version: 66.07.10.p01
glider: 573
mission: 4
dive: 557
start: 2 4 113 14 21 30
data:
$ID,573
$MISSION,4
$DIVE,557
$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,-6024.6128
$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,29
$R_STBD_OVSHOOT,32
$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,536
$GPS1,040213,141253,-4219.723,-302.055,37,1.4,37,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-70.1
$GPS2,040213,142036,-4219.701,-302.124,21,1.4,21,-22.4
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-130.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.227,0.152
$KALMAN_X,-456532.6,-62.8,-416.2,703613.9,-4868.7
$KALMAN_Y,85204.2,727.6,-685.7,-130663.9,3864.3
$MHEAD_RNG_PITCHd_Wd,78.6,157482,-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,-6.95,0.000,2,0.000,0.000,81,1913,965,0,0,0,0,0,0
$GC,38,-1.00,-165.4,3.3,-0.0,1,171,10.52,2.08,-111.38,0.000,4,0.213,0.074,2724,698,3539,0,0,0,0,0,0
$GC,225,-1.00,-165.4,11.3,-11.7,32,232,0.00,1.98,0.00,0.000,6,0.000,0.049,2715,1907,3540,0,0,0,0,0,0
$GC,306,-1.00,-165.4,20.1,-11.5,45,313,0.00,0.75,0.00,0.000,4,0.000,0.058,2711,2389,3540,0,0,0,0,0,0
$GC,369,-1.03,-165.4,27.3,-11.4,55,376,0.00,0.75,0.00,0.000,6,0.000,0.053,2712,1911,3541,0,0,0,0,0,0
$GC,446,-1.03,-165.4,36.3,-10.9,68,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1912,3541,0,0,0,0,0,0
$GC,685,-1.03,-165.4,60.0,-10.1,109,688,0.00,0.75,0.00,0.000,4,0.000,0.058,2708,2389,3541,0,0,0,0,0,0
$GC,797,-1.07,-165.4,71.7,-9.9,119,801,0.00,0.75,0.00,0.000,6,0.000,0.051,2708,1907,3541,0,0,0,0,0,0
$GC,1124,-1.11,-165.4,104.9,-9.8,148,1128,0.00,1.08,0.00,0.000,4,0.000,0.058,2704,2577,3542,0,0,0,0,0,0
$GC,1212,-1.15,-165.4,113.2,-9.0,153,1216,0.05,1.05,0.00,0.000,6,0.066,0.050,2652,1913,3542,0,0,0,0,0,0
$GC,1545,-1.12,-165.4,146.4,-10.2,174,1546,0.12,0.00,0.00,0.000,6,0.166,0.000,2686,1913,3542,0,0,0,0,0,0
$GC,1856,-1.14,-165.4,178.3,-10.6,194,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1913,3542,0,0,0,0,0,0
$GC,2181,-1.16,-165.4,216.7,-12.5,213,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1913,3542,0,0,0,0,0,0
$GC,2492,-1.19,-165.4,258.2,-14.0,228,2494,0.05,0.00,0.00,0.000,6,0.161,0.000,2644,1913,3542,0,0,0,0,0,0
$GC,2800,-1.15,-165.4,301.7,-14.0,243,2804,0.12,0.85,0.00,0.000,4,0.156,0.057,2675,2439,3542,0,0,0,0,0,0
$GC,2910,-1.15,-165.4,316.3,-12.1,246,2915,0.00,0.85,0.00,0.000,6,0.000,0.049,2675,1897,3542,0,0,0,0,0,0
$GC,3240,-1.15,-165.4,353.4,-10.7,257,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1897,3542,0,0,0,0,0,0
