version: 66.07.10.p01
glider: 573
mission: 4
dive: 574
start: 2 8 113 14 35 27
data:
$ID,573
$MISSION,4
$DIVE,574
$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,-6065.4028
$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,24
$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,553
$GPS1,080213,142635,-4158.562,-318.917,29,1.4,29,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-70.6
$GPS2,080213,143434,-4158.561,-318.853,21,1.4,31,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.144,0.232
$KALMAN_X,6966.2,-35.6,-184.8,-20169.7,1599.1
$KALMAN_Y,-14900.0,75.0,-57.7,38250.9,-2292.2
$MHEAD_RNG_PITCHd_Wd,350.6,60483,-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,25,begin dive
$GC,27,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-5.72,0.000,2,0.000,0.000,73,1866,838,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.3,-0.0,1,177,10.57,0.85,-118.55,0.000,4,0.215,0.090,2703,1351,3538,0,0,0,0,0,0
$GC,209,-1.05,-165.4,9.1,-10.9,29,217,0.00,0.82,0.00,0.000,6,0.000,0.052,2700,1866,3540,0,0,0,0,0,0
$GC,290,-1.05,-165.4,18.1,-11.6,42,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1866,3540,0,0,0,0,0,0
$GC,369,-1.05,-165.4,27.5,-11.6,55,377,0.00,0.55,0.00,0.000,4,0.000,0.059,2697,2230,3540,0,0,0,0,0,0
$GC,409,-1.05,-165.4,32.0,-11.5,61,414,0.00,0.57,0.00,0.000,6,0.000,0.057,2697,1856,3540,0,0,0,0,0,0
$GC,754,-1.05,-165.4,72.7,-11.3,113,758,0.00,1.15,0.00,0.000,4,0.000,0.058,2692,2567,3541,0,0,0,0,0,0
$GC,849,-1.08,-165.4,83.1,-10.2,121,853,0.00,1.12,0.00,0.000,6,0.000,0.050,2692,1855,3541,0,0,0,0,0,0
$GC,1276,-1.10,-165.4,120.0,-7.5,154,1279,0.00,0.57,0.00,0.000,4,0.000,0.057,2692,1471,3541,0,0,0,0,0,0
$GC,1372,-1.10,-165.4,126.7,-7.2,159,1377,0.00,0.60,0.00,0.000,6,0.000,0.053,2690,1857,3541,0,0,0,0,0,0
$GC,1911,-1.13,-165.4,178.3,-12.5,194,1915,0.00,1.62,0.00,0.000,4,0.000,0.056,2690,869,3543,0,0,0,0,0,0
$GC,2000,-1.13,-165.4,189.9,-12.9,199,2004,0.00,1.60,0.00,0.000,6,0.000,0.046,2682,1862,3542,0,0,0,0,0,0
$GC,2536,-1.13,-165.4,264.2,-13.3,226,2539,0.00,1.08,0.00,0.000,4,0.000,0.054,2682,1187,3542,0,0,0,0,0,0
$GC,2608,-1.13,-165.4,273.9,-13.2,229,2612,0.00,1.08,0.00,0.000,6,0.000,0.049,2677,1861,3542,0,0,0,0,0,0
$GC,3139,-1.13,-165.4,334.8,-11.0,250,3142,0.00,0.75,0.00,0.000,4,0.000,0.057,2674,2352,3542,0,0,0,0,0,0
$GC,3194,-1.13,-165.4,341.2,-11.8,251,3198,0.00,0.77,0.00,0.000,6,0.000,0.051,2674,1856,3541,0,0,0,0,0,0
$GC,3727,-1.13,-165.4,397.0,-10.1,269,3731,0.00,1.65,0.00,0.000,4,0.000,0.055,2674,848,3541,0,0,0,0,0,0
$GC,3812,-1.13,-165.4,405.4,-10.3,271,3816,0.05,1.62,0.00,0.000,6,0.221,0.046,2678,1856,3541,0,0,0,0,0,0
$GC,4350,-1.13,-165.4,459.5,-10.5,289,4353,0.00,0.68,0.00,0.000,4,0.000,0.057,2678,1429,3541,0,0,0,0,0,0
$GC,4411,-1.13,-165.4,466.5,-11.3,290,4416,0.00,0.68,0.00,0.000,6,0.000,0.053,2676,1864,3541,0,0,0,0,0,0
$GC,4938,-1.13,-165.4,528.0,-12.0,308,4941,0.00,0.80,0.00,0.000,4,0.000,0.057,2676,1363,3540,0,0,0,0,0,0
