version: 66.07.10.p01
glider: 573
mission: 4
dive: 567
start: 2 6 113 22 55 56
data:
$ID,573
$MISSION,4
$DIVE,567
$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,-6049.0884
$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,25
$R_STBD_OVSHOOT,33
$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,546
$GPS1,060213,224353,-4209.701,-310.281,40,1.7,40,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-67.1
$GPS2,060213,225505,-4209.616,-310.329,45,0.9,45,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.135,0.237
$KALMAN_X,239.2,239.2,239.2,-2464.5,-676.0
$KALMAN_Y,-479.7,-479.7,-479.7,4378.7,1355.6
$MHEAD_RNG_PITCHd_Wd,352.7,84123,-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,-6.85,0.000,2,0.000,0.000,72,1877,733,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,177,10.50,0.00,-123.55,0.000,6,0.215,0.000,2702,1877,3537,0,0,0,0,0,0
$GC,250,-1.05,-165.4,14.6,-14.4,36,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1877,3540,0,0,0,0,0,0
$GC,330,-1.05,-165.4,24.6,-12.0,49,337,0.00,0.52,0.00,0.000,4,0.000,0.062,2702,1541,3540,0,0,0,0,0,0
$GC,397,-1.03,-165.4,32.0,-10.9,60,404,0.00,0.50,0.00,0.000,6,0.000,0.059,2700,1858,3540,0,0,0,0,0,0
$GC,750,-1.03,-165.4,66.7,-8.9,115,753,0.00,1.85,0.00,0.000,4,0.000,0.059,2691,3026,3541,0,0,0,0,0,0
$GC,820,-1.03,-165.4,72.4,-8.0,121,824,0.08,1.85,0.00,0.000,6,0.172,0.047,2710,1850,3540,0,0,0,0,0,0
$GC,1249,-1.08,-165.4,113.5,-11.7,158,1253,0.00,1.38,0.00,0.000,4,0.000,0.055,2704,2704,3540,0,0,0,0,0,0
$GC,1323,-1.14,-165.4,123.1,-13.5,162,1328,0.05,1.33,0.00,0.000,6,0.061,0.047,2657,1864,3541,0,0,0,0,0,0
$GC,1851,-1.11,-165.4,191.3,-11.4,196,1856,0.10,2.25,0.00,0.000,4,0.177,0.058,2673,3266,3541,0,0,0,0,0,0
$GC,1933,-1.11,-165.4,199.5,-10.0,201,1937,0.00,2.20,0.00,0.000,6,0.000,0.047,2673,1852,3541,0,0,0,0,0,0
$GC,2462,-1.11,-165.4,248.9,-9.3,227,2466,0.00,2.30,0.00,0.000,4,0.000,0.058,2662,3275,3541,0,0,0,0,0,0
$GC,2585,-1.11,-165.4,260.5,-9.4,232,2591,0.10,2.22,0.00,0.000,6,0.155,0.044,2690,1857,3541,0,0,0,0,0,0
$GC,3107,-1.14,-165.4,314.7,-11.8,256,3111,0.00,2.05,0.00,0.000,4,0.000,0.057,2680,3131,3541,0,0,0,0,0,0
$GC,3191,-1.17,-165.4,325.4,-12.4,258,3195,0.00,1.98,0.00,0.000,6,0.000,0.046,2680,1859,3541,0,0,0,0,0,0
$GC,3729,-1.17,-165.4,392.6,-12.1,276,3733,0.00,2.28,0.00,0.000,4,0.000,0.059,2670,3266,3540,0,0,0,0,0,0
$GC,3812,-1.17,-165.4,402.8,-11.9,278,3817,0.00,2.20,0.00,0.000,6,0.000,0.046,2670,1858,3540,0,0,0,0,0,0
$GC,4346,-1.17,-165.4,459.5,-10.2,296,4349,0.00,0.47,0.00,0.000,4,0.000,0.060,2670,1540,3539,0,0,0,0,0,0
$GC,4390,-1.17,-165.4,464.3,-10.6,297,4394,0.00,0.50,0.00,0.000,6,0.000,0.056,2668,1863,3539,0,0,0,0,0,0
$GC,4934,-1.17,-165.4,521.6,-11.0,315,4938,0.00,0.70,0.00,0.000,4,0.000,0.057,2664,2324,3538,0,0,0,0,0,0
$GC,5035,-1.17,-165.4,533.0,-11.5,318,5039,0.00,0.73,0.00,0.000,6,0.000,0.051,2664,1853,3538,0,0,0,0,0,0
$GC,5560,-1.17,-165.4,588.7,-10.1,335,5563,0.00,1.20,0.00,0.000,4,0.000,0.057,2659,2591,3538,0,0,0,0,0,0
