version: 66.07.10.p01
glider: 573
mission: 4
dive: 598
start: 2 14 113 5 12 55
data:
$ID,573
$MISSION,4
$DIVE,598
$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,-6121.9185
$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,29
$R_STBD_OVSHOOT,30
$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,577
$GPS1,140213,050305,-4138.038,-317.071,64,1.0,64,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-67.1
$GPS2,140213,051201,-4138.016,-317.010,22,1.5,22,-22.5
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.237,0.134
$KALMAN_X,95411.0,-29.5,275.1,-106551.1,4971.2
$KALMAN_Y,-73591.4,-45.9,481.6,134559.8,-2961.7
$MHEAD_RNG_PITCHd_Wd,321.9,17013,-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,-6.53,0.000,2,0.000,0.000,84,1864,807,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.4,-0.0,1,178,10.73,1.30,-121.07,0.000,4,0.221,0.078,2706,1063,3537,0,0,0,0,0,0
$GC,210,-1.05,-165.4,9.3,-12.9,29,217,0.00,1.30,0.00,0.000,6,0.000,0.047,2700,1865,3538,0,0,0,0,0,0
$GC,291,-1.08,-165.4,18.9,-12.2,42,298,0.00,1.40,0.00,0.000,4,0.000,0.059,2694,2733,3539,0,0,0,0,0,0
$GC,359,-1.08,-165.4,27.7,-13.3,53,366,0.00,1.40,0.00,0.000,6,0.000,0.051,2694,1862,3539,0,0,0,0,0,0
$GC,436,-1.10,-165.4,38.5,-13.7,66,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1862,3539,0,0,0,0,0,0
$GC,774,-1.14,-165.4,80.6,-11.6,111,777,0.00,1.50,0.00,0.000,4,0.000,0.060,2687,2777,3540,0,0,0,0,0,0
$GC,915,-1.20,-165.4,94.9,-9.7,123,922,0.05,1.48,0.00,0.000,6,0.063,0.051,2639,1860,3540,0,0,0,0,0,0
$GC,1352,-1.17,-165.4,137.5,-10.9,153,1357,0.10,2.33,0.00,0.000,4,0.172,0.060,2656,3275,3540,0,0,0,0,0,0
$GC,1487,-1.17,-165.4,152.2,-10.6,161,1491,0.00,2.25,0.00,0.000,6,0.000,0.047,2656,1856,3540,0,0,0,0,0,0
$GC,2023,-1.17,-165.4,213.9,-12.0,194,2027,0.00,1.35,0.00,0.000,4,0.000,0.058,2650,2686,3541,0,0,0,0,0,0
$GC,2114,-1.17,-165.4,224.6,-11.6,198,2118,0.03,1.33,0.00,0.000,6,0.162,0.050,2661,1853,3541,0,0,0,0,0,0
$GC,2652,-1.17,-165.4,286.0,-10.7,224,2656,0.00,2.28,0.00,0.000,4,0.000,0.059,2651,3267,3541,0,0,0,0,0,0
$GC,2826,-1.20,-165.4,304.2,-10.5,232,2830,0.00,2.22,0.00,0.000,6,0.000,0.048,2651,1860,3541,0,0,0,0,0,0
$GC,3370,-1.20,-165.4,361.3,-11.1,250,3374,0.00,2.30,0.00,0.000,4,0.000,0.060,2640,3274,3540,0,0,0,0,0,0
$GC,3520,-1.20,-165.4,379.1,-12.2,254,3525,0.08,2.25,0.00,0.000,6,0.169,0.047,2659,1855,3540,0,0,0,0,0,0
$GC,4060,-1.22,-165.4,440.2,-11.0,272,4064,0.00,2.30,0.00,0.000,4,0.000,0.060,2650,3266,3540,0,0,0,0,0,0
$GC,4213,-1.25,-165.4,457.0,-10.9,276,4217,0.00,2.25,0.00,0.000,6,0.000,0.048,2649,1852,3540,0,0,0,0,0,0
$GC,4740,-1.25,-165.4,515.9,-11.3,293,4744,0.00,2.30,0.00,0.000,4,0.000,0.060,2639,3266,3539,0,0,0,0,0,0
$GC,4892,-1.25,-165.4,534.8,-12.7,297,4896,0.00,2.25,0.00,0.000,6,0.000,0.048,2639,1855,3539,0,0,0,0,0,0
$GC,5419,-1.25,-165.4,602.6,-12.8,314,5423,0.00,2.30,0.00,0.000,4,0.000,0.061,2629,3266,3537,0,0,0,0,0,0
