version: 66.07.10.p01
glider: 573
mission: 4
dive: 214
start: 11 17 112 12 55 7
data:
$ID,573
$MISSION,4
$DIVE,214
$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,333
$T_MISSION,348
$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,-4978.8828
$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,29
$R_STBD_OVSHOOT,33
$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,193
$GPS1,171112,124729,-4207.955,-728.435,40,1.2,40,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-73.0
$GPS2,171112,125412,-4207.958,-728.424,16,1.2,17,-21.9
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.231,-0.062
$KALMAN_X,-322176.2,610.5,183.7,529949.0,-4082.3
$KALMAN_Y,-112539.8,-59.9,-882.6,172398.0,1513.4
$MHEAD_RNG_PITCHd_Wd,126.8,153557,-20.1,-10.010
$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,-0.92,-121.6,0.0,0.0,0,76,0.00,0.00,-48.88,0.000,2,0.000,0.000,84,1842,2551,0,0,0,0,0,0
$GC,78,-0.92,-121.6,3.0,-1.2,8,128,11.10,2.28,-30.90,0.000,4,0.251,0.071,2710,3231,3356,0,0,0,0,0,0
$GC,350,-0.83,-121.6,33.9,-13.4,54,358,0.10,2.25,0.00,0.000,6,0.158,0.044,2742,1816,3357,0,0,0,0,0,0
$GC,586,-0.78,-121.6,63.4,-12.7,95,590,0.10,1.15,0.00,0.000,4,0.197,0.055,2762,2530,3358,0,0,0,0,0,0
$GC,700,-0.78,-121.6,76.2,-11.4,115,704,0.00,1.12,0.00,0.000,6,0.000,0.047,2762,1813,3358,0,0,0,0,0,0
$GC,1043,-0.78,-121.6,116.3,-11.5,160,1048,0.00,2.28,0.00,0.000,4,0.000,0.059,2751,3230,3358,0,0,0,0,0,0
$GC,1195,-0.76,-121.6,134.5,-12.4,169,1199,0.10,2.20,0.00,0.000,6,0.184,0.044,2776,1815,3359,0,0,0,0,0,0
$GC,1519,-0.76,-121.6,174.0,-12.2,190,1523,0.00,2.25,0.00,0.000,4,0.000,0.059,2767,3229,3360,0,0,0,0,0,0
$GC,1653,-0.76,-121.6,190.6,-12.2,198,1658,0.00,2.20,0.00,0.000,6,0.000,0.043,2766,1825,3360,0,0,0,0,0,0
$GC,1980,-0.76,-121.6,227.9,-11.1,219,1984,0.00,2.22,0.00,0.000,4,0.000,0.059,2756,3225,3360,0,0,0,0,0,0
$GC,2092,-0.76,-121.6,240.7,-9.9,225,2099,0.05,2.22,0.00,0.000,6,0.174,0.044,2772,1808,3360,0,0,0,0,0,0
$GC,2422,-0.76,-121.6,270.9,-9.3,243,2426,0.00,1.98,0.00,0.000,4,0.000,0.057,2764,3048,3360,0,0,0,0,0,0
$GC,2523,-0.76,-121.6,281.3,-9.8,247,2527,0.00,1.92,0.00,0.000,6,0.000,0.043,2764,1821,3360,0,0,0,0,0,0
$GC,2846,-0.76,-121.6,314.3,-10.5,263,2850,0.00,1.98,0.00,0.000,4,0.000,0.058,2755,3070,3360,0,0,0,0,0,0
$GC,2952,-0.76,-121.6,325.8,-10.0,267,2959,0.05,1.95,0.00,0.000,6,0.169,0.043,2772,1822,3360,0,0,0,0,0,0
$GC,3270,-0.76,-121.6,358.2,-10.4,283,3274,0.00,2.08,0.00,0.000,4,0.000,0.058,2763,3131,3360,0,0,0,0,0,0
