version: 66.07.10.p01
glider: 573
mission: 4
dive: 579
start: 2 9 113 18 38 47
data:
$ID,573
$MISSION,4
$DIVE,579
$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,-6077.2847
$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,29
$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,558
$GPS1,090213,183005,-4152.800,-322.046,41,1.0,41,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-68.4
$GPS2,090213,183754,-4152.718,-321.965,20,1.2,20,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.139,0.234
$KALMAN_X,15431.3,296.0,94.9,-33516.2,1633.9
$KALMAN_Y,-28393.0,31.3,-30.2,62576.0,-2737.4
$MHEAD_RNG_PITCHd_Wd,351.8,48950,-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,-7.15,0.000,2,0.000,0.000,76,1867,843,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.0,-0.0,1,177,10.50,1.15,-120.57,0.000,4,0.212,0.078,2705,1170,3536,0,0,0,0,0,0
$GC,262,-1.05,-165.4,16.6,-11.4,38,269,0.00,1.10,0.00,0.000,6,0.000,0.050,2700,1855,3539,0,0,0,0,0,0
$GC,343,-1.01,-165.4,25.6,-11.2,51,351,0.08,0.47,0.00,0.000,4,0.191,0.062,2717,2169,3539,0,0,0,0,0,0
$GC,545,-1.05,-165.4,48.6,-10.0,85,550,0.00,0.47,0.00,0.000,6,0.000,0.059,2717,1857,3539,0,0,0,0,0,0
$GC,883,-1.11,-165.4,88.1,-11.7,125,887,0.10,0.43,0.00,0.000,4,0.096,0.064,2654,1579,3540,0,0,0,0,0,0
$GC,942,-1.06,-165.4,94.9,-12.3,130,946,0.12,0.43,0.00,0.000,6,0.126,0.059,2696,1856,3539,0,0,0,0,0,0
$GC,1378,-1.10,-165.4,141.3,-10.8,159,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1856,3541,0,0,0,0,0,0
$GC,1909,-1.14,-165.4,200.9,-11.4,193,1913,0.00,1.20,0.00,0.000,4,0.000,0.057,2691,2610,3540,0,0,0,0,0,0
$GC,1982,-1.19,-165.4,209.5,-11.4,196,1986,0.05,1.17,0.00,0.000,6,0.063,0.049,2640,1865,3541,0,0,0,0,0,0
$GC,2516,-1.15,-165.4,269.4,-10.8,222,2521,0.12,2.30,0.00,0.000,4,0.164,0.060,2664,3272,3541,0,0,0,0,0,0
$GC,2649,-1.15,-165.4,283.1,-10.5,228,2653,0.00,2.20,0.00,0.000,6,0.000,0.046,2664,1858,3541,0,0,0,0,0,0
$GC,3178,-1.15,-165.4,338.6,-10.5,248,3182,0.00,1.05,0.00,0.000,4,0.000,0.057,2659,2512,3540,0,0,0,0,0,0
$GC,3233,-1.15,-165.4,344.5,-10.7,249,3238,0.03,1.02,0.00,0.000,6,0.155,0.050,2670,1860,3541,0,0,0,0,0,0
$GC,3766,-1.15,-165.4,398.7,-10.0,267,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1860,3540,0,0,0,0,0,0
$GC,4287,-1.15,-165.4,451.3,-10.1,284,4290,0.00,1.30,0.00,0.000,4,0.000,0.057,2670,1055,3539,0,0,0,0,0,0
$GC,4389,-1.15,-165.4,461.7,-10.4,287,4392,0.00,1.30,0.00,0.000,6,0.000,0.049,2665,1863,3539,0,0,0,0,0,0
$GC,4913,-1.15,-165.4,516.4,-10.7,304,4917,0.00,2.03,0.00,0.000,4,0.000,0.057,2664,626,3538,0,0,0,0,0,0
$GC,4986,-1.12,-165.4,524.4,-10.9,306,4990,0.10,1.98,0.00,0.000,6,0.164,0.047,2682,1862,3538,0,0,0,0,0,0
$GC,5506,-1.16,-165.4,577.5,-10.4,323,5510,0.00,0.50,0.00,0.000,4,0.000,0.057,2680,2203,3537,0,0,0,0,0,0
$GC,5555,-1.20,-165.4,582.7,-9.9,324,5560,0.03,0.52,0.00,0.000,6,0.095,0.057,2641,1859,3537,0,0,0,0,0,0
