version: 66.07.10.p01
glider: 573
mission: 4
dive: 412
start: 12 31 112 17 34 0
data:
$ID,573
$MISSION,4
$DIVE,412
$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,340
$T_MISSION,355
$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,170
$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,0
$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,200
$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,-5640.9253
$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,3052
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,1890
$C_ROLL_CLIMB,1572
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,28
$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,391
$GPS1,311212,172522,-4209.294,-456.283,27,1.1,42,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-69.9
$GPS2,311212,173306,-4209.271,-456.296,38,0.9,38,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.259,0.089
$KALMAN_X,-10155.0,-911.2,-584.4,100946.9,838.8
$KALMAN_Y,-102972.3,506.8,1582.5,74762.9,-5161.6
$MHEAD_RNG_PITCHd_Wd,93.3,41121,-16.8,-9.804
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.94,-165.4,0.0,0.0,0,65,0.00,0.00,-36.42,0.000,2,0.000,0.000,82,1884,1758,0,0,0,0,0,0
$GC,68,-0.94,-165.4,3.1,-0.7,6,165,11.15,2.15,-79.05,0.000,4,0.234,0.074,2741,578,3538,0,0,0,0,0,0
$GC,204,-0.89,-165.4,8.6,-10.9,28,211,0.08,2.15,0.00,0.000,6,0.141,0.052,2757,1887,3540,0,0,0,0,0,0
$GC,285,-0.91,-165.4,15.6,-7.3,41,292,0.00,1.10,0.00,0.000,4,0.000,0.060,2753,2574,3540,0,0,0,0,0,0
$GC,324,-0.91,-165.4,19.3,-9.0,47,331,0.00,1.10,0.00,0.000,6,0.000,0.055,2753,1893,3540,0,0,0,0,0,0
$GC,405,-0.94,-165.4,27.1,-10.2,60,412,0.00,0.55,0.00,0.000,4,0.000,0.063,2753,1529,3540,0,0,0,0,0,0
$GC,427,-0.98,-165.4,29.5,-10.7,63,434,0.00,0.57,0.00,0.000,6,0.000,0.058,2751,1890,3541,0,0,0,0,0,0
$GC,503,-1.01,-165.4,37.4,-10.5,76,511,0.08,2.28,0.00,0.000,4,0.120,0.064,2695,3263,3540,0,0,0,0,0,0
$GC,560,-0.94,-165.4,43.2,-10.7,85,566,0.17,2.20,0.00,0.000,6,0.150,0.050,2744,1882,3541,0,0,0,0,0,0
$GC,794,-0.97,-165.4,67.8,-10.4,120,798,0.00,0.45,0.00,0.000,4,0.000,0.063,2744,1580,3541,0,0,0,0,0,0
$GC,828,-0.97,-165.4,71.2,-10.5,123,831,0.00,0.50,0.00,0.000,6,0.000,0.059,2742,1899,3541,0,0,0,0,0,0
$GC,1166,-1.00,-165.4,104.5,-9.3,153,1169,0.00,1.92,0.00,0.000,4,0.000,0.063,2734,3095,3541,0,0,0,0,0,0
$GC,1237,-1.03,-165.4,111.2,-9.0,157,1240,0.00,1.88,0.00,0.000,6,0.000,0.050,2734,1890,3541,0,0,0,0,0,0
$GC,1567,-1.05,-165.4,143.4,-9.9,178,1572,0.05,2.10,0.00,0.000,4,0.164,0.062,2687,3177,3542,0,0,0,0,0,0
