version: 66.07.10.p01
glider: 573
mission: 4
dive: 566
start: 2 6 113 17 14 55
data:
$ID,573
$MISSION,4
$DIVE,566
$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,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-6046.7583
$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,29
$R_STBD_OVSHOOT,29
$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,545
$GPS1,060213,170605,-4211.273,-309.036,26,1.7,26,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-67.6
$GPS2,060213,171406,-4211.177,-309.074,29,1.4,29,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.133,0.238
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,353.3,87497,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-165.4,0.0,0.0,0,34,0.00,0.00,-6.55,0.000,2,0.000,0.000,79,1870,593,0,0,0,0,0,0
$GC,37,-1.05,-165.4,3.2,-0.0,1,188,10.48,2.38,-132.38,0.000,4,0.213,0.073,2709,453,3537,0,0,0,0,0,0
$GC,285,-1.07,-165.4,16.4,-10.7,42,292,0.00,2.28,0.00,0.000,6,0.000,0.047,2699,1850,3539,0,0,0,0,0,0
$GC,364,-1.07,-165.4,25.4,-12.2,55,371,0.00,0.88,0.00,0.000,4,0.000,0.057,2694,2410,3539,0,0,0,0,0,0
$GC,449,-1.07,-165.4,35.4,-11.7,69,454,0.00,0.88,0.00,0.000,6,0.000,0.054,2695,1856,3540,0,0,0,0,0,0
$GC,793,-1.09,-165.4,72.4,-10.2,120,797,0.00,1.95,0.00,0.000,4,0.000,0.060,2685,3065,3540,0,0,0,0,0,0
$GC,875,-1.09,-165.4,79.7,-9.2,127,878,0.00,1.90,0.00,0.000,6,0.000,0.047,2686,1848,3540,0,0,0,0,0,0
$GC,1309,-1.09,-165.4,121.6,-10.0,161,1313,0.00,1.65,0.00,0.000,4,0.000,0.057,2678,2864,3541,0,0,0,0,0,0
$GC,1398,-1.09,-165.4,131.4,-10.9,166,1402,0.00,1.60,0.00,0.000,6,0.000,0.047,2678,1855,3541,0,0,0,0,0,0
$GC,1928,-1.09,-165.4,191.1,-11.8,200,1932,0.00,2.28,0.00,0.000,4,0.000,0.058,2668,3274,3541,0,0,0,0,0,0
$GC,2039,-1.09,-165.4,205.2,-12.4,207,2043,0.10,2.20,0.00,0.000,6,0.158,0.046,2696,1859,3541,0,0,0,0,0,0
$GC,2573,-1.13,-165.4,265.7,-11.1,233,2576,0.00,1.65,0.00,0.000,4,0.000,0.057,2688,2905,3541,0,0,0,0,0,0
$GC,2664,-1.16,-165.4,276.1,-11.2,237,2669,0.03,1.65,0.00,0.000,6,0.097,0.047,2651,1867,3541,0,0,0,0,0,0
$GC,3211,-1.14,-165.4,338.2,-10.9,258,3216,0.10,2.30,0.00,0.000,4,0.184,0.059,2667,3275,3541,0,0,0,0,0,0
$GC,3406,-1.14,-165.4,360.0,-10.9,263,3412,0.00,2.22,0.00,0.000,6,0.000,0.046,2667,1858,3541,0,0,0,0,0,0
$GC,3934,-1.14,-165.4,420.4,-11.6,281,3938,0.00,2.30,0.00,0.000,4,0.000,0.060,2657,3275,3540,0,0,0,0,0,0
$GC,4112,-1.14,-165.4,442.2,-12.2,286,4117,0.08,2.25,0.00,0.000,6,0.172,0.045,2676,1836,3540,0,0,0,0,0,0
$GC,4651,-1.14,-165.4,506.7,-11.8,304,4655,0.00,2.30,0.00,0.000,4,0.000,0.059,2666,3266,3539,0,0,0,0,0,0
$GC,4773,-1.14,-165.4,521.9,-12.0,307,4779,0.00,2.22,0.00,0.000,6,0.000,0.047,2665,1859,3539,0,0,0,0,0,0
$GC,5301,-1.14,-165.4,582.3,-11.1,325,5305,0.00,2.30,0.00,0.000,4,0.000,0.059,2655,3274,3538,0,0,0,0,0,0
$GC,5497,-1.14,-165.4,603.5,-10.6,331,5502,0.08,2.22,0.00,0.000,6,0.169,0.047,2674,1855,3537,0,0,0,0,0,0
