version: 66.07.10.p01
glider: 573
mission: 4
dive: 562
start: 2 5 113 18 48 26
data:
$ID,573
$MISSION,4
$DIVE,562
$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,-6036.8569
$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,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,541
$GPS1,050213,183728,-4214.201,-305.882,41,1.2,43,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-69.6
$GPS2,050213,184805,-4214.116,-305.886,28,1.8,28,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,HEADING
$TGT_LATLONG,-4214.116,-251.301
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-7.22,0.000,2,0.000,0.000,90,1866,841,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,177,10.35,2.35,-120.03,0.000,4,0.213,0.071,2701,452,3536,0,0,0,0,0,0
$GC,292,-1.05,-165.4,20.1,-11.3,43,299,0.03,2.30,0.00,0.000,6,0.192,0.047,2699,1865,3538,0,0,0,0,0,0
$GC,373,-1.03,-165.4,29.1,-11.5,56,380,0.00,1.75,0.00,0.000,4,0.000,0.058,2692,2940,3538,0,0,0,0,0,0
$GC,582,-1.03,-165.4,52.9,-10.6,92,590,0.05,1.73,0.00,0.000,6,0.137,0.047,2711,1859,3539,0,0,0,0,0,0
$GC,920,-1.07,-165.4,88.7,-9.8,129,924,0.00,2.10,0.00,0.000,4,0.000,0.059,2701,3168,3539,0,0,0,0,0,0
$GC,1155,-1.13,-165.4,113.0,-10.9,146,1159,0.05,2.05,0.00,0.000,6,0.158,0.047,2658,1856,3539,0,0,0,0,0,0
$GC,1684,-1.10,-165.4,172.4,-11.2,180,1689,0.12,2.30,0.00,0.000,4,0.161,0.058,2682,3266,3540,0,0,0,0,0,0
$GC,1942,-1.13,-165.4,200.0,-10.6,195,1947,0.00,2.22,0.00,0.000,6,0.000,0.046,2682,1855,3539,0,0,0,0,0,0
$GC,2465,-1.13,-165.4,252.1,-10.3,221,2469,0.00,2.28,0.00,0.000,4,0.000,0.059,2672,3266,3540,0,0,0,0,0,0
$GC,2701,-1.13,-165.4,279.6,-11.7,231,2708,0.00,2.22,0.00,0.000,6,0.000,0.046,2672,1866,3540,0,0,0,0,0,0
$GC,3240,-1.13,-165.4,348.5,-13.0,252,3244,0.00,2.28,0.00,0.000,4,0.000,0.059,2661,3269,3539,0,0,0,0,0,0
$GC,3380,-1.13,-165.4,366.0,-12.6,256,3385,0.08,2.22,0.00,0.000,6,0.174,0.046,2680,1856,3539,0,0,0,0,0,0
$GC,3926,-1.13,-165.4,422.3,-9.3,274,3930,0.00,2.30,0.00,0.000,4,0.000,0.059,2670,3273,3539,0,0,0,0,0,0
$GC,4061,-1.13,-165.4,434.7,-8.4,278,4065,0.00,2.22,0.00,0.000,6,0.000,0.045,2670,1850,3538,0,0,0,0,0,0
$GC,4580,-1.13,-165.4,480.2,-9.2,295,4584,0.00,2.30,0.00,0.000,4,0.000,0.058,2660,3274,3538,0,0,0,0,0,0
$GC,4780,-1.13,-165.4,500.4,-10.4,301,4785,0.08,2.25,0.00,0.000,6,0.174,0.047,2678,1849,3538,0,0,0,0,0,0
$GC,5301,-1.17,-165.4,556.6,-11.5,318,5305,0.00,2.30,0.00,0.000,4,0.000,0.058,2668,3265,3537,0,0,0,0,0,0
$GC,5508,-1.17,-165.4,581.0,-11.2,324,5512,0.00,2.25,0.00,0.000,6,0.000,0.047,2668,1847,3536,0,0,0,0,0,0
$GC,6052,-1.17,-165.4,639.6,-10.4,342,6056,0.00,2.33,0.00,0.000,4,0.000,0.060,2658,3269,3535,0,0,0,0,0,0
$GC,6250,-1.17,-165.4,659.4,-9.4,348,6254,0.00,2.22,0.00,0.000,6,0.000,0.048,2657,1854,3535,0,0,0,0,0,0
