version: 66.07.10.p01
glider: 573
mission: 4
dive: 466
start: 1 13 113 17 34 0
data:
$ID,573
$MISSION,4
$DIVE,466
$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,-5788.4976
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,34
$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,445
$GPS1,130113,172536,-4233.091,-409.582,42,0.8,42,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-67.3
$GPS2,130113,173306,-4233.118,-409.506,19,0.8,19,-22.1
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.225,-0.155
$KALMAN_X,-191645.9,195.5,-422.2,345602.4,-2353.7
$KALMAN_Y,-143948.9,-187.8,-1248.9,75132.1,1453.6
$MHEAD_RNG_PITCHd_Wd,146.7,170196,-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,26,-1.00,-165.4,0.0,0.0,0,35,0.00,0.00,-7.22,0.000,2,0.000,0.000,81,1923,1047,0,0,0,0,0,0
$GC,37,-1.00,-165.4,3.2,-0.0,1,165,10.50,2.33,-105.03,0.000,4,0.215,0.076,2714,3313,3539,0,0,0,0,0,0
$GC,239,-0.95,-165.4,13.6,-10.4,34,246,0.05,2.28,0.00,0.000,6,0.135,0.050,2733,1908,3541,0,0,0,0,0,0
$GC,320,-0.97,-165.4,22.3,-11.1,47,327,0.00,0.60,0.00,0.000,4,0.000,0.060,2733,1521,3541,0,0,0,0,0,0
$GC,347,-1.00,-165.4,25.6,-11.2,51,355,0.00,0.60,0.00,0.000,6,0.000,0.056,2730,1904,3541,0,0,0,0,0,0
$GC,425,-1.00,-165.4,34.3,-11.2,64,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1905,3541,0,0,0,0,0,0
$GC,662,-1.00,-165.4,60.5,-10.9,105,665,0.00,1.85,0.00,0.000,4,0.000,0.060,2722,3060,3541,0,0,0,0,0,0
$GC,742,-1.02,-165.4,69.6,-11.2,112,746,0.00,1.83,0.00,0.000,6,0.000,0.049,2722,1905,3541,0,0,0,0,0,0
$GC,1077,-1.02,-165.4,105.9,-10.7,142,1081,0.00,0.57,0.00,0.000,4,0.000,0.059,2719,2282,3542,0,0,0,0,0,0
$GC,1301,-1.05,-165.4,127.4,-9.2,155,1305,0.00,0.57,0.00,0.000,6,0.000,0.054,2719,1910,3542,0,0,0,0,0,0
$GC,1633,-1.07,-165.4,158.1,-9.4,176,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1910,3542,0,0,0,0,0,0
$GC,1946,-1.09,-165.4,187.0,-9.4,196,1950,0.08,0.40,0.00,0.000,4,0.121,0.064,2671,2175,3542,0,0,0,0,0,0
$GC,2097,-1.05,-165.4,203.4,-11.4,204,2105,0.12,0.43,0.00,0.000,6,0.156,0.058,2706,1902,3542,0,0,0,0,0,0
$GC,2415,-1.05,-165.4,237.9,-11.4,220,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1901,3542,0,0,0,0,0,0
$GC,2725,-1.05,-165.4,273.5,-11.7,235,2729,0.00,0.38,0.00,0.000,4,0.000,0.061,2706,1643,3542,0,0,0,0,0,0
$GC,2809,-1.05,-165.4,283.8,-11.7,238,2814,0.00,0.45,0.00,0.000,6,0.000,0.057,2704,1930,3542,0,0,0,0,0,0
$GC,3144,-1.05,-165.4,322.6,-11.4,252,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1930,3542,0,0,0,0,0,0
