version: 66.07.10.p01
glider: 573
mission: 4
dive: 592
start: 2 12 113 19 55 59
data:
$ID,573
$MISSION,4
$DIVE,592
$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,-6107.9136
$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,27
$R_STBD_OVSHOOT,31
$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,571
$GPS1,120213,193659,-4141.542,-321.826,65,1.1,65,-22.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-64.4
$GPS2,120213,195505,-4141.473,-321.588,51,1.1,51,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.254,0.098
$KALMAN_X,62967.8,505.1,-144.0,-80509.7,5178.6
$KALMAN_Y,-61104.9,322.7,-240.4,116029.6,-1877.7
$MHEAD_RNG_PITCHd_Wd,313.5,21338,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.05,-165.4,0.0,0.0,0,36,0.00,0.00,-7.28,0.000,2,0.000,0.000,81,1860,626,0,0,0,0,0,0
$GC,39,-1.05,-165.4,3.0,-0.0,1,184,10.27,1.23,-124.93,0.000,4,0.204,0.080,2703,1127,3538,0,0,0,0,0,0
$GC,239,-1.05,-165.4,11.9,-11.1,34,246,0.00,1.17,0.00,0.000,6,0.000,0.048,2698,1860,3539,0,0,0,0,0,0
$GC,319,-1.05,-165.4,22.0,-13.3,47,326,0.00,1.05,0.00,0.000,4,0.000,0.057,2693,2521,3540,0,0,0,0,0,0
$GC,590,-1.10,-165.4,60.1,-13.3,93,593,0.00,1.05,0.00,0.000,6,0.000,0.050,2693,1855,3540,0,0,0,0,0,0
$GC,1033,-1.16,-165.4,110.5,-9.2,131,1038,0.08,2.30,0.00,0.000,4,0.119,0.059,2630,3264,3540,0,0,0,0,0,0
$GC,1293,-1.16,-165.4,134.9,-9.3,146,1301,0.10,2.25,0.00,0.000,6,0.127,0.047,2665,1852,3541,0,0,0,0,0,0
$GC,1833,-1.19,-165.4,188.0,-11.0,181,1837,0.00,1.77,0.00,0.000,4,0.000,0.055,2665,744,3541,0,0,0,0,0,0
$GC,1888,-1.19,-165.4,194.7,-11.2,184,1892,0.00,1.80,0.00,0.000,6,0.000,0.044,2658,1864,3541,0,0,0,0,0,0
$GC,2425,-1.19,-165.4,257.5,-11.9,211,2430,0.00,2.25,0.00,0.000,4,0.000,0.057,2647,3265,3541,0,0,0,0,0,0
$GC,2668,-1.19,-165.4,287.4,-12.4,222,2673,0.00,2.22,0.00,0.000,6,0.000,0.046,2647,1851,3540,0,0,0,0,0,0
$GC,3197,-1.19,-165.4,354.4,-12.7,241,3202,0.03,2.30,0.00,0.000,4,0.275,0.058,2647,3265,3540,0,0,0,0,0,0
$GC,3404,-1.19,-165.4,381.0,-12.6,247,3408,0.00,2.22,0.00,0.000,6,0.000,0.045,2647,1852,3540,0,0,0,0,0,0
$GC,3923,-1.19,-165.4,441.9,-11.1,264,3927,0.00,2.28,0.00,0.000,4,0.000,0.057,2647,455,3539,0,0,0,0,0,0
$GC,4020,-1.16,-165.4,452.8,-11.4,267,4025,0.12,2.25,0.00,0.000,6,0.151,0.044,2672,1874,3539,0,0,0,0,0,0
$GC,4541,-1.20,-165.4,503.2,-9.6,284,4545,0.00,2.33,0.00,0.000,4,0.000,0.059,2672,449,3538,0,0,0,0,0,0
$GC,4657,-1.20,-165.4,515.3,-9.9,287,4661,0.00,2.25,0.00,0.000,6,0.000,0.044,2662,1862,3538,0,0,0,0,0,0
$GC,5191,-1.23,-165.4,571.1,-11.2,305,5195,0.00,2.25,0.00,0.000,4,0.000,0.058,2651,3262,3536,0,0,0,0,0,0
$GC,5287,-1.27,-165.4,582.2,-11.4,308,5291,0.00,2.22,0.00,0.000,6,0.000,0.047,2651,1851,3536,0,0,0,0,0,0
$GC,5805,-1.27,-165.4,641.7,-11.3,325,5810,0.00,2.28,0.00,0.000,4,0.000,0.059,2640,3266,3534,0,0,0,0,0,0
