version: 66.07.10.p01
glider: 573
mission: 4
dive: 578
start: 2 9 113 13 3 59
data:
$ID,573
$MISSION,4
$DIVE,578
$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,-6074.9531
$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,27
$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,557
$GPS1,090213,125535,-4153.806,-321.833,60,1.0,60,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-56.2
$GPS2,090213,130306,-4153.865,-321.770,21,0.9,21,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.137,0.236
$KALMAN_X,13309.5,-22.7,13.1,-30728.1,1738.9
$KALMAN_Y,-25661.6,-122.5,87.5,57765.5,-2958.6
$MHEAD_RNG_PITCHd_Wd,352.4,50920,-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,-6.82,0.000,2,0.000,0.000,74,1862,694,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.0,-0.0,1,183,10.32,1.67,-127.50,0.000,4,0.210,0.074,2695,2892,3538,0,0,0,0,0,0
$GC,295,-1.05,-165.4,21.9,-11.2,44,302,0.00,1.67,0.00,0.000,6,0.000,0.049,2696,1851,3540,0,0,0,0,0,0
$GC,375,-1.05,-165.4,31.8,-11.7,57,380,0.00,0.52,0.00,0.000,4,0.000,0.058,2693,2193,3540,0,0,0,0,0,0
$GC,404,-1.05,-165.4,35.2,-10.7,62,411,0.00,0.50,0.00,0.000,6,0.000,0.058,2693,1865,3540,0,0,0,0,0,0
$GC,750,-1.05,-165.4,66.5,-10.1,117,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1865,3541,0,0,0,0,0,0
$GC,1180,-1.08,-165.4,118.5,-12.8,153,1183,0.00,1.60,0.00,0.000,4,0.000,0.058,2686,2847,3541,0,0,0,0,0,0
$GC,1259,-1.11,-165.4,128.8,-12.3,157,1264,0.00,1.58,0.00,0.000,6,0.000,0.047,2686,1856,3541,0,0,0,0,0,0
$GC,1798,-1.14,-165.4,192.7,-11.7,192,1802,0.00,1.00,0.00,0.000,4,0.000,0.057,2681,2481,3542,0,0,0,0,0,0
$GC,1876,-1.14,-165.4,201.9,-10.6,196,1880,0.00,0.98,0.00,0.000,6,0.000,0.050,2682,1862,3542,0,0,0,0,0,0
$GC,2407,-1.14,-165.4,256.4,-9.8,222,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1862,3542,0,0,0,0,0,0
$GC,2920,-1.16,-165.4,306.9,-9.9,246,2923,0.00,0.85,0.00,0.000,4,0.000,0.057,2678,2403,3542,0,0,0,0,0,0
$GC,3026,-1.18,-165.4,318.0,-10.2,249,3029,0.00,0.85,0.00,0.000,6,0.000,0.052,2677,1859,3542,0,0,0,0,0,0
$GC,3545,-1.21,-165.4,375.1,-11.7,266,3550,0.05,0.55,0.00,0.000,4,0.161,0.059,2631,2212,3541,0,0,0,0,0,0
$GC,3589,-1.17,-165.4,380.8,-11.6,267,3593,0.10,0.52,0.00,0.000,6,0.129,0.056,2666,1862,3541,0,0,0,0,0,0
$GC,4134,-1.17,-165.4,448.4,-12.5,285,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1862,3541,0,0,0,0,0,0
$GC,4653,-1.17,-165.4,509.9,-11.7,302,4656,0.00,0.77,0.00,0.000,4,0.000,0.059,2663,2355,3540,0,0,0,0,0,0
$GC,4714,-1.17,-165.4,517.1,-11.5,303,4719,0.00,0.77,0.00,0.000,6,0.000,0.053,2663,1859,3540,0,0,0,0,0,0
$GC,5241,-1.17,-165.4,577.2,-11.3,321,5245,0.00,1.50,0.00,0.000,4,0.000,0.058,2663,943,3538,0,0,0,0,0,0