$GC,6018,-1.16,-165.4,653.2,-9.2,348,6022,0.00,2.30,0.00,0.000,4,0.000,0.060,2664,3265,3536,0,0,0,0,0,0
$GC,6202,-1.16,-165.4,670.3,-8.8,353,6206,0.00,2.22,0.00,0.000,6,0.000,0.049,2664,1853,3536,0,0,0,0,0,0
$GC,6735,-1.16,-165.4,719.1,-9.7,371,6739,0.00,2.30,0.00,0.000,4,0.000,0.060,2654,3265,3535,0,0,0,0,0,0
$GC,6969,-1.16,-165.4,741.9,-9.7,378,6974,0.03,2.28,0.00,0.000,6,0.164,0.049,2665,1855,3534,0,0,0,0,0,0
$GC,7488,-1.16,-165.4,795.2,-11.0,395,7492,0.00,2.22,0.00,0.000,4,0.000,0.061,2655,3230,3532,0,0,0,0,0,0
$GC,7618,-1.16,-165.4,810.1,-11.6,399,7622,0.00,2.20,0.00,0.000,6,0.000,0.048,2655,1850,3532,0,0,0,0,0,0
$GC,8136,-1.16,-165.4,872.5,-12.1,416,8141,0.05,2.35,0.00,0.000,4,0.215,0.061,2657,3274,3531,0,0,0,0,0,0
$GC,8236,-1.16,-165.4,884.7,-11.5,419,8240,0.00,2.22,0.00,0.000,6,0.000,0.049,2657,1856,3531,0,0,0,0,0,0
$GC,8755,-1.16,-165.4,942.6,-10.8,436,8759,0.00,2.30,0.00,0.000,4,0.000,0.062,2647,3265,3530,0,0,0,0,0,0
$GC,8860,-1.16,-165.4,954.0,-10.9,439,8865,0.10,2.25,0.00,0.000,6,0.159,0.050,2674,1857,3529,0,0,0,0,0,0
$GC,9190,-1.19,-165.4,986.9,-9.9,450,9194,0.00,1.27,0.00,0.000,4,0.000,0.061,2669,2636,3529,0,0,0,0,0,0
$STATE,9222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9222,begin apogee
$GC,9229,-0.31,0.0,990.2,10.5,451,9377,0.85,0.00,144.00,1.246,6,0.110,0.000,2942,1550,2862,0,0,0,0,0,0
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9380,1.05,165.4,1003.0,0.0,456,9537,1.25,1.30,149.68,1.219,4,0.057,0.050,3384,2341,2187,0,0,0,0,0,0
$GC,9711,0.81,361.5,1010.2,2.0,466,9896,0.25,1.27,176.48,1.219,6,0.162,0.050,3316,1560,1388,0,0,0,0,0,0
$GC,10220,0.82,401.7,974.6,8.1,483,10262,0.00,1.40,37.22,1.184,4,0.000,0.063,3322,757,1224,0,0,0,0,0,0
$GC,10363,0.84,409.1,962.1,9.4,487,10374,0.00,1.33,7.45,0.987,6,0.000,0.049,3322,1561,1194,0,0,0,0,0,0
$GC,10681,0.84,419.4,933.2,9.3,497,10695,0.00,0.00,10.75,1.053,6,0.000,0.000,3321,1561,1152,0,0,0,0,0,0
$GC,11021,0.87,429.9,900.9,9.3,508,11037,0.00,1.33,11.50,1.064,4,0.000,0.067,3328,802,1109,0,0,0,0,0,0
$GC,11122,0.90,429.9,891.0,10.3,511,11126,0.00,1.25,0.00,0.000,6,0.000,0.051,3327,1565,1107,0,0,0,0,0,0
$GC,11643,0.93,438.9,841.1,9.4,528,11657,0.00,1.73,9.77,1.023,4,0.000,0.068,3335,537,1072,0,0,0,0,0,0
$GC,11860,0.96,442.8,821.1,9.6,534,11870,0.05,1.67,5.07,0.812,6,0.163,0.050,3365,1578,1056,0,0,0,0,0,0
$GC,12399,0.96,463.2,774.3,8.9,552,12429,0.00,2.28,21.62,1.090,4,0.000,0.070,3375,278,972,0,0,0,0,0,0
$GC,12531,0.96,474.3,762.1,9.3,556,12550,0.08,2.05,11.80,1.033,6,0.179,0.047,3356,1563,928,0,0,0,0,0,0
$GC,13084,0.99,474.3,710.6,9.8,574,13088,0.00,2.35,0.00,0.000,4,0.000,0.069,3367,156,924,0,0,0,0,0,0
$GC,13230,0.99,474.3,695.7,9.8,578,13234,0.00,2.28,0.00,0.000,6,0.000,0.050,3367,1561,923,0,0,0,0,0,0
$GC,13762,0.99,474.3,638.1,11.3,596,13766,0.00,1.83,0.00,0.000,4,0.000,0.068,3375,467,922,0,0,0,0,0,0
