version: 66.07.10.p01
glider: 573
mission: 4
dive: 432
start: 1 5 113 13 40 0
data:
$ID,573
$MISSION,4
$DIVE,432
$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,-5693.2046
$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,28
$R_STBD_OVSHOOT,27
$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,411
$GPS1,050113,133135,-4218.846,-435.602,40,0.9,40,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-67.2
$GPS2,050113,133906,-4218.866,-435.495,34,1.0,34,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.271,-0.035
$KALMAN_X,-83879.7,-39.9,-111.4,201952.7,-3163.7
$KALMAN_Y,-87217.0,-30.8,30.8,43357.0,45.6
$MHEAD_RNG_PITCHd_Wd,119.5,7811,-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,-165.4,0.0,0.0,0,35,0.00,0.00,-7.32,0.000,2,0.000,0.000,88,1910,1097,0,0,0,0,0,0
$GC,37,-0.94,-165.4,3.0,-0.0,1,177,10.57,2.42,-116.68,0.000,4,0.216,0.076,2742,487,3538,0,0,0,0,0,0
$GC,186,-0.94,-165.4,3.8,-5.3,25,193,0.00,2.30,0.00,0.000,6,0.000,0.050,2732,1894,3539,0,0,0,0,0,0
$GC,266,-0.94,-165.4,14.4,-14.1,38,274,0.05,2.33,0.00,0.000,4,0.230,0.064,2734,3292,3539,0,0,0,0,0,0
$GC,363,-0.94,-165.4,24.6,-11.1,54,370,0.00,2.28,0.00,0.000,6,0.000,0.051,2734,1888,3540,0,0,0,0,0,0
$GC,442,-0.94,-165.4,33.5,-11.7,67,447,0.00,1.83,0.00,0.000,4,0.000,0.061,2734,772,3540,0,0,0,0,0,0
$GC,494,-0.94,-165.4,40.4,-12.5,76,501,0.05,1.83,0.00,0.000,6,0.148,0.050,2743,1890,3540,0,0,0,0,0,0
$GC,732,-0.98,-165.4,66.5,-10.1,112,735,0.00,1.70,0.00,0.000,4,0.000,0.061,2736,2966,3540,0,0,0,0,0,0
$GC,815,-1.01,-165.4,74.1,-8.6,119,819,0.00,1.73,0.00,0.000,6,0.000,0.051,2736,1878,3540,0,0,0,0,0,0
$GC,1139,-1.05,-165.4,100.5,-8.8,150,1144,0.05,0.52,0.00,0.000,4,0.164,0.062,2697,1545,3540,0,0,0,0,0,0
$GC,1194,-1.02,-165.4,105.2,-9.4,153,1198,0.08,0.55,0.00,0.000,6,0.136,0.057,2721,1896,3540,0,0,0,0,0,0
$GC,1525,-1.05,-165.4,136.4,-9.2,174,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1896,3541,0,0,0,0,0,0
$GC,1837,-1.05,-165.4,166.7,-9.8,194,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1896,3541,0,0,0,0,0,0
$GC,2148,-1.07,-165.4,198.3,-10.0,214,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1896,3541,0,0,0,0,0,0
$GC,2474,-1.10,-165.4,231.8,-10.4,230,2475,0.08,0.00,0.00,0.000,6,0.119,0.000,2673,1896,3541,0,0,0,0,0,0
$GC,2784,-1.05,-165.4,265.8,-10.8,245,2788,0.12,0.38,0.00,0.000,4,0.155,0.064,2708,2150,3541,0,0,0,0,0,0
$GC,2832,-1.05,-165.4,270.9,-11.0,247,2836,0.00,0.40,0.00,0.000,6,0.000,0.061,2708,1886,3541,0,0,0,0,0,0
