version: 66.07.10.p01
glider: 573
mission: 4
dive: 151
start: 10 31 112 13 55 24
data:
$ID,573
$MISSION,4
$DIVE,151
$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,-4768.397
$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,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,130
$GPS1,311012,134335,-4240.610,-749.191,29,1.0,29,-21.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.6
$GPS2,311012,135429,-4240.521,-749.321,40,1.4,41,-21.7
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.127,0.176
$KALMAN_X,-187150.6,624.9,66.5,366564.5,-11829.5
$KALMAN_Y,-157294.8,-1125.5,-588.4,157635.4,3313.5
$MHEAD_RNG_PITCHd_Wd,57.5,85208,-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,-121.6,0.0,0.0,0,87,0.00,0.00,-60.28,0.000,2,0.000,0.000,87,1820,2776,0,0,0,0,0,0
$GC,89,-0.71,-121.6,3.1,-1.5,10,127,10.95,2.28,-18.62,0.000,4,0.243,0.073,2776,3216,3361,0,0,0,0,0,0
$GC,247,-0.62,-121.6,19.7,-12.7,36,255,0.12,2.22,0.00,0.000,6,0.142,0.043,2817,1810,3361,0,0,0,0,0,0
$GC,327,-0.57,-121.6,28.5,-11.1,49,335,0.08,0.90,0.00,0.000,4,0.194,0.054,2837,1237,3362,0,0,0,0,0,0
$GC,424,-0.55,-121.6,38.3,-9.6,65,429,0.00,0.90,0.00,0.000,6,0.000,0.045,2833,1819,3362,0,0,0,0,0,0
$GC,657,-0.55,-121.6,58.4,-8.2,106,664,0.00,0.32,0.00,0.000,4,0.000,0.058,2831,2064,3362,0,0,0,0,0,0
$GC,794,-0.55,-121.6,69.8,-8.4,130,799,0.00,0.38,0.00,0.000,6,0.000,0.054,2832,1804,3362,0,0,0,0,0,0
$GC,1137,-0.55,-121.6,100.0,-9.0,191,1140,0.00,0.95,0.00,0.000,4,0.000,0.051,2827,2417,3362,0,0,0,0,0,0
$GC,1225,-0.55,-121.6,108.4,-9.4,196,1230,0.05,0.93,0.00,0.000,6,0.213,0.044,2841,1819,3362,0,0,0,0,0,0
$GC,1552,-0.55,-121.6,139.7,-9.5,217,1556,0.00,0.82,0.00,0.000,4,0.000,0.051,2837,2362,3362,0,0,0,0,0,0
$GC,1640,-0.55,-121.6,148.0,-8.6,222,1645,0.00,0.85,0.00,0.000,6,0.000,0.044,2837,1807,3362,0,0,0,0,0,0
$GC,1967,-0.55,-121.6,175.0,-8.2,243,1971,0.00,0.98,0.00,0.000,4,0.000,0.050,2832,2439,3362,0,0,0,0,0,0
$GC,2061,-0.55,-121.6,182.9,-8.2,248,2069,0.00,0.98,0.00,0.000,6,0.000,0.044,2832,1808,3362,0,0,0,0,0,0
$GC,2382,-0.55,-121.6,209.8,-9.0,269,2386,0.00,1.05,0.00,0.000,4,0.000,0.050,2828,2484,3362,0,0,0,0,0,0
$GC,2468,-0.55,-121.6,217.5,-9.0,274,2471,0.00,1.00,0.00,0.000,6,0.000,0.044,2828,1824,3362,0,0,0,0,0,0
$GC,2800,-0.53,-121.6,248.6,-9.4,295,2804,0.08,0.73,0.00,0.000,4,0.196,0.051,2844,2299,3362,0,0,0,0,0,0
$GC,2889,-0.53,-121.6,256.9,-9.2,300,2893,0.00,0.73,0.00,0.000,6,0.000,0.046,2844,1813,3362,0,0,0,0,0,0
$GC,3221,-0.53,-121.6,287.7,-8.9,316,3225,0.00,1.27,0.00,0.000,4,0.000,0.053,2838,2627,3362,0,0,0,0,0,0
