version: 66.07.10.p01
glider: 573
mission: 4
dive: 596
start: 2 13 113 18 4 20
data:
$ID,573
$MISSION,4
$DIVE,596
$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,-6117.2378
$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,29
$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,575
$GPS1,130213,175435,-4139.157,-318.393,36,1.0,36,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-65.1
$GPS2,130213,180326,-4139.153,-318.432,20,1.9,22,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.167,0.215
$KALMAN_X,85963.6,-203.9,-640.4,-97946.0,7285.2
$KALMAN_Y,-68034.6,-66.1,-804.5,128225.0,-580.3
$MHEAD_RNG_PITCHd_Wd,344.7,18097,-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,-6.65,0.000,2,0.000,0.000,82,1869,661,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.3,-0.0,1,178,10.12,2.42,-117.80,0.000,4,0.200,0.072,2706,446,3539,0,0,0,0,0,0
$GC,251,-1.08,-165.4,17.6,-12.5,36,259,0.00,2.30,0.00,0.000,6,0.000,0.048,2695,1856,3540,0,0,0,0,0,0
$GC,332,-1.12,-165.4,27.8,-13.1,49,339,0.00,1.62,0.00,0.000,4,0.000,0.058,2689,2856,3540,0,0,0,0,0,0
$GC,602,-1.19,-165.4,58.4,-11.8,95,607,0.05,1.60,0.00,0.000,6,0.063,0.050,2629,1862,3540,0,0,0,0,0,0
$GC,935,-1.16,-165.4,100.6,-11.9,127,940,0.15,2.33,0.00,0.000,4,0.155,0.059,2662,3277,3541,0,0,0,0,0,0
$GC,1194,-1.19,-165.4,126.9,-8.1,142,1201,0.00,2.28,0.00,0.000,6,0.000,0.046,2662,1854,3541,0,0,0,0,0,0
$GC,1734,-1.19,-165.4,175.0,-9.7,177,1738,0.00,2.28,0.00,0.000,4,0.000,0.058,2662,446,3541,0,0,0,0,0,0
$GC,1894,-1.17,-165.4,191.9,-10.5,186,1902,0.03,2.30,0.00,0.000,6,0.172,0.045,2662,1869,3541,0,0,0,0,0,0
$GC,2435,-1.19,-165.4,252.9,-12.0,214,2439,0.00,2.25,0.00,0.000,4,0.000,0.058,2652,3268,3541,0,0,0,0,0,0
$GC,2693,-1.22,-165.4,283.7,-11.8,225,2700,0.00,2.25,0.00,0.000,6,0.000,0.047,2653,1859,3541,0,0,0,0,0,0
$GC,3212,-1.22,-165.4,337.4,-10.0,245,3216,0.00,2.30,0.00,0.000,4,0.000,0.059,2652,455,3541,0,0,0,0,0,0
$GC,3301,-1.19,-165.4,346.9,-10.3,247,3307,0.08,2.25,0.00,0.000,6,0.178,0.044,2660,1870,3541,0,0,0,0,0,0
$GC,3830,-1.22,-165.4,401.2,-10.7,265,3834,0.00,2.22,0.00,0.000,4,0.000,0.059,2650,3263,3541,0,0,0,0,0,0
$GC,4061,-1.24,-165.4,427.4,-10.8,272,4065,0.00,2.20,0.00,0.000,6,0.000,0.047,2650,1858,3540,0,0,0,0,0,0
$GC,4579,-1.24,-165.4,485.2,-10.8,289,4584,0.00,2.28,0.00,0.000,4,0.000,0.058,2650,449,3540,0,0,0,0,0,0
$GC,4747,-1.21,-165.4,505.2,-11.4,294,4752,0.05,2.25,0.00,0.000,6,0.211,0.046,2652,1859,3539,0,0,0,0,0,0
$GC,5292,-1.21,-165.4,566.0,-11.1,312,5296,0.00,2.25,0.00,0.000,4,0.000,0.058,2642,3268,3538,0,0,0,0,0,0
$GC,5492,-1.21,-165.4,588.5,-10.7,318,5496,0.00,2.22,0.00,0.000,6,0.000,0.048,2642,1855,3538,0,0,0,0,0,0
