version: 66.07.10.p01
glider: 573
mission: 4
dive: 588
start: 2 11 113 21 35 29
data:
$ID,573
$MISSION,4
$DIVE,588
$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,-6098.5508
$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,24
$R_STBD_OVSHOOT,29
$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,567
$GPS1,110213,212353,-4144.287,-323.483,42,1.0,42,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-59.7
$GPS2,110213,213435,-4144.255,-323.249,31,1.2,31,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.196,0.189
$KALMAN_X,43087.6,540.8,124.0,-63215.0,3166.5
$KALMAN_Y,-52800.8,185.8,35.8,102436.8,-2895.8
$MHEAD_RNG_PITCHd_Wd,336.4,35168,-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,24,begin dive
$GC,26,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-6.68,0.000,2,0.000,0.000,81,1857,585,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.0,-0.0,1,177,10.23,0.77,-122.72,0.000,4,0.205,0.101,2702,1403,3537,0,0,0,0,0,0
$GC,198,-1.00,-165.4,10.5,-16.8,27,206,0.05,0.73,0.00,0.000,6,0.141,0.054,2717,1858,3539,0,0,0,0,0,0
$GC,280,-1.06,-165.4,22.9,-15.0,40,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1858,3540,0,0,0,0,0,0
$GC,360,-1.14,-165.4,34.0,-13.3,53,365,0.12,0.00,0.00,0.000,6,0.083,0.000,2648,1858,3540,0,0,0,0,0,0
$GC,704,-1.09,-165.4,72.1,-10.0,103,708,0.15,1.38,0.00,0.000,4,0.152,0.058,2691,1030,3540,0,0,0,0,0,0
$GC,773,-1.09,-165.4,79.0,-9.9,109,777,0.00,1.35,0.00,0.000,6,0.000,0.049,2685,1864,3540,0,0,0,0,0,0
$GC,1208,-1.11,-165.4,123.9,-11.9,143,1212,0.00,1.80,0.00,0.000,4,0.000,0.057,2677,2993,3541,0,0,0,0,0,0
$GC,1313,-1.14,-165.4,136.7,-13.1,149,1317,0.00,1.83,0.00,0.000,6,0.000,0.048,2677,1853,3541,0,0,0,0,0,0
$GC,1851,-1.14,-165.4,204.0,-12.2,183,1855,0.00,2.30,0.00,0.000,4,0.000,0.059,2666,3274,3541,0,0,0,0,0,0
$GC,1962,-1.14,-165.4,217.5,-11.4,188,1967,0.00,2.25,0.00,0.000,6,0.000,0.047,2666,1850,3541,0,0,0,0,0,0
$GC,2501,-1.14,-165.4,275.9,-10.8,214,2505,0.00,1.90,0.00,0.000,4,0.000,0.057,2657,3030,3541,0,0,0,0,0,0
$GC,2596,-1.14,-165.4,286.6,-10.5,218,2600,0.05,1.88,0.00,0.000,6,0.135,0.046,2677,1852,3541,0,0,0,0,0,0
$GC,3138,-1.17,-165.4,338.0,-9.1,238,3142,0.00,1.85,0.00,0.000,4,0.000,0.057,2668,2986,3541,0,0,0,0,0,0
$GC,3215,-1.17,-165.4,345.5,-9.4,240,3219,0.00,1.77,0.00,0.000,6,0.000,0.047,2668,1856,3541,0,0,0,0,0,0
$GC,3762,-1.19,-165.4,395.3,-9.5,258,3766,0.00,2.25,0.00,0.000,4,0.000,0.058,2658,3265,3540,0,0,0,0,0,0
$GC,3919,-1.19,-165.4,411.3,-9.9,262,3924,0.00,2.22,0.00,0.000,6,0.000,0.047,2658,1858,3540,0,0,0,0,0,0
$GC,4446,-1.19,-165.4,471.7,-12.3,280,4450,0.00,0.77,0.00,0.000,4,0.000,0.057,2654,2350,3539,0,0,0,0,0,0
$GC,4664,-1.19,-165.4,500.0,-12.5,286,4668,0.00,0.77,0.00,0.000,6,0.000,0.052,2654,1858,3539,0,0,0,0,0,0
