version: 66.07.10.p01
glider: 573
mission: 4
dive: 586
start: 2 11 113 10 16 42
data:
$ID,573
$MISSION,4
$DIVE,586
$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,-6093.8896
$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,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,565
$GPS1,110213,100835,-4145.993,-324.212,41,0.9,41,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-67.2
$GPS2,110213,101549,-4145.966,-324.189,22,1.1,22,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.186,0.199
$KALMAN_X,34725.0,-150.8,203.0,-55519.7,2828.9
$KALMAN_Y,-47686.8,-82.7,51.7,94407.3,-2746.2
$MHEAD_RNG_PITCHd_Wd,339.5,36814,-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,-7.05,0.000,2,0.000,0.000,87,1863,719,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,177,10.35,1.40,-122.43,0.000,4,0.211,0.080,2697,2693,3538,0,0,0,0,0,0
$GC,274,-1.05,-165.4,16.4,-12.5,40,281,0.00,1.35,0.00,0.000,6,0.000,0.052,2697,1855,3540,0,0,0,0,0,0
$GC,353,-1.05,-165.4,25.5,-11.4,53,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1855,3540,0,0,0,0,0,0
$GC,430,-1.05,-165.4,34.8,-11.9,66,437,0.00,1.23,0.00,0.000,4,0.000,0.057,2691,2609,3541,0,0,0,0,0,0
$GC,554,-1.07,-165.4,49.5,-12.1,87,559,0.00,1.20,0.00,0.000,6,0.000,0.052,2692,1859,3541,0,0,0,0,0,0
$GC,890,-1.10,-165.4,90.4,-10.7,125,894,0.00,2.28,0.00,0.000,4,0.000,0.060,2681,3262,3541,0,0,0,0,0,0
$GC,1026,-1.13,-165.4,104.2,-10.2,135,1030,0.00,2.22,0.00,0.000,6,0.000,0.047,2681,1858,3542,0,0,0,0,0,0
$GC,1566,-1.15,-165.4,162.9,-11.6,169,1570,0.00,2.28,0.00,0.000,4,0.000,0.057,2681,455,3542,0,0,0,0,0,0
$GC,1652,-1.15,-165.4,173.4,-12.0,174,1656,0.00,2.22,0.00,0.000,6,0.000,0.044,2671,1871,3542,0,0,0,0,0,0
$GC,2187,-1.15,-165.4,232.9,-10.5,204,2192,0.00,2.33,0.00,0.000,4,0.000,0.057,2671,455,3542,0,0,0,0,0,0
$GC,2320,-1.13,-165.4,246.3,-9.8,210,2324,0.08,2.22,0.00,0.000,6,0.182,0.044,2679,1871,3542,0,0,0,0,0,0
$GC,2853,-1.16,-165.4,297.2,-10.0,236,2857,0.00,2.30,0.00,0.000,4,0.000,0.057,2679,455,3542,0,0,0,0,0,0
$GC,2986,-1.16,-165.4,311.8,-10.6,241,2990,0.00,2.22,0.00,0.000,6,0.000,0.044,2669,1859,3542,0,0,0,0,0,0
$GC,3506,-1.16,-165.4,373.1,-12.1,258,3510,0.00,2.28,0.00,0.000,4,0.000,0.057,2669,455,3542,0,0,0,0,0,0
$GC,3623,-1.16,-165.4,387.6,-11.8,261,3627,0.00,2.22,0.00,0.000,6,0.000,0.044,2658,1867,3542,0,0,0,0,0,0
$GC,4156,-1.16,-165.4,447.4,-10.9,279,4160,0.00,2.25,0.00,0.000,4,0.000,0.058,2647,3265,3541,0,0,0,0,0,0
$GC,4412,-1.16,-165.4,475.0,-11.6,286,4418,0.10,2.22,0.00,0.000,6,0.157,0.047,2675,1857,3541,0,0,0,0,0,0
$GC,4940,-1.20,-165.4,529.3,-10.4,304,4944,0.00,2.30,0.00,0.000,4,0.000,0.060,2665,3269,3540,0,0,0,0,0,0
$GC,5158,-1.23,-165.4,553.2,-11.8,310,5162,0.00,2.22,0.00,0.000,6,0.000,0.047,2664,1860,3540,0,0,0,0,0,0
