version: 66.07.10.p01
glider: 573
mission: 4
dive: 205
start: 11 14 112 23 55 27
data:
$ID,573
$MISSION,4
$DIVE,205
$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,-4948.6641
$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,32
$R_STBD_OVSHOOT,40
$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,184
$GPS1,141112,234635,-4215.634,-731.942,58,1.6,58,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-70.2
$GPS2,141112,235432,-4215.511,-731.892,24,1.7,25,-21.9
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.209,0.056
$KALMAN_X,-279506.2,-299.0,394.6,483266.4,-6339.3
$KALMAN_Y,-112665.0,214.3,945.6,156428.2,-2204.6
$MHEAD_RNG_PITCHd_Wd,96.9,120308,-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,-121.6,0.0,0.0,0,70,0.00,0.00,-42.83,0.000,2,0.000,0.000,84,1829,2628,0,0,0,0,0,0
$GC,72,-0.71,-121.6,3.0,-1.3,7,116,11.45,2.30,-23.33,0.000,4,0.251,0.076,2781,3217,3360,0,0,0,0,0,0
$GC,348,-0.62,-121.6,32.1,-10.9,53,354,0.15,2.17,0.00,0.000,6,0.158,0.044,2822,1821,3361,0,0,0,0,0,0
$GC,583,-0.59,-121.6,52.6,-6.9,94,590,0.00,1.77,0.00,0.000,4,0.000,0.057,2814,2914,3362,0,0,0,0,0,0
$GC,690,-0.56,-121.6,60.7,-7.8,112,696,0.10,1.73,0.00,0.000,6,0.169,0.043,2841,1802,3362,0,0,0,0,0,0
$GC,1035,-0.56,-121.6,88.7,-9.4,173,1039,0.00,2.28,0.00,0.000,4,0.000,0.058,2830,3226,3362,0,0,0,0,0,0
$GC,1149,-0.56,-121.6,100.2,-10.4,193,1154,0.00,2.20,0.00,0.000,6,0.000,0.043,2831,1815,3362,0,0,0,0,0,0
$GC,1469,-0.59,-121.6,127.0,-7.8,214,1473,0.00,1.95,0.00,0.000,4,0.000,0.054,2831,593,3363,0,0,0,0,0,0
$GC,1507,-0.56,-121.6,130.5,-8.8,216,1512,0.05,1.95,0.00,0.000,6,0.152,0.041,2840,1827,3363,0,0,0,0,0,0
$GC,1835,-0.61,-121.6,154.1,-7.3,237,1839,0.00,1.52,0.00,0.000,4,0.000,0.055,2834,2787,3363,0,0,0,0,0,0
$GC,1908,-0.64,-121.6,159.8,-7.5,241,1913,0.03,1.52,0.00,0.000,6,0.103,0.044,2804,1812,3363,0,0,0,0,0,0
$GC,2233,-0.60,-121.6,185.3,-8.3,262,2238,0.10,2.22,0.00,0.000,4,0.182,0.058,2820,3218,3363,0,0,0,0,0,0
$GC,2333,-0.60,-121.6,194.9,-9.4,268,2338,0.00,2.20,0.00,0.000,6,0.000,0.042,2820,1810,3364,0,0,0,0,0,0
$GC,2660,-0.60,-121.6,221.5,-7.4,289,2664,0.00,2.25,0.00,0.000,4,0.000,0.058,2810,3218,3363,0,0,0,0,0,0
$GC,2846,-0.57,-121.6,237.0,-8.3,300,2851,0.05,2.17,0.00,0.000,6,0.148,0.042,2830,1828,3363,0,0,0,0,0,0
$GC,3182,-0.60,-121.6,263.8,-8.3,319,3186,0.00,2.25,0.00,0.000,4,0.000,0.054,2830,409,3363,0,0,0,0,0,0
$GC,3283,-0.57,-121.6,273.5,-9.8,323,3289,0.08,2.22,0.00,0.000,6,0.186,0.041,2839,1824,3363,0,0,0,0,0,0
