version: 66.07.10.p01
glider: 573
mission: 4
dive: 171
start: 11 5 112 22 1 13
data:
$ID,573
$MISSION,4
$DIVE,171
$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,-4835.2891
$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,30
$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,150
$GPS1,051112,215305,-4205.791,-715.635,60,0.9,60,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-74.0
$GPS2,051112,220018,-4205.752,-715.626,25,0.8,26,-22.0
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.034,-0.214
$KALMAN_X,-214169.5,-201.2,-575.7,440968.3,2463.2
$KALMAN_Y,-137501.9,260.1,475.9,199759.4,-1245.4
$MHEAD_RNG_PITCHd_Wd,192.9,111454,-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,24,-0.71,-121.6,0.0,0.0,0,63,0.00,0.00,-36.40,0.000,2,0.000,0.000,82,1823,2621,0,0,0,0,0,0
$GC,65,-0.71,-121.6,3.0,-1.6,6,109,11.15,2.25,-25.70,0.000,4,0.246,0.070,2776,3225,3356,0,0,0,0,0,0
$GC,264,-0.60,-121.6,23.2,-11.8,39,272,0.12,2.25,0.00,0.000,6,0.145,0.044,2817,1811,3358,0,0,0,0,0,0
$GC,342,-0.55,-121.6,32.6,-11.1,52,350,0.10,0.28,0.00,0.000,4,0.181,0.066,2845,1622,3359,0,0,0,0,0,0
$GC,432,-0.55,-121.6,42.3,-10.8,67,437,0.00,0.30,0.00,0.000,6,0.000,0.060,2844,1826,3359,0,0,0,0,0,0
$GC,664,-0.55,-121.6,65.5,-9.2,108,672,0.00,2.25,0.00,0.000,4,0.000,0.057,2833,3221,3359,0,0,0,0,0,0
$GC,776,-0.55,-121.6,75.2,-8.5,127,780,0.00,2.17,0.00,0.000,6,0.000,0.044,2833,1815,3359,0,0,0,0,0,0
$GC,1123,-0.55,-121.6,104.2,-8.5,183,1126,0.00,1.95,0.00,0.000,4,0.000,0.057,2824,3059,3360,0,0,0,0,0,0
$GC,1227,-0.55,-121.6,113.3,-8.9,189,1231,0.08,1.92,0.00,0.000,6,0.184,0.044,2844,1818,3360,0,0,0,0,0,0
$GC,1556,-0.55,-121.6,138.7,-7.4,210,1560,0.00,1.77,0.00,0.000,4,0.000,0.057,2835,2955,3360,0,0,0,0,0,0
$GC,1662,-0.55,-121.6,147.2,-8.1,216,1667,0.00,1.77,0.00,0.000,6,0.000,0.043,2835,1820,3360,0,0,0,0,0,0
$GC,1989,-0.55,-121.6,173.9,-8.5,237,1993,0.00,1.25,0.00,0.000,4,0.000,0.054,2830,2609,3361,0,0,0,0,0,0
$GC,2078,-0.55,-121.6,181.8,-8.8,242,2083,0.03,1.25,0.00,0.000,6,0.254,0.044,2840,1813,3360,0,0,0,0,0,0
$GC,2405,-0.55,-121.6,207.8,-7.8,263,2409,0.00,2.22,0.00,0.000,4,0.000,0.057,2830,3217,3361,0,0,0,0,0,0
$GC,2524,-0.55,-121.6,218.1,-8.7,270,2528,0.00,2.12,0.00,0.000,6,0.000,0.043,2830,1825,3361,0,0,0,0,0,0
$GC,2849,-0.55,-121.6,248.0,-9.3,291,2853,0.00,1.70,0.00,0.000,4,0.000,0.056,2822,2909,3361,0,0,0,0,0,0
$GC,2954,-0.55,-121.6,258.5,-9.7,296,2963,0.05,1.70,0.00,0.000,6,0.151,0.043,2841,1818,3361,0,0,0,0,0,0
