version: 66.07.10.p01
glider: 573
mission: 4
dive: 591
start: 2 12 113 14 17 36
data:
$ID,573
$MISSION,4
$DIVE,591
$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,-6105.5278
$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,32
$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,570
$GPS1,120213,140729,-4142.209,-322.556,58,2.0,58,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-66.7
$GPS2,120213,141642,-4142.186,-322.513,20,1.9,20,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.209,0.175
$KALMAN_X,57503.4,-186.1,473.1,-76236.9,4255.1
$KALMAN_Y,-59328.6,116.2,430.9,112466.2,-3016.0
$MHEAD_RNG_PITCHd_Wd,332.3,22579,-16.6,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.05,-165.4,0.0,0.0,0,36,0.00,0.00,-7.35,0.000,2,0.000,0.000,82,1863,848,0,0,0,0,0,0
$GC,39,-1.05,-165.4,3.0,-0.0,1,172,10.57,2.38,-114.43,0.000,4,0.216,0.071,2702,443,3535,0,0,0,0,0,0
$GC,216,-1.05,-165.4,11.4,-11.3,30,223,0.00,2.30,0.00,0.000,6,0.000,0.047,2692,1852,3536,0,0,0,0,0,0
$GC,296,-1.05,-165.4,21.2,-12.2,43,303,0.00,1.12,0.00,0.000,4,0.000,0.057,2686,2555,3536,0,0,0,0,0,0
$GC,568,-1.11,-165.4,51.8,-9.5,89,572,0.00,1.12,0.00,0.000,6,0.000,0.051,2686,1850,3537,0,0,0,0,0,0
$GC,905,-1.15,-165.4,88.1,-11.0,127,909,0.00,1.45,0.00,0.000,4,0.000,0.056,2686,966,3537,0,0,0,0,0,0
$GC,944,-1.19,-165.4,92.8,-10.9,130,949,0.03,1.45,0.00,0.000,6,0.092,0.047,2641,1864,3537,0,0,0,0,0,0
$GC,1374,-1.17,-165.4,138.9,-10.5,160,1379,0.10,2.33,0.00,0.000,4,0.166,0.057,2668,445,3537,0,0,0,0,0,0
$GC,1490,-1.17,-165.4,150.8,-10.6,167,1494,0.00,2.25,0.00,0.000,6,0.000,0.045,2658,1871,3537,0,0,0,0,0,0
$GC,2021,-1.17,-165.4,210.2,-12.3,200,2025,0.00,2.33,0.00,0.000,4,0.000,0.057,2657,455,3538,0,0,0,0,0,0
$GC,2111,-1.14,-165.4,221.6,-12.6,204,2115,0.10,2.22,0.00,0.000,6,0.164,0.044,2674,1865,3538,0,0,0,0,0,0
$GC,2638,-1.18,-165.4,287.4,-12.1,230,2642,0.00,2.30,0.00,0.000,4,0.000,0.057,2674,451,3538,0,0,0,0,0,0
$GC,2716,-1.18,-165.4,297.0,-11.8,233,2721,0.00,2.25,0.00,0.000,6,0.000,0.044,2664,1867,3538,0,0,0,0,0,0
$GC,3255,-1.21,-165.4,356.4,-10.6,252,3259,0.00,2.33,0.00,0.000,4,0.000,0.057,2664,451,3538,0,0,0,0,0,0
$GC,3360,-1.21,-165.4,368.2,-11.4,255,3364,0.00,2.22,0.00,0.000,6,0.000,0.044,2653,1865,3538,0,0,0,0,0,0
$GC,3905,-1.21,-165.4,425.4,-10.5,273,3909,0.00,2.25,0.00,0.000,4,0.000,0.059,2642,3264,3537,0,0,0,0,0,0
$GC,4089,-1.21,-165.4,444.9,-10.7,278,4093,0.00,2.22,0.00,0.000,6,0.000,0.047,2642,1854,3537,0,0,0,0,0,0
$GC,4621,-1.21,-165.4,502.3,-11.3,296,4625,0.00,2.30,0.00,0.000,4,0.000,0.060,2631,3272,3536,0,0,0,0,0,0
$GC,4779,-1.21,-165.4,520.9,-12.1,300,4784,0.10,2.22,0.00,0.000,6,0.155,0.047,2659,1856,3535,0,0,0,0,0,0
$GC,5313,-1.23,-165.4,584.0,-12.0,318,5317,0.00,2.30,0.00,0.000,4,0.000,0.060,2649,3263,3534,0,0,0,0,0,0
