version: 66.07.10.p01
glider: 573
mission: 4
dive: 561
start: 2 5 113 12 58 15
data:
$ID,573
$MISSION,4
$DIVE,561
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-6034.521
$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,3045
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,1860
$C_ROLL_CLIMB,1560
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,36
$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,540
$GPS1,050213,124959,-4215.129,-304.882,58,1.0,58,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-69.0
$GPS2,050213,125755,-4215.084,-304.871,21,1.0,21,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,HEADING
$TGT_LATLONG,-4215.084,-250.282
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.235,0.139
$KALMAN_X,-475539.9,-100.9,-60.1,718983.0,-6186.4
$KALMAN_Y,89397.0,5.9,-1020.7,-127416.9,4958.2
$MHEAD_RNG_PITCHd_Wd,112.4,20000,-16.7,-9.706
$D_GRID,990
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.05,-165.4,0.0,0.0,0,36,0.00,0.00,-7.28,0.000,2,0.000,0.000,83,1921,939,0,0,0,0,0,0
$GC,39,-1.05,-165.4,3.2,-0.0,1,172,10.52,2.50,-112.00,0.000,4,0.216,0.073,2706,455,3538,0,0,0,0,0,0
$GC,280,-1.02,-165.4,19.7,-13.2,41,288,0.05,2.28,0.00,0.000,6,0.155,0.047,2713,1854,3540,0,0,0,0,0,0
$GC,361,-1.02,-165.4,29.1,-10.6,54,368,0.00,1.42,0.00,0.000,4,0.000,0.057,2707,2736,3540,0,0,0,0,0,0
$GC,475,-1.05,-165.4,41.7,-11.1,73,480,0.00,1.42,0.00,0.000,6,0.000,0.050,2708,1850,3541,0,0,0,0,0,0
$GC,811,-1.05,-165.4,78.9,-10.6,118,815,0.00,1.50,0.00,0.000,4,0.000,0.057,2700,2779,3541,0,0,0,0,0,0
$GC,962,-1.09,-165.4,96.0,-10.6,131,967,0.00,1.48,0.00,0.000,6,0.000,0.048,2700,1856,3541,0,0,0,0,0,0
$GC,1390,-1.13,-165.4,138.7,-9.9,160,1394,0.05,2.28,0.00,0.000,4,0.164,0.059,2646,3263,3542,0,0,0,0,0,0
$GC,1508,-1.10,-165.4,151.0,-10.4,167,1513,0.15,2.22,0.00,0.000,6,0.147,0.047,2689,1853,3542,0,0,0,0,0,0
$GC,2037,-1.12,-165.4,200.9,-9.7,201,2041,0.00,1.67,0.00,0.000,4,0.000,0.057,2681,2894,3542,0,0,0,0,0,0
$GC,2143,-1.12,-165.4,212.1,-10.2,205,2149,0.00,1.65,0.00,0.000,6,0.000,0.046,2682,1853,3542,0,0,0,0,0,0
$GC,2668,-1.12,-165.4,271.1,-11.8,231,2671,0.00,1.80,0.00,0.000,4,0.000,0.057,2674,2985,3543,0,0,0,0,0,0
$GC,2785,-1.12,-165.4,285.1,-11.6,236,2789,0.00,1.77,0.00,0.000,6,0.000,0.044,2674,1863,3543,0,0,0,0,0,0
$GC,3325,-1.12,-165.4,344.9,-11.0,256,3329,0.00,2.28,0.00,0.000,4,0.000,0.058,2663,3270,3542,0,0,0,0,0,0
$GC,3453,-1.12,-165.4,358.9,-10.7,259,3459,0.08,2.22,0.00,0.000,6,0.174,0.046,2682,1855,3542,0,0,0,0,0,0
$GC,3980,-1.12,-165.4,411.3,-9.9,277,3984,0.00,2.28,0.00,0.000,4,0.000,0.059,2673,3264,3542,0,0,0,0,0,0
$GC,4112,-1.14,-165.4,424.7,-9.9,281,4116,0.00,2.22,0.00,0.000,6,0.000,0.046,2672,1853,3541,0,0,0,0,0,0
$GC,4630,-1.14,-165.4,476.9,-9.9,298,4634,0.00,2.30,0.00,0.000,4,0.000,0.060,2662,3266,3541,0,0,0,0,0,0
$GC,4814,-1.14,-165.4,495.8,-10.8,303,4819,0.05,2.20,0.00,0.000,6,0.198,0.047,2675,1860,3540,0,0,0,0,0,0
