version: 66.07.10.p01
glider: 573
mission: 4
dive: 599
start: 2 14 113 10 40 36
data:
$ID,573
$MISSION,4
$DIVE,599
$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,280
$T_MISSION,300
$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,-6124.3486
$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,27
$R_STBD_OVSHOOT,34
$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,578
$GPS1,140213,103129,-4137.234,-316.731,42,0.9,43,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-67.1
$GPS2,140213,103942,-4137.186,-316.649,18,0.9,18,-22.6
$SPEED_LIMITS,0.204,0.290
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.289,0.031
$KALMAN_X,100935.3,437.7,-375.1,-111395.8,5270.2
$KALMAN_Y,-74967.2,928.7,-304.5,137283.8,-1163.4
$MHEAD_RNG_PITCHd_Wd,298.7,15960,-19.6,-11.786
$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,-1.23,-165.4,0.0,0.0,0,35,0.00,0.00,-6.43,0.000,2,0.000,0.000,81,1879,560,0,0,0,0,0,0
$GC,38,-1.23,-165.4,3.3,-0.0,1,183,10.07,0.00,-129.57,0.000,6,0.208,0.000,2646,1879,3537,0,0,0,0,0,0
$GC,256,-1.23,-165.4,14.5,-12.5,37,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1879,3540,0,0,0,0,0,0
$GC,336,-1.26,-165.4,25.4,-13.0,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1879,3540,0,0,0,0,0,0
$GC,415,-1.28,-165.4,36.1,-13.7,63,420,0.00,1.05,0.00,0.000,4,0.000,0.057,2642,2537,3540,0,0,0,0,0,0
$GC,675,-1.32,-165.4,71.6,-13.1,102,679,0.03,1.10,0.00,0.000,6,0.095,0.052,2606,1851,3540,0,0,0,0,0,0
$GC,1105,-1.32,-165.4,120.4,-11.9,137,1110,0.05,2.33,0.00,0.000,4,0.219,0.059,2606,3268,3541,0,0,0,0,0,0
$GC,1307,-1.32,-165.4,145.0,-12.1,149,1311,0.03,2.25,0.00,0.000,6,0.249,0.047,2617,1849,3541,0,0,0,0,0,0
$GC,1836,-1.32,-165.4,198.1,-9.0,183,1840,0.00,2.00,0.00,0.000,4,0.000,0.055,2617,606,3542,0,0,0,0,0,0
$GC,1892,-1.29,-165.4,203.3,-9.3,186,1896,0.08,2.00,0.00,0.000,6,0.188,0.044,2626,1864,3541,0,0,0,0,0,0
$GC,2419,-1.32,-165.4,261.2,-12.6,212,2423,0.00,2.30,0.00,0.000,4,0.000,0.057,2626,450,3542,0,0,0,0,0,0
$GC,2497,-1.32,-165.4,271.9,-13.6,215,2502,0.00,2.25,0.00,0.000,6,0.000,0.044,2616,1864,3542,0,0,0,0,0,0
$GC,3016,-1.32,-165.4,342.6,-12.8,236,3020,0.00,2.33,0.00,0.000,4,0.000,0.057,2616,448,3542,0,0,0,0,0,0
$GC,3117,-1.29,-165.4,355.3,-12.4,239,3122,0.10,2.25,0.00,0.000,6,0.174,0.044,2631,1861,3542,0,0,0,0,0,0
$GC,3663,-1.34,-165.4,412.7,-10.4,257,3667,0.00,2.30,0.00,0.000,4,0.000,0.057,2632,448,3541,0,0,0,0,0,0
$GC,3763,-1.34,-165.4,423.7,-10.5,260,3767,0.00,2.25,0.00,0.000,6,0.000,0.044,2621,1861,3541,0,0,0,0,0,0
$GC,4309,-1.37,-165.4,482.4,-10.9,278,4313,0.00,2.25,0.00,0.000,4,0.000,0.059,2611,3266,3541,0,0,0,0,0,0