$GC,3547,-1.15,-165.4,382.8,-9.3,267,3551,0.00,1.12,0.00,0.000,4,0.000,0.054,2675,1187,3542,0,0,0,0,0,0
$GC,3650,-1.15,-165.4,392.0,-8.7,270,3653,0.00,1.15,0.00,0.000,6,0.000,0.047,2670,1913,3542,0,0,0,0,0,0
$GC,3991,-1.15,-165.4,421.8,-8.8,281,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1913,3541,0,0,0,0,0,0
$GC,4297,-1.15,-165.4,451.5,-10.3,291,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1913,3541,0,0,0,0,0,0
$GC,4603,-1.15,-165.4,487.2,-12.2,301,4606,0.00,0.47,0.00,0.000,4,0.000,0.057,2670,1604,3541,0,0,0,0,0,0
$GC,4697,-1.15,-165.4,499.5,-13.2,303,4703,0.00,0.50,0.00,0.000,6,0.000,0.056,2668,1919,3541,0,0,0,0,0,0
$GC,5010,-1.15,-165.4,539.8,-13.0,314,5014,0.00,0.75,0.00,0.000,4,0.000,0.055,2668,1441,3540,0,0,0,0,0,0
$GC,5088,-1.15,-165.4,550.0,-12.5,316,5093,0.03,0.75,0.00,0.000,6,0.180,0.053,2674,1910,3540,0,0,0,0,0,0
$GC,5418,-1.15,-165.4,590.4,-12.1,327,5422,0.00,1.08,0.00,0.000,4,0.000,0.054,2674,1238,3539,0,0,0,0,0,0
$GC,5675,-1.15,-165.4,619.5,-11.3,334,5680,0.00,1.08,0.00,0.000,6,0.000,0.048,2670,1912,3538,0,0,0,0,0,0
$GC,5994,-1.15,-165.4,652.8,-10.2,345,5998,0.00,2.30,0.00,0.000,4,0.000,0.057,2670,500,3538,0,0,0,0,0,0
$GC,6100,-1.13,-165.4,663.5,-10.5,348,6105,0.10,2.25,0.00,0.000,6,0.170,0.046,2685,1912,3538,0,0,0,0,0,0
$GC,6425,-1.17,-165.4,693.5,-9.5,359,6428,0.00,0.73,0.00,0.000,4,0.000,0.056,2685,1454,3537,0,0,0,0,0,0
$GC,6682,-1.20,-165.4,719.1,-10.9,366,6687,0.03,0.70,0.00,0.000,6,0.094,0.053,2645,1905,3537,0,0,0,0,0,0
$GC,7001,-1.18,-165.4,754.0,-11.2,377,7006,0.10,2.33,0.00,0.000,4,0.174,0.058,2671,504,3536,0,0,0,0,0,0
$GC,7117,-1.18,-165.4,767.3,-11.3,380,7121,0.00,2.25,0.00,0.000,6,0.000,0.047,2661,1910,3535,0,0,0,0,0,0
$GC,7436,-1.18,-165.4,803.3,-11.5,391,7440,0.00,2.30,0.00,0.000,4,0.000,0.058,2661,511,3534,0,0,0,0,0,0
$GC,7538,-1.14,-165.4,815.0,-11.5,394,7542,0.10,2.22,0.00,0.000,6,0.171,0.047,2676,1910,3534,0,0,0,0,0,0
$GC,7878,-1.17,-165.4,853.6,-11.2,405,7882,0.00,2.25,0.00,0.000,4,0.000,0.059,2677,534,3533,0,0,0,0,0,0
$GC,7990,-1.17,-165.4,866.4,-10.8,408,7994,0.00,2.20,0.00,0.000,6,0.000,0.047,2666,1922,3532,0,0,0,0,0,0
$GC,8314,-1.17,-165.4,901.7,-11.0,419,8318,0.00,0.47,0.00,0.000,4,0.000,0.059,2666,1613,3532,0,0,0,0,0,0
$GC,8572,-1.17,-165.4,930.2,-11.2,426,8576,0.00,0.47,0.00,0.000,6,0.000,0.058,2664,1912,3532,0,0,0,0,0,0
$GC,8891,-1.10,-165.4,964.1,-11.0,437,8895,0.12,1.90,0.00,0.000,4,0.164,0.062,2692,3064,3531,0,0,0,0,0,0
$GC,8974,-1.15,-165.4,972.4,-9.5,439,8978,0.00,1.83,0.00,0.000,6,0.000,0.049,2692,1917,3531,0,0,0,0,0,0
