version: 66.07.10.p01
glider: 573
mission: 4
dive: 587
start: 2 11 113 15 51 59
data:
$ID,573
$MISSION,4
$DIVE,587
$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,-6096.2188
$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,25
$R_STBD_OVSHOOT,28
$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,566
$GPS1,110213,154335,-4145.041,-323.879,40,0.9,40,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-65.3
$GPS2,110213,155106,-4145.077,-323.847,20,1.0,20,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.191,0.194
$KALMAN_X,38615.2,179.4,239.3,-59315.4,2989.3
$KALMAN_Y,-50283.6,104.6,44.0,98470.4,-2825.4
$MHEAD_RNG_PITCHd_Wd,338.0,35800,-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,-7.18,0.000,2,0.000,0.000,82,1861,883,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,166,10.45,1.02,-106.75,0.000,4,0.212,0.086,2702,1250,3538,0,0,0,0,0,0
$GC,239,-1.11,-165.4,16.7,-12.5,34,246,0.00,0.98,0.00,0.000,6,0.000,0.051,2698,1858,3540,0,0,0,0,0,0
$GC,320,-1.11,-165.4,25.7,-10.7,47,327,0.00,0.55,0.00,0.000,4,0.000,0.059,2695,2221,3540,0,0,0,0,0,0
$GC,354,-1.13,-165.4,29.1,-10.3,52,361,0.00,0.57,0.00,0.000,6,0.000,0.058,2695,1852,3540,0,0,0,0,0,0
$GC,433,-1.13,-165.4,36.4,-8.8,65,438,0.00,1.12,0.00,0.000,4,0.000,0.057,2690,2546,3540,0,0,0,0,0,0
$GC,697,-1.17,-165.4,64.2,-11.1,108,701,0.03,1.10,0.00,0.000,6,0.096,0.050,2654,1858,3540,0,0,0,0,0,0
$GC,1138,-1.17,-165.4,116.5,-11.1,145,1142,0.00,2.30,0.00,0.000,4,0.000,0.060,2644,3273,3541,0,0,0,0,0,0
$GC,1313,-1.14,-165.4,134.0,-9.7,155,1317,0.12,2.25,0.00,0.000,6,0.148,0.047,2678,1850,3541,0,0,0,0,0,0
$GC,1842,-1.17,-165.4,191.8,-12.8,189,1846,0.00,2.30,0.00,0.000,4,0.000,0.058,2668,3269,3542,0,0,0,0,0,0
$GC,2095,-1.20,-165.4,225.4,-13.2,201,2100,0.00,2.22,0.00,0.000,6,0.000,0.046,2668,1856,3542,0,0,0,0,0,0
$GC,2625,-1.23,-165.4,291.1,-12.6,227,2629,0.00,2.28,0.00,0.000,4,0.000,0.059,2658,3265,3542,0,0,0,0,0,0
$GC,2758,-1.23,-165.4,308.1,-12.1,233,2762,0.00,2.22,0.00,0.000,6,0.000,0.046,2658,1856,3543,0,0,0,0,0,0
$GC,3278,-1.23,-165.4,365.0,-10.3,250,3282,0.00,2.28,0.00,0.000,4,0.000,0.058,2647,3265,3542,0,0,0,0,0,0
$GC,3529,-1.23,-165.4,390.3,-10.0,257,3533,0.00,2.25,0.00,0.000,6,0.000,0.046,2648,1858,3542,0,0,0,0,0,0
$GC,4062,-1.23,-165.4,444.1,-10.5,275,4066,0.00,2.30,0.00,0.000,4,0.000,0.059,2637,3270,3541,0,0,0,0,0,0
$GC,4214,-1.20,-165.4,460.2,-10.7,279,4219,0.08,2.25,0.00,0.000,6,0.177,0.047,2655,1851,3541,0,0,0,0,0,0
$GC,4741,-1.20,-165.4,518.4,-12.1,296,4745,0.00,2.30,0.00,0.000,4,0.000,0.059,2646,3264,3540,0,0,0,0,0,0
$GC,4941,-1.20,-165.4,543.5,-12.6,302,4945,0.00,2.22,0.00,0.000,6,0.000,0.047,2646,1858,3540,0,0,0,0,0,0
$GC,5461,-1.20,-165.4,607.9,-12.3,319,5465,0.00,2.28,0.00,0.000,4,0.000,0.059,2635,3265,3539,0,0,0,0,0,0
$GC,5607,-1.20,-165.4,625.2,-11.0,323,5612,0.08,2.25,0.00,0.000,6,0.171,0.048,2654,1851,3539,0,0,0,0,0,0