$GC,4567,-1.39,-165.4,511.4,-10.8,285,4572,0.00,2.25,0.00,0.000,6,0.000,0.048,2611,1851,3540,0,0,0,0,0,0
$GC,5095,-1.39,-165.4,567.9,-10.5,303,5099,0.00,2.28,0.00,0.000,4,0.000,0.058,2611,451,3540,0,0,0,0,0,0
$GC,5184,-1.36,-165.4,577.4,-10.2,305,5189,0.00,2.25,0.00,0.000,6,0.000,0.044,2600,1861,3539,0,0,0,0,0,0
$GC,5711,-1.36,-165.4,632.1,-10.5,323,5715,0.00,2.28,0.00,0.000,4,0.000,0.060,2589,3263,3538,0,0,0,0,0,0
$GC,5957,-1.36,-165.4,659.7,-12.0,330,5962,0.05,2.22,0.00,0.000,6,0.205,0.047,2602,1858,3537,0,0,0,0,0,0
$GC,6497,-1.36,-165.4,719.1,-10.7,348,6501,0.00,2.30,0.00,0.000,4,0.000,0.061,2591,3263,3536,0,0,0,0,0,0
$GC,6665,-1.36,-165.4,736.9,-10.4,353,6669,0.00,2.25,0.00,0.000,6,0.000,0.050,2591,1853,3535,0,0,0,0,0,0
$GC,7208,-1.36,-165.4,797.6,-12.1,371,7212,0.00,2.30,0.00,0.000,4,0.000,0.060,2591,449,3534,0,0,0,0,0,0
$GC,7298,-1.32,-165.4,809.0,-12.5,373,7304,0.12,2.28,0.00,0.000,6,0.173,0.046,2613,1864,3534,0,0,0,0,0,0
$GC,7827,-1.35,-165.4,877.1,-13.1,391,7831,0.00,2.35,0.00,0.000,4,0.000,0.060,2613,445,3532,0,0,0,0,0,0
$GC,7889,-1.35,-165.4,885.5,-13.5,393,7893,0.00,2.28,0.00,0.000,6,0.000,0.047,2603,1860,3532,0,0,0,0,0,0
$GC,8408,-1.35,-165.4,949.3,-11.6,410,8412,0.00,2.33,0.00,0.000,4,0.000,0.061,2603,454,3531,0,0,0,0,0,0
$GC,8475,-1.32,-165.4,957.3,-11.4,412,8479,0.10,2.28,0.00,0.000,6,0.175,0.047,2618,1864,3531,0,0,0,0,0,0
$STATE,8802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8802,begin apogee
$GC,8808,-0.31,0.0,991.9,10.3,423,8954,1.02,0.00,142.88,1.251,6,0.115,0.000,2944,1559,2862,0,0,0,0,0,0
$STATE,8955,end apogee,CONTROL_FINISHED_OK
$STATE,8955,begin climb
$GC,8957,1.23,165.4,1003.3,0.0,428,9114,1.40,2.53,147.80,1.220,4,0.053,0.060,3458,155,2187,0,0,0,0,0,0
$GC,9367,0.94,431.9,1013.3,-0.9,440,9620,0.40,2.25,240.62,1.221,6,0.180,0.043,3351,1566,1100,0,0,0,0,0,0
$GC,9956,0.96,455.1,957.3,10.7,460,9982,0.00,2.20,21.55,1.145,4,0.000,0.065,3361,308,1005,0,0,0,0,0,0
$GC,10057,0.99,479.7,946.4,10.6,462,10087,0.00,2.03,25.15,1.147,6,0.000,0.047,3362,1558,906,0,0,0,0,0,0
$GC,10418,1.04,522.0,909.4,9.8,474,10463,0.00,0.75,41.28,1.167,4,0.000,0.048,3361,2049,732,0,0,0,0,0,0
$GC,10536,1.12,574.8,897.7,9.3,477,10591,0.08,0.80,50.80,1.156,6,0.061,0.058,3414,1558,518,0,0,0,0,0,0
$GC,11125,1.16,594.7,835.6,10.8,497,11149,0.00,1.77,17.90,1.097,4,0.000,0.067,3422,529,436,0,0,0,0,0,0
$GC,11219,1.20,631.0,825.5,10.1,499,11233,0.00,1.67,7.72,0.963,6,0.000,0.049,3422,1567,408,0,0,0,0,0,0
$GC,11748,1.25,631.0,763.6,12.2,517,11752,0.08,1.45,0.00,0.000,4,0.123,0.064,3469,704,404,0,0,0,0,0,0
$GC,11841,1.25,631.0,750.9,13.6,519,11847,0.05,1.40,0.00,0.000,6,0.151,0.047,3451,1567,403,0,0,0,0,0,0