$GC,5597,-1.25,-165.4,626.4,-13.4,319,5602,0.00,2.25,0.00,0.000,6,0.000,0.049,2629,1858,3537,0,0,0,0,0,0
$GC,6142,-1.25,-165.4,689.6,-11.0,337,6146,0.00,2.33,0.00,0.000,4,0.000,0.060,2629,452,3536,0,0,0,0,0,0
$GC,6343,-1.20,-165.4,712.4,-10.7,343,6347,0.12,2.28,0.00,0.000,6,0.155,0.045,2654,1870,3535,0,0,0,0,0,0
$GC,6888,-1.24,-165.4,768.7,-10.3,361,6892,0.00,2.25,0.00,0.000,4,0.000,0.061,2643,3265,3534,0,0,0,0,0,0
$GC,7022,-1.24,-165.4,783.0,-10.3,365,7026,0.00,2.25,0.00,0.000,6,0.000,0.050,2643,1855,3533,0,0,0,0,0,0
$GC,7566,-1.24,-165.4,841.6,-11.2,383,7569,0.00,0.75,0.00,0.000,4,0.000,0.060,2640,2328,3532,0,0,0,0,0,0
$GC,7668,-1.26,-165.4,853.1,-11.4,386,7672,0.00,0.73,0.00,0.000,6,0.000,0.056,2640,1863,3532,0,0,0,0,0,0
$GC,8193,-1.26,-165.4,915.2,-11.8,403,8197,0.00,2.30,0.00,0.000,4,0.000,0.063,2630,3267,3531,0,0,0,0,0,0
$GC,8350,-1.26,-165.4,934.1,-12.5,407,8354,0.00,2.28,0.00,0.000,6,0.000,0.051,2630,1856,3530,0,0,0,0,0,0
$GC,8668,-1.26,-165.4,971.7,-11.8,418,8671,0.00,1.83,0.00,0.000,4,0.000,0.063,2621,2983,3530,0,0,0,0,0,0
$GC,8757,-1.26,-165.4,982.5,-12.0,420,8761,0.08,1.83,0.00,0.000,6,0.174,0.051,2641,1860,3530,0,0,0,0,0,0
$STATE,8828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8828,begin apogee
$GC,8834,-0.31,0.0,990.6,11.3,423,8981,0.93,0.00,142.77,1.252,6,0.109,0.000,2939,1547,2862,0,0,0,0,0,0
$STATE,8981,end apogee,CONTROL_FINISHED_OK
$STATE,8982,begin climb
$GC,8984,1.05,165.4,1005.0,0.0,428,9141,1.25,2.42,148.98,1.221,4,0.053,0.055,3388,2965,2186,0,0,0,0,0,0
$GC,9394,0.79,459.6,1019.9,-1.9,440,9671,0.35,2.28,267.55,1.224,6,0.173,0.050,3304,1559,989,0,0,0,0,0,0
$GC,9984,0.87,459.6,969.1,10.8,460,9989,0.05,2.38,0.00,0.000,4,0.162,0.069,3355,154,979,0,0,0,0,0,0
$GC,10119,0.87,459.6,954.1,10.7,464,10124,0.10,2.28,0.00,0.000,6,0.158,0.048,3328,1563,979,0,0,0,0,0,0
$GC,10449,0.90,459.6,918.2,11.0,475,10452,0.00,1.23,0.00,0.000,4,0.000,0.054,3328,2335,978,0,0,0,0,0,0
$GC,10527,0.93,459.6,909.8,10.3,477,10531,0.00,1.25,0.00,0.000,6,0.000,0.059,3333,1570,978,0,0,0,0,0,0
$GC,10857,0.95,464.9,878.0,9.5,488,10864,0.00,0.00,4.68,0.842,6,0.000,0.000,3333,1570,966,0,0,0,0,0,0
$GC,11378,0.99,500.1,832.3,8.3,505,11419,0.08,1.27,36.20,1.147,4,0.122,0.054,3375,2363,823,0,0,0,0,0,0
$GC,11471,0.96,513.1,824.1,9.2,508,11491,0.05,1.33,13.85,1.070,6,0.150,0.057,3362,1560,769,0,0,0,0,0,0
$GC,12025,0.96,519.0,774.1,9.5,526,12034,0.00,0.50,5.75,0.848,4,0.000,0.052,3362,1879,745,0,0,0,0,0,0
$GC,12096,0.96,519.0,767.2,9.9,528,12100,0.00,0.52,0.00,0.000,6,0.000,0.065,3365,1551,745,0,0,0,0,0,0
$GC,12615,0.96,519.0,712.9,10.7,545,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1550,744,0,0,0,0,0,0
$GC,13136,0.99,519.0,656.3,11.1,562,13139,0.00,0.95,0.00,0.000,4,0.000,0.067,3369,979,743,0,0,0,0,0,0
