version: 66.07.10.p01
glider: 573
mission: 4
dive: 597
start: 2 13 113 23 38 0
data:
$ID,573
$MISSION,4
$DIVE,597
$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,-6119.5542
$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,24
$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,576
$GPS1,130213,232829,-4138.613,-317.735,42,1.4,42,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-66.7
$GPS2,130213,233706,-4138.591,-317.697,21,1.5,21,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.256,0.095
$KALMAN_X,89955.7,-365.1,-72.6,-101334.4,5497.3
$KALMAN_Y,-71755.4,-571.1,57.2,132636.2,-2549.1
$MHEAD_RNG_PITCHd_Wd,312.8,17528,-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,-165.4,0.0,0.0,0,35,0.00,0.00,-6.57,0.000,2,0.000,0.000,76,1860,558,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.3,-0.0,1,194,10.32,0.00,-136.10,0.000,6,0.208,0.000,2704,1860,3538,0,0,0,0,0,0
$GC,268,-1.08,-165.4,13.0,-13.1,39,275,0.00,0.90,0.00,0.000,4,0.000,0.060,2700,2432,3540,0,0,0,0,0,0
$GC,540,-1.14,-165.4,45.9,-13.5,85,546,0.05,0.93,0.00,0.000,6,0.065,0.054,2651,1852,3540,0,0,0,0,0,0
$GC,878,-1.14,-165.4,100.0,-14.8,124,882,0.10,2.33,0.00,0.000,4,0.170,0.059,2678,443,3540,0,0,0,0,0,0
$GC,1001,-1.14,-165.4,113.9,-8.7,131,1005,0.00,2.28,0.00,0.000,6,0.000,0.046,2668,1865,3540,0,0,0,0,0,0
$GC,1541,-1.17,-165.4,147.5,-7.7,165,1545,0.00,2.30,0.00,0.000,4,0.000,0.057,2668,450,3541,0,0,0,0,0,0
$GC,1687,-1.17,-165.4,161.8,-10.2,173,1693,0.00,2.25,0.00,0.000,6,0.000,0.044,2657,1862,3541,0,0,0,0,0,0
$GC,2225,-1.17,-165.4,222.0,-11.5,205,2229,0.00,2.33,0.00,0.000,4,0.000,0.057,2657,445,3541,0,0,0,0,0,0
$GC,2369,-1.13,-165.4,238.2,-11.2,211,2373,0.12,2.28,0.00,0.000,6,0.154,0.044,2681,1870,3541,0,0,0,0,0,0
$GC,2891,-1.18,-165.4,293.6,-11.0,236,2895,0.00,1.92,0.00,0.000,4,0.000,0.058,2673,3083,3541,0,0,0,0,0,0
$GC,2980,-1.23,-165.4,303.7,-11.1,239,2985,0.08,1.95,0.00,0.000,6,0.116,0.047,2624,1849,3541,0,0,0,0,0,0
$GC,3514,-1.19,-165.4,366.0,-12.2,257,3519,0.12,2.33,0.00,0.000,4,0.159,0.057,2648,3266,3541,0,0,0,0,0,0
$GC,3655,-1.22,-165.4,383.9,-12.8,261,3659,0.00,2.25,0.00,0.000,6,0.000,0.047,2648,1849,3540,0,0,0,0,0,0
$GC,4194,-1.22,-165.4,452.0,-12.5,279,4197,0.00,1.92,0.00,0.000,4,0.000,0.057,2639,3057,3540,0,0,0,0,0,0
$GC,4305,-1.22,-165.4,465.7,-11.7,282,4309,0.00,1.92,0.00,0.000,6,0.000,0.048,2640,1859,3540,0,0,0,0,0,0
$GC,4849,-1.22,-165.4,529.1,-11.7,300,4853,0.00,2.30,0.00,0.000,4,0.000,0.060,2629,3268,3539,0,0,0,0,0,0
$GC,4989,-1.22,-165.4,545.6,-11.6,304,4994,0.10,2.25,0.00,0.000,6,0.151,0.048,2656,1850,3539,0,0,0,0,0,0
$GC,5529,-1.25,-165.4,606.6,-11.3,322,5533,0.00,2.30,0.00,0.000,4,0.000,0.059,2646,3275,3538,0,0,0,0,0,0
