version: 66.07.10.p01
glider: 573
mission: 4
dive: 580
start: 2 10 113 0 21 41
data:
$ID,573
$MISSION,4
$DIVE,580
$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,-6079.729
$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,21
$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,559
$GPS1,100213,001305,-4151.487,-322.504,42,0.9,42,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-66.4
$GPS2,100213,002048,-4151.465,-322.571,21,0.9,21,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.121,0.244
$KALMAN_X,17535.9,204.9,89.6,-36354.0,1284.7
$KALMAN_Y,-31084.6,176.4,56.9,67357.1,-2995.2
$MHEAD_RNG_PITCHd_Wd,356.0,46527,-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,-7.10,0.000,2,0.000,0.000,80,1871,679,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,183,10.32,1.40,-127.65,0.000,4,0.208,0.079,2707,1018,3536,0,0,0,0,0,0
$GC,273,-1.02,-165.4,14.0,-10.8,40,280,0.00,1.38,0.00,0.000,6,0.000,0.050,2700,1860,3538,0,0,0,0,0,0
$GC,353,-1.02,-165.4,23.2,-12.0,53,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1860,3538,0,0,0,0,0,0
$GC,430,-1.02,-165.4,33.1,-12.3,66,437,0.00,0.95,0.00,0.000,4,0.000,0.058,2696,2460,3539,0,0,0,0,0,0
$GC,555,-1.02,-165.4,47.3,-11.1,87,560,0.03,0.98,0.00,0.000,6,0.159,0.051,2708,1843,3539,0,0,0,0,0,0
$GC,890,-1.06,-165.4,84.1,-10.8,127,893,0.00,1.55,0.00,0.000,4,0.000,0.057,2708,895,3540,0,0,0,0,0,0
$GC,960,-1.06,-165.4,92.0,-11.0,133,963,0.00,1.55,0.00,0.000,6,0.000,0.047,2701,1856,3540,0,0,0,0,0,0
$GC,1397,-1.10,-165.4,142.4,-11.5,163,1401,0.00,1.27,0.00,0.000,4,0.000,0.057,2701,1075,3540,0,0,0,0,0,0
$GC,1483,-1.14,-165.4,152.5,-11.4,168,1486,0.00,1.25,0.00,0.000,6,0.000,0.048,2695,1856,3540,0,0,0,0,0,0
$GC,2010,-1.18,-165.4,211.3,-10.4,200,2015,0.08,2.33,0.00,0.000,4,0.119,0.058,2640,446,3541,0,0,0,0,0,0
$GC,2099,-1.09,-165.4,221.6,-11.0,204,2104,0.22,2.22,0.00,0.000,6,0.142,0.045,2695,1864,3541,0,0,0,0,0,0
$GC,2627,-1.12,-165.4,270.2,-8.8,230,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1864,3541,0,0,0,0,0,0
$GC,3140,-1.17,-165.4,320.5,-10.5,252,3145,0.08,2.33,0.00,0.000,4,0.117,0.057,2642,454,3540,0,0,0,0,0,0
$GC,3264,-1.10,-165.4,335.2,-11.9,255,3270,0.20,2.22,0.00,0.000,6,0.141,0.044,2689,1868,3541,0,0,0,0,0,0
$GC,3792,-1.13,-165.4,394.7,-11.2,273,3795,0.00,1.27,0.00,0.000,4,0.000,0.057,2690,1084,3540,0,0,0,0,0,0
$GC,3870,-1.16,-165.4,404.0,-11.7,275,3874,0.00,1.23,0.00,0.000,6,0.000,0.047,2684,1853,3540,0,0,0,0,0,0
$GC,4414,-1.19,-165.4,469.3,-12.4,293,4418,0.08,1.35,0.00,0.000,4,0.116,0.058,2630,1035,3538,0,0,0,0,0,0
$GC,4487,-1.12,-165.4,479.0,-12.7,295,4491,0.15,1.33,0.00,0.000,6,0.125,0.048,2675,1860,3539,0,0,0,0,0,0
$GC,5006,-1.12,-165.4,535.5,-10.0,312,5010,0.00,1.67,0.00,0.000,4,0.000,0.057,2675,830,3538,0,0,0,0,0,0
$GC,5196,-1.12,-165.4,554.6,-9.8,317,5200,0.00,1.67,0.00,0.000,6,0.000,0.047,2667,1862,3538,0,0,0,0,0,0
$GC,5730,-1.12,-165.4,605.2,-9.7,335,5734,0.05,2.35,0.00,0.000,4,0.226,0.059,2679,446,3536,0,0,0,0,0,0