$GC,3154,-1.05,-165.4,303.8,-9.9,262,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1886,3541,0,0,0,0,0,0
$GC,3460,-1.05,-165.4,332.0,-9.1,272,3464,0.00,0.80,0.00,0.000,4,0.000,0.060,2704,2391,3541,0,0,0,0,0,0
$GC,3529,-1.05,-165.4,337.9,-8.2,274,3532,0.00,0.77,0.00,0.000,6,0.000,0.054,2704,1894,3541,0,0,0,0,0,0
$GC,3870,-1.05,-165.4,369.2,-9.4,285,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1894,3541,0,0,0,0,0,0
$GC,4175,-1.05,-165.4,399.7,-10.4,295,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1893,3540,0,0,0,0,0,0
$GC,4482,-1.05,-165.4,433.9,-11.6,305,4485,0.00,0.70,0.00,0.000,4,0.000,0.060,2701,2341,3541,0,0,0,0,0,0
$GC,4542,-1.05,-165.4,441.5,-12.0,306,4548,0.00,0.73,0.00,0.000,6,0.000,0.054,2701,1882,3540,0,0,0,0,0,0
$GC,4855,-1.05,-165.4,480.9,-12.9,317,4859,0.00,0.55,0.00,0.000,4,0.000,0.060,2699,2239,3540,0,0,0,0,0,0
$GC,4972,-1.05,-165.4,496.3,-13.3,320,4976,0.00,0.55,0.00,0.000,6,0.000,0.056,2699,1891,3540,0,0,0,0,0,0
$GC,5296,-1.05,-165.4,537.1,-12.4,331,5300,0.00,0.52,0.00,0.000,4,0.000,0.060,2697,2232,3539,0,0,0,0,0,0
$GC,5340,-1.05,-165.4,542.4,-11.4,332,5344,0.00,0.55,0.00,0.000,6,0.000,0.057,2697,1881,3539,0,0,0,0,0,0
$GC,5670,-1.05,-165.4,578.8,-10.6,343,5672,0.03,0.00,0.00,0.000,6,0.260,0.000,2706,1881,3539,0,0,0,0,0,0
$GC,5977,-1.07,-165.4,608.5,-9.5,353,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1881,3538,0,0,0,0,0,0
$GC,6283,-1.07,-165.4,636.1,-8.8,363,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1881,3538,0,0,0,0,0,0
$GC,6589,-1.07,-165.4,662.5,-8.6,373,6593,0.00,0.68,0.00,0.000,4,0.000,0.060,2707,1441,3537,0,0,0,0,0,0
$GC,6645,-1.07,-165.4,667.4,-9.1,374,6649,0.00,0.70,0.00,0.000,6,0.000,0.055,2704,1887,3537,0,0,0,0,0,0
$GC,6964,-1.07,-165.4,693.8,-8.3,385,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1887,3537,0,0,0,0,0,0
$GC,7270,-1.07,-165.4,719.8,-8.6,395,7273,0.00,0.65,0.00,0.000,4,0.000,0.060,2704,1473,3535,0,0,0,0,0,0
$GC,7331,-1.07,-165.4,725.2,-9.2,396,7336,0.00,0.65,0.00,0.000,6,0.000,0.057,2701,1887,3535,0,0,0,0,0,0
$GC,7644,-1.07,-165.4,753.1,-9.0,407,7648,0.00,0.70,0.00,0.000,4,0.000,0.061,2698,2342,3535,0,0,0,0,0,0
$GC,7716,-1.07,-165.4,759.9,-9.4,409,7720,0.00,0.70,0.00,0.000,6,0.000,0.057,2698,1896,3534,0,0,0,0,0,0
$GC,8051,-1.07,-165.4,794.0,-10.9,420,8055,0.00,1.52,0.00,0.000,4,0.000,0.063,2691,2822,3533,0,0,0,0,0,0
$GC,8118,-1.07,-165.4,801.4,-10.5,422,8122,0.00,1.50,0.00,0.000,6,0.000,0.054,2691,1888,3533,0,0,0,0,0,0
