version: 66.07.10.p01
glider: 573
mission: 4
dive: 575
start: 2 8 113 20 14 36
data:
$ID,573
$MISSION,4
$DIVE,575
$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,-6067.7354
$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,28
$R_STBD_OVSHOOT,30
$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,554
$GPS1,080213,200553,-4157.399,-319.291,42,1.1,42,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-70.3
$GPS2,080213,201343,-4157.336,-319.333,21,1.1,21,-22.4
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.104,0.252
$KALMAN_X,8449.2,219.0,353.3,-23103.5,495.6
$KALMAN_Y,-17225.4,-89.8,-25.3,42974.6,-2232.0
$MHEAD_RNG_PITCHd_Wd,359.9,58180,-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,-7.18,0.000,2,0.000,0.000,83,1861,597,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,189,10.30,0.82,-134.50,0.000,4,0.210,0.096,2702,1379,3537,0,0,0,0,0,0
$GC,456,-1.05,-165.4,34.3,-10.9,71,461,0.00,0.75,0.00,0.000,6,0.000,0.052,2699,1856,3539,0,0,0,0,0,0
$GC,801,-1.07,-165.4,67.7,-9.8,125,805,0.00,1.60,0.00,0.000,4,0.000,0.058,2699,894,3540,0,0,0,0,0,0
$GC,893,-1.07,-165.4,77.3,-10.3,133,897,0.00,1.58,0.00,0.000,6,0.000,0.047,2691,1864,3540,0,0,0,0,0,0
$GC,1329,-1.09,-165.4,122.1,-8.9,167,1333,0.00,2.33,0.00,0.000,4,0.000,0.057,2691,445,3541,0,0,0,0,0,0
$GC,1451,-1.09,-165.4,133.0,-8.7,174,1459,0.00,2.28,0.00,0.000,6,0.000,0.046,2680,1858,3541,0,0,0,0,0,0
$GC,1991,-1.09,-165.4,187.1,-11.3,209,1995,0.00,2.30,0.00,0.000,4,0.000,0.057,2681,451,3541,0,0,0,0,0,0
$GC,2160,-1.09,-165.4,206.6,-10.9,218,2167,0.08,2.28,0.00,0.000,6,0.180,0.044,2689,1878,3541,0,0,0,0,0,0
$GC,2685,-1.13,-165.4,260.2,-9.7,244,2689,0.00,2.35,0.00,0.000,4,0.000,0.057,2689,445,3541,0,0,0,0,0,0
$GC,2845,-1.13,-165.4,277.0,-10.8,251,2850,0.00,2.22,0.00,0.000,6,0.000,0.046,2679,1858,3541,0,0,0,0,0,0
$GC,3377,-1.15,-165.4,338.2,-12.1,272,3381,0.00,2.30,0.00,0.000,4,0.000,0.057,2679,449,3541,0,0,0,0,0,0
$GC,3524,-1.15,-165.4,357.1,-12.9,276,3528,0.00,2.25,0.00,0.000,6,0.000,0.045,2668,1860,3541,0,0,0,0,0,0
$GC,4056,-1.15,-165.4,425.9,-12.8,294,4060,0.00,2.25,0.00,0.000,4,0.000,0.057,2668,487,3540,0,0,0,0,0,0
$GC,4129,-1.12,-165.4,435.0,-11.8,296,4133,0.10,2.17,0.00,0.000,6,0.167,0.046,2684,1861,3540,0,0,0,0,0,0
$GC,4674,-1.15,-165.4,492.4,-10.3,314,4678,0.00,2.33,0.00,0.000,4,0.000,0.057,2684,442,3540,0,0,0,0,0,0
$GC,4790,-1.15,-165.4,504.6,-10.4,317,4794,0.00,2.25,0.00,0.000,6,0.000,0.046,2674,1864,3540,0,0,0,0,0,0
$GC,5329,-1.15,-165.4,557.6,-9.8,335,5333,0.00,0.47,0.00,0.000,4,0.000,0.057,2674,1548,3538,0,0,0,0,0,0
$GC,5424,-1.15,-165.4,567.2,-9.4,337,5429,0.00,0.50,0.00,0.000,6,0.000,0.057,2672,1865,3538,0,0,0,0,0,0
