version: 66.07.10.p01
glider: 573
mission: 4
dive: 589
start: 2 12 113 2 54 54
data:
$ID,573
$MISSION,4
$DIVE,589
$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,-6100.8789
$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,30
$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,568
$GPS1,120213,024607,-4143.459,-322.801,44,1.0,44,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-65.5
$GPS2,120213,025401,-4143.368,-322.737,20,1.2,21,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.192,0.193
$KALMAN_X,47827.8,299.4,333.8,-67220.4,3127.8
$KALMAN_Y,-55018.0,60.8,161.7,106294.0,-3111.1
$MHEAD_RNG_PITCHd_Wd,337.6,34442,-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,-6.95,0.000,2,0.000,0.000,75,1867,649,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,177,10.40,1.75,-116.62,0.000,4,0.207,0.076,2706,853,3538,0,0,0,0,0,0
$GC,228,-0.99,-165.4,14.4,-13.4,32,235,0.08,1.65,0.00,0.000,6,0.132,0.047,2725,1863,3540,0,0,0,0,0,0
$GC,309,-1.04,-165.4,24.1,-10.7,45,316,0.00,1.00,0.00,0.000,4,0.000,0.057,2721,2492,3540,0,0,0,0,0,0
$GC,394,-1.04,-165.4,34.2,-12.6,59,399,0.00,1.02,0.00,0.000,6,0.000,0.054,2721,1853,3540,0,0,0,0,0,0
$GC,732,-1.10,-165.4,73.2,-10.0,108,736,0.10,1.17,0.00,0.000,4,0.098,0.058,2660,1131,3540,0,0,0,0,0,0
$GC,788,-1.06,-165.4,79.1,-10.3,113,793,0.12,1.17,0.00,0.000,6,0.128,0.047,2697,1867,3540,0,0,0,0,0,0
$GC,1223,-1.10,-165.4,125.5,-11.4,147,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1867,3542,0,0,0,0,0,0
$GC,1755,-1.15,-165.4,182.2,-10.0,181,1759,0.08,1.33,0.00,0.000,4,0.118,0.057,2644,1068,3542,0,0,0,0,0,0
$GC,1816,-1.09,-165.4,188.8,-10.0,184,1823,0.15,1.25,0.00,0.000,6,0.128,0.047,2689,1855,3542,0,0,0,0,0,0
$GC,2344,-1.12,-165.4,242.8,-10.5,212,2348,0.00,1.55,0.00,0.000,4,0.000,0.057,2682,2821,3542,0,0,0,0,0,0
$GC,2422,-1.15,-165.4,251.8,-11.2,215,2426,0.00,1.55,0.00,0.000,6,0.000,0.048,2682,1851,3542,0,0,0,0,0,0
$GC,2971,-1.17,-165.4,315.0,-11.4,240,2975,0.00,0.50,0.00,0.000,4,0.000,0.056,2679,2184,3542,0,0,0,0,0,0
$GC,3077,-1.17,-165.4,327.8,-11.7,243,3081,0.00,0.52,0.00,0.000,6,0.000,0.055,2679,1847,3542,0,0,0,0,0,0
$GC,3597,-1.19,-165.4,387.3,-11.3,260,3601,0.00,1.95,0.00,0.000,4,0.000,0.058,2671,3064,3541,0,0,0,0,0,0
$GC,3675,-1.22,-165.4,396.1,-11.4,262,3680,0.03,1.92,0.00,0.000,6,0.095,0.046,2633,1858,3541,0,0,0,0,0,0
$GC,4221,-1.18,-165.4,448.6,-9.2,280,4225,0.10,1.92,0.00,0.000,4,0.174,0.058,2651,3039,3541,0,0,0,0,0,0
$GC,4298,-1.18,-165.4,456.4,-9.1,282,4302,0.00,1.88,0.00,0.000,6,0.000,0.047,2651,1856,3541,0,0,0,0,0,0
$GC,4842,-1.18,-165.4,511.7,-10.6,300,4846,0.00,0.40,0.00,0.000,4,0.000,0.060,2649,2128,3540,0,0,0,0,0,0
$GC,5032,-1.18,-165.4,532.7,-11.7,305,5036,0.00,0.43,0.00,0.000,6,0.000,0.058,2649,1843,3540,0,0,0,0,0,0
$GC,5565,-1.18,-165.4,593.2,-11.7,323,5569,0.00,2.22,0.00,0.000,4,0.000,0.060,2639,3205,3539,0,0,0,0,0,0
