version: 66.07.10.p01
glider: 573
mission: 4
dive: 484
start: 1 18 113 2 18 36
data:
$ID,573
$MISSION,4
$DIVE,484
$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,-5837.457
$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,31
$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,463
$GPS1,180113,021004,-4242.159,-345.902,39,1.0,44,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-68.7
$GPS2,180113,021742,-4242.173,-345.869,21,1.0,21,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.190,-0.197
$KALMAN_X,-244801.6,328.4,-499.6,431284.7,-1989.0
$KALMAN_Y,-124414.3,523.5,-157.6,37009.8,2412.3
$MHEAD_RNG_PITCHd_Wd,158.2,135032,-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,-7.20,0.000,2,0.000,0.000,85,1893,1145,0,0,0,0,0,0
$GC,37,-1.00,-165.4,3.0,-0.0,1,171,10.55,2.38,-112.00,0.000,4,0.217,0.075,2715,3308,3538,0,0,0,0,0,0
$GC,259,-1.00,-165.4,12.8,-11.3,38,267,0.00,2.25,0.00,0.000,6,0.000,0.048,2716,1913,3539,0,0,0,0,0,0
$GC,340,-1.00,-165.4,21.4,-10.7,51,347,0.00,0.50,0.00,0.000,4,0.000,0.060,2716,1586,3539,0,0,0,0,0,0
$GC,420,-1.00,-165.4,30.2,-11.2,64,427,0.00,0.50,0.00,0.000,6,0.000,0.057,2713,1910,3540,0,0,0,0,0,0
$GC,660,-1.00,-165.4,57.0,-11.1,105,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1910,3540,0,0,0,0,0,0
$GC,878,-1.00,-165.4,80.5,-10.4,128,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1910,3540,0,0,0,0,0,0
$GC,1196,-1.00,-165.4,112.8,-10.3,154,1199,0.00,0.98,0.00,0.000,4,0.000,0.054,2713,1294,3540,0,0,0,0,0,0
$GC,1274,-1.00,-165.4,121.3,-10.7,158,1282,0.05,0.98,0.00,0.000,6,0.146,0.047,2727,1919,3540,0,0,0,0,0,0
$GC,1596,-1.03,-165.4,154.4,-10.1,179,1600,0.00,0.43,0.00,0.000,4,0.000,0.058,2728,1638,3541,0,0,0,0,0,0
$GC,1857,-1.06,-165.4,180.1,-8.5,194,1861,0.03,0.43,0.00,0.000,6,0.093,0.057,2688,1915,3541,0,0,0,0,0,0
$GC,2194,-1.04,-165.4,209.3,-8.6,214,2198,0.10,1.00,0.00,0.000,4,0.176,0.055,2716,1295,3541,0,0,0,0,0,0
$GC,2318,-1.04,-165.4,220.6,-9.3,219,2322,0.00,0.98,0.00,0.000,6,0.000,0.050,2712,1914,3541,0,0,0,0,0,0
$GC,2641,-1.04,-165.4,248.4,-8.8,235,2645,0.00,1.45,0.00,0.000,4,0.000,0.056,2712,1020,3541,0,0,0,0,0,0
$GC,2755,-1.04,-165.4,259.2,-9.3,240,2758,0.00,1.42,0.00,0.000,6,0.000,0.047,2706,1914,3541,0,0,0,0,0,0
$GC,3089,-1.04,-165.4,291.7,-10.2,256,3093,0.00,0.70,0.00,0.000,4,0.000,0.055,2706,1463,3541,0,0,0,0,0,0
$GC,3252,-1.04,-165.4,309.1,-10.2,262,3257,0.00,0.70,0.00,0.000,6,0.000,0.051,2702,1913,3541,0,0,0,0,0,0
$GC,3565,-1.04,-165.4,341.0,-10.0,273,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1913,3541,0,0,0,0,0,0
