version: 66.07.10.p01
glider: 573
mission: 4
dive: 595
start: 2 13 113 12 31 24
data:
$ID,573
$MISSION,4
$DIVE,595
$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,-6114.9062
$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,28
$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,574
$GPS1,130213,122122,-4139.755,-319.432,27,1.4,44,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-64.5
$GPS2,130213,123030,-4139.604,-319.380,32,1.4,32,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.136,0.236
$KALMAN_X,81190.4,-271.1,107.0,-95176.4,6551.1
$KALMAN_Y,-65394.0,31.2,427.7,123402.1,-2141.5
$MHEAD_RNG_PITCHd_Wd,352.5,18483,-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,24,begin dive
$GC,26,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-6.68,0.000,2,0.000,0.000,81,1865,764,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.2,-0.0,1,177,10.40,2.42,-118.85,0.000,4,0.207,0.075,2704,452,3536,0,0,0,0,0,0
$GC,234,-0.96,-165.4,9.9,-9.6,33,241,0.12,2.30,0.00,0.000,6,0.146,0.047,2732,1862,3537,0,0,0,0,0,0
$GC,315,-1.05,-165.4,18.4,-10.7,46,323,0.10,1.75,0.00,0.000,4,0.093,0.059,2664,2927,3537,0,0,0,0,0,0
$GC,510,-1.05,-165.4,41.9,-12.3,79,516,0.15,1.70,0.00,0.000,6,0.139,0.050,2708,1856,3538,0,0,0,0,0,0
$GC,847,-1.12,-165.4,74.3,-6.9,123,852,0.08,2.33,0.00,0.000,4,0.116,0.060,2654,451,3538,0,0,0,0,0,0
$GC,954,-1.06,-165.4,83.8,-10.1,132,959,0.20,2.25,0.00,0.000,6,0.139,0.045,2702,1873,3538,0,0,0,0,0,0
$GC,1388,-1.15,-165.4,124.8,-10.6,165,1393,0.08,2.38,0.00,0.000,4,0.116,0.059,2648,445,3539,0,0,0,0,0,0
$GC,1461,-1.09,-165.4,133.7,-11.8,169,1467,0.17,2.28,0.00,0.000,6,0.143,0.045,2688,1870,3539,0,0,0,0,0,0
$GC,2001,-1.16,-165.4,196.1,-12.1,204,2005,0.00,2.25,0.00,0.000,4,0.000,0.058,2689,504,3539,0,0,0,0,0,0
$GC,2067,-1.18,-165.4,204.6,-12.3,208,2071,0.00,2.15,0.00,0.000,6,0.000,0.044,2679,1867,3539,0,0,0,0,0,0
$GC,2597,-1.24,-165.4,264.0,-10.8,234,2602,0.10,2.35,0.00,0.000,4,0.094,0.058,2615,454,3539,0,0,0,0,0,0
$GC,2669,-1.15,-165.4,273.0,-11.9,237,2674,0.22,2.22,0.00,0.000,6,0.144,0.044,2669,1865,3539,0,0,0,0,0,0
$GC,3191,-1.20,-165.4,326.6,-9.9,258,3195,0.00,2.25,0.00,0.000,4,0.000,0.057,2669,493,3539,0,0,0,0,0,0
$GC,3240,-1.20,-165.4,332.2,-10.9,259,3244,0.00,2.17,0.00,0.000,6,0.000,0.044,2660,1861,3539,0,0,0,0,0,0
$GC,3773,-1.22,-165.4,391.9,-12.3,277,3777,0.00,2.33,0.00,0.000,4,0.000,0.057,2660,443,3539,0,0,0,0,0,0
$GC,3940,-1.22,-165.4,413.7,-13.1,282,3945,0.00,2.25,0.00,0.000,6,0.000,0.044,2649,1870,3538,0,0,0,0,0,0
$GC,4460,-1.25,-165.4,481.5,-12.9,299,4464,0.00,2.25,0.00,0.000,4,0.000,0.060,2638,3269,3538,0,0,0,0,0,0
$GC,4718,-1.27,-165.4,514.4,-12.4,306,4723,0.00,2.25,0.00,0.000,6,0.000,0.047,2638,1852,3537,0,0,0,0,0,0
$GC,5245,-1.27,-165.4,576.0,-11.5,324,5249,0.00,2.28,0.00,0.000,4,0.000,0.058,2638,454,3537,0,0,0,0,0,0