$GC,3383,-0.76,-121.6,370.1,-10.1,288,3387,0.00,2.05,0.00,0.000,6,0.000,0.044,2763,1804,3360,0,0,0,0,0,0
$GC,3726,-0.76,-121.6,404.9,-10.0,304,3729,0.00,2.08,0.00,0.000,4,0.000,0.058,2754,3121,3360,0,0,0,0,0,0
$GC,3847,-0.76,-121.6,417.6,-10.2,307,3854,0.05,2.05,0.00,0.000,6,0.168,0.044,2771,1816,3360,0,0,0,0,0,0
$GC,4161,-0.76,-121.6,448.1,-9.6,318,4165,0.00,1.30,0.00,0.000,4,0.000,0.055,2765,2633,3360,0,0,0,0,0,0
$GC,4254,-0.76,-121.6,457.3,-9.7,320,4260,0.00,1.27,0.00,0.000,6,0.000,0.046,2766,1816,3360,0,0,0,0,0,0
$GC,4568,-0.76,-121.6,487.1,-9.3,331,4572,0.00,2.25,0.00,0.000,4,0.000,0.060,2755,3226,3360,0,0,0,0,0,0
$GC,4703,-0.76,-121.6,499.4,-8.9,335,4708,0.08,2.17,0.00,0.000,6,0.199,0.044,2772,1821,3359,0,0,0,0,0,0
$GC,5037,-0.76,-121.6,526.8,-8.1,346,5041,0.00,1.17,0.00,0.000,4,0.000,0.056,2768,2561,3359,0,0,0,0,0,0
$GC,5131,-0.76,-121.6,534.4,-7.8,348,5137,0.00,1.15,0.00,0.000,6,0.000,0.047,2768,1822,3358,0,0,0,0,0,0
$GC,5445,-0.76,-121.6,559.9,-8.2,359,5448,0.00,1.45,0.00,0.000,4,0.000,0.058,2761,2726,3358,0,0,0,0,0,0
$GC,5561,-0.76,-121.6,569.9,-8.7,362,5566,0.00,1.42,0.00,0.000,6,0.000,0.044,2762,1813,3358,0,0,0,0,0,0
$GC,5886,-0.76,-121.6,598.2,-9.1,373,5890,0.00,2.25,0.00,0.000,4,0.000,0.060,2752,3222,3358,0,0,0,0,0,0
$GC,6031,-0.76,-121.6,611.9,-9.2,377,6036,0.10,2.17,0.00,0.000,6,0.182,0.045,2776,1821,3357,0,0,0,0,0,0
$GC,6355,-0.79,-121.6,640.1,-8.9,388,6359,0.00,0.82,0.00,0.000,4,0.000,0.055,2774,2353,3357,0,0,0,0,0,0
$GC,6467,-0.81,-121.6,649.8,-8.8,391,6471,0.00,0.82,0.00,0.000,6,0.000,0.049,2774,1818,3356,0,0,0,0,0,0
$GC,6797,-0.84,-121.6,677.4,-8.4,402,6801,0.08,2.25,0.00,0.000,4,0.129,0.060,2723,3222,3356,0,0,0,0,0,0
$GC,6927,-0.80,-121.6,690.4,-9.9,406,6932,0.15,2.17,0.00,0.000,6,0.172,0.045,2762,1813,3355,0,0,0,0,0,0
$GC,7267,-0.80,-121.6,720.0,-8.7,417,7271,0.00,2.12,0.00,0.000,4,0.000,0.060,2753,3143,3355,0,0,0,0,0,0
$GC,7383,-0.80,-121.6,730.6,-8.8,420,7388,0.00,2.08,0.00,0.000,6,0.000,0.045,2754,1827,3355,0,0,0,0,0,0
$GC,7702,-0.80,-121.6,759.7,-9.4,431,7705,0.00,1.38,0.00,0.000,4,0.000,0.057,2748,2686,3355,0,0,0,0,0,0
$GC,7824,-0.80,-121.6,771.8,-9.6,434,7829,0.00,1.38,0.00,0.000,6,0.000,0.046,2748,1806,3354,0,0,0,0,0,0
$GC,8143,-0.80,-121.6,803.4,-9.8,445,8147,0.05,2.00,0.00,0.000,4,0.234,0.060,2749,3063,3354,0,0,0,0,0,0
$GC,8248,-0.80,-121.6,813.6,-9.5,448,8252,0.00,1.95,0.00,0.000,6,0.000,0.045,2749,1827,3354,0,0,0,0,0,0
