version: 66.07.10.p01
glider: 573
mission: 4
dive: 199
start: 11 13 112 6 28 12
data:
$ID,573
$MISSION,4
$DIVE,199
$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,-4928.3208
$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,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,178
$GPS1,131112,061928,-4222.804,-729.248,102,1.7,102,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-69.9
$GPS2,131112,062717,-4222.811,-729.340,20,1.7,21,-21.8
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4230.000,-720.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,-0.140
$KALMAN_X,-248211.9,240.0,-674.6,455977.2,-5900.8
$KALMAN_Y,-116322.0,-177.2,-776.3,148689.4,5274.8
$MHEAD_RNG_PITCHd_Wd,152.0,18437,-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,-121.6,0.0,0.0,0,80,0.00,0.00,-53.67,0.000,2,0.000,0.000,83,1838,2761,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.0,-1.3,9,121,11.20,2.22,-20.12,0.000,4,0.244,0.071,2779,3219,3356,0,0,0,0,0,0
$GC,130,-0.24,-121.6,5.4,-4.8,16,137,0.50,2.25,0.00,0.000,6,0.142,0.045,2936,1819,3357,0,0,0,0,0,0
$GC,211,-0.40,-121.6,11.0,-6.4,29,218,0.12,2.30,0.00,0.000,4,0.081,0.059,2853,3215,3358,0,0,0,0,0,0
$GC,303,-0.43,-121.6,17.1,-6.3,44,311,0.05,2.22,0.00,0.000,6,0.136,0.043,2874,1819,3358,0,0,0,0,0,0
$GC,384,-0.48,-121.6,22.7,-5.6,57,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1819,3359,0,0,0,0,0,0
$GC,463,-0.53,-121.6,26.8,-5.1,70,471,0.08,0.65,0.00,0.000,4,0.119,0.057,2826,2237,3359,0,0,0,0,0,0
$GC,589,-0.50,-121.6,36.7,-8.1,91,595,0.08,0.65,0.00,0.000,6,0.130,0.050,2854,1812,3359,0,0,0,0,0,0
$GC,824,-0.50,-121.6,56.6,-7.7,132,831,0.00,1.60,0.00,0.000,4,0.000,0.057,2847,2802,3359,0,0,0,0,0,0
$GC,923,-0.50,-121.6,64.9,-8.4,149,927,0.00,1.55,0.00,0.000,6,0.000,0.044,2846,1819,3359,0,0,0,0,0,0
$GC,1264,-0.50,-121.6,94.0,-8.3,210,1272,0.00,2.25,0.00,0.000,4,0.000,0.057,2836,3215,3359,0,0,0,0,0,0
$GC,1361,-0.50,-121.6,102.3,-9.2,224,1369,0.05,2.20,0.00,0.000,6,0.141,0.042,2856,1815,3359,0,0,0,0,0,0
$GC,1684,-0.57,-121.6,125.9,-7.1,245,1688,0.05,2.25,0.00,0.000,4,0.164,0.055,2818,412,3360,0,0,0,0,0,0
$GC,1797,-0.52,-121.6,135.8,-8.8,252,1801,0.15,2.20,0.00,0.000,6,0.157,0.042,2850,1826,3360,0,0,0,0,0,0
$GC,2123,-0.54,-121.6,158.4,-6.9,273,2127,0.00,2.20,0.00,0.000,4,0.000,0.057,2840,3225,3359,0,0,0,0,0,0
$GC,2262,-0.54,-121.6,168.7,-7.5,281,2266,0.00,2.17,0.00,0.000,6,0.000,0.041,2840,1815,3360,0,0,0,0,0,0