$GC,5027,-1.13,-165.4,538.9,-11.7,310,5031,0.00,0.80,0.00,0.000,6,0.000,0.052,2672,1865,3539,0,0,0,0,0,0
$GC,5560,-1.13,-165.4,599.6,-11.1,328,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1866,3538,0,0,0,0,0,0
$GC,6080,-1.13,-165.4,651.6,-10.0,345,6084,0.00,2.08,0.00,0.000,4,0.000,0.058,2672,606,3537,0,0,0,0,0,0
$GC,6186,-1.13,-165.4,662.7,-10.4,348,6191,0.03,2.03,0.00,0.000,6,0.170,0.047,2673,1857,3537,0,0,0,0,0,0
$GC,6707,-1.16,-165.4,715.7,-10.9,365,6711,0.00,2.30,0.00,0.000,4,0.000,0.060,2674,461,3536,0,0,0,0,0,0
$GC,6819,-1.16,-165.4,728.2,-11.2,368,6823,0.00,2.22,0.00,0.000,6,0.000,0.047,2663,1861,3535,0,0,0,0,0,0
$GC,7357,-1.16,-165.4,790.0,-12.1,386,7361,0.00,1.25,0.00,0.000,4,0.000,0.057,2663,1097,3534,0,0,0,0,0,0
$GC,7412,-1.16,-165.4,796.6,-11.2,387,7417,0.00,1.23,0.00,0.000,6,0.000,0.050,2657,1859,3534,0,0,0,0,0,0
$GC,7946,-1.16,-165.4,856.0,-10.8,405,7950,0.05,0.62,0.00,0.000,4,0.226,0.062,2669,1473,3532,0,0,0,0,0,0
$GC,8039,-1.16,-165.4,865.9,-10.1,407,8045,0.00,0.65,0.00,0.000,6,0.000,0.056,2667,1874,3532,0,0,0,0,0,0
$GC,8568,-1.18,-165.4,917.9,-9.5,425,8572,0.00,2.33,0.00,0.000,4,0.000,0.062,2667,462,3531,0,0,0,0,0,0
$GC,8673,-1.18,-165.4,928.1,-9.8,428,8677,0.00,2.28,0.00,0.000,6,0.000,0.049,2656,1852,3531,0,0,0,0,0,0
$GC,9009,-1.18,-165.4,959.5,-9.6,439,9012,0.00,2.10,0.00,0.000,4,0.000,0.063,2657,594,3531,0,0,0,0,0,0
$GC,9093,-1.16,-165.4,968.1,-10.2,441,9097,0.10,2.03,0.00,0.000,6,0.171,0.049,2673,1862,3530,0,0,0,0,0,0
$STATE,9322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9322,begin apogee
$GC,9328,-0.31,0.0,990.2,9.9,449,9475,0.82,0.00,144.12,1.249,6,0.108,0.000,2941,1557,2862,0,0,0,0,0,0
$STATE,9476,end apogee,CONTROL_FINISHED_OK
$STATE,9476,begin climb
$GC,9479,1.05,165.4,1003.0,0.0,454,9638,1.25,2.55,149.48,1.219,4,0.060,0.061,3392,156,2186,0,0,0,0,0,0
$GC,9891,0.78,380.8,1009.7,1.2,466,10094,0.35,2.28,194.18,1.221,6,0.170,0.045,3298,1564,1309,0,0,0,0,0,0
$GC,10415,0.80,437.8,976.0,7.5,484,10475,0.00,2.30,53.50,1.193,4,0.000,0.069,3307,271,1076,0,0,0,0,0,0
$GC,10582,0.87,462.6,961.7,8.7,489,10611,0.00,2.10,23.90,1.149,6,0.000,0.049,3307,1558,976,0,0,0,0,0,0
$GC,10949,0.95,476.9,929.0,9.1,501,10966,0.12,0.00,14.70,1.094,6,0.086,0.000,3369,1558,917,0,0,0,0,0,0
$GC,11253,0.95,476.9,898.2,10.2,511,11255,0.08,0.00,0.00,0.000,6,0.177,0.000,3351,1558,913,0,0,0,0,0,0
$GC,11774,0.95,476.9,845.6,10.0,528,11778,0.00,2.38,0.00,0.000,4,0.000,0.071,3361,156,912,0,0,0,0,0,0
$GC,11885,0.95,491.7,833.9,9.1,531,11905,0.00,2.25,15.00,1.082,6,0.000,0.049,3361,1561,857,0,0,0,0,0,0
$GC,12419,0.98,491.7,778.8,10.3,549,12423,0.00,0.55,0.00,0.000,4,0.000,0.069,3364,1226,853,0,0,0,0,0,0
$GC,12676,0.98,491.7,752.9,10.4,556,12680,0.00,0.55,0.00,0.000,6,0.000,0.057,3364,1561,853,0,0,0,0,0,0
$GC,13210,0.98,508.7,703.3,9.0,574,13234,0.00,2.45,17.38,1.039,4,0.000,0.071,3374,160,787,0,0,0,0,0,0
$GC,13431,0.98,523.3,682.2,9.1,580,13452,0.03,2.28,15.27,1.008,6,0.256,0.049,3363,1564,728,0,0,0,0,0,0