$GC,3450,-1.05,-165.4,355.9,-10.7,262,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1930,3542,0,0,0,0,0,0
$GC,3756,-1.05,-165.4,388.7,-10.7,272,3760,0.00,0.47,0.00,0.000,4,0.000,0.057,2705,1618,3542,0,0,0,0,0,0
$GC,3862,-1.05,-165.4,400.6,-10.8,275,3866,0.00,0.47,0.00,0.000,6,0.000,0.056,2702,1920,3542,0,0,0,0,0,0
$GC,4197,-1.05,-165.4,436.0,-10.4,286,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1920,3542,0,0,0,0,0,0
$GC,4503,-1.05,-165.4,466.8,-10.0,296,4507,0.00,0.80,0.00,0.000,4,0.000,0.058,2699,2434,3542,0,0,0,0,0,0
$GC,4631,-1.05,-165.4,479.9,-10.4,299,4637,0.00,0.82,0.00,0.000,6,0.000,0.049,2699,1910,3541,0,0,0,0,0,0
$GC,4944,-1.05,-165.4,511.9,-10.3,310,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1910,3542,0,0,0,0,0,0
$GC,5251,-1.05,-165.4,543.4,-10.3,320,5254,0.00,0.52,0.00,0.000,4,0.000,0.060,2697,2255,3541,0,0,0,0,0,0
$GC,5356,-1.05,-165.4,554.8,-11.3,323,5360,0.00,0.55,0.00,0.000,6,0.000,0.054,2696,1903,3541,0,0,0,0,0,0
$GC,5692,-1.05,-165.4,591.1,-11.0,334,5695,0.00,0.60,0.00,0.000,4,0.000,0.059,2694,2293,3540,0,0,0,0,0,0
$GC,5776,-1.05,-165.4,600.7,-11.2,336,5780,0.03,0.60,0.00,0.000,6,0.168,0.054,2706,1905,3540,0,0,0,0,0,0
$GC,6100,-1.07,-165.4,636.0,-11.0,347,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1905,3539,0,0,0,0,0,0
$GC,6406,-1.10,-165.4,669.6,-10.9,357,6409,0.00,1.10,0.00,0.000,4,0.000,0.059,2701,2589,3538,0,0,0,0,0,0
$GC,6512,-1.12,-165.4,681.6,-11.3,360,6516,0.00,1.08,0.00,0.000,6,0.000,0.050,2700,1911,3538,0,0,0,0,0,0
$GC,6847,-1.12,-165.4,718.1,-11.0,371,6851,0.00,1.17,0.00,0.000,4,0.000,0.059,2695,2638,3537,0,0,0,0,0,0
$GC,6941,-1.12,-165.4,728.6,-11.1,373,6947,0.00,1.17,0.00,0.000,6,0.000,0.050,2695,1902,3537,0,0,0,0,0,0
$GC,7254,-1.12,-165.4,763.2,-11.0,384,7258,0.00,0.45,0.00,0.000,4,0.000,0.062,2693,2202,3536,0,0,0,0,0,0
$GC,7322,-1.12,-165.4,770.7,-10.6,386,7326,0.00,0.45,0.00,0.000,6,0.000,0.057,2694,1907,3536,0,0,0,0,0,0
$GC,7663,-1.12,-165.4,807.7,-10.6,397,7666,0.00,0.55,0.00,0.000,4,0.000,0.060,2693,1546,3535,0,0,0,0,0,0
$GC,7707,-1.12,-165.4,812.5,-10.7,398,7711,0.00,0.57,0.00,0.000,6,0.000,0.055,2691,1908,3535,0,0,0,0,0,0
$GC,8037,-1.12,-165.4,846.3,-10.3,409,8040,0.00,1.20,0.00,0.000,4,0.000,0.059,2686,2665,3534,0,0,0,0,0,0
$GC,8148,-1.12,-165.4,858.2,-10.4,412,8152,0.00,1.20,0.00,0.000,6,0.000,0.050,2685,1913,3534,0,0,0,0,0,0
$GC,8478,-1.12,-165.4,893.1,-10.6,423,8481,0.00,1.02,0.00,0.000,4,0.000,0.059,2680,2548,3533,0,0,0,0,0,0