$GC,3601,-0.62,-121.6,299.0,-8.1,339,3604,0.00,0.88,0.00,0.000,4,0.000,0.053,2835,2399,3363,0,0,0,0,0,0
$GC,3693,-0.67,-121.6,306.5,-8.3,343,3698,0.05,0.90,0.00,0.000,6,0.069,0.046,2797,1809,3363,0,0,0,0,0,0
$GC,4028,-0.62,-121.6,337.8,-9.8,359,4033,0.10,2.28,0.00,0.000,4,0.182,0.059,2812,3224,3363,0,0,0,0,0,0
$GC,4179,-0.62,-121.6,353.0,-9.2,365,4185,0.00,2.20,0.00,0.000,6,0.000,0.043,2812,1816,3363,0,0,0,0,0,0
$GC,4498,-0.59,-121.6,385.3,-10.7,381,4502,0.08,2.22,0.00,0.000,4,0.205,0.059,2821,3215,3363,0,0,0,0,0,0
$GC,4597,-0.59,-121.6,396.7,-11.2,385,4602,0.00,2.17,0.00,0.000,6,0.000,0.042,2821,1819,3363,0,0,0,0,0,0
$GC,4928,-0.62,-121.6,430.7,-10.2,397,4932,0.00,2.25,0.00,0.000,4,0.000,0.055,2821,405,3363,0,0,0,0,0,0
$GC,4972,-0.58,-121.6,435.8,-10.8,398,4977,0.08,2.22,0.00,0.000,6,0.190,0.042,2829,1816,3363,0,0,0,0,0,0
$GC,5296,-0.63,-121.6,467.2,-9.5,409,5299,0.00,1.83,0.00,0.000,4,0.000,0.057,2821,2995,3363,0,0,0,0,0,0
$GC,5367,-0.63,-121.6,474.3,-9.5,411,5372,0.00,1.83,0.00,0.000,6,0.000,0.044,2821,1824,3362,0,0,0,0,0,0
$GC,5703,-0.66,-121.6,504.3,-8.9,422,5707,0.00,2.00,0.00,0.000,4,0.000,0.054,2821,567,3362,0,0,0,0,0,0
$GC,5746,-0.63,-121.6,508.3,-9.0,423,5750,0.00,1.98,0.00,0.000,6,0.000,0.042,2811,1819,3362,0,0,0,0,0,0
$GC,6076,-0.63,-121.6,535.3,-8.1,434,6080,0.00,2.25,0.00,0.000,4,0.000,0.054,2811,415,3361,0,0,0,0,0,0
$GC,6164,-0.58,-121.6,543.2,-8.9,436,6170,0.08,2.22,0.00,0.000,6,0.150,0.043,2827,1825,3361,0,0,0,0,0,0
$GC,6478,-0.62,-121.6,565.7,-7.2,447,6482,0.00,2.25,0.00,0.000,4,0.000,0.055,2827,415,3361,0,0,0,0,0,0
$GC,6573,-0.62,-121.6,573.3,-8.0,450,6577,0.00,2.20,0.00,0.000,6,0.000,0.043,2817,1826,3360,0,0,0,0,0,0
$GC,6907,-0.65,-121.6,599.1,-8.0,461,6911,0.00,1.45,0.00,0.000,4,0.000,0.053,2817,920,3360,0,0,0,0,0,0
$GC,6941,-0.65,-121.6,601.8,-8.2,462,6945,0.00,1.42,0.00,0.000,6,0.000,0.045,2810,1824,3360,0,0,0,0,0,0
$GC,7281,-0.65,-121.6,630.9,-8.6,473,7285,0.00,2.28,0.00,0.000,4,0.000,0.056,2810,409,3360,0,0,0,0,0,0
$GC,7358,-0.60,-121.6,638.4,-10.1,475,7363,0.05,2.22,0.00,0.000,6,0.163,0.042,2817,1821,3359,0,0,0,0,0,0
$GC,7682,-0.60,-121.6,667.7,-9.2,486,7686,0.00,2.20,0.00,0.000,4,0.000,0.060,2807,3217,3359,0,0,0,0,0,0
$GC,7787,-0.60,-121.6,677.6,-9.3,489,7792,0.03,2.17,0.00,0.000,6,0.174,0.044,2818,1828,3359,0,0,0,0,0,0
$GC,8116,-0.60,-121.6,705.7,-8.5,500,8120,0.00,2.20,0.00,0.000,4,0.000,0.060,2809,3217,3358,0,0,0,0,0,0
