version: 66.07.10.p01
glider: 573
mission: 4
dive: 190
start: 11 10 112 16 30 11
data:
$ID,573
$MISSION,4
$DIVE,190
$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,-4898.3047
$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,19
$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,169
$GPS1,101112,161935,-4210.387,-709.994,53,0.8,53,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-69.7
$GPS2,101112,162916,-4210.302,-710.054,21,0.8,21,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.095,-0.195
$KALMAN_X,-213294.6,205.5,-405.8,447098.8,689.7
$KALMAN_Y,-135912.9,-262.2,-173.3,190912.2,185.8
$MHEAD_RNG_PITCHd_Wd,228.0,38927,-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,-121.6,0.0,0.0,0,51,0.00,0.00,-25.42,0.000,2,0.000,0.000,82,1834,2422,0,0,0,0,0,0
$GC,54,-0.71,-121.6,3.2,-2.1,4,115,11.60,1.90,-40.38,0.000,4,0.256,0.075,2777,2980,3360,0,0,0,0,0,0
$GC,206,-0.61,-121.6,14.6,-12.3,29,214,0.12,1.88,0.00,0.000,6,0.144,0.046,2818,1815,3360,0,0,0,0,0,0
$GC,287,-0.57,-121.6,24.5,-12.0,42,294,0.08,0.00,0.00,0.000,6,0.206,0.000,2837,1814,3361,0,0,0,0,0,0
$GC,367,-0.57,-121.6,32.1,-8.9,55,372,0.00,0.57,0.00,0.000,4,0.000,0.057,2835,2184,3361,0,0,0,0,0,0
$GC,425,-0.57,-121.6,37.6,-8.9,65,430,0.00,0.57,0.00,0.000,6,0.000,0.053,2835,1809,3361,0,0,0,0,0,0
$GC,659,-0.57,-121.6,58.4,-8.6,106,666,0.00,1.12,0.00,0.000,4,0.000,0.057,2830,2508,3362,0,0,0,0,0,0
$GC,748,-0.57,-121.6,65.7,-7.8,121,752,0.00,1.08,0.00,0.000,6,0.000,0.047,2830,1825,3361,0,0,0,0,0,0
$GC,1092,-0.57,-121.6,96.6,-8.8,182,1097,0.00,1.10,0.00,0.000,4,0.000,0.055,2824,2512,3362,0,0,0,0,0,0
$GC,1168,-0.57,-121.6,103.3,-8.4,192,1176,0.00,1.10,0.00,0.000,6,0.000,0.047,2825,1817,3362,0,0,0,0,0,0
$GC,1490,-0.55,-121.6,132.9,-9.7,213,1494,0.08,2.12,0.00,0.000,4,0.199,0.060,2832,3140,3363,0,0,0,0,0,0
$GC,1587,-0.55,-121.6,142.2,-8.9,219,1591,0.00,2.05,0.00,0.000,6,0.000,0.044,2832,1819,3363,0,0,0,0,0,0
$GC,1918,-0.55,-121.6,174.5,-9.8,240,1921,0.00,1.12,0.00,0.000,4,0.000,0.056,2827,2528,3363,0,0,0,0,0,0
$GC,1995,-0.55,-121.6,182.3,-9.2,244,2004,0.05,1.12,0.00,0.000,6,0.213,0.045,2841,1814,3363,0,0,0,0,0,0
$GC,2317,-0.55,-121.6,210.3,-8.8,265,2321,0.00,2.25,0.00,0.000,4,0.000,0.060,2830,3221,3364,0,0,0,0,0,0
$GC,2431,-0.55,-121.6,220.5,-9.2,272,2435,0.00,2.17,0.00,0.000,6,0.000,0.044,2830,1820,3364,0,0,0,0,0,0
$GC,2756,-0.55,-121.6,250.9,-9.5,293,2760,0.00,1.08,0.00,0.000,4,0.000,0.056,2826,2506,3364,0,0,0,0,0,0