$GC,3871,-1.04,-165.4,371.3,-9.8,283,3875,0.00,1.05,0.00,0.000,4,0.000,0.055,2703,1255,3541,0,0,0,0,0,0
$GC,3949,-1.04,-165.4,379.1,-9.6,285,3953,0.00,1.02,0.00,0.000,6,0.000,0.048,2697,1907,3541,0,0,0,0,0,0
$GC,4279,-1.04,-165.4,410.3,-9.2,296,4283,0.05,0.77,0.00,0.000,4,0.231,0.056,2710,1421,3540,0,0,0,0,0,0
$GC,4373,-1.06,-165.4,419.3,-9.6,298,4378,0.00,0.75,0.00,0.000,6,0.000,0.052,2707,1905,3540,0,0,0,0,0,0
$GC,4686,-1.06,-165.4,450.4,-10.2,309,4689,0.00,1.33,0.00,0.000,4,0.000,0.055,2707,1078,3540,0,0,0,0,0,0
$GC,4825,-1.06,-165.4,465.1,-9.9,313,4829,0.00,1.33,0.00,0.000,6,0.000,0.047,2700,1914,3540,0,0,0,0,0,0
$GC,5161,-1.06,-165.4,498.0,-9.6,324,5165,0.00,1.58,0.00,0.000,4,0.000,0.055,2701,951,3540,0,0,0,0,0,0
$GC,5284,-1.06,-165.4,510.3,-9.5,327,5288,0.00,1.52,0.00,0.000,6,0.000,0.047,2693,1904,3540,0,0,0,0,0,0
$GC,5603,-1.06,-165.4,539.7,-9.1,338,5606,0.00,1.38,0.00,0.000,4,0.000,0.056,2693,1054,3539,0,0,0,0,0,0
$GC,5714,-1.06,-165.4,550.0,-9.0,341,5719,0.05,1.35,0.00,0.000,6,0.150,0.047,2706,1902,3539,0,0,0,0,0,0
$GC,6044,-1.08,-165.4,578.8,-9.0,352,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1902,3539,0,0,0,0,0,0
$GC,6350,-1.08,-165.4,607.6,-9.7,362,6354,0.00,0.80,0.00,0.000,4,0.000,0.056,2706,1396,3538,0,0,0,0,0,0
$GC,6438,-1.08,-165.4,616.8,-10.6,364,6442,0.00,0.82,0.00,0.000,6,0.000,0.050,2702,1915,3538,0,0,0,0,0,0
$GC,6757,-1.08,-165.4,648.9,-9.9,375,6761,0.00,1.27,0.00,0.000,4,0.000,0.054,2702,1118,3537,0,0,0,0,0,0
$GC,6834,-1.08,-165.4,657.2,-10.9,377,6838,0.00,1.25,0.00,0.000,6,0.000,0.049,2697,1905,3537,0,0,0,0,0,0
$GC,7164,-1.08,-165.4,691.2,-10.4,388,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1905,3536,0,0,0,0,0,0
$GC,7470,-1.08,-165.4,724.6,-10.9,398,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1905,3536,0,0,0,0,0,0
$GC,7777,-1.08,-165.4,757.7,-10.6,408,7781,0.00,0.88,0.00,0.000,4,0.000,0.057,2697,1357,3534,0,0,0,0,0,0
$GC,7860,-1.08,-165.4,766.8,-10.4,410,7864,0.00,0.90,0.00,0.000,6,0.000,0.050,2693,1919,3535,0,0,0,0,0,0
$GC,8184,-1.08,-165.4,799.8,-10.0,421,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1918,3534,0,0,0,0,0,0
$GC,8491,-1.08,-165.4,828.3,-9.1,431,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1919,3533,0,0,0,0,0,0
$GC,8797,-1.08,-165.4,855.0,-8.5,441,8801,0.00,0.85,0.00,0.000,4,0.000,0.058,2693,1385,3532,0,0,0,0,0,0
$GC,8880,-1.08,-165.4,862.1,-8.8,443,8884,0.00,0.82,0.00,0.000,6,0.000,0.054,2689,1907,3532,0,0,0,0,0,0