$GC,1617,-0.99,-165.4,149.0,-11.2,181,1621,0.15,2.05,0.00,0.000,6,0.151,0.049,2729,1860,3542,0,0,0,0,0,0
$GC,1942,-0.99,-165.4,182.8,-10.3,202,1946,0.00,0.73,0.00,0.000,4,0.000,0.058,2726,2326,3541,0,0,0,0,0,0
$GC,2065,-1.02,-165.4,195.0,-10.3,209,2068,0.00,0.68,0.00,0.000,6,0.000,0.054,2726,1890,3541,0,0,0,0,0,0
$GC,2382,-1.02,-165.4,227.1,-9.9,225,2386,0.00,2.25,0.00,0.000,4,0.000,0.063,2716,3293,3542,0,0,0,0,0,0
$GC,2444,-1.02,-165.4,233.3,-9.9,228,2448,0.00,2.20,0.00,0.000,6,0.000,0.048,2716,1888,3541,0,0,0,0,0,0
$GC,2772,-1.02,-165.4,266.3,-10.0,244,2776,0.00,0.98,0.00,0.000,4,0.000,0.059,2711,2501,3542,0,0,0,0,0,0
$GC,2833,-1.02,-165.4,272.6,-9.6,246,2840,0.00,0.98,0.00,0.000,6,0.000,0.051,2711,1879,3542,0,0,0,0,0,0
$GC,3151,-1.02,-165.4,300.9,-8.8,262,3155,0.00,2.22,0.00,0.000,4,0.000,0.063,2701,3258,3542,0,0,0,0,0,0
$GC,3207,-0.99,-165.4,306.5,-8.9,263,3213,0.10,2.15,0.00,0.000,6,0.163,0.047,2728,1884,3541,0,0,0,0,0,0
$GC,3520,-1.02,-165.4,336.4,-9.9,274,3524,0.00,1.88,0.00,0.000,4,0.000,0.060,2719,3045,3542,0,0,0,0,0,0
$GC,3575,-1.02,-165.4,342.6,-10.5,275,3579,0.00,1.83,0.00,0.000,6,0.000,0.047,2720,1891,3542,0,0,0,0,0,0
$GC,3893,-1.02,-165.4,375.4,-10.3,286,3897,0.00,1.02,0.00,0.000,4,0.000,0.057,2714,2535,3541,0,0,0,0,0,0
$GC,3961,-1.02,-165.4,382.6,-10.4,288,3965,0.00,1.02,0.00,0.000,6,0.000,0.050,2715,1884,3541,0,0,0,0,0,0
$GC,4302,-1.02,-165.4,418.6,-10.5,299,4305,0.00,1.92,0.00,0.000,4,0.000,0.060,2706,3079,3541,0,0,0,0,0,0
$GC,4362,-1.02,-165.4,425.1,-10.1,300,4368,0.03,1.90,0.00,0.000,6,0.176,0.048,2716,1883,3541,0,0,0,0,0,0
$GC,4675,-1.02,-165.4,456.4,-10.0,311,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1883,3541,0,0,0,0,0,0
$GC,4981,-1.02,-165.4,487.0,-10.1,321,4985,0.00,2.28,0.00,0.000,4,0.000,0.062,2706,3295,3541,0,0,0,0,0,0
$GC,5050,-1.02,-165.4,493.9,-9.5,323,5054,0.05,2.20,0.00,0.000,6,0.206,0.049,2718,1882,3541,0,0,0,0,0,0
$GC,5384,-1.04,-165.4,528.2,-10.4,334,5388,0.00,1.05,0.00,0.000,4,0.000,0.059,2713,2549,3541,0,0,0,0,0,0
$GC,5441,-1.07,-165.4,534.4,-10.7,335,5445,0.00,1.05,0.00,0.000,6,0.000,0.051,2714,1884,3540,0,0,0,0,0,0
$GC,5759,-1.09,-165.4,568.1,-10.6,346,5763,0.00,0.82,0.00,0.000,4,0.000,0.058,2710,2412,3540,0,0,0,0,0,0
$GC,5820,-1.09,-165.4,574.8,-10.8,347,5826,0.00,0.82,0.00,0.000,6,0.000,0.052,2710,1889,3540,0,0,0,0,0,0
$GC,6133,-1.09,-165.4,606.9,-10.0,358,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1890,3539,0,0,0,0,0,0
$GC,6440,-1.09,-165.4,637.1,-9.6,368,6444,0.00,2.28,0.00,0.000,4,0.000,0.063,2700,3300,3538,0,0,0,0,0,0