$GC,5549,-1.26,-165.4,612.4,-11.0,325,5553,0.00,2.22,0.00,0.000,6,0.000,0.047,2649,1859,3534,0,0,0,0,0,0
$GC,6092,-1.26,-165.4,673.7,-11.0,343,6096,0.00,2.30,0.00,0.000,4,0.000,0.060,2649,448,3533,0,0,0,0,0,0
$GC,6215,-1.23,-165.4,687.4,-11.2,346,6220,0.00,2.25,0.00,0.000,6,0.000,0.046,2638,1862,3532,0,0,0,0,0,0
$GC,6742,-1.23,-165.4,742.3,-10.2,364,6746,0.00,2.28,0.00,0.000,4,0.000,0.059,2628,3268,3530,0,0,0,0,0,0
$GC,6990,-1.20,-165.4,767.8,-10.7,371,6995,0.10,2.25,0.00,0.000,6,0.155,0.049,2655,1856,3530,0,0,0,0,0,0
$GC,7524,-1.22,-165.4,819.1,-9.7,389,7528,0.00,2.30,0.00,0.000,4,0.000,0.062,2644,3272,3529,0,0,0,0,0,0
$GC,7647,-1.22,-165.4,831.1,-9.6,392,7651,0.00,2.25,0.00,0.000,6,0.000,0.049,2645,1859,3528,0,0,0,0,0,0
$GC,8175,-1.22,-165.4,879.8,-9.5,409,8179,0.00,2.30,0.00,0.000,4,0.000,0.063,2634,3265,3527,0,0,0,0,0,0
$GC,8252,-1.22,-165.4,887.4,-9.7,411,8257,0.08,2.25,0.00,0.000,6,0.168,0.050,2653,1859,3527,0,0,0,0,0,0
$GC,8798,-1.24,-165.4,939.6,-9.5,429,8802,0.00,2.33,0.00,0.000,4,0.000,0.062,2653,446,3525,0,0,0,0,0,0
$GC,8916,-1.24,-165.4,951.5,-9.4,432,8920,0.00,2.28,0.00,0.000,6,0.000,0.047,2643,1859,3525,0,0,0,0,0,0
$GC,9234,-1.24,-165.4,982.1,-9.4,443,9238,0.00,2.28,0.00,0.000,4,0.000,0.060,2632,3265,3524,0,0,0,0,0,0
$STATE,9316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9316,begin apogee
$GC,9325,-0.31,0.0,990.4,9.6,445,9470,0.95,0.00,142.12,1.252,6,0.112,0.000,2940,1563,2862,0,0,0,0,0,0
$STATE,9471,end apogee,CONTROL_FINISHED_OK
$STATE,9471,begin climb
$GC,9473,1.05,165.4,1000.6,0.0,450,9629,1.25,1.48,148.48,1.219,4,0.054,0.057,3392,728,2187,0,0,0,0,0,0
$GC,9681,0.79,405.9,1009.2,0.2,456,9914,0.30,1.40,221.85,1.207,6,0.162,0.043,3309,1560,1207,0,0,0,0,0,0
$GC,10244,0.81,405.9,959.0,10.0,475,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1560,1197,0,0,0,0,0,0
$GC,10550,0.84,421.6,930.2,9.1,485,10567,0.00,0.00,14.32,1.113,6,0.000,0.000,3308,1560,1143,0,0,0,0,0,0
$GC,10857,0.89,463.3,904.7,8.1,495,10904,0.08,0.57,41.40,1.170,4,0.120,0.069,3353,1233,972,0,0,0,0,0,0
$GC,10955,0.89,487.3,896.1,8.8,498,10985,0.03,0.52,24.12,1.134,6,0.164,0.054,3343,1561,874,0,0,0,0,0,0
$GC,11505,0.92,491.9,845.3,9.5,516,11514,0.00,1.30,4.53,0.814,4,0.000,0.067,3348,804,855,0,0,0,0,0,0
$GC,11623,0.97,491.9,833.4,10.2,519,11627,0.00,1.23,0.00,0.000,6,0.000,0.050,3348,1556,855,0,0,0,0,0,0
$GC,12162,1.00,491.9,776.4,10.9,537,12166,0.00,2.10,0.00,0.000,4,0.000,0.070,3358,299,854,0,0,0,0,0,0
$GC,12251,1.02,491.9,766.2,11.0,539,12257,0.00,2.03,0.00,0.000,6,0.000,0.048,3358,1561,854,0,0,0,0,0,0
$GC,12779,1.02,491.9,703.6,12.0,557,12782,0.00,0.93,0.00,0.000,4,0.000,0.067,3362,1004,853,0,0,0,0,0,0
$GC,12856,1.02,491.9,694.2,11.0,559,12860,0.00,0.90,0.00,0.000,6,0.000,0.050,3362,1561,853,0,0,0,0,0,0
$GC,13401,1.02,491.9,634.6,10.0,577,13404,0.00,1.67,0.00,0.000,4,0.000,0.067,3370,539,853,0,0,0,0,0,0