$GC,8583,-0.80,-121.6,846.1,-9.9,459,8587,0.00,1.25,0.00,0.000,4,0.000,0.055,2744,2611,3353,0,0,0,0,0,0
$GC,8689,-0.80,-121.6,856.8,-9.9,462,8693,0.00,1.25,0.00,0.000,6,0.000,0.046,2744,1809,3353,0,0,0,0,0,0
$GC,9024,-0.80,-121.6,891.0,-10.4,473,9029,0.08,2.25,0.00,0.000,4,0.212,0.060,2750,3197,3352,0,0,0,0,0,0
$GC,9154,-0.80,-121.6,904.3,-10.1,477,9158,0.00,2.15,0.00,0.000,6,0.000,0.045,2753,1812,3352,0,0,0,0,0,0
$GC,9488,-0.80,-121.6,939.3,-10.4,488,9492,0.00,1.70,0.00,0.000,4,0.000,0.059,2745,2897,3352,0,0,0,0,0,0
$GC,9615,-0.80,-121.6,953.0,-11.1,491,9622,0.03,1.70,0.00,0.000,6,0.191,0.046,2754,1819,3352,0,0,0,0,0,0
$GC,9929,-0.80,-121.6,984.2,-9.8,502,9933,0.00,1.35,0.00,0.000,4,0.000,0.057,2749,2661,3352,0,0,0,0,0,0
$GC,10069,-0.80,-121.6,998.1,-9.9,506,10073,0.00,1.33,0.00,0.000,6,0.000,0.046,2749,1816,3351,0,0,0,0,0,0
$STATE,10088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10088,begin apogee
$GC,10093,-0.23,0.0,1000.2,9.6,506,10197,0.60,0.00,100.93,1.303,6,0.141,0.000,2940,1632,2862,0,0,0,0,0,0
$STATE,10198,end apogee,CONTROL_FINISHED_OK
$STATE,10198,begin climb
$GC,10200,0.92,121.6,1004.4,0.0,510,10311,1.12,0.95,104.43,1.267,4,0.091,0.052,3314,1064,2365,0,0,0,0,0,0
$GC,10356,0.89,186.0,999.8,6.5,515,10420,0.00,0.98,58.83,1.237,6,0.000,0.044,3314,1637,2103,0,0,0,0,0,0
$GC,10750,0.89,213.8,966.8,8.5,528,10781,0.00,1.83,24.88,1.205,4,0.000,0.056,3314,2721,1989,0,0,0,0,0,0
$GC,10865,0.89,220.8,955.9,9.6,531,10880,0.00,1.77,7.55,0.993,6,0.000,0.047,3322,1650,1961,0,0,0,0,0,0
$GC,11186,0.89,223.7,924.5,9.9,542,11190,0.00,1.00,0.00,0.000,4,0.000,0.051,3322,2273,1958,0,0,0,0,0,0
$GC,11263,0.89,223.7,916.6,10.5,544,11269,0.08,1.02,0.00,0.000,6,0.191,0.049,3310,1646,1958,0,0,0,0,0,0
$GC,11594,0.92,232.9,885.6,9.5,555,11610,0.00,1.02,11.90,1.108,4,0.000,0.052,3310,2272,1911,0,0,0,0,0,0
$GC,11699,0.95,242.6,875.1,9.5,558,11713,0.00,1.00,10.00,1.063,6,0.000,0.050,3313,1648,1873,0,0,0,0,0,0
$GC,12027,0.99,249.9,842.7,9.6,569,12038,0.08,0.45,7.78,1.000,4,0.122,0.055,3349,1928,1843,0,0,0,0,0,0
$GC,12099,0.99,249.9,834.5,11.5,571,12103,0.00,0.47,0.00,0.000,6,0.000,0.056,3352,1635,1842,0,0,0,0,0,0
$GC,12428,0.99,249.9,798.9,10.7,582,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1634,1842,0,0,0,0,0,0
$GC,12734,0.99,249.9,767.4,10.3,592,12738,0.00,0.68,0.00,0.000,4,0.000,0.054,3351,2070,1841,0,0,0,0,0,0
$GC,12802,0.99,252.5,760.5,9.9,594,12811,0.00,0.65,3.55,0.632,6,0.000,0.053,3355,1650,1832,0,0,0,0,0,0
