-0.56,-121.6,591.8,-9.4,430,6582,0.00,0.38,0.00,0.000,6,0.000,0.054,2832,1814,3359,0,0,0,0,0,0
$GC,6897,-0.56,-121.6,613.6,-8.7,441,6901,0.00,2.20,0.00,0.000,4,0.000,0.057,2822,3228,3359,0,0,0,0,0,0
$GC,7048,-0.56,-121.6,631.5,-10.9,445,7052,0.05,2.15,0.00,0.000,6,0.215,0.041,2835,1825,3358,0,0,0,0,0,0
$GC,7365,-0.56,-121.6,652.9,-6.8,456,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1824,3358,0,0,0,0,0,0
$GC,7671,-0.56,-121.6,667.2,-4.4,466,7675,0.00,0.30,0.00,0.000,4,0.000,0.059,2834,2045,3357,0,0,0,0,0,0
$GC,7773,-0.56,-121.6,672.4,-5.5,469,7777,0.00,0.32,0.00,0.000,6,0.000,0.057,2834,1815,3357,0,0,0,0,0,0
$GC,8113,-0.56,-121.6,695.7,-6.7,480,8117,0.00,0.65,0.00,0.000,4,0.000,0.054,2831,2248,3357,0,0,0,0,0,0
$GC,8181,-0.56,-121.6,699.7,-5.9,482,8185,0.00,0.65,0.00,0.000,6,0.000,0.050,2831,1815,3356,0,0,0,0,0,0
$GC,8521,-0.56,-121.6,724.6,-8.0,493,8525,0.00,0.80,0.00,0.000,4,0.000,0.054,2828,2340,3356,0,0,0,0,0,0
$GC,8699,-0.56,-121.6,739.6,-5.1,498,8704,0.00,0.82,0.00,0.000,6,0.000,0.048,2828,1809,3356,0,0,0,0,0,0
$STATE,8997,end dive,NO_VERTICAL_VELOCITY
$STATE,8997,begin apogee
$GC,9001,-0.23,0.0,743.3,0.0,508,9102,0.35,0.00,97.75,1.128,6,0.113,0.000,2945,1643,2862,0,0,0,0,0,0
$STATE,9103,end apogee,CONTROL_FINISHED_OK
$STATE,9103,begin climb
$GC,9104,0.71,121.6,743.2,0.0,511,9210,0.88,0.82,99.50,1.095,4,0.088,0.039,3242,2164,2366,0,0,0,0,0,0
$GC,9464,0.68,313.5,742.8,-0.5,522,9634,0.00,0.82,162.82,1.088,6,0.000,0.057,3246,1653,1581,0,0,0,0,0,0
$GC,9953,0.77,313.5,687.2,12.3,538,9958,0.08,1.73,0.00,0.000,4,0.119,0.056,3291,2724,1571,0,0,0,0,0,0
$GC,10030,0.77,313.5,676.6,14.4,540,10036,0.08,1.75,0.00,0.000,6,0.125,0.046,3271,1649,1570,0,0,0,0,0,0
$GC,10361,0.83,313.5,636.0,11.5,551,10365,0.03,0.73,0.00,0.000,4,0.239,0.057,3308,1183,1570,0,0,0,0,0,0
$GC,10432,0.85,313.5,627.1,11.4,553,10436,0.00,0.75,0.00,0.000,6,0.000,0.046,3308,1657,1569,0,0,0,0,0,0
$GC,10767,0.85,313.5,587.7,10.2,564,10770,0.00,0.80,0.00,0.000,4,0.000,0.056,3312,1151,1569,0,0,0,0,0,0
$GC,10844,0.85,313.5,579.1,13.4,566,10849,0.05,0.77,0.00,0.000,6,0.203,0.045,3300,1649,1568,0,0,0,0,0,0
$GC,11174,0.88,313.5,541.2,10.7,577,11177,0.00,1.10,0.00,0.000,4,0.000,0.055,3304,968,1568,0,0,0,0,0,0
$GC,11256,0.90,313.5,529.9,13.1,579,11261,0.00,1.08,0.00,0.000,6,0.000,0.045,3304,1645,1568,0,0,0,0,0,0
$GC,11581,0.90,325.6,496.2,6.9,590,11594,0.00,0.28,9.07,0.899,4,0.000,0.060,3303,1834,1533,0,0,0,0,0,0
$GC,11650,0.91,369.2,492.2,5.6,592,11693,0.00,0.32,39.33,0.966,6,0.000,0.062,3305,1630,1357,0,0,0,0,0,0
$GC,12012,0.95,381.7,472.5,6.9,604,12028,0.05,2.05,11.12,0.897,4,0.166,0.054,3339,2901,1303,0,0,0,0,0,0
$GC,12112,0.95,381.7,460.3,12.8,607,12117,0.05,2.03,0.00,0.000,6,0.150,0.047,3330,1650,1301,0,0,0,0,0,0
$GC,12447,0.95,381.7,416.2,12.3,618,12450,0.00,1.15,0.00,0.000,4,0.000,0.057,3335,935,1298,0,0,0,0,0,0
$GC,12524,0.95,381.7,406.9,12.1,620,12528,0.00,1.15,0.00,0.000,6,0.000,0.044,3335,1654,1298,0,0,0,0,0,0
$GC,12858,0.95,381.7,366.3,13.2,635,12862,0.00,1.38,0.00,0.000,4,0.000,0.057,3342,812,1297,0,0,0,0,0,0
