version: 66.07.10.p01
glider: 573
mission: 4
dive: 431
start: 1 5 113 7 46 42
data:
$ID,573
$MISSION,4
$DIVE,431
$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,-5690.8755
$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,410
$GPS1,050113,073835,-4218.139,-436.625,49,0.9,49,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-65.8
$GPS2,050113,074548,-4218.151,-436.680,20,1.0,20,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.265,-0.069
$KALMAN_X,-80328.2,-100.1,170.6,196553.3,-3955.1
$KALMAN_Y,-87339.2,-17.7,56.2,44763.4,865.2
$MHEAD_RNG_PITCHd_Wd,126.8,9766,-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,-30.60,0.000,2,0.000,0.000,82,1903,1524,0,0,0,0,0,0
$GC,61,-0.94,-165.4,3.0,-0.3,5,163,10.70,2.35,-84.10,0.000,4,0.220,0.076,2731,3297,3538,0,0,0,0,0,0
$GC,249,-0.94,-165.4,18.5,-11.9,36,257,0.03,2.30,0.00,0.000,6,0.162,0.053,2741,1882,3540,0,0,0,0,0,0
$GC,330,-0.94,-165.4,27.6,-12.0,49,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1882,3541,0,0,0,0,0,0
$GC,407,-0.98,-165.4,36.0,-9.5,62,413,0.00,0.77,0.00,0.000,4,0.000,0.063,2738,2373,3540,0,0,0,0,0,0
$GC,612,-1.00,-165.4,56.4,-9.9,97,617,0.00,0.77,0.00,0.000,6,0.000,0.058,2738,1886,3540,0,0,0,0,0,0
$GC,836,-1.02,-165.4,77.2,-9.6,121,840,0.00,0.80,0.00,0.000,4,0.000,0.063,2735,2387,3540,0,0,0,0,0,0
$GC,916,-1.02,-165.4,85.4,-10.0,128,919,0.00,0.77,0.00,0.000,6,0.000,0.057,2735,1896,3541,0,0,0,0,0,0
$GC,1246,-1.05,-165.4,118.8,-9.3,153,1251,0.08,1.65,0.00,0.000,4,0.122,0.062,2682,2924,3541,0,0,0,0,0,0
$GC,1302,-1.00,-165.4,124.9,-10.2,156,1306,0.12,1.65,0.00,0.000,6,0.124,0.051,2725,1895,3541,0,0,0,0,0,0
$GC,1630,-1.02,-165.4,156.1,-10.3,177,1634,0.00,0.68,0.00,0.000,4,0.000,0.060,2722,2331,3542,0,0,0,0,0,0
$GC,1719,-1.04,-165.4,165.5,-9.7,182,1723,0.00,0.70,0.00,0.000,6,0.000,0.056,2722,1880,3541,0,0,0,0,0,0
$GC,2045,-1.04,-165.4,197.9,-10.5,203,2049,0.00,1.20,0.00,0.000,4,0.000,0.061,2717,2622,3542,0,0,0,0,0,0
$GC,2100,-1.04,-165.4,204.1,-10.5,206,2105,0.00,1.17,0.00,0.000,6,0.000,0.051,2717,1884,3542,0,0,0,0,0,0
$GC,2422,-1.04,-165.4,237.0,-10.3,222,2426,0.00,1.95,0.00,0.000,4,0.000,0.062,2708,3101,3542,0,0,0,0,0,0
$GC,2491,-1.04,-165.4,244.0,-10.8,225,2495,0.00,1.95,0.00,0.000,6,0.000,0.050,2708,1884,3542,0,0,0,0,0,0
$GC,2825,-1.04,-165.4,277.3,-9.9,241,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1883,3542,0,0,0,0,0,0
$GC,3132,-1.04,-165.4,306.8,-9.6,255,3136,0.00,1.98,0.00,0.000,4,0.000,0.062,2699,3111,3542,0,0,0,0,0,0
