version: 66.07.10.p01
glider: 573
mission: 4
dive: 220
start: 11 18 112 22 23 43
data:
$ID,573
$MISSION,4
$DIVE,220
$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,-4999.001
$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,34
$R_STBD_OVSHOOT,32
$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,199
$GPS1,181112,221123,-4208.725,-716.658,98,1.5,98,-21.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-65.6
$GPS2,181112,222248,-4208.688,-716.506,19,1.9,20,-21.9
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.182,0.155
$KALMAN_X,-332528.2,424.6,-302.6,557216.3,-1744.9
$KALMAN_Y,-119447.9,-66.0,293.2,176790.5,-1954.7
$MHEAD_RNG_PITCHd_Wd,71.4,139754,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.92,-121.6,0.0,0.0,0,87,0.00,0.00,-60.28,0.000,2,0.000,0.000,81,1822,2961,0,0,0,0,0,0
$GC,89,-0.92,-121.6,3.2,-1.4,10,115,11.18,0.60,-9.98,0.000,4,0.251,0.103,2720,1425,3359,0,0,0,0,0,0
$GC,170,-0.81,-121.6,14.7,-13.2,23,178,0.12,0.62,0.00,0.000,6,0.152,0.050,2756,1824,3361,0,0,0,0,0,0
$GC,251,-0.77,-121.6,27.1,-13.4,36,258,0.05,0.00,0.00,0.000,6,0.246,0.000,2767,1824,3361,0,0,0,0,0,0
$GC,330,-0.77,-121.6,35.9,-9.7,49,335,0.00,0.25,0.00,0.000,4,0.000,0.064,2767,2010,3361,0,0,0,0,0,0
$GC,423,-0.77,-121.6,45.7,-10.0,65,428,0.00,0.28,0.00,0.000,6,0.000,0.062,2767,1819,3362,0,0,0,0,0,0
$GC,657,-0.77,-121.6,67.4,-8.5,106,662,0.00,0.85,0.00,0.000,4,0.000,0.054,2763,2364,3362,0,0,0,0,0,0
$GC,745,-0.77,-121.6,75.8,-9.9,122,750,0.00,0.85,0.00,0.000,6,0.000,0.047,2763,1817,3362,0,0,0,0,0,0
$GC,1092,-0.77,-121.6,111.5,-10.5,171,1096,0.00,2.25,0.00,0.000,4,0.000,0.059,2753,3228,3362,0,0,0,0,0,0
$GC,1205,-0.75,-121.6,124.3,-11.6,178,1209,0.10,2.20,0.00,0.000,6,0.181,0.044,2777,1818,3362,0,0,0,0,0,0
$GC,1531,-0.75,-121.6,159.4,-10.8,199,1534,0.00,2.25,0.00,0.000,4,0.000,0.058,2768,3224,3363,0,0,0,0,0,0
$GC,1650,-0.75,-121.6,172.7,-10.6,206,1654,0.00,2.20,0.00,0.000,6,0.000,0.044,2768,1812,3363,0,0,0,0,0,0
$GC,1976,-0.75,-121.6,206.1,-9.6,227,1980,0.00,2.25,0.00,0.000,4,0.000,0.060,2758,3219,3363,0,0,0,0,0,0
$GC,2099,-0.75,-121.6,219.3,-10.8,234,2105,0.05,2.20,0.00,0.000,6,0.164,0.044,2774,1827,3363,0,0,0,0,0,0
$GC,2426,-0.75,-121.6,251.4,-10.5,255,2430,0.00,1.02,0.00,0.000,4,0.000,0.055,2771,2480,3363,0,0,0,0,0,0
$GC,2586,-0.75,-121.6,268.0,-10.1,262,2589,0.00,1.02,0.00,0.000,6,0.000,0.047,2771,1817,3363,0,0,0,0,0,0
$GC,2918,-0.75,-121.6,302.9,-10.4,278,2922,0.00,2.22,0.00,0.000,4,0.000,0.059,2761,3226,3363,0,0,0,0,0,0