$STATE,9265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9265,begin apogee
$GC,9271,-0.29,0.0,1001.0,10.1,449,9419,0.80,0.00,144.43,1.252,6,0.109,0.000,2950,1584,2862,0,0,0,0,0,0
$STATE,9420,end apogee,CONTROL_FINISHED_OK
$STATE,9420,begin climb
$GC,9422,1.00,165.4,1013.2,0.0,454,9583,1.23,2.60,150.07,1.220,4,0.055,0.060,3392,179,2186,0,0,0,0,0,0
$GC,9838,0.73,329.4,1015.4,3.3,467,9993,0.38,2.28,146.75,1.222,6,0.172,0.045,3291,1589,1518,0,0,0,0,0,0
$GC,10331,0.74,409.3,986.3,6.6,483,10411,0.00,2.50,73.82,1.206,4,0.000,0.067,3302,186,1192,0,0,0,0,0,0
$GC,10665,0.81,433.7,960.5,8.8,493,10694,0.00,2.28,22.95,1.157,6,0.000,0.050,3302,1587,1093,0,0,0,0,0,0
$GC,11032,0.89,455.3,929.1,8.9,505,11059,0.10,1.75,21.35,1.151,4,0.099,0.066,3362,584,1004,0,0,0,0,0,0
$GC,11153,0.89,455.3,916.7,10.9,507,11159,0.08,1.65,0.00,0.000,6,0.129,0.048,3336,1589,1000,0,0,0,0,0,0
$GC,11467,0.92,455.3,885.1,10.3,518,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1589,998,0,0,0,0,0,0
$GC,11773,0.95,455.8,854.6,9.8,528,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1589,997,0,0,0,0,0,0
$GC,12079,0.98,460.0,824.8,9.6,538,12089,0.10,0.60,4.32,0.801,4,0.103,0.066,3387,1237,986,0,0,0,0,0,0
$GC,12169,0.95,460.0,815.5,10.2,540,12173,0.08,0.55,0.00,0.000,6,0.142,0.055,3362,1585,986,0,0,0,0,0,0
$GC,12487,0.95,460.0,783.7,9.9,551,12490,0.00,0.77,0.00,0.000,4,0.000,0.063,3365,1112,985,0,0,0,0,0,0
$GC,12656,0.95,460.0,766.8,10.3,556,12660,0.00,0.75,0.00,0.000,6,0.000,0.051,3365,1582,985,0,0,0,0,0,0
$GC,12997,0.95,470.2,734.6,9.4,567,13012,0.00,1.10,11.82,1.015,4,0.000,0.065,3369,953,945,0,0,0,0,0,0
$GC,13096,0.95,470.2,724.7,9.8,570,13100,0.03,1.02,0.00,0.000,6,0.171,0.049,3359,1586,943,0,0,0,0,0,0
$GC,13431,0.95,470.2,691.7,9.9,581,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1586,942,0,0,0,0,0,0
$GC,13737,0.95,470.2,660.5,10.7,591,13741,0.00,1.60,0.00,0.000,4,0.000,0.067,3367,638,942,0,0,0,0,0,0
$GC,13849,0.95,470.2,648.2,11.1,594,13853,0.00,1.52,0.00,0.000,6,0.000,0.049,3367,1581,941,0,0,0,0,0,0
$GC,14179,0.95,470.2,612.2,10.9,605,14183,0.00,0.65,0.00,0.000,4,0.000,0.067,3369,1181,941,0,0,0,0,0,0
$GC,14273,0.95,470.2,601.8,10.2,607,14279,0.05,0.68,0.00,0.000,6,0.214,0.054,3358,1594,941,0,0,0,0,0,0
$GC,14586,0.98,470.2,569.3,10.2,618,14590,0.00,0.82,0.00,0.000,4,0.000,0.065,3361,1094,941,0,0,0,0,0,0
$GC,14698,1.00,481.8,558.4,9.3,621,14714,0.00,0.80,12.02,0.927,6,0.000,0.054,3361,1590,897,0,0,0,0,0,0
$GC,15022,1.03,498.7,528.6,9.1,631,15046,0.05,0.88,18.25,0.941,4,0.168,0.064,3398,1084,828,0,0,0,0,0,0