$GC,2833,-0.55,-121.6,258.6,-9.4,296,2838,0.08,1.10,0.00,0.000,6,0.178,0.046,2845,1805,3363,0,0,0,0,0,0
$GC,3155,-0.55,-121.6,285.7,-8.0,312,3159,0.00,2.25,0.00,0.000,4,0.000,0.060,2834,3221,3364,0,0,0,0,0,0
$GC,3243,-0.55,-121.6,293.2,-8.2,316,3248,0.00,2.20,0.00,0.000,6,0.000,0.043,2834,1820,3364,0,0,0,0,0,0
$GC,3571,-0.55,-121.6,318.8,-7.8,332,3574,0.00,1.42,0.00,0.000,4,0.000,0.057,2828,2716,3364,0,0,0,0,0,0
$GC,3671,-0.55,-121.6,326.7,-7.3,336,3676,0.03,1.40,0.00,0.000,6,0.186,0.046,2838,1820,3364,0,0,0,0,0,0
$GC,3992,-0.55,-121.6,351.6,-7.9,352,3996,0.00,2.25,0.00,0.000,4,0.000,0.060,2828,3228,3364,0,0,0,0,0,0
$GC,4101,-0.55,-121.6,360.8,-8.9,357,4106,0.05,2.20,0.00,0.000,6,0.222,0.043,2841,1804,3364,0,0,0,0,0,0
$GC,4430,-0.61,-121.6,388.7,-8.5,373,4434,0.00,2.20,0.00,0.000,4,0.000,0.057,2841,415,3364,0,0,0,0,0,0
$GC,4489,-0.61,-121.6,394.7,-9.1,375,4496,0.00,2.20,0.00,0.000,6,0.000,0.044,2831,1810,3364,0,0,0,0,0,0
$GC,4803,-0.61,-121.6,423.3,-9.3,387,4807,0.00,2.22,0.00,0.000,4,0.000,0.060,2820,3224,3363,0,0,0,0,0,0
$GC,4914,-0.61,-121.6,434.0,-9.6,390,4919,0.00,2.20,0.00,0.000,6,0.000,0.043,2820,1817,3363,0,0,0,0,0,0
$GC,5238,-0.61,-121.6,463.4,-8.9,401,5242,0.00,2.22,0.00,0.000,4,0.000,0.060,2810,3227,3363,0,0,0,0,0,0
$GC,5349,-0.59,-121.6,473.7,-9.7,404,5354,0.05,2.20,0.00,0.000,6,0.148,0.044,2828,1822,3362,0,0,0,0,0,0
$GC,5673,-0.59,-121.6,499.7,-7.9,415,5677,0.00,1.75,0.00,0.000,4,0.000,0.058,2821,2912,3362,0,0,0,0,0,0
$GC,5774,-0.59,-121.6,507.9,-7.8,418,5778,0.00,1.70,0.00,0.000,6,0.000,0.045,2821,1808,3362,0,0,0,0,0,0
$GC,6114,-0.59,-121.6,535.9,-8.2,429,6118,0.00,2.25,0.00,0.000,4,0.000,0.060,2810,3229,3361,0,0,0,0,0,0
$GC,6214,-0.59,-121.6,544.4,-8.1,432,6219,0.03,2.20,0.00,0.000,6,0.178,0.043,2820,1825,3361,0,0,0,0,0,0
$GC,6549,-0.59,-121.6,570.3,-7.8,443,6553,0.00,2.22,0.00,0.000,4,0.000,0.060,2810,3220,3361,0,0,0,0,0,0
$GC,6648,-0.59,-121.6,578.0,-7.8,446,6653,0.05,2.20,0.00,0.000,6,0.151,0.044,2829,1819,3360,0,0,0,0,0,0
$GC,6983,-0.59,-121.6,603.0,-7.8,457,6987,0.00,2.22,0.00,0.000,4,0.000,0.060,2819,3219,3360,0,0,0,0,0,0
$GC,7094,-0.59,-121.6,611.9,-8.1,460,7098,0.00,2.20,0.00,0.000,6,0.000,0.044,2819,1820,3359,0,0,0,0,0,0
$GC,7423,-0.59,-121.6,637.4,-8.0,471,7427,0.00,1.67,0.00,0.000,4,0.000,0.059,2811,2874,3359,0,0,0,0,0,0
$GC,7517,-0.59,-121.6,645.1,-8.3,473,7524,0.03,1.67,0.00,0.000,6,0.183,0.046,2822,1809,3359,0,0,0,0,0,0
$GC,7830,-0.59,-121.6,670.2,-8.1,484,7834,0.00,1.65,0.00,0.000,4,0.000,0.060,2814,2864,3359,0,0,0,0,0,0
