version: 66.07.10.p01
glider: 573
mission: 4
dive: 413
start: 12 31 112 23 22 55
data:
$ID,573
$MISSION,4
$DIVE,413
$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,-5644.3682
$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,25
$R_STBD_OVSHOOT,30
$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,392
$GPS1,311212,231407,-4209.423,-455.512,35,1.7,35,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-64.9
$GPS2,311212,232200,-4209.541,-455.354,44,1.6,44,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.236,-0.138
$KALMAN_X,-15085.1,321.8,-872.7,106220.9,-1320.6
$KALMAN_Y,-102356.6,-124.0,-704.4,76573.5,882.5
$MHEAD_RNG_PITCHd_Wd,142.6,39750,-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,-165.4,0.0,0.0,0,64,0.00,0.00,-36.22,0.000,2,0.000,0.000,81,1900,1730,0,0,0,0,0,0
$GC,67,-0.94,-165.4,3.1,-0.6,6,158,10.77,2.38,-74.15,0.000,4,0.223,0.073,2745,472,3537,0,0,0,0,0,0
$GC,259,-0.94,-165.4,19.3,-11.2,38,266,0.00,2.30,0.00,0.000,6,0.000,0.049,2734,1884,3539,0,0,0,0,0,0
$GC,340,-0.92,-165.4,27.8,-10.2,51,347,0.08,1.52,0.00,0.000,4,0.199,0.060,2746,2816,3539,0,0,0,0,0,0
$GC,395,-0.94,-165.4,33.6,-10.0,60,402,0.00,1.50,0.00,0.000,6,0.000,0.053,2746,1889,3539,0,0,0,0,0,0
$GC,634,-0.96,-165.4,56.6,-9.8,101,639,0.00,1.58,0.00,0.000,4,0.000,0.062,2739,2858,3540,0,0,0,0,0,0
$GC,701,-0.98,-165.4,63.9,-10.3,110,705,0.00,1.58,0.00,0.000,6,0.000,0.051,2739,1877,3540,0,0,0,0,0,0
$GC,1032,-1.02,-165.4,95.5,-8.9,141,1036,0.00,0.82,0.00,0.000,4,0.000,0.060,2739,1354,3540,0,0,0,0,0,0
$GC,1080,-1.04,-165.4,99.5,-9.0,145,1084,0.03,0.85,0.00,0.000,6,0.093,0.053,2700,1893,3540,0,0,0,0,0,0
$GC,1405,-1.02,-165.4,131.1,-10.2,166,1409,0.08,1.27,0.00,0.000,4,0.187,0.059,2713,2687,3540,0,0,0,0,0,0
$GC,1477,-1.02,-165.4,138.4,-9.5,170,1480,0.00,1.27,0.00,0.000,6,0.000,0.050,2713,1887,3540,0,0,0,0,0,0
$GC,1803,-1.02,-165.4,170.6,-10.2,191,1807,0.00,0.85,0.00,0.000,4,0.000,0.058,2709,2431,3540,0,0,0,0,0,0
$GC,1856,-1.02,-165.4,175.9,-9.7,194,1860,0.00,0.85,0.00,0.000,6,0.000,0.053,2709,1887,3540,0,0,0,0,0,0
$GC,2175,-1.02,-165.4,209.0,-10.4,213,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1886,3541,0,0,0,0,0,0
$GC,2484,-1.02,-165.4,240.9,-10.3,228,2488,0.00,0.45,0.00,0.000,4,0.000,0.062,2707,2187,3540,0,0,0,0,0,0
$GC,2552,-1.02,-165.4,247.7,-10.6,231,2556,0.00,0.45,0.00,0.000,6,0.000,0.059,2707,1886,3541,0,0,0,0,0,0
$GC,2887,-1.02,-165.4,280.1,-9.6,247,2891,0.05,0.75,0.00,0.000,4,0.221,0.060,2715,2359,3541,0,0,0,0,0,0