$GC,6012,-1.21,-165.4,641.2,-9.8,335,6015,0.00,1.75,0.00,0.000,4,0.000,0.059,2634,2952,3537,0,0,0,0,0,0
$GC,6190,-1.21,-165.4,658.8,-10.3,340,6195,0.05,1.75,0.00,0.000,6,0.137,0.048,2653,1859,3536,0,0,0,0,0,0
$GC,6736,-1.24,-165.4,709.7,-9.7,358,6740,0.00,0.40,0.00,0.000,4,0.000,0.063,2653,1586,3535,0,0,0,0,0,0
$GC,6848,-1.26,-165.4,721.1,-10.4,361,6852,0.00,0.43,0.00,0.000,6,0.000,0.059,2651,1858,3534,0,0,0,0,0,0
$GC,7392,-1.28,-165.4,783.6,-12.4,379,7397,0.05,1.25,0.00,0.000,4,0.163,0.059,2604,2626,3533,0,0,0,0,0,0
$GC,7461,-1.24,-165.4,792.7,-13.9,381,7465,0.10,1.23,0.00,0.000,6,0.127,0.052,2639,1862,3533,0,0,0,0,0,0
$GC,7985,-1.24,-165.4,858.4,-12.0,398,7989,0.00,2.28,0.00,0.000,4,0.000,0.061,2629,3263,3531,0,0,0,0,0,0
$GC,8085,-1.24,-165.4,870.0,-11.0,401,8090,0.05,2.22,0.00,0.000,6,0.202,0.050,2642,1858,3531,0,0,0,0,0,0
$GC,8606,-1.24,-165.4,922.1,-9.6,418,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1858,3530,0,0,0,0,0,0
$GC,8911,-1.24,-165.4,949.5,-8.9,428,8914,0.00,0.68,0.00,0.000,4,0.000,0.060,2639,2288,3530,0,0,0,0,0,0
$GC,8984,-1.27,-165.4,956.0,-8.8,430,8987,0.00,0.68,0.00,0.000,6,0.000,0.057,2639,1859,3530,0,0,0,0,0,0
$GC,9319,-1.27,-165.4,986.4,-9.4,441,9323,0.00,0.65,0.00,0.000,4,0.000,0.059,2636,2284,3529,0,0,0,0,0,0
$STATE,9355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9355,begin apogee
$GC,9362,-0.31,0.0,990.3,9.2,442,9508,0.93,0.00,142.77,1.255,6,0.113,0.000,2937,1564,2862,0,0,0,0,0,0
$STATE,9509,end apogee,CONTROL_FINISHED_OK
$STATE,9509,begin climb
$GC,9512,1.05,165.4,1001.9,0.0,447,9669,1.25,2.40,148.98,1.223,4,0.055,0.055,3381,2957,2186,0,0,0,0,0,0
$GC,9867,0.80,456.9,1015.0,-1.8,458,10143,0.32,2.25,265.42,1.226,6,0.170,0.049,3305,1554,998,0,0,0,0,0,0
$GC,10481,0.88,487.3,972.6,8.5,478,10513,0.08,0.00,29.25,1.178,6,0.120,0.000,3349,1554,875,0,0,0,0,0,0
$GC,10821,0.91,487.3,939.2,10.2,489,10825,0.00,2.35,0.00,0.000,4,0.000,0.067,3359,155,868,0,0,0,0,0,0
$GC,11078,0.94,487.3,910.3,12.2,496,11082,0.00,2.25,0.00,0.000,6,0.000,0.048,3359,1563,867,0,0,0,0,0,0
$GC,11391,0.94,487.3,874.7,11.5,506,11395,0.00,2.22,0.00,0.000,4,0.000,0.068,3369,238,866,0,0,0,0,0,0
$GC,11593,0.94,487.3,851.0,11.5,512,11598,0.08,2.12,0.00,0.000,6,0.176,0.048,3349,1558,865,0,0,0,0,0,0
$GC,12114,0.96,495.6,798.0,9.4,529,12128,0.00,2.45,7.65,0.996,4,0.000,0.070,3359,153,840,0,0,0,0,0,0
$GC,12383,0.99,528.1,774.2,8.4,537,12423,0.00,2.30,33.33,1.121,6,0.000,0.051,3360,1566,708,0,0,0,0,0,0
$GC,12938,1.04,532.0,723.6,9.6,555,12947,0.00,2.42,3.95,0.660,4,0.000,0.070,3371,162,693,0,0,0,0,0,0
$GC,13200,1.08,532.0,695.7,10.0,562,13205,0.08,2.28,0.00,0.000,6,0.122,0.050,3410,1566,691,0,0,0,0,0,0