$GC,5786,-1.28,-165.4,636.0,-11.2,329,5790,0.00,2.25,0.00,0.000,6,0.000,0.047,2646,1855,3537,0,0,0,0,0,0
$GC,6314,-1.28,-165.4,690.7,-10.3,346,6318,0.00,2.28,0.00,0.000,4,0.000,0.060,2636,3263,3536,0,0,0,0,0,0
$GC,6514,-1.28,-165.4,711.8,-10.6,352,6518,0.00,2.25,0.00,0.000,6,0.000,0.048,2636,1857,3535,0,0,0,0,0,0
$GC,7034,-1.28,-165.4,767.1,-10.9,369,7038,0.00,2.30,0.00,0.000,4,0.000,0.061,2626,3266,3534,0,0,0,0,0,0
$GC,7292,-1.28,-165.4,795.8,-11.3,376,7297,0.00,2.25,0.00,0.000,6,0.000,0.050,2625,1861,3533,0,0,0,0,0,0
$GC,7819,-1.28,-165.4,856.7,-11.6,394,7823,0.00,2.20,0.00,0.000,4,0.000,0.060,2626,526,3531,0,0,0,0,0,0
$GC,7874,-1.22,-165.4,863.3,-12.0,395,7880,0.12,2.12,0.00,0.000,6,0.155,0.047,2650,1861,3531,0,0,0,0,0,0
$GC,8402,-1.25,-165.4,922.3,-11.0,413,8406,0.00,2.35,0.00,0.000,4,0.000,0.060,2650,448,3530,0,0,0,0,0,0
$GC,8535,-1.25,-165.4,937.7,-11.3,417,8539,0.00,2.28,0.00,0.000,6,0.000,0.047,2640,1861,3530,0,0,0,0,0,0
$GC,8871,-1.25,-165.4,972.9,-10.4,428,8875,0.00,2.28,0.00,0.000,4,0.000,0.060,2629,3263,3529,0,0,0,0,0,0
$GC,8881,-1.25,-165.4,974.3,-10.4,428,8885,0.00,2.25,0.00,0.000,6,0.000,0.050,2629,1858,3529,0,0,0,0,0,0
$STATE,9055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9056,begin apogee
$GC,9061,-0.31,0.0,992.3,10.6,434,9207,0.98,0.00,142.50,1.255,6,0.112,0.000,2940,1559,2862,0,0,0,0,0,0
$STATE,9208,end apogee,CONTROL_FINISHED_OK
$STATE,9208,begin climb
$GC,9211,1.05,165.4,1005.1,0.0,439,9367,1.25,2.53,148.25,1.222,4,0.057,0.061,3394,162,2187,0,0,0,0,0,0
$GC,9620,0.77,426.3,1016.7,-0.6,451,9869,0.35,2.25,235.65,1.226,6,0.168,0.043,3299,1564,1122,0,0,0,0,0,0
$GC,10175,0.83,430.9,971.6,9.5,470,10179,0.00,2.38,0.00,0.000,4,0.000,0.067,3309,154,1112,0,0,0,0,0,0
$GC,10354,0.86,467.5,955.2,8.3,475,10398,0.00,2.28,38.58,1.187,6,0.000,0.049,3309,1564,956,0,0,0,0,0,0
$GC,10712,0.93,476.5,921.7,9.3,487,10727,0.10,0.57,8.57,1.031,4,0.099,0.067,3364,1226,919,0,0,0,0,0,0
$GC,10855,0.93,476.5,907.7,9.7,491,10860,0.08,0.55,0.00,0.000,6,0.175,0.054,3346,1565,917,0,0,0,0,0,0
$GC,11185,0.95,499.3,878.6,8.8,502,11216,0.00,1.00,23.42,1.143,4,0.000,0.065,3349,996,826,0,0,0,0,0,0
$GC,11362,0.99,523.6,863.3,8.7,507,11391,0.00,0.93,24.70,1.131,6,0.000,0.050,3349,1564,726,0,0,0,0,0,0
$GC,11907,1.04,531.8,814.3,9.4,525,11922,0.10,2.42,7.82,0.991,4,0.100,0.069,3411,158,693,0,0,0,0,0,0
$GC,12042,1.00,531.8,800.2,10.1,529,12047,0.15,2.28,0.00,0.000,6,0.151,0.047,3370,1567,692,0,0,0,0,0,0
$GC,12562,1.03,531.8,746.5,10.2,546,12566,0.00,2.10,0.00,0.000,4,0.000,0.067,3379,301,691,0,0,0,0,0,0
$GC,12679,1.05,531.8,734.5,9.7,549,12683,0.00,2.03,0.00,0.000,6,0.000,0.047,3379,1561,690,0,0,0,0,0,0
$GC,13212,1.05,531.8,679.3,11.0,567,13216,0.00,2.35,0.00,0.000,4,0.000,0.068,3389,154,690,0,0,0,0,0,0