$GC,13991,1.02,523.3,623.5,11.1,599,13995,0.00,2.38,0.00,0.000,4,0.000,0.070,3373,162,724,0,0,0,0,0,0
$GC,14214,1.06,523.3,597.1,12.4,605,14219,0.00,2.28,0.00,0.000,6,0.000,0.049,3373,1570,723,0,0,0,0,0,0
$GC,14742,1.08,523.3,536.1,11.2,623,14746,0.05,1.67,0.00,0.000,4,0.166,0.067,3416,562,723,0,0,0,0,0,0
$GC,14825,1.04,523.3,526.6,11.1,625,14829,0.12,1.62,0.00,0.000,6,0.156,0.047,3381,1564,722,0,0,0,0,0,0
$GC,15363,1.04,523.3,471.3,10.0,643,15367,0.00,1.85,0.00,0.000,4,0.000,0.067,3390,473,722,0,0,0,0,0,0
$GC,15452,1.04,523.3,462.0,10.5,645,15456,0.00,1.75,0.00,0.000,6,0.000,0.048,3390,1553,722,0,0,0,0,0,0
$GC,15985,1.04,523.3,406.5,10.7,663,15990,0.00,2.35,0.00,0.000,4,0.000,0.070,3401,152,722,0,0,0,0,0,0
$GC,16082,1.01,523.3,395.6,12.1,666,16087,0.10,2.28,0.00,0.000,6,0.167,0.049,3374,1569,722,0,0,0,0,0,0
$GC,16603,1.03,523.3,334.3,12.2,683,16606,0.00,2.17,0.00,0.000,4,0.000,0.067,3384,273,722,0,0,0,0,0,0
$GC,16708,1.03,523.3,320.7,12.3,686,16712,0.00,2.10,0.00,0.000,6,0.000,0.047,3384,1561,722,0,0,0,0,0,0
$GC,17239,1.03,523.3,258.5,11.1,709,17243,0.00,1.42,0.00,0.000,4,0.000,0.067,3390,719,722,0,0,0,0,0,0
$GC,17353,1.03,523.3,246.2,11.2,714,17357,0.03,1.38,0.00,0.000,6,0.168,0.050,3380,1561,722,0,0,0,0,0,0
$GC,17881,1.04,539.7,195.9,9.1,740,17901,0.00,1.83,15.73,0.721,4,0.000,0.067,3388,470,661,0,0,0,0,0,0
$GC,18010,1.06,539.7,183.4,10.2,747,18015,0.00,1.75,0.00,0.000,6,0.000,0.049,3388,1570,660,0,0,0,0,0,0
$GC,18549,1.06,539.7,118.0,14.2,782,18553,0.00,2.38,0.00,0.000,4,0.000,0.067,3399,152,660,0,0,0,0,0,0
$GC,18691,1.06,539.7,97.5,12.7,791,18696,0.03,2.28,0.00,0.000,6,0.259,0.048,3388,1570,660,0,0,0,0,0,0
$GC,19126,1.08,595.3,56.8,7.5,834,19181,0.00,1.58,49.83,0.646,4,0.000,0.063,3394,621,434,0,0,0,0,0,0
$GC,19375,1.13,595.3,32.9,10.9,877,19380,0.00,1.52,0.00,0.000,6,0.000,0.047,3395,1559,426,0,0,0,0,0,0
$STATE,19639,end climb,SURFACE_DEPTH_REACHED
$STATE,19639,begin surface coast
$FINISH,2.4,1.012565
$STATE,19670,end surface coast,CONTROL_FINISHED_OK
$STATE,19670,begin surface
$SM_CCo,19748,0.00,0.000,0,0,423,598.52
$SM_GC,3.27,8.77,0.00,0.00,0.036,0.000,0.000,85,1861,423,-9.16,0.03,598.52
$IRIDIUM_FIX,-4146.69,-317.06,080213,080845
$TT8_MAMPS,0.026964
$HUMID,50.43
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.2,103.730
$10V_AH,9.8,74.148
$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,22.550,95.700,693.075,0.000,0.000,28.591,45.480,231.862,0.250,0.000,33.396,2311.482,13902.953,663.917,3070.130,270.862,33.367,1937.829,0.000,2705.430,0.000,1.009,0.000
$DEVICE_MAMPS,258.570,90.270,1249.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.542,866.063,626.367,73.785,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354540
$DATA_FILE_SIZE,57004,927
$CAP_FILE_SIZE,151866,0
$CFSIZE,2097086464,2018672640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080213,200553,-4157.399,-319.291,42,1.1,42,-22.4