$GC,3271,-0.55,-121.6,286.4,-8.7,312,3274,0.00,1.80,0.00,0.000,4,0.000,0.057,2833,2958,3361,0,0,0,0,0,0
$GC,3393,-0.55,-121.6,297.2,-8.6,317,3398,0.00,1.77,0.00,0.000,6,0.000,0.043,2833,1821,3361,0,0,0,0,0,0
$GC,3717,-0.55,-121.6,325.9,-9.0,333,3721,0.00,1.52,0.00,0.000,4,0.000,0.055,2826,2776,3361,0,0,0,0,0,0
$GC,3823,-0.55,-121.6,335.6,-9.4,337,3830,0.08,1.52,0.00,0.000,6,0.181,0.044,2846,1808,3361,0,0,0,0,0,0
$GC,4141,-0.55,-121.6,361.3,-8.1,353,4145,0.00,1.33,0.00,0.000,4,0.000,0.054,2840,2647,3361,0,0,0,0,0,0
$GC,4233,-0.55,-121.6,368.7,-8.5,357,4236,0.00,1.30,0.00,0.000,6,0.000,0.046,2840,1813,3361,0,0,0,0,0,0
$GC,4567,-0.55,-121.6,396.7,-8.5,373,4571,0.00,1.67,0.00,0.000,4,0.000,0.056,2832,2863,3360,0,0,0,0,0,0
$GC,4678,-0.55,-121.6,406.0,-7.8,377,4683,0.00,1.62,0.00,0.000,6,0.000,0.044,2833,1820,3360,0,0,0,0,0,0
$GC,5008,-0.55,-121.6,432.3,-7.9,388,5012,0.00,1.58,0.00,0.000,4,0.000,0.057,2825,2805,3360,0,0,0,0,0,0
$GC,5112,-0.55,-121.6,441.0,-8.5,391,5118,0.03,1.58,0.00,0.000,6,0.168,0.045,2837,1808,3360,0,0,0,0,0,0
$GC,5448,-0.55,-121.6,467.2,-7.8,402,5452,0.00,2.22,0.00,0.000,4,0.000,0.060,2826,3222,3360,0,0,0,0,0,0
$GC,5577,-0.55,-121.6,477.6,-7.6,406,5581,0.08,2.17,0.00,0.000,6,0.182,0.044,2846,1818,3360,0,0,0,0,0,0
$GC,5917,-0.57,-121.6,505.0,-8.5,417,5920,0.00,1.60,0.00,0.000,4,0.000,0.058,2839,2819,3359,0,0,0,0,0,0
$GC,6022,-0.59,-121.6,514.6,-9.0,420,6027,0.00,1.58,0.00,0.000,6,0.000,0.045,2839,1814,3359,0,0,0,0,0,0
$GC,6357,-0.59,-121.6,546.3,-9.5,431,6361,0.00,2.10,0.00,0.000,4,0.000,0.060,2829,3146,3358,0,0,0,0,0,0
$GC,6468,-0.59,-121.6,557.2,-9.7,434,6473,0.00,2.08,0.00,0.000,6,0.000,0.044,2829,1826,3358,0,0,0,0,0,0
$GC,6792,-0.59,-121.6,588.9,-9.7,445,6796,0.00,1.15,0.00,0.000,4,0.000,0.055,2824,2554,3357,0,0,0,0,0,0
$GC,6897,-0.59,-121.6,599.4,-9.5,448,6902,0.00,1.17,0.00,0.000,6,0.000,0.047,2824,1807,3357,0,0,0,0,0,0
$GC,7233,-0.59,-121.6,631.3,-9.7,459,7236,0.00,1.98,0.00,0.000,4,0.000,0.059,2815,3048,3356,0,0,0,0,0,0
$GC,7355,-0.59,-121.6,643.0,-9.8,462,7360,0.03,1.92,0.00,0.000,6,0.191,0.044,2825,1820,3357,0,0,0,0,0,0
$GC,7673,-0.59,-121.6,672.2,-9.4,473,7676,0.00,1.25,0.00,0.000,4,0.000,0.056,2820,2605,3356,0,0,0,0,0,0
$GC,7778,-0.59,-121.6,682.0,-9.0,476,7783,0.00,1.25,0.00,0.000,6,0.000,0.046,2820,1813,3355,0,0,0,0,0,0
$GC,8113,-0.59,-121.6,711.7,-8.8,487,8117,0.00,1.45,0.00,0.000,4,0.000,0.055,2813,2720,3355,0,0,0,0,0,0
