version: 66.07.10.p01
glider: 573
mission: 4
dive: 594
start: 2 13 113 7 1 30
data:
$ID,573
$MISSION,4
$DIVE,594
$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,-6112.5703
$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,33
$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,573
$GPS1,130213,065129,-4140.333,-320.217,46,1.1,46,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-61.8
$GPS2,130213,070036,-4140.332,-320.117,21,1.5,21,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.259,0.084
$KALMAN_X,74739.9,-116.0,99.3,-89885.2,5202.0
$KALMAN_Y,-64193.8,-127.0,-244.7,121688.1,-1296.9
$MHEAD_RNG_PITCHd_Wd,310.5,19547,-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,26,-1.05,-165.4,0.0,0.0,0,36,0.00,0.00,-7.32,0.000,2,0.000,0.000,81,1879,576,0,0,0,0,0,0
$GC,39,-1.05,-165.4,3.1,-0.0,1,190,10.43,2.25,-132.12,0.000,4,0.211,0.076,2708,540,3537,0,0,0,0,0,0
$GC,246,-1.05,-165.4,11.8,-13.1,35,253,0.00,2.15,0.00,0.000,6,0.000,0.047,2698,1861,3538,0,0,0,0,0,0
$GC,327,-1.08,-165.4,26.0,-18.3,48,334,0.00,2.05,0.00,0.000,4,0.000,0.059,2688,3119,3539,0,0,0,0,0,0
$GC,407,-1.12,-165.4,36.6,-13.6,61,412,0.00,2.03,0.00,0.000,6,0.000,0.050,2688,1848,3539,0,0,0,0,0,0
$GC,745,-1.14,-165.4,78.8,-12.4,108,748,0.00,1.40,0.00,0.000,4,0.000,0.057,2682,2708,3539,0,0,0,0,0,0
$GC,908,-1.19,-165.4,98.8,-11.7,122,914,0.05,1.35,0.00,0.000,6,0.066,0.049,2635,1861,3539,0,0,0,0,0,0
$GC,1332,-1.16,-165.4,143.9,-10.8,150,1336,0.12,0.47,0.00,0.000,4,0.164,0.060,2668,2169,3540,0,0,0,0,0,0
$GC,1591,-1.19,-165.4,172.7,-11.1,165,1594,0.00,0.47,0.00,0.000,6,0.000,0.058,2668,1855,3540,0,0,0,0,0,0
$GC,2126,-1.22,-165.4,231.9,-10.8,195,2130,0.00,2.28,0.00,0.000,4,0.000,0.057,2668,448,3540,0,0,0,0,0,0
$GC,2249,-1.22,-165.4,245.4,-10.9,200,2254,0.00,2.25,0.00,0.000,6,0.000,0.044,2658,1864,3540,0,0,0,0,0,0
$GC,2776,-1.22,-165.4,299.5,-10.4,226,2780,0.00,2.25,0.00,0.000,4,0.000,0.057,2646,3268,3540,0,0,0,0,0,0
$GC,3035,-1.25,-165.4,327.2,-10.1,234,3040,0.00,2.22,0.00,0.000,6,0.000,0.047,2647,1860,3540,0,0,0,0,0,0
$GC,3562,-1.25,-165.4,385.9,-11.5,252,3566,0.00,1.35,0.00,0.000,4,0.000,0.055,2647,1019,3540,0,0,0,0,0,0
$GC,3623,-1.22,-165.4,393.1,-11.1,253,3629,0.00,1.35,0.00,0.000,6,0.000,0.047,2640,1860,3539,0,0,0,0,0,0
$GC,4151,-1.22,-165.4,454.9,-12.0,271,4155,0.00,2.25,0.00,0.000,4,0.000,0.058,2629,3272,3539,0,0,0,0,0,0
$GC,4381,-1.22,-165.4,483.0,-12.2,278,4386,0.08,2.22,0.00,0.000,6,0.172,0.047,2649,1860,3539,0,0,0,0,0,0
$GC,4905,-1.22,-165.4,545.9,-12.0,295,4909,0.00,2.28,0.00,0.000,4,0.000,0.060,2639,3263,3538,0,0,0,0,0,0
$GC,5163,-1.22,-165.4,575.7,-11.3,302,5167,0.00,2.22,0.00,0.000,6,0.000,0.047,2638,1861,3537,0,0,0,0,0,0
$GC,5697,-1.22,-165.4,629.1,-9.4,320,5701,0.00,2.33,0.00,0.000,4,0.000,0.058,2638,448,3536,0,0,0,0,0,0
