version: 66.07.10.p01
glider: 573
mission: 4
dive: 563
start: 2 6 113 0 27 15
data:
$ID,573
$MISSION,4
$DIVE,563
$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,-6039.1968
$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,28
$R_STBD_OVSHOOT,31
$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,542
$GPS1,060213,001904,-4213.778,-306.821,42,0.9,52,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-67.6
$GPS2,060213,002655,-4213.715,-306.853,16,1.0,17,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,HEADING
$TGT_LATLONG,-4213.715,-252.268
$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,25,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-7.65,0.000,2,0.000,0.000,81,1862,714,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,184,10.60,2.35,-127.15,0.000,4,0.220,0.069,2706,448,3536,0,0,0,0,0,0
$GC,307,-1.02,-165.4,21.2,-13.2,46,314,0.00,2.30,0.00,0.000,6,0.000,0.047,2695,1862,3538,0,0,0,0,0,0
$GC,387,-1.02,-165.4,31.4,-12.3,59,393,0.08,0.65,0.00,0.000,4,0.192,0.058,2711,2281,3538,0,0,0,0,0,0
$GC,470,-1.02,-165.4,41.0,-11.3,73,475,0.00,0.68,0.00,0.000,6,0.000,0.054,2711,1849,3539,0,0,0,0,0,0
$GC,807,-1.05,-165.4,79.2,-10.6,118,811,0.00,0.65,0.00,0.000,4,0.000,0.057,2711,1421,3539,0,0,0,0,0,0
$GC,1049,-1.09,-165.4,102.4,-9.4,139,1052,0.00,0.68,0.00,0.000,6,0.000,0.053,2708,1853,3539,0,0,0,0,0,0
$GC,1579,-1.13,-165.4,164.0,-12.9,173,1583,0.08,1.70,0.00,0.000,4,0.118,0.057,2657,821,3540,0,0,0,0,0,0
$GC,1664,-1.08,-165.4,175.6,-13.3,178,1668,0.17,1.67,0.00,0.000,6,0.147,0.047,2699,1878,3540,0,0,0,0,0,0
$GC,2200,-1.11,-165.4,238.5,-10.8,207,2204,0.00,0.55,0.00,0.000,4,0.000,0.059,2700,1524,3540,0,0,0,0,0,0
$GC,2273,-1.14,-165.4,246.5,-10.7,210,2277,0.03,0.50,0.00,0.000,6,0.096,0.056,2660,1852,3540,0,0,0,0,0,0
$GC,2806,-1.12,-165.4,297.7,-9.1,236,2811,0.10,0.50,0.00,0.000,4,0.172,0.060,2684,2184,3540,0,0,0,0,0,0
$GC,2889,-1.12,-165.4,305.6,-9.6,239,2893,0.00,0.50,0.00,0.000,6,0.000,0.055,2684,1855,3540,0,0,0,0,0,0
$GC,3428,-1.14,-165.4,358.1,-10.7,257,3432,0.00,1.17,0.00,0.000,4,0.000,0.057,2679,2590,3540,0,0,0,0,0,0
$GC,3530,-1.14,-165.4,369.0,-9.9,260,3534,0.00,1.15,0.00,0.000,6,0.000,0.049,2679,1858,3540,0,0,0,0,0,0
$GC,4055,-1.14,-165.4,424.3,-10.1,277,4059,0.00,2.28,0.00,0.000,4,0.000,0.059,2668,3267,3539,0,0,0,0,0,0
$GC,4194,-1.14,-165.4,438.2,-9.9,281,4198,0.00,2.20,0.00,0.000,6,0.000,0.047,2669,1859,3539,0,0,0,0,0,0
$GC,4739,-1.14,-165.4,488.8,-9.4,299,4743,0.00,2.28,0.00,0.000,4,0.000,0.060,2658,3274,3538,0,0,0,0,0,0
$GC,4855,-1.14,-165.4,500.1,-10.5,302,4860,0.08,2.22,0.00,0.000,6,0.174,0.047,2677,1860,3538,0,0,0,0,0,0
$GC,5390,-1.16,-165.4,551.0,-9.9,320,5393,0.00,1.48,0.00,0.000,4,0.000,0.057,2671,2774,3537,0,0,0,0,0,0
$GC,5492,-1.16,-165.4,561.2,-9.9,323,5495,0.00,1.45,0.00,0.000,6,0.000,0.049,2671,1864,3537,0,0,0,0,0,0
$GC,6016,-1.16,-165.4,615.1,-10.5,340,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1864,3536,0,0,0,0,0,0