$GC,6096,-1.17,-165.4,634.4,-9.4,342,6098,0.10,0.00,0.00,0.000,6,0.173,0.000,2668,1859,3536,0,0,0,0,0,0
$GC,6614,-1.17,-165.4,687.3,-11.1,359,6618,0.00,0.85,0.00,0.000,4,0.000,0.060,2668,1323,3535,0,0,0,0,0,0
$GC,6731,-1.17,-165.4,701.4,-11.5,362,6735,0.00,0.85,0.00,0.000,6,0.000,0.052,2664,1857,3534,0,0,0,0,0,0
$GC,7270,-1.17,-165.4,766.6,-12.1,380,7274,0.00,2.33,0.00,0.000,4,0.000,0.061,2664,455,3533,0,0,0,0,0,0
$GC,7359,-1.15,-165.4,777.7,-13.0,382,7364,0.08,2.25,0.00,0.000,6,0.187,0.046,2671,1862,3533,0,0,0,0,0,0
$GC,7886,-1.09,-165.4,835.5,-10.9,400,7891,0.08,2.35,0.00,0.000,4,0.191,0.060,2691,448,3531,0,0,0,0,0,0
$GC,8056,-1.09,-165.4,853.3,-11.0,405,8060,0.00,2.28,0.00,0.000,6,0.000,0.047,2680,1870,3531,0,0,0,0,0,0
$GC,8575,-1.12,-165.4,905.3,-10.2,422,8579,0.00,2.35,0.00,0.000,4,0.000,0.062,2680,458,3530,0,0,0,0,0,0
$GC,8680,-1.12,-165.4,916.6,-10.8,425,8684,0.00,2.25,0.00,0.000,6,0.000,0.047,2670,1863,3530,0,0,0,0,0,0
$GC,9010,-1.12,-165.4,949.3,-10.2,436,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1864,3529,0,0,0,0,0,0
$GC,9317,-1.15,-165.4,980.1,-10.1,446,9321,0.00,1.88,0.00,0.000,4,0.000,0.060,2670,743,3528,0,0,0,0,0,0
$GC,9385,-1.15,-165.4,987.0,-10.6,448,9389,0.00,1.80,0.00,0.000,6,0.000,0.049,2661,1859,3528,0,0,0,0,0,0
$STATE,9410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9410,begin apogee
$GC,9416,-0.31,0.0,990.1,10.3,448,9563,0.85,0.00,143.57,1.248,6,0.111,0.000,2940,1555,2862,0,0,0,0,0,0
$STATE,9564,end apogee,CONTROL_FINISHED_OK
$STATE,9564,begin climb
$GC,9566,1.05,165.4,1000.7,0.0,453,9725,1.25,2.38,149.68,1.219,4,0.052,0.054,3390,2965,2186,0,0,0,0,0,0
$GC,9978,0.79,367.9,1008.7,1.7,465,10169,0.38,2.28,182.48,1.222,6,0.172,0.050,3299,1557,1360,0,0,0,0,0,0
$GC,10505,0.79,431.8,973.7,7.2,483,10569,0.00,2.40,58.85,1.196,4,0.000,0.060,3299,2963,1101,0,0,0,0,0,0
$GC,10735,0.83,433.7,953.9,9.6,490,10740,0.00,2.28,0.00,0.000,6,0.000,0.054,3309,1558,1095,0,0,0,0,0,0
$GC,11077,0.88,441.3,922.2,9.4,501,11091,0.00,0.95,8.75,1.037,4,0.000,0.056,3309,2137,1062,0,0,0,0,0,0
$GC,11232,0.92,441.3,906.8,10.7,505,11236,0.05,0.93,0.00,0.000,6,0.064,0.061,3355,1565,1061,0,0,0,0,0,0
$GC,11549,0.92,441.3,871.8,11.2,516,11553,0.00,0.73,0.00,0.000,4,0.000,0.057,3355,2026,1059,0,0,0,0,0,0
$GC,11610,0.92,441.3,865.0,11.3,517,11616,0.03,0.75,0.00,0.000,6,0.173,0.060,3348,1559,1059,0,0,0,0,0,0
$GC,12138,0.92,441.3,809.8,10.5,535,12141,0.00,0.52,0.00,0.000,4,0.000,0.057,3348,1897,1058,0,0,0,0,0,0
$GC,12290,0.92,441.3,794.3,10.1,539,12294,0.00,0.55,0.00,0.000,6,0.000,0.065,3351,1556,1058,0,0,0,0,0,0
$GC,12828,0.92,441.3,740.2,10.0,557,12832,0.00,0.90,0.00,0.000,4,0.000,0.055,3351,2127,1057,0,0,0,0,0,0
$GC,12917,0.92,441.3,731.2,9.9,559,12921,0.00,0.90,0.00,0.000,6,0.000,0.059,3355,1564,1057,0,0,0,0,0,0
$GC,13450,0.92,441.3,677.3,10.3,577,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1564,1057,0,0,0,0,0,0