$GC,8572,-1.12,-165.4,903.2,-10.3,425,8578,0.00,1.02,0.00,0.000,6,0.000,0.051,2681,1905,3533,0,0,0,0,0,0
$GC,8885,-1.12,-165.4,936.1,-10.6,436,8889,0.00,1.25,0.00,0.000,4,0.000,0.059,2675,2675,3532,0,0,0,0,0,0
$GC,8962,-1.12,-165.4,945.3,-11.1,438,8967,0.00,1.23,0.00,0.000,6,0.000,0.052,2675,1910,3532,0,0,0,0,0,0
$GC,9293,-1.12,-165.4,981.6,-10.9,449,9296,0.00,0.93,0.00,0.000,4,0.000,0.060,2671,2488,3531,0,0,0,0,0,0
$GC,9387,-1.12,-165.4,992.3,-11.2,451,9393,0.00,0.95,0.00,0.000,6,0.000,0.053,2671,1902,3531,0,0,0,0,0,0
$STATE,9484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9484,begin apogee
$GC,9489,-0.29,0.0,1002.8,11.0,455,9637,0.88,0.00,144.80,1.260,6,0.119,0.000,2948,1586,2862,0,0,0,0,0,0
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9640,1.00,165.4,1015.3,0.0,460,9800,1.20,2.00,150.50,1.224,4,0.060,0.052,3368,2709,2185,0,0,0,0,0,0
$GC,9880,0.83,274.5,1016.7,5.5,467,9988,0.22,1.90,100.55,1.210,6,0.165,0.048,3319,1577,1742,0,0,0,0,0,0
$GC,10318,0.83,310.4,983.7,8.4,482,10353,0.00,0.00,33.20,1.189,6,0.000,0.000,3319,1578,1595,0,0,0,0,0,0
$GC,10654,0.83,310.4,951.7,9.9,493,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1578,1589,0,0,0,0,0,0
$GC,10961,0.83,319.8,922.5,9.4,503,10971,0.00,0.00,8.88,1.051,6,0.000,0.000,3318,1578,1558,0,0,0,0,0,0
$GC,11267,0.83,348.7,894.9,8.7,513,11297,0.00,0.00,28.45,1.162,6,0.000,0.000,3319,1578,1440,0,0,0,0,0,0
$GC,11604,0.88,389.6,866.6,8.2,524,11645,0.00,0.00,38.67,1.165,6,0.000,0.000,3319,1578,1273,0,0,0,0,0,0
$GC,11972,0.97,428.4,836.1,8.3,536,12013,0.12,1.00,36.67,1.147,4,0.086,0.062,3385,1002,1115,0,0,0,0,0,0
$GC,12091,0.97,432.0,824.8,9.7,539,12101,0.05,0.95,4.22,0.760,6,0.134,0.047,3366,1584,1100,0,0,0,0,0,0
$GC,12439,1.01,437.8,792.0,9.6,551,12448,0.00,0.70,6.25,0.875,4,0.000,0.060,3369,1133,1078,0,0,0,0,0,0
$GC,12672,1.05,437.8,768.8,9.9,558,12677,0.00,0.70,0.00,0.000,6,0.000,0.051,3369,1577,1076,0,0,0,0,0,0
$GC,13008,1.10,437.8,734.9,10.2,569,13012,0.10,0.47,0.00,0.000,4,0.099,0.071,3425,1293,1075,0,0,0,0,0,0
$GC,13086,1.06,437.8,726.1,11.4,571,13090,0.10,0.45,0.00,0.000,6,0.132,0.057,3391,1585,1075,0,0,0,0,0,0
$GC,13415,1.06,437.8,691.0,10.7,582,13419,0.00,0.47,0.00,0.000,4,0.000,0.066,3393,1286,1074,0,0,0,0,0,0
$GC,13487,1.06,437.8,682.9,10.9,584,13491,0.00,0.50,0.00,0.000,6,0.000,0.055,3393,1597,1074,0,0,0,0,0,0
$GC,13822,1.06,437.8,646.1,11.3,595,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1597,1074,0,0,0,0,0,0
$GC,14128,1.06,437.8,612.6,10.7,605,14130,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1597,1073,0,0,0,0,0,0