$GC,5963,-1.27,-165.4,660.0,-11.8,329,5968,0.00,2.25,0.00,0.000,6,0.000,0.048,2640,1851,3534,0,0,0,0,0,0
$GC,6490,-1.27,-165.4,715.2,-9.9,347,6494,0.00,2.28,0.00,0.000,4,0.000,0.059,2640,447,3533,0,0,0,0,0,0
$GC,6608,-1.23,-165.4,727.5,-10.4,350,6613,0.08,2.28,0.00,0.000,6,0.181,0.045,2648,1867,3532,0,0,0,0,0,0
$GC,7135,-1.23,-165.4,780.6,-10.4,367,7139,0.00,2.35,0.00,0.000,4,0.000,0.060,2648,449,3531,0,0,0,0,0,0
$GC,7274,-1.23,-165.4,796.1,-10.9,371,7278,0.00,2.30,0.00,0.000,6,0.000,0.046,2638,1863,3530,0,0,0,0,0,0
$GC,7817,-1.23,-165.4,860.9,-12.7,389,7821,0.00,2.28,0.00,0.000,4,0.000,0.059,2627,3266,3529,0,0,0,0,0,0
$GC,8054,-1.23,-165.4,891.4,-12.5,396,8059,0.08,2.25,0.00,0.000,6,0.171,0.049,2646,1857,3529,0,0,0,0,0,0
$GC,8575,-1.25,-165.4,952.1,-10.8,413,8579,0.00,2.30,0.00,0.000,4,0.000,0.060,2647,456,3527,0,0,0,0,0,0
$GC,8714,-1.25,-165.4,967.4,-11.0,417,8718,0.00,2.28,0.00,0.000,6,0.000,0.047,2636,1855,3526,0,0,0,0,0,0
$STATE,8950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8950,begin apogee
$GC,8956,-0.31,0.0,991.3,10.1,425,9102,0.95,0.00,142.45,1.250,6,0.105,0.000,2945,1561,2862,0,0,0,0,0,0
$STATE,9103,end apogee,CONTROL_FINISHED_OK
$STATE,9103,begin climb
$GC,9105,1.05,165.4,1003.8,0.0,430,9262,1.23,0.65,148.48,1.219,4,0.051,0.047,3388,1945,2186,0,0,0,0,0,0
$GC,9515,0.81,439.4,1014.6,-1.1,442,9773,0.28,0.62,248.23,1.223,6,0.158,0.057,3310,1556,1070,0,0,0,0,0,0
$GC,10110,0.88,503.3,976.8,7.2,462,10176,0.00,2.40,60.62,1.198,4,0.000,0.067,3320,165,809,0,0,0,0,0,0
$GC,10356,1.00,540.4,957.3,8.2,469,10397,0.12,2.28,35.67,1.176,6,0.084,0.048,3380,1566,658,0,0,0,0,0,0
$GC,10704,1.04,543.4,925.1,9.6,481,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1566,650,0,0,0,0,0,0
$GC,11010,1.07,543.4,892.7,11.0,491,11014,0.00,2.35,0.00,0.000,4,0.000,0.067,3390,162,649,0,0,0,0,0,0
$GC,11268,1.07,543.4,861.6,12.7,498,11272,0.00,2.22,0.00,0.000,6,0.000,0.047,3390,1562,649,0,0,0,0,0,0
$GC,11801,1.07,543.4,794.9,12.4,516,11805,0.00,2.03,0.00,0.000,4,0.000,0.056,3390,2831,648,0,0,0,0,0,0
$GC,11856,1.07,543.4,787.8,11.2,517,11860,0.00,2.08,0.00,0.000,6,0.000,0.054,3399,1559,648,0,0,0,0,0,0
$GC,12389,1.07,543.4,725.3,11.6,535,12393,0.00,2.28,0.00,0.000,4,0.000,0.059,3399,2969,648,0,0,0,0,0,0
$GC,12490,1.05,543.4,713.0,12.7,538,12495,0.10,2.28,0.00,0.000,6,0.173,0.054,3384,1560,647,0,0,0,0,0,0
$GC,13035,1.08,543.4,651.5,11.6,556,13039,0.00,2.28,0.00,0.000,4,0.000,0.059,3384,2964,647,0,0,0,0,0,0
$GC,13131,1.08,543.4,640.2,12.3,559,13135,0.00,2.28,0.00,0.000,6,0.000,0.054,3394,1558,647,0,0,0,0,0,0
$GC,13649,1.08,543.4,579.0,11.7,576,13653,0.00,2.30,0.00,0.000,4,0.000,0.059,3394,2962,647,0,0,0,0,0,0
$GC,13738,1.06,543.4,568.5,11.8,578,13743,0.08,2.28,0.00,0.000,6,0.192,0.053,3386,1556,646,0,0,0,0,0,0