$GC,13971,0.92,450.1,626.6,9.4,594,13982,0.00,0.00,9.07,0.920,6,0.000,0.000,3355,1564,1026,0,0,0,0,0,0
$GC,14491,0.93,467.7,579.0,9.0,611,14516,0.00,0.98,18.92,0.978,4,0.000,0.065,3359,999,954,0,0,0,0,0,0
$GC,14629,0.93,489.8,566.8,8.8,615,14655,0.03,0.93,21.98,0.970,6,0.164,0.050,3349,1566,865,0,0,0,0,0,0
$GC,15176,0.96,530.7,519.2,8.1,633,15221,0.00,0.90,39.28,0.963,4,0.000,0.067,3353,1045,697,0,0,0,0,0,0
$GC,15345,1.04,546.2,504.9,9.1,638,15365,0.05,0.85,15.02,0.893,6,0.067,0.050,3391,1563,634,0,0,0,0,0,0
$GC,15892,1.04,546.2,450.5,10.4,656,15893,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1564,629,0,0,0,0,0,0
$GC,16413,1.04,546.2,388.8,12.2,673,16417,0.00,0.62,0.00,0.000,4,0.000,0.067,3394,1179,628,0,0,0,0,0,0
$GC,16496,1.04,546.2,378.3,12.5,675,16501,0.05,0.62,0.00,0.000,6,0.208,0.053,3382,1562,628,0,0,0,0,0,0
$GC,17036,1.06,546.2,313.3,11.6,693,17040,0.00,1.08,0.00,0.000,4,0.000,0.067,3386,930,627,0,0,0,0,0,0
$GC,17115,1.10,546.2,304.4,10.6,695,17118,0.00,1.02,0.00,0.000,6,0.000,0.049,3386,1562,627,0,0,0,0,0,0
$GC,17646,1.12,546.2,248.6,10.9,720,17651,0.05,1.90,0.00,0.000,4,0.168,0.057,3423,2746,627,0,0,0,0,0,0
$GC,17740,1.08,546.2,237.5,12.1,724,17744,0.15,1.92,0.00,0.000,6,0.160,0.053,3392,1551,627,0,0,0,0,0,0
$GC,18272,1.08,546.2,173.1,12.1,753,18275,0.00,1.67,0.00,0.000,4,0.000,0.057,3392,2587,626,0,0,0,0,0,0
$GC,18357,1.08,546.2,162.3,11.6,758,18361,0.00,1.65,0.00,0.000,6,0.000,0.054,3399,1545,627,0,0,0,0,0,0
$GC,18892,1.08,559.1,104.3,9.2,792,18910,0.00,1.33,11.65,0.640,4,0.000,0.054,3399,2354,582,0,0,0,0,0,0
$GC,18987,1.08,574.0,96.0,9.1,799,19007,0.00,1.27,14.93,0.663,6,0.000,0.056,3404,1569,520,0,0,0,0,0,0
$GC,19439,1.08,574.0,50.7,10.9,848,19446,0.00,1.08,0.00,0.000,4,0.000,0.055,3405,2240,516,0,0,0,0,0,0
$GC,19510,1.08,574.0,42.5,11.3,860,19518,0.03,1.10,0.00,0.000,6,0.184,0.057,3399,1562,516,0,0,0,0,0,0
$STATE,19870,end climb,SURFACE_DEPTH_REACHED
$STATE,19870,begin surface coast
$FINISH,2.5,1.012947
$STATE,19901,end surface coast,CONTROL_FINISHED_OK
$STATE,19901,begin surface
$SM_CCo,19980,0.00,0.000,0,0,513,576.20
$SM_GC,3.11,8.80,0.00,0.00,0.037,0.000,0.000,81,1872,513,-9.17,0.34,576.20
$IRIDIUM_FIX,-4138.02,-322.50,090213,121244
$TT8_MAMPS,0.026215
$HUMID,51.73
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,22.2,104.912
$10V_AH,9.8,74.681
$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,23.075,75.275,674.175,0.000,0.000,25.995,44.334,247.818,0.250,0.000,22.396,2322.063,14236.804,654.958,2959.492,270.935,33.370,1872.224,0.000,2610.188,0.000,1.009,0.000
$DEVICE_MAMPS,211.905,78.030,1248.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.400,853.076,633.537,72.170,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354572
$DATA_FILE_SIZE,56939,926
$CAP_FILE_SIZE,149885,0
$CFSIZE,2097086464,2018017280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100213,001305,-4151.487,-322.504,42,0.9,42,-22.5