$GC,5203,-1.19,-165.4,563.3,-10.8,304,5207,0.00,2.30,0.00,0.000,4,0.000,0.060,2644,3266,3538,0,0,0,0,0,0
$GC,5308,-1.19,-165.4,574.9,-10.7,307,5313,0.08,2.22,0.00,0.000,6,0.170,0.048,2662,1861,3537,0,0,0,0,0,0
$GC,5853,-1.19,-165.4,629.9,-10.3,325,5857,0.00,1.65,0.00,0.000,4,0.000,0.059,2656,2892,3536,0,0,0,0,0,0
$GC,5926,-1.19,-165.4,637.7,-10.8,327,5930,0.00,1.65,0.00,0.000,6,0.000,0.049,2655,1862,3536,0,0,0,0,0,0
$GC,6445,-1.19,-165.4,697.4,-12.3,344,6449,0.00,1.12,0.00,0.000,4,0.000,0.059,2650,2558,3534,0,0,0,0,0,0
$GC,6584,-1.19,-165.4,715.4,-12.6,348,6588,0.00,1.12,0.00,0.000,6,0.000,0.052,2650,1858,3534,0,0,0,0,0,0
$GC,7104,-1.19,-165.4,780.7,-12.5,365,7108,0.00,2.30,0.00,0.000,4,0.000,0.062,2639,3274,3532,0,0,0,0,0,0
$GC,7250,-1.19,-165.4,798.6,-12.2,369,7254,0.08,2.28,0.00,0.000,6,0.170,0.050,2658,1852,3532,0,0,0,0,0,0
$GC,7782,-1.19,-165.4,856.2,-10.6,387,7785,0.00,1.60,0.00,0.000,4,0.000,0.059,2652,2826,3531,0,0,0,0,0,0
$GC,7865,-1.19,-165.4,865.2,-10.3,389,7869,0.00,1.55,0.00,0.000,6,0.000,0.051,2652,1864,3531,0,0,0,0,0,0
$GC,8404,-1.19,-165.4,925.1,-11.6,407,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1864,3529,0,0,0,0,0,0
$GC,8710,-1.19,-165.4,961.8,-12.0,417,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1864,3529,0,0,0,0,0,0
$STATE,8953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8953,begin apogee
$GC,8959,-0.31,0.0,991.4,12.0,425,9105,0.90,0.00,143.30,1.252,6,0.112,0.000,2939,1553,2862,0,0,0,0,0,0
$STATE,9106,end apogee,CONTROL_FINISHED_OK
$STATE,9106,begin climb
$GC,9109,1.05,165.4,1006.9,0.0,430,9266,1.27,2.47,149.02,1.222,4,0.061,0.053,3385,2965,2188,0,0,0,0,0,0
$GC,9300,0.78,471.6,1019.8,-2.4,436,9597,0.38,2.38,288.00,1.211,6,0.166,0.048,3299,1560,939,0,0,0,0,0,0
$GC,9928,0.87,481.0,973.9,9.3,457,9942,0.08,2.40,8.70,1.024,4,0.118,0.067,3356,162,901,0,0,0,0,0,0
$GC,10082,0.87,481.0,958.3,10.1,461,10087,0.10,2.28,0.00,0.000,6,0.157,0.047,3329,1572,899,0,0,0,0,0,0
$GC,10401,0.92,481.0,927.1,9.8,472,10405,0.00,1.15,0.00,0.000,4,0.000,0.055,3329,2299,898,0,0,0,0,0,0
$GC,10503,0.95,481.0,916.9,10.0,475,10506,0.00,1.20,0.00,0.000,6,0.000,0.059,3334,1559,898,0,0,0,0,0,0
$GC,10844,0.99,481.0,883.0,9.9,486,10846,0.08,0.00,0.00,0.000,6,0.123,0.000,3376,1559,897,0,0,0,0,0,0
$GC,11364,0.97,481.0,831.4,9.9,503,11366,0.08,0.00,0.00,0.000,6,0.182,0.000,3359,1559,896,0,0,0,0,0,0
$GC,11885,0.97,516.1,784.7,8.3,520,11924,0.00,1.20,35.25,1.127,4,0.000,0.063,3364,834,759,0,0,0,0,0,0
$GC,12032,1.00,563.1,771.9,7.9,524,12082,0.00,1.17,46.25,1.113,6,0.000,0.050,3364,1551,566,0,0,0,0,0,0
$GC,12596,1.14,563.1,717.9,10.0,543,12600,0.12,1.60,0.00,0.000,4,0.084,0.069,3432,589,556,0,0,0,0,0,0