$GC,3321,-0.53,-121.6,296.5,-8.5,320,3326,0.00,1.25,0.00,0.000,6,0.000,0.042,2838,1821,3362,0,0,0,0,0,0
$GC,3643,-0.53,-121.6,324.6,-8.6,336,3646,0.00,0.90,0.00,0.000,4,0.000,0.050,2834,2411,3362,0,0,0,0,0,0
$GC,3713,-0.53,-121.6,330.3,-8.7,339,3716,0.00,0.90,0.00,0.000,6,0.000,0.044,2834,1815,3362,0,0,0,0,0,0
$GC,4046,-0.53,-121.6,364.5,-10.9,355,4050,0.00,0.95,0.00,0.000,4,0.000,0.050,2829,2434,3362,0,0,0,0,0,0
$GC,4123,-0.53,-121.6,373.9,-11.6,358,4129,0.08,0.95,0.00,0.000,6,0.177,0.043,2850,1814,3362,0,0,0,0,0,0
$GC,4454,-0.53,-121.6,411.6,-11.3,373,4458,0.00,1.25,0.00,0.000,4,0.000,0.052,2844,2622,3362,0,0,0,0,0,0
$GC,4556,-0.56,-121.6,422.8,-10.2,376,4560,0.00,1.23,0.00,0.000,6,0.000,0.043,2844,1822,3362,0,0,0,0,0,0
$GC,4896,-0.56,-121.6,459.1,-10.8,387,4899,0.00,1.27,0.00,0.000,4,0.000,0.052,2838,2643,3362,0,0,0,0,0,0
$GC,5012,-0.56,-121.6,470.8,-8.6,390,5017,0.00,1.30,0.00,0.000,6,0.000,0.043,2838,1808,3362,0,0,0,0,0,0
$GC,5336,-0.56,-121.6,502.2,-9.7,401,5340,0.00,1.08,0.00,0.000,4,0.000,0.052,2833,2497,3361,0,0,0,0,0,0
$GC,5458,-0.56,-121.6,514.2,-8.3,404,5463,0.00,1.05,0.00,0.000,6,0.000,0.043,2834,1818,3362,0,0,0,0,0,0
$STATE,5776,end dive,NO_VERTICAL_VELOCITY
$STATE,5776,begin apogee
$GC,5780,-0.23,0.0,519.8,0.0,415,5879,0.32,0.00,95.95,0.973,6,0.075,0.000,2959,1645,2862,0,0,0,0,0,0
$STATE,5879,end apogee,CONTROL_FINISHED_OK
$STATE,5879,begin climb
$GC,5881,0.71,121.6,519.7,0.0,418,5981,0.85,0.00,96.47,0.940,6,0.073,0.000,3253,1644,2366,0,0,0,0,0,0
$GC,6289,0.71,197.2,504.0,4.3,431,6358,0.00,2.33,61.60,0.935,4,0.000,0.054,3253,2998,2056,0,0,0,0,0,0
$GC,6442,0.74,224.2,494.9,6.3,435,6472,0.00,2.17,22.95,0.896,6,0.000,0.043,3263,1660,1948,0,0,0,0,0,0
$GC,6786,0.77,257.6,474.2,6.0,447,6820,0.00,1.70,28.45,0.913,4,0.000,0.053,3263,2683,1810,0,0,0,0,0,0
$GC,6888,0.81,257.6,467.1,7.6,450,6892,0.00,1.67,0.00,0.000,6,0.000,0.046,3269,1651,1806,0,0,0,0,0,0
$GC,7224,0.86,261.1,443.5,7.3,461,7226,0.10,0.00,0.00,0.000,6,0.099,0.000,3325,1651,1804,0,0,0,0,0,0
$GC,7530,0.83,261.1,415.2,9.1,471,7534,0.12,0.43,0.00,0.000,4,0.154,0.063,3291,1365,1803,0,0,0,0,0,0
$GC,7617,0.83,261.1,407.9,8.6,473,7621,0.00,0.45,0.00,0.000,6,0.000,0.050,3291,1655,1803,0,0,0,0,0,0
$GC,7947,0.83,261.1,380.3,7.9,488,7951,0.00,0.80,0.00,0.000,4,0.000,0.050,3292,2188,1801,0,0,0,0,0,0
$GC,8017,0.83,261.1,374.8,8.4,491,8021,0.00,0.82,0.00,0.000,6,0.000,0.050,3295,1642,1801,0,0,1,0,0,0
$GC,8350,0.83,261.1,345.5,9.4,507,8354,0.00,0.70,0.00,0.000,4,0.000,0.049,3295,2106,1800,0,0,0,0,0,0