$GC,5628,-1.17,-165.4,595.4,-9.5,337,5632,0.00,1.15,0.00,0.000,6,0.000,0.050,2659,1864,3537,0,0,0,0,0,0
$GC,6153,-1.17,-165.4,647.8,-10.0,354,6157,0.00,1.05,0.00,0.000,4,0.000,0.057,2654,2516,3535,0,0,0,0,0,0
$GC,6225,-1.17,-165.4,655.2,-9.9,356,6229,0.00,1.05,0.00,0.000,6,0.000,0.050,2654,1856,3535,0,0,0,0,0,0
$GC,6744,-1.17,-165.4,706.5,-10.1,373,6749,0.05,1.55,0.00,0.000,4,0.218,0.059,2659,2789,3533,0,0,0,0,0,0
$GC,6812,-1.17,-165.4,713.4,-9.9,375,6816,0.00,1.50,0.00,0.000,6,0.000,0.050,2659,1856,3533,0,0,0,0,0,0
$GC,7337,-1.17,-165.4,768.7,-10.8,392,7340,0.00,0.80,0.00,0.000,4,0.000,0.059,2656,2363,3532,0,0,0,0,0,0
$GC,7405,-1.17,-165.4,776.3,-11.0,394,7408,0.00,0.80,0.00,0.000,6,0.000,0.054,2656,1855,3532,0,0,0,0,0,0
$GC,7929,-1.17,-165.4,838.5,-12.5,411,7933,0.00,1.73,0.00,0.000,4,0.000,0.060,2648,2932,3531,0,0,0,0,0,0
$GC,7997,-1.17,-165.4,847.0,-12.3,413,8002,0.05,1.73,0.00,0.000,6,0.145,0.049,2665,1858,3531,0,0,0,0,0,0
$GC,8521,-1.17,-165.4,909.4,-11.8,430,8525,0.00,1.20,0.00,0.000,4,0.000,0.059,2661,2593,3530,0,0,0,0,0,0
$GC,8610,-1.17,-165.4,920.0,-11.5,432,8614,0.00,1.17,0.00,0.000,6,0.000,0.052,2661,1862,3529,0,0,0,0,0,0
$GC,8929,-1.17,-165.4,956.1,-11.1,443,8933,0.00,0.43,0.00,0.000,4,0.000,0.062,2659,2145,3529,0,0,0,0,0,0
$GC,8984,-1.17,-165.4,962.6,-11.8,444,8988,0.00,0.45,0.00,0.000,6,0.000,0.059,2659,1854,3528,0,0,0,0,0,0
$STATE,9270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9270,begin apogee
$GC,9276,-0.31,0.0,992.9,10.5,454,9423,0.90,0.00,143.12,1.252,6,0.116,0.000,2944,1555,2862,0,0,0,0,0,0
$STATE,9424,end apogee,CONTROL_FINISHED_OK
$STATE,9424,begin climb
$GC,9426,1.05,165.4,1005.6,0.0,459,9583,1.25,2.08,148.75,1.222,4,0.063,0.052,3381,2733,2187,0,0,0,0,0,0
$GC,9836,0.81,329.1,1007.0,3.3,471,9992,0.30,1.90,146.27,1.221,6,0.171,0.050,3309,1554,1520,0,0,0,0,0,0
$GC,10301,0.79,358.8,971.6,8.5,487,10332,0.00,0.93,27.38,1.170,4,0.000,0.062,3312,1017,1399,0,0,0,0,0,0
$GC,10427,0.79,381.5,960.3,8.8,490,10453,0.00,0.88,21.77,1.150,6,0.000,0.048,3312,1559,1306,0,0,0,0,0,0
$GC,10767,0.79,407.1,930.7,8.7,502,10797,0.00,0.00,24.75,1.159,6,0.000,0.000,3312,1559,1202,0,0,0,0,0,0
$GC,11106,0.82,417.1,899.9,9.3,513,11118,0.00,0.00,10.07,1.059,6,0.000,0.000,3312,1558,1160,0,0,0,0,0,0
$GC,11626,0.86,417.1,848.4,10.4,530,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1558,1156,0,0,0,0,0,0
$GC,12147,0.90,417.1,793.7,10.6,547,12151,0.08,0.60,0.00,0.000,4,0.120,0.058,3357,1943,1155,0,0,0,0,0,0
$GC,12224,0.87,417.1,785.1,10.4,549,12228,0.10,0.60,0.00,0.000,6,0.133,0.063,3326,1569,1155,0,0,0,0,0,0
$GC,12769,0.87,417.1,728.5,10.3,567,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1568,1155,0,0,0,0,0,0
$GC,13289,0.90,441.2,678.9,8.8,584,13316,0.00,0.00,23.60,1.047,6,0.000,0.000,3326,1568,1063,0,0,0,0,0,0
$GC,13839,0.94,491.6,634.6,7.7,602,13894,0.05,0.73,49.00,1.040,4,0.162,0.057,3363,1996,856,0,0,0,0,0,0
$GC,13984,0.95,527.0,622.0,8.3,606,14023,0.03,0.73,33.55,1.011,6,0.168,0.063,3356,1556,713,0,0,0,0,0,0
