version: 66.07.10.p01
glider: 573
mission: 4
dive: 590
start: 2 12 113 8 40 30
data:
$ID,573
$MISSION,4
$DIVE,590
$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,-6103.2109
$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,34
$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,569
$GPS1,120213,083205,-4142.838,-322.972,34,1.7,34,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-66.1
$GPS2,120213,083937,-4142.818,-322.977,16,1.2,17,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-340.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.250,0.110
$KALMAN_X,52581.8,-274.0,-245.9,-71143.6,5039.0
$KALMAN_Y,-57497.4,-89.9,-127.7,110234.6,-2183.7
$MHEAD_RNG_PITCHd_Wd,316.2,33483,-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,-7.03,0.000,2,0.000,0.000,82,1875,573,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,189,10.27,0.65,-130.45,0.000,4,0.206,0.102,2706,1479,3532,0,0,0,0,0,0
$GC,221,-1.05,-165.4,11.4,-15.7,31,229,0.00,0.60,0.00,0.000,6,0.000,0.057,2703,1856,3532,0,0,0,0,0,0
$GC,302,-1.05,-165.4,23.1,-14.1,44,309,0.00,1.50,0.00,0.000,4,0.000,0.060,2696,2774,3533,0,0,0,0,0,0
$GC,569,-1.09,-165.4,58.2,-13.3,90,577,0.00,1.48,0.00,0.000,6,0.000,0.050,2696,1852,3533,0,0,0,0,0,0
$GC,901,-1.15,-165.4,100.7,-11.3,122,906,0.05,2.30,0.00,0.000,4,0.161,0.059,2653,451,3533,0,0,0,0,0,0
$GC,973,-1.06,-165.4,108.7,-10.8,126,978,0.20,2.25,0.00,0.000,6,0.144,0.045,2700,1867,3534,0,0,0,0,0,0
$GC,1513,-1.13,-165.4,156.0,-10.1,160,1517,0.05,0.75,0.00,0.000,4,0.162,0.057,2656,1401,3535,0,0,0,0,0,0
$GC,1550,-1.13,-165.4,160.6,-10.9,162,1555,0.08,0.73,0.00,0.000,6,0.132,0.050,2679,1860,3534,0,0,0,0,0,0
$GC,2087,-1.16,-165.4,218.2,-10.2,194,2091,0.00,2.30,0.00,0.000,4,0.000,0.057,2679,445,3534,0,0,0,0,0,0
$GC,2182,-1.16,-165.4,228.3,-10.5,198,2186,0.00,2.25,0.00,0.000,6,0.000,0.044,2669,1861,3534,0,0,0,0,0,0
$GC,2712,-1.19,-165.4,286.5,-12.3,224,2716,0.00,2.30,0.00,0.000,4,0.000,0.057,2669,451,3535,0,0,0,0,0,0
$GC,2851,-1.19,-165.4,304.8,-13.0,230,2855,0.00,2.25,0.00,0.000,6,0.000,0.044,2658,1867,3534,0,0,0,0,0,0
$GC,3396,-1.19,-165.4,370.9,-11.8,248,3400,0.00,2.33,0.00,0.000,4,0.000,0.057,2658,452,3534,0,0,0,0,0,0
$GC,3531,-1.15,-165.4,386.7,-11.4,252,3536,0.10,2.25,0.00,0.000,6,0.166,0.044,2674,1865,3534,0,0,0,0,0,0
$GC,4077,-1.19,-165.4,446.8,-11.0,270,4081,0.00,2.25,0.00,0.000,4,0.000,0.059,2664,3271,3534,0,0,0,0,0,0
$GC,4308,-1.23,-165.4,472.9,-11.1,277,4312,0.00,2.25,0.00,0.000,6,0.000,0.047,2664,1849,3534,0,0,0,0,0,0
$GC,4827,-1.25,-165.4,535.0,-12.3,294,4832,0.05,2.30,0.00,0.000,4,0.164,0.059,2608,3268,3532,0,0,0,0,0,0
$GC,5000,-1.18,-165.4,558.5,-12.9,299,5005,0.17,2.22,0.00,0.000,6,0.140,0.047,2659,1858,3533,0,0,0,0,0,0
$GC,5544,-1.18,-165.4,625.9,-12.0,317,5548,0.00,2.30,0.00,0.000,4,0.000,0.060,2649,3269,3531,0,0,0,0,0,0