$GC,5347,-1.14,-165.4,549.1,-10.4,321,5351,0.00,1.70,0.00,0.000,4,0.000,0.060,2668,2900,3540,0,0,0,0,0,0
$GC,5436,-1.14,-165.4,558.6,-10.6,323,5440,0.00,1.65,0.00,0.000,6,0.000,0.048,2668,1864,3539,0,0,0,0,0,0
$GC,5969,-1.14,-165.4,614.6,-10.4,341,5972,0.00,1.95,0.00,0.000,4,0.000,0.060,2659,3061,3538,0,0,0,0,0,0
$GC,6052,-1.14,-165.4,623.5,-10.5,343,6056,0.03,1.92,0.00,0.000,6,0.162,0.047,2670,1859,3538,0,0,0,0,0,0
$GC,6592,-1.14,-165.4,674.4,-9.3,361,6596,0.00,1.98,0.00,0.000,4,0.000,0.060,2662,3072,3537,0,0,0,0,0,0
$GC,6698,-1.14,-165.4,684.5,-9.4,364,6703,0.05,1.95,0.00,0.000,6,0.198,0.048,2674,1847,3536,0,0,0,0,0,0
$GC,7220,-1.16,-165.4,730.1,-8.8,381,7224,0.00,2.30,0.00,0.000,4,0.000,0.060,2665,3263,3535,0,0,0,0,0,0
$GC,7372,-1.16,-165.4,744.0,-9.2,385,7376,0.00,2.25,0.00,0.000,6,0.000,0.048,2664,1851,3534,0,0,0,0,0,0
$GC,7899,-1.16,-165.4,793.5,-9.8,402,7903,0.00,2.33,0.00,0.000,4,0.000,0.060,2654,3272,3533,0,0,0,0,0,0
$GC,8050,-1.16,-165.4,809.7,-10.9,406,8055,0.05,2.28,0.00,0.000,6,0.203,0.049,2667,1847,3532,0,0,0,0,0,0
$GC,8577,-1.16,-165.4,869.3,-11.9,423,8581,0.00,2.33,0.00,0.000,4,0.000,0.062,2657,3266,3531,0,0,0,0,0,0
$GC,8711,-1.16,-165.4,886.8,-13.1,427,8716,0.00,2.28,0.00,0.000,6,0.000,0.050,2657,1860,3531,0,0,0,0,0,0
$GC,9231,-1.16,-165.4,949.8,-12.1,444,9235,0.00,2.33,0.00,0.000,4,0.000,0.063,2647,3272,3530,0,0,0,0,0,0
$GC,9331,-1.16,-165.4,961.8,-11.0,447,9335,0.10,2.28,0.00,0.000,6,0.160,0.050,2674,1850,3530,0,0,0,0,0,0
$STATE,9603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9603,begin apogee
$GC,9609,-0.31,0.0,992.1,11.1,456,9757,0.82,0.00,144.38,1.253,6,0.112,0.000,2939,1551,2862,0,0,0,0,0,0
$STATE,9757,end apogee,CONTROL_FINISHED_OK
$STATE,9758,begin climb
$GC,9760,1.05,165.4,1005.7,0.0,461,9917,1.25,1.58,150.48,1.224,4,0.053,0.050,3385,2458,2187,0,0,0,0,0,0
$GC,10170,0.81,329.8,1008.5,3.2,473,10327,0.25,1.45,147.77,1.222,6,0.164,0.050,3311,1568,1516,0,0,0,0,0,0
$GC,10636,0.79,333.3,969.6,9.6,489,10640,0.00,0.57,0.00,0.000,4,0.000,0.056,3311,1935,1507,0,0,0,0,0,0
$GC,10738,0.77,333.3,959.7,10.1,492,10742,0.05,0.60,0.00,0.000,6,0.149,0.060,3295,1560,1507,0,0,0,0,0,0
$GC,11078,0.77,346.9,927.8,9.2,503,11096,0.00,0.00,15.57,1.132,6,0.000,0.000,3295,1560,1446,0,0,0,0,0,0
$GC,11385,0.77,379.5,901.3,8.4,513,11418,0.00,0.00,31.80,1.170,6,0.000,0.000,3295,1560,1314,0,0,0,0,0,0
$GC,11936,0.82,436.6,857.8,7.5,531,11994,0.00,0.00,54.72,1.165,6,0.000,0.000,3295,1560,1081,0,0,0,0,0,0
$GC,12516,0.92,443.6,807.3,9.4,550,12528,0.12,2.17,5.93,0.907,4,0.084,0.067,3370,253,1052,0,0,0,0,0,0
$GC,12615,0.90,443.6,797.2,10.5,553,12620,0.12,2.12,0.00,0.000,6,0.152,0.048,3336,1569,1052,0,0,0,0,0,0
$GC,13135,0.93,443.6,740.0,11.5,570,13139,0.00,0.75,0.00,0.000,4,0.000,0.065,3339,1112,1050,0,0,0,0,0,0
$GC,13393,0.97,443.6,710.1,11.3,577,13397,0.00,0.73,0.00,0.000,6,0.000,0.054,3339,1564,1049,0,0,0,0,0,0
