version: 66.07.10.p01
glider: 573
mission: 4
dive: 469
start: 1 14 113 10 53 25
data:
$ID,573
$MISSION,4
$DIVE,469
$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,-5797.2207
$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,27
$R_STBD_OVSHOOT,29
$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,448
$GPS1,140113,104454,-4236.200,-405.297,41,1.4,41,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-70.4
$GPS2,140113,105230,-4236.242,-405.237,17,1.4,18,-22.1
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.270,-0.043
$KALMAN_X,-201452.2,-111.8,168.3,361016.4,-2929.4
$KALMAN_Y,-147371.3,152.3,155.1,71017.0,-1079.6
$MHEAD_RNG_PITCHd_Wd,121.1,162113,-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,-1.00,-165.4,0.0,0.0,0,34,0.00,0.00,-6.57,0.000,2,0.000,0.000,76,1912,1082,0,0,0,0,0,0
$GC,36,-1.00,-165.4,3.1,-0.0,1,164,10.50,2.38,-104.75,0.000,4,0.212,0.070,2723,503,3539,0,0,0,0,0,0
$GC,238,-0.95,-165.4,12.9,-11.3,34,245,0.08,2.28,0.00,0.000,6,0.136,0.047,2739,1909,3540,0,0,0,0,0,0
$GC,319,-0.97,-165.4,20.5,-8.9,47,326,0.00,0.68,0.00,0.000,4,0.000,0.057,2736,2354,3540,0,0,0,0,0,0
$GC,388,-0.97,-165.4,27.7,-10.3,58,395,0.00,0.70,0.00,0.000,6,0.000,0.053,2736,1906,3540,0,0,0,0,0,0
$GC,467,-0.97,-165.4,35.4,-9.9,71,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1907,3540,0,0,0,0,0,0
$GC,703,-1.00,-165.4,59.5,-9.6,112,710,0.00,2.30,0.00,0.000,4,0.000,0.062,2725,3309,3540,0,0,0,0,0,0
$GC,798,-1.03,-165.4,68.5,-9.2,121,802,0.00,2.22,0.00,0.000,6,0.000,0.047,2726,1900,3540,0,0,0,0,0,0
$GC,1125,-1.06,-165.4,96.9,-9.1,151,1129,0.00,1.15,0.00,0.000,4,0.000,0.057,2720,2615,3540,0,0,0,0,0,0
$GC,1186,-1.06,-165.4,103.5,-10.1,155,1192,0.00,1.12,0.00,0.000,6,0.000,0.048,2720,1905,3541,0,0,0,0,0,0
$GC,1506,-1.06,-165.4,133.9,-9.1,176,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1905,3541,0,0,0,0,0,0
$GC,1818,-1.06,-165.4,165.9,-11.0,196,1821,0.00,1.80,0.00,0.000,4,0.000,0.058,2712,3042,3541,0,0,0,0,0,0
$GC,1896,-1.08,-165.4,175.3,-11.4,200,1904,0.00,1.80,0.00,0.000,6,0.000,0.046,2712,1910,3541,0,0,0,0,0,0
$GC,2227,-1.08,-165.4,213.5,-11.5,220,2230,0.00,0.82,0.00,0.000,4,0.000,0.057,2708,2434,3541,0,0,0,0,0,0
$GC,2297,-1.08,-165.4,221.2,-11.2,223,2301,0.00,0.82,0.00,0.000,6,0.000,0.049,2708,1904,3541,0,0,0,0,0,0
$GC,2630,-1.08,-165.4,256.2,-10.0,239,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1904,3541,0,0,0,0,0,0
$GC,2939,-1.08,-165.4,286.0,-9.3,254,2943,0.00,0.50,0.00,0.000,4,0.000,0.058,2706,2236,3541,0,0,0,0,0,0