$GC,8221,-0.60,-121.6,715.2,-8.3,503,8227,0.03,2.20,0.00,0.000,6,0.173,0.044,2819,1817,3358,0,0,0,0,0,0
$GC,8556,-0.60,-121.6,744.3,-8.7,514,8560,0.00,2.25,0.00,0.000,4,0.000,0.060,2809,3221,3357,0,0,0,0,0,0
$GC,8673,-0.60,-121.6,754.8,-8.7,517,8678,0.03,2.20,0.00,0.000,6,0.173,0.044,2820,1820,3357,0,0,0,0,0,0
$GC,8991,-0.60,-121.6,780.8,-8.1,528,8995,0.00,2.25,0.00,0.000,4,0.000,0.060,2810,3221,3357,0,0,0,0,0,0
$GC,9095,-0.60,-121.6,789.6,-8.6,531,9100,0.00,2.20,0.00,0.000,6,0.000,0.044,2810,1818,3356,0,0,0,0,0,0
$GC,9425,-0.60,-121.6,817.5,-8.5,542,9429,0.05,1.70,0.00,0.000,4,0.230,0.059,2813,2891,3356,0,0,0,0,0,0
$GC,9519,-0.60,-121.6,825.5,-8.5,544,9525,0.00,1.67,0.00,0.000,6,0.000,0.044,2813,1827,3356,0,0,0,0,0,0
$GC,9832,-0.60,-121.6,850.7,-8.0,555,9836,0.00,1.85,0.00,0.000,4,0.000,0.059,2804,2986,3356,0,0,0,0,0,0
$GC,9943,-0.60,-121.6,859.9,-8.1,558,9948,0.05,1.85,0.00,0.000,6,0.153,0.044,2822,1814,3355,0,0,0,0,0,0
$GC,10273,-0.60,-121.6,884.3,-7.3,569,10276,0.00,2.20,0.00,0.000,4,0.000,0.061,2813,3183,3355,0,0,0,0,0,0
$GC,10383,-0.60,-121.6,892.8,-7.5,572,10388,0.00,2.15,0.00,0.000,6,0.000,0.043,2813,1810,3355,0,0,0,0,0,0
$GC,10708,-0.60,-121.6,916.3,-7.1,583,10712,0.00,0.82,0.00,0.000,4,0.000,0.055,2809,2340,3354,0,0,0,0,0,0
$GC,10790,-0.60,-121.6,922.2,-7.1,585,10795,0.05,0.82,0.00,0.000,6,0.211,0.048,2821,1809,3354,0,0,0,0,0,0
$GC,11114,-0.60,-121.6,942.3,-6.1,596,11118,0.00,1.35,0.00,0.000,4,0.000,0.058,2816,2649,3354,0,0,0,0,0,0
$GC,11225,-0.60,-121.6,949.1,-6.4,599,11229,0.00,1.27,0.00,0.000,6,0.000,0.047,2816,1830,3354,0,0,0,0,0,0
$GC,11554,-0.60,-121.6,970.9,-6.9,610,11558,0.00,1.12,0.00,0.000,4,0.000,0.057,2810,2538,3354,0,0,0,0,0,0
$GC,11659,-0.60,-121.6,978.4,-7.7,613,11665,0.05,1.15,0.00,0.000,6,0.210,0.047,2823,1809,3353,0,0,0,0,0,0
$STATE,11993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11993,begin apogee
$GC,11998,-0.23,0.0,1001.7,7.1,624,12102,0.38,0.00,101.60,1.300,6,0.127,0.000,2943,1643,2862,0,0,0,0,0,0
$STATE,12103,end apogee,CONTROL_FINISHED_OK
$STATE,12103,begin climb
$GC,12105,0.71,121.6,1005.2,0.0,627,12218,0.90,2.50,104.72,1.264,4,0.092,0.060,3252,242,2365,0,0,0,0,0,0
$GC,12402,0.68,175.9,993.7,5.2,636,12458,0.00,2.33,48.17,1.239,6,0.000,0.044,3252,1641,2144,0,0,0,0,0,0
$GC,12793,0.68,198.4,968.3,6.5,649,12818,0.00,2.33,20.45,1.201,4,0.000,0.056,3252,3046,2053,0,0,0,0,0,0
$GC,12924,0.68,210.9,958.8,6.9,652,12942,0.05,2.28,12.40,1.117,6,0.148,0.045,3245,1658,2002,0,0,0,0,0,0
