version: 66.07.10.p01
glider: 573
mission: 4
dive: 150
start: 10 31 112 10 59 37
data:
$ID,573
$MISSION,4
$DIVE,150
$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,-4765.0933
$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,43
$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,129
$GPS1,311012,105223,-4242.406,-748.548,41,1.2,41,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-72.6
$GPS2,311012,105842,-4242.373,-748.624,15,1.9,16,-21.6
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.112,0.185
$KALMAN_X,-184003.5,378.5,771.3,363859.4,-7490.7
$KALMAN_Y,-156430.6,-708.1,23.1,152322.0,1723.3
$MHEAD_RNG_PITCHd_Wd,52.8,87808,-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,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,92,0.00,0.00,-66.05,0.000,2,0.000,0.000,84,1833,2847,0,0,0,0,0,0
$GC,94,-0.71,-121.6,3.2,-1.5,11,127,11.05,1.98,-15.43,0.000,4,0.245,0.070,2782,3076,3357,0,0,0,0,0,0
$GC,217,-0.62,-121.6,15.0,-11.3,31,225,0.10,2.00,0.00,0.000,6,0.145,0.044,2816,1815,3359,0,0,0,0,0,0
$GC,298,-0.57,-121.6,23.6,-10.6,44,306,0.08,0.52,0.00,0.000,4,0.200,0.057,2835,1468,3359,0,0,0,0,0,0
$GC,361,-0.55,-121.6,30.1,-10.2,54,368,0.00,0.52,0.00,0.000,6,0.000,0.051,2833,1817,3359,0,0,0,0,0,0
$GC,599,-0.55,-121.6,54.3,-10.1,95,604,0.00,0.60,0.00,0.000,4,0.000,0.053,2830,2224,3359,0,0,0,0,0,0
$GC,696,-0.55,-121.6,64.5,-10.3,112,701,0.00,0.62,0.00,0.000,6,0.000,0.049,2830,1808,3360,0,0,0,0,0,0
$GC,1038,-0.55,-121.6,98.4,-9.4,173,1042,0.00,1.48,0.00,0.000,4,0.000,0.054,2823,2738,3359,0,0,0,0,0,0
$GC,1132,-0.55,-121.6,107.2,-8.9,181,1139,0.08,1.45,0.00,0.000,6,0.178,0.044,2843,1813,3359,0,0,0,0,0,0
$GC,1451,-0.55,-121.6,134.4,-8.3,202,1455,0.00,1.35,0.00,0.000,4,0.000,0.054,2837,2672,3360,0,0,0,0,0,0
$GC,1546,-0.55,-121.6,142.5,-8.3,207,1552,0.00,1.35,0.00,0.000,6,0.000,0.044,2837,1808,3360,0,0,0,0,0,0
$GC,1866,-0.55,-121.6,170.4,-8.8,228,1869,0.00,1.05,0.00,0.000,4,0.000,0.053,2833,2478,3360,0,0,0,0,0,0
$GC,1968,-0.55,-121.6,179.2,-8.8,234,1971,0.00,1.00,0.00,0.000,6,0.000,0.044,2833,1823,3360,0,0,0,0,0,0
$GC,2299,-0.55,-121.6,209.0,-9.3,255,2302,0.00,1.10,0.00,0.000,4,0.000,0.052,2827,2528,3360,0,0,0,0,0,0
$GC,2393,-0.55,-121.6,218.2,-9.2,260,2401,0.00,1.12,0.00,0.000,6,0.000,0.044,2828,1804,3360,0,0,0,0,0,0
$GC,2714,-0.55,-121.6,248.7,-9.8,281,2718,0.00,0.93,0.00,0.000,4,0.000,0.051,2823,2407,3360,0,0,0,0,0,0
$GC,2791,-0.55,-121.6,256.3,-9.3,285,2796,0.08,0.90,0.00,0.000,6,0.177,0.044,2843,1819,3360,0,0,0,0,0,0
$GC,3114,-0.55,-121.6,285.1,-9.0,301,3118,0.00,1.27,0.00,0.000,4,0.000,0.053,2838,2639,3360,0,0,0,0,0,0
$GC,3196,-0.55,-121.6,293.4,-9.2,304,3205,0.00,1.27,0.00,0.000,6,0.000,0.042,2838,1819,3360,0,0,0,0,0,0
$GC,3513,-0.55,-121.6,323.7,-9.2,320,3517,0.00,1.05,0.00,0.000,4,0.000,0.052,2832,2493,3360,0,0,0,0,0,0
$GC,3613,-0.55,-121.6,334.0,-10.2,324,3617,0.00,1.05,0.00,0.000,6,0.000,0.044,2833,1816,3360,0,0,0,0,0,0
$GC,3934,-0.55,-121.6,366.6,-10.2,340,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1816,3360,0,0,0,0,0,0
$GC,4246,-0.55,-121.6,394.1,-8.3,355,4249,0.00,1.35,0.00,0.000,4,0.000,0.054,2827,2675,3361,0,0,0,0,0,0
$GC,4347,-0.55,-121.6,403.8,-10.0,359,4351,0.00,1.30,0.00,0.000,6,0.000,0.042,2827,1828,3361,0,0,0,0,0,0
$GC,4687,-0.72,-121.6,437.2,-4.4,370,4692,0.10,2.17,0.00,0.000,4,0.107,0.057,2782,3218,3361,0,0,0,0,0,0
$STATE,4819,end dive,NO_VERTICAL_VELOCITY
$STATE,4820,begin apogee