$GC,3187,-1.04,-165.4,312.3,-9.8,256,3192,0.03,1.95,0.00,0.000,6,0.165,0.050,2710,1894,3542,0,0,0,0,0,0
$GC,3505,-1.04,-165.4,342.3,-9.4,267,3509,0.00,0.73,0.00,0.000,4,0.000,0.060,2707,2357,3541,0,0,0,0,0,0
$GC,3562,-1.04,-165.4,347.4,-9.6,268,3566,0.00,0.73,0.00,0.000,6,0.000,0.056,2707,1893,3541,0,0,0,0,0,0
$GC,3881,-1.04,-165.4,376.9,-9.6,279,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1893,3542,0,0,0,0,0,0
$GC,4186,-1.04,-165.4,406.5,-9.8,289,4190,0.00,1.33,0.00,0.000,4,0.000,0.060,2701,2708,3542,0,0,0,0,0,0
$GC,4247,-1.04,-165.4,412.9,-10.2,290,4252,0.00,1.30,0.00,0.000,6,0.000,0.050,2701,1893,3541,0,0,0,0,0,0
$GC,4560,-1.04,-165.4,445.4,-10.3,301,4564,0.03,0.57,0.00,0.000,4,0.264,0.061,2711,1524,3541,0,0,0,0,0,0
$GC,4608,-1.04,-165.4,450.7,-10.6,302,4613,0.00,0.60,0.00,0.000,6,0.000,0.056,2708,1902,3541,0,0,0,0,0,0
$GC,4933,-1.04,-165.4,482.8,-9.9,313,4936,0.00,0.90,0.00,0.000,4,0.000,0.060,2704,2474,3541,0,0,0,0,0,0
$GC,5001,-1.04,-165.4,489.6,-10.3,315,5004,0.00,0.93,0.00,0.000,6,0.000,0.055,2704,1890,3540,0,0,0,0,0,0
$GC,5342,-1.04,-165.4,523.4,-9.6,326,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1890,3540,0,0,0,0,0,0
$GC,5648,-1.04,-165.4,550.7,-8.7,336,5651,0.00,0.52,0.00,0.000,4,0.000,0.062,2702,2231,3540,0,0,0,0,0,0
$GC,5770,-1.04,-165.4,561.8,-8.5,339,5775,0.00,0.55,0.00,0.000,6,0.000,0.057,2702,1879,3540,0,0,0,0,0,0
$GC,6089,-1.04,-165.4,590.1,-9.0,350,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1879,3539,0,0,0,0,0,0
$GC,6395,-1.04,-165.4,618.5,-9.4,360,6399,0.00,1.05,0.00,0.000,4,0.000,0.061,2697,2525,3539,0,0,0,0,0,0
$GC,6452,-1.04,-165.4,624.0,-9.9,361,6456,0.03,1.00,0.00,0.000,6,0.164,0.054,2709,1897,3538,0,0,0,0,0,0
$GC,6769,-1.04,-165.4,654.9,-10.0,372,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1898,3538,0,0,0,0,0,0
$GC,7075,-1.04,-165.4,686.0,-10.3,382,7079,0.00,0.65,0.00,0.000,4,0.000,0.061,2706,2313,3537,0,0,0,0,0,0
$GC,7153,-1.04,-165.4,694.1,-10.1,384,7157,0.00,0.68,0.00,0.000,6,0.000,0.057,2706,1887,3537,0,0,0,0,0,0
$GC,7483,-1.04,-165.4,728.6,-10.5,395,7486,0.00,1.02,0.00,0.000,4,0.000,0.063,2701,2519,3536,0,0,0,0,0,0
$GC,7551,-1.04,-165.4,735.7,-10.2,397,7554,0.00,1.00,0.00,0.000,6,0.000,0.055,2701,1893,3536,0,0,0,0,0,0
$GC,7891,-1.04,-165.4,769.6,-9.8,408,7895,0.00,0.93,0.00,0.000,4,0.000,0.061,2697,2467,3535,0,0,0,0,0,0
$GC,7976,-1.04,-165.4,777.7,-9.6,410,7980,0.03,0.93,0.00,0.000,6,0.164,0.056,2709,1886,3535,0,0,0,0,0,0