$GC,9204,-1.08,-165.4,889.4,-8.7,454,9208,0.00,0.47,0.00,0.000,4,0.000,0.060,2689,1601,3531,0,0,0,0,0,0
$GC,9315,-1.08,-165.4,899.3,-9.0,457,9319,0.00,0.50,0.00,0.000,6,0.000,0.057,2687,1912,3531,0,0,0,0,0,0
$GC,9645,-1.08,-165.4,928.5,-9.0,468,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1912,3531,0,0,0,0,0,0
$GC,9951,-1.08,-165.4,957.7,-9.8,478,9954,0.00,0.77,0.00,0.000,4,0.000,0.057,2687,1423,3530,0,0,0,0,0,0
$GC,10040,-1.08,-165.4,966.9,-9.8,480,10044,0.00,0.75,0.00,0.000,6,0.000,0.054,2683,1904,3530,0,0,0,0,0,0
$GC,10358,-1.08,-165.4,999.2,-10.3,491,10360,0.05,0.00,0.00,0.000,6,0.232,0.000,2695,1905,3530,0,0,0,0,0,0
$STATE,10387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10387,begin apogee
$GC,10392,-0.29,0.0,1002.3,10.2,492,10540,0.80,0.00,144.65,1.257,6,0.116,0.000,2951,1582,2862,0,0,0,0,0,0
$STATE,10541,end apogee,CONTROL_FINISHED_OK
$STATE,10541,begin climb
$GC,10543,1.00,165.4,1014.7,0.0,497,10704,1.23,2.55,151.57,1.221,4,0.058,0.055,3375,2982,2186,0,0,0,0,0,0
$GC,10863,0.80,281.8,1012.9,5.2,507,10976,0.28,2.28,104.88,1.215,6,0.167,0.048,3312,1582,1713,0,0,0,0,0,0
$GC,11281,0.80,329.0,982.2,7.9,520,11327,0.00,0.00,43.55,1.194,6,0.000,0.000,3313,1583,1520,0,0,0,0,0,0
$GC,11618,0.83,363.8,953.6,8.4,531,11653,0.00,0.00,32.65,1.180,6,0.000,0.000,3312,1582,1377,0,0,0,0,0,0
$GC,11957,0.89,399.3,925.1,8.4,542,11997,0.08,1.05,33.47,1.174,4,0.119,0.062,3358,979,1233,0,0,0,0,0,0
$GC,12098,0.89,426.2,911.8,8.7,546,12128,0.05,1.00,26.20,1.150,6,0.141,0.048,3340,1588,1124,0,0,0,0,0,0
$GC,12459,0.94,429.8,877.7,9.7,558,12462,0.00,0.77,0.00,0.000,4,0.000,0.064,3343,1119,1116,0,0,0,0,0,0
$GC,12531,0.98,434.0,870.3,9.6,560,12543,0.03,0.75,7.32,0.978,6,0.102,0.052,3371,1587,1092,0,0,0,0,0,0
$GC,12862,0.98,434.0,834.1,11.2,571,12866,0.00,0.90,0.00,0.000,4,0.000,0.065,3375,1045,1089,0,0,0,0,0,0
$GC,12934,0.98,434.0,825.3,12.1,573,12939,0.00,0.90,0.00,0.000,6,0.000,0.050,3375,1594,1089,0,0,0,0,0,0
$GC,13270,0.98,434.0,784.6,12.0,584,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1594,1089,0,0,0,0,0,0
$GC,13576,0.98,434.0,748.1,11.9,594,13580,0.00,1.25,0.00,0.000,4,0.000,0.064,3381,845,1088,0,0,0,0,0,0
$GC,13644,0.98,434.0,740.2,11.8,596,13648,0.03,1.20,0.00,0.000,6,0.173,0.049,3370,1589,1087,0,0,0,0,0,0
$GC,13984,1.00,434.0,701.1,11.3,607,13986,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1589,1087,0,0,0,0,0,0
$GC,14291,1.02,434.0,668.0,10.9,617,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1589,1087,0,0,0,0,0,0
