version: 66.07.10.p01
glider: 573
mission: 4
dive: 427
start: 1 4 113 8 35 54
data:
$ID,573
$MISSION,4
$DIVE,427
$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,-5680.9878
$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,26
$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,406
$GPS1,040113,082753,-4215.209,-440.679,44,1.1,44,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-68.4
$GPS2,040113,083500,-4215.177,-440.690,20,1.1,20,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.273,-0.007
$KALMAN_X,-65665.6,-25.4,125.2,176331.0,-3736.0
$KALMAN_Y,-89756.1,20.7,937.2,51768.4,-967.1
$MHEAD_RNG_PITCHd_Wd,113.7,17147,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.94,-165.4,0.0,0.0,0,58,0.00,0.00,-30.58,0.000,2,0.000,0.000,80,1899,1776,0,0,0,0,0,0
$GC,61,-0.94,-165.4,3.1,-0.8,5,164,10.88,2.35,-83.30,0.000,4,0.225,0.076,2734,3293,3537,0,0,0,0,0,0
$GC,262,-0.91,-165.4,12.1,-9.2,38,269,0.05,2.28,0.00,0.000,6,0.142,0.052,2752,1893,3539,0,0,0,0,0,0
$GC,343,-0.95,-165.4,19.2,-9.1,51,350,0.00,2.05,0.00,0.000,4,0.000,0.063,2753,665,3539,0,0,0,0,0,0
$GC,394,-0.95,-165.4,24.4,-9.5,59,401,0.00,2.00,0.00,0.000,6,0.000,0.051,2744,1887,3539,0,0,0,0,0,0
$GC,472,-0.95,-165.4,32.3,-10.4,72,479,0.00,1.15,0.00,0.000,4,0.000,0.060,2739,2596,3539,0,0,0,0,0,0
$GC,516,-0.95,-165.4,36.5,-10.3,79,521,0.00,1.15,0.00,0.000,6,0.000,0.054,2739,1883,3539,0,0,0,0,0,0
$GC,750,-0.98,-165.4,60.2,-10.3,120,753,0.00,0.57,0.00,0.000,4,0.000,0.063,2738,1508,3540,0,0,0,0,0,0
$GC,784,-0.98,-165.4,63.4,-10.1,123,788,0.00,0.60,0.00,0.000,6,0.000,0.057,2736,1892,3539,0,0,0,0,0,0
$GC,1116,-1.01,-165.4,94.5,-8.8,154,1119,0.00,0.62,0.00,0.000,4,0.000,0.060,2733,2299,3539,0,0,0,0,0,0
$GC,1187,-1.01,-165.4,100.5,-8.9,160,1190,0.00,0.65,0.00,0.000,6,0.000,0.057,2733,1882,3540,0,0,0,0,0,0
$GC,1520,-1.03,-165.4,134.1,-10.6,181,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1882,3540,0,0,0,0,0,0
$GC,1831,-1.07,-165.4,168.3,-11.2,201,1836,0.08,0.90,0.00,0.000,4,0.122,0.061,2683,2441,3540,0,0,0,0,0,0
$GC,1883,-1.02,-165.4,174.5,-11.1,204,1887,0.10,0.88,0.00,0.000,6,0.127,0.054,2718,1883,3540,0,0,0,0,0,0
$GC,2205,-1.02,-165.4,209.4,-10.4,223,2209,0.00,0.98,0.00,0.000,4,0.000,0.060,2715,2489,3540,0,0,0,0,0,0
$GC,2296,-1.02,-165.4,219.1,-10.5,227,2299,0.00,0.95,0.00,0.000,6,0.000,0.054,2715,1892,3540,0,0,0,0,0,0
$GC,2629,-1.02,-165.4,251.3,-9.6,243,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1892,3540,0,0,0,0,0,0
