version: 66.07.10.p01
glider: 573
mission: 4
dive: 582
start: 2 10 113 11 44 54
data:
$ID,573
$MISSION,4
$DIVE,582
$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,-6084.3945
$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,26
$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,561
$GPS1,100213,113134,-4149.504,-323.045,42,0.9,54,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-69.1
$GPS2,100213,114400,-4149.404,-323.034,44,1.6,44,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.155,0.224
$KALMAN_X,22598.0,-25.2,224.2,-41958.8,2021.9
$KALMAN_Y,-36588.0,-156.6,134.7,76932.6,-2801.3
$MHEAD_RNG_PITCHd_Wd,347.8,42956,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-6.60,0.000,2,0.000,0.000,82,1863,876,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.0,-0.0,1,177,10.32,2.38,-118.45,0.000,4,0.209,0.068,2703,451,3537,0,0,0,0,0,0
$GC,239,-0.98,-165.4,12.0,-11.7,34,247,0.10,2.28,0.00,0.000,6,0.126,0.046,2728,1856,3539,0,0,0,0,0,0
$GC,320,-1.03,-165.4,21.5,-12.9,47,327,0.00,0.40,0.00,0.000,4,0.000,0.060,2726,2129,3539,0,0,0,0,0,0
$GC,360,-1.10,-165.4,26.6,-12.4,53,368,0.08,0.43,0.00,0.000,6,0.052,0.060,2667,1851,3539,0,0,0,0,0,0
$GC,438,-1.07,-165.4,37.3,-13.8,66,446,0.10,0.62,0.00,0.000,4,0.161,0.059,2692,2247,3539,0,0,0,0,0,0
$GC,472,-1.07,-165.4,41.4,-12.6,71,477,0.00,0.60,0.00,0.000,6,0.000,0.056,2692,1859,3539,0,0,0,0,0,0
$GC,812,-1.07,-165.4,79.0,-9.2,116,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1859,3539,0,0,0,0,0,0
$GC,1236,-1.11,-165.4,116.7,-8.7,150,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1859,3539,0,0,0,0,0,0
$GC,1765,-1.14,-165.4,169.0,-11.2,184,1769,0.00,0.57,0.00,0.000,4,0.000,0.058,2690,2235,3540,0,0,0,0,0,0
$GC,1834,-1.17,-165.4,176.4,-10.2,188,1839,0.03,0.57,0.00,0.000,6,0.097,0.054,2652,1856,3540,0,0,0,0,0,0
$GC,2371,-1.17,-165.4,241.1,-12.2,217,2375,0.05,2.20,0.00,0.000,4,0.214,0.060,2655,3202,3540,0,0,0,0,0,0
$GC,2442,-1.17,-165.4,249.9,-11.8,220,2446,0.00,2.12,0.00,0.000,6,0.000,0.047,2655,1865,3540,0,0,0,0,0,0
$GC,2994,-1.17,-165.4,306.6,-9.8,246,2997,0.00,1.23,0.00,0.000,4,0.000,0.056,2655,1102,3540,0,0,0,0,0,0
$GC,3066,-1.13,-165.4,314.1,-9.5,248,3071,0.08,1.23,0.00,0.000,6,0.138,0.048,2676,1870,3540,0,0,0,0,0,0
$GC,3587,-1.15,-165.4,367.7,-11.3,265,3591,0.00,1.60,0.00,0.000,4,0.000,0.057,2676,891,3539,0,0,0,0,0,0
$GC,3693,-1.15,-165.4,380.7,-11.9,268,3697,0.00,1.58,0.00,0.000,6,0.000,0.046,2669,1865,3539,0,0,0,0,0,0
$GC,4212,-1.15,-165.4,444.2,-12.1,285,4216,0.00,2.33,0.00,0.000,4,0.000,0.057,2669,448,3539,0,0,0,0,0,0
$GC,4295,-1.12,-165.4,454.7,-12.7,287,4300,0.10,2.22,0.00,0.000,6,0.164,0.044,2685,1864,3539,0,0,0,0,0,0
$GC,4825,-1.15,-165.4,510.3,-9.5,304,4828,0.00,0.62,0.00,0.000,4,0.000,0.055,2685,1461,3538,0,0,0,0,0,0
$GC,4977,-1.20,-165.4,525.5,-9.4,308,4982,0.05,0.62,0.00,0.000,6,0.063,0.053,2634,1863,3537,0,0,0,0,0,0
$GC,5518,-1.15,-165.4,579.8,-10.0,326,5522,0.12,1.77,0.00,0.000,4,0.158,0.057,2670,783,3536,0,0,0,0,0,0