$GC,3034,-1.08,-165.4,295.1,-9.3,258,3038,0.00,0.52,0.00,0.000,6,0.000,0.053,2706,1887,3541,0,0,0,0,0,0
$GC,3369,-1.08,-165.4,324.9,-8.9,270,3373,0.00,1.15,0.00,0.000,4,0.000,0.056,2701,2615,3541,0,0,0,0,0,0
$GC,3442,-1.08,-165.4,331.7,-8.7,272,3446,0.00,1.10,0.00,0.000,6,0.000,0.047,2701,1916,3541,0,0,0,0,0,0
$GC,3777,-1.08,-165.4,363.5,-9.7,283,3781,0.00,1.05,0.00,0.000,4,0.000,0.057,2696,2573,3541,0,0,0,0,0,0
$GC,3860,-1.08,-165.4,372.1,-10.4,285,3865,0.00,1.05,0.00,0.000,6,0.000,0.047,2696,1902,3541,0,0,0,0,0,0
$GC,4185,-1.08,-165.4,406.0,-10.7,296,4188,0.00,0.68,0.00,0.000,4,0.000,0.056,2693,2339,3540,0,0,0,0,0,0
$GC,4329,-1.08,-165.4,422.1,-10.8,300,4334,0.00,0.68,0.00,0.000,6,0.000,0.051,2693,1910,3540,0,0,0,0,0,0
$GC,4660,-1.08,-165.4,456.7,-10.3,311,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1910,3540,0,0,0,0,0,0
$GC,4966,-1.08,-165.4,487.4,-9.9,321,4969,0.00,0.40,0.00,0.000,4,0.000,0.062,2691,2184,3540,0,0,0,0,0,0
$GC,5223,-1.08,-165.4,512.9,-10.0,328,5227,0.00,0.43,0.00,0.000,6,0.000,0.057,2691,1908,3540,0,0,0,0,0,0
$GC,5541,-1.08,-165.4,544.8,-10.1,339,5545,0.00,1.15,0.00,0.000,4,0.000,0.057,2686,2626,3539,0,0,0,0,0,0
$GC,5613,-1.08,-165.4,552.2,-9.6,341,5618,0.03,1.12,0.00,0.000,6,0.165,0.050,2697,1914,3539,0,0,0,0,0,0
$GC,5949,-1.08,-165.4,584.9,-9.8,352,5952,0.00,0.80,0.00,0.000,4,0.000,0.057,2693,2425,3539,0,0,0,0,0,0
$GC,6043,-1.08,-165.4,594.4,-10.2,354,6049,0.00,0.82,0.00,0.000,6,0.000,0.050,2693,1905,3539,0,0,0,0,0,0
$GC,6356,-1.08,-165.4,623.2,-9.2,365,6360,0.00,0.68,0.00,0.000,4,0.000,0.057,2690,2342,3538,0,0,0,0,0,0
$GC,6441,-1.08,-165.4,630.9,-8.9,367,6445,0.00,0.68,0.00,0.000,6,0.000,0.054,2690,1907,3538,0,0,0,0,0,0
$GC,6766,-1.08,-165.4,659.8,-8.8,378,6769,0.00,0.43,0.00,0.000,4,0.000,0.060,2689,2190,3537,0,0,0,0,0,0
$GC,6871,-1.08,-165.4,669.2,-9.0,381,6875,0.00,0.45,0.00,0.000,6,0.000,0.057,2689,1900,3537,0,0,0,0,0,0
$GC,7207,-1.08,-165.4,699.0,-9.0,392,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1899,3536,0,0,0,0,0,0
$GC,7513,-1.08,-165.4,727.0,-9.2,402,7517,0.00,1.83,0.00,0.000,4,0.000,0.060,2680,3046,3536,0,0,0,0,0,0
$GC,7602,-1.08,-165.4,735.4,-9.6,404,7607,0.05,1.80,0.00,0.000,6,0.141,0.047,2699,1918,3535,0,0,0,0,0,0
$GC,7920,-1.08,-165.4,765.5,-9.7,415,7924,0.00,1.50,0.00,0.000,4,0.000,0.057,2692,2841,3535,0,0,0,0,0,0
$GC,8009,-1.08,-165.4,774.8,-10.8,417,8013,0.00,1.48,0.00,0.000,6,0.000,0.047,2692,1913,3534,0,0,0,0,0,0
$GC,8328,-1.08,-165.4,806.6,-10.1,428,8331,0.00,1.38,0.00,0.000,4,0.000,0.058,2686,2761,3534,0,0,0,0,0,0