$GC,2938,-1.02,-165.4,280.4,-9.6,258,2941,0.00,2.08,0.00,0.000,4,0.000,0.063,2705,3183,3540,0,0,0,0,0,0
$GC,3006,-1.02,-165.4,287.1,-10.1,261,3010,0.08,2.05,0.00,0.000,6,0.174,0.048,2725,1877,3540,0,0,0,0,0,0
$GC,3330,-1.02,-165.4,319.2,-9.8,274,3334,0.00,1.20,0.00,0.000,4,0.000,0.060,2719,2623,3540,0,0,0,0,0,0
$GC,3399,-1.04,-165.4,325.9,-9.4,276,3403,0.00,1.15,0.00,0.000,6,0.000,0.052,2719,1899,3540,0,0,0,0,0,0
$GC,3740,-1.06,-165.4,359.2,-9.6,287,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1898,3540,0,0,0,0,0,0
$GC,4046,-1.06,-165.4,387.6,-9.1,297,4050,0.00,2.28,0.00,0.000,4,0.000,0.063,2708,3301,3540,0,0,0,0,0,0
$GC,4112,-1.06,-165.4,393.8,-9.2,299,4116,0.00,2.22,0.00,0.000,6,0.000,0.048,2708,1887,3540,0,0,0,0,0,0
$GC,4448,-1.06,-165.4,425.6,-9.8,310,4451,0.00,1.40,0.00,0.000,4,0.000,0.060,2702,2746,3540,0,0,0,0,0,0
$GC,4497,-1.06,-165.4,430.7,-10.2,311,4501,0.00,1.38,0.00,0.000,6,0.000,0.050,2702,1884,3539,0,0,0,0,0,0
$GC,4821,-1.06,-165.4,464.2,-10.6,322,4825,0.00,1.62,0.00,0.000,4,0.000,0.061,2695,2880,3539,0,0,0,0,0,0
$GC,4882,-1.06,-165.4,471.0,-10.7,323,4887,0.00,1.58,0.00,0.000,6,0.000,0.050,2694,1894,3540,0,0,0,0,0,0
$GC,5195,-1.06,-165.4,505.3,-11.0,334,5199,0.00,0.50,0.00,0.000,4,0.000,0.061,2693,2224,3539,0,0,0,0,0,0
$GC,5263,-1.06,-165.4,512.6,-10.5,336,5267,0.03,0.52,0.00,0.000,6,0.173,0.059,2703,1879,3539,0,0,0,0,0,0
$GC,5603,-1.06,-165.4,547.7,-9.9,347,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1879,3539,0,0,0,0,0,0
$GC,5909,-1.06,-165.4,575.6,-8.8,357,5913,0.00,1.33,0.00,0.000,4,0.000,0.061,2697,2693,3538,0,0,0,0,0,0
$GC,5969,-1.06,-165.4,580.9,-8.4,358,5975,0.00,1.27,0.00,0.000,6,0.000,0.052,2697,1898,3537,0,0,0,0,0,0
$GC,6283,-1.06,-165.4,607.0,-8.5,369,6286,0.00,1.48,0.00,0.000,4,0.000,0.062,2691,2794,3537,0,0,0,0,0,0
$GC,6343,-1.06,-165.4,612.4,-8.7,370,6349,0.03,1.45,0.00,0.000,6,0.173,0.051,2701,1887,3537,0,0,0,0,0,0
$GC,6657,-1.06,-165.4,639.9,-9.0,381,6660,0.00,1.60,0.00,0.000,4,0.000,0.063,2694,2862,3536,0,0,0,0,0,0
$GC,6717,-1.06,-165.4,645.6,-9.4,382,6724,0.03,1.55,0.00,0.000,6,0.175,0.050,2704,1891,3536,0,0,0,0,0,0
$GC,7030,-1.06,-165.4,674.8,-9.8,393,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1891,3536,0,0,0,0,0,0
$GC,7336,-1.06,-165.4,705.9,-10.2,403,7340,0.00,1.92,0.00,0.000,4,0.000,0.063,2695,3083,3535,0,0,0,0,0,0
$GC,7397,-1.06,-165.4,712.6,-10.7,404,7403,0.00,1.92,0.00,0.000,6,0.000,0.050,2695,1885,3534,0,0,0,0,0,0