$GC,5606,-1.15,-165.4,589.2,-10.5,328,5610,0.00,1.75,0.00,0.000,6,0.000,0.047,2662,1864,3536,0,0,0,0,0,0
$GC,6139,-1.15,-165.4,642.8,-10.1,346,6143,0.00,0.80,0.00,0.000,4,0.000,0.057,2662,1361,3535,0,0,0,0,0,0
$GC,6267,-1.15,-165.4,656.7,-10.6,349,6273,0.00,0.80,0.00,0.000,6,0.000,0.052,2658,1863,3534,0,0,0,0,0,0
$GC,6795,-1.15,-165.4,715.4,-11.6,367,6800,0.05,2.35,0.00,0.000,4,0.222,0.060,2670,451,3532,0,0,0,0,0,0
$GC,6919,-1.13,-165.4,730.5,-12.0,370,6924,0.08,2.25,0.00,0.000,6,0.184,0.046,2678,1867,3532,0,0,0,0,0,0
$GC,7446,-1.18,-165.4,792.3,-11.7,388,7450,0.00,2.35,0.00,0.000,4,0.000,0.061,2678,451,3531,0,0,0,0,0,0
$GC,7542,-1.18,-165.4,803.8,-11.5,391,7546,0.00,2.28,0.00,0.000,6,0.000,0.047,2668,1868,3530,0,0,0,0,0,0
$GC,8061,-1.21,-165.4,862.6,-11.2,408,8065,0.00,2.35,0.00,0.000,4,0.000,0.061,2668,457,3530,0,0,0,0,0,0
$GC,8194,-1.21,-165.4,877.8,-11.4,412,8198,0.00,2.25,0.00,0.000,6,0.000,0.047,2657,1859,3529,0,0,0,0,0,0
$GC,8714,-1.21,-165.4,932.4,-10.2,429,8718,0.00,2.33,0.00,0.000,4,0.000,0.062,2657,456,3528,0,0,0,0,0,0
$GC,8780,-1.19,-165.4,939.4,-10.8,431,8785,0.05,2.25,0.00,0.000,6,0.220,0.047,2659,1859,3527,0,0,0,0,0,0
$GC,9115,-1.19,-165.4,972.4,-9.8,442,9119,0.00,0.50,0.00,0.000,4,0.000,0.059,2656,2198,3526,0,0,0,0,0,0
$GC,9171,-1.21,-165.4,978.1,-10.9,443,9175,0.00,0.52,0.00,0.000,6,0.000,0.058,2656,1857,3527,0,0,0,0,0,0
$STATE,9303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9303,begin apogee
$GC,9309,-0.31,0.0,991.8,10.3,448,9456,0.90,0.00,143.25,1.246,6,0.111,0.000,2945,1558,2862,0,0,0,0,0,0
$STATE,9457,end apogee,CONTROL_FINISHED_OK
$STATE,9457,begin climb
$GC,9459,1.05,165.4,1005.1,0.0,453,9620,1.25,2.55,149.95,1.216,4,0.054,0.056,3387,2964,2186,0,0,0,0,0,0
$GC,9875,0.79,428.2,1018.3,-0.6,466,10124,0.35,2.28,239.90,1.222,6,0.173,0.050,3303,1554,1116,0,0,0,0,0,0
$GC,10455,0.85,472.6,982.8,8.0,485,10505,0.00,2.42,42.28,1.184,4,0.000,0.059,3304,2961,935,0,0,0,0,0,0
$GC,10596,0.93,476.2,970.2,9.6,489,10606,0.10,2.28,4.55,0.808,6,0.095,0.055,3362,1559,920,0,0,0,0,0,0
$GC,10920,0.93,478.3,939.6,9.6,500,10925,0.08,1.00,0.00,0.000,4,0.182,0.065,3348,966,916,0,0,0,0,0,0
$GC,11027,0.95,478.3,929.0,9.9,503,11030,0.00,0.95,0.00,0.000,6,0.000,0.051,3348,1551,916,0,0,0,0,0,0
$GC,11362,0.95,478.3,895.3,10.3,514,11366,0.00,0.50,0.00,0.000,4,0.000,0.056,3348,1892,915,0,0,0,0,0,0
$GC,11456,0.95,478.3,885.1,11.3,516,11461,0.00,0.55,0.00,0.000,6,0.000,0.065,3350,1557,915,0,0,0,0,0,0
$GC,11984,0.97,478.3,829.1,10.6,534,11987,0.00,2.00,0.00,0.000,4,0.000,0.067,3360,356,914,0,0,0,0,0,0
$GC,12078,0.97,478.3,819.1,10.3,536,12084,0.00,1.95,0.00,0.000,6,0.000,0.049,3360,1557,913,0,0,0,0,0,0
$GC,12606,0.97,504.4,770.3,8.7,554,12640,0.00,1.38,28.25,1.101,4,0.000,0.067,3365,774,804,0,0,0,0,0,0
$GC,12710,1.00,511.6,761.4,9.4,557,12723,0.00,1.30,8.18,0.961,6,0.000,0.049,3366,1566,775,0,0,0,0,0,0
$GC,13260,1.03,518.4,710.4,9.4,575,13271,0.00,1.73,7.05,0.884,4,0.000,0.067,3373,571,748,0,0,0,0,0,0