$GC,5632,-1.18,-165.4,636.6,-11.8,319,5637,0.00,2.25,0.00,0.000,6,0.000,0.048,2649,1855,3530,0,0,0,0,0,0
$GC,6166,-1.18,-165.4,694.5,-10.4,337,6170,0.00,2.28,0.00,0.000,4,0.000,0.058,2649,455,3529,0,0,0,0,0,0
$GC,6283,-1.15,-165.4,706.9,-9.8,340,6288,0.12,2.25,0.00,0.000,6,0.155,0.045,2673,1862,3528,0,0,0,0,0,0
$GC,6812,-1.19,-165.4,758.5,-9.8,357,6816,0.00,2.30,0.00,0.000,4,0.000,0.058,2673,455,3528,0,0,0,0,0,0
$GC,6929,-1.19,-165.4,770.2,-9.4,360,6933,0.00,2.25,0.00,0.000,6,0.000,0.046,2663,1860,3527,0,0,0,0,0,0
$GC,7456,-1.21,-165.4,822.9,-10.5,377,7460,0.00,2.28,0.00,0.000,4,0.000,0.060,2653,3262,3526,0,0,0,0,0,0
$GC,7714,-1.23,-165.4,851.8,-10.9,384,7719,0.00,2.25,0.00,0.000,6,0.000,0.050,2653,1856,3525,0,0,0,0,0,0
$GC,8241,-1.23,-165.4,912.0,-11.6,402,8245,0.00,2.30,0.00,0.000,4,0.000,0.060,2653,449,3523,0,0,0,0,0,0
$GC,8369,-1.21,-165.4,927.4,-11.1,405,8374,0.00,2.28,0.00,0.000,6,0.000,0.047,2642,1864,3523,0,0,0,0,0,0
$GC,8682,-1.21,-165.4,962.2,-11.0,416,8687,0.03,2.28,0.00,0.000,4,0.272,0.060,2642,3263,3522,0,0,0,0,0,0
$GC,8813,-1.21,-165.4,975.8,-9.9,420,8817,0.00,2.25,0.00,0.000,6,0.000,0.050,2642,1858,3522,0,0,0,0,0,0
$STATE,8961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8962,begin apogee
$GC,8967,-0.31,0.0,991.3,10.1,425,9113,0.95,0.00,141.85,1.249,6,0.114,0.000,2944,1559,2862,0,0,0,0,0,0
$STATE,9114,end apogee,CONTROL_FINISHED_OK
$STATE,9114,begin climb
$GC,9116,1.05,165.4,1004.0,0.0,430,9273,1.25,2.40,148.98,1.219,4,0.057,0.054,3386,2961,2186,0,0,0,0,0,0
$GC,9526,0.79,411.4,1012.6,0.0,442,9759,0.35,2.28,222.10,1.222,6,0.172,0.050,3304,1551,1184,0,0,0,0,0,0
$GC,10090,0.83,414.3,967.4,9.6,461,10094,0.00,2.30,0.00,0.000,4,0.000,0.058,3304,2970,1174,0,0,0,0,0,0
$GC,10248,0.86,420.1,952.6,9.5,465,10262,0.00,2.28,7.50,0.999,6,0.000,0.054,3313,1564,1149,0,0,0,0,0,0
$GC,10594,0.89,454.0,922.5,8.4,477,10634,0.05,2.10,33.75,1.170,4,0.163,0.067,3362,355,1010,0,0,0,0,0,0
$GC,10719,0.87,461.0,911.0,9.4,480,10733,0.12,1.95,7.40,0.983,6,0.153,0.047,3328,1561,981,0,0,0,0,0,0
$GC,11065,0.90,493.6,881.2,8.4,492,11105,0.00,2.45,32.95,1.154,4,0.000,0.068,3338,161,848,0,0,0,0,0,0
$GC,11359,0.96,501.6,854.5,9.4,500,11373,0.00,2.28,8.02,0.999,6,0.000,0.048,3338,1567,816,0,0,0,0,0,0
$GC,11888,1.02,519.8,807.9,9.0,518,11913,0.10,2.42,18.70,1.091,4,0.098,0.067,3398,162,743,0,0,0,0,0,0
$GC,12165,1.02,519.8,779.8,11.0,526,12170,0.10,2.25,0.00,0.000,6,0.161,0.047,3371,1560,739,0,0,0,0,0,0
$GC,12711,1.02,519.8,725.0,10.2,544,12715,0.00,2.25,0.00,0.000,4,0.000,0.060,3371,2966,738,0,0,0,0,0,0
$GC,12857,1.02,519.8,709.2,10.1,548,12861,0.00,2.28,0.00,0.000,6,0.000,0.054,3381,1562,738,0,0,0,0,0,0
$GC,13389,1.02,519.8,651.2,11.5,566,13393,0.00,2.30,0.00,0.000,4,0.000,0.060,3381,2964,736,0,0,0,0,0,0
