version: 66.07.10.p01
glider: 573
mission: 4
dive: 174
start: 11 6 112 18 40 20
data:
$ID,573
$MISSION,4
$DIVE,174
$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,-4845.3013
$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,35
$R_STBD_OVSHOOT,2
$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,153
$GPS1,061112,183223,-4213.252,-714.025,46,2.0,46,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-71.7
$GPS2,061112,183925,-4213.243,-713.955,16,1.9,17,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WPcal
$TGT_LATLONG,-4211.000,-710.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,0.042
$KALMAN_X,-217750.1,-109.4,64.5,446090.1,-1143.1
$KALMAN_Y,-133213.6,-164.7,-436.9,182948.6,2405.4
$MHEAD_RNG_PITCHd_Wd,100.7,6835,-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,-121.6,0.0,0.0,0,76,0.00,0.00,-48.75,0.000,2,0.000,0.000,82,1804,2618,0,0,0,0,0,0
$GC,78,-0.71,-121.6,3.2,-1.3,8,122,11.27,2.28,-25.08,0.000,4,0.249,0.064,2790,415,3356,0,0,0,0,0,0
$GC,242,-0.60,-121.6,20.4,-14.1,35,250,0.12,2.30,0.00,0.000,6,0.147,0.042,2820,1856,3358,0,0,0,0,0,0
$GC,322,-0.55,-121.6,29.8,-11.8,48,330,0.08,0.73,0.00,0.000,4,0.195,0.055,2836,2323,3358,0,0,0,0,0,0
$GC,416,-0.55,-121.6,39.1,-8.7,64,423,0.00,0.77,0.00,0.000,6,0.000,0.045,2836,1814,3358,0,0,0,0,0,0
$GC,654,-0.55,-121.6,59.5,-8.2,105,659,0.00,1.95,0.00,0.000,4,0.000,0.056,2827,3052,3359,0,0,0,0,0,0
$GC,795,-0.55,-121.6,72.0,-8.8,130,801,0.05,1.92,0.00,0.000,6,0.215,0.041,2839,1806,3359,0,0,0,0,0,0
$GC,1143,-0.55,-121.6,101.5,-9.0,190,1146,0.00,1.80,0.00,0.000,4,0.000,0.055,2831,2961,3359,0,0,0,0,0,0
$GC,1249,-0.55,-121.6,110.7,-8.2,196,1254,0.00,1.77,0.00,0.000,6,0.000,0.041,2831,1819,3360,0,0,0,0,0,0
$GC,1576,-0.55,-121.6,140.0,-9.0,217,1579,0.00,1.08,0.00,0.000,4,0.000,0.052,2826,2504,3360,0,0,0,0,0,0
$GC,1681,-0.55,-121.6,149.3,-8.7,223,1685,0.03,1.05,0.00,0.000,6,0.177,0.044,2837,1819,3360,0,0,0,0,0,0
$GC,2010,-0.55,-121.6,176.2,-7.8,244,2014,0.00,2.12,0.00,0.000,4,0.000,0.056,2827,3167,3360,0,0,0,0,0,0
$GC,2127,-0.55,-121.6,185.6,-7.9,251,2132,0.00,2.08,0.00,0.000,6,0.000,0.040,2827,1826,3360,0,0,0,0,0,0
$GC,2453,-0.53,-121.6,210.5,-7.7,272,2457,0.10,0.50,0.00,0.000,4,0.190,0.053,2852,2162,3360,0,0,0,0,0,0
$GC,2578,-0.55,-121.6,218.4,-6.1,279,2581,0.00,0.52,0.00,0.000,6,0.000,0.048,2852,1804,3360,0,0,0,0,0,0
$GC,2902,-0.55,-121.6,238.0,-6.2,300,2906,0.00,2.22,0.00,0.000,4,0.000,0.056,2841,3227,3360,0,0,0,0,0,0
$GC,3008,-0.55,-121.6,245.2,-6.6,306,3016,0.00,2.17,0.00,0.000,6,0.000,0.039,2841,1819,3360,0,0,0,0,0,0
