version: 66.07.10.p01
glider: 573
mission: 4
dive: 565
start: 2 6 113 11 43 50
data:
$ID,573
$MISSION,4
$DIVE,565
$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,-6044.4229
$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,30
$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,544
$GPS1,060213,113604,-4212.055,-308.296,58,1.1,62,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-67.5
$GPS2,060213,114330,-4211.988,-308.319,15,1.5,15,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,HEADING
$TGT_LATLONG,-4211.988,-253.742
$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,-7.57,0.000,2,0.000,0.000,77,1866,712,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,183,10.57,2.40,-123.43,0.000,4,0.217,0.073,2703,457,3538,0,0,0,0,0,0
$GC,291,-1.01,-165.4,18.3,-11.8,43,299,0.05,2.28,0.00,0.000,6,0.152,0.047,2711,1858,3540,0,0,0,0,0,0
$GC,372,-1.01,-165.4,27.9,-11.6,56,379,0.00,0.50,0.00,0.000,4,0.000,0.057,2709,2195,3540,0,0,0,0,0,0
$GC,640,-1.03,-165.4,57.7,-11.0,102,646,0.00,0.52,0.00,0.000,6,0.000,0.056,2709,1853,3541,0,0,0,0,0,0
$GC,973,-1.06,-165.4,89.9,-9.8,135,977,0.00,2.25,0.00,0.000,4,0.000,0.060,2699,3250,3541,0,0,0,0,0,0
$GC,1084,-1.10,-165.4,102.0,-11.0,144,1091,0.00,2.22,0.00,0.000,6,0.000,0.047,2698,1856,3541,0,0,0,0,0,0
$GC,1624,-1.13,-165.4,154.0,-9.7,179,1628,0.00,2.08,0.00,0.000,4,0.000,0.058,2689,3152,3542,0,0,0,0,0,0
$GC,1748,-1.17,-165.4,167.9,-11.6,186,1752,0.05,2.05,0.00,0.000,6,0.158,0.047,2651,1852,3541,0,0,0,0,0,0
$GC,2274,-1.14,-165.4,231.9,-11.7,216,2278,0.10,2.30,0.00,0.000,4,0.177,0.058,2667,3265,3542,0,0,0,0,0,0
$GC,2453,-1.14,-165.4,252.8,-11.0,224,2457,0.00,2.20,0.00,0.000,6,0.000,0.047,2667,1853,3541,0,0,0,0,0,0
$GC,2987,-1.14,-165.4,308.0,-10.0,249,2991,0.00,1.75,0.00,0.000,4,0.000,0.057,2659,2960,3541,0,0,0,0,0,0
$GC,3076,-1.14,-165.4,316.9,-9.6,251,3081,0.05,1.75,0.00,0.000,6,0.138,0.047,2677,1859,3541,0,0,0,0,0,0
$GC,3609,-1.14,-165.4,370.4,-10.8,269,3613,0.00,0.55,0.00,0.000,4,0.000,0.059,2678,1497,3541,0,0,0,0,0,0
$GC,3664,-1.14,-165.4,376.8,-11.9,270,3668,0.00,0.60,0.00,0.000,6,0.000,0.053,2675,1875,3542,0,0,0,0,0,0
$GC,4197,-1.14,-165.4,434.9,-10.8,288,4201,0.00,2.15,0.00,0.000,4,0.000,0.059,2666,3213,3541,0,0,0,0,0,0
$GC,4303,-1.14,-165.4,446.4,-10.9,291,4307,0.00,2.17,0.00,0.000,6,0.000,0.047,2665,1853,3541,0,0,0,0,0,0
$GC,4822,-1.14,-165.4,503.3,-11.2,308,4826,0.00,1.52,0.00,0.000,4,0.000,0.058,2659,2791,3539,0,0,0,0,0,0
$GC,4928,-1.14,-165.4,515.5,-11.2,311,4933,0.05,1.50,0.00,0.000,6,0.137,0.048,2678,1855,3539,0,0,0,0,0,0
$GC,5449,-1.16,-165.4,574.3,-11.5,328,5453,0.00,2.30,0.00,0.000,4,0.000,0.060,2667,3268,3538,0,0,0,0,0,0