$GC,13926,1.01,443.6,651.7,10.7,595,13930,0.10,1.62,0.00,0.000,4,0.101,0.069,3395,590,1049,0,0,0,0,0,0
$GC,14034,0.95,443.6,640.3,10.2,598,14038,0.10,1.58,0.00,0.000,6,0.141,0.048,3353,1560,1049,0,0,0,0,0,0
$GC,14554,0.95,474.1,592.6,8.5,615,14588,0.00,0.65,30.05,1.008,4,0.000,0.063,3356,1175,930,0,0,0,0,0,0
$GC,14841,0.98,509.8,568.4,8.3,623,14882,0.00,0.62,35.25,0.985,6,0.000,0.055,3356,1562,782,0,0,0,0,0,0
$GC,15404,1.05,514.2,517.4,9.5,642,15414,0.08,2.42,3.97,0.597,4,0.125,0.071,3409,159,765,0,0,0,0,0,0
$GC,15573,1.02,514.2,499.5,11.3,647,15578,0.12,2.25,0.00,0.000,6,0.156,0.050,3375,1561,763,0,0,0,0,0,0
$GC,16093,1.05,514.2,441.8,11.3,664,16097,0.00,2.28,0.00,0.000,4,0.000,0.069,3385,215,763,0,0,0,0,0,0
$GC,16233,1.05,514.2,426.1,11.3,668,16237,0.00,2.17,0.00,0.000,6,0.000,0.049,3385,1561,762,0,0,0,0,0,0
$GC,16772,1.05,518.4,371.5,9.5,686,16782,0.00,2.40,5.03,0.645,4,0.000,0.069,3396,155,748,0,0,0,0,0,0
$GC,16934,1.05,518.4,356.0,10.1,691,16938,0.00,2.28,0.00,0.000,6,0.000,0.050,3396,1560,747,0,0,0,0,0,0
$GC,17454,1.05,535.9,309.3,9.0,708,17478,0.00,2.42,17.83,0.802,4,0.000,0.070,3406,158,677,0,0,0,0,0,0
$GC,17722,1.05,535.9,281.0,11.2,719,17727,0.10,2.28,0.00,0.000,6,0.161,0.050,3380,1561,674,0,0,0,0,0,0
$GC,18257,1.10,535.9,218.7,11.9,745,18261,0.00,2.38,0.00,0.000,4,0.000,0.069,3390,160,673,0,0,0,0,0,0
$GC,18431,1.12,535.9,196.7,12.0,753,18436,0.00,2.28,0.00,0.000,6,0.000,0.049,3390,1567,672,0,0,0,0,0,0
$GC,18969,1.16,535.9,137.4,10.2,788,18974,0.08,2.40,0.00,0.000,4,0.121,0.068,3446,152,672,0,0,0,0,0,0
$GC,19093,1.09,535.9,123.6,10.0,795,19099,0.17,2.28,0.00,0.000,6,0.149,0.047,3397,1563,672,0,0,0,0,0,0
$GC,19627,1.11,535.9,62.7,11.2,839,19631,0.00,2.38,0.00,0.000,4,0.000,0.067,3408,150,672,0,0,0,0,0,0
$GC,19834,1.11,535.9,40.0,10.2,872,19841,0.00,2.30,0.00,0.000,6,0.000,0.048,3408,1560,672,0,0,0,0,0,0
$STATE,20169,end climb,SURFACE_DEPTH_REACHED
$STATE,20169,begin surface coast
$FINISH,2.5,1.001355
$STATE,20196,end surface coast,CONTROL_FINISHED_OK
$STATE,20196,begin surface
$SM_CCo,20274,0.00,0.000,0,0,670,537.69
$SM_GC,3.21,8.77,0.00,0.00,0.036,0.000,0.000,91,1866,670,-9.16,0.17,537.69
$IRIDIUM_FIX,-4201.18,-306.27,050213,070752
$TT8_MAMPS,0.026964
$HUMID,50.74
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.2,100.696
$10V_AH,9.8,72.743
$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,23.275,112.900,642.775,0.000,0.000,25.996,46.231,246.598,0.000,0.000,23.921,2401.008,14208.508,665.949,3191.512,274.149,0.000,1945.482,0.000,2824.096,0.000,1.009,0.000
$DEVICE_MAMPS,216.495,73.440,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.684,855.875,644.734,71.864,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,56922,933
$CAP_FILE_SIZE,157241,0
$CFSIZE,2097086464,2020376576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050213,183728,-4214.201,-305.882,41,1.2,43,-22.4