$GC,5686,-1.25,-165.4,613.6,-11.7,327,5691,0.08,2.33,0.00,0.000,4,0.120,0.060,2613,455,3539,0,0,0,0,0,0
$GC,5823,-1.14,-165.4,630.9,-12.6,331,5828,0.25,2.22,0.00,0.000,6,0.143,0.044,2675,1864,3539,0,0,0,0,0,0
$GC,6343,-1.17,-165.4,688.2,-10.5,348,6347,0.00,2.28,0.00,0.000,4,0.000,0.060,2664,3265,3537,0,0,0,0,0,0
$GC,6511,-1.20,-165.4,706.5,-10.5,353,6515,0.00,2.25,0.00,0.000,6,0.000,0.049,2665,1854,3537,0,0,0,0,0,0
$GC,7056,-1.23,-165.4,759.5,-9.6,371,7060,0.00,0.77,0.00,0.000,4,0.000,0.058,2665,1363,3535,0,0,0,0,0,0
$GC,7203,-1.23,-165.4,773.7,-9.4,375,7207,0.00,0.80,0.00,0.000,6,0.000,0.054,2661,1864,3535,0,0,0,0,0,0
$GC,7748,-1.25,-165.4,826.7,-10.2,393,7752,0.05,0.75,0.00,0.000,4,0.163,0.061,2616,1403,3533,0,0,0,0,0,0
$GC,7791,-1.19,-165.4,831.7,-11.2,394,7796,0.12,0.73,0.00,0.000,6,0.135,0.054,2654,1861,3534,0,0,0,0,0,0
$GC,8335,-1.19,-165.4,892.4,-11.5,412,8339,0.00,1.27,0.00,0.000,4,0.000,0.059,2649,2650,3532,0,0,0,0,0,0
$GC,8458,-1.19,-165.4,906.5,-11.6,415,8462,0.00,1.27,0.00,0.000,6,0.000,0.052,2649,1858,3532,0,0,0,0,0,0
$GC,8777,-1.19,-165.4,940.7,-10.7,426,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1858,3531,0,0,0,0,0,0
$GC,9083,-1.19,-165.4,972.5,-10.1,436,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1858,3531,0,0,0,0,0,0
$STATE,9264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9265,begin apogee
$GC,9271,-0.31,0.0,990.4,9.5,442,9418,0.93,0.00,143.80,1.246,6,0.111,0.000,2945,1560,2862,0,0,0,0,0,0
$STATE,9419,end apogee,CONTROL_FINISHED_OK
$STATE,9419,begin climb
$GC,9421,1.05,165.4,1001.7,0.0,447,9582,1.25,2.55,149.90,1.216,4,0.054,0.055,3386,2968,2186,0,0,0,0,0,0
$GC,9837,0.79,375.8,1005.7,1.4,460,10034,0.35,2.25,188.98,1.216,6,0.170,0.050,3302,1557,1330,0,0,0,0,0,0
$GC,10354,0.79,413.5,966.4,8.2,477,10395,0.00,2.35,35.15,1.174,4,0.000,0.057,3302,2970,1176,0,0,0,0,0,0
$GC,10597,0.83,460.4,946.0,7.9,484,10647,0.00,2.30,44.55,1.177,6,0.000,0.054,3312,1555,985,0,0,0,0,0,0
$GC,10978,0.89,488.0,914.4,8.6,497,11009,0.00,0.60,26.95,1.152,4,0.000,0.069,3314,1205,872,0,0,0,0,0,0
$GC,11262,0.98,513.4,888.5,8.7,505,11291,0.10,0.57,25.52,1.142,6,0.050,0.057,3373,1564,768,0,0,0,0,0,0
$GC,11830,0.98,513.4,826.4,11.9,524,11834,0.00,1.08,0.00,0.000,4,0.000,0.066,3378,925,761,0,0,0,0,0,0
$GC,11936,0.98,513.4,813.8,11.6,527,11940,0.03,1.02,0.00,0.000,6,0.164,0.050,3367,1558,760,0,0,0,0,0,0
$GC,12457,0.98,513.4,752.4,11.4,544,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,1558,759,0,0,0,0,0,0
$GC,12976,0.98,516.6,698.0,9.6,561,12977,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,1558,759,0,0,0,0,0,0
$GC,13497,0.98,524.8,650.3,9.4,578,13511,0.00,1.73,10.55,0.953,4,0.000,0.056,3367,2642,721,0,0,0,0,0,0