$GC,3073,-0.75,-121.6,319.1,-10.6,285,3078,0.08,2.17,0.00,0.000,6,0.196,0.044,2778,1821,3363,0,0,0,0,0,0
$GC,3402,-0.75,-121.6,351.8,-9.8,301,3406,0.00,2.22,0.00,0.000,4,0.000,0.059,2768,3217,3363,0,0,0,0,0,0
$GC,3518,-0.75,-121.6,363.9,-10.2,306,3523,0.00,2.20,0.00,0.000,6,0.000,0.044,2768,1819,3363,0,0,0,0,0,0
$GC,3846,-0.75,-121.6,397.7,-10.5,322,3850,0.00,2.22,0.00,0.000,4,0.000,0.060,2758,3225,3363,0,0,0,0,0,0
$GC,3976,-0.75,-121.6,412.2,-11.3,327,3981,0.10,2.20,0.00,0.000,6,0.176,0.044,2782,1806,3362,0,0,0,0,0,0
$GC,4311,-0.78,-121.6,445.8,-9.9,338,4315,0.00,2.25,0.00,0.000,4,0.000,0.060,2773,3226,3362,0,0,0,0,0,0
$GC,4456,-0.78,-121.6,461.3,-10.2,342,4461,0.00,2.20,0.00,0.000,6,0.000,0.045,2773,1824,3361,0,0,0,0,0,0
$GC,4780,-0.78,-121.6,495.9,-10.7,353,4784,0.00,2.22,0.00,0.000,4,0.000,0.059,2763,3226,3361,0,0,0,0,0,0
$GC,4901,-0.78,-121.6,509.6,-11.2,356,4906,0.00,2.22,0.00,0.000,6,0.000,0.045,2763,1810,3361,0,0,0,0,0,0
$GC,5220,-0.78,-121.6,544.0,-10.9,367,5224,0.00,1.80,0.00,0.000,4,0.000,0.060,2755,2939,3360,0,0,0,0,0,0
$GC,5331,-0.78,-121.6,557.1,-11.7,370,5336,0.00,1.77,0.00,0.000,6,0.000,0.046,2755,1811,3360,0,0,0,0,0,0
$GC,5661,-0.78,-121.6,598.7,-13.0,381,5666,0.05,2.25,0.00,0.000,4,0.234,0.061,2755,3220,3359,0,0,0,0,0,0
$GC,5800,-0.78,-121.6,616.1,-11.9,385,5804,0.00,2.20,0.00,0.000,6,0.000,0.046,2755,1820,3359,0,0,0,0,0,0
$GC,6129,-0.78,-121.6,656.1,-12.2,396,6134,0.05,2.22,0.00,0.000,4,0.233,0.061,2755,3218,3358,0,0,0,0,0,0
$GC,6292,-0.78,-121.6,675.1,-10.7,401,6296,0.05,2.20,0.00,0.000,6,0.224,0.047,2765,1805,3358,0,0,0,0,0,0
$GC,6626,-0.78,-121.6,710.7,-10.5,412,6630,0.00,2.28,0.00,0.000,4,0.000,0.060,2756,3223,3358,0,0,0,0,0,0
$GC,6731,-0.78,-121.6,721.8,-10.5,415,6735,0.00,2.20,0.00,0.000,6,0.000,0.045,2756,1830,3358,0,0,0,0,0,0
$GC,7061,-0.78,-121.6,755.8,-10.5,426,7064,0.00,2.03,0.00,0.000,4,0.000,0.060,2747,3092,3357,0,0,0,0,0,0
$GC,7171,-0.78,-121.6,767.4,-10.2,429,7177,0.05,2.00,0.00,0.000,6,0.167,0.045,2764,1821,3357,0,0,0,0,0,0
$GC,7502,-0.78,-121.6,798.4,-9.3,440,7506,0.00,2.22,0.00,0.000,4,0.000,0.061,2755,3211,3356,0,0,0,0,0,0
$GC,7607,-0.78,-121.6,808.9,-9.7,443,7612,0.00,2.20,0.00,0.000,6,0.000,0.045,2755,1815,3356,0,0,0,0,0,0
$GC,7942,-0.78,-121.6,843.1,-10.5,454,7946,0.05,1.88,0.00,0.000,4,0.233,0.060,2757,2979,3356,0,0,0,0,0,0
$GC,8058,-0.78,-121.6,855.5,-10.6,457,8063,0.00,1.83,0.00,0.000,6,0.000,0.045,2757,1822,3356,0,0,0,0,0,0