$GC,14551,1.00,527.0,568.4,10.0,625,14555,0.00,1.15,0.00,0.000,4,0.000,0.067,3361,869,704,0,0,0,0,0,0
$GC,14689,1.06,527.0,554.7,10.2,629,14693,0.05,1.12,0.00,0.000,6,0.070,0.050,3400,1561,703,0,0,0,0,0,0
$GC,15214,1.06,527.0,499.4,10.7,646,15218,0.00,2.35,0.00,0.000,4,0.000,0.069,3411,159,702,0,0,0,0,0,0
$GC,15362,1.06,527.0,482.4,11.4,650,15367,0.10,2.25,0.00,0.000,6,0.165,0.048,3385,1568,702,0,0,0,0,0,0
$GC,15896,1.06,527.0,418.6,12.3,668,15900,0.00,2.38,0.00,0.000,4,0.000,0.067,3396,155,701,0,0,0,0,0,0
$GC,16115,1.06,527.0,390.9,11.9,674,16119,0.00,2.28,0.00,0.000,6,0.000,0.048,3396,1563,701,0,0,0,0,0,0
$GC,16647,1.06,527.0,326.0,12.0,692,16651,0.00,2.38,0.00,0.000,4,0.000,0.068,3406,158,701,0,0,0,0,0,0
$GC,16775,1.06,527.0,310.2,13.3,695,16781,0.08,2.25,0.00,0.000,6,0.181,0.048,3388,1568,700,0,0,0,0,0,0
$GC,17309,1.06,527.0,247.3,10.9,720,17313,0.00,2.38,0.00,0.000,4,0.000,0.067,3399,158,700,0,0,0,0,0,0
$GC,17431,1.06,527.0,233.8,11.7,725,17435,0.00,2.25,0.00,0.000,6,0.000,0.048,3398,1562,700,0,0,0,0,0,0
$GC,17961,1.06,527.0,177.8,10.8,754,17965,0.00,2.22,0.00,0.000,4,0.000,0.067,3408,230,700,0,0,0,0,0,0
$GC,18045,1.06,527.0,168.2,12.2,759,18049,0.08,2.12,0.00,0.000,6,0.181,0.047,3391,1565,700,0,0,0,0,0,0
$GC,18575,1.06,527.0,110.3,11.0,793,18579,0.00,2.25,0.00,0.000,4,0.000,0.066,3400,234,700,0,0,0,0,0,0
$GC,18698,1.06,527.0,95.9,11.2,801,18706,0.03,2.15,0.00,0.000,6,0.168,0.047,3390,1557,700,0,0,0,0,0,0
$GC,19139,1.06,529.5,49.6,9.6,851,19144,0.00,1.02,0.00,0.000,4,0.000,0.063,3395,946,700,0,0,0,0,0,0
$GC,19341,1.06,529.5,29.0,10.8,886,19349,0.00,1.00,0.00,0.000,6,0.000,0.048,3395,1566,700,0,0,0,0,0,0
$GC,19422,1.06,529.5,20.4,11.2,899,19428,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1566,701,0,0,0,0,0,0
$GC,19501,1.06,529.5,12.0,10.4,912,19509,0.00,0.60,0.00,0.000,4,0.000,0.062,3397,1192,700,0,0,0,0,0,0
$GC,19558,1.06,529.5,5.8,12.1,921,19566,0.00,0.57,0.00,0.000,6,0.000,0.053,3397,1562,700,0,0,0,0,0,0
$STATE,19584,end climb,SURFACE_DEPTH_REACHED
$STATE,19584,begin surface coast
$FINISH,2.5,1.024533
$STATE,19615,end surface coast,CONTROL_FINISHED_OK
$STATE,19615,begin surface
$SM_CCo,19694,0.00,0.000,0,0,699,530.58
$SM_GC,3.34,8.77,0.00,0.00,0.036,0.000,0.000,78,1869,699,-9.17,0.23,530.58
$IRIDIUM_FIX,-4152.48,-300.00,060213,222236
$TT8_MAMPS,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,22.3,102.104
$10V_AH,9.9,73.395
$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,22.725,85.200,628.275,0.000,0.000,50.192,156.858,227.058,0.250,0.000,47.887,2318.998,14029.961,631.347,3102.964,276.483,30.194,1854.272,0.000,2613.041,0.000,1.009,0.000
$DEVICE_MAMPS,218.025,68.850,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.503,872.849,631.943,76.001,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354520
$DATA_FILE_SIZE,56948,930
$CAP_FILE_SIZE,149472,0
$CFSIZE,2097086464,2019590144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,070213,042559,-4207.997,-311.723,73,1.7,73,-22.4