$GC,5363,-1.17,-165.4,591.8,-12.3,324,5367,0.00,1.50,0.00,0.000,6,0.000,0.049,2656,1864,3538,0,0,0,0,0,0
$GC,5896,-1.17,-165.4,652.0,-11.2,342,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1864,3537,0,0,0,0,0,0
$GC,6417,-1.17,-165.4,710.0,-11.3,359,6421,0.00,2.28,0.00,0.000,4,0.000,0.060,2645,3265,3535,0,0,0,0,0,0
$GC,6617,-1.17,-165.4,733.0,-11.3,365,6622,0.10,2.22,0.00,0.000,6,0.155,0.050,2673,1858,3535,0,0,0,0,0,0
$GC,7138,-1.20,-165.4,789.7,-10.9,382,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1858,3533,0,0,0,0,0,0
$GC,7657,-1.23,-165.4,846.4,-11.0,399,7659,0.08,0.00,0.00,0.000,6,0.116,0.000,2622,1858,3533,0,0,0,0,0,0
$GC,8177,-1.19,-165.4,908.3,-11.8,416,8182,0.15,0.95,0.00,0.000,4,0.153,0.060,2662,2433,3531,0,0,0,0,0,0
$GC,8255,-1.19,-165.4,917.1,-10.9,418,8259,0.00,0.90,0.00,0.000,6,0.000,0.053,2662,1860,3531,0,0,0,0,0,0
$GC,8585,-1.19,-165.4,953.5,-11.3,429,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1859,3530,0,0,0,0,0,0
$GC,8891,-1.19,-165.4,986.6,-10.8,439,8895,0.00,0.93,0.00,0.000,4,0.000,0.060,2658,2433,3530,0,0,0,0,0,0
$STATE,8924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8924,begin apogee
$GC,8931,-0.31,0.0,990.2,10.4,440,9078,0.90,0.00,143.82,1.244,6,0.112,0.000,2946,1562,2862,0,0,0,0,0,0
$STATE,9079,end apogee,CONTROL_FINISHED_OK
$STATE,9079,begin climb
$GC,9081,1.05,165.4,1003.6,0.0,445,9241,1.23,2.42,149.85,1.213,4,0.059,0.056,3380,2962,2186,0,0,0,0,0,0
$GC,9493,0.80,387.0,1012.7,1.0,457,9701,0.32,2.28,199.62,1.218,6,0.171,0.050,3304,1556,1284,0,0,0,0,0,0
$GC,10016,0.83,396.0,972.8,9.3,475,10027,0.00,0.00,8.12,1.013,6,0.000,0.000,3303,1556,1247,0,0,0,0,0,0
$GC,10351,0.87,411.6,941.8,9.1,486,10370,0.05,0.00,16.17,1.114,6,0.170,0.000,3337,1555,1184,0,0,0,0,0,0
$GC,10657,0.87,411.6,912.1,9.9,496,10661,0.00,0.43,0.00,0.000,4,0.000,0.067,3339,1283,1180,0,0,0,0,0,0
$GC,10758,0.87,411.6,902.1,10.8,499,10762,0.03,0.43,0.00,0.000,6,0.171,0.057,3330,1557,1179,0,0,0,0,0,0
$GC,11099,0.87,419.1,869.3,9.4,510,11109,0.00,0.00,7.93,0.981,6,0.000,0.000,3330,1557,1152,0,0,0,0,0,0
$GC,11620,0.87,419.1,819.0,9.7,527,11623,0.00,0.65,0.00,0.000,4,0.000,0.067,3332,1160,1151,0,0,0,0,0,0
$GC,11714,0.87,421.1,809.7,9.6,529,11720,0.00,0.62,0.00,0.000,6,0.000,0.055,3333,1550,1151,0,0,0,0,0,0
$GC,12242,0.87,421.1,757.7,10.1,547,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1550,1150,0,0,0,0,0,0
$GC,12762,0.87,421.1,704.5,10.5,564,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1550,1150,0,0,0,0,0,0
$GC,13283,0.87,427.5,653.6,9.5,581,13297,0.00,0.82,8.90,0.929,4,0.000,0.067,3336,1077,1119,0,0,0,0,0,0
$GC,13405,0.87,457.6,642.8,8.5,584,13440,0.00,0.77,30.58,1.031,6,0.000,0.053,3336,1556,997,0,0,0,0,0,0