$GC,14265,1.09,543.4,510.5,10.8,596,14269,0.00,2.30,0.00,0.000,4,0.000,0.059,3386,2971,646,0,0,0,0,0,0
$GC,14343,1.09,543.4,502.1,10.4,598,14347,0.00,2.30,0.00,0.000,6,0.000,0.053,3396,1551,646,0,0,0,0,0,0
$GC,14888,1.09,558.6,449.6,9.1,616,14907,0.00,1.00,15.90,0.910,4,0.000,0.051,3396,2192,585,0,0,0,0,0,0
$GC,14941,1.09,570.7,444.5,9.2,617,14959,0.00,1.02,13.48,0.858,6,0.000,0.058,3400,1559,535,0,0,0,0,0,0
$GC,15499,1.09,570.7,391.9,10.2,636,15503,0.00,1.67,0.00,0.000,4,0.000,0.057,3400,2593,530,0,0,0,0,0,0
$GC,15549,1.09,570.7,386.5,10.1,637,15553,0.00,1.70,0.00,0.000,6,0.000,0.054,3407,1554,530,0,0,0,0,0,0
$GC,16087,1.09,570.7,319.3,13.8,655,16091,0.00,2.12,0.00,0.000,4,0.000,0.059,3406,2853,530,0,0,0,0,0,0
$GC,16143,1.09,570.7,311.3,14.6,656,16149,0.08,2.12,0.00,0.000,6,0.190,0.054,3400,1559,529,0,0,0,0,0,0
$GC,16675,1.13,570.7,241.3,12.6,681,16678,0.00,0.93,0.00,0.000,4,0.000,0.054,3399,2136,529,0,0,0,0,0,0
$GC,16714,1.15,570.7,236.3,10.8,682,16718,0.00,0.93,0.00,0.000,6,0.000,0.058,3403,1561,529,0,0,0,0,0,0
$GC,17249,1.18,570.7,172.5,11.5,712,17253,0.08,2.12,0.00,0.000,4,0.119,0.058,3446,2847,529,0,0,0,0,0,0
$GC,17304,1.12,570.7,165.5,13.1,715,17309,0.17,2.08,0.00,0.000,6,0.158,0.052,3408,1559,529,0,0,0,0,0,0
$GC,17841,1.12,570.7,106.4,10.8,750,17845,0.00,1.08,0.00,0.000,4,0.000,0.054,3408,2233,529,0,0,0,0,0,0
$GC,17880,1.12,570.7,102.0,11.0,752,17884,0.00,1.08,0.00,0.000,6,0.000,0.055,3412,1561,529,0,0,0,0,0,0
$GC,18434,1.12,570.7,40.5,10.1,817,18439,0.00,0.90,0.00,0.000,4,0.000,0.054,3412,2131,529,0,0,0,0,0,0
$GC,18474,1.12,570.7,35.9,10.8,824,18481,0.00,0.93,0.00,0.000,6,0.000,0.060,3416,1557,529,0,0,0,0,0,0
$STATE,18752,end climb,SURFACE_DEPTH_REACHED
$STATE,18752,begin surface coast
$FINISH,2.5,1.006887
$STATE,18789,end surface coast,CONTROL_FINISHED_OK
$STATE,18789,begin surface
$SM_CCo,18867,0.00,0.000,0,0,528,572.52
$SM_GC,3.33,8.73,0.00,0.00,0.030,0.000,0.000,84,1867,528,-9.17,0.20,572.52
$IRIDIUM_FIX,-4126.50,-319.11,120213,191910
$TT8_MAMPS,0.027713
$HUMID,51.89
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,14.50
$XPDR_PINGS,1
$24V_AH,22.4,108.052
$10V_AH,9.8,76.083
$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,22.550,111.575,664.825,0.000,0.000,81.628,125.703,509.725,0.250,0.000,54.140,2216.187,13307.217,657.622,3445.938,320.157,33.370,1898.079,0.000,2651.552,0.000,1.009,0.000
$DEVICE_MAMPS,274.635,79.560,1250.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.472,824.708,603.825,67.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354476
$DATA_FILE_SIZE,53611,877
$CAP_FILE_SIZE,152394,0
$CFSIZE,2097086464,2016313344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,130213,011135,-4141.049,-321.000,33,1.8,33,-22.5