$GC,13140,0.99,252.5,725.8,10.2,605,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1651,1832,0,0,0,0,0,0
$GC,13447,0.99,252.5,694.6,10.2,615,13450,0.00,0.47,0.00,0.000,4,0.000,0.054,3355,1968,1832,0,0,0,0,0,0
$GC,13529,0.99,252.5,686.1,10.0,617,13534,0.05,0.52,0.00,0.000,6,0.236,0.057,3346,1641,1832,0,0,0,0,0,0
$GC,13853,0.99,253.7,654.1,9.9,628,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1641,1832,0,0,0,0,0,0
$GC,14159,0.99,258.0,624.1,9.8,638,14169,0.00,1.15,6.65,0.879,4,0.000,0.052,3346,2350,1810,0,0,0,0,0,0
$GC,14247,0.99,268.2,615.3,9.4,640,14262,0.00,1.12,10.52,0.966,6,0.000,0.048,3350,1651,1769,0,0,0,0,0,0
$GC,14592,0.99,268.2,579.6,10.6,652,14595,0.00,0.62,0.00,0.000,4,0.000,0.052,3350,2058,1768,0,0,0,0,0,0
$GC,14659,0.99,268.2,572.3,10.6,654,14663,0.00,0.65,0.00,0.000,6,0.000,0.053,3353,1641,1768,0,0,0,0,0,0
$GC,14999,0.99,268.2,533.9,11.6,665,15003,0.00,0.32,0.00,0.000,4,0.000,0.066,3355,1415,1767,0,0,0,0,0,0
$GC,15042,0.99,268.2,528.6,12.4,666,15046,0.00,0.38,0.00,0.000,6,0.000,0.056,3355,1656,1767,0,0,0,0,0,0
$GC,15371,0.99,268.2,490.0,11.9,677,15375,0.00,0.25,0.00,0.000,4,0.000,0.063,3355,1840,1767,0,0,0,0,0,0
$GC,15482,0.99,268.2,476.6,12.3,680,15486,0.00,0.32,0.00,0.000,6,0.000,0.062,3356,1635,1767,0,0,0,0,0,0
$GC,15811,0.99,268.2,438.4,11.4,691,15815,0.00,1.15,0.00,0.000,4,0.000,0.053,3356,2362,1766,0,0,0,0,0,0
$GC,15894,0.99,268.2,428.8,10.5,693,15899,0.08,1.15,0.00,0.000,6,0.202,0.049,3344,1643,1766,0,0,0,0,0,0
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$STATE,19834,end climb,SURFACE_DEPTH_REACHED
$STATE,19834,begin surface coast
$FINISH,1.8,1.015196
$STATE,19872,end surface coast,CONTROL_FINISHED_OK
$STATE,19872,begin surface
$SM_CCo,19948,0.00,0.000,0,0,1572,316.43
$SM_GC,2.73,8.57,0.00,0.00,0.036,0.000,0.000,91,1823,1572,-9.09,0.11,316.43
$IRIDIUM_FIX,-4152.48,-728.39,171112,070752
$TT8_MAMPS,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.0,34.442
$10V_AH,10.2,33.069
$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
$DEVICE_SECS,22.775,116.950,388.525,0.000,0.000,26.920,38.125,217.313,0.000,0.000,19.545,2652.250,13581.812,469.373,3459.544,183.262,33.373,1854.341,0.000,3126.128,0.000,1.006,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.314,1085.820,659.616,78.487,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,60272,1004
$CAP_FILE_SIZE,190195,0
$CFSIZE,2097086464,2065825792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171112,182852,-4208.317,-726.252,44,1.6,44,-21.9