$GC,12941,0.95,381.7,355.7,11.5,638,12950,0.05,1.33,0.00,0.000,6,0.215,0.043,3329,1649,1296,0,0,0,0,0,0
$GC,13257,0.95,381.7,325.7,7.9,654,13261,0.00,0.68,0.00,0.000,4,0.000,0.057,3332,1216,1296,0,0,0,0,0,0
$GC,13357,0.95,381.7,318.0,7.8,658,13361,0.00,0.68,0.00,0.000,6,0.000,0.045,3332,1653,1296,0,0,0,0,0,0
$GC,13678,0.95,381.7,285.3,11.8,674,13682,0.00,1.15,0.00,0.000,4,0.000,0.057,3338,940,1296,0,0,0,0,0,0
$GC,13756,0.95,381.7,275.0,12.9,677,13761,0.00,1.12,0.00,0.000,6,0.000,0.043,3338,1654,1296,0,0,0,0,0,0
$GC,14086,0.95,381.7,240.4,8.6,695,14090,0.00,1.10,0.00,0.000,4,0.000,0.057,3343,967,1296,0,0,0,0,0,0
$GC,14157,0.95,381.7,234.1,8.7,699,14163,0.05,1.08,0.00,0.000,6,0.217,0.043,3330,1652,1296,0,0,0,0,0,0
$GC,14483,0.97,381.7,206.0,9.5,720,14487,0.00,0.68,0.00,0.000,4,0.000,0.056,3333,1215,1296,0,0,0,0,0,0
$GC,14570,0.99,381.7,197.4,9.4,725,14573,0.00,0.65,0.00,0.000,6,0.000,0.046,3333,1650,1296,0,0,0,0,0,0
$GC,14900,1.01,381.7,165.6,9.1,746,14904,0.00,1.15,0.00,0.000,4,0.000,0.056,3339,934,1296,0,0,0,0,0,0
$GC,14972,1.01,381.7,159.1,8.9,750,14976,0.00,1.12,0.00,0.000,6,0.000,0.042,3338,1652,1296,0,0,0,0,0,0
$GC,15298,1.01,381.7,127.5,10.3,771,15302,0.00,0.82,0.00,0.000,4,0.000,0.056,3343,1125,1296,0,0,0,0,0,0
$GC,15370,1.01,381.7,119.7,10.2,775,15374,0.00,0.80,0.00,0.000,6,0.000,0.043,3342,1649,1296,0,0,0,0,0,0
$GC,15700,1.01,381.7,83.3,12.2,811,15704,0.00,0.88,0.00,0.000,4,0.000,0.056,3346,1094,1296,0,0,0,0,0,0
$GC,15778,1.01,381.7,73.4,12.5,825,15785,0.00,0.85,0.00,0.000,6,0.000,0.044,3347,1653,1296,0,0,0,0,0,0
$GC,16127,1.01,381.7,31.7,11.8,886,16134,0.00,1.33,0.00,0.000,4,0.000,0.055,3353,827,1296,0,0,0,0,0,0
$GC,16201,1.01,381.7,22.9,12.1,898,16208,0.00,1.27,0.00,0.000,6,0.000,0.043,3353,1649,1296,0,0,0,0,0,0
$GC,16280,1.01,381.7,13.3,12.0,911,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1649,1296,0,0,0,0,0,0
$GC,16359,1.01,381.7,3.7,12.2,924,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1649,1296,0,0,0,0,0,0
$STATE,16372,end climb,SURFACE_DEPTH_REACHED
$STATE,16372,begin surface coast
$FINISH,1.7,1.013355
$STATE,16397,end surface coast,CONTROL_FINISHED_OK
$STATE,16398,begin surface
$SM_CCo,16473,0.00,0.000,0,0,1293,384.87
$SM_GC,2.43,8.45,0.00,0.00,0.037,0.000,0.000,90,1832,1293,-9.09,0.37,384.87
$IRIDIUM_FIX,-4227.40,-750.00,301012,191905
$TT8_MAMPS,0.026964
$HUMID,42.99
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.7,25.634
$10V_AH,10.2,24.191
$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,21.500,75.200,419.600,0.000,0.000,25.331,41.452,210.710,0.000,0.000,22.057,2372.256,10634.357,470.870,3247.629,140.448,33.358,1705.624,0.000,2911.776,0.000,1.008,0.000
$DEVICE_MAMPS,242.505,72.675,1128.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.465,1179.972,581.250,84.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354052
$DATA_FILE_SIZE,56917,930
$CAP_FILE_SIZE,157317,0
$CFSIZE,2097086464,2074804224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,311012,105223,-4242.406,-748.548,41,1.2,41,-21.6