$GC,15146,1.03,498.7,516.4,10.0,634,15153,0.08,0.82,0.00,0.000,6,0.178,0.050,3375,1587,825,0,0,0,0,0,0
$GC,15460,1.03,530.6,489.1,8.5,645,15495,0.00,0.55,31.55,0.936,4,0.000,0.067,3377,1272,697,0,0,0,0,0,0
$GC,15688,1.09,546.3,468.9,9.2,652,15708,0.03,0.50,15.27,0.876,6,0.102,0.057,3408,1586,633,0,0,0,0,0,0
$GC,16028,1.09,546.3,435.4,10.1,663,16031,0.00,1.20,0.00,0.000,4,0.000,0.065,3414,873,629,0,0,0,0,0,0
$GC,16105,1.09,546.3,426.8,11.4,665,16110,0.03,1.17,0.00,0.000,6,0.167,0.050,3405,1593,628,0,0,0,0,0,0
$GC,16435,1.09,546.3,389.0,11.9,676,16438,0.00,1.62,0.00,0.000,4,0.000,0.066,3411,630,628,0,0,0,0,0,0
$GC,16531,1.09,546.3,377.5,11.4,678,16535,0.00,1.55,0.00,0.000,6,0.000,0.050,3411,1580,627,0,0,0,0,0,0
$GC,16843,1.09,546.3,339.9,11.7,689,16847,0.00,1.12,0.00,0.000,4,0.000,0.067,3416,912,627,0,0,0,0,0,0
$GC,16911,1.09,546.3,332.3,11.0,691,16915,0.03,1.10,0.00,0.000,6,0.174,0.050,3406,1590,627,0,0,0,0,0,0
$GC,17242,1.09,546.3,295.5,11.2,702,17246,0.00,1.00,0.00,0.000,4,0.000,0.063,3410,988,627,0,0,0,0,0,0
$GC,17337,1.09,546.3,285.0,11.2,706,17341,0.00,0.95,0.00,0.000,6,0.000,0.050,3410,1580,627,0,0,0,0,0,0
$GC,17664,1.09,546.3,246.9,12.3,722,17665,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1580,627,0,0,0,0,0,0
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$GC,19689,1.11,550.6,13.4,9.6,897,19697,0.00,0.75,3.25,0.317,4,0.000,0.057,3410,1118,617,0,0,0,0,0,0
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$STATE,19790,end climb,SURFACE_DEPTH_REACHED
$STATE,19790,begin surface coast
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$STATE,19821,end surface coast,CONTROL_FINISHED_OK
$STATE,19821,begin surface
$SM_CCo,19900,0.00,0.000,0,0,615,550.93
$SM_GC,3.42,8.77,0.00,0.00,0.034,0.000,0.000,69,1917,615,-9.19,0.20,550.93
$IRIDIUM_FIX,-4206.99,-303.52,040213,080840
$TT8_MAMPS,0.026964
$HUMID,50.39
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.2,99.752
$10V_AH,9.8,72.295
$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
$DEVICE_SECS,23.200,88.550,655.875,0.000,0.000,32.262,39.706,233.440,0.000,0.000,23.653,2441.847,13679.501,676.051,3276.985,278.878,33.372,2059.381,0.000,2909.407,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.174,852.655,625.001,72.834,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354556
$DATA_FILE_SIZE,53653,918
$CAP_FILE_SIZE,177185,0
$CFSIZE,2097086464,2020868096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040213,195423,-4218.561,-302.866,37,1.3,37,-22.4