$GC,7931,-0.59,-121.6,678.4,-8.0,487,7936,0.05,1.65,0.00,0.000,6,0.224,0.046,2827,1814,3358,0,0,0,0,0,0
$GC,8271,-0.59,-121.6,704.7,-7.7,498,8275,0.00,2.25,0.00,0.000,4,0.000,0.061,2816,3220,3357,0,0,0,0,0,0
$GC,8404,-0.59,-121.6,715.5,-8.2,502,8410,0.00,2.20,0.00,0.000,6,0.000,0.044,2816,1821,3358,0,0,0,0,0,0
$GC,8740,-0.59,-121.6,741.5,-7.7,513,8744,0.00,1.65,0.00,0.000,4,0.000,0.059,2809,2875,3357,0,0,0,0,0,0
$GC,8850,-0.59,-121.6,750.9,-8.9,516,8856,0.05,1.67,0.00,0.000,6,0.154,0.046,2827,1810,3357,0,0,0,0,0,0
$GC,9180,-0.59,-121.6,777.1,-8.0,527,9184,0.00,2.03,0.00,0.000,4,0.000,0.060,2818,3073,3357,0,0,0,0,0,0
$GC,9285,-0.59,-121.6,785.8,-7.9,530,9290,0.00,1.98,0.00,0.000,6,0.000,0.044,2818,1819,3356,0,0,0,0,0,0
$GC,9621,-0.59,-121.6,813.9,-8.4,541,9624,0.00,1.12,0.00,0.000,4,0.000,0.058,2813,2524,3356,0,0,0,0,0,0
$GC,9725,-0.59,-121.6,823.0,-8.1,544,9731,0.05,1.12,0.00,0.000,6,0.216,0.047,2826,1811,3356,0,0,0,0,0,0
$GC,10061,-0.59,-121.6,850.9,-8.4,555,10065,0.00,2.28,0.00,0.000,4,0.000,0.061,2816,3229,3356,0,0,0,0,0,0
$GC,10177,-0.59,-121.6,861.4,-9.5,558,10182,0.00,2.20,0.00,0.000,6,0.000,0.043,2816,1827,3355,0,0,0,0,0,0
$GC,10496,-0.59,-121.6,888.0,-8.3,569,10499,0.00,0.88,0.00,0.000,4,0.000,0.056,2812,2385,3355,0,0,0,0,0,0
$GC,10600,-0.59,-121.6,896.8,-8.1,572,10606,0.08,0.90,0.00,0.000,6,0.180,0.047,2831,1809,3354,0,0,0,0,0,0
$GC,10935,-0.59,-121.6,924.5,-8.3,583,10939,0.00,2.25,0.00,0.000,4,0.000,0.062,2821,3226,3354,0,0,0,0,0,0
$GC,11059,-0.59,-121.6,934.2,-8.0,586,11064,0.00,2.17,0.00,0.000,6,0.000,0.044,2821,1828,3353,0,0,0,0,0,0
$GC,11371,-0.59,-121.6,957.7,-7.5,597,11374,0.00,0.55,0.00,0.000,4,0.000,0.056,2819,2193,3354,0,0,0,0,0,0
$GC,11476,-0.59,-121.6,965.3,-6.8,600,11480,0.00,0.60,0.00,0.000,6,0.000,0.052,2819,1806,3354,0,0,0,0,0,0
$GC,11811,-0.59,-121.6,989.2,-7.1,611,11815,0.00,2.20,0.00,0.000,4,0.000,0.060,2809,3180,3354,0,0,0,0,0,0
$GC,11917,-0.59,-121.6,997.0,-6.9,614,11922,0.05,2.12,0.00,0.000,6,0.152,0.044,2827,1831,3353,0,0,0,0,0,0
$STATE,11974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11974,begin apogee
$GC,11979,-0.23,0.0,1000.8,6.4,616,12082,0.38,0.00,100.62,1.302,6,0.129,0.000,2947,1634,2862,0,0,0,0,0,0
$STATE,12083,end apogee,CONTROL_FINISHED_OK
$STATE,12083,begin climb
$GC,12085,0.71,121.6,1003.9,0.0,619,12196,0.90,1.80,104.12,1.266,4,0.093,0.057,3253,609,2366,0,0,0,0,0,0
$GC,12253,0.67,164.2,998.3,5.7,624,12299,0.00,1.75,39.15,1.226,6,0.000,0.045,3253,1646,2192,0,0,0,0,0,0