$GC,8429,-1.08,-165.4,816.7,-10.1,431,8433,0.00,1.35,0.00,0.000,6,0.000,0.050,2686,1916,3533,0,0,0,0,0,0
$GC,8770,-1.08,-165.4,849.6,-9.5,442,8775,0.05,1.67,0.00,0.000,4,0.220,0.060,2691,2930,3532,0,0,0,0,0,0
$GC,8853,-1.08,-165.4,857.4,-9.6,444,8857,0.00,1.62,0.00,0.000,6,0.000,0.048,2691,1914,3532,0,0,0,0,0,0
$GC,9178,-1.08,-165.4,886.0,-8.5,455,9181,0.00,0.85,0.00,0.000,4,0.000,0.058,2688,2448,3532,0,0,0,0,0,0
$GC,9272,-1.08,-165.4,894.8,-9.0,457,9278,0.00,0.85,0.00,0.000,6,0.000,0.052,2687,1912,3531,0,0,0,0,0,0
$GC,9585,-1.08,-165.4,922.7,-8.9,468,9589,0.00,0.62,0.00,0.000,4,0.000,0.059,2684,2313,3531,0,0,0,0,0,0
$GC,9654,-1.08,-165.4,928.9,-9.8,470,9658,0.03,0.62,0.00,0.000,6,0.163,0.056,2696,1909,3531,0,0,0,0,0,0
$GC,9995,-1.10,-165.4,960.8,-9.6,481,9998,0.00,0.85,0.00,0.000,4,0.000,0.059,2691,2450,3529,0,0,0,0,0,0
$GC,10067,-1.12,-165.4,968.1,-10.3,483,10071,0.00,0.85,0.00,0.000,6,0.000,0.053,2692,1911,3529,0,0,0,0,0,0
$STATE,10401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10401,begin apogee
$GC,10406,-0.29,0.0,1000.7,9.9,494,10554,0.80,0.00,144.95,1.255,6,0.112,0.000,2950,1579,2861,0,0,0,0,0,0
$STATE,10555,end apogee,CONTROL_FINISHED_OK
$STATE,10555,begin climb
$GC,10557,1.00,165.4,1011.6,0.0,499,10715,1.17,1.77,150.10,1.222,4,0.055,0.051,3369,2556,2187,0,0,0,0,0,0
$GC,10816,0.82,230.7,1009.3,7.2,507,10882,0.17,1.62,60.05,1.200,6,0.159,0.049,3319,1590,1921,0,0,0,0,0,0
$GC,11202,0.78,281.5,980.1,7.8,520,11251,0.08,0.00,46.25,1.198,6,0.195,0.000,3301,1591,1714,0,0,0,0,0,0
$GC,11539,0.81,331.7,953.3,7.8,531,11589,0.00,0.95,46.00,1.193,4,0.000,0.051,3301,2195,1509,0,0,0,0,0,0
$GC,11656,0.87,377.6,944.1,8.0,534,11705,0.05,1.00,43.20,1.174,6,0.069,0.057,3345,1585,1321,0,0,0,0,0,0
$GC,12030,0.91,377.6,908.9,9.8,547,12033,0.00,0.68,0.00,0.000,4,0.000,0.065,3347,1165,1312,0,0,0,0,0,0
$GC,12098,0.93,383.4,902.4,9.6,549,12108,0.00,0.68,4.97,0.855,6,0.000,0.052,3348,1591,1298,0,0,0,0,0,0
$GC,12440,0.97,392.9,869.9,9.4,560,12454,0.00,0.55,10.48,1.035,4,0.000,0.049,3347,1953,1259,0,0,0,0,0,0
$GC,12488,1.00,418.1,865.0,8.8,561,12518,0.03,0.60,25.98,1.126,6,0.096,0.061,3381,1581,1157,0,0,0,0,0,0
$GC,12842,1.00,418.1,827.5,10.8,573,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1581,1149,0,0,0,0,0,0
$GC,13148,1.00,418.1,794.1,10.9,583,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1581,1147,0,0,0,0,0,0
$GC,13454,1.00,418.1,761.3,10.6,593,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1581,1147,0,0,0,0,0,0
$GC,13761,1.00,418.1,728.9,10.5,603,13764,0.00,1.73,0.00,0.000,4,0.000,0.065,3389,511,1146,0,0,0,0,0,0
