version: 66.07.10.p01
glider: 573
mission: 4
dive: 572
start: 2 8 113 3 10 59
data:
$ID,573
$MISSION,4
$DIVE,572
$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,-6060.7397
$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,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,551
$GPS1,080213,030234,-4201.623,-316.954,39,0.9,44,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-70.8
$GPS2,080213,031006,-4201.525,-316.949,21,1.0,21,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.142,0.233
$KALMAN_X,4524.3,165.6,-200.2,-15295.7,939.4
$KALMAN_Y,-10015.1,-240.6,-182.7,28315.2,-1135.3
$MHEAD_RNG_PITCHd_Wd,351.0,66566,-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,-7.22,0.000,2,0.000,0.000,79,1857,821,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,177,10.68,2.28,-119.43,0.000,4,0.220,0.073,2705,519,3536,0,0,0,0,0,0
$GC,245,-1.02,-165.4,13.3,-11.8,35,253,0.05,2.20,0.00,0.000,6,0.149,0.047,2713,1867,3537,0,0,0,0,0,0
$GC,326,-1.02,-165.4,22.7,-11.9,48,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1867,3537,0,0,0,0,0,0
$GC,406,-1.02,-165.4,32.4,-12.4,61,411,0.00,0.85,0.00,0.000,4,0.000,0.058,2713,1339,3537,0,0,0,0,0,0
$GC,613,-1.02,-165.4,58.4,-12.7,97,618,0.00,0.82,0.00,0.000,6,0.000,0.053,2709,1859,3538,0,0,0,0,0,0
$GC,944,-1.06,-165.4,96.2,-10.9,129,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1859,3538,0,0,0,0,0,0
$GC,1365,-1.10,-165.4,138.5,-10.2,157,1369,0.05,0.45,0.00,0.000,4,0.161,0.063,2666,1576,3539,0,0,0,0,0,0
$GC,1450,-1.07,-165.4,147.7,-10.4,162,1454,0.10,0.45,0.00,0.000,6,0.135,0.059,2698,1866,3539,0,0,0,0,0,0
$GC,1996,-1.12,-165.4,206.2,-11.0,196,2000,0.00,1.65,0.00,0.000,4,0.000,0.055,2698,864,3539,0,0,0,0,0,0
$GC,2069,-1.12,-165.4,214.9,-10.8,199,2072,0.00,1.60,0.00,0.000,6,0.000,0.046,2691,1861,3539,0,0,0,0,0,0
$GC,2604,-1.15,-165.4,270.8,-10.0,225,2608,0.00,1.45,0.00,0.000,4,0.000,0.054,2691,978,3539,0,0,0,0,0,0
$GC,2650,-1.15,-165.4,275.4,-9.5,227,2654,0.00,1.40,0.00,0.000,6,0.000,0.046,2684,1852,3539,0,0,0,0,0,0
$GC,3177,-1.17,-165.4,328.6,-10.3,248,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1852,3539,0,0,0,0,0,0
$GC,3696,-1.19,-165.4,386.7,-11.3,265,3700,0.08,0.70,0.00,0.000,4,0.119,0.060,2632,1416,3538,0,0,0,0,0,0
$GC,3752,-1.13,-165.4,393.3,-11.4,266,3756,0.15,0.70,0.00,0.000,6,0.130,0.052,2679,1863,3538,0,0,0,0,0,0
$GC,4284,-1.15,-165.4,453.2,-11.2,284,4288,0.00,0.38,0.00,0.000,4,0.000,0.060,2678,2133,3538,0,0,0,0,0,0
$GC,4334,-1.18,-165.4,459.0,-11.3,285,4338,0.00,0.43,0.00,0.000,6,0.000,0.059,2678,1850,3539,0,0,0,0,0,0
$GC,4873,-1.18,-165.4,517.9,-10.3,303,4876,0.00,0.62,0.00,0.000,4,0.000,0.057,2675,2255,3538,0,0,0,0,0,0
$GC,4962,-1.20,-165.4,527.6,-10.3,305,4965,0.00,0.60,0.00,0.000,6,0.000,0.054,2675,1863,3538,0,0,0,0,0,0
$GC,5495,-1.20,-165.4,585.9,-11.1,323,5498,0.00,1.90,0.00,0.000,4,0.000,0.060,2666,3031,3536,0,0,0,0,0,0