$GC,6537,-1.16,-165.4,671.0,-10.8,357,6540,0.00,0.50,0.00,0.000,4,0.000,0.060,2669,2191,3534,0,0,0,0,0,0
$GC,6638,-1.16,-165.4,682.3,-10.3,360,6642,0.00,0.50,0.00,0.000,6,0.000,0.056,2668,1858,3533,0,0,0,0,0,0
$GC,7163,-1.16,-165.4,738.8,-10.6,377,7167,0.00,0.43,0.00,0.000,4,0.000,0.061,2667,2141,3532,0,0,0,0,0,0
$GC,7207,-1.16,-165.4,743.6,-10.9,378,7211,0.00,0.45,0.00,0.000,6,0.000,0.058,2667,1853,3532,0,0,0,0,0,0
$GC,7751,-1.16,-165.4,797.4,-9.9,396,7755,0.00,1.35,0.00,0.000,4,0.000,0.058,2667,1028,3530,0,0,0,0,0,0
$GC,7829,-1.16,-165.4,805.7,-11.3,398,7833,0.00,1.33,0.00,0.000,6,0.000,0.049,2660,1850,3530,0,0,0,0,0,0
$GC,8373,-1.16,-165.4,862.9,-10.9,416,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1852,3530,0,0,0,0,0,0
$GC,8894,-1.16,-165.4,924.4,-12.1,433,8897,0.00,0.45,0.00,0.000,4,0.000,0.060,2658,2158,3529,0,0,0,0,0,0
$GC,9011,-1.16,-165.4,938.3,-12.1,436,9015,0.00,0.47,0.00,0.000,6,0.000,0.059,2658,1858,3528,0,0,0,0,0,0
$GC,9335,-1.16,-165.4,975.4,-11.4,447,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1858,3527,0,0,0,0,0,0
$STATE,9486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9486,begin apogee
$GC,9492,-0.31,0.0,991.9,10.7,452,9639,0.90,0.00,143.55,1.255,6,0.119,0.000,2942,1561,2862,0,0,0,0,0,0
$STATE,9640,end apogee,CONTROL_FINISHED_OK
$STATE,9640,begin climb
$GC,9642,1.05,165.4,1004.8,0.0,457,9804,1.27,2.55,150.45,1.221,4,0.057,0.055,3388,2963,2185,0,0,0,0,0,0
$GC,10058,0.80,366.2,1008.4,1.8,470,10249,0.35,2.25,180.55,1.221,6,0.169,0.050,3304,1556,1368,0,0,0,0,0,0
$GC,10579,0.80,403.1,969.4,8.3,487,10618,0.00,0.65,34.33,1.180,4,0.000,0.056,3304,1951,1217,0,0,0,0,0,0
$GC,10697,0.83,421.6,959.2,9.0,490,10721,0.00,0.62,18.55,1.134,6,0.000,0.063,3306,1570,1142,0,0,0,0,0,0
$GC,11048,0.87,455.8,929.7,8.4,502,11083,0.00,0.00,33.22,1.176,6,0.000,0.000,3305,1569,1003,0,0,0,0,0,0
$GC,11382,0.94,477.3,899.6,8.9,513,11406,0.12,0.00,21.30,1.145,6,0.084,0.000,3367,1570,916,0,0,0,0,0,0
$GC,11903,0.94,477.3,848.1,9.9,530,11907,0.08,0.60,0.00,0.000,4,0.181,0.057,3349,1943,910,0,0,0,0,0,0
$GC,11975,0.97,477.3,840.8,9.8,532,11978,0.00,0.62,0.00,0.000,6,0.000,0.063,3351,1554,910,0,0,0,0,0,0
$GC,12494,0.99,477.3,788.1,10.4,549,12498,0.00,1.10,0.00,0.000,4,0.000,0.056,3351,2243,909,0,0,0,0,0,0
$GC,12577,0.99,477.3,779.4,10.0,551,12581,0.00,1.10,0.00,0.000,6,0.000,0.059,3356,1561,908,0,0,0,0,0,0
$GC,13116,0.99,477.3,723.6,10.5,569,13120,0.00,0.50,0.00,0.000,4,0.000,0.070,3358,1240,907,0,0,0,0,0,0
$GC,13262,0.99,477.3,708.2,10.4,573,13265,0.00,0.50,0.00,0.000,6,0.000,0.055,3358,1559,907,0,0,0,0,0,0
$GC,13806,1.01,477.3,651.0,10.7,591,13810,0.00,1.98,0.00,0.000,4,0.000,0.069,3367,372,907,0,0,0,0,0,0
$GC,13917,1.01,477.3,638.5,10.7,594,13922,0.00,1.92,0.00,0.000,6,0.000,0.048,3367,1555,906,0,0,0,0,0,0
$GC,14462,1.01,477.3,581.8,10.4,612,14466,0.00,1.15,0.00,0.000,4,0.000,0.067,3372,873,906,0,0,0,0,0,0