$GC,5391,-1.22,-165.4,593.0,-11.5,328,5396,0.10,2.22,0.00,0.000,6,0.166,0.044,2654,1864,3536,0,0,0,0,0,0
$GC,5931,-1.26,-165.4,658.2,-12.4,346,5935,0.00,2.25,0.00,0.000,4,0.000,0.059,2644,3262,3535,0,0,0,0,0,0
$GC,6189,-1.28,-165.4,692.7,-13.6,353,6194,0.00,2.20,0.00,0.000,6,0.000,0.047,2644,1858,3534,0,0,0,0,0,0
$GC,6716,-1.30,-165.4,759.4,-12.1,371,6720,0.00,2.28,0.00,0.000,4,0.000,0.060,2633,3263,3533,0,0,0,0,0,0
$GC,6975,-1.33,-165.4,788.4,-10.2,378,6980,0.00,2.22,0.00,0.000,6,0.000,0.048,2634,1851,3532,0,0,0,0,0,0
$GC,7503,-1.33,-165.4,839.8,-9.0,396,7507,0.00,2.30,0.00,0.000,4,0.000,0.060,2634,455,3531,0,0,0,0,0,0
$GC,7676,-1.30,-165.4,855.9,-9.0,401,7680,0.00,2.25,0.00,0.000,6,0.000,0.047,2623,1859,3531,0,0,0,0,0,0
$GC,8220,-1.30,-165.4,908.4,-10.6,419,8224,0.00,2.33,0.00,0.000,4,0.000,0.060,2622,452,3530,0,0,0,0,0,0
$GC,8303,-1.24,-165.4,917.9,-11.4,421,8308,0.12,2.25,0.00,0.000,6,0.158,0.046,2647,1866,3529,0,0,0,0,0,0
$GC,8622,-1.27,-165.4,953.3,-11.4,432,8626,0.00,2.28,0.00,0.000,4,0.000,0.060,2636,3263,3529,0,0,0,0,0,0
$GC,8880,-1.31,-165.4,983.6,-11.9,439,8885,0.00,2.25,0.00,0.000,6,0.000,0.050,2636,1859,3527,0,0,0,0,0,0
$STATE,8946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8946,begin apogee
$GC,8952,-0.31,0.0,991.3,11.4,442,9098,0.95,0.00,142.77,1.257,6,0.109,0.000,2943,1560,2862,0,0,0,0,0,0
$STATE,9099,end apogee,CONTROL_FINISHED_OK
$STATE,9099,begin climb
$GC,9101,1.05,165.4,1005.9,0.0,447,9255,1.23,0.00,148.20,1.226,6,0.051,0.000,3385,1560,2187,0,0,0,0,0,0
$GC,9561,0.81,446.9,1021.7,-1.4,462,9828,0.28,2.55,255.27,1.232,4,0.171,0.057,3308,2964,1038,0,0,0,0,0,0
$GC,9953,0.87,446.9,992.8,9.9,474,9957,0.00,2.30,0.00,0.000,6,0.000,0.053,3316,1556,1033,0,0,0,0,0,0
$GC,10272,0.92,450.0,961.6,9.6,485,10276,0.08,2.38,0.00,0.000,4,0.119,0.068,3374,152,1030,0,0,0,0,0,0
$GC,10390,0.87,459.5,949.6,9.3,488,10407,0.17,2.28,11.32,1.092,6,0.147,0.046,3325,1567,988,0,0,0,0,0,0
$GC,10740,0.92,472.5,917.0,9.2,500,10759,0.00,2.35,14.25,1.105,4,0.000,0.067,3335,204,935,0,0,0,0,0,0
$GC,10894,0.97,483.5,902.3,9.3,504,10914,0.05,2.17,11.93,1.069,6,0.162,0.047,3365,1561,890,0,0,0,0,0,0
$GC,11245,0.97,483.5,868.5,9.8,516,11249,0.00,1.45,0.00,0.000,4,0.000,0.067,3372,706,886,0,0,0,0,0,0
$GC,11351,0.97,483.5,857.6,10.8,519,11355,0.03,1.40,0.00,0.000,6,0.165,0.047,3362,1564,885,0,0,0,0,0,0
$GC,11870,0.97,483.5,805.1,10.3,536,11874,0.00,2.38,0.00,0.000,4,0.000,0.068,3372,153,884,0,0,0,0,0,0
$GC,12043,0.97,483.5,786.7,10.9,541,12048,0.05,2.28,0.00,0.000,6,0.210,0.049,3360,1566,883,0,0,0,0,0,0
$GC,12587,0.97,483.5,730.9,10.3,559,12592,0.00,2.38,0.00,0.000,4,0.000,0.068,3370,158,884,0,0,0,0,0,0
$GC,12805,0.97,483.5,707.5,11.0,565,12810,0.00,2.28,0.00,0.000,6,0.000,0.048,3370,1560,884,0,0,0,0,0,0
$GC,13339,0.97,483.5,651.0,10.7,583,13343,0.00,2.30,0.00,0.000,4,0.000,0.068,3381,205,883,0,0,0,0,0,0