$GC,5567,-1.20,-165.4,594.3,-11.4,325,5571,0.00,1.90,0.00,0.000,6,0.000,0.049,2666,1855,3536,0,0,0,0,0,0
$GC,6086,-1.20,-165.4,652.4,-10.8,342,6090,0.00,2.05,0.00,0.000,4,0.000,0.060,2657,3113,3535,0,0,0,0,0,0
$GC,6146,-1.20,-165.4,659.2,-11.6,343,6151,0.00,2.00,0.00,0.000,6,0.000,0.047,2657,1864,3535,0,0,0,0,0,0
$GC,6674,-1.20,-165.4,715.5,-10.6,361,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1864,3533,0,0,0,0,0,0
$GC,7194,-1.20,-165.4,769.4,-10.5,378,7198,0.00,1.65,0.00,0.000,4,0.000,0.060,2649,2897,3532,0,0,0,0,0,0
$GC,7263,-1.20,-165.4,776.3,-9.6,380,7266,0.00,1.65,0.00,0.000,6,0.000,0.050,2649,1844,3532,0,0,0,0,0,0
$GC,7787,-1.20,-165.4,830.5,-10.4,397,7791,0.00,0.82,0.00,0.000,4,0.000,0.058,2646,2363,3530,0,0,0,0,0,0
$GC,7859,-1.20,-165.4,838.4,-10.0,399,7864,0.00,0.80,0.00,0.000,6,0.000,0.054,2646,1853,3530,0,0,0,0,0,0
$GC,8379,-1.20,-165.4,890.5,-10.0,416,8383,0.00,2.33,0.00,0.000,4,0.000,0.060,2646,449,3530,0,0,0,0,0,0
$GC,8558,-1.15,-165.4,909.8,-11.3,421,8563,0.12,2.25,0.00,0.000,6,0.159,0.047,2669,1859,3529,0,0,0,0,0,0
$GC,8876,-1.15,-165.4,941.7,-10.1,432,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1859,3528,0,0,0,0,0,0
$GC,9182,-1.17,-165.4,972.5,-10.1,442,9186,0.00,1.12,0.00,0.000,4,0.000,0.059,2670,1165,3527,0,0,0,0,0,0
$GC,9260,-1.17,-165.4,980.6,-10.6,444,9264,0.00,1.12,0.00,0.000,6,0.000,0.052,2665,1859,3527,0,0,0,0,0,0
$STATE,9373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9373,begin apogee
$GC,9379,-0.31,0.0,991.9,10.0,448,9526,0.85,0.00,143.48,1.252,6,0.108,0.000,2941,1555,2862,0,0,0,0,0,0
$STATE,9527,end apogee,CONTROL_FINISHED_OK
$STATE,9527,begin climb
$GC,9529,1.05,165.4,1004.6,0.0,453,9691,1.27,2.47,150.68,1.220,4,0.060,0.054,3383,2922,2186,0,0,0,0,0,0
$GC,9946,0.80,374.9,1011.9,1.5,466,10143,0.32,2.20,189.00,1.222,6,0.172,0.050,3306,1559,1333,0,0,0,0,0,0
$GC,10462,0.80,428.8,977.6,7.6,483,10515,0.00,0.00,50.88,1.193,6,0.000,0.000,3306,1558,1113,0,0,0,0,0,0
$GC,10799,0.86,452.5,948.8,8.8,494,10826,0.00,0.00,22.75,1.154,6,0.000,0.000,3306,1559,1017,0,0,0,0,0,0
$GC,11135,0.93,473.8,918.8,8.9,505,11162,0.12,0.00,21.75,1.147,6,0.087,0.000,3367,1559,930,0,0,0,0,0,0
$GC,11469,0.93,473.8,885.4,10.2,516,11474,0.08,1.02,0.00,0.000,4,0.180,0.064,3353,954,924,0,0,0,0,0,0
$GC,11586,0.93,473.8,873.5,10.3,519,11590,0.00,0.98,0.00,0.000,6,0.000,0.048,3353,1557,924,0,0,0,0,0,0
$GC,12125,0.93,473.8,815.6,11.1,537,12129,0.00,1.40,0.00,0.000,4,0.000,0.067,3359,729,923,0,0,0,0,0,0
$GC,12236,0.93,473.8,803.2,10.7,540,12241,0.03,1.35,0.00,0.000,6,0.166,0.048,3349,1563,922,0,0,0,0,0,0
$GC,12782,0.96,473.8,745.6,10.2,558,12786,0.00,1.45,0.00,0.000,4,0.000,0.066,3355,712,921,0,0,0,0,0,0
$GC,12894,0.96,478.6,734.0,9.5,561,12903,0.00,1.38,4.47,0.732,6,0.000,0.050,3355,1557,911,0,0,0,0,0,0
$GC,13439,0.98,478.6,680.9,9.7,579,13442,0.00,0.85,0.00,0.000,4,0.000,0.067,3359,1045,910,0,0,0,0,0,0
$GC,13541,0.98,478.6,670.7,10.2,582,13544,0.00,0.82,0.00,0.000,6,0.000,0.052,3359,1558,910,0,0,0,0,0,0