$GC,14568,1.01,477.3,570.9,9.8,615,14572,0.00,1.12,0.00,0.000,6,0.000,0.050,3372,1563,906,0,0,0,0,0,0
$GC,15087,1.01,477.3,518.6,10.0,632,15091,0.00,1.67,0.00,0.000,4,0.000,0.066,3380,543,907,0,0,0,0,0,0
$GC,15172,1.01,477.3,509.9,10.4,634,15175,0.00,1.65,0.00,0.000,6,0.000,0.048,3380,1558,906,0,0,0,0,0,0
$GC,15710,1.01,477.3,453.5,10.6,652,15714,0.00,1.15,0.00,0.000,4,0.000,0.067,3385,876,906,0,0,0,0,0,0
$GC,15787,1.01,477.3,445.1,11.2,654,15791,0.00,1.12,0.00,0.000,6,0.000,0.050,3385,1568,906,0,0,0,0,0,0
$GC,16331,1.01,477.3,387.8,10.3,672,16335,0.00,1.85,0.00,0.000,4,0.000,0.066,3393,446,906,0,0,0,0,0,0
$GC,16449,0.99,477.3,375.5,10.7,675,16453,0.10,1.80,0.00,0.000,6,0.162,0.048,3367,1568,906,0,0,0,0,0,0
$GC,16988,0.99,497.7,325.5,8.9,693,17012,0.00,1.65,19.15,0.824,4,0.000,0.065,3374,611,832,0,0,0,0,0,0
$GC,17131,0.99,497.7,312.4,9.7,697,17135,0.00,1.55,0.00,0.000,6,0.000,0.049,3374,1560,830,0,0,0,0,0,0
$GC,17673,0.99,500.0,262.7,9.6,721,17676,0.00,1.70,0.00,0.000,4,0.000,0.067,3382,527,829,0,0,0,0,0,0
$GC,17879,0.99,500.0,240.9,10.1,730,17883,0.08,1.65,0.00,0.000,6,0.174,0.049,3363,1570,829,0,0,0,0,0,0
$GC,18404,1.03,500.0,179.3,12.0,758,18407,0.00,1.52,0.00,0.000,4,0.000,0.065,3370,669,829,0,0,0,0,0,0
$GC,18577,1.07,500.0,159.5,10.3,768,18581,0.00,1.45,0.00,0.000,6,0.000,0.048,3369,1563,829,0,0,0,0,0,0
$GC,19106,1.09,500.0,109.8,10.4,802,19107,0.08,0.00,0.00,0.000,6,0.121,0.000,3411,1563,829,0,0,0,0,0,0
$GC,19646,1.06,521.7,44.2,8.9,862,19676,0.10,2.15,23.00,0.641,4,0.170,0.066,3395,288,734,0,0,0,0,0,0
$GC,19805,1.06,530.7,29.0,9.4,889,19818,0.00,2.08,5.97,0.531,6,0.000,0.049,3396,1555,697,0,0,0,0,0,0
$GC,19892,1.06,530.7,20.3,10.7,903,19898,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1556,696,0,0,0,0,0,0
$GC,19972,1.10,530.7,11.8,10.5,916,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1555,695,0,0,0,0,0,0
$GC,20052,1.07,530.7,3.5,10.1,929,20059,0.00,1.25,0.00,0.000,4,0.000,0.059,3401,806,693,0,0,0,0,0,0
$STATE,20066,end climb,SURFACE_DEPTH_REACHED
$STATE,20066,begin surface coast
$FINISH,2.4,1.025912
$STATE,20109,end surface coast,CONTROL_FINISHED_OK
$STATE,20109,begin surface
$SM_CCo,20189,0.00,0.000,0,0,692,532.29
$SM_GC,3.38,8.82,0.00,0.00,0.038,0.000,0.000,84,1857,692,-9.17,-0.08,532.29
$IRIDIUM_FIX,-4158.28,-309.02,050213,181823
$TT8_MAMPS,0.026215
$HUMID,49.76
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.2,101.155
$10V_AH,9.8,72.964
$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,23.025,75.575,630.075,0.000,0.000,25.716,41.341,253.903,0.000,0.000,19.277,2359.995,14354.701,650.599,3027.403,259.890,0.000,1876.153,0.000,2667.636,0.000,1.008,0.000
$DEVICE_MAMPS,219.555,69.615,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.443,879.098,649.000,72.221,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,56919,938
$CAP_FILE_SIZE,150242,0
$CFSIZE,2097086464,2020114432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060213,060501,-4212.630,-307.613,41,2.0,41,-22.4