$GC,5953,-1.12,-165.4,628.3,-10.2,341,5958,0.00,2.28,0.00,0.000,6,0.000,0.047,2669,1862,3536,0,0,0,0,0,0
$GC,6481,-1.14,-165.4,686.5,-11.8,359,6485,0.00,2.33,0.00,0.000,4,0.000,0.059,2669,452,3534,0,0,0,0,0,0
$GC,6603,-1.14,-165.4,701.5,-11.8,362,6609,0.05,2.25,0.00,0.000,6,0.213,0.047,2672,1862,3534,0,0,0,0,0,0
$GC,7131,-1.18,-165.4,761.2,-11.0,380,7135,0.00,2.25,0.00,0.000,4,0.000,0.060,2661,3267,3533,0,0,0,0,0,0
$GC,7231,-1.21,-165.4,772.4,-10.6,383,7235,0.00,2.20,0.00,0.000,6,0.000,0.049,2661,1859,3533,0,0,0,0,0,0
$GC,7774,-1.21,-165.4,827.9,-9.7,401,7778,0.00,0.80,0.00,0.000,4,0.000,0.061,2658,2368,3531,0,0,0,0,0,0
$GC,7824,-1.21,-165.4,832.7,-9.2,402,7828,0.00,0.80,0.00,0.000,6,0.000,0.054,2658,1852,3531,0,0,0,0,0,0
$GC,8363,-1.13,-165.4,884.8,-9.8,420,8368,0.08,2.30,0.00,0.000,4,0.196,0.060,2676,455,3530,0,0,0,0,0,0
$GC,8560,-1.13,-165.4,904.1,-10.3,426,8564,0.00,2.22,0.00,0.000,6,0.000,0.047,2666,1859,3529,0,0,0,0,0,0
$GC,8895,-1.16,-165.4,940.1,-11.2,437,8899,0.00,2.33,0.00,0.000,4,0.000,0.060,2666,451,3529,0,0,0,0,0,0
$GC,9141,-1.16,-165.4,970.6,-13.0,444,9145,0.08,2.28,0.00,0.000,6,0.178,0.048,2674,1862,3529,0,0,0,0,0,0
$STATE,9315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9315,begin apogee
$GC,9321,-0.31,0.0,992.1,12.6,450,9468,0.82,0.00,143.57,1.246,6,0.103,0.000,2945,1555,2862,0,0,0,0,0,0
$STATE,9468,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9471,1.05,165.4,1008.8,0.0,455,9631,1.23,2.50,149.85,1.222,4,0.051,0.058,3398,164,2186,0,0,0,0,0,0
$GC,9884,0.77,417.2,1024.8,-0.2,467,10123,0.38,2.22,228.82,1.227,6,0.172,0.042,3298,1566,1161,0,0,0,0,0,0
$GC,10436,0.81,418.2,984.0,9.7,486,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1566,1150,0,0,0,0,0,0
$GC,10742,0.86,418.2,951.9,10.6,496,10747,0.08,2.28,0.00,0.000,4,0.120,0.059,3341,2963,1149,0,0,0,0,0,0
$GC,10849,0.83,418.2,940.1,11.0,499,10854,0.15,2.25,0.00,0.000,6,0.158,0.054,3311,1563,1149,0,0,0,0,0,0
$GC,11174,0.86,418.2,905.2,10.6,510,11177,0.00,0.90,0.00,0.000,4,0.000,0.057,3311,2132,1147,0,0,0,0,0,0
$GC,11304,0.90,424.0,892.1,9.5,513,11313,0.00,0.93,4.80,0.856,6,0.000,0.060,3314,1559,1134,0,0,0,0,0,0
$GC,11835,0.93,458.0,845.1,8.4,531,11876,0.10,2.33,35.33,1.148,4,0.097,0.058,3367,2957,993,0,0,0,0,0,0
$GC,11949,0.89,492.4,834.3,8.4,534,11991,0.15,2.25,34.33,1.132,6,0.161,0.052,3336,1551,853,0,0,0,0,0,0
$GC,12512,0.95,492.4,781.8,9.8,553,12515,0.00,1.35,0.00,0.000,4,0.000,0.058,3336,2385,845,0,0,0,0,0,0
$GC,12607,1.00,492.4,772.2,9.9,555,12612,0.05,1.33,0.00,0.000,6,0.067,0.059,3380,1565,844,0,0,0,0,0,0
$GC,13134,1.00,492.4,715.4,11.1,573,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1565,844,0,0,0,0,0,0
$GC,13655,0.98,492.4,658.7,10.8,590,13659,0.08,0.38,0.00,0.000,4,0.186,0.060,3362,1816,842,0,0,0,0,0,0
$GC,13878,0.98,492.4,634.1,11.1,596,13882,0.00,0.43,0.00,0.000,6,0.000,0.068,3363,1557,842,0,0,0,0,0,0