$GC,13225,1.01,519.0,646.6,11.0,564,13229,0.00,0.95,0.00,0.000,6,0.000,0.050,3369,1561,743,0,0,0,0,0,0
$GC,13759,1.03,523.4,593.4,9.5,582,13768,0.00,1.10,5.18,0.753,4,0.000,0.065,3374,921,729,0,0,0,0,0,0
$GC,13895,1.03,523.4,580.1,10.8,586,13898,0.00,1.05,0.00,0.000,6,0.000,0.051,3374,1564,729,0,0,0,0,0,0
$GC,14419,1.03,523.4,524.6,10.9,603,14423,0.00,0.62,0.00,0.000,4,0.000,0.069,3377,1176,729,0,0,0,0,0,0
$GC,14525,1.03,523.4,512.2,11.2,606,14529,0.00,0.62,0.00,0.000,6,0.000,0.054,3377,1561,728,0,0,0,0,0,0
$GC,15044,1.03,523.4,446.3,13.3,623,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1561,728,0,0,0,0,0,0
$GC,15565,1.03,523.4,376.6,12.5,640,15568,0.00,1.20,0.00,0.000,4,0.000,0.067,3382,854,729,0,0,0,0,0,0
$GC,15654,1.03,523.4,366.0,11.5,642,15658,0.00,1.15,0.00,0.000,6,0.000,0.050,3382,1559,728,0,0,0,0,0,0
$GC,16187,1.04,561.2,315.8,8.2,660,16229,0.00,0.93,37.65,0.841,4,0.000,0.068,3386,1033,572,0,0,0,0,0,0
$GC,16369,1.07,587.6,300.4,8.7,665,16402,0.00,0.85,24.17,0.813,6,0.000,0.052,3386,1552,464,0,0,0,0,0,0
$GC,16917,1.12,587.6,247.8,10.3,692,16921,0.00,1.98,0.00,0.000,4,0.000,0.069,3395,372,458,0,0,0,0,0,0
$GC,17035,1.16,587.6,235.2,10.1,697,17040,0.08,1.92,0.00,0.000,6,0.118,0.049,3433,1564,457,0,0,0,0,0,0
$GC,17561,1.13,587.6,170.2,13.4,726,17565,0.10,1.75,0.00,0.000,4,0.168,0.067,3414,504,456,0,0,0,0,0,0
$GC,17691,1.13,587.6,152.2,15.1,733,17696,0.00,1.70,0.00,0.000,6,0.000,0.049,3415,1564,456,0,0,0,0,0,0
$GC,18227,1.13,587.6,77.9,10.4,773,18231,0.00,1.35,0.00,0.000,4,0.000,0.065,3420,764,456,0,0,0,0,0,0
$GC,18356,1.13,604.0,66.0,9.1,784,18372,0.00,1.27,12.12,0.618,6,0.000,0.049,3420,1552,409,0,0,0,0,0,0
$GC,18832,1.13,604.0,14.0,11.7,861,18839,0.00,0.95,0.00,0.000,4,0.000,0.065,3425,987,405,0,0,0,0,0,0
$GC,18907,1.13,604.0,4.8,12.3,873,18914,0.00,0.93,0.00,0.000,6,0.000,0.050,3424,1557,404,0,0,0,0,0,0
$STATE,18926,end climb,SURFACE_DEPTH_REACHED
$STATE,18926,begin surface coast
$FINISH,2.6,1.004714
$STATE,18957,end surface coast,CONTROL_FINISHED_OK
$STATE,18958,begin surface
$SM_CCo,19036,0.00,0.000,0,0,402,603.43
$SM_GC,3.40,8.85,0.00,0.00,0.035,0.000,0.000,81,1879,402,-9.16,0.54,603.43
$IRIDIUM_FIX,-4123.62,-316.06,130213,232339
$TT8_MAMPS,0.026964
$HUMID,51.29
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,22.3,109.530
$10V_AH,9.8,76.751
$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,23.000,94.850,698.900,0.000,0.000,24.755,36.841,311.200,0.250,0.000,24.966,2240.100,13295.912,669.307,3052.903,307.022,33.400,1932.473,0.000,2665.490,0.000,1.010,0.000
$DEVICE_MAMPS,221.085,78.030,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.686,816.791,604.056,68.378,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,53653,881
$CAP_FILE_SIZE,151171,0
$CFSIZE,2097086464,2015526912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140213,103129,-4137.234,-316.731,42,0.9,43,-22.6