$GC,5632,-1.14,-165.4,601.1,-11.2,325,5637,0.12,2.15,0.00,0.000,6,0.148,0.047,2674,1854,3538,0,0,0,0,0,0
$GC,6177,-1.17,-165.4,661.3,-10.9,343,6181,0.00,1.27,0.00,0.000,4,0.000,0.057,2674,1060,3536,0,0,0,0,0,0
$GC,6261,-1.17,-165.4,670.3,-10.6,345,6265,0.00,1.27,0.00,0.000,6,0.000,0.047,2668,1857,3537,0,0,0,0,0,0
$GC,6800,-1.19,-165.4,725.8,-10.4,363,6803,0.00,0.47,0.00,0.000,4,0.000,0.062,2668,1554,3535,0,0,0,0,0,0
$GC,6850,-1.22,-165.4,731.1,-10.4,364,6853,0.00,0.47,0.00,0.000,6,0.000,0.057,2666,1860,3535,0,0,0,0,0,0
$GC,7389,-1.24,-165.4,783.8,-9.8,382,7390,0.05,0.00,0.00,0.000,6,0.164,0.000,2622,1860,3533,0,0,0,0,0,0
$GC,7909,-1.19,-165.4,837.3,-10.2,399,7914,0.12,2.35,0.00,0.000,4,0.157,0.060,2657,455,3532,0,0,0,0,0,0
$GC,7998,-1.19,-165.4,846.7,-10.6,401,8003,0.00,2.25,0.00,0.000,6,0.000,0.047,2647,1867,3532,0,0,0,0,0,0
$GC,8525,-1.19,-165.4,899.6,-10.3,419,8529,0.00,1.55,0.00,0.000,4,0.000,0.060,2647,939,3531,0,0,0,0,0,0
$GC,8609,-1.17,-165.4,908.7,-11.0,421,8613,0.05,1.50,0.00,0.000,6,0.145,0.049,2658,1859,3531,0,0,0,0,0,0
$GC,8932,-1.17,-165.4,941.0,-10.0,432,8936,0.00,0.70,0.00,0.000,4,0.000,0.060,2658,1421,3530,0,0,0,0,0,0
$GC,9000,-1.17,-165.4,947.8,-9.7,434,9004,0.00,0.70,0.00,0.000,6,0.000,0.054,2656,1864,3530,0,0,0,0,0,0
$GC,9341,-1.17,-165.4,982.2,-10.4,445,9345,0.00,0.70,0.00,0.000,4,0.000,0.060,2656,1426,3530,0,0,0,0,0,0
$STATE,9411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9411,begin apogee
$GC,9417,-0.31,0.0,990.5,11.6,447,9564,0.88,0.00,143.38,1.252,6,0.115,0.000,2937,1568,2862,0,0,0,0,0,0
$STATE,9565,end apogee,CONTROL_FINISHED_OK
$STATE,9565,begin climb
$GC,9568,1.05,165.4,1004.7,0.0,452,9725,1.27,2.35,149.55,1.221,4,0.061,0.054,3384,2966,2188,0,0,0,0,0,0
$GC,9978,0.80,436.0,1019.0,-1.0,464,10236,0.32,2.28,247.12,1.227,6,0.170,0.051,3308,1551,1083,0,0,0,0,0,0
$GC,10568,0.85,465.8,978.0,8.5,484,10602,0.00,2.40,27.98,1.174,4,0.000,0.060,3307,2963,962,0,0,0,0,0,0
$GC,10768,0.90,478.8,959.6,9.2,490,10788,0.00,2.28,13.25,1.106,6,0.000,0.056,3317,1564,909,0,0,0,0,0,0
$GC,11109,0.98,478.8,926.3,10.0,501,11111,0.12,0.00,0.00,0.000,6,0.083,0.000,3380,1564,906,0,0,0,0,0,0
$GC,11414,0.95,478.8,893.5,10.7,511,11416,0.10,0.00,0.00,0.000,6,0.163,0.000,3353,1564,905,0,0,0,0,0,0
$GC,11934,0.95,478.8,840.5,10.0,528,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1564,904,0,0,0,0,0,0
$GC,12455,0.95,478.8,786.9,10.7,545,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1563,904,0,0,0,0,0,0
$GC,12976,0.97,478.8,731.3,10.5,562,12979,0.00,0.90,0.00,0.000,4,0.000,0.066,3357,1013,903,0,0,0,0,0,0
$GC,13123,0.99,478.8,716.3,10.4,566,13126,0.00,0.88,0.00,0.000,6,0.000,0.051,3357,1551,903,0,0,0,0,0,0
$GC,13667,0.99,478.8,660.1,10.2,584,13670,0.00,1.20,0.00,0.000,4,0.000,0.066,3363,838,903,0,0,0,0,0,0
$GC,13825,0.99,488.3,644.4,9.3,588,13839,0.00,1.17,9.30,0.934,6,0.000,0.048,3363,1562,871,0,0,0,0,0,0
$GC,14360,0.99,488.3,590.7,10.0,606,14364,0.00,2.15,0.00,0.000,4,0.000,0.068,3372,291,870,0,0,0,0,0,0