$GC,14411,0.98,492.4,579.8,9.8,614,14415,0.00,0.57,0.00,0.000,4,0.000,0.058,3363,1929,842,0,0,0,0,0,0
$GC,14514,0.98,519.9,570.3,8.6,617,14544,0.00,0.57,25.58,0.996,6,0.000,0.063,3366,1565,742,0,0,0,0,0,0
$GC,15066,1.02,530.6,517.6,9.3,635,15082,0.00,2.10,10.88,0.881,4,0.000,0.067,3375,313,696,0,0,0,0,0,0
$GC,15229,1.05,530.6,500.7,11.7,640,15233,0.00,1.98,0.00,0.000,6,0.000,0.049,3375,1555,695,0,0,0,0,0,0
$GC,15755,1.07,530.6,445.6,10.4,657,15759,0.00,0.62,0.00,0.000,4,0.000,0.067,3378,1173,694,0,0,0,0,0,0
$GC,15896,1.09,530.6,430.3,10.7,661,15900,0.00,0.60,0.00,0.000,6,0.000,0.054,3378,1553,694,0,0,0,0,0,0
$GC,16415,1.09,530.6,377.8,10.4,678,16419,0.00,1.50,0.00,0.000,4,0.000,0.067,3385,666,693,0,0,0,0,0,0
$GC,16517,1.09,530.6,366.7,10.7,681,16520,0.00,1.45,0.00,0.000,6,0.000,0.050,3385,1560,693,0,0,0,0,0,0
$GC,17042,1.09,530.6,301.1,12.8,698,17045,0.00,1.27,0.00,0.000,4,0.000,0.067,3391,806,693,0,0,0,0,0,0
$GC,17147,1.09,530.6,287.6,12.2,702,17155,0.00,1.23,0.00,0.000,6,0.000,0.050,3390,1561,693,0,0,0,0,0,0
$GC,17671,1.09,530.6,231.2,9.8,728,17675,0.00,1.67,0.00,0.000,4,0.000,0.066,3398,553,692,0,0,0,0,0,0
$GC,17762,1.10,558.2,222.2,8.6,732,17793,0.00,1.62,26.12,0.757,6,0.000,0.048,3398,1556,586,0,0,0,0,0,0
$GC,18314,1.10,558.2,161.1,12.1,764,18317,0.00,1.10,0.00,0.000,4,0.000,0.066,3403,900,581,0,0,0,0,0,0
$GC,18435,1.10,558.2,145.4,13.3,771,18438,0.00,1.08,0.00,0.000,6,0.000,0.050,3403,1564,581,0,0,0,0,0,0
$GC,18965,1.10,580.1,83.2,8.8,810,18990,0.00,1.80,19.85,0.649,4,0.000,0.065,3411,511,497,0,0,0,0,0,0
$GC,19058,1.10,580.1,74.6,9.8,818,19064,0.03,1.70,0.00,0.000,6,0.164,0.048,3401,1562,494,0,0,0,0,0,0
$GC,19514,1.08,580.1,24.3,13.3,885,19521,0.00,1.10,0.00,0.000,4,0.000,0.063,3405,904,492,0,0,0,0,0,0
$GC,19601,1.12,647.0,14.1,7.1,899,19621,0.00,1.05,10.82,0.541,6,0.000,0.048,3405,1559,407,0,0,0,0,0,0
$GC,19694,1.12,647.0,3.6,12.7,914,19700,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1560,403,0,0,0,0,0,0
$STATE,19707,end climb,SURFACE_DEPTH_REACHED
$STATE,19707,begin surface coast
$FINISH,2.3,1.010422
$STATE,19738,end surface coast,CONTROL_FINISHED_OK
$STATE,19738,begin surface
$SM_CCo,19817,0.00,0.000,0,0,401,603.67
$SM_GC,3.27,8.75,0.00,0.00,0.032,0.000,0.000,83,1864,401,-9.17,0.11,603.67
$IRIDIUM_FIX,-4138.02,-316.72,090213,181814
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.2,105.154
$10V_AH,9.8,74.791
$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,23.200,95.450,689.950,0.000,0.000,25.887,41.251,239.832,0.000,0.000,23.453,2329.817,13888.544,666.140,3110.483,278.078,33.370,1982.280,0.000,2764.519,0.000,1.009,0.000
$DEVICE_MAMPS,226.440,78.795,1246.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.615,853.259,633.403,71.244,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,56974,921
$CAP_FILE_SIZE,158673,0
$CFSIZE,2097086464,2017886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100213,055305,-4150.511,-322.961,31,1.4,31,-22.5