$GC,13256,0.75,214.8,935.3,7.2,663,13265,0.00,0.90,4.53,0.806,4,0.000,0.059,3248,1111,1986,0,0,0,0,0,0
$GC,13298,0.82,214.8,932.1,7.8,664,13303,0.10,0.88,0.00,0.000,6,0.102,0.047,3295,1647,1986,0,0,0,0,0,0
$GC,13628,0.78,214.8,902.2,9.6,675,13632,0.08,1.65,0.00,0.000,4,0.175,0.057,3277,2688,1985,0,0,0,0,0,0
$GC,13704,0.75,214.8,894.7,9.9,677,13709,0.05,1.67,0.00,0.000,6,0.156,0.047,3266,1644,1985,0,0,0,0,0,0
$GC,14034,0.75,214.8,868.3,7.9,688,14038,0.00,0.22,0.00,0.000,4,0.000,0.070,3267,1469,1984,0,0,0,0,0,0
$GC,14071,0.75,214.8,865.2,7.5,689,14076,0.00,0.28,0.00,0.000,6,0.000,0.060,3267,1650,1984,0,0,0,0,0,0
$GC,14407,0.75,219.2,840.9,7.2,700,14416,0.00,0.55,5.22,0.874,4,0.000,0.049,3268,2021,1969,0,0,0,0,0,0
$GC,14489,0.75,221.6,834.6,7.3,702,14496,0.00,0.60,4.20,0.755,6,0.000,0.054,3269,1644,1958,0,0,0,0,0,0
$GC,14809,0.75,225.2,811.5,7.3,713,14818,0.00,0.45,4.93,0.835,4,0.000,0.057,3270,1934,1944,0,0,0,0,0,0
$GC,14875,0.75,225.2,806.5,7.8,715,14879,0.00,0.45,0.00,0.000,6,0.000,0.057,3271,1644,1943,0,0,0,0,0,0
$GC,15215,0.75,225.2,780.2,7.6,726,15219,0.00,0.73,0.00,0.000,4,0.000,0.058,3275,1179,1943,0,0,0,0,0,0
$GC,15275,0.75,225.2,775.5,8.2,727,15281,0.00,0.75,0.00,0.000,6,0.000,0.047,3275,1652,1943,0,0,0,0,0,0
$GC,15588,0.75,225.2,751.1,7.8,738,15592,0.00,0.50,0.00,0.000,4,0.000,0.054,3275,1993,1942,0,0,0,0,0,0
$GC,15655,0.75,225.2,745.9,7.7,740,15659,0.00,0.55,0.00,0.000,6,0.000,0.057,3277,1641,1942,0,0,0,0,0,0
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$STATE,24223,end climb,SURFACE_DEPTH_REACHED
$STATE,24223,begin surface coast
$FINISH,2.2,1.026644
$STATE,24236,end surface coast,CONTROL_FINISHED_OK
$STATE,24236,begin surface
$SM_CCo,24313,0.00,0.000,0,0,1194,409.15
$SM_GC,2.62,8.57,0.00,0.00,0.037,0.000,0.000,90,1834,1194,-9.11,0.40,409.15
$IRIDIUM_FIX,-4158.28,-729.14,141112,161632
$TT8_MAMPS,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.2,33.077
$10V_AH,10.1,31.808
$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
$DEVICE_SECS,23.925,169.275,471.575,0.000,0.000,25.356,41.906,270.090,0.000,0.000,27.260,3189.561,16790.762,566.071,4033.393,200.765,33.365,2178.857,0.000,3616.431,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.064,1240.843,788.563,90.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,73500,1207
$CAP_FILE_SIZE,231821,0
$CFSIZE,2097086464,2067136512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,064153,-4214.217,-732.056,40,1.0,40,-21.9