$GC,13968,0.90,501.9,596.6,8.0,603,14018,0.00,1.98,42.75,1.017,4,0.000,0.069,3345,439,814,0,0,0,0,0,0
$GC,14114,0.96,523.8,584.0,8.8,607,14140,0.00,1.83,21.23,0.972,6,0.000,0.050,3345,1569,726,0,0,0,0,0,0
$GC,14678,1.03,523.8,529.7,10.0,626,14683,0.10,0.70,0.00,0.000,4,0.099,0.067,3400,1151,718,0,0,0,0,0,0
$GC,14780,1.03,523.8,518.6,11.0,629,14784,0.05,0.65,0.00,0.000,6,0.144,0.054,3382,1561,718,0,0,0,0,0,0
$GC,15305,1.03,523.8,456.3,12.3,646,15309,0.00,0.80,0.00,0.000,4,0.000,0.068,3385,1075,718,0,0,0,0,0,0
$GC,15383,1.03,523.8,446.2,12.2,648,15387,0.00,0.80,0.00,0.000,6,0.000,0.052,3385,1571,717,0,0,0,0,0,0
$GC,15927,1.03,523.8,376.6,12.6,666,15928,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1571,717,0,0,0,0,0,0
$GC,16448,1.03,523.8,316.5,10.6,683,16452,0.00,2.33,0.00,0.000,4,0.000,0.067,3396,185,717,0,0,0,0,0,0
$GC,16570,1.03,529.6,304.0,9.5,686,16580,0.08,2.25,4.88,0.602,6,0.177,0.048,3377,1572,702,0,0,0,0,0,0
$GC,17117,1.06,529.6,253.4,9.8,712,17118,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1572,701,0,0,0,0,0,0
$GC,17636,1.06,529.6,192.0,13.1,738,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1573,701,0,0,0,0,0,0
$GC,18167,1.08,529.6,128.0,10.5,772,18171,0.00,2.15,0.00,0.000,4,0.000,0.067,3386,283,701,0,0,0,0,0,0
$GC,18290,1.08,529.6,114.7,10.5,779,18296,0.00,2.08,0.00,0.000,6,0.000,0.047,3386,1555,702,0,0,0,0,0,0
$GC,18828,1.08,529.6,56.8,10.4,828,18835,0.00,1.73,0.00,0.000,4,0.000,0.066,3394,534,701,0,0,0,0,0,0
$GC,19038,1.08,534.6,36.6,9.5,864,19049,0.00,1.67,6.22,0.518,6,0.000,0.048,3394,1566,682,0,0,0,0,0,0
$STATE,19372,end climb,SURFACE_DEPTH_REACHED
$STATE,19372,begin surface coast
$FINISH,2.2,1.015556
$STATE,19410,end surface coast,CONTROL_FINISHED_OK
$STATE,19411,begin surface
$SM_CCo,19489,0.00,0.000,0,0,680,535.24
$SM_GC,3.15,8.68,0.00,0.00,0.031,0.000,0.000,76,1867,680,-9.18,0.20,535.24
$IRIDIUM_FIX,-4140.91,-322.67,090213,070740
$TT8_MAMPS,0.026215
$HUMID,51.26
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,22.2,104.675
$10V_AH,9.8,74.574
$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,22.225,53.400,640.075,0.000,0.000,25.466,41.876,227.746,0.250,0.000,23.503,2247.829,14028.438,627.840,2775.573,253.620,33.369,1737.156,0.000,2452.717,0.000,1.009,0.000
$DEVICE_MAMPS,209.610,74.205,1243.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.224,883.135,631.484,77.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354472
$DATA_FILE_SIZE,56966,927
$CAP_FILE_SIZE,132843,0
$CFSIZE,2097086464,2018148352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090213,183005,-4152.800,-322.046,41,1.0,41,-22.5