$GC,13334,1.05,531.8,665.3,12.0,570,13339,0.00,2.28,0.00,0.000,6,0.000,0.049,3390,1561,690,0,0,0,0,0,0
$GC,13861,1.05,531.8,602.6,12.1,588,13865,0.00,1.70,0.00,0.000,4,0.000,0.067,3398,529,690,0,0,0,0,0,0
$GC,13997,1.05,531.8,585.9,13.0,592,14001,0.00,1.67,0.00,0.000,6,0.000,0.049,3397,1560,689,0,0,0,0,0,0
$GC,14521,1.05,531.8,522.6,11.5,609,14525,0.00,1.58,0.00,0.000,4,0.000,0.068,3404,631,689,0,0,0,0,0,0
$GC,14728,1.05,531.8,499.1,10.7,615,14733,0.05,1.52,0.00,0.000,6,0.144,0.049,3386,1567,689,0,0,0,0,0,0
$GC,15247,1.05,531.8,440.7,11.5,632,15252,0.00,2.38,0.00,0.000,4,0.000,0.068,3397,154,689,0,0,0,0,0,0
$GC,15445,1.05,531.8,418.7,11.4,638,15449,0.00,2.30,0.00,0.000,6,0.000,0.048,3396,1572,689,0,0,0,0,0,0
$GC,15963,1.05,531.8,362.5,11.3,655,15967,0.00,0.77,0.00,0.000,4,0.000,0.067,3399,1104,689,0,0,0,0,0,0
$GC,16221,1.05,531.8,333.4,11.0,662,16226,0.03,0.75,0.00,0.000,6,0.176,0.050,3389,1573,689,0,0,0,0,0,0
$GC,16749,1.05,531.8,274.0,11.0,683,16753,0.00,2.40,0.00,0.000,4,0.000,0.067,3400,158,689,0,0,0,0,0,0
$GC,16905,1.03,531.8,256.6,10.1,690,16910,0.10,2.28,0.00,0.000,6,0.164,0.048,3374,1563,689,0,0,0,0,0,0
$GC,17438,1.06,531.8,199.7,9.8,716,17442,0.00,1.55,0.00,0.000,4,0.000,0.066,3380,651,689,0,0,0,0,0,0
$GC,17663,1.09,531.8,177.0,10.7,729,17667,0.00,1.48,0.00,0.000,6,0.000,0.049,3380,1556,689,0,0,0,0,0,0
$GC,18199,1.11,540.9,125.7,9.3,763,18216,0.05,2.40,9.60,0.635,4,0.167,0.069,3429,160,656,0,0,0,0,0,0
$GC,18319,1.05,540.9,113.1,10.7,770,18324,0.15,2.28,0.00,0.000,6,0.153,0.047,3387,1566,655,0,0,0,0,0,0
$GC,18860,1.05,540.9,50.1,10.4,824,18867,0.00,1.55,0.00,0.000,4,0.000,0.063,3394,648,655,0,0,0,0,0,0
$GC,18984,1.05,540.9,37.5,10.9,845,18989,0.00,1.48,0.00,0.000,6,0.000,0.048,3394,1559,655,0,0,0,0,0,0
$STATE,19295,end climb,SURFACE_DEPTH_REACHED
$STATE,19295,begin surface coast
$FINISH,2.7,1.025923
$STATE,19326,end surface coast,CONTROL_FINISHED_OK
$STATE,19326,begin surface
$SM_CCo,19405,0.00,0.000,0,0,653,541.86
$SM_GC,3.52,8.75,0.00,0.00,0.034,0.000,0.000,87,1863,653,-9.16,0.08,541.86
$IRIDIUM_FIX,-4126.50,-324.87,130213,121238
$TT8_MAMPS,0.026964
$HUMID,51.33
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,22.3,109.279
$10V_AH,9.8,76.644
$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,23.150,114.475,639.100,0.000,0.000,27.722,37.496,289.849,0.250,0.000,23.678,2336.560,13339.198,639.446,3286.480,313.728,33.372,1981.508,0.000,2913.743,0.000,1.009,0.000
$DEVICE_MAMPS,208.080,68.850,1255.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.531,881.038,626.022,69.026,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,53622,903
$CAP_FILE_SIZE,157058,0
$CFSIZE,2097086464,2015657984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140213,050305,-4138.038,-317.071,64,1.0,64,-22.5