$GC,2587,-0.60,-121.6,193.1,-7.4,302,2590,0.00,2.05,0.00,0.000,4,0.000,0.054,2840,506,3360,0,0,0,0,0,0
$GC,2630,-0.60,-121.6,196.9,-8.3,304,2639,0.00,2.05,0.00,0.000,6,0.000,0.042,2830,1813,3360,0,0,0,0,0,0
$GC,2952,-0.63,-121.6,221.3,-8.1,325,2956,0.00,2.22,0.00,0.000,4,0.000,0.054,2830,413,3360,0,0,0,0,0,0
$GC,3004,-0.59,-121.6,225.9,-8.5,328,3008,0.00,2.17,0.00,0.000,6,0.000,0.041,2820,1831,3360,0,0,0,0,0,0
$GC,3339,-0.59,-121.6,253.6,-8.4,349,3343,0.00,2.17,0.00,0.000,4,0.000,0.057,2809,3216,3360,0,0,0,0,0,0
$GC,3499,-0.57,-121.6,267.7,-9.5,356,3503,0.10,2.15,0.00,0.000,6,0.164,0.042,2837,1819,3360,0,0,0,0,0,0
$GC,3824,-0.57,-121.6,294.9,-8.6,372,3828,0.00,1.52,0.00,0.000,4,0.000,0.054,2830,2785,3360,0,0,0,0,0,0
$GC,3897,-0.57,-121.6,301.4,-9.1,375,3901,0.00,1.50,0.00,0.000,6,0.000,0.042,2830,1820,3360,0,0,0,0,0,0
$GC,4227,-0.61,-121.6,331.6,-9.5,391,4230,0.00,1.48,0.00,0.000,4,0.000,0.054,2830,898,3360,0,0,0,0,0,0
$GC,4258,-0.61,-121.6,335.2,-9.8,392,4263,0.00,1.48,0.00,0.000,6,0.000,0.044,2823,1830,3360,0,0,0,0,0,0
$GC,4581,-0.65,-121.6,366.6,-9.8,408,4584,0.00,1.30,0.00,0.000,4,0.000,0.055,2817,2661,3360,0,0,0,0,0,0
$GC,4651,-0.65,-121.6,373.2,-9.4,411,4654,0.00,1.30,0.00,0.000,6,0.000,0.044,2817,1822,3360,0,0,0,0,0,0
$GC,4972,-0.65,-121.6,404.4,-9.4,426,4976,0.00,2.22,0.00,0.000,4,0.000,0.053,2817,413,3360,0,0,0,0,0,0
$GC,5037,-0.60,-121.6,411.4,-9.8,428,5042,0.05,2.20,0.00,0.000,6,0.158,0.042,2825,1813,3359,0,0,0,0,0,0
$GC,5373,-0.60,-121.6,442.5,-9.2,439,5377,0.00,2.22,0.00,0.000,4,0.000,0.057,2815,3227,3359,0,0,0,0,0,0
$GC,5529,-0.60,-121.6,457.3,-9.3,443,5534,0.00,2.20,0.00,0.000,6,0.000,0.042,2815,1818,3359,0,0,0,0,0,0
$GC,5842,-0.58,-121.6,487.1,-9.6,454,5846,0.08,2.12,0.00,0.000,4,0.210,0.057,2822,3143,3359,0,0,0,0,0,0
$GC,5937,-0.58,-121.6,495.8,-9.2,457,5940,0.00,2.05,0.00,0.000,6,0.000,0.043,2822,1815,3358,0,0,0,0,0,0
$GC,6277,-0.58,-121.6,527.1,-9.4,468,6281,0.00,2.25,0.00,0.000,4,0.000,0.059,2811,3228,3358,0,0,0,0,0,0
$GC,6387,-0.58,-121.6,538.0,-10.0,471,6393,0.05,2.20,0.00,0.000,6,0.151,0.042,2830,1827,3357,0,0,0,0,0,0
$GC,6711,-0.58,-121.6,568.2,-9.5,482,6715,0.00,2.22,0.00,0.000,4,0.000,0.058,2820,3225,3357,0,0,0,0,0,0
$GC,6815,-0.58,-121.6,578.4,-9.8,485,6821,0.00,2.20,0.00,0.000,6,0.000,0.042,2820,1819,3356,0,0,0,0,0,0
$GC,7151,-0.58,-121.6,611.4,-10.1,496,7155,0.00,1.48,0.00,0.000,4,0.000,0.056,2814,2746,3356,0,0,0,0,0,0
$GC,7256,-0.58,-121.6,622.1,-10.1,499,7262,0.03,1.48,0.00,0.000,6,0.181,0.044,2825,1811,3355,0,0,0,0,0,0