$GC,13503,1.02,513.7,624.6,8.8,580,13533,0.00,1.65,22.38,1.021,6,0.000,0.049,3370,1557,767,0,0,0,0,0,0
$GC,14055,1.05,549.4,575.4,8.3,598,14094,0.00,0.90,34.20,1.001,4,0.000,0.068,3373,1036,622,0,0,0,0,0,0
$GC,14164,1.10,584.9,565.5,8.3,601,14204,0.05,0.85,33.92,0.980,6,0.070,0.050,3413,1556,476,0,0,0,0,0,0
$GC,14737,1.10,584.9,504.4,11.3,620,14742,0.00,2.38,0.00,0.000,4,0.000,0.070,3424,162,467,0,0,0,0,0,0
$GC,14995,1.10,584.9,473.7,11.6,627,15001,0.10,2.28,0.00,0.000,6,0.155,0.048,3397,1569,465,0,0,0,0,0,0
$GC,15524,1.13,584.9,410.2,12.6,645,15528,0.00,2.38,0.00,0.000,4,0.000,0.069,3407,154,465,0,0,0,0,0,0
$GC,15756,1.15,584.9,380.5,13.0,652,15760,0.00,2.28,0.00,0.000,6,0.000,0.049,3407,1561,465,0,0,0,0,0,0
$GC,16274,1.15,584.9,316.7,12.1,669,16278,0.00,2.40,0.00,0.000,4,0.000,0.070,3417,153,465,0,0,0,0,0,0
$GC,16532,1.15,584.9,285.0,12.8,678,16540,0.00,2.30,0.00,0.000,6,0.000,0.050,3418,1555,464,0,0,0,0,0,0
$GC,17056,1.15,584.9,223.3,11.4,704,17060,0.00,2.38,0.00,0.000,4,0.000,0.070,3428,160,464,0,0,0,0,0,0
$GC,17276,1.15,584.9,197.9,11.7,714,17280,0.00,2.28,0.00,0.000,6,0.000,0.049,3428,1567,464,0,0,0,0,0,0
$GC,17813,1.15,584.9,130.1,13.6,748,17818,0.00,2.38,0.00,0.000,4,0.000,0.067,3439,153,464,0,0,0,0,0,0
$GC,18017,1.11,584.9,103.2,12.6,760,18022,0.12,2.28,0.00,0.000,6,0.151,0.048,3405,1561,464,0,0,0,0,0,0
$GC,18563,1.11,591.4,50.4,9.4,817,18576,0.00,2.42,4.90,0.477,4,0.000,0.069,3414,168,450,0,0,0,0,0,0
$GC,18747,1.14,591.4,28.9,11.9,848,18754,0.00,2.28,0.00,0.000,6,0.000,0.047,3414,1561,450,0,0,0,0,0,0
$GC,18828,1.14,591.4,18.9,13.7,861,18834,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1562,449,0,0,0,0,0,0
$GC,18908,1.18,591.4,9.3,11.8,874,18915,0.00,1.00,0.00,0.000,4,0.000,0.061,3419,961,449,0,0,0,0,0,0
$STATE,18963,end climb,SURFACE_DEPTH_REACHED
$STATE,18963,begin surface coast
$FINISH,2.4,1.003376
$STATE,18982,end surface coast,CONTROL_FINISHED_OK
$STATE,18982,begin surface
$SM_CCo,19062,0.00,0.000,0,0,448,592.14
$SM_GC,3.20,8.77,0.00,0.00,0.032,0.000,0.000,82,1860,448,-9.16,0.00,592.14
$IRIDIUM_FIX,-4126.50,-321.99,120213,080819
$TT8_MAMPS,0.026964
$HUMID,51.65
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,14.60
$XPDR_PINGS,1
$24V_AH,22.1,107.787
$10V_AH,9.8,75.971
$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,22.725,117.425,692.225,0.000,0.000,26.070,60.768,309.952,0.250,0.000,23.189,2247.087,13266.161,684.445,3099.296,311.305,33.393,1953.263,0.000,2691.733,0.000,1.008,0.000
$DEVICE_MAMPS,216.495,71.145,1251.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.697,810.685,602.080,69.969,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354484
$DATA_FILE_SIZE,53734,886
$CAP_FILE_SIZE,152398,0
$CFSIZE,2097086464,2016444416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120213,193659,-4141.542,-321.826,65,1.1,65,-22.5