$GC,6769,-1.17,-165.4,711.1,-10.1,365,6773,0.00,2.30,0.00,0.000,4,0.000,0.060,2647,3265,3533,0,0,0,0,0,0
$GC,6958,-1.17,-165.4,731.0,-11.1,370,6964,0.08,2.22,0.00,0.000,6,0.177,0.049,2666,1859,3532,0,0,0,0,0,0
$GC,7486,-1.17,-165.4,782.6,-9.9,388,7490,0.00,2.30,0.00,0.000,4,0.000,0.060,2656,3265,3531,0,0,0,0,0,0
$GC,7663,-1.17,-165.4,800.7,-10.6,393,7668,0.00,2.25,0.00,0.000,6,0.000,0.050,2656,1855,3531,0,0,0,0,0,0
$GC,8202,-1.17,-165.4,858.2,-10.9,411,8206,0.00,2.33,0.00,0.000,4,0.000,0.062,2645,3271,3530,0,0,0,0,0,0
$GC,8459,-1.17,-165.4,887.2,-11.6,418,8465,0.08,2.25,0.00,0.000,6,0.175,0.050,2665,1860,3529,0,0,0,0,0,0
$GC,8987,-1.17,-165.4,942.9,-10.6,436,8991,0.00,2.15,0.00,0.000,4,0.000,0.062,2656,3186,3528,0,0,0,0,0,0
$GC,9116,-1.17,-165.4,956.3,-10.1,440,9120,0.00,2.12,0.00,0.000,6,0.000,0.049,2656,1857,3527,0,0,0,0,0,0
$GC,9451,-1.17,-165.4,989.6,-9.8,451,9455,0.00,1.27,0.00,0.000,4,0.000,0.060,2651,2633,3527,0,0,0,0,0,0
$STATE,9459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9460,begin apogee
$GC,9467,-0.31,0.0,991.0,9.9,451,9615,0.90,0.00,143.98,1.248,6,0.125,0.000,2936,1554,2862,0,0,0,0,0,0
$STATE,9615,end apogee,CONTROL_FINISHED_OK
$STATE,9616,begin climb
$GC,9618,1.05,165.4,1002.5,0.0,456,9775,1.27,1.95,149.75,1.219,4,0.062,0.053,3382,2692,2187,0,0,0,0,0,0
$GC,9872,0.82,355.9,1010.2,2.2,464,10053,0.30,1.88,173.30,1.212,6,0.169,0.050,3311,1550,1410,0,0,0,0,0,0
$GC,10389,0.82,404.0,974.4,7.8,481,10438,0.00,1.12,44.42,1.187,4,0.000,0.063,3316,897,1214,0,0,0,0,0,0
$GC,10529,0.86,443.8,962.9,8.1,485,10573,0.00,1.10,38.53,1.173,6,0.000,0.050,3316,1564,1052,0,0,0,0,0,0
$GC,10887,0.92,465.5,931.1,8.8,497,10912,0.08,0.60,20.35,1.140,4,0.124,0.062,3364,1205,965,0,0,0,0,0,0
$GC,11063,0.92,465.5,913.7,9.9,502,11068,0.08,0.60,0.00,0.000,6,0.172,0.054,3344,1571,961,0,0,0,0,0,0
$GC,11393,0.96,465.5,881.6,9.8,513,11397,0.00,1.98,0.00,0.000,4,0.000,0.067,3354,374,959,0,0,0,0,0,0
$GC,11495,0.99,465.5,871.4,11.1,516,11499,0.00,1.90,0.00,0.000,6,0.000,0.049,3353,1561,958,0,0,0,0,0,0
$GC,12020,0.99,465.5,817.2,10.4,533,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1561,957,0,0,0,0,0,0
$GC,12540,0.99,465.5,763.2,10.3,550,12544,0.00,0.98,0.00,0.000,4,0.000,0.066,3358,977,956,0,0,0,0,0,0
$GC,12658,1.01,465.5,751.2,10.1,553,12661,0.00,0.93,0.00,0.000,6,0.000,0.050,3358,1554,956,0,0,0,0,0,0
$GC,13196,1.01,465.5,694.3,10.9,571,13200,0.00,1.75,0.00,0.000,4,0.000,0.068,3365,498,956,0,0,0,0,0,0
$GC,13313,1.01,465.5,681.0,10.3,574,13317,0.00,1.73,0.00,0.000,6,0.000,0.048,3366,1563,955,0,0,0,0,0,0
$GC,13852,1.01,465.5,621.9,10.5,592,13855,0.00,1.67,0.00,0.000,4,0.000,0.066,3373,541,955,0,0,0,0,0,0
$GC,13954,1.01,469.7,611.3,9.5,595,13958,0.00,1.65,0.00,0.000,6,0.000,0.049,3373,1592,955,0,0,0,0,0,0