$GC,12606,0.68,178.9,973.4,6.8,636,12625,0.00,0.32,13.57,1.154,4,0.000,0.062,3253,1850,2132,0,0,0,0,0,0
$GC,12732,0.68,202.9,964.5,6.4,639,12758,0.00,0.35,23.10,1.190,6,0.000,0.063,3254,1642,2034,0,0,0,0,0,0
$GC,13071,0.68,202.9,939.2,7.6,651,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1642,2029,0,0,0,0,0,0
$GC,13377,0.68,202.9,916.2,7.5,661,13380,0.00,0.38,0.00,0.000,4,0.000,0.058,3254,1889,2029,0,0,0,0,0,0
$GC,13431,0.68,208.2,912.3,7.2,662,13443,0.05,0.40,5.10,0.871,6,0.217,0.060,3242,1643,2013,0,0,0,0,0,0
$GC,13750,0.72,226.3,891.0,6.7,673,13769,0.00,0.00,18.05,1.166,6,0.000,0.000,3243,1643,1939,0,0,0,0,0,0
$GC,14056,0.80,242.1,870.3,6.8,683,14076,0.10,0.75,15.25,1.135,4,0.102,0.054,3300,1177,1874,0,0,0,0,0,0
$GC,14102,0.80,242.1,866.5,7.8,684,14107,0.08,0.77,0.00,0.000,6,0.170,0.048,3282,1653,1873,0,0,0,0,0,0
$GC,14426,0.80,242.1,840.4,8.2,695,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1654,1871,0,0,0,0,0,0
$GC,14733,0.80,242.1,815.4,8.0,705,14734,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1653,1870,0,0,0,0,0,0
$GC,15039,0.80,242.1,790.9,8.0,715,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1653,1870,0,0,0,0,0,0
$GC,15345,0.80,242.1,764.9,8.9,725,15349,0.00,1.17,0.00,0.000,4,0.000,0.059,3286,936,1869,0,0,0,0,0,0
$GC,15421,0.80,242.1,757.9,8.6,727,15426,0.00,1.15,0.00,0.000,6,0.000,0.046,3286,1649,1869,0,0,0,0,0,0
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$STATE,23856,end climb,SURFACE_DEPTH_REACHED
$STATE,23856,begin surface coast
$FINISH,1.7,1.001914
$STATE,23900,end surface coast,CONTROL_FINISHED_OK
$STATE,23900,begin surface
$SM_CCo,23976,0.00,0.000,0,0,1552,321.09
$SM_GC,2.71,8.38,0.00,0.00,0.035,0.000,0.000,91,1824,1552,-9.09,0.14,321.09
$IRIDIUM_FIX,-4155.38,-702.10,101112,101014
$TT8_MAMPS,0.026964
$HUMID,43.46
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.3,30.818
$10V_AH,10.2,29.636
$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
$DEVICE_SECS,22.750,138.650,393.900,0.000,0.000,24.692,38.201,367.340,0.000,0.000,23.461,3161.487,16556.281,516.258,4101.970,203.694,33.373,2095.847,0.000,3599.349,0.000,1.009,0.000
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$SENSOR_SECS,802.863,1276.874,791.744,98.768,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,73403,1215
$CAP_FILE_SIZE,222878,0
$CFSIZE,2097086464,2069299200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101112,231105,-4212.342,-711.796,45,1.0,45,-21.9