$GC,8300,-1.07,-165.4,807.3,-9.0,421,8303,0.00,1.20,0.00,0.000,4,0.000,0.062,2704,2630,3534,0,0,0,0,0,0
$GC,8368,-1.07,-165.4,813.4,-9.1,423,8372,0.00,1.17,0.00,0.000,6,0.000,0.056,2704,1899,3534,0,0,0,0,0,0
$GC,8708,-1.07,-165.4,842.7,-8.4,434,8712,0.00,1.62,0.00,0.000,4,0.000,0.063,2696,2882,3534,0,0,0,0,0,0
$GC,8776,-1.07,-165.4,848.6,-9.1,436,8780,0.00,1.60,0.00,0.000,6,0.000,0.053,2697,1888,3534,0,0,0,0,0,0
$GC,9117,-1.07,-165.4,878.0,-8.6,447,9121,0.00,0.98,0.00,0.000,4,0.000,0.063,2692,2488,3533,0,0,0,0,0,0
$GC,9178,-1.07,-165.4,883.6,-8.7,448,9183,0.00,0.95,0.00,0.000,6,0.000,0.055,2692,1890,3532,0,0,0,0,0,0
$GC,9491,-1.07,-165.4,910.1,-8.5,459,9496,0.05,0.52,0.00,0.000,4,0.223,0.064,2702,2224,3532,0,0,0,0,0,0
$GC,9616,-1.09,-165.4,920.9,-9.2,462,9619,0.00,0.52,0.00,0.000,6,0.000,0.060,2702,1887,3531,0,0,0,0,0,0
$GC,9934,-1.11,-165.4,948.9,-8.9,473,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1887,3531,0,0,0,0,0,0
$GC,10240,-1.11,-165.4,977.4,-9.3,483,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1886,3530,0,0,0,0,0,0
$STATE,10513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10513,begin apogee
$GC,10519,-0.28,0.0,1002.8,9.2,492,10666,0.80,0.00,144.00,1.263,6,0.116,0.000,2957,1571,2862,0,0,0,0,0,0
$STATE,10667,end apogee,CONTROL_FINISHED_OK
$STATE,10667,begin climb
$GC,10669,0.94,165.4,1012.8,0.0,497,10827,1.15,2.58,149.43,1.227,4,0.061,0.061,3369,169,2188,0,0,0,0,0,0
$GC,10972,0.77,271.7,1005.5,5.6,506,11079,0.25,2.33,96.65,1.214,6,0.158,0.047,3303,1568,1752,0,0,0,0,0,0
$GC,11415,0.80,326.5,973.0,7.6,521,11467,0.00,0.00,49.80,1.203,6,0.000,0.000,3303,1568,1530,0,0,0,0,0,0
$GC,11752,0.88,371.9,946.1,8.0,532,11801,0.10,1.75,42.20,1.192,4,0.099,0.066,3360,580,1343,0,0,0,0,0,0
$GC,11834,0.88,410.5,938.9,8.3,534,11876,0.05,1.65,36.92,1.170,6,0.138,0.050,3341,1568,1188,0,0,0,0,0,0
$GC,12183,0.96,433.0,907.9,8.9,546,12206,0.00,0.00,21.42,1.144,6,0.000,0.000,3341,1568,1095,0,0,0,0,0,0
$GC,12489,1.05,433.0,878.4,9.9,556,12493,0.15,1.05,0.00,0.000,4,0.077,0.067,3415,956,1089,0,0,0,0,0,0
$GC,12527,1.01,433.0,874.1,11.3,557,12531,0.10,1.00,0.00,0.000,6,0.138,0.051,3382,1569,1089,0,0,0,0,0,0
$GC,12862,1.05,433.0,838.7,10.5,568,12865,0.00,0.70,0.00,0.000,4,0.000,0.067,3384,1145,1087,0,0,0,0,0,0
$GC,12991,1.08,433.0,825.0,11.0,571,12996,0.00,0.68,0.00,0.000,6,0.000,0.055,3385,1567,1087,0,0,0,0,0,0