$GC,5573,-1.16,-165.4,589.0,-11.9,331,5579,0.00,2.25,0.00,0.000,6,0.000,0.048,2667,1850,3538,0,0,0,0,0,0
$GC,6100,-1.16,-165.4,648.1,-10.8,349,6104,0.00,0.77,0.00,0.000,4,0.000,0.057,2664,2345,3537,0,0,0,0,0,0
$GC,6212,-1.16,-165.4,660.0,-10.8,352,6216,0.00,0.77,0.00,0.000,6,0.000,0.052,2665,1855,3536,0,0,0,0,0,0
$GC,6756,-1.16,-165.4,715.4,-10.1,370,6760,0.00,2.33,0.00,0.000,4,0.000,0.060,2654,3269,3535,0,0,0,0,0,0
$GC,6902,-1.16,-165.4,729.9,-9.5,374,6907,0.05,2.25,0.00,0.000,6,0.204,0.048,2667,1857,3535,0,0,0,0,0,0
$GC,7435,-1.16,-165.4,781.8,-9.9,392,7438,0.00,1.35,0.00,0.000,4,0.000,0.060,2662,2683,3533,0,0,0,0,0,0
$GC,7529,-1.16,-165.4,791.6,-9.7,394,7535,0.00,1.33,0.00,0.000,6,0.000,0.050,2662,1858,3533,0,0,0,0,0,0
$GC,8057,-1.16,-165.4,848.6,-11.3,412,8060,0.00,1.67,0.00,0.000,4,0.000,0.060,2654,2876,3531,0,0,0,0,0,0
$GC,8192,-1.16,-165.4,864.2,-11.5,416,8196,0.05,1.65,0.00,0.000,6,0.201,0.051,2668,1849,3531,0,0,0,0,0,0
$GC,8718,-1.18,-165.4,926.2,-11.9,433,8721,0.00,1.23,0.00,0.000,4,0.000,0.060,2663,2609,3531,0,0,0,0,0,0
$GC,8921,-1.21,-165.4,951.1,-12.6,439,8925,0.00,1.20,0.00,0.000,6,0.000,0.052,2662,1860,3530,0,0,0,0,0,0
$STATE,9260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9260,begin apogee
$GC,9265,-0.31,0.0,992.2,11.8,450,9413,0.88,0.00,144.20,1.252,6,0.112,0.000,2943,1561,2862,0,0,0,0,0,0
$STATE,9414,end apogee,CONTROL_FINISHED_OK
$STATE,9414,begin climb
$GC,9416,1.05,165.4,1006.5,0.0,455,9576,1.23,2.25,150.20,1.222,4,0.055,0.055,3380,2861,2185,0,0,0,0,0,0
$GC,9829,0.81,355.0,1012.5,2.2,467,10009,0.30,2.10,170.57,1.222,6,0.171,0.047,3309,1554,1414,0,0,0,0,0,0
$GC,10322,0.81,364.8,973.3,9.3,484,10332,0.00,0.00,8.52,1.030,6,0.000,0.000,3308,1554,1374,0,0,0,0,0,0
$GC,10628,0.81,374.9,944.8,9.3,494,10641,0.00,0.00,11.15,1.066,6,0.000,0.000,3309,1554,1333,0,0,0,0,0,0
$GC,10934,0.81,384.2,915.8,9.3,504,10946,0.00,0.00,10.02,1.043,6,0.000,0.000,3309,1554,1295,0,0,0,0,0,0
$GC,11241,0.81,393.8,886.8,9.3,514,11253,0.00,0.00,10.40,1.046,6,0.000,0.000,3310,1554,1256,0,0,0,0,0,0
$GC,11762,0.84,416.5,839.4,8.8,531,11791,0.00,0.70,23.27,1.126,4,0.000,0.065,3312,1140,1163,0,0,0,0,0,0
$GC,12045,0.90,443.4,813.2,8.6,539,12075,0.03,0.68,26.35,1.123,6,0.096,0.054,3343,1561,1054,0,0,0,0,0,0
$GC,12608,0.90,443.4,753.1,11.0,558,12612,0.00,2.38,0.00,0.000,4,0.000,0.070,3354,158,1047,0,0,0,0,0,0
$GC,12792,0.90,443.4,731.3,12.1,563,12797,0.08,2.25,0.00,0.000,6,0.174,0.049,3335,1568,1046,0,0,0,0,0,0
$GC,13321,0.94,443.4,672.3,10.8,580,13325,0.00,1.33,0.00,0.000,4,0.000,0.067,3341,779,1045,0,0,0,0,0,0
$GC,13579,0.97,462.6,646.1,9.0,587,13603,0.00,1.27,18.08,1.011,6,0.000,0.050,3341,1561,976,0,0,0,0,0,0
$GC,14143,1.02,517.1,599.1,7.6,606,14205,0.10,1.95,52.85,1.019,4,0.101,0.069,3400,448,752,0,0,0,0,0,0