$GC,7592,-0.58,-121.6,652.6,-8.8,510,7596,0.00,2.25,0.00,0.000,4,0.000,0.060,2814,3234,3355,0,0,0,0,0,0
$GC,7725,-0.58,-121.6,664.3,-8.1,514,7730,0.03,2.22,0.00,0.000,6,0.183,0.042,2824,1814,3354,0,0,0,0,0,0
$GC,8060,-0.58,-121.6,692.9,-8.9,525,8063,0.00,1.50,0.00,0.000,4,0.000,0.057,2817,2757,3354,0,0,0,0,0,0
$GC,8165,-0.58,-121.6,702.5,-8.6,528,8169,0.00,1.50,0.00,0.000,6,0.000,0.044,2817,1809,3353,0,0,0,0,0,0
$GC,8500,-0.58,-121.6,733.6,-9.3,539,8504,0.00,1.30,0.00,0.000,4,0.000,0.057,2812,2625,3353,0,0,0,0,0,0
$GC,8616,-0.58,-121.6,744.9,-10.3,542,8622,0.08,1.27,0.00,0.000,6,0.183,0.045,2831,1821,3353,0,0,0,0,0,0
$GC,8940,-0.58,-121.6,772.8,-8.5,553,8944,0.00,2.12,0.00,0.000,4,0.000,0.059,2821,3155,3352,0,0,0,0,0,0
$GC,9045,-0.58,-121.6,781.9,-8.2,556,9050,0.00,2.10,0.00,0.000,6,0.000,0.044,2821,1820,3352,0,0,0,0,0,0
$GC,9375,-0.58,-121.6,809.8,-8.3,567,9379,0.00,1.70,0.00,0.000,4,0.000,0.057,2813,2897,3352,0,0,0,0,0,0
$GC,9491,-0.58,-121.6,820.0,-8.9,570,9497,0.03,1.70,0.00,0.000,6,0.185,0.044,2824,1819,3352,0,0,0,0,0,0
$GC,9815,-0.58,-121.6,845.9,-7.7,581,9819,0.00,1.83,0.00,0.000,4,0.000,0.059,2816,2968,3351,0,0,0,0,0,0
$GC,9943,-0.58,-121.6,855.5,-7.4,584,9949,0.03,1.80,0.00,0.000,6,0.181,0.044,2827,1824,3351,0,0,0,0,0,0
$GC,10256,-0.58,-121.6,876.5,-6.7,595,10260,0.00,1.62,0.00,0.000,4,0.000,0.057,2820,2841,3351,0,0,0,0,0,0
$GC,10378,-0.58,-121.6,885.1,-7.9,598,10383,0.00,1.60,0.00,0.000,6,0.000,0.044,2820,1821,3350,0,0,0,0,0,0
$GC,10697,-0.58,-121.6,908.1,-7.6,609,10700,0.00,1.38,0.00,0.000,4,0.000,0.057,2814,2684,3350,0,0,0,0,0,0
$GC,10807,-0.58,-121.6,916.4,-7.6,612,10813,0.08,1.38,0.00,0.000,6,0.184,0.044,2833,1816,3350,0,0,0,0,0,0
$GC,11137,-0.61,-121.6,940.4,-7.6,623,11141,0.00,1.77,0.00,0.000,4,0.000,0.058,2825,2919,3350,0,0,0,0,0,0
$GC,11249,-0.63,-121.6,949.3,-8.3,626,11253,0.00,1.73,0.00,0.000,6,0.000,0.044,2825,1825,3350,0,0,0,0,0,0
$GC,11578,-0.63,-121.6,975.7,-8.2,637,11582,0.00,0.68,0.00,0.000,4,0.000,0.056,2822,2267,3349,0,0,0,0,0,0
$GC,11666,-0.63,-121.6,983.1,-8.0,639,11670,0.00,0.73,0.00,0.000,6,0.000,0.050,2822,1802,3349,0,0,0,0,0,0
$STATE,11891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11891,begin apogee
$GC,11896,-0.23,0.0,1001.7,8.4,647,11999,0.40,0.00,100.22,1.301,6,0.129,0.000,2949,1636,2862,0,0,0,0,0,0
$STATE,12000,end apogee,CONTROL_FINISHED_OK
$STATE,12000,begin climb
$GC,12001,0.71,121.6,1005.9,0.0,650,12113,0.88,1.80,104.32,1.265,4,0.090,0.057,3249,619,2366,0,0,0,0,0,0