$GC,4826,-0.23,0.0,437.4,0.0,374,4924,0.43,0.00,95.03,0.903,6,0.047,0.000,2981,1642,2862,0,0,0,0,0,0
$STATE,4925,end apogee,CONTROL_FINISHED_OK
$STATE,4925,begin climb
$GC,4926,0.71,121.6,437.2,0.0,377,5029,0.70,2.40,95.00,0.877,4,0.048,0.055,3265,238,2366,0,0,0,0,0,0
$GC,5282,0.71,213.3,427.1,3.6,388,5363,0.03,2.25,74.12,0.877,6,0.253,0.041,3255,1652,1991,0,0,0,0,0,0
$GC,5682,0.75,213.3,398.4,8.6,401,5685,0.00,1.10,0.00,0.000,4,0.000,0.050,3255,2353,1984,0,0,0,0,0,0
$GC,5754,0.79,213.3,391.8,9.0,404,5758,0.00,1.12,0.00,0.000,6,0.000,0.047,3259,1645,1983,0,0,0,0,0,0
$GC,6081,0.83,233.1,366.2,6.6,420,6105,0.10,0.45,15.88,0.832,4,0.100,0.051,3318,1344,1912,0,0,0,0,0,0
$GC,6228,0.80,233.1,354.1,8.5,426,6233,0.12,0.47,0.00,0.000,6,0.149,0.050,3283,1650,1910,0,0,0,0,0,0
$GC,6549,0.80,255.7,333.7,6.5,442,6572,0.00,0.00,19.85,0.835,6,0.000,0.000,3283,1649,1818,0,0,0,0,0,0
$GC,6880,0.83,333.3,316.6,4.2,458,6950,0.00,0.55,64.47,0.840,4,0.000,0.057,3285,1323,1502,0,0,0,0,0,0
$GC,7033,0.91,365.2,309.1,6.1,465,7064,0.05,0.50,27.15,0.807,6,0.059,0.048,3326,1648,1373,0,0,0,0,0,0
$GC,7379,0.93,365.2,275.9,10.9,482,7383,0.00,0.75,0.00,0.000,4,0.000,0.056,3330,1173,1364,0,0,0,0,0,0
$GC,7449,0.93,365.2,268.0,11.6,485,7453,0.00,0.73,0.00,0.000,6,0.000,0.044,3330,1644,1363,0,0,0,0,0,0
$GC,7774,0.93,365.2,227.9,12.5,503,7778,0.00,1.02,0.00,0.000,4,0.000,0.055,3335,1008,1361,0,0,0,0,0,0
$GC,7845,0.93,365.2,218.3,12.8,507,7850,0.00,1.02,0.00,0.000,6,0.000,0.042,3335,1655,1361,0,0,0,0,0,0
$GC,8170,0.93,365.2,176.9,12.5,528,8174,0.00,1.05,0.00,0.000,4,0.000,0.055,3340,999,1361,0,0,0,0,0,0
$GC,8243,0.93,365.2,167.9,12.7,532,8247,0.05,1.00,0.00,0.000,6,0.143,0.042,3321,1646,1360,0,0,0,0,0,0
$GC,8569,0.96,365.2,130.4,11.6,553,8572,0.00,0.73,0.00,0.000,4,0.000,0.056,3324,1181,1360,0,0,0,0,0,0
$GC,8639,0.99,365.2,122.2,11.6,557,8642,0.00,0.70,0.00,0.000,6,0.000,0.045,3324,1645,1360,0,0,0,0,0,0
$GC,8967,1.03,365.2,87.3,10.0,592,8972,0.08,0.60,0.00,0.000,4,0.121,0.056,3367,1253,1360,0,0,0,0,0,0
$GC,9054,1.00,365.2,76.8,12.8,607,9059,0.05,0.60,0.00,0.000,6,0.143,0.047,3348,1654,1360,0,0,0,0,0,0
$GC,9399,1.00,365.2,35.4,12.9,668,9406,0.00,1.15,0.00,0.000,4,0.000,0.054,3354,934,1360,0,0,0,0,0,0
$GC,9524,1.00,365.2,20.1,10.1,689,9531,0.00,1.10,0.00,0.000,6,0.000,0.043,3354,1646,1359,0,0,0,0,0,0
$GC,9605,0.98,365.2,11.0,12.4,702,9611,0.08,0.00,0.00,0.000,6,0.186,0.000,3335,1647,1359,0,0,0,0,0,0
$STATE,9671,end climb,SURFACE_DEPTH_REACHED
$STATE,9671,begin surface coast
$FINISH,1.7,1.005251
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9777,0.00,0.000,0,0,1356,369.17
$SM_GC,2.47,8.35,0.00,0.00,0.033,0.000,0.000,91,1820,1356,-9.09,0.03,369.17
$IRIDIUM_FIX,-4230.32,-753.30,311012,060640
$TT8_MAMPS,0.026964
$HUMID,43.22
$INTERNAL_PRESSURE,9.09881
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.3,25.745
$10V_AH,10.2,24.286
$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,21.500,49.475,391.500,0.000,0.000,25.540,36.955,208.845,0.000,0.000,17.795,1724.540,5393.156,405.091,2532.569,100.140,33.358,1279.411,0.000,2222.971,0.000,1.012,0.000
$DEVICE_MAMPS,253.215,70.380,902.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.436,1196.552,421.722,85.129,0.000,0.000,0.000,0.000,0.000,0.000
$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,43498,718
$CAP_FILE_SIZE,107275,0
$CFSIZE,2097086464,2074705920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,311012,134335,-4240.610,-749.191,29,1.0,29,-21.7