version: 66.07.10.p01
glider: 573
mission: 4
dive: 585
start: 2 11 113 4 41 29
data:
$ID,573
$MISSION,4
$DIVE,585
$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,-6091.4399
$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,564
$GPS1,110213,043223,-4146.709,-323.795,40,0.8,40,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-67.5
$GPS2,110213,044036,-4146.707,-323.740,19,1.0,19,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.190,0.196
$KALMAN_X,31655.1,32.2,-170.0,-51650.1,3125.6
$KALMAN_Y,-45046.8,-48.8,0.9,90415.0,-2960.5
$MHEAD_RNG_PITCHd_Wd,338.4,38289,-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,-6.93,0.000,2,0.000,0.000,82,1863,668,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,189,10.50,0.62,-132.57,0.000,4,0.216,0.103,2703,2256,3536,0,0,0,0,0,0
$GC,239,-1.05,-165.4,9.7,-11.8,34,246,0.00,0.62,0.00,0.000,6,0.000,0.055,2703,1855,3538,0,0,0,0,0,0
$GC,319,-1.05,-165.4,18.4,-10.8,47,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1855,3538,0,0,0,0,0,0
$GC,399,-1.05,-165.4,27.0,-10.9,60,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1855,3538,0,0,0,0,0,0
$GC,478,-1.05,-165.4,35.5,-11.3,73,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1855,3538,0,0,0,0,0,0
$GC,825,-1.08,-165.4,72.7,-9.3,123,828,0.00,0.60,0.00,0.000,4,0.000,0.058,2703,1460,3539,0,0,0,0,0,0
$GC,966,-1.11,-165.4,85.8,-8.5,135,972,0.00,0.62,0.00,0.000,6,0.000,0.055,2700,1858,3539,0,0,0,0,0,0
$GC,1404,-1.15,-165.4,130.9,-11.2,168,1409,0.08,1.25,0.00,0.000,4,0.119,0.057,2650,1102,3539,0,0,0,0,0,0
$GC,1466,-1.09,-165.4,138.6,-12.1,171,1471,0.12,1.20,0.00,0.000,6,0.128,0.047,2687,1859,3540,0,0,0,0,0,0
$GC,2009,-1.11,-165.4,204.1,-12.3,206,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1861,3540,0,0,0,0,0,0
$GC,2525,-1.14,-165.4,267.2,-11.5,231,2528,0.00,2.10,0.00,0.000,4,0.000,0.057,2688,573,3540,0,0,0,0,0,0
$GC,2602,-1.14,-165.4,276.3,-11.6,234,2607,0.00,2.08,0.00,0.000,6,0.000,0.044,2677,1861,3540,0,0,0,0,0,0
$GC,3148,-1.14,-165.4,337.2,-11.9,256,3152,0.00,0.68,0.00,0.000,4,0.000,0.056,2678,1423,3539,0,0,0,0,0,0
$GC,3220,-1.14,-165.4,346.5,-12.5,258,3224,0.00,0.68,0.00,0.000,6,0.000,0.050,2675,1859,3540,0,0,0,0,0,0
$GC,3740,-1.16,-165.4,410.2,-11.8,275,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1859,3539,0,0,0,0,0,0
$GC,4260,-1.16,-165.4,463.1,-9.5,292,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1859,3539,0,0,0,0,0,0
$GC,4781,-1.19,-165.4,513.1,-10.0,309,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1859,3538,0,0,0,0,0,0
$GC,5302,-1.22,-165.4,568.8,-11.2,326,5306,0.05,1.62,0.00,0.000,4,0.164,0.058,2630,886,3537,0,0,0,0,0,0
$GC,5370,-1.14,-165.4,576.8,-11.6,328,5374,0.12,1.58,0.00,0.000,6,0.131,0.046,2673,1864,3536,0,0,0,0,0,0