$GC,5951,-1.15,-165.4,621.4,-10.4,355,5955,0.00,2.33,0.00,0.000,4,0.000,0.058,2672,452,3537,0,0,0,0,0,0
$GC,6062,-1.13,-165.4,633.5,-11.2,358,6067,0.08,2.22,0.00,0.000,6,0.189,0.045,2679,1859,3537,0,0,0,0,0,0
$GC,6596,-1.17,-165.4,688.7,-10.4,376,6601,0.00,2.33,0.00,0.000,4,0.000,0.060,2680,452,3535,0,0,0,0,0,0
$GC,6743,-1.17,-165.4,704.2,-9.8,380,6747,0.00,2.25,0.00,0.000,6,0.000,0.047,2670,1867,3534,0,0,0,0,0,0
$GC,7275,-1.17,-165.4,753.6,-8.9,398,7279,0.00,2.33,0.00,0.000,4,0.000,0.059,2669,452,3534,0,0,0,0,0,0
$GC,7453,-1.17,-165.4,770.9,-10.1,403,7458,0.00,2.28,0.00,0.000,6,0.000,0.047,2658,1883,3534,0,0,0,0,0,0
$GC,7992,-1.17,-165.4,826.9,-11.3,421,7996,0.00,2.38,0.00,0.000,4,0.000,0.059,2658,448,3532,0,0,0,0,0,0
$GC,8128,-1.13,-165.4,843.5,-12.0,425,8133,0.12,2.28,0.00,0.000,6,0.158,0.047,2682,1859,3531,0,0,0,0,0,0
$GC,8673,-1.18,-165.4,911.8,-12.7,443,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1859,3530,0,0,0,0,0,0
$GC,8978,-1.22,-165.4,947.5,-11.2,453,8980,0.10,0.00,0.00,0.000,6,0.094,0.000,2623,1860,3530,0,0,0,0,0,0
$GC,9284,-1.17,-165.4,980.8,-10.4,463,9286,0.15,0.00,0.00,0.000,6,0.150,0.000,2666,1860,3529,0,0,0,0,0,0
$STATE,9404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9404,begin apogee
$GC,9410,-0.31,0.0,992.4,9.5,467,9557,0.85,0.00,143.27,1.249,6,0.109,0.000,2943,1554,2862,0,0,0,0,0,0
$STATE,9558,end apogee,CONTROL_FINISHED_OK
$STATE,9558,begin climb
$GC,9560,1.05,165.4,1003.0,0.0,472,9718,1.25,2.50,148.88,1.216,4,0.057,0.054,3385,2968,2189,0,0,0,0,0,0
$GC,9971,0.79,308.7,1001.3,4.1,484,10107,0.35,2.28,128.12,1.214,6,0.172,0.049,3302,1552,1602,0,0,0,0,0,0
$GC,10439,0.77,356.9,966.5,7.8,500,10489,0.00,2.40,43.85,1.185,4,0.000,0.060,3302,2958,1406,0,0,0,0,0,0
$GC,10584,0.77,408.7,954.9,7.7,504,10639,0.08,2.28,48.40,1.179,6,0.186,0.051,3294,1555,1195,0,0,0,0,0,0
$GC,10970,0.83,476.8,926.4,7.0,517,11037,0.00,0.00,64.85,1.182,6,0.000,0.000,3294,1555,917,0,0,0,0,0,0
$GC,11336,0.94,538.5,899.1,7.3,529,11398,0.15,0.00,58.95,1.169,6,0.074,0.000,3365,1555,665,0,0,0,0,0,0
$GC,11918,1.00,538.6,846.7,9.7,548,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1555,656,0,0,0,0,0,0
$GC,12437,1.04,538.6,792.1,11.0,565,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1555,655,0,0,0,0,0,0
$GC,12958,1.09,538.6,733.7,11.6,582,12962,0.10,0.77,0.00,0.000,4,0.099,0.065,3420,1074,654,0,0,0,0,0,0
$GC,13070,1.05,538.6,720.0,11.8,585,13074,0.10,0.77,0.00,0.000,6,0.137,0.052,3387,1556,653,0,0,0,0,0,0
$GC,13614,1.05,538.6,656.2,11.5,603,13619,0.00,2.35,0.00,0.000,4,0.000,0.070,3397,159,653,0,0,0,0,0,0
$GC,13726,1.05,538.6,643.3,12.1,606,13730,0.00,2.25,0.00,0.000,6,0.000,0.049,3397,1561,652,0,0,0,0,0,0