$GC,13890,0.99,474.3,623.6,11.5,599,13896,0.00,1.77,0.00,0.000,6,0.000,0.049,3375,1562,922,0,0,0,0,0,0
$GC,14418,0.99,492.0,571.2,9.0,617,14443,0.00,2.33,17.45,0.970,4,0.000,0.068,3385,223,856,0,0,0,0,0,0
$GC,14546,0.99,509.5,559.6,9.0,620,14571,0.08,2.17,18.73,0.956,6,0.177,0.049,3366,1565,784,0,0,0,0,0,0
$GC,15104,1.03,527.1,511.3,9.0,639,15128,0.00,2.45,16.65,0.920,4,0.000,0.070,3377,158,713,0,0,0,0,0,0
$GC,15325,1.07,540.2,489.8,9.2,645,15344,0.00,2.25,13.55,0.885,6,0.000,0.050,3377,1560,658,0,0,0,0,0,0
$GC,15859,1.11,540.2,433.8,10.9,663,15864,0.08,2.40,0.00,0.000,4,0.123,0.071,3429,157,655,0,0,0,0,0,0
$GC,15972,1.07,540.2,420.4,12.1,666,15977,0.15,2.28,0.00,0.000,6,0.145,0.049,3387,1563,654,0,0,0,0,0,0
$GC,16506,1.09,540.2,358.2,11.8,684,16510,0.00,2.35,0.00,0.000,4,0.000,0.069,3397,159,655,0,0,0,0,0,0
$GC,16647,1.09,540.2,340.6,10.7,688,16651,0.00,2.25,0.00,0.000,6,0.000,0.049,3397,1563,654,0,0,0,0,0,0
$GC,17166,1.09,540.2,279.8,11.1,708,17170,0.00,2.38,0.00,0.000,4,0.000,0.068,3408,153,654,0,0,0,0,0,0
$GC,17296,1.09,540.2,265.3,12.1,714,17300,0.00,2.28,0.00,0.000,6,0.000,0.049,3407,1562,653,0,0,0,0,0,0
$GC,17829,1.09,540.2,201.0,13.1,740,17833,0.00,2.38,0.00,0.000,4,0.000,0.068,3419,159,653,0,0,0,0,0,0
$GC,17935,1.07,540.2,186.3,13.0,746,17943,0.08,2.28,0.00,0.000,6,0.135,0.048,3393,1555,654,0,0,0,0,0,0
$GC,18476,1.09,560.7,126.7,8.9,781,18500,0.00,2.40,19.02,0.680,4,0.000,0.069,3403,158,575,0,0,0,0,0,0
$GC,18652,1.12,560.7,109.8,10.0,791,18658,0.00,2.30,0.00,0.000,6,0.000,0.049,3403,1579,574,0,0,0,0,0,0
$GC,19200,1.14,560.7,42.2,12.2,851,19205,0.00,2.40,0.00,0.000,4,0.000,0.067,3414,157,572,0,0,0,0,0,0
$GC,19389,1.14,560.7,19.8,11.7,883,19396,0.00,2.28,0.00,0.000,6,0.000,0.047,3414,1554,571,0,0,0,0,0,0
$GC,19469,1.14,560.7,10.6,11.5,896,19476,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1554,571,0,0,0,0,0,0
$STATE,19547,end climb,SURFACE_DEPTH_REACHED
$STATE,19547,begin surface coast
$FINISH,2.5,1.000832
$STATE,19584,end surface coast,CONTROL_FINISHED_OK
$STATE,19584,begin surface
$SM_CCo,19662,0.00,0.000,0,0,569,562.46
$SM_GC,3.19,8.73,0.00,0.00,0.031,0.000,0.000,73,1877,569,-9.16,0.48,562.46
$IRIDIUM_FIX,-4155.38,-308.86,060213,111112
$TT8_MAMPS,0.026964
$HUMID,50.55
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.3,101.873
$10V_AH,9.8,73.286
$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,22.600,126.575,670.750,0.000,0.000,41.177,45.212,233.985,0.000,0.000,31.449,2343.624,13638.733,676.390,3198.398,279.369,29.243,2000.981,0.000,2824.905,0.000,1.008,0.000
$DEVICE_MAMPS,214.965,72.675,1246.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.777,853.205,627.311,72.189,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,53594,915
$CAP_FILE_SIZE,158159,0
$CFSIZE,2097086464,2019721216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060213,224353,-4209.701,-310.281,40,1.7,40,-22.4