$GC,5896,-1.17,-165.4,636.8,-11.4,345,5899,0.00,1.40,0.00,0.000,4,0.000,0.056,2674,1003,3535,0,0,0,0,0,0
$GC,6018,-1.17,-165.4,651.9,-12.6,348,6023,0.00,1.38,0.00,0.000,6,0.000,0.047,2667,1860,3535,0,0,0,0,0,0
$GC,6552,-1.17,-165.4,710.9,-10.8,366,6555,0.00,1.65,0.00,0.000,4,0.000,0.057,2668,855,3534,0,0,0,0,0,0
$GC,6646,-1.17,-165.4,721.5,-10.8,368,6652,0.00,1.62,0.00,0.000,6,0.000,0.047,2660,1859,3534,0,0,0,0,0,0
$GC,7174,-1.17,-165.4,776.3,-10.2,386,7178,0.00,1.42,0.00,0.000,4,0.000,0.057,2660,998,3532,0,0,0,0,0,0
$GC,7252,-1.15,-165.4,784.4,-11.0,388,7256,0.05,1.40,0.00,0.000,6,0.150,0.047,2671,1864,3532,0,0,0,0,0,0
$GC,7797,-1.18,-165.4,841.1,-10.8,406,7801,0.00,2.33,0.00,0.000,4,0.000,0.059,2671,457,3530,0,0,0,0,0,0
$GC,7885,-1.18,-165.4,851.3,-10.9,408,7891,0.00,2.22,0.00,0.000,6,0.000,0.046,2661,1862,3530,0,0,0,0,0,0
$GC,8413,-1.18,-165.4,910.3,-11.6,426,8417,0.00,1.65,0.00,0.000,4,0.000,0.057,2661,862,3529,0,0,0,0,0,0
$GC,8541,-1.18,-165.4,925.7,-12.2,429,8547,0.00,1.62,0.00,0.000,6,0.000,0.047,2653,1858,3529,0,0,0,0,0,0
$GC,8854,-1.18,-165.4,962.4,-11.8,440,8858,0.00,2.33,0.00,0.000,4,0.000,0.060,2654,449,3528,0,0,0,0,0,0
$GC,8927,-1.14,-165.4,971.4,-11.4,442,8932,0.12,2.25,0.00,0.000,6,0.156,0.047,2678,1862,3528,0,0,0,0,0,0
$STATE,9101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9101,begin apogee
$GC,9107,-0.31,0.0,991.3,11.5,448,9254,0.82,0.00,143.40,1.248,6,0.109,0.000,2944,1556,2862,0,0,0,0,0,0
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9257,1.05,165.4,1006.1,0.0,453,9418,1.27,2.55,150.02,1.217,4,0.057,0.054,3389,2967,2186,0,0,0,0,0,0
$GC,9673,0.79,382.0,1016.0,1.2,466,9878,0.35,2.28,195.05,1.222,6,0.171,0.049,3306,1556,1304,0,0,0,0,0,0
$GC,10193,0.79,388.5,975.2,9.5,483,10203,0.00,2.30,5.72,0.910,4,0.000,0.057,3306,2967,1277,0,0,0,0,0,0
$GC,10405,0.79,388.5,953.7,10.7,489,10410,0.05,2.28,0.00,0.000,6,0.216,0.054,3303,1563,1277,0,0,0,0,0,0
$GC,10730,0.81,388.5,919.8,10.7,500,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1564,1275,0,0,0,0,0,0
$GC,11036,0.84,388.5,886.4,10.8,510,11040,0.00,0.43,0.00,0.000,4,0.000,0.070,3304,1289,1275,0,0,0,0,0,0
$GC,11105,0.87,388.5,879.1,11.6,512,11109,0.03,0.43,0.00,0.000,6,0.099,0.057,3334,1562,1274,0,0,0,0,0,0
$GC,11630,0.87,422.7,828.7,8.4,529,11669,0.00,0.77,33.80,1.141,4,0.000,0.066,3337,1121,1137,0,0,0,0,0,0
$GC,11754,0.87,455.0,818.1,8.4,532,11790,0.00,0.70,31.23,1.124,6,0.000,0.051,3337,1554,1007,0,0,0,0,0,0
$GC,12313,0.89,494.6,771.7,8.1,551,12353,0.00,0.00,38.53,1.111,6,0.000,0.000,3337,1554,845,0,0,0,0,0,0
$GC,12863,0.95,494.6,720.3,10.2,569,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1554,837,0,0,0,0,0,0
$GC,13384,1.00,494.6,658.2,12.5,586,13385,0.10,0.00,0.00,0.000,6,0.099,0.000,3388,1554,836,0,0,0,0,0,0