$GC,13608,1.01,524.8,639.7,10.2,581,13612,0.00,1.75,0.00,0.000,6,0.000,0.057,3374,1560,721,0,0,0,0,0,0
$GC,14146,1.01,524.8,584.8,10.7,599,14150,0.00,0.68,0.00,0.000,4,0.000,0.067,3378,1140,721,0,0,0,0,0,0
$GC,14241,1.01,524.8,574.5,11.1,601,14246,0.00,0.70,0.00,0.000,6,0.000,0.052,3378,1568,720,0,0,0,0,0,0
$GC,14769,1.01,524.8,516.9,10.9,619,14772,0.00,1.20,0.00,0.000,4,0.000,0.054,3378,2318,720,0,0,0,0,0,0
$GC,14863,1.01,524.8,506.3,10.7,621,14869,0.03,1.23,0.00,0.000,6,0.180,0.057,3373,1563,720,0,0,0,0,0,0
$GC,15390,1.01,524.8,447.9,11.7,639,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1563,719,0,0,0,0,0,0
$GC,15911,1.01,524.8,384.7,12.3,656,15912,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1563,719,0,0,0,0,0,0
$GC,16432,1.01,524.8,325.6,10.6,673,16435,0.00,0.80,0.00,0.000,4,0.000,0.054,3373,2073,719,0,0,0,0,0,0
$GC,16543,1.01,524.8,313.9,10.4,676,16547,0.00,0.82,0.00,0.000,6,0.000,0.058,3377,1559,719,0,0,0,0,0,0
$GC,17084,1.01,524.8,260.4,10.3,700,17088,0.00,0.75,0.00,0.000,4,0.000,0.066,3380,1096,719,0,0,0,0,0,0
$GC,17248,1.01,524.8,243.1,11.2,707,17252,0.00,0.75,0.00,0.000,6,0.000,0.051,3380,1564,719,0,0,0,0,0,0
$GC,17780,1.01,524.8,183.0,11.8,735,17783,0.00,0.90,0.00,0.000,4,0.000,0.063,3383,1023,719,0,0,0,0,0,0
$GC,17851,1.01,524.8,174.5,11.9,739,17855,0.03,0.85,0.00,0.000,6,0.170,0.050,3373,1554,719,0,0,0,0,0,0
$GC,18385,1.01,524.8,114.5,10.2,773,18389,0.00,0.55,0.00,0.000,4,0.000,0.055,3373,1918,719,0,0,0,0,0,0
$GC,18464,1.03,524.8,106.0,10.6,777,18468,0.00,0.57,0.00,0.000,6,0.000,0.063,3376,1560,719,0,0,0,0,0,0
$GC,19008,1.03,526.3,47.4,9.6,836,19015,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1560,719,0,0,0,0,0,0
$GC,19367,1.10,526.3,9.7,10.4,897,19374,0.05,0.00,0.00,0.000,6,0.163,0.000,3416,1560,719,0,0,0,0,0,0
$STATE,19427,end climb,SURFACE_DEPTH_REACHED
$STATE,19428,begin surface coast
$FINISH,2.4,1.015599
$STATE,19458,end surface coast,CONTROL_FINISHED_OK
$STATE,19459,begin surface
$SM_CCo,19537,0.00,0.000,0,0,718,525.91
$SM_GC,3.35,8.80,0.00,0.00,0.034,0.000,0.000,88,1861,718,-9.16,0.03,525.91
$IRIDIUM_FIX,-4135.14,-325.21,110213,040454
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,106.572
$10V_AH,9.8,75.431
$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,22.575,78.400,625.400,0.000,0.000,25.327,43.530,213.588,0.000,0.000,24.899,2292.576,13772.090,636.196,2999.518,264.831,33.374,1852.232,0.000,2679.969,0.000,1.009,0.000
$DEVICE_MAMPS,211.140,80.325,1246.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.154,859.266,625.487,72.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354460
$DATA_FILE_SIZE,53582,912
$CAP_FILE_SIZE,144564,0
$CFSIZE,2097086464,2017099776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110213,154335,-4145.041,-323.879,40,0.9,40,-22.5