$GC,6146,-1.20,-165.4,680.0,-9.5,341,6150,0.00,2.15,0.00,0.000,4,0.000,0.059,2645,3184,3537,0,0,0,0,0,0
$GC,6247,-1.20,-165.4,690.3,-9.3,344,6251,0.00,2.10,0.00,0.000,6,0.000,0.047,2645,1859,3537,0,0,0,0,0,0
$GC,6766,-1.20,-165.4,741.8,-10.3,361,6770,0.00,2.28,0.00,0.000,4,0.000,0.060,2635,3263,3536,0,0,0,0,0,0
$GC,6912,-1.20,-165.4,757.6,-11.0,365,6917,0.08,2.25,0.00,0.000,6,0.168,0.048,2654,1855,3535,0,0,0,0,0,0
$GC,7444,-1.20,-165.4,817.7,-11.5,383,7448,0.00,2.30,0.00,0.000,4,0.000,0.061,2644,3272,3534,0,0,0,0,0,0
$GC,7460,-1.20,-165.4,819.7,-11.6,383,7465,0.00,2.28,0.00,0.000,6,0.000,0.048,2644,1859,3534,0,0,0,0,0,0
$GC,7993,-1.20,-165.4,876.2,-10.1,401,7997,0.00,1.30,0.00,0.000,4,0.000,0.060,2644,1068,3532,0,0,0,0,0,0
$GC,8054,-1.20,-165.4,882.6,-10.6,402,8060,0.05,1.27,0.00,0.000,6,0.144,0.048,2656,1859,3532,0,0,0,0,0,0
$GC,8582,-1.20,-165.4,932.6,-9.3,420,8586,0.00,2.28,0.00,0.000,4,0.000,0.060,2647,3266,3531,0,0,0,0,0,0
$GC,8734,-1.23,-165.4,946.6,-9.2,424,8738,0.00,2.25,0.00,0.000,6,0.000,0.050,2646,1863,3531,0,0,0,0,0,0
$GC,9047,-1.23,-165.4,976.0,-9.7,434,9051,0.00,1.30,0.00,0.000,4,0.000,0.060,2641,2656,3531,0,0,0,0,0,0
$GC,9183,-1.23,-165.4,989.9,-9.9,438,9187,0.00,1.27,0.00,0.000,6,0.000,0.053,2641,1866,3530,0,0,0,0,0,0
$STATE,9191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9191,begin apogee
$GC,9197,-0.31,0.0,991.3,10.5,438,9345,0.93,0.00,144.27,1.247,6,0.114,0.000,2940,1553,2862,0,0,0,0,0,0
$STATE,9346,end apogee,CONTROL_FINISHED_OK
$STATE,9346,begin climb
$GC,9348,1.05,165.4,1004.1,0.0,443,9508,1.25,2.55,150.05,1.218,4,0.060,0.054,3379,2963,2186,0,0,0,0,0,0
$GC,9761,0.80,412.3,1014.7,-0.0,455,9995,0.30,2.28,224.38,1.222,6,0.170,0.050,3309,1559,1181,0,0,0,0,0,0
$GC,10315,0.84,453.3,977.2,8.1,474,10359,0.00,2.40,38.55,1.182,4,0.000,0.059,3309,2963,1014,0,0,0,0,0,0
$GC,10547,0.89,462.8,956.1,9.3,481,10562,0.00,2.30,9.65,1.048,6,0.000,0.055,3319,1556,975,0,0,0,0,0,0
$GC,10883,0.95,474.8,925.6,9.2,492,10898,0.10,0.00,13.00,1.085,6,0.096,0.000,3370,1556,926,0,0,0,0,0,0
$GC,11187,0.95,474.8,895.7,9.8,502,11191,0.08,0.52,0.00,0.000,4,0.178,0.057,3352,1883,923,0,0,0,0,0,0
$GC,11264,0.95,474.8,888.0,10.0,504,11268,0.00,0.55,0.00,0.000,6,0.000,0.064,3354,1552,922,0,0,0,0,0,0
$GC,11808,0.95,474.8,834.7,9.9,522,11812,0.00,0.50,0.00,0.000,4,0.000,0.057,3354,1877,920,0,0,0,0,0,0
$GC,11880,0.95,474.8,827.4,10.1,524,11884,0.00,0.52,0.00,0.000,6,0.000,0.065,3356,1561,920,0,0,0,0,0,0
$GC,12399,0.95,474.8,774.1,10.9,541,12403,0.00,0.65,0.00,0.000,4,0.000,0.067,3360,1156,920,0,0,0,0,0,0
$GC,12517,0.95,474.8,761.4,10.7,544,12521,0.00,0.68,0.00,0.000,6,0.000,0.052,3359,1570,919,0,0,0,0,0,0
$GC,13055,0.95,474.8,699.2,12.1,562,13059,0.00,0.73,0.00,0.000,4,0.000,0.066,3363,1125,919,0,0,0,0,0,0