$GC,6522,-1.09,-165.4,645.4,-10.0,370,6527,0.00,2.25,0.00,0.000,6,0.000,0.047,2699,1886,3538,0,0,0,0,0,0
$GC,6847,-1.09,-165.4,676.0,-9.3,381,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1886,3538,0,0,0,0,0,0
$GC,7154,-1.09,-165.4,704.9,-9.8,391,7158,0.00,2.30,0.00,0.000,4,0.000,0.063,2689,3301,3537,0,0,0,0,0,0
$GC,7231,-1.06,-165.4,712.9,-10.4,393,7236,0.08,2.22,0.00,0.000,6,0.177,0.048,2707,1890,3537,0,0,0,0,0,0
$GC,7555,-1.06,-165.4,744.7,-9.9,404,7558,0.00,0.73,0.00,0.000,4,0.000,0.059,2704,2355,3536,0,0,0,0,0,0
$GC,7604,-1.06,-165.4,749.8,-10.3,405,7608,0.00,0.75,0.00,0.000,6,0.000,0.054,2704,1882,3536,0,0,0,0,0,0
$GC,7928,-1.06,-165.4,782.4,-10.4,416,7932,0.00,0.60,0.00,0.000,4,0.000,0.061,2704,1494,3535,0,0,0,0,0,0
$GC,7966,-1.06,-165.4,786.6,-10.8,417,7970,0.00,0.65,0.00,0.000,6,0.000,0.056,2701,1900,3535,0,0,0,0,0,0
$GC,8302,-1.06,-165.4,821.5,-10.5,428,8306,0.00,0.38,0.00,0.000,4,0.000,0.064,2700,2161,3535,0,0,0,0,0,0
$GC,8340,-1.06,-165.4,825.8,-11.0,429,8344,0.00,0.43,0.00,0.000,6,0.000,0.061,2700,1890,3534,0,0,0,0,0,0
$GC,8675,-1.06,-165.4,861.2,-10.4,440,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1890,3533,0,0,0,0,0,0
$GC,8982,-1.06,-165.4,891.8,-9.7,450,8985,0.00,0.77,0.00,0.000,4,0.000,0.061,2697,2382,3532,0,0,0,0,0,0
$GC,9020,-1.06,-165.4,895.6,-9.4,451,9024,0.00,0.77,0.00,0.000,6,0.000,0.054,2697,1893,3532,0,0,0,0,0,0
$GC,9356,-1.06,-165.4,927.1,-9.2,462,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1893,3532,0,0,0,0,0,0
$GC,9662,-1.06,-165.4,956.1,-9.4,472,9666,0.00,2.28,0.00,0.000,4,0.000,0.064,2686,3293,3531,0,0,0,0,0,0
$GC,9730,-1.03,-165.4,962.8,-9.2,474,9735,0.12,2.25,0.00,0.000,6,0.155,0.051,2721,1879,3531,0,0,0,0,0,0
$GC,10066,-1.08,-165.4,993.5,-9.1,485,10070,0.00,1.33,0.00,0.000,4,0.000,0.062,2715,2693,3531,0,0,0,0,0,0
$GC,10116,-1.12,-165.4,998.5,-9.0,486,10121,0.05,1.30,0.00,0.000,6,0.064,0.054,2673,1885,3531,0,0,0,0,0,0
$STATE,10163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10163,begin apogee
$GC,10168,-0.28,0.0,1003.0,9.5,488,10315,0.93,0.00,143.57,1.261,6,0.127,0.000,2961,1573,2862,0,0,0,0,0,0
$STATE,10316,end apogee,CONTROL_FINISHED_OK
$STATE,10316,begin climb
$GC,10318,0.94,165.4,1012.9,0.0,493,10475,1.15,0.68,150.35,1.219,4,0.067,0.054,3355,1946,2187,0,0,0,0,0,0
$GC,10649,0.81,245.1,1003.0,6.6,503,10727,0.12,0.62,71.88,1.206,6,0.146,0.059,3320,1570,1862,0,0,0,0,0,0
$GC,11032,0.82,278.8,970.9,8.5,516,11068,0.00,2.35,30.67,1.179,4,0.000,0.059,3320,2970,1725,0,0,0,0,0,0