$GC,3340,-0.55,-121.6,269.1,-7.8,324,3343,0.00,1.58,0.00,0.000,4,0.000,0.054,2834,2812,3360,0,0,0,0,0,0
$GC,3455,-0.55,-121.6,277.8,-8.0,329,3459,0.00,1.52,0.00,0.000,6,0.000,0.041,2834,1824,3360,0,0,0,0,0,0
$GC,3789,-0.55,-121.6,305.0,-8.3,345,3793,0.00,1.88,0.00,0.000,4,0.000,0.054,2825,3005,3360,0,0,0,0,0,0
$GC,3916,-0.55,-121.6,315.9,-8.3,350,3926,0.03,1.83,0.00,0.000,6,0.173,0.041,2835,1825,3360,0,0,0,0,0,0
$GC,4233,-0.55,-121.6,341.8,-8.3,366,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1825,3360,0,0,0,0,0,0
$GC,4545,-0.55,-121.6,365.4,-7.3,381,4549,0.00,2.20,0.00,0.000,4,0.000,0.057,2825,3231,3360,0,0,0,0,0,0
$GC,4656,-0.55,-121.6,374.0,-7.2,386,4661,0.03,2.17,0.00,0.000,6,0.175,0.040,2836,1826,3360,0,0,0,0,0,0
$GC,4983,-0.55,-121.6,397.7,-7.5,402,4986,0.00,0.98,0.00,0.000,4,0.000,0.050,2832,2452,3360,0,0,0,0,0,0
$GC,5094,-0.55,-121.6,405.9,-7.0,406,5099,0.00,1.00,0.00,0.000,6,0.000,0.043,2832,1804,3359,0,0,0,0,0,0
$GC,5424,-0.55,-121.6,431.1,-7.6,417,5428,0.00,2.22,0.00,0.000,4,0.000,0.057,2821,3225,3359,0,0,0,0,0,0
$GC,5553,-0.55,-121.6,440.9,-8.2,421,5558,0.08,2.15,0.00,0.000,6,0.183,0.040,2840,1822,3359,0,0,0,0,0,0
$GC,5887,-0.55,-121.6,464.8,-7.3,432,5891,0.00,0.82,0.00,0.000,4,0.000,0.052,2837,2362,3359,0,0,0,0,0,0
$GC,5975,-0.55,-121.6,471.5,-7.7,434,5980,0.00,0.85,0.00,0.000,6,0.000,0.044,2837,1808,3359,0,0,0,0,0,0
$GC,6294,-0.55,-121.6,495.0,-7.4,445,6298,0.00,2.25,0.00,0.000,4,0.000,0.057,2827,3225,3358,0,0,0,0,0,0
$GC,6416,-0.55,-121.6,504.7,-7.9,448,6423,0.03,2.17,0.00,0.000,6,0.183,0.040,2837,1822,3358,0,0,0,0,0,0
$GC,6729,-0.55,-121.6,527.4,-7.2,459,6733,0.00,1.12,0.00,0.000,4,0.000,0.053,2832,2544,3358,0,0,0,0,0,0
$GC,6823,-0.55,-121.6,534.2,-6.8,461,6829,0.00,1.15,0.00,0.000,6,0.000,0.043,2832,1803,3358,0,0,0,0,0,0
$GC,7136,-0.55,-121.6,558.4,-8.0,472,7140,0.00,2.15,0.00,0.000,4,0.000,0.057,2822,3165,3357,0,0,0,0,0,0
$GC,7264,-0.55,-121.6,568.9,-8.2,475,7271,0.05,2.08,0.00,0.000,6,0.153,0.041,2841,1827,3357,0,0,0,0,0,0
$GC,7577,-0.55,-121.6,591.5,-7.2,486,7581,0.00,1.65,0.00,0.000,4,0.000,0.056,2833,2894,3356,0,0,0,0,0,0
$GC,7671,-0.55,-121.6,598.9,-7.7,488,7677,0.00,1.67,0.00,0.000,6,0.000,0.042,2833,1816,3356,0,0,0,0,0,0
$GC,7984,-0.55,-121.6,622.8,-7.5,499,7988,0.00,0.95,0.00,0.000,4,0.000,0.053,2829,2427,3355,0,0,0,0,0,0
$GC,8078,-0.55,-121.6,630.0,-7.7,501,8084,0.00,0.95,0.00,0.000,6,0.000,0.044,2829,1813,3355,0,0,0,0,0,0