$GC,14065,0.98,478.6,618.1,9.9,599,14069,0.00,1.80,0.00,0.000,4,0.000,0.068,3367,484,910,0,0,0,0,0,0
$GC,14176,0.98,478.6,607.0,9.8,602,14180,0.00,1.75,0.00,0.000,6,0.000,0.049,3367,1563,909,0,0,0,0,0,0
$GC,14721,0.98,510.8,558.9,8.4,620,14760,0.00,2.03,33.40,0.991,4,0.000,0.068,3376,401,778,0,0,0,0,0,0
$GC,14879,1.01,537.0,545.1,8.7,624,14909,0.00,1.88,25.55,0.957,6,0.000,0.050,3376,1569,671,0,0,0,0,0,0
$GC,15432,1.04,557.7,496.2,8.9,642,15456,0.00,1.40,19.38,0.916,4,0.000,0.065,3382,754,587,0,0,0,0,0,0
$GC,15580,1.09,557.7,481.4,10.8,646,15584,0.00,1.33,0.00,0.000,6,0.000,0.050,3382,1563,585,0,0,0,0,0,0
$GC,16119,1.12,557.7,415.6,13.7,664,16123,0.08,1.40,0.00,0.000,4,0.122,0.067,3431,749,582,0,0,0,0,0,0
$GC,16202,1.09,557.7,403.3,15.1,666,16206,0.10,1.33,0.00,0.000,6,0.129,0.048,3397,1565,582,0,0,0,0,0,0
$GC,16740,1.09,557.7,329.0,12.9,684,16743,0.00,1.85,0.00,0.000,4,0.000,0.067,3405,457,581,0,0,0,0,0,0
$GC,16823,1.09,557.7,318.5,11.8,686,16827,0.00,1.80,0.00,0.000,6,0.000,0.048,3405,1565,582,0,0,0,0,0,0
$GC,17348,1.09,557.7,261.8,10.3,709,17352,0.00,2.35,0.00,0.000,4,0.000,0.067,3415,162,582,0,0,0,0,0,0
$GC,17442,1.09,557.7,251.4,11.1,713,17447,0.08,2.25,0.00,0.000,6,0.184,0.048,3398,1568,581,0,0,0,0,0,0
$GC,17967,1.09,557.7,196.8,11.2,739,17970,0.00,0.90,0.00,0.000,4,0.000,0.062,3402,1019,581,0,0,0,0,0,0
$GC,18090,1.09,557.7,182.8,11.3,746,18094,0.00,0.85,0.00,0.000,6,0.000,0.048,3401,1554,581,0,0,0,0,0,0
$GC,18619,1.09,557.7,115.5,13.2,780,18623,0.00,1.50,0.00,0.000,4,0.000,0.065,3408,666,581,0,0,0,0,0,0
$GC,18691,1.09,557.7,106.1,12.4,784,18696,0.00,1.45,0.00,0.000,6,0.000,0.048,3408,1561,581,0,0,0,0,0,0
$GC,19239,1.09,557.7,45.5,12.7,843,19244,0.00,1.77,0.00,0.000,4,0.000,0.065,3416,479,581,0,0,0,0,0,0
$GC,19333,1.09,557.7,33.4,12.3,859,19338,0.08,1.70,0.00,0.000,6,0.181,0.047,3398,1561,581,0,0,0,0,0,0
$STATE,19592,end climb,SURFACE_DEPTH_REACHED
$STATE,19592,begin surface coast
$FINISH,2.5,1.012719
$STATE,19629,end surface coast,CONTROL_FINISHED_OK
$STATE,19629,begin surface
$SM_CCo,19708,0.00,0.000,0,0,580,559.77
$SM_GC,3.42,8.73,0.00,0.00,0.034,0.000,0.000,84,1864,580,-9.17,0.11,559.77
$IRIDIUM_FIX,-4146.69,-317.22,070213,212111
$TT8_MAMPS,0.026964
$HUMID,50.63
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,22.2,103.260
$10V_AH,9.9,73.930
$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,22.950,80.400,661.325,0.000,0.000,31.105,37.922,228.413,0.250,0.000,23.773,2275.751,14089.891,688.305,2836.277,263.549,33.349,1836.988,0.000,2512.443,0.000,1.008,0.000
$DEVICE_MAMPS,219.555,73.440,1251.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.081,836.486,625.850,70.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354516
$DATA_FILE_SIZE,53555,909
$CAP_FILE_SIZE,143834,0
$CFSIZE,2097086464,2018934784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080213,084035,-4200.071,-317.938,32,1.2,32,-22.4