$GC,13849,1.00,418.1,719.4,10.0,605,13854,0.03,1.73,0.00,0.000,6,0.168,0.048,3379,1583,1146,0,0,0,0,0,0
$GC,14168,1.02,418.1,686.4,10.3,616,14169,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1583,1146,0,0,0,0,0,0
$GC,14474,1.02,418.1,654.4,10.6,626,14477,0.00,1.00,0.00,0.000,4,0.000,0.052,3379,2229,1146,0,0,0,0,0,0
$GC,14551,1.02,418.1,646.1,10.2,628,14555,0.00,1.02,0.00,0.000,6,0.000,0.055,3383,1588,1146,0,0,0,0,0,0
$GC,14881,1.02,418.1,611.1,10.7,639,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1588,1146,0,0,0,0,0,0
$GC,15187,1.02,418.1,578.6,10.6,649,15191,0.00,0.95,0.00,0.000,4,0.000,0.055,3383,2190,1146,0,0,0,0,0,0
$GC,15259,1.02,418.1,570.7,11.1,651,15264,0.03,1.00,0.00,0.000,6,0.176,0.057,3378,1576,1146,0,0,0,0,0,0
$GC,15595,1.05,418.1,534.9,10.7,662,15598,0.00,0.80,0.00,0.000,4,0.000,0.055,3378,2089,1146,0,0,0,0,0,0
$GC,15672,1.05,418.1,526.2,10.9,664,15677,0.00,0.82,0.00,0.000,6,0.000,0.057,3381,1583,1146,0,0,0,0,0,0
$GC,16002,1.07,418.1,491.5,10.5,675,16006,0.00,0.70,0.00,0.000,4,0.000,0.056,3381,2034,1146,0,0,0,0,0,0
$GC,16070,1.07,418.1,484.3,10.4,677,16074,0.00,0.73,0.00,0.000,6,0.000,0.060,3384,1579,1146,0,0,0,0,0,0
$GC,16411,1.07,418.1,449.8,10.0,688,16415,0.00,0.77,0.00,0.000,4,0.000,0.055,3384,2077,1146,0,0,0,0,0,0
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$GC,17259,1.07,420.6,361.0,10.6,715,17263,0.00,0.65,0.00,0.000,4,0.000,0.055,3390,2004,1146,0,0,0,0,0,0
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$STATE,20801,end climb,SURFACE_DEPTH_REACHED
$STATE,20801,begin surface coast
$FINISH,2.2,1.026177
$STATE,20833,end surface coast,CONTROL_FINISHED_OK
$STATE,20834,begin surface
$SM_CCo,20911,0.00,0.000,0,0,701,530.08
$SM_GC,3.02,8.70,0.00,0.00,0.028,0.000,0.000,90,1913,701,-9.17,0.08,530.08
$IRIDIUM_FIX,-4218.64,-408.68,140113,050508
$TT8_MAMPS,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.00
$XPDR_PINGS,3
$24V_AH,22.2,79.730
$10V_AH,9.9,62.565
$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
$DEVICE_SECS,22.000,79.100,616.875,0.000,0.000,27.392,43.692,243.216,0.750,0.000,20.279,2551.299,14691.918,639.050,3220.684,258.443,33.372,1991.924,0.000,2861.064,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.214,951.309,675.582,82.388,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354564
$DATA_FILE_SIZE,60263,991
$CAP_FILE_SIZE,180888,0
$CFSIZE,2097086464,2032402432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140113,164335,-4236.941,-404.344,65,0.8,65,-22.1