$GC,13195,0.95,474.8,681.7,13.7,566,13199,0.00,0.70,0.00,0.000,6,0.000,0.051,3363,1564,919,0,0,0,0,0,0
$GC,13714,0.95,474.8,616.9,12.2,583,13718,0.00,0.75,0.00,0.000,4,0.000,0.067,3366,1112,919,0,0,0,0,0,0
$GC,13832,0.95,474.8,603.1,10.8,586,13836,0.03,0.70,0.00,0.000,6,0.172,0.052,3355,1555,918,0,0,0,0,0,0
$GC,14371,0.95,490.5,549.7,9.1,604,14390,0.00,0.60,15.12,0.949,4,0.000,0.063,3358,1198,863,0,0,0,0,0,0
$GC,14644,0.97,490.5,524.4,9.7,612,14648,0.00,0.57,0.00,0.000,6,0.000,0.055,3358,1561,861,0,0,0,0,0,0
$GC,15164,1.00,490.5,474.7,10.0,629,15167,0.00,1.00,0.00,0.000,4,0.000,0.067,3362,971,861,0,0,0,0,0,0
$GC,15387,1.00,490.5,452.2,10.4,635,15391,0.00,0.95,0.00,0.000,6,0.000,0.050,3362,1555,861,0,0,0,0,0,0
$GC,15920,1.00,490.5,398.8,9.8,653,15924,0.00,1.67,0.00,0.000,4,0.000,0.069,3370,546,860,0,0,0,0,0,0
$GC,16043,1.00,490.5,386.6,9.9,656,16047,0.00,1.65,0.00,0.000,6,0.000,0.049,3370,1559,860,0,0,0,0,0,0
$GC,16576,1.00,490.5,330.3,10.9,674,16580,0.00,2.40,0.00,0.000,4,0.000,0.070,3381,153,861,0,0,0,0,0,0
$GC,16749,1.00,490.5,311.4,10.1,679,16753,0.05,2.30,0.00,0.000,6,0.208,0.049,3368,1570,860,0,0,0,0,0,0
$GC,17278,1.00,499.9,259.1,9.3,703,17294,0.00,2.40,10.48,0.730,4,0.000,0.067,3379,153,824,0,0,0,0,0,0
$GC,17546,1.00,499.9,231.4,11.3,714,17550,0.00,2.30,0.00,0.000,6,0.000,0.049,3379,1567,822,0,0,0,0,0,0
$GC,18082,1.00,499.9,171.3,11.2,744,18087,0.00,2.40,0.00,0.000,4,0.000,0.067,3389,153,822,0,0,0,0,0,0
$GC,18343,1.00,499.9,142.9,10.5,759,18349,0.10,2.30,0.00,0.000,6,0.159,0.049,3362,1568,822,0,0,0,0,0,0
$GC,18874,1.03,548.7,93.4,7.8,796,18926,0.00,2.28,45.92,0.671,4,0.000,0.056,3362,2964,624,0,0,0,0,0,0
$GC,19111,1.09,594.9,75.1,7.9,817,19157,0.08,2.28,39.97,0.653,6,0.120,0.054,3413,1563,436,0,0,0,0,0,0
$GC,19610,1.09,594.9,21.8,13.6,891,19618,0.08,2.33,0.00,0.000,4,0.177,0.058,3395,2962,425,0,0,0,0,0,0
$STATE,19749,end climb,SURFACE_DEPTH_REACHED
$STATE,19749,begin surface coast
$FINISH,2.3,1.013375
$STATE,19756,end surface coast,CONTROL_FINISHED_OK
$STATE,19756,begin surface
$SM_CCo,19836,0.00,0.000,0,0,423,598.28
$SM_GC,3.10,8.65,0.00,0.00,0.029,0.000,0.000,85,1858,423,-9.16,-0.06,598.28
$IRIDIUM_FIX,-4132.26,-348.27,110213,101036
$TT8_MAMPS,0.026964
$HUMID,50.74
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.2,106.809
$10V_AH,9.8,75.542
$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,22.500,105.650,691.400,0.000,0.000,28.199,38.731,230.032,0.000,0.000,23.142,2360.569,13705.855,658.878,3275.219,280.229,33.373,2030.315,0.000,2932.304,0.000,1.008,0.000
$DEVICE_MAMPS,211.905,85.680,1246.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.229,826.345,621.139,71.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354488
$DATA_FILE_SIZE,53672,915
$CAP_FILE_SIZE,159561,0
$CFSIZE,2097086464,2016968704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110213,212353,-4144.287,-323.483,42,1.0,42,-22.5