$GC,5794,-1.17,-165.4,638.3,-9.3,323,5799,0.15,2.28,0.00,0.000,6,0.149,0.046,2670,1869,3536,0,0,0,0,0,0
$GC,6314,-1.22,-165.4,683.6,-8.9,340,6319,0.00,2.35,0.00,0.000,4,0.000,0.060,2671,453,3535,0,0,0,0,0,0
$GC,6445,-1.22,-165.4,695.9,-9.5,344,6449,0.00,2.25,0.00,0.000,6,0.000,0.046,2660,1863,3534,0,0,0,0,0,0
$GC,6969,-1.25,-165.4,746.1,-9.9,361,6973,0.00,1.38,0.00,0.000,4,0.000,0.057,2654,2716,3532,0,0,0,0,0,0
$GC,7227,-1.29,-165.4,772.4,-11.1,368,7231,0.05,1.38,0.00,0.000,6,0.065,0.053,2611,1863,3532,0,0,0,0,0,0
$GC,7761,-1.25,-165.4,832.3,-11.9,386,7766,0.10,2.33,0.00,0.000,4,0.174,0.061,2627,3263,3531,0,0,0,0,0,0
$GC,8018,-1.25,-165.4,863.3,-11.5,393,8024,0.00,2.22,0.00,0.000,6,0.000,0.050,2627,1858,3530,0,0,0,0,0,0
$GC,8546,-1.25,-165.4,922.1,-10.7,411,8550,0.03,2.35,0.00,0.000,4,0.262,0.061,2636,449,3529,0,0,0,0,0,0
$GC,8724,-1.22,-165.4,941.9,-11.2,416,8729,0.10,2.28,0.00,0.000,6,0.160,0.047,2652,1862,3529,0,0,0,0,0,0
$GC,9043,-1.27,-165.4,973.2,-9.8,427,9047,0.00,1.92,0.00,0.000,4,0.000,0.059,2644,3032,3528,0,0,0,0,0,0
$GC,9146,-1.32,-165.4,982.8,-9.2,430,9150,0.03,1.90,0.00,0.000,6,0.102,0.051,2610,1862,3527,0,0,0,0,0,0
$STATE,9239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9239,begin apogee
$GC,9245,-0.31,0.0,992.3,10.0,433,9391,1.05,0.00,142.52,1.258,6,0.116,0.000,2941,1549,2862,0,0,0,0,0,0
$STATE,9392,end apogee,CONTROL_FINISHED_OK
$STATE,9392,begin climb
$GC,9395,1.05,165.4,1003.9,0.0,438,9552,1.25,2.42,148.55,1.230,4,0.055,0.054,3387,2964,2187,0,0,0,0,0,0
$GC,9660,0.79,419.3,1012.0,-0.3,446,9902,0.38,2.30,230.48,1.220,6,0.172,0.050,3299,1551,1152,0,0,0,0,0,0
$GC,10233,0.84,441.8,967.4,8.8,465,10259,0.00,2.35,20.70,1.151,4,0.000,0.058,3299,2972,1061,0,0,0,0,0,0
$GC,10350,0.91,479.6,957.3,8.2,467,10396,0.08,2.30,37.90,1.180,6,0.119,0.055,3351,1565,905,0,0,0,0,0,0
$GC,10732,0.93,511.2,924.2,8.5,480,10767,0.00,2.40,30.30,1.169,4,0.000,0.069,3362,158,777,0,0,0,0,0,0
$GC,11021,0.96,550.4,899.1,8.2,488,11065,0.00,2.28,37.72,1.168,6,0.000,0.049,3362,1561,618,0,0,0,0,0,0
$GC,11580,1.02,550.4,846.9,10.0,507,11583,0.00,1.23,0.00,0.000,4,0.000,0.056,3362,2331,610,0,0,0,0,0,0
$GC,11629,1.07,550.4,841.6,9.7,508,11634,0.05,1.25,0.00,0.000,6,0.065,0.058,3408,1565,610,0,0,0,0,0,0
$GC,12169,1.07,550.4,780.1,11.9,526,12174,0.08,2.28,0.00,0.000,4,0.181,0.060,3390,2972,609,0,0,0,0,0,0
$GC,12280,1.07,550.4,766.6,10.8,529,12285,0.00,2.30,0.00,0.000,6,0.000,0.054,3400,1550,608,0,0,0,0,0,0
$GC,12819,1.07,550.4,703.9,11.6,547,12823,0.00,2.35,0.00,0.000,4,0.000,0.070,3411,156,607,0,0,0,0,0,0
$GC,13065,1.05,550.4,675.2,11.5,554,13070,0.10,2.28,0.00,0.000,6,0.166,0.049,3385,1563,608,0,0,0,0,0,0