$GC,14277,1.03,564.6,588.0,7.8,610,14328,0.05,1.85,44.40,0.995,6,0.146,0.050,3381,1567,559,0,0,0,0,0,0
$GC,14856,1.08,592.5,540.6,8.6,629,14886,0.00,1.92,24.50,0.949,4,0.000,0.069,3390,439,445,0,0,0,0,0,0
$GC,15023,1.15,592.5,524.2,10.8,634,15027,0.08,1.83,0.00,0.000,6,0.119,0.050,3431,1566,441,0,0,0,0,0,0
$GC,15548,1.15,592.5,458.5,13.5,651,15552,0.05,1.00,0.00,0.000,4,0.217,0.065,3422,968,437,0,0,0,0,0,0
$GC,15661,1.17,592.5,443.0,13.3,654,15665,0.00,0.95,0.00,0.000,6,0.000,0.051,3422,1551,437,0,0,0,0,0,0
$GC,16205,1.17,592.5,371.0,12.9,672,16209,0.00,2.33,0.00,0.000,4,0.000,0.070,3433,162,436,0,0,0,0,0,0
$GC,16385,1.17,592.5,347.6,12.3,677,16389,0.00,2.28,0.00,0.000,6,0.000,0.049,3432,1568,436,0,0,0,0,0,0
$GC,16912,1.17,592.5,282.0,12.2,697,16916,0.00,2.35,0.00,0.000,4,0.000,0.068,3443,162,436,0,0,0,0,0,0
$GC,17029,1.14,592.5,267.4,11.5,702,17033,0.10,2.25,0.00,0.000,6,0.161,0.048,3416,1563,436,0,0,0,0,0,0
$GC,17556,1.14,592.5,205.0,13.0,728,17559,0.00,1.52,0.00,0.000,4,0.000,0.067,3423,659,436,0,0,0,0,0,0
$GC,17680,1.17,592.5,188.2,12.6,735,17684,0.00,1.45,0.00,0.000,6,0.000,0.048,3424,1553,436,0,0,0,0,0,0
$GC,18210,1.17,592.5,117.4,12.7,769,18214,0.00,2.33,0.00,0.000,4,0.000,0.069,3434,162,436,0,0,0,0,0,0
$GC,18339,1.17,592.5,100.5,13.2,776,18347,0.03,2.28,0.00,0.000,6,0.164,0.048,3424,1562,436,0,0,0,0,0,0
$GC,18892,1.17,592.5,36.1,11.5,844,18899,0.00,2.38,0.00,0.000,4,0.000,0.067,3434,164,435,0,0,0,0,0,0
$GC,19085,1.11,592.5,13.0,11.5,876,19093,0.08,2.28,0.00,0.000,6,0.145,0.046,3409,1569,436,0,0,0,0,0,0
$GC,19166,1.05,592.5,3.4,11.0,889,19174,0.10,0.45,0.00,0.000,4,0.151,0.066,3381,1284,436,0,0,0,0,0,0
$STATE,19181,end climb,SURFACE_DEPTH_REACHED
$STATE,19181,begin surface coast
$FINISH,2.6,1.004003
$STATE,19194,end surface coast,CONTROL_FINISHED_OK
$STATE,19195,begin surface
$SM_CCo,19273,0.00,0.000,0,0,435,595.58
$SM_GC,3.34,8.73,0.00,0.00,0.035,0.000,0.000,80,1870,435,-9.17,0.28,595.58
$IRIDIUM_FIX,-4158.28,-309.02,060213,060608
$TT8_MAMPS,0.026964
$HUMID,50.59
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,15.10
$XPDR_PINGS,2
$24V_AH,22.3,101.636
$10V_AH,9.8,73.176
$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,22.775,95.650,694.525,0.000,0.000,28.087,38.938,230.982,0.500,0.000,17.505,2272.989,13460.568,689.585,3028.701,260.691,0.000,1953.259,0.000,2693.436,0.000,1.009,0.000
$DEVICE_MAMPS,217.260,72.675,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.511,823.345,608.640,69.020,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,53581,893
$CAP_FILE_SIZE,150458,0
$CFSIZE,2097086464,2019852288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060213,170605,-4211.273,-309.036,26,1.7,26,-22.4