$GC,14459,0.99,488.3,580.3,10.6,609,14463,0.00,2.08,0.00,0.000,6,0.000,0.048,3372,1560,870,0,0,0,0,0,0
$GC,14979,0.99,488.3,527.5,10.0,626,14983,0.00,2.10,0.00,0.000,4,0.000,0.067,3382,319,870,0,0,0,0,0,0
$GC,15097,0.97,495.2,516.0,9.4,629,15112,0.10,2.03,8.07,0.845,6,0.162,0.048,3355,1572,843,0,0,0,0,0,0
$GC,15632,1.00,495.2,464.4,10.1,647,15635,0.00,1.35,0.00,0.000,4,0.000,0.066,3361,772,843,0,0,0,0,0,0
$GC,15838,1.00,495.2,441.5,11.7,653,15842,0.00,1.27,0.00,0.000,6,0.000,0.048,3361,1560,842,0,0,0,0,0,0
$GC,16358,1.00,495.2,384.0,10.7,670,16362,0.00,2.38,0.00,0.000,4,0.000,0.070,3372,159,842,0,0,0,0,0,0
$GC,16492,1.00,495.2,370.1,10.1,674,16496,0.00,2.30,0.00,0.000,6,0.000,0.048,3371,1559,842,0,0,0,0,0,0
$GC,17011,1.00,521.3,322.8,8.7,691,17042,0.00,2.00,26.58,0.832,4,0.000,0.069,3380,412,736,0,0,0,0,0,0
$GC,17165,1.00,552.2,309.0,8.5,695,17201,0.00,1.88,29.75,0.812,6,0.000,0.048,3380,1557,610,0,0,0,0,0,0
$GC,17729,1.03,552.2,254.3,10.2,721,17733,0.00,1.92,0.00,0.000,4,0.000,0.069,3389,404,603,0,0,0,0,0,0
$GC,17883,1.06,552.2,237.3,10.7,727,17888,0.00,1.88,0.00,0.000,6,0.000,0.048,3388,1569,603,0,0,0,0,0,0
$GC,18407,1.06,552.2,178.5,11.0,756,18410,0.00,0.68,0.00,0.000,4,0.000,0.052,3389,2026,603,0,0,0,0,0,0
$GC,18529,1.06,552.2,165.8,10.5,763,18533,0.00,0.75,0.00,0.000,6,0.000,0.060,3392,1556,602,0,0,0,0,0,0
$GC,19065,1.07,597.9,117.3,7.9,797,19111,0.00,1.83,39.85,0.692,4,0.000,0.057,3392,2645,422,0,0,0,0,0,0
$GC,19241,1.10,613.3,101.1,9.1,807,19250,0.00,1.77,3.72,0.465,6,0.000,0.057,3399,1557,410,0,0,0,0,0,0
$GC,19801,1.14,613.3,31.4,11.4,877,19806,0.00,2.00,0.00,0.000,4,0.000,0.066,3408,356,406,0,0,0,0,0,0
$GC,19957,1.14,613.3,13.7,10.5,903,19964,0.00,1.95,0.00,0.000,6,0.000,0.048,3409,1554,406,0,0,0,0,0,0
$GC,20038,1.10,613.3,4.0,12.1,916,20044,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1554,406,0,0,0,0,0,0
$STATE,20051,end climb,SURFACE_DEPTH_REACHED
$STATE,20051,begin surface coast
$FINISH,2.4,1.025923
$STATE,20082,end surface coast,CONTROL_FINISHED_OK
$STATE,20082,begin surface
$SM_CCo,20161,0.00,0.000,0,0,404,602.94
$SM_GC,3.20,8.75,0.00,0.00,0.033,0.000,0.000,86,1874,404,-9.16,0.40,602.94
$IRIDIUM_FIX,-4129.38,-321.99,110213,212158
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.2,107.305
$10V_AH,9.8,75.753
$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,22.950,87.075,698.550,0.000,0.000,28.128,42.870,252.831,0.000,0.000,23.429,2321.511,14307.036,669.839,3055.249,275.915,33.370,1941.872,0.000,2689.755,0.000,1.008,0.000
$DEVICE_MAMPS,206.550,76.500,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.311,836.440,636.396,67.409,0.000,0.000,0.000,0.000,0.000,0.000
$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,56930,923
$CAP_FILE_SIZE,153721,0
$CFSIZE,2097086464,2016706560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120213,083205,-4142.838,-322.972,34,1.7,34,-22.5