$GC,13523,1.02,519.8,635.6,12.1,570,13528,0.05,2.28,0.00,0.000,6,0.223,0.054,3378,1557,736,0,0,0,0,0,0
$GC,14043,1.02,519.8,578.5,10.6,587,14047,0.00,2.35,0.00,0.000,4,0.000,0.067,3389,159,736,0,0,0,0,0,0
$GC,14053,1.02,519.8,577.2,10.7,587,14058,0.03,2.28,0.00,0.000,6,0.262,0.047,3379,1570,735,0,0,0,0,0,0
$GC,14586,1.02,519.8,520.7,10.8,605,14587,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1569,735,0,0,0,0,0,0
$GC,15106,1.02,519.8,465.9,10.4,622,15111,0.00,2.40,0.00,0.000,4,0.000,0.068,3389,153,735,0,0,0,0,0,0
$GC,15298,1.02,519.8,445.9,10.3,627,15304,0.05,2.28,0.00,0.000,6,0.214,0.048,3377,1561,735,0,0,0,0,0,0
$GC,15825,1.02,519.8,390.2,10.8,645,15829,0.00,2.38,0.00,0.000,4,0.000,0.069,3387,160,735,0,0,0,0,0,0
$GC,16082,1.02,519.8,361.6,10.9,652,16088,0.00,2.28,0.00,0.000,6,0.000,0.049,3387,1566,735,0,0,0,0,0,0
$GC,16609,1.02,519.8,301.9,11.1,670,16614,0.00,2.38,0.00,0.000,4,0.000,0.068,3398,154,735,0,0,0,0,0,0
$GC,16757,0.99,519.8,286.1,10.8,676,16762,0.12,2.28,0.00,0.000,6,0.154,0.049,3363,1560,735,0,0,0,0,0,0
$GC,17279,1.03,525.0,236.0,9.5,702,17289,0.00,2.40,5.22,0.584,4,0.000,0.068,3373,159,720,0,0,0,0,0,0
$GC,17545,1.06,525.0,207.8,12.1,714,17549,0.00,2.28,0.00,0.000,6,0.000,0.048,3373,1568,721,0,0,0,0,0,0
$GC,18085,1.09,525.0,145.3,12.2,747,18090,0.05,2.38,0.00,0.000,4,0.164,0.068,3422,160,721,0,0,0,0,0,0
$GC,18293,1.04,525.0,118.7,11.6,759,18299,0.15,2.28,0.00,0.000,6,0.150,0.047,3380,1572,720,0,0,0,0,0,0
$GC,18830,1.04,534.9,60.6,9.3,805,18847,0.00,2.42,10.80,0.603,4,0.000,0.066,3390,163,682,0,0,0,0,0,0
$GC,19016,1.04,534.9,42.0,9.9,836,19023,0.00,2.28,0.00,0.000,6,0.000,0.047,3390,1558,680,0,0,0,0,0,0
$GC,19376,1.07,534.9,7.9,10.3,897,19383,0.00,1.48,0.00,0.000,4,0.000,0.063,3397,673,680,0,0,0,0,0,0
$STATE,19419,end climb,SURFACE_DEPTH_REACHED
$STATE,19419,begin surface coast
$FINISH,2.3,1.013722
$STATE,19444,end surface coast,CONTROL_FINISHED_OK
$STATE,19444,begin surface
$SM_CCo,19525,0.00,0.000,0,0,679,535.48
$SM_GC,3.28,8.85,0.00,0.00,0.039,0.000,0.000,83,1863,679,-9.16,0.08,535.48
$IRIDIUM_FIX,-4129.38,-321.99,110213,212158
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.30
$XPDR_PINGS,1
$24V_AH,22.3,107.536
$10V_AH,9.8,75.864
$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,23.350,128.525,637.275,0.000,0.000,32.660,37.047,230.567,0.250,0.000,19.317,2337.147,13472.491,652.939,3221.636,285.645,33.371,1989.006,0.000,2883.155,0.000,1.008,0.000
$DEVICE_MAMPS,271.575,101.745,1249.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.401,863.519,625.459,70.292,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354436
$DATA_FILE_SIZE,53670,908
$CAP_FILE_SIZE,158414,0
$CFSIZE,2097086464,2016575488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120213,140729,-4142.209,-322.556,58,2.0,58,-22.5