$GC,13904,1.00,494.6,596.4,11.1,603,13908,0.08,2.38,0.00,0.000,4,0.181,0.070,3380,156,835,0,0,0,0,0,0
$GC,13994,1.00,494.6,586.5,11.2,605,13999,0.00,2.28,0.00,0.000,6,0.000,0.049,3380,1564,834,0,0,0,0,0,0
$GC,14521,1.01,506.3,533.9,9.2,623,14535,0.00,1.33,10.32,0.890,4,0.000,0.063,3386,758,797,0,0,0,0,0,0
$GC,14603,1.01,532.5,526.3,8.7,625,14634,0.05,1.30,26.98,0.957,6,0.142,0.048,3368,1557,690,0,0,0,0,0,0
$GC,15168,1.04,542.7,475.1,9.3,644,15180,0.00,0.00,9.80,0.842,6,0.000,0.000,3368,1557,649,0,0,0,0,0,0
$GC,15688,1.07,542.7,420.0,11.5,661,15690,0.05,0.00,0.00,0.000,6,0.164,0.000,3404,1557,646,0,0,0,0,0,0
$GC,16209,1.05,542.7,357.0,11.5,678,16213,0.08,1.67,0.00,0.000,4,0.187,0.067,3394,566,646,0,0,0,0,0,0
$GC,16303,1.05,542.7,346.5,10.3,680,16308,0.00,1.62,0.00,0.000,6,0.000,0.049,3394,1563,646,0,0,0,0,0,0
$GC,16831,1.05,549.4,293.6,9.4,699,16845,0.00,2.45,6.78,0.677,4,0.000,0.069,3404,157,622,0,0,0,0,0,0
$GC,16937,1.05,564.8,283.8,9.1,703,16958,0.08,2.28,16.10,0.776,6,0.178,0.049,3386,1561,558,0,0,0,0,0,0
$GC,17474,1.09,564.8,229.8,10.7,729,17478,0.00,1.00,0.00,0.000,4,0.000,0.067,3391,966,555,0,0,0,0,0,0
$GC,17628,1.13,564.8,213.4,10.2,735,17635,0.00,0.98,0.00,0.000,6,0.000,0.050,3390,1565,555,0,0,0,0,0,0
$GC,18164,1.15,564.8,153.2,11.2,768,18166,0.08,0.00,0.00,0.000,6,0.120,0.000,3435,1566,555,0,0,0,0,0,0
$GC,18692,1.11,564.8,97.5,10.8,802,18696,0.12,2.40,0.00,0.000,4,0.161,0.066,3411,153,555,0,0,0,0,0,0
$GC,18825,1.11,564.8,80.3,13.0,813,18829,0.00,2.28,0.00,0.000,6,0.000,0.048,3411,1566,554,0,0,0,0,0,0
$GC,19284,1.11,564.8,20.2,11.1,881,19291,0.00,0.80,0.00,0.000,4,0.000,0.063,3415,1078,554,0,0,0,0,0,0
$GC,19371,1.08,564.8,10.7,10.8,895,19378,0.05,0.75,0.00,0.000,6,0.153,0.050,3399,1554,554,0,0,0,0,0,0
$STATE,19438,end climb,SURFACE_DEPTH_REACHED
$STATE,19438,begin surface coast
$FINISH,2.3,1.012592
$STATE,19471,end surface coast,CONTROL_FINISHED_OK
$STATE,19471,begin surface
$SM_CCo,19549,0.00,0.000,0,0,553,566.39
$SM_GC,3.26,8.93,0.00,0.00,0.044,0.000,0.000,89,1862,553,-9.16,0.06,566.39
$IRIDIUM_FIX,-4132.26,-322.16,100213,222205
$TT8_MAMPS,0.026964
$HUMID,51.73
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,14.70
$XPDR_PINGS,2
$24V_AH,22.2,106.344
$10V_AH,9.8,75.324
$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,23.175,71.125,667.725,0.000,0.000,46.372,43.860,247.659,0.500,0.000,21.744,2241.764,14025.522,677.628,2820.281,269.472,33.369,1815.748,0.000,2461.797,0.000,1.010,0.000
$DEVICE_MAMPS,215.730,102.510,1247.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.657,863.054,628.741,71.247,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,53619,911
$CAP_FILE_SIZE,140728,0
$CFSIZE,2097086464,2017230848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110213,100835,-4145.993,-324.212,41,0.9,41,-22.5