$GC,8224,-0.59,-121.6,722.2,-9.4,490,8229,0.08,1.42,0.00,0.000,6,0.187,0.045,2833,1821,3355,0,0,0,0,0,0
$GC,8553,-0.59,-121.6,751.1,-8.6,501,8557,0.00,1.00,0.00,0.000,4,0.000,0.055,2828,2466,3354,0,0,0,0,0,0
$GC,8675,-0.59,-121.6,761.8,-8.9,504,8680,0.00,1.02,0.00,0.000,6,0.000,0.047,2828,1813,3354,0,0,0,0,0,0
$GC,8994,-0.59,-121.6,790.0,-8.9,515,8997,0.00,2.03,0.00,0.000,4,0.000,0.059,2818,3101,3353,0,0,0,0,0,0
$GC,9121,-0.59,-121.6,802.2,-9.2,518,9127,0.00,2.00,0.00,0.000,6,0.000,0.045,2818,1827,3353,0,0,0,0,0,0
$GC,9434,-0.59,-121.6,832.0,-9.4,529,9438,0.00,0.50,0.00,0.000,4,0.000,0.057,2816,2162,3353,0,0,0,0,0,0
$GC,9545,-0.59,-121.6,842.4,-9.0,532,9549,0.00,0.55,0.00,0.000,6,0.000,0.051,2817,1801,3353,0,0,0,0,0,0
$GC,9874,-0.59,-121.6,870.3,-8.1,543,9878,0.00,0.98,0.00,0.000,4,0.000,0.054,2812,2425,3352,0,0,0,0,0,0
$GC,9985,-0.59,-121.6,879.2,-7.3,546,9990,0.08,0.95,0.00,0.000,6,0.183,0.047,2832,1820,3353,0,0,0,0,0,0
$GC,10315,-0.59,-121.6,901.2,-6.7,557,10318,0.00,1.85,0.00,0.000,4,0.000,0.058,2823,2978,3352,0,0,0,0,0,0
$GC,10442,-0.59,-121.6,910.1,-7.5,560,10448,0.00,1.80,0.00,0.000,6,0.000,0.044,2824,1828,3352,0,0,0,0,0,0
$GC,10756,-0.59,-121.6,932.4,-7.3,571,10759,0.00,1.05,0.00,0.000,4,0.000,0.054,2819,2498,3352,0,0,0,0,0,0
$GC,10866,-0.59,-121.6,941.0,-7.3,574,10871,0.00,1.08,0.00,0.000,6,0.000,0.046,2818,1813,3352,0,0,0,0,0,0
$GC,11196,-0.59,-121.6,966.8,-7.9,585,11200,0.00,0.88,0.00,0.000,4,0.000,0.054,2815,2379,3352,0,0,0,0,0,0
$GC,11307,-0.59,-121.6,975.6,-8.5,588,11312,0.05,0.88,0.00,0.000,6,0.216,0.047,2827,1821,3351,0,0,0,0,0,0
$STATE,11635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11635,begin apogee
$GC,11639,-0.23,0.0,1000.5,7.6,599,11742,0.38,0.00,100.12,1.309,6,0.129,0.000,2948,1637,2862,0,0,0,0,0,0
$STATE,11743,end apogee,CONTROL_FINISHED_OK
$STATE,11743,begin climb
$GC,11745,0.71,121.6,1003.9,0.0,602,11856,0.90,1.75,103.90,1.265,4,0.094,0.055,3252,640,2365,0,0,0,0,0,0
$GC,11923,0.68,161.8,998.3,5.8,607,11964,0.00,1.70,36.50,1.228,6,0.000,0.044,3252,1643,2201,0,0,0,0,0,0
$GC,12271,0.68,183.6,975.4,6.5,619,12295,0.00,1.17,19.62,1.200,4,0.000,0.054,3252,2349,2113,0,0,0,0,0,0
$GC,12386,0.68,193.8,967.3,7.0,622,12403,0.03,1.12,10.55,1.118,6,0.174,0.049,3247,1659,2070,0,0,0,0,0,0
$GC,12709,0.72,228.0,947.1,6.0,633,12743,0.00,0.00,31.58,1.220,6,0.000,0.000,3246,1660,1931,0,0,0,0,0,0