$GC,13304,1.11,433.0,791.8,10.7,582,13308,0.08,0.75,0.00,0.000,4,0.122,0.067,3430,1106,1086,0,0,0,0,0,0
$GC,13347,1.06,433.0,786.6,12.4,583,13352,0.10,0.75,0.00,0.000,6,0.138,0.053,3397,1574,1086,0,0,0,0,0,0
$GC,13676,1.06,433.0,750.2,10.9,594,13680,0.00,1.35,0.00,0.000,4,0.000,0.058,3397,2419,1086,0,0,0,0,0,0
$GC,13726,1.06,433.0,744.6,11.2,595,13730,0.00,1.38,0.00,0.000,6,0.000,0.057,3402,1571,1085,0,0,0,0,0,0
$GC,14050,1.06,433.0,709.4,10.8,606,14054,0.00,0.47,0.00,0.000,4,0.000,0.069,3405,1267,1085,0,0,0,0,0,0
$GC,14093,1.06,433.0,704.6,10.3,607,14098,0.00,0.50,0.00,0.000,6,0.000,0.058,3405,1577,1085,0,0,0,0,0,0
$GC,14423,1.06,433.0,669.2,10.8,618,14425,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1577,1085,0,0,0,0,0,0
$GC,14730,1.06,433.0,635.1,11.2,628,14733,0.00,1.98,0.00,0.000,4,0.000,0.063,3404,2801,1085,0,0,0,0,0,0
$GC,14790,1.06,433.0,628.0,11.4,629,14796,0.05,2.00,0.00,0.000,6,0.161,0.057,3397,1577,1085,0,0,0,0,0,0
$GC,15103,1.06,433.0,593.0,11.1,640,15107,0.00,0.57,0.00,0.000,4,0.000,0.060,3397,1945,1084,0,0,0,0,0,0
$GC,15181,1.06,433.0,584.2,10.5,642,15185,0.00,0.62,0.00,0.000,6,0.000,0.065,3399,1565,1084,0,0,0,0,0,0
$GC,15510,1.06,433.0,547.9,10.9,653,15515,0.00,2.33,0.00,0.000,4,0.000,0.065,3399,2980,1084,0,0,0,0,0,0
$GC,15565,1.06,433.0,541.5,11.2,654,15572,0.03,2.30,0.00,0.000,6,0.187,0.055,3399,1571,1084,0,0,0,0,0,0
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$STATE,20503,end climb,SURFACE_DEPTH_REACHED
$STATE,20503,begin surface coast
$FINISH,2.1,1.013556
$STATE,20540,end surface coast,CONTROL_FINISHED_OK
$STATE,20540,begin surface
$SM_CCo,20618,0.00,0.000,0,0,933,472.93
$SM_GC,3.04,8.93,0.00,0.00,0.045,0.000,0.000,92,1909,933,-9.18,0.54,472.93
$IRIDIUM_FIX,-4201.18,-445.58,050113,020205
$TT8_MAMPS,0.026964
$HUMID,48.26
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,15.00
$XPDR_PINGS,2
$24V_AH,22.2,71.867
$10V_AH,9.9,58.450
$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
$DEVICE_SECS,23.100,89.200,568.500,0.000,0.000,26.575,40.016,225.020,0.500,0.000,22.781,2482.765,14705.722,621.532,2991.334,244.464,33.362,1898.683,0.000,2653.752,0.000,1.007,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.530,871.975,656.436,72.822,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354552
$DATA_FILE_SIZE,56950,954
$CAP_FILE_SIZE,179191,0
$CFSIZE,2097086464,2037383168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050113,133135,-4218.846,-435.602,40,0.9,40,-22.2