$GC,8391,-0.55,-121.6,654.0,-7.8,512,8394,0.00,1.88,0.00,0.000,4,0.000,0.057,2820,3015,3355,0,0,0,0,0,0
$GC,8507,-0.55,-121.6,664.0,-9.5,515,8513,0.05,1.85,0.00,0.000,6,0.151,0.042,2839,1827,3355,0,0,0,0,0,0
$GC,8831,-0.55,-121.6,691.8,-9.0,526,8834,0.00,1.45,0.00,0.000,4,0.000,0.055,2833,2741,3354,0,0,0,0,0,0
$GC,8936,-0.57,-121.6,701.7,-9.1,529,8940,0.00,1.42,0.00,0.000,6,0.000,0.043,2833,1821,3353,0,0,0,0,0,0
$GC,9271,-0.57,-121.6,733.3,-9.4,540,9275,0.00,1.17,0.00,0.000,4,0.000,0.054,2828,2568,3353,0,0,0,0,0,0
$GC,9387,-0.57,-121.6,744.2,-9.1,543,9392,0.00,1.17,0.00,0.000,6,0.000,0.043,2828,1817,3353,0,0,0,0,0,0
$GC,9711,-0.57,-121.6,773.1,-8.9,554,9715,0.00,1.50,0.00,0.000,4,0.000,0.056,2820,2760,3353,0,0,0,0,0,0
$GC,9816,-0.57,-121.6,782.4,-8.2,557,9822,0.05,1.48,0.00,0.000,6,0.215,0.043,2833,1821,3353,0,0,0,0,0,0
$GC,10152,-0.57,-121.6,809.4,-7.9,568,10155,0.00,1.05,0.00,0.000,4,0.000,0.054,2829,2492,3352,0,0,0,0,0,0
$GC,10257,-0.57,-121.6,817.5,-8.0,571,10261,0.00,1.05,0.00,0.000,6,0.000,0.044,2829,1818,3352,0,0,0,0,0,0
$GC,10592,-0.57,-121.6,843.7,-7.8,582,10596,0.00,1.40,0.00,0.000,4,0.000,0.056,2822,2697,3352,0,0,0,0,0,0
$GC,10708,-0.57,-121.6,853.1,-8.4,585,10714,0.00,1.40,0.00,0.000,6,0.000,0.043,2822,1806,3352,0,0,0,0,0,0
$GC,11033,-0.57,-121.6,878.2,-7.7,596,11036,0.00,0.77,0.00,0.000,4,0.000,0.053,2819,2313,3351,0,0,0,0,0,0
$GC,11154,-0.57,-121.6,888.0,-7.7,599,11159,0.08,0.77,0.00,0.000,6,0.181,0.047,2838,1812,3351,0,0,0,0,0,0
$GC,11473,-0.59,-121.6,911.7,-7.6,610,11477,0.00,0.93,0.00,0.000,4,0.000,0.053,2834,2411,3351,0,0,0,0,0,0
$GC,11562,-0.62,-121.6,918.4,-6.9,612,11566,0.00,0.90,0.00,0.000,6,0.000,0.045,2834,1825,3351,0,0,0,0,0,0
$GC,11880,-0.62,-121.6,942.2,-7.5,623,11884,0.00,0.62,0.00,0.000,4,0.000,0.052,2831,2243,3351,0,0,0,0,0,0
$GC,11990,-0.65,-121.6,950.9,-8.1,626,11996,0.05,0.68,0.00,0.000,6,0.168,0.048,2802,1803,3350,0,0,0,0,0,0
$GC,12320,-0.62,-121.6,978.3,-8.3,637,12324,0.08,1.40,0.00,0.000,4,0.197,0.055,2812,2673,3350,0,0,0,0,0,0
$GC,12460,-0.62,-121.6,988.9,-7.2,641,12464,0.00,1.33,0.00,0.000,6,0.000,0.044,2813,1824,3349,0,0,0,0,0,0
$STATE,12610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12610,begin apogee
$GC,12614,-0.23,0.0,1000.8,8.0,646,12716,0.43,0.00,99.60,1.310,6,0.132,0.000,2948,1639,2862,0,0,0,0,0,0
$STATE,12717,end apogee,CONTROL_FINISHED_OK
$STATE,12717,begin climb
$GC,12719,0.71,121.6,1004.3,0.0,649,12830,0.88,1.05,103.65,1.269,4,0.093,0.055,3244,1041,2366,0,0,0,0,0,0