$GC,2958,-1.02,-165.4,287.1,-8.9,250,2962,0.00,0.73,0.00,0.000,6,0.000,0.054,2715,1890,3541,0,0,0,0,0,0
$GC,3274,-1.02,-165.4,315.9,-9.4,263,3278,0.00,0.62,0.00,0.000,4,0.000,0.059,2712,2301,3541,0,0,0,0,0,0
$GC,3363,-1.02,-165.4,324.2,-8.8,265,3367,0.00,0.65,0.00,0.000,6,0.000,0.054,2713,1877,3541,0,0,0,0,0,0
$GC,3682,-1.02,-165.4,351.4,-8.5,276,3685,0.00,1.27,0.00,0.000,4,0.000,0.059,2707,2673,3540,0,0,0,0,0,0
$GC,3731,-1.02,-165.4,355.8,-8.1,277,3736,0.03,1.25,0.00,0.000,6,0.170,0.050,2717,1883,3540,0,0,0,0,0,0
$GC,4055,-1.02,-165.4,383.4,-9.2,288,4059,0.00,0.90,0.00,0.000,4,0.000,0.059,2712,2449,3540,0,0,0,0,0,0
$GC,4093,-1.02,-165.4,387.1,-9.5,289,4097,0.00,0.88,0.00,0.000,6,0.000,0.051,2713,1887,3540,0,0,0,0,0,0
$GC,4429,-1.02,-165.4,420.4,-10.3,300,4433,0.00,0.65,0.00,0.000,4,0.000,0.058,2713,1463,3540,0,0,0,0,0,0
$GC,4478,-1.02,-165.4,425.7,-9.9,301,4483,0.00,0.68,0.00,0.000,6,0.000,0.052,2709,1893,3540,0,0,0,0,0,0
$GC,4802,-1.02,-165.4,459.2,-10.5,312,4806,0.00,1.58,0.00,0.000,4,0.000,0.058,2702,2876,3540,0,0,0,0,0,0
$GC,4870,-1.02,-165.4,466.2,-10.0,314,4874,0.05,1.58,0.00,0.000,6,0.138,0.050,2721,1886,3540,0,0,0,0,0,0
$GC,5210,-1.05,-165.4,501.4,-10.4,325,5214,0.00,1.30,0.00,0.000,4,0.000,0.060,2715,2694,3539,0,0,0,0,0,0
$GC,5265,-1.05,-165.4,507.4,-9.9,326,5270,0.00,1.27,0.00,0.000,6,0.000,0.050,2715,1890,3539,0,0,0,0,0,0
$GC,5584,-1.05,-165.4,540.5,-10.5,337,5588,0.00,1.10,0.00,0.000,4,0.000,0.060,2710,2582,3539,0,0,0,0,0,0
$GC,5651,-1.05,-165.4,547.6,-10.7,339,5655,0.00,1.10,0.00,0.000,6,0.000,0.052,2710,1886,3538,0,0,0,0,0,0
$GC,5992,-1.05,-165.4,583.5,-10.6,350,5996,0.00,2.03,0.00,0.000,4,0.000,0.061,2701,3146,3538,0,0,0,0,0,0
$GC,6047,-1.05,-165.4,589.6,-11.2,351,6051,0.00,2.00,0.00,0.000,6,0.000,0.049,2701,1893,3538,0,0,0,0,0,0
$GC,6365,-1.05,-165.4,622.5,-10.5,362,6369,0.00,0.45,0.00,0.000,4,0.000,0.060,2699,2194,3537,0,0,0,0,0,0
$GC,6448,-1.05,-165.4,631.4,-10.5,364,6453,0.05,0.47,0.00,0.000,6,0.206,0.057,2712,1887,3537,0,0,0,0,0,0
$GC,6772,-1.05,-165.4,663.4,-9.7,375,6776,0.00,0.52,0.00,0.000,4,0.000,0.060,2709,2232,3536,0,0,0,0,0,0
$GC,6855,-1.05,-165.4,671.4,-10.1,377,6859,0.00,0.55,0.00,0.000,6,0.000,0.057,2710,1881,3536,0,0,0,0,0,0
$GC,7180,-1.05,-165.4,702.4,-9.7,388,7184,0.00,0.85,0.00,0.000,4,0.000,0.059,2706,2417,3535,0,0,0,0,0,0
$GC,7229,-1.05,-165.4,707.5,-9.6,389,7234,0.00,0.82,0.00,0.000,6,0.000,0.053,2706,1891,3535,0,0,0,0,0,0