$GC,7710,-1.06,-165.4,746.7,-11.3,415,7714,0.00,1.52,0.00,0.000,4,0.000,0.063,2688,2816,3534,0,0,0,0,0,0
$GC,7770,-1.06,-165.4,753.7,-11.1,416,7777,0.05,1.50,0.00,0.000,6,0.145,0.051,2707,1881,3533,0,0,0,0,0,0
$GC,8084,-1.06,-165.4,788.4,-11.2,427,8087,0.00,0.85,0.00,0.000,4,0.000,0.062,2703,2416,3532,0,0,0,0,0,0
$GC,8152,-1.06,-165.4,796.0,-10.9,429,8155,0.00,0.82,0.00,0.000,6,0.000,0.056,2703,1892,3532,0,0,0,0,0,0
$GC,8492,-1.06,-165.4,832.8,-10.6,440,8496,0.00,1.48,0.00,0.000,4,0.000,0.063,2696,2787,3532,0,0,0,0,0,0
$GC,8552,-1.06,-165.4,839.3,-10.5,441,8558,0.00,1.45,0.00,0.000,6,0.000,0.053,2697,1888,3532,0,0,0,0,0,0
$GC,8866,-1.06,-165.4,871.1,-10.3,452,8869,0.00,1.10,0.00,0.000,4,0.000,0.063,2692,2562,3531,0,0,0,0,0,0
$GC,8937,-1.06,-165.4,878.3,-10.1,454,8942,0.03,1.08,0.00,0.000,6,0.168,0.054,2703,1891,3531,0,0,0,0,0,0
$GC,9273,-1.06,-165.4,910.3,-9.6,465,9277,0.00,1.10,0.00,0.000,4,0.000,0.063,2698,2564,3531,0,0,0,0,0,0
$GC,9318,-1.06,-165.4,914.4,-8.7,466,9321,0.00,1.08,0.00,0.000,6,0.000,0.054,2698,1891,3530,0,0,0,0,0,0
$GC,9647,-1.06,-165.4,944.4,-9.4,477,9651,0.00,1.30,0.00,0.000,4,0.000,0.063,2692,2683,3530,0,0,0,0,0,0
$GC,9708,-1.06,-165.4,950.4,-9.4,478,9714,0.03,1.27,0.00,0.000,6,0.173,0.054,2703,1886,3529,0,0,0,0,0,0
$GC,10021,-1.09,-165.4,980.6,-9.9,489,10025,0.00,0.50,0.00,0.000,4,0.000,0.064,2701,2220,3529,0,0,0,0,0,0
$GC,10123,-1.11,-165.4,991.2,-10.2,492,10127,0.00,0.50,0.00,0.000,6,0.000,0.061,2701,1895,3529,0,0,0,0,0,0
$STATE,10217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10217,begin apogee
$GC,10223,-0.28,0.0,1001.3,10.3,495,10369,0.80,0.00,143.10,1.262,6,0.113,0.000,2958,1565,2862,0,0,0,0,0,0
$STATE,10370,end apogee,CONTROL_FINISHED_OK
$STATE,10370,begin climb
$GC,10372,0.94,165.4,1012.8,0.0,500,10530,1.15,2.58,149.32,1.226,4,0.064,0.063,3367,166,2186,0,0,0,0,0,0
$GC,10664,0.78,268.2,1008.0,5.7,509,10766,0.22,2.35,93.60,1.212,6,0.158,0.046,3307,1573,1767,0,0,0,0,0,0
$GC,11085,0.78,294.0,974.9,8.8,523,11115,0.00,2.38,23.75,1.169,4,0.000,0.061,3308,2972,1662,0,0,0,0,0,0
$GC,11179,0.78,298.4,966.2,9.6,525,11189,0.00,2.30,4.95,0.856,6,0.000,0.053,3317,1569,1645,0,0,0,0,0,0
$GC,11520,0.82,303.1,933.6,9.6,537,11530,0.00,0.40,5.53,0.869,4,0.000,0.063,3319,1310,1626,0,0,0,0,0,0
$GC,11575,0.84,303.1,927.9,10.0,538,11579,0.00,0.43,0.00,0.000,6,0.000,0.060,3319,1571,1625,0,0,0,0,0,0
$GC,11894,0.88,303.1,896.2,10.1,549,11897,0.00,1.42,0.00,0.000,4,0.000,0.058,3319,2451,1625,0,0,0,0,0,0