$GC,14478,1.01,469.7,558.8,9.9,612,14483,0.00,2.42,0.00,0.000,4,0.000,0.068,3384,156,954,0,0,0,0,0,0
$GC,14611,0.99,469.7,545.7,10.3,616,14615,0.08,2.28,0.00,0.000,6,0.179,0.049,3366,1563,954,0,0,0,0,0,0
$GC,15130,0.99,469.7,492.3,10.7,633,15134,0.00,1.42,0.00,0.000,4,0.000,0.065,3372,720,954,0,0,0,0,0,0
$GC,15247,0.99,469.7,479.4,10.6,636,15251,0.00,1.38,0.00,0.000,6,0.000,0.049,3372,1564,954,0,0,0,0,0,0
$GC,15786,0.99,469.7,418.2,11.3,654,15790,0.00,1.15,0.00,0.000,4,0.000,0.063,3377,878,954,0,0,0,0,0,0
$GC,15914,0.99,469.7,403.8,10.4,657,15920,0.03,1.10,0.00,0.000,6,0.167,0.050,3367,1561,954,0,0,0,0,0,0
$GC,16442,0.99,472.5,348.9,9.6,675,16452,0.00,1.52,6.45,0.707,4,0.000,0.063,3374,654,935,0,0,0,0,0,0
$GC,16555,0.99,511.9,338.4,8.2,678,16600,0.00,1.48,39.38,0.848,6,0.000,0.049,3374,1561,774,0,0,0,0,0,0
$GC,17113,1.02,511.9,280.9,11.0,699,17117,0.00,0.55,0.00,0.000,4,0.000,0.066,3376,1223,767,0,0,0,0,0,0
$GC,17231,1.05,511.9,267.2,11.7,704,17235,0.00,0.52,0.00,0.000,6,0.000,0.055,3376,1557,767,0,0,0,0,0,0
$GC,17770,1.07,511.9,198.9,12.9,730,17773,0.00,0.57,0.00,0.000,4,0.000,0.068,3379,1207,767,0,0,0,0,0,0
$GC,17940,1.10,511.9,177.4,11.5,740,17944,0.00,0.55,0.00,0.000,6,0.000,0.054,3379,1555,766,0,0,0,0,0,0
$GC,18475,1.13,524.0,126.3,9.2,774,18494,0.08,1.25,10.88,0.646,4,0.121,0.062,3427,821,725,0,0,0,0,0,0
$GC,18640,1.08,524.0,108.8,10.6,783,18646,0.10,1.20,0.00,0.000,6,0.129,0.047,3394,1563,724,0,0,0,0,0,0
$GC,19181,1.08,524.0,50.4,11.0,838,19188,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1564,722,0,0,0,0,0,0
$GC,19539,1.04,568.5,12.9,8.0,899,19571,0.00,0.47,23.20,0.562,4,0.000,0.054,3393,1875,541,0,0,0,0,0,0
$GC,19598,1.01,568.5,6.7,10.3,908,19605,0.08,0.50,0.00,0.000,6,0.143,0.063,3369,1563,537,0,0,0,0,0,0
$STATE,19636,end climb,SURFACE_DEPTH_REACHED
$STATE,19636,begin surface coast
$FINISH,2.4,1.025666
$STATE,19673,end surface coast,CONTROL_FINISHED_OK
$STATE,19673,begin surface
$SM_CCo,19751,0.00,0.000,0,0,533,571.29
$SM_GC,3.31,8.62,0.00,0.00,0.031,0.000,0.000,82,1862,533,-9.17,0.06,571.29
$IRIDIUM_FIX,-4158.28,-309.18,050213,181842
$TT8_MAMPS,0.026964
$HUMID,50.35
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.60
$XPDR_PINGS,1
$24V_AH,22.3,100.928
$10V_AH,9.8,72.855
$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,22.500,103.625,650.225,0.000,0.000,54.030,120.983,239.966,0.250,0.000,30.566,2359.980,13750.472,638.606,3362.621,269.915,0.000,1984.553,0.000,2888.200,0.000,1.008,0.000
$DEVICE_MAMPS,212.670,71.145,1248.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.929,862.689,626.814,72.525,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,53631,920
$CAP_FILE_SIZE,158117,0
$CFSIZE,2097086464,2020245504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060213,001904,-4213.778,-306.821,42,0.9,52,-22.4