$GC,7554,-1.05,-165.4,740.1,-10.2,400,7558,0.00,0.80,0.00,0.000,4,0.000,0.060,2702,2396,3534,0,0,0,0,0,0
$GC,7625,-1.05,-165.4,747.7,-10.0,402,7630,0.00,0.82,0.00,0.000,6,0.000,0.054,2703,1878,3534,0,0,0,0,0,0
$GC,7961,-1.05,-165.4,783.5,-10.8,413,7965,0.00,0.98,0.00,0.000,4,0.000,0.060,2698,2487,3533,0,0,0,0,0,0
$GC,8010,-1.05,-165.4,788.9,-10.9,414,8015,0.05,0.98,0.00,0.000,6,0.207,0.053,2711,1883,3534,0,0,0,0,0,0
$GC,8333,-1.05,-165.4,822.8,-10.4,425,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1883,3533,0,0,0,0,0,0
$GC,8640,-1.07,-165.4,853.5,-9.8,435,8644,0.00,1.45,0.00,0.000,4,0.000,0.061,2704,2778,3531,0,0,0,0,0,0
$GC,8695,-1.07,-165.4,859.0,-10.1,436,8699,0.00,1.42,0.00,0.000,6,0.000,0.052,2704,1891,3531,0,0,0,0,0,0
$GC,9014,-1.07,-165.4,888.3,-9.1,447,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1891,3531,0,0,0,0,0,0
$GC,9320,-1.07,-165.4,915.2,-8.6,457,9324,0.00,1.83,0.00,0.000,4,0.000,0.062,2696,3000,3531,0,0,0,0,0,0
$GC,9376,-1.07,-165.4,920.1,-9.2,458,9380,0.00,1.77,0.00,0.000,6,0.000,0.050,2696,1893,3531,0,0,0,0,0,0
$GC,9694,-1.07,-165.4,948.4,-9.2,469,9698,0.00,1.88,0.00,0.000,4,0.000,0.063,2688,3045,3530,0,0,0,0,0,0
$GC,9744,-1.03,-165.4,953.0,-8.5,470,9749,0.10,1.85,0.00,0.000,6,0.168,0.050,2714,1878,3529,0,0,0,0,0,0
$GC,10069,-1.06,-165.4,983.1,-9.8,481,10073,0.00,2.28,0.00,0.000,4,0.000,0.062,2714,484,3529,0,0,0,0,0,0
$GC,10157,-1.06,-165.4,992.7,-11.0,483,10163,0.00,2.28,0.00,0.000,6,0.000,0.050,2704,1886,3529,0,0,0,0,0,0
$STATE,10254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10254,begin apogee
$GC,10259,-0.28,0.0,1002.4,10.0,487,10406,0.80,0.00,143.43,1.258,6,0.118,0.000,2959,1563,2862,0,0,0,0,0,0
$STATE,10407,end apogee,CONTROL_FINISHED_OK
$STATE,10407,begin climb
$GC,10409,0.94,165.4,1013.6,0.0,492,10569,1.15,2.45,149.75,1.220,4,0.065,0.057,3356,2895,2186,0,0,0,0,0,0
$GC,10642,0.79,268.8,1013.0,5.7,499,10746,0.22,2.25,96.05,1.203,6,0.163,0.050,3308,1572,1765,0,0,0,0,0,0
$GC,11050,0.80,364.1,988.7,6.0,512,11144,0.00,1.25,88.10,1.206,4,0.000,0.065,3313,882,1376,0,0,0,0,0,0
$GC,11185,0.87,422.1,979.6,7.5,516,11245,0.03,1.17,55.53,1.180,6,0.095,0.050,3340,1569,1142,0,0,0,0,0,0
$GC,11571,0.96,422.1,941.6,10.3,529,11575,0.05,2.00,0.00,0.000,4,0.161,0.058,3379,2805,1129,0,0,0,0,0,0
$GC,11614,0.96,422.1,936.5,11.0,530,11619,0.05,2.03,0.00,0.000,6,0.147,0.055,3369,1580,1129,0,0,0,0,0,0