$GC,8426,0.83,261.1,337.5,10.1,510,8431,0.00,0.73,0.00,0.000,6,0.000,0.050,3298,1644,1800,0,0,0,0,0,0
$GC,8748,0.83,261.1,303.6,11.3,526,8751,0.00,0.50,0.00,0.000,4,0.000,0.057,3300,1305,1800,0,0,0,0,0,0
$GC,8825,0.83,261.1,293.7,13.3,529,8829,0.00,0.52,0.00,0.000,6,0.000,0.047,3301,1651,1800,0,0,0,0,0,0
$GC,9148,0.83,261.1,252.4,13.1,545,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1651,1800,0,0,0,0,0,0
$GC,9466,0.83,261.1,210.2,13.0,565,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1651,1800,0,0,0,0,0,0
$GC,9778,0.83,261.1,169.8,12.9,585,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1651,1800,0,0,0,0,0,0
$GC,10091,0.83,261.1,130.8,12.0,605,10094,0.00,0.62,0.00,0.000,4,0.000,0.054,3304,1244,1800,0,0,0,0,0,0
$GC,10160,0.83,261.1,122.4,12.6,609,10164,0.00,0.60,0.00,0.000,6,0.000,0.047,3304,1647,1800,0,0,0,0,0,0
$GC,10490,0.83,261.1,83.5,11.0,646,10495,0.05,0.00,0.00,0.000,6,0.218,0.000,3291,1648,1800,0,0,0,0,0,0
$GC,10836,0.85,261.1,49.4,9.7,707,10841,0.00,0.70,0.00,0.000,4,0.000,0.055,3294,1186,1800,0,0,0,0,0,0
$GC,10918,0.87,261.1,41.5,9.5,721,10923,0.00,0.68,0.00,0.000,6,0.000,0.045,3294,1641,1800,0,0,0,0,0,0
$GC,11158,0.90,261.1,19.5,8.6,762,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1641,1800,0,0,0,0,0,0
$GC,11237,0.92,261.1,13.1,7.9,775,11245,0.08,0.30,0.00,0.000,4,0.123,0.059,3334,1858,1800,0,0,0,0,0,0
$STATE,11345,end climb,SURFACE_DEPTH_REACHED
$STATE,11345,begin surface coast
$FINISH,1.6,1.013351
$STATE,11377,end surface coast,CONTROL_FINISHED_OK
$STATE,11377,begin surface
$SM_CCo,11452,0.00,0.000,0,0,1795,261.73
$SM_GC,2.44,8.50,0.00,0.00,0.043,0.000,0.000,83,1860,1795,-9.11,1.13,261.73
$IRIDIUM_FIX,-4221.55,-833.87,311012,131300
$TT8_MAMPS,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.13787
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.2,25.851
$10V_AH,10.2,24.389
$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,21.375,45.375,305.425,0.000,0.000,59.641,88.106,304.757,0.000,0.000,43.161,1916.235,6863.105,373.870,2852.775,106.558,33.360,1249.302,0.000,2323.500,0.000,1.009,0.000
$DEVICE_MAMPS,242.505,73.440,973.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.832,1233.101,471.999,98.127,0.000,0.000,0.000,0.000,0.000,0.000
$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,46988,798
$CAP_FILE_SIZE,114090,1
$CFSIZE,2097086464,2074574848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2
$GPS,311012,170730,-4239.259,-750.206,42,1.1,42,-21.7