$GC,11130,0.82,285.4,961.8,9.5,519,11145,0.05,2.30,7.28,0.983,6,0.213,0.053,3318,1573,1698,0,0,0,0,0,0
$GC,11465,0.84,297.6,931.5,9.3,530,11485,0.00,2.42,12.38,1.079,4,0.000,0.069,3329,165,1647,0,0,0,0,0,0
$GC,11541,0.84,297.6,924.0,9.8,532,11546,0.00,2.30,0.00,0.000,6,0.000,0.048,3328,1567,1646,0,0,0,0,0,0
$GC,11871,0.84,302.1,892.8,9.6,543,11881,0.00,2.35,5.18,0.837,4,0.000,0.067,3339,163,1629,0,0,0,0,0,0
$GC,11978,0.81,306.1,882.1,9.6,546,11989,0.10,2.28,5.53,0.862,6,0.169,0.049,3313,1574,1612,0,0,0,0,0,0
$GC,12303,0.86,306.1,850.2,9.9,557,12307,0.00,2.28,0.00,0.000,4,0.000,0.060,3314,2976,1612,0,0,0,0,0,0
$GC,12409,0.89,312.1,839.5,9.6,560,12423,0.00,2.28,7.22,0.949,6,0.000,0.055,3322,1563,1589,0,0,0,0,0,0
$GC,12737,0.92,314.9,807.6,9.7,571,12747,0.08,1.45,3.92,0.682,4,0.122,0.059,3364,2442,1578,0,0,0,0,0,0
$GC,12809,0.88,314.9,800.2,11.0,573,12813,0.10,1.40,0.00,0.000,6,0.142,0.057,3337,1583,1578,0,0,0,0,0,0
$GC,13143,0.88,348.1,770.3,8.5,584,13183,0.00,2.10,32.30,1.112,4,0.000,0.061,3338,2814,1442,0,0,0,0,0,0
$GC,13235,0.91,366.0,762.4,9.1,586,13259,0.00,2.05,17.75,1.063,6,0.000,0.057,3346,1563,1369,0,0,0,0,0,0
$GC,13580,0.97,372.0,731.0,9.6,598,13590,0.00,1.75,5.60,0.859,4,0.000,0.059,3346,2645,1346,0,0,0,0,0,0
$GC,13652,1.01,374.9,723.7,9.7,600,13662,0.08,1.73,4.60,0.725,6,0.119,0.058,3391,1573,1334,0,0,0,0,0,0
$GC,13980,1.01,374.9,686.6,11.7,611,13984,0.00,0.73,0.00,0.000,4,0.000,0.067,3395,1125,1332,0,0,0,0,0,0
$GC,14020,0.98,374.9,681.9,11.6,612,14024,0.08,0.73,0.00,0.000,6,0.142,0.055,3369,1575,1331,0,0,0,0,0,0
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$STATE,20234,end climb,SURFACE_DEPTH_REACHED
$STATE,20234,begin surface coast
$FINISH,2.2,1.020516
$STATE,20260,end surface coast,CONTROL_FINISHED_OK
$STATE,20260,begin surface
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$TT8_MAMPS,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,22.3,67.945
$10V_AH,9.9,56.382
$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
$DEVICE_SECS,24.075,142.550,583.575,0.000,0.000,28.609,37.946,237.831,0.500,0.000,41.192,2491.079,14367.715,650.583,3018.981,265.762,33.369,1961.545,0.000,2657.314,0.000,1.008,0.000
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$SENSOR_SECS,635.142,879.247,645.414,71.887,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354620
$DATA_FILE_SIZE,56977,945
$CAP_FILE_SIZE,191733,0
$CFSIZE,2097086464,2039873536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,311212,231407,-4209.423,-455.512,35,1.7,35,-22.2