$GC,8459,-1.07,-165.4,839.7,-11.3,433,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1888,3533,0,0,0,0,0,0
$GC,8765,-1.07,-165.4,873.9,-11.1,443,8770,0.03,2.17,0.00,0.000,4,0.271,0.066,2691,3210,3532,0,0,0,0,0,0
$GC,8831,-1.07,-165.4,881.3,-11.9,445,8835,0.00,2.12,0.00,0.000,6,0.000,0.051,2691,1888,3532,0,0,0,0,0,0
$GC,9167,-1.07,-165.4,914.9,-9.7,456,9171,0.03,1.15,0.00,0.000,4,0.271,0.063,2696,2578,3531,0,0,0,0,0,0
$GC,9235,-1.07,-165.4,921.0,-8.5,458,9238,0.00,1.10,0.00,0.000,6,0.000,0.057,2696,1896,3531,0,0,0,0,0,0
$GC,9575,-1.07,-165.4,949.8,-8.4,469,9579,0.00,2.33,0.00,0.000,4,0.000,0.067,2685,3302,3530,0,0,0,0,0,0
$GC,9638,-1.07,-165.4,955.1,-8.3,471,9643,0.08,2.25,0.00,0.000,6,0.174,0.052,2704,1886,3529,0,0,0,0,0,0
$GC,9974,-1.11,-165.4,982.9,-8.5,482,9978,0.00,1.58,0.00,0.000,4,0.000,0.065,2697,2838,3529,0,0,0,0,0,0
$GC,10046,-1.11,-165.4,989.2,-9.0,484,10051,0.00,1.52,0.00,0.000,6,0.000,0.053,2697,1895,3529,0,0,0,0,0,0
$STATE,10196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10196,begin apogee
$GC,10202,-0.28,0.0,1002.1,8.7,489,10349,0.82,0.00,143.62,1.265,6,0.117,0.000,2960,1566,2862,0,0,0,0,0,0
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10350,begin climb
$GC,10352,0.94,165.4,1012.0,0.0,494,10509,1.17,1.10,150.15,1.226,4,0.062,0.057,3367,952,2188,0,0,0,0,0,0
$GC,10561,0.79,248.0,1011.3,6.5,501,10645,0.17,1.08,77.15,1.203,6,0.145,0.048,3315,1570,1851,0,0,0,0,0,0
$GC,10958,0.79,318.5,984.1,7.0,514,11028,0.00,1.77,64.38,1.209,4,0.000,0.060,3315,2596,1563,0,0,0,0,0,0
$GC,11079,0.83,378.0,975.3,7.4,517,11140,0.00,1.73,56.03,1.191,6,0.000,0.056,3321,1579,1320,0,0,0,0,0,0
$GC,11447,0.91,404.5,944.4,8.8,529,11479,0.08,2.45,24.48,1.161,4,0.120,0.070,3380,156,1212,0,0,0,0,0,0
$GC,11543,0.91,412.6,934.9,9.5,531,11558,0.12,2.35,8.77,1.024,6,0.152,0.050,3346,1583,1179,0,0,0,0,0,0
$GC,11889,0.99,412.6,898.9,10.4,543,11893,0.08,0.80,0.00,0.000,4,0.122,0.068,3388,1112,1175,0,0,0,0,0,0
$GC,11949,0.99,412.6,892.2,10.9,544,11955,0.08,0.77,0.00,0.000,6,0.177,0.054,3369,1583,1174,0,0,0,0,0,0
$GC,12263,1.02,412.6,859.6,10.5,555,12267,0.00,1.17,0.00,0.000,4,0.000,0.066,3374,882,1173,0,0,0,0,0,0
$GC,12312,1.05,412.6,853.8,11.6,556,12317,0.00,1.12,0.00,0.000,6,0.000,0.052,3374,1575,1173,0,0,0,0,0,0
$GC,12637,1.09,412.6,819.2,10.6,567,12639,0.08,0.00,0.00,0.000,6,0.124,0.000,3417,1575,1173,0,0,0,0,0,0
$GC,12943,1.05,412.6,784.1,11.6,577,12947,0.10,1.10,0.00,0.000,4,0.170,0.066,3395,929,1172,0,0,0,0,0,0