$GC,12679,1.09,563.1,708.4,11.0,545,12683,0.10,1.58,0.00,0.000,6,0.132,0.047,3399,1563,556,0,0,0,0,0,0
$GC,13217,1.09,563.1,637.2,14.5,563,13220,0.00,0.52,0.00,0.000,4,0.000,0.068,3400,1239,555,0,0,0,0,0,0
$GC,13311,1.09,563.1,623.0,14.3,565,13317,0.00,0.52,0.00,0.000,6,0.000,0.055,3400,1564,555,0,0,0,0,0,0
$GC,13839,1.09,563.1,546.5,14.0,583,13842,0.00,1.00,0.00,0.000,4,0.000,0.065,3404,968,555,0,0,0,0,0,0
$GC,14002,1.09,563.1,524.7,13.1,587,14007,0.00,0.95,0.00,0.000,6,0.000,0.050,3405,1554,554,0,0,0,0,0,0
$GC,14529,1.09,563.1,463.0,10.7,605,14533,0.00,1.05,0.00,0.000,4,0.000,0.067,3409,933,554,0,0,0,0,0,0
$GC,14631,1.09,563.1,452.4,10.4,608,14635,0.03,1.02,0.00,0.000,6,0.175,0.050,3400,1566,554,0,0,0,0,0,0
$GC,15156,1.09,563.1,397.8,10.6,625,15160,0.00,1.85,0.00,0.000,4,0.000,0.067,3408,446,554,0,0,0,0,0,0
$GC,15303,1.09,563.1,381.3,11.2,629,15307,0.00,1.80,0.00,0.000,6,0.000,0.048,3408,1567,554,0,0,0,0,0,0
$GC,15847,1.09,563.1,313.0,13.0,647,15851,0.00,2.38,0.00,0.000,4,0.000,0.067,3419,154,553,0,0,0,0,0,0
$GC,15994,1.09,563.1,293.9,12.2,651,16002,0.05,2.30,0.00,0.000,6,0.149,0.048,3401,1557,553,0,0,0,0,0,0
$GC,16516,1.09,563.1,233.0,11.5,677,16520,0.00,2.38,0.00,0.000,4,0.000,0.070,3411,159,553,0,0,0,0,0,0
$GC,16672,1.09,563.1,215.4,10.5,684,16677,0.05,2.28,0.00,0.000,6,0.210,0.049,3399,1564,553,0,0,0,0,0,0
$GC,17205,1.09,563.1,154.4,11.7,716,17210,0.00,2.40,0.00,0.000,4,0.000,0.068,3409,152,553,0,0,0,0,0,0
$GC,17369,1.09,563.1,133.5,14.5,726,17374,0.00,2.30,0.00,0.000,6,0.000,0.049,3409,1568,553,0,0,0,0,0,0
$GC,17910,1.09,563.1,65.1,11.6,769,17914,0.00,2.40,0.00,0.000,4,0.000,0.067,3420,148,553,0,0,0,0,0,0
$GC,18135,1.09,581.7,40.5,9.0,803,18159,0.10,2.28,15.68,0.634,6,0.161,0.047,3393,1563,489,0,0,0,0,0,0
$STATE,18435,end climb,SURFACE_DEPTH_REACHED
$STATE,18435,begin surface coast
$FINISH,2.3,1.011886
$STATE,18479,end surface coast,CONTROL_FINISHED_OK
$STATE,18479,begin surface
$SM_CCo,18558,0.00,0.000,0,0,484,583.31
$SM_GC,3.23,8.88,0.00,0.00,0.040,0.000,0.000,76,1867,484,-9.18,0.20,583.31
$IRIDIUM_FIX,-4129.38,-324.87,110213,212103
$TT8_MAMPS,0.026964
$HUMID,51.69
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.0,107.061
$10V_AH,9.8,75.645
$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,22.950,89.450,686.200,0.000,0.000,50.406,127.123,237.119,0.000,0.000,33.475,2159.833,13137.801,647.054,2980.230,268.096,33.372,1846.244,0.000,2521.049,0.000,1.009,0.000
$DEVICE_MAMPS,210.375,100.980,1251.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.486,783.689,587.020,66.458,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,50332,861
$CAP_FILE_SIZE,141925,0
$CFSIZE,2097086464,2016837632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,120213,024607,-4143.459,-322.801,44,1.0,44,-22.5