$GC,13599,1.08,550.4,620.1,10.1,572,13603,0.00,2.38,0.00,0.000,4,0.000,0.070,3395,159,607,0,0,0,0,0,0
$GC,13746,1.08,550.4,605.1,11.1,576,13750,0.00,2.28,0.00,0.000,6,0.000,0.049,3395,1561,607,0,0,0,0,0,0
$GC,14284,1.08,550.4,547.9,11.0,594,14288,0.00,2.38,0.00,0.000,4,0.000,0.070,3405,158,607,0,0,0,0,0,0
$GC,14406,1.08,550.4,533.6,11.5,597,14412,0.03,2.28,0.00,0.000,6,0.258,0.049,3395,1561,607,0,0,0,0,0,0
$GC,14933,1.08,550.4,474.5,11.2,615,14938,0.00,2.38,0.00,0.000,4,0.000,0.070,3405,153,607,0,0,0,0,0,0
$GC,15101,1.08,550.4,455.5,11.0,620,15106,0.03,2.30,0.00,0.000,6,0.174,0.050,3396,1554,607,0,0,0,0,0,0
$GC,15620,1.08,550.4,399.8,11.2,637,15624,0.00,2.35,0.00,0.000,4,0.000,0.070,3405,159,607,0,0,0,0,0,0
$GC,15877,1.08,550.4,368.4,12.1,644,15883,0.05,2.28,0.00,0.000,6,0.211,0.049,3394,1561,607,0,0,0,0,0,0
$GC,16405,1.08,550.4,302.6,12.6,662,16409,0.00,2.40,0.00,0.000,4,0.000,0.070,3404,155,607,0,0,0,0,0,0
$GC,16663,1.08,550.4,269.8,12.2,673,16669,0.00,2.30,0.00,0.000,6,0.000,0.050,3404,1552,607,0,0,0,0,0,0
$GC,17187,1.08,550.4,207.1,11.2,699,17191,0.00,2.30,0.00,0.000,4,0.000,0.060,3404,2973,607,0,0,0,0,0,0
$GC,17293,1.08,550.4,195.1,10.6,704,17301,0.05,2.33,0.00,0.000,6,0.151,0.054,3397,1554,607,0,0,0,0,0,0
$GC,17833,1.08,550.4,136.3,12.1,739,17837,0.00,2.33,0.00,0.000,4,0.000,0.059,3397,2969,607,0,0,0,0,0,0
$GC,17932,1.08,550.4,125.1,12.7,745,17937,0.05,2.30,0.00,0.000,6,0.228,0.054,3396,1551,607,0,0,0,0,0,0
$GC,18464,1.10,550.4,69.3,11.9,788,18468,0.00,2.33,0.00,0.000,4,0.000,0.058,3395,2967,607,0,0,0,0,0,0
$GC,18584,1.10,550.4,53.9,13.4,801,18589,0.00,2.30,0.00,0.000,6,0.000,0.054,3405,1552,607,0,0,0,0,0,0
$GC,18939,1.10,550.4,11.8,11.6,862,18946,0.00,2.38,0.00,0.000,4,0.000,0.068,3415,159,607,0,0,0,0,0,0
$STATE,19017,end climb,SURFACE_DEPTH_REACHED
$STATE,19017,begin surface coast
$FINISH,2.7,1.005012
$STATE,19031,end surface coast,CONTROL_FINISHED_OK
$STATE,19031,begin surface
$SM_CCo,19112,0.00,0.000,0,0,607,553.14
$SM_GC,3.52,8.88,0.00,0.00,0.037,0.000,0.000,86,1865,607,-9.16,0.14,553.14
$IRIDIUM_FIX,-4123.62,-321.82,130213,010139
$TT8_MAMPS,0.026964
$HUMID,51.77
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.3,108.549
$10V_AH,9.8,76.308
$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,23.175,126.400,648.175,0.000,0.000,26.191,41.727,321.565,0.000,0.000,23.393,2276.016,13127.538,660.662,3271.528,315.492,33.400,1999.024,0.000,2862.262,0.000,1.008,0.000
$DEVICE_MAMPS,262.395,75.735,1258.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.523,804.888,603.608,64.559,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354452
$DATA_FILE_SIZE,53634,877
$CAP_FILE_SIZE,157355,0
$CFSIZE,2097086464,2016051200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130213,122122,-4139.755,-319.432,27,1.4,44,-22.5