$GC,13455,0.97,483.5,638.3,10.5,586,13460,0.08,2.20,0.00,0.000,6,0.179,0.047,3361,1567,883,0,0,0,0,0,0
$GC,13988,0.97,483.5,584.0,9.9,604,13992,0.00,2.38,0.00,0.000,4,0.000,0.068,3371,154,883,0,0,0,0,0,0
$GC,14186,0.97,483.5,563.5,10.3,610,14190,0.03,2.28,0.00,0.000,6,0.259,0.049,3362,1568,883,0,0,0,0,0,0
$GC,14706,0.97,483.5,508.2,11.3,627,14710,0.00,2.40,0.00,0.000,4,0.000,0.067,3373,149,883,0,0,0,0,0,0
$GC,14858,0.97,483.5,489.3,12.2,631,14863,0.05,2.28,0.00,0.000,6,0.205,0.048,3360,1565,883,0,0,0,0,0,0
$GC,15385,0.97,483.5,425.0,12.1,648,15389,0.00,2.40,0.00,0.000,4,0.000,0.068,3371,153,882,0,0,0,0,0,0
$GC,15558,0.97,483.5,403.5,12.2,653,15563,0.00,2.30,0.00,0.000,6,0.000,0.048,3370,1554,883,0,0,0,0,0,0
$GC,16103,0.97,483.5,337.0,12.0,671,16106,0.00,2.30,0.00,0.000,4,0.000,0.070,3381,202,882,0,0,0,0,0,0
$GC,16208,0.97,483.5,324.6,11.2,674,16213,0.05,2.22,0.00,0.000,6,0.141,0.047,3363,1558,882,0,0,0,0,0,0
$GC,16740,0.97,511.5,272.2,8.6,696,16774,0.00,2.40,27.00,0.806,4,0.000,0.070,3373,156,776,0,0,0,0,0,0
$GC,16965,0.98,575.1,253.6,7.2,706,17030,0.00,2.28,58.35,0.792,6,0.000,0.049,3373,1568,516,0,0,0,0,0,0
$GC,17563,1.05,575.1,197.2,9.7,735,17567,0.00,2.28,0.00,0.000,4,0.000,0.060,3373,2960,506,0,0,0,0,0,0
$GC,17652,1.11,575.1,187.5,11.2,740,17659,0.00,2.30,0.00,0.000,6,0.000,0.054,3383,1561,506,0,0,0,0,0,0
$GC,18193,1.16,575.1,129.9,11.5,775,18197,0.10,2.30,0.00,0.000,4,0.096,0.060,3436,2964,505,0,0,0,0,0,0
$GC,18309,1.11,575.1,114.5,13.6,782,18313,0.15,2.25,0.00,0.000,6,0.160,0.053,3406,1559,505,0,0,0,0,0,0
$GC,18855,1.13,575.1,44.5,11.3,840,18862,0.00,2.33,0.00,0.000,4,0.000,0.060,3406,2963,505,0,0,0,0,0,0
$GC,18979,1.13,575.1,30.3,10.4,861,18984,0.00,2.25,0.00,0.000,6,0.000,0.053,3415,1560,505,0,0,0,0,0,0
$STATE,19215,end climb,SURFACE_DEPTH_REACHED
$STATE,19215,begin surface coast
$FINISH,2.6,1.013502
$STATE,19241,end surface coast,CONTROL_FINISHED_OK
$STATE,19241,begin surface
$SM_CCo,19319,0.00,0.000,0,0,502,578.90
$SM_GC,3.40,8.95,0.00,0.00,0.042,0.000,0.000,84,1868,502,-9.17,0.23,578.90
$IRIDIUM_FIX,-4123.62,-321.82,130213,010139
$TT8_MAMPS,0.026964
$HUMID,51.53
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.3,108.791
$10V_AH,9.8,76.420
$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,24.075,135.550,669.100,0.000,0.000,27.782,49.710,299.832,0.000,0.000,35.170,2330.001,13276.068,657.950,3274.794,321.896,33.394,1994.135,0.000,2868.327,0.000,1.008,0.000
$DEVICE_MAMPS,258.570,74.970,1256.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.442,865.046,619.055,71.861,0.000,0.000,0.000,0.000,0.000,0.000
$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,56882,905
$CAP_FILE_SIZE,159879,0
$CFSIZE,2097086464,2015920128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130213,175435,-4139.157,-318.393,36,1.0,36,-22.5