$GC,13358,1.05,519.7,701.0,9.7,578,13362,0.00,1.60,0.00,0.000,6,0.000,0.049,3373,1554,747,0,0,0,0,0,0
$GC,13883,1.05,519.7,648.2,10.3,595,13887,0.00,1.88,0.00,0.000,4,0.000,0.070,3381,443,745,0,0,0,0,0,0
$GC,13955,1.05,519.7,640.3,10.9,597,13959,0.00,1.83,0.00,0.000,6,0.000,0.049,3381,1564,745,0,0,0,0,0,0
$GC,14474,1.05,519.7,579.5,11.9,614,14478,0.00,1.42,0.00,0.000,4,0.000,0.067,3388,722,745,0,0,0,0,0,0
$GC,14580,1.05,519.7,566.7,11.3,617,14584,0.00,1.35,0.00,0.000,6,0.000,0.050,3387,1556,745,0,0,0,0,0,0
$GC,15100,1.05,519.7,505.2,11.7,634,15103,0.00,2.00,0.00,0.000,4,0.000,0.070,3397,374,745,0,0,0,0,0,0
$GC,15188,1.05,519.7,494.9,10.9,636,15193,0.03,1.92,0.00,0.000,6,0.168,0.049,3386,1557,745,0,0,0,0,0,0
$GC,15721,1.05,525.5,440.8,9.5,654,15735,0.00,1.40,8.02,0.797,4,0.000,0.068,3392,751,718,0,0,0,0,0,0
$GC,15808,1.05,547.4,432.7,8.8,656,15837,0.00,1.33,22.77,0.890,6,0.000,0.048,3393,1567,630,0,0,0,0,0,0
$GC,16370,1.05,547.4,378.3,10.0,675,16374,0.00,1.08,0.00,0.000,4,0.000,0.066,3397,930,624,0,0,0,0,0,0
$GC,16448,1.05,547.4,370.5,9.7,677,16453,0.03,1.02,0.00,0.000,6,0.169,0.050,3387,1563,625,0,0,0,0,0,0
$GC,16994,1.05,547.4,317.8,9.8,695,16995,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1563,624,0,0,0,0,0,0
$GC,17506,1.05,547.4,261.7,11.8,717,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1562,624,0,0,0,0,0,0
$GC,18026,1.07,547.4,197.9,12.2,742,18027,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1563,624,0,0,0,0,0,0
$GC,18553,1.09,563.1,143.3,9.1,776,18571,0.00,0.55,14.70,0.678,4,0.000,0.069,3389,1248,566,0,0,0,0,0,0
$GC,18659,1.13,563.1,132.9,9.9,782,18662,0.00,0.50,0.00,0.000,6,0.000,0.057,3389,1565,564,0,0,0,0,0,0
$GC,19194,1.17,563.1,74.1,10.3,823,19198,0.10,0.00,0.00,0.000,6,0.097,0.000,3440,1565,563,0,0,0,0,0,0
$GC,19651,1.11,563.1,25.2,10.4,891,19659,0.12,0.85,0.00,0.000,4,0.158,0.064,3410,1060,562,0,0,0,0,0,0
$GC,19779,1.11,563.1,11.1,11.8,912,19786,0.00,0.80,0.00,0.000,6,0.000,0.050,3410,1562,562,0,0,0,0,0,0
$STATE,19858,end climb,SURFACE_DEPTH_REACHED
$STATE,19858,begin surface coast
$FINISH,2.5,1.012140
$STATE,19891,end surface coast,CONTROL_FINISHED_OK
$STATE,19891,begin surface
$SM_CCo,19969,0.00,0.000,0,0,559,564.67
$SM_GC,3.24,8.88,0.00,0.00,0.038,0.000,0.000,87,1866,559,-9.18,0.17,564.67
$IRIDIUM_FIX,-4135.14,-325.21,100213,111146
$TT8_MAMPS,0.026215
$HUMID,51.33
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.3,105.628
$10V_AH,9.8,75.008
$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,23.025,89.500,668.900,0.000,0.000,56.690,76.070,353.226,0.000,0.000,47.053,2332.710,14229.613,675.094,3166.647,303.716,33.370,1897.740,0.000,2624.105,0.000,1.008,0.000
$DEVICE_MAMPS,221.850,69.615,1246.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.437,869.406,635.852,72.174,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,56894,930
$CAP_FILE_SIZE,156134,0
$CFSIZE,2097086464,2017624064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,100213,171859,-4148.437,-323.446,40,1.2,40,-22.5