$GC,12170,0.69,192.5,1003.8,4.5,655,12239,0.00,1.73,64.15,1.239,6,0.000,0.043,3249,1647,2077,0,0,0,0,0,0
$GC,12553,0.69,230.1,982.0,5.9,668,12589,0.00,0.00,34.15,1.225,6,0.000,0.000,3250,1647,1924,0,0,0,0,0,0
$GC,12890,0.72,245.1,959.5,6.8,679,12909,0.00,0.38,14.18,1.143,4,0.000,0.064,3251,1423,1862,0,0,0,0,0,0
$GC,12983,0.77,267.2,952.9,6.5,681,13007,0.00,0.35,21.52,1.181,6,0.000,0.056,3251,1652,1772,0,0,0,0,0,0
$GC,13327,0.82,270.4,927.9,7.3,693,13329,0.10,0.00,0.00,0.000,6,0.101,0.000,3306,1652,1767,0,0,0,0,0,0
$GC,13632,0.80,270.4,899.2,9.6,703,13636,0.10,1.17,0.00,0.000,4,0.155,0.057,3285,949,1766,0,0,0,0,0,0
$GC,13699,0.80,270.4,893.2,8.2,705,13708,0.00,1.10,3.53,0.647,6,0.000,0.046,3284,1638,1758,0,0,0,0,0,0
$GC,14038,0.80,270.4,863.7,8.8,716,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1637,1758,0,0,0,0,0,0
$GC,14344,0.80,270.4,837.6,8.7,726,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1638,1757,0,0,0,0,0,0
$GC,14650,0.80,270.4,811.2,8.8,736,14651,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1637,1757,0,0,0,0,0,0
$GC,14957,0.80,270.4,784.0,8.8,746,14960,0.00,0.32,0.00,0.000,4,0.000,0.064,3286,1420,1757,0,0,0,0,0,0
$GC,15016,0.80,270.4,778.7,8.6,747,15022,0.00,0.35,0.00,0.000,6,0.000,0.057,3286,1648,1757,0,0,0,0,0,0
$GC,15329,0.80,270.4,751.8,8.8,758,15332,0.00,0.50,0.00,0.000,4,0.000,0.060,3288,1323,1757,0,0,0,0,0,0
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$STATE,24013,end climb,SURFACE_DEPTH_REACHED
$STATE,24013,begin surface coast
$FINISH,1.6,1.026633
$STATE,24032,end surface coast,CONTROL_FINISHED_OK
$STATE,24032,begin surface
$SM_CCo,24108,0.00,0.000,0,0,1614,306.13
$SM_GC,2.40,8.52,0.00,0.00,0.042,0.000,0.000,89,1820,1614,-9.11,0.03,306.13
$IRIDIUM_FIX,-4206.99,-729.90,121112,161625
$TT8_MAMPS,0.026964
$HUMID,43.66
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.1,32.153
$10V_AH,10.2,30.945
$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
$DEVICE_SECS,22.900,142.350,375.175,0.000,0.000,28.997,42.896,265.323,0.000,0.000,23.127,3264.857,16468.654,507.764,4126.191,198.505,33.360,2088.292,0.000,3726.559,0.000,1.630,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.160,1471.970,824.950,108.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,76853,1274
$CAP_FILE_SIZE,220520,0
$CFSIZE,2097086464,2068021248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131112,131105,-4223.239,-730.107,31,1.1,31,-21.8