$GC,14265,1.05,538.6,584.5,10.6,624,14269,0.00,2.28,0.00,0.000,4,0.000,0.069,3407,203,652,0,0,0,0,0,0
$GC,14365,1.03,538.6,573.5,10.5,627,14370,0.10,2.20,0.00,0.000,6,0.170,0.049,3382,1565,652,0,0,0,0,0,0
$GC,14911,1.06,544.4,519.2,9.5,645,14920,0.00,1.38,4.28,0.643,4,0.000,0.067,3387,765,642,0,0,0,0,0,0
$GC,14999,1.08,544.4,510.4,10.0,647,15002,0.00,1.27,0.00,0.000,6,0.000,0.050,3387,1549,642,0,0,0,0,0,0
$GC,15531,1.08,544.4,453.9,11.1,665,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1549,642,0,0,0,0,0,0
$GC,16052,1.08,544.4,394.7,11.0,682,16056,0.00,1.23,0.00,0.000,4,0.000,0.066,3393,821,642,0,0,0,0,0,0
$GC,16141,1.08,544.4,385.0,10.4,684,16145,0.00,1.20,0.00,0.000,6,0.000,0.049,3393,1559,642,0,0,0,0,0,0
$GC,16674,1.08,544.4,323.2,12.0,702,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1559,642,0,0,0,0,0,0
$GC,17200,1.08,544.4,261.7,11.3,724,17204,0.00,2.38,0.00,0.000,4,0.000,0.070,3404,158,642,0,0,0,0,0,0
$GC,17322,1.08,544.4,247.9,10.7,729,17330,0.00,2.30,0.00,0.000,6,0.000,0.049,3404,1555,642,0,0,0,0,0,0
$GC,17852,1.08,544.4,194.7,10.6,756,17856,0.00,2.35,0.00,0.000,4,0.000,0.070,3413,160,641,0,0,0,0,0,0
$GC,17977,1.06,544.4,180.1,13.4,763,17983,0.10,2.30,0.00,0.000,6,0.166,0.049,3388,1577,641,0,0,0,0,0,0
$GC,18517,1.09,544.4,110.5,14.0,798,18521,0.00,2.40,0.00,0.000,4,0.000,0.069,3399,159,641,0,0,0,0,0,0
$GC,18707,1.09,544.4,84.5,12.9,813,18714,0.00,2.30,0.00,0.000,6,0.000,0.049,3399,1563,642,0,0,0,0,0,0
$GC,19159,1.09,559.2,40.2,9.1,873,19182,0.00,0.90,15.15,0.618,4,0.000,0.065,3403,1038,582,0,0,0,0,0,0
$GC,19235,1.09,559.2,32.7,9.7,886,19242,0.00,0.85,0.00,0.000,6,0.000,0.050,3403,1566,581,0,0,0,0,0,0
$STATE,19495,end climb,SURFACE_DEPTH_REACHED
$STATE,19495,begin surface coast
$FINISH,2.5,1.011993
$STATE,19520,end surface coast,CONTROL_FINISHED_OK
$STATE,19521,begin surface
$SM_CCo,19599,0.00,0.000,0,0,578,560.26
$SM_GC,3.21,8.70,0.00,0.00,0.031,0.000,0.000,81,1870,578,-9.17,0.28,560.26
$IRIDIUM_FIX,-4143.80,-345.96,080213,141446
$TT8_MAMPS,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,22.3,103.968
$10V_AH,9.8,74.256
$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,22.700,93.300,655.750,0.000,0.000,26.990,46.908,240.619,0.250,0.000,24.084,2303.197,13866.589,684.686,2940.494,266.988,33.365,1848.676,0.000,2595.695,0.000,1.009,0.000
$DEVICE_MAMPS,209.610,96.390,1249.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.048,892.701,637.013,77.303,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,56821,934
$CAP_FILE_SIZE,140886,0
$CFSIZE,2097086464,2018541568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090213,014253,-4155.833,-320.305,62,1.0,62,-22.5