$GC,8383,-0.78,-121.6,890.4,-11.1,468,8386,0.00,1.70,0.00,0.000,4,0.000,0.059,2749,2894,3356,0,0,0,0,0,0
$GC,8493,-0.78,-121.6,902.6,-10.4,471,8499,0.05,1.70,0.00,0.000,6,0.165,0.046,2766,1815,3355,0,0,0,0,0,0
$GC,8824,-0.80,-121.6,936.0,-9.8,482,8828,0.00,2.17,0.00,0.000,4,0.000,0.061,2756,3189,3355,0,0,0,0,0,0
$GC,8946,-0.80,-121.6,948.4,-10.1,485,8951,0.00,2.17,0.00,0.000,6,0.000,0.046,2756,1814,3355,0,0,0,0,0,0
$GC,9265,-0.80,-121.6,979.7,-9.9,496,9269,0.00,2.28,0.00,0.000,4,0.000,0.061,2746,3228,3354,0,0,0,0,0,0
$GC,9411,-0.80,-121.6,994.2,-9.7,500,9415,0.05,2.20,0.00,0.000,6,0.228,0.045,2757,1817,3354,0,0,0,0,0,0
$STATE,9487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9487,begin apogee
$GC,9491,-0.23,0.0,1001.7,9.5,503,9596,0.60,0.00,101.45,1.299,6,0.134,0.000,2945,1636,2862,0,0,0,0,0,0
$STATE,9597,end apogee,CONTROL_FINISHED_OK
$STATE,9597,begin climb
$GC,9598,0.92,121.6,1005.3,0.0,506,9711,1.10,2.30,104.70,1.261,4,0.089,0.059,3321,346,2365,0,0,0,0,0,0
$GC,9806,0.88,168.1,996.6,7.4,512,9856,0.05,2.20,42.05,1.224,6,0.214,0.042,3310,1641,2176,0,0,0,0,0,0
$GC,10185,0.88,191.9,963.9,8.7,525,10210,0.00,0.57,21.62,1.195,4,0.000,0.046,3310,2029,2078,0,0,0,0,0,0
$GC,10327,0.88,218.5,951.4,8.5,529,10357,0.00,0.62,24.77,1.185,6,0.000,0.054,3312,1648,1971,0,0,0,0,0,0
$GC,10688,0.91,236.3,918.6,9.0,541,10708,0.00,0.62,16.77,1.148,4,0.000,0.053,3312,2027,1897,0,0,0,0,0,0
$GC,10792,0.95,240.5,908.5,9.8,544,10801,0.00,0.60,5.00,0.834,6,0.000,0.054,3315,1650,1880,0,0,0,0,0,0
$GC,11120,1.00,248.3,877.0,9.6,555,11134,0.08,1.02,8.05,1.013,4,0.121,0.057,3355,1035,1849,0,0,0,0,0,0
$GC,11206,1.00,248.3,867.3,11.4,557,11211,0.00,1.00,0.00,0.000,6,0.000,0.045,3355,1651,1848,0,0,0,0,0,0
$GC,11525,1.00,248.3,831.4,11.2,568,11528,0.00,0.62,0.00,0.000,4,0.000,0.058,3358,1256,1847,0,0,0,0,0,0
$GC,11613,1.00,248.3,821.0,11.4,570,11618,0.05,0.62,0.00,0.000,6,0.223,0.050,3347,1648,1847,0,0,0,0,0,0
$GC,11931,1.00,248.3,788.2,10.3,581,11935,0.00,0.80,0.00,0.000,4,0.000,0.058,3350,1148,1847,0,0,0,0,0,0
$GC,12002,1.00,248.3,780.7,11.3,583,12007,0.00,0.80,0.00,0.000,6,0.000,0.047,3351,1651,1847,0,0,0,0,0,0
$GC,12338,1.00,248.3,746.3,10.4,594,12341,0.00,0.35,0.00,0.000,4,0.000,0.062,3352,1420,1847,0,0,0,0,0,0
$GC,12409,1.00,248.3,738.6,10.1,596,12413,0.00,0.35,0.00,0.000,6,0.000,0.057,3352,1646,1846,0,0,0,0,0,0
$GC,12744,1.00,248.3,703.2,10.8,607,12747,0.00,0.75,0.00,0.000,4,0.000,0.057,3356,1175,1846,0,0,0,0,0,0