$GC,11949,0.90,303.1,890.4,10.4,550,11953,0.00,1.42,0.00,0.000,6,0.000,0.057,3325,1579,1624,0,0,0,0,0,0
$GC,12268,0.92,307.3,859.5,9.6,561,12278,0.05,0.50,5.10,0.835,4,0.165,0.063,3363,1262,1609,0,0,0,0,0,0
$GC,12302,0.88,310.2,856.2,9.7,562,12312,0.08,0.47,5.05,0.820,6,0.148,0.057,3338,1567,1597,0,0,0,0,0,0
$GC,12641,0.88,310.2,822.9,9.8,573,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1567,1595,0,0,0,0,0,0
$GC,12948,0.88,316.8,793.2,9.5,583,12962,0.00,2.00,7.57,0.953,4,0.000,0.067,3347,394,1570,0,0,0,0,0,0
$GC,13014,0.88,316.8,786.9,10.2,585,13018,0.00,1.92,0.00,0.000,6,0.000,0.050,3346,1577,1569,0,0,0,0,0,0
$GC,13354,0.88,325.8,754.8,9.4,596,13369,0.00,0.45,10.12,1.001,4,0.000,0.073,3349,1302,1534,0,0,0,0,0,0
$GC,13413,0.88,333.3,749.0,9.5,597,13425,0.00,0.45,8.90,0.960,6,0.000,0.060,3348,1577,1503,0,0,0,0,0,0
$GC,13755,0.88,344.8,717.1,9.3,609,13769,0.00,0.00,11.75,1.001,6,0.000,0.000,3348,1577,1456,0,0,0,0,0,0
$GC,14062,0.91,354.1,688.5,9.4,619,14076,0.00,1.08,10.15,0.962,4,0.000,0.064,3353,943,1418,0,0,0,0,0,0
$GC,14115,0.93,354.1,683.1,10.3,620,14119,0.00,1.02,0.00,0.000,6,0.000,0.054,3353,1565,1416,0,0,0,0,0,0
$GC,14434,0.96,354.1,651.1,10.3,631,14435,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1565,1414,0,0,0,0,0,0
$GC,14740,0.99,354.1,619.2,10.5,641,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1565,1414,0,0,0,0,0,0
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$STATE,20491,end climb,SURFACE_DEPTH_REACHED
$STATE,20491,begin surface coast
$FINISH,2.2,1.023776
$STATE,20528,end surface coast,CONTROL_FINISHED_OK
$STATE,20528,begin surface
$SM_CCo,20606,0.00,0.000,0,0,1088,435.16
$SM_GC,3.12,8.65,0.00,0.00,0.031,0.000,0.000,77,1886,1088,-9.20,-0.11,435.16
$IRIDIUM_FIX,-4158.28,-442.44,040113,020230
$TT8_MAMPS,0.026964
$HUMID,48.18
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,14.80
$XPDR_PINGS,1
$24V_AH,22.3,71.028
$10V_AH,9.9,58.015
$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
$DEVICE_SECS,22.675,104.675,556.400,0.000,0.000,26.044,36.866,221.566,0.250,0.000,22.517,2503.965,14702.142,609.954,2968.580,241.359,33.373,1871.627,0.000,2637.976,0.000,1.009,0.000
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$SENSOR_SECS,648.320,908.886,658.927,78.841,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,354572
$DATA_FILE_SIZE,56923,965
$CAP_FILE_SIZE,181968,0
$CFSIZE,2097086464,2037907456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040113,142035,-4215.795,-439.526,40,0.9,40,-22.2