$GC,14435,1.06,437.8,579.8,10.6,615,14438,0.00,0.47,0.00,0.000,4,0.000,0.067,3395,1296,1073,0,0,0,0,0,0
$GC,14489,1.06,437.8,574.0,10.1,616,14494,0.00,0.47,0.00,0.000,6,0.000,0.057,3395,1590,1073,0,0,0,0,0,0
$GC,14808,1.06,437.8,541.5,10.2,627,14812,0.00,0.47,0.00,0.000,4,0.000,0.065,3397,1288,1073,0,0,0,0,0,0
$GC,14965,1.06,437.8,525.2,10.3,631,14968,0.00,0.45,0.00,0.000,6,0.000,0.057,3397,1578,1073,0,0,0,0,0,0
$GC,15283,1.06,437.8,491.9,10.3,642,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1578,1073,0,0,0,0,0,0
$GC,15589,1.06,439.8,461.2,9.7,652,15593,0.00,0.43,0.00,0.000,4,0.000,0.058,3397,1866,1072,0,0,0,0,0,0
$GC,15683,1.06,439.8,451.8,9.9,654,15689,0.00,0.47,0.00,0.000,6,0.000,0.063,3399,1578,1072,0,0,0,0,0,0
$GC,15997,1.06,440.2,421.7,9.8,665,16000,0.00,0.77,0.00,0.000,4,0.000,0.054,3399,2080,1072,0,0,0,0,0,0
$GC,16099,1.06,440.2,411.2,10.6,668,16103,0.00,0.80,0.00,0.000,6,0.000,0.060,3402,1579,1073,0,0,0,0,0,0
$GC,16439,1.06,440.2,375.7,10.6,679,16443,0.00,0.47,0.00,0.000,4,0.000,0.057,3402,1893,1072,0,0,0,0,0,0
$GC,16528,1.06,440.2,366.0,11.7,681,16533,0.05,0.52,0.00,0.000,6,0.223,0.063,3393,1573,1073,0,0,0,0,0,0
$GC,16847,1.06,440.2,329.5,11.9,692,16850,0.00,1.08,0.00,0.000,4,0.000,0.054,3393,2251,1072,0,0,0,0,0,0
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$GC,19596,1.10,450.7,33.0,10.7,881,19601,0.00,1.15,0.00,0.000,6,0.000,0.056,3416,1577,1022,0,0,0,0,0,0
$GC,19839,1.10,513.6,12.9,7.3,922,19876,0.00,0.82,33.28,0.556,4,0.000,0.052,3416,2088,766,0,0,0,0,0,0
$STATE,19949,end climb,SURFACE_DEPTH_REACHED
$STATE,19949,begin surface coast
$FINISH,2.4,1.017552
$STATE,19956,end surface coast,CONTROL_FINISHED_OK
$STATE,19957,begin surface
$SM_CCo,20034,0.00,0.000,0,0,754,516.84
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$IRIDIUM_FIX,-4215.72,-408.47,130113,111100
$TT8_MAMPS,0.026215
$HUMID,47.91
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,22.2,79.083
$10V_AH,9.8,62.230
$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
$DEVICE_SECS,22.425,60.950,598.600,0.000,0.000,28.245,40.285,236.613,0.500,0.000,21.726,2424.349,14090.137,639.286,3077.125,246.269,33.370,1908.306,0.000,2724.130,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.020,908.569,642.741,76.641,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,56779,941
$CAP_FILE_SIZE,167962,0
$CFSIZE,2097086464,2032795648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130113,230906,-4234.390,-408.177,37,1.2,37,-22.1