$GC,12826,1.00,248.3,694.0,11.7,609,12831,0.00,0.75,0.00,0.000,6,0.000,0.047,3355,1650,1846,0,0,0,0,0,0
$GC,13150,1.00,248.3,657.1,11.5,620,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1650,1845,0,0,0,0,0,0
$GC,13457,1.00,248.3,621.6,11.3,630,13460,0.00,0.35,0.00,0.000,4,0.000,0.063,3357,1417,1846,0,0,0,0,0,0
$GC,13511,1.00,248.3,615.3,11.1,631,13515,0.00,0.35,0.00,0.000,6,0.000,0.057,3357,1645,1846,0,0,0,0,0,0
$GC,13829,1.00,248.3,580.7,10.5,642,13833,0.00,0.45,0.00,0.000,4,0.000,0.056,3357,1957,1845,0,0,0,0,0,0
$GC,13877,1.00,248.3,575.5,10.3,643,13882,0.05,0.50,0.00,0.000,6,0.237,0.056,3348,1641,1845,0,0,0,0,0,0
$GC,14201,1.00,250.8,543.9,9.9,654,14204,0.00,0.95,0.00,0.000,4,0.000,0.057,3353,1041,1845,0,0,0,0,0,0
$GC,14285,1.00,262.8,535.6,9.3,656,14304,0.00,0.95,13.75,0.965,6,0.000,0.046,3352,1645,1790,0,0,0,0,0,0
$GC,14641,1.00,269.0,500.5,9.7,668,14650,0.00,0.55,6.65,0.815,4,0.000,0.054,3352,1998,1765,0,0,0,0,0,0
$GC,14702,1.00,279.9,494.6,9.4,670,14716,0.00,0.55,11.65,0.910,6,0.000,0.056,3355,1646,1719,0,0,0,0,0,0
$GC,15035,1.00,293.8,463.5,9.2,681,15050,0.00,0.00,13.27,0.909,6,0.000,0.000,3355,1645,1664,0,0,0,0,0,0
$GC,15341,1.02,295.7,433.8,9.9,691,15345,0.00,1.10,0.00,0.000,4,0.000,0.056,3360,967,1660,0,0,0,0,0,0
$GC,15413,1.02,295.7,426.2,10.5,693,15417,0.00,1.10,0.00,0.000,6,0.000,0.044,3360,1651,1660,0,0,0,0,0,0
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$STATE,19348,end climb,SURFACE_DEPTH_REACHED
$STATE,19348,begin surface coast
$FINISH,1.6,1.008422
$STATE,19379,end surface coast,CONTROL_FINISHED_OK
$STATE,19379,begin surface
$SM_CCo,19455,0.00,0.000,0,0,1618,305.15
$SM_GC,2.99,8.60,0.00,0.00,0.037,0.000,0.000,93,1834,1618,-9.09,0.42,305.15
$IRIDIUM_FIX,-4149.58,-450.40,181112,222251
$TT8_MAMPS,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.1,35.329
$10V_AH,10.1,33.793
$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
$DEVICE_SECS,22.600,116.325,378.375,0.000,0.000,63.406,116.103,308.523,0.000,0.000,22.378,2667.381,13129.666,453.504,3715.568,170.232,33.383,1801.148,0.000,3150.105,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.359,1152.235,656.320,90.523,0.000,0.000,0.000,0.000,0.000,0.000
$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,60266,1025
$CAP_FILE_SIZE,183808,0
$CFSIZE,2097086464,2065039360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191112,034905,-4208.543,-714.464,34,0.9,34,-21.9