$GC,13729,1.05,532.0,629.4,13.3,580,13733,0.10,2.30,0.00,0.000,4,0.170,0.057,3384,2972,691,0,0,0,0,0,0
$GC,13840,1.05,532.0,613.6,14.3,583,13844,0.00,2.28,0.00,0.000,6,0.000,0.054,3394,1556,692,0,0,0,0,0,0
$GC,14378,1.05,532.0,544.2,11.9,601,14382,0.00,2.35,0.00,0.000,4,0.000,0.067,3404,158,690,0,0,0,0,0,0
$GC,14635,1.05,532.0,515.6,9.8,608,14641,0.10,2.28,0.00,0.000,6,0.163,0.050,3378,1560,690,0,0,0,0,0,0
$GC,15165,1.07,534.8,465.1,9.6,626,15174,0.00,2.42,4.07,0.602,4,0.000,0.070,3389,149,681,0,0,0,0,0,0
$GC,15426,1.07,541.6,439.2,9.4,633,15441,0.00,2.30,8.10,0.803,6,0.000,0.049,3389,1561,654,0,0,0,0,0,0
$GC,15957,1.09,541.6,382.9,11.4,651,15961,0.00,2.25,0.00,0.000,4,0.000,0.059,3389,2962,653,0,0,0,0,0,0
$GC,16103,1.09,541.6,365.9,11.5,655,16107,0.00,2.28,0.00,0.000,6,0.000,0.054,3399,1550,652,0,0,0,0,0,0
$GC,16635,1.09,541.6,304.5,11.5,673,16639,0.00,2.30,0.00,0.000,4,0.000,0.060,3399,2963,652,0,0,0,0,0,0
$GC,16781,1.09,541.6,286.9,11.1,678,16788,0.00,2.33,0.00,0.000,6,0.000,0.055,3408,1553,652,0,0,0,0,0,0
$GC,17305,1.09,541.6,221.3,12.3,704,17309,0.00,2.35,0.00,0.000,4,0.000,0.068,3419,150,652,0,0,0,0,0,0
$GC,17564,1.06,541.6,190.1,11.8,717,17570,0.12,2.28,0.00,0.000,6,0.155,0.047,3386,1562,651,0,0,0,0,0,0
$GC,18104,1.06,544.9,132.1,9.6,752,18113,0.00,2.30,4.50,0.496,4,0.000,0.057,3386,2964,640,0,0,0,0,0,0
$GC,18259,1.06,610.4,118.6,7.1,761,18318,0.00,2.28,52.15,0.702,6,0.000,0.054,3396,1548,408,0,0,0,0,0,0
$GC,18850,1.12,610.4,56.3,14.5,811,18855,0.00,2.33,0.00,0.000,4,0.000,0.060,3396,2964,398,0,0,0,0,0,0
$GC,18983,1.16,610.4,37.5,13.1,834,18991,0.00,2.33,0.00,0.000,6,0.000,0.056,3405,1554,398,0,0,0,0,0,0
$STATE,19255,end climb,SURFACE_DEPTH_REACHED
$STATE,19255,begin surface coast
$FINISH,2.6,1.016577
$STATE,19292,end surface coast,CONTROL_FINISHED_OK
$STATE,19292,begin surface
$SM_CCo,19371,0.00,0.000,0,0,396,604.90
$SM_GC,3.45,8.77,0.00,0.00,0.034,0.000,0.000,77,1860,396,-9.18,0.00,604.90
$IRIDIUM_FIX,-4126.50,-324.87,130213,121238
$TT8_MAMPS,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,14.60
$XPDR_PINGS,2
$24V_AH,22.2,109.042
$10V_AH,9.8,76.531
$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,22.550,114.550,700.175,0.000,0.000,26.055,48.834,294.929,0.500,0.000,24.514,2292.132,13311.278,675.589,3293.027,322.748,33.391,2039.134,0.000,2901.434,0.000,1.009,0.000
$DEVICE_MAMPS,211.140,71.910,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.566,818.331,612.282,64.866,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,53660,886
$CAP_FILE_SIZE,157727,0
$CFSIZE,2097086464,2015789056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130213,232829,-4138.613,-317.735,42,1.4,42,-22.5