$GC,13045,0.77,243.5,924.6,6.8,644,13065,0.08,0.35,14.50,1.148,4,0.123,0.057,3288,1879,1868,0,0,0,0,0,0
$GC,13120,0.77,243.5,918.2,8.5,646,13125,0.08,0.40,0.00,0.000,6,0.181,0.059,3272,1637,1866,0,0,0,0,0,0
$GC,13449,0.77,243.5,892.0,8.0,657,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1637,1864,0,0,0,0,0,0
$GC,13755,0.77,243.5,867.4,7.9,667,13759,0.00,0.70,0.00,0.000,4,0.000,0.052,3272,2092,1864,0,0,0,0,0,0
$GC,13826,0.77,243.5,861.5,8.0,669,13831,0.00,0.73,0.00,0.000,6,0.000,0.051,3274,1638,1864,0,0,0,0,0,0
$GC,14162,0.77,243.5,833.6,8.6,680,14165,0.00,0.32,0.00,0.000,4,0.000,0.064,3276,1414,1863,0,0,0,0,0,0
$GC,14216,0.77,243.5,828.7,9.2,681,14220,0.00,0.38,0.00,0.000,6,0.000,0.055,3276,1659,1863,0,0,0,0,0,0
$GC,14534,0.77,243.5,802.7,7.9,692,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1659,1863,0,0,0,0,0,0
$GC,14840,0.77,251.8,780.9,7.1,702,14851,0.00,0.47,7.78,0.998,4,0.000,0.056,3276,1969,1835,0,0,0,0,0,0
$GC,14929,0.77,261.4,774.4,7.0,704,14944,0.00,0.52,10.35,1.049,6,0.000,0.057,3278,1642,1796,0,0,0,0,0,0
$GC,15275,0.79,276.2,750.2,6.8,716,15292,0.00,0.00,14.75,1.089,6,0.000,0.000,3278,1642,1736,0,0,0,0,0,0
$GC,15581,0.82,283.6,729.0,7.1,726,15592,0.00,0.47,7.65,0.959,4,0.000,0.061,3280,1346,1706,0,0,0,0,0,0
$GC,15643,0.85,285.3,724.5,7.3,728,15647,0.00,0.45,0.00,0.000,6,0.000,0.054,3280,1640,1705,0,0,0,0,0,0
$GC,15984,0.88,285.3,698.2,7.6,739,15988,0.08,0.40,0.00,0.000,4,0.123,0.065,3325,1392,1704,0,0,0,0,0,0
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$STATE,23817,end climb,SURFACE_DEPTH_REACHED
$STATE,23817,begin surface coast
$FINISH,1.8,1.020956
$STATE,23861,end surface coast,CONTROL_FINISHED_OK
$STATE,23861,begin surface
$SM_CCo,23936,0.00,0.000,0,0,1581,314.22
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$IRIDIUM_FIX,-4146.69,-704.27,051112,151535
$TT8_MAMPS,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.4,28.724
$10V_AH,10.2,27.140
$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
$DEVICE_SECS,22.025,113.975,381.775,0.000,0.000,26.294,42.689,231.568,0.000,0.000,28.347,3183.430,16497.281,492.627,4006.799,180.322,33.361,2042.854,0.000,3631.746,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.308,1333.428,797.552,97.198,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354016
$DATA_FILE_SIZE,73551,1226
$CAP_FILE_SIZE,214534,0
$CFSIZE,2097086464,2071822336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061112,044123,-4208.269,-715.492,41,1.1,41,-21.9