$GC,11944,1.00,422.1,899.9,11.2,541,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1580,1127,0,0,0,0,0,0
$GC,12250,1.04,422.1,866.7,10.7,551,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1580,1127,0,0,0,0,0,0
$GC,12556,1.08,422.1,835.7,9.9,561,12560,0.08,0.80,0.00,0.000,4,0.121,0.067,3416,1084,1126,0,0,0,0,0,0
$GC,12640,1.05,422.1,826.7,10.2,563,12644,0.08,0.77,0.00,0.000,6,0.148,0.052,3392,1569,1125,0,0,0,0,0,0
$GC,12963,1.05,422.1,793.7,10.3,574,12967,0.00,2.28,0.00,0.000,4,0.000,0.061,3392,2980,1125,0,0,0,0,0,0
$GC,13012,1.02,422.1,788.4,10.7,575,13017,0.08,2.25,0.00,0.000,6,0.196,0.053,3384,1564,1125,0,0,0,0,0,0
$GC,13331,1.02,424.0,756.8,9.7,586,13334,0.00,1.27,0.00,0.000,4,0.000,0.066,3390,793,1125,0,0,0,0,0,0
$GC,13399,1.02,424.0,749.9,10.3,588,13402,0.00,1.25,0.00,0.000,6,0.000,0.052,3390,1567,1124,0,0,0,0,0,0
$GC,13739,1.04,424.0,713.6,10.9,599,13743,0.00,2.08,0.00,0.000,4,0.000,0.068,3399,321,1124,0,0,0,0,0,0
$GC,13783,1.04,424.0,708.4,10.6,600,13787,0.00,2.03,0.00,0.000,6,0.000,0.050,3399,1570,1124,0,0,0,0,0,0
$GC,14113,1.04,424.0,670.5,11.7,611,14117,0.00,2.35,0.00,0.000,4,0.000,0.070,3410,167,1123,0,0,0,0,0,0
$GC,14180,1.00,424.0,662.3,12.1,613,14185,0.12,2.28,0.00,0.000,6,0.166,0.050,3376,1586,1124,0,0,0,0,0,0
$GC,14510,1.03,424.0,626.1,10.9,624,14514,0.00,2.25,0.00,0.000,4,0.000,0.062,3377,2977,1124,0,0,0,0,0,0
$GC,14587,1.06,424.0,617.2,11.3,626,14592,0.00,2.22,0.00,0.000,6,0.000,0.054,3386,1574,1124,0,0,0,0,0,0
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$STATE,20375,end climb,SURFACE_DEPTH_REACHED
$STATE,20375,begin surface coast
$FINISH,2.1,1.018325
$STATE,20424,end surface coast,CONTROL_FINISHED_OK
$STATE,20425,begin surface
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$HUMID,47.59
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.60
$XPDR_PINGS,1
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$10V_AH,9.9,56.493
$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
$DEVICE_SECS,23.275,128.425,562.900,0.000,0.000,29.021,39.746,237.206,0.250,0.000,46.778,2518.245,14527.358,621.717,3040.746,259.595,33.376,1912.271,0.000,2671.946,0.000,1.008,0.000
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$SENSOR_SECS,642.989,895.462,656.065,75.684,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,57000,959
$CAP_FILE_SIZE,186209,0
$CFSIZE,2097086464,2039742464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010113,050605,-4209.873,-453.493,54,1.0,54,-22.2