$GC,12868,0.71,183.3,1001.1,4.9,653,12929,0.00,0.98,55.95,1.239,6,0.000,0.043,3244,1614,2114,0,0,0,0,0,0
$GC,13242,0.74,209.4,978.4,6.3,666,13273,0.00,2.15,23.42,1.210,4,0.000,0.054,3244,2876,2008,0,0,0,0,0,0
$GC,13345,0.74,209.4,970.8,7.6,669,13349,0.00,2.03,0.00,0.000,6,0.000,0.045,3253,1652,2005,0,0,0,0,0,0
$GC,13681,0.76,209.4,944.9,8.1,680,13684,0.00,0.40,0.00,0.000,4,0.000,0.062,3255,1382,2003,0,0,0,0,0,0
$GC,13763,0.79,209.4,937.9,8.5,682,13768,0.05,0.45,0.00,0.000,6,0.164,0.052,3285,1671,2003,0,0,0,0,0,0
$GC,14087,0.76,209.4,908.4,9.1,693,14089,0.08,0.00,0.00,0.000,6,0.175,0.000,3267,1671,2002,0,0,0,0,0,0
$GC,14393,0.76,209.4,882.3,8.6,703,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1671,2001,0,0,0,0,0,0
$GC,14699,0.76,209.4,857.3,8.1,713,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1671,2001,0,0,0,0,0,0
$GC,15005,0.76,209.6,834.0,7.4,723,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1671,2001,0,0,0,0,0,0
$GC,15312,0.76,209.6,811.3,7.4,733,15316,0.00,0.25,0.00,0.000,4,0.000,0.062,3267,1860,2001,0,0,0,0,0,0
$GC,15366,0.76,217.8,807.1,7.1,734,15378,0.00,0.35,7.60,1.001,6,0.000,0.060,3267,1640,1973,0,0,0,0,0,0
$GC,15684,0.76,222.3,783.8,7.2,745,15694,0.00,0.60,5.62,0.879,4,0.000,0.047,3268,2032,1955,0,0,0,0,0,0
$GC,15761,0.76,222.3,777.9,8.3,747,15765,0.00,0.62,0.00,0.000,6,0.000,0.053,3270,1641,1954,0,0,0,0,0,0
$GC,16090,0.77,250.5,756.5,6.2,758,16120,0.00,0.00,26.35,1.136,6,0.000,0.000,3270,1639,1839,0,0,0,0,0,0
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$STATE,24166,end climb,SURFACE_DEPTH_REACHED
$STATE,24166,begin surface coast
$FINISH,1.8,1.002895
$STATE,24209,end surface coast,CONTROL_FINISHED_OK
$STATE,24209,begin surface
$SM_CCo,24285,0.00,0.000,0,0,1613,306.13
$SM_GC,2.68,8.35,0.00,0.00,0.031,0.000,0.000,84,1817,1613,-9.11,-0.06,306.13
$IRIDIUM_FIX,-4155.38,-716.87,061112,111102
$TT8_MAMPS,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.1,29.160
$10V_AH,10.2,27.569
$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
$DEVICE_SECS,22.400,116.825,371.125,0.000,0.000,28.220,37.137,231.076,0.000,0.000,19.151,3225.199,16714.795,494.475,4069.458,192.075,33.356,2099.082,0.000,3708.969,0.000,1.008,0.000
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$SENSOR_SECS,823.445,1332.999,808.163,97.522,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354580
$DATA_FILE_SIZE,73483,1240
$CAP_FILE_SIZE,221212,0
$CFSIZE,2097086464,2071396352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071112,012605,-4212.186,-710.828,27,1.5,27,-21.9