$GC,14597,1.05,434.0,634.7,10.7,627,14600,0.00,1.15,0.00,0.000,4,0.000,0.054,3370,2318,1087,0,0,0,0,0,0
$GC,14686,1.08,434.0,624.9,10.2,629,14690,0.00,1.17,0.00,0.000,6,0.000,0.057,3375,1590,1086,0,0,0,0,0,0
$GC,15004,1.08,434.0,590.0,11.2,640,15008,0.05,0.55,0.00,0.000,4,0.166,0.057,3411,1935,1086,0,0,0,0,0,0
$GC,15082,1.03,434.0,581.1,10.6,642,15087,0.10,0.55,0.00,0.000,6,0.142,0.060,3382,1585,1086,0,0,0,0,0,0
$GC,15412,1.03,434.0,546.1,10.5,653,15415,0.00,0.57,0.00,0.000,4,0.000,0.057,3381,1958,1086,0,0,0,0,0,0
$GC,15523,1.03,434.0,533.9,10.9,656,15527,0.00,0.62,0.00,0.000,6,0.000,0.060,3384,1577,1086,0,0,0,0,0,0
$GC,15853,1.03,434.0,497.7,11.2,667,15857,0.00,0.45,0.00,0.000,4,0.000,0.057,3384,1870,1086,0,0,0,0,0,0
$GC,15908,1.03,434.0,491.2,11.1,668,15912,0.00,0.47,0.00,0.000,6,0.000,0.066,3386,1582,1086,0,0,0,0,0,0
$GC,16227,1.03,434.0,456.6,10.8,679,16228,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1582,1086,0,0,0,0,0,0
$GC,16533,1.03,434.0,424.4,10.6,689,16536,0.00,1.58,0.00,0.000,4,0.000,0.057,3386,2551,1086,0,0,0,0,0,0
$GC,16601,1.03,434.0,417.2,12.3,691,16605,0.03,1.58,0.00,0.000,6,0.190,0.055,3384,1578,1086,0,0,0,0,0,0
$GC,16941,1.03,434.0,380.5,10.7,702,16944,0.00,0.57,0.00,0.000,4,0.000,0.056,3384,1954,1086,0,0,0,0,0,0
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$GC,20446,1.05,461.4,11.7,10.2,946,20452,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1586,978,0,0,0,0,0,0
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$STATE,20540,end climb,SURFACE_DEPTH_REACHED
$STATE,20540,begin surface coast
$FINISH,2.3,1.002322
$STATE,20583,end surface coast,CONTROL_FINISHED_OK
$STATE,20583,begin surface
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$SM_GC,3.20,8.65,0.00,0.00,0.037,0.000,0.000,95,1918,973,-9.17,0.20,463.12
$IRIDIUM_FIX,-4227.40,-348.65,170113,202010
$TT8_MAMPS,0.026964
$HUMID,48.54
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,22.2,83.047
$10V_AH,9.8,64.208
$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
$DEVICE_SECS,22.250,68.725,570.125,0.000,0.000,25.326,40.468,244.635,0.250,0.000,24.006,2504.889,14575.004,623.521,3154.427,254.917,33.373,1915.695,0.000,2792.427,0.000,1.009,0.000
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$SENSOR_SECS,649.243,928.486,663.117,76.955,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,57039,968
$CAP_FILE_SIZE,173010,0
$CFSIZE,2097086464,2030436352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180113,080405,-4241.976,-344.755,32,0.9,32,-22.2