$GC,12991,1.05,412.6,778.4,10.4,578,12996,0.00,1.08,0.00,0.000,6,0.000,0.052,3396,1588,1172,0,0,0,0,0,0
$GC,13316,1.05,412.6,739.8,12.3,589,13320,0.00,0.70,0.00,0.000,4,0.000,0.059,3395,2042,1172,0,0,0,0,0,0
$GC,13364,1.05,412.6,733.6,11.7,590,13369,0.00,0.80,0.00,0.000,6,0.000,0.061,3399,1555,1172,0,0,0,0,0,0
$GC,13689,1.05,412.6,694.2,12.3,601,13693,0.00,0.65,0.00,0.000,4,0.000,0.068,3402,1146,1171,0,0,0,0,0,0
$GC,13761,1.05,412.6,685.4,11.7,603,13765,0.00,0.70,0.00,0.000,6,0.000,0.055,3402,1574,1171,0,0,0,0,0,0
$GC,14096,1.05,412.6,648.2,10.6,614,14100,0.00,1.17,0.00,0.000,4,0.000,0.067,3407,873,1171,0,0,0,0,0,0
$GC,14151,1.05,412.6,642.3,10.2,615,14156,0.05,1.12,0.00,0.000,6,0.159,0.052,3390,1566,1171,0,0,0,0,0,0
$GC,14469,1.05,412.6,610.2,10.1,626,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1566,1171,0,0,0,0,0,0
$GC,14776,1.05,412.6,579.6,10.0,636,14779,0.00,0.70,0.00,0.000,4,0.000,0.067,3393,1135,1171,0,0,0,0,0,0
$GC,14847,1.05,412.6,572.3,10.0,638,14852,0.00,0.73,0.00,0.000,6,0.000,0.055,3393,1578,1171,0,0,0,0,0,0
$GC,15183,1.05,412.6,537.6,10.5,649,15184,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1578,1170,0,0,0,0,0,0
$GC,15489,1.05,412.6,503.6,11.5,659,15493,0.00,0.57,0.00,0.000,4,0.000,0.061,3393,1956,1171,0,0,0,0,0,0
$GC,15549,1.05,412.6,496.6,11.1,660,15555,0.00,0.62,0.00,0.000,6,0.000,0.063,3396,1571,1171,0,0,0,0,0,0
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$STATE,20145,end climb,SURFACE_DEPTH_REACHED
$STATE,20145,begin surface coast
$FINISH,2.2,1.012416
$STATE,20176,end surface coast,CONTROL_FINISHED_OK
$STATE,20176,begin surface
$SM_CCo,20255,0.00,0.000,0,0,1167,415.53
$SM_GC,3.09,8.65,0.00,0.00,0.035,0.000,0.000,90,1888,1167,-9.19,-0.06,415.53
$IRIDIUM_FIX,-4201.18,-433.74,050113,070732
$TT8_MAMPS,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.06951
$TCM_TEMP,14.90
$XPDR_PINGS,2
$24V_AH,22.2,72.064
$10V_AH,9.9,58.557
$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
$DEVICE_SECS,22.725,87.800,524.575,0.000,0.000,25.885,50.636,219.235,0.500,0.000,36.574,2429.525,14540.403,593.049,2895.628,240.688,33.373,1799.796,0.000,2544.108,0.000,1.010,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.521,895.255,651.375,74.100,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354492
$DATA_FILE_SIZE,56858,951
$CAP_FILE_SIZE,169564,0
$CFSIZE,2097086464,2037252096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050113,191853,-4219.420,-434.177,43,1.0,43,-22.2