$GC,12369,1.25,631.0,679.7,13.3,537,12373,0.00,2.30,0.00,0.000,4,0.000,0.067,3462,188,403,0,0,0,0,0,0
$GC,12441,1.22,631.0,669.9,14.0,539,12446,0.10,2.22,0.00,0.000,6,0.172,0.047,3435,1569,402,0,0,0,0,0,0
$GC,12981,1.24,631.0,601.4,12.3,557,12984,0.00,1.80,0.00,0.000,4,0.000,0.066,3444,476,402,0,0,0,0,0,0
$GC,13083,1.26,631.0,588.6,12.9,560,13086,0.00,1.73,0.00,0.000,6,0.000,0.048,3444,1560,402,0,0,0,0,0,0
$GC,13607,1.26,631.0,523.4,12.9,577,13611,0.00,2.00,0.00,0.000,4,0.000,0.068,3453,360,402,0,0,0,0,0,0
$GC,13685,1.26,631.0,513.3,12.2,579,13689,0.00,1.95,0.00,0.000,6,0.000,0.050,3453,1554,401,0,0,0,0,0,0
$GC,14229,1.26,631.0,440.9,13.3,597,14234,0.00,2.35,0.00,0.000,4,0.000,0.069,3464,157,401,0,0,0,0,0,0
$GC,14409,1.24,631.0,417.0,12.1,602,14413,0.08,2.28,0.00,0.000,6,0.187,0.049,3447,1563,401,0,0,0,0,0,0
$GC,14943,1.24,643.7,355.0,11.2,620,14947,0.00,2.38,0.00,0.000,4,0.000,0.069,3457,153,401,0,0,0,0,0,0
$GC,15026,1.24,648.7,345.2,11.5,622,15030,0.00,2.30,0.00,0.000,6,0.000,0.049,3457,1568,401,0,0,0,0,0,0
$GC,15556,1.24,648.7,283.4,12.6,641,15560,0.00,2.40,0.00,0.000,4,0.000,0.067,3468,150,401,0,0,0,0,0,0
$GC,15691,1.21,648.7,265.1,13.4,647,15696,0.12,2.30,0.00,0.000,6,0.160,0.048,3434,1567,401,0,0,0,0,0,0
$GC,16216,1.24,648.7,196.5,12.7,673,16220,0.00,2.40,0.00,0.000,4,0.000,0.067,3445,150,401,0,0,0,0,0,0
$GC,16329,1.26,648.7,181.9,12.4,680,16333,0.00,2.30,0.00,0.000,6,0.000,0.048,3445,1570,401,0,0,0,0,0,0
$GC,16858,1.26,653.7,119.8,11.5,714,16862,0.00,2.30,0.00,0.000,4,0.000,0.066,3456,210,401,0,0,0,0,0,0
$GC,16988,1.26,653.7,103.9,12.8,722,16992,0.00,2.17,0.00,0.000,6,0.000,0.047,3455,1562,401,0,0,0,0,0,0
$GC,17542,1.28,653.7,30.3,13.4,791,17547,0.00,2.38,0.00,0.000,4,0.000,0.065,3466,157,401,0,0,0,0,0,0
$GC,17716,1.25,662.9,9.4,11.3,820,17724,0.05,2.28,0.00,0.000,6,0.150,0.047,3449,1556,401,0,0,0,0,0,0
$STATE,17772,end climb,SURFACE_DEPTH_REACHED
$STATE,17772,begin surface coast
$FINISH,2.7,1.004511
$STATE,17797,end surface coast,CONTROL_FINISHED_OK
$STATE,17797,begin surface
$SM_CCo,17876,0.00,0.000,0,0,400,603.92
$SM_GC,3.59,8.93,0.00,0.00,0.035,0.000,0.000,70,1855,400,-9.18,-0.14,603.92
$IRIDIUM_FIX,-4123.62,-318.78,140213,050513
$TT8_MAMPS,0.026964
$HUMID,51.06
$INTERNAL_PRESSURE,9.02068
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.3,109.786
$10V_AH,9.8,76.852
$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,22.925,113.925,695.700,0.000,0.000,26.244,39.078,279.063,0.000,0.000,20.344,2120.722,12398.880,673.155,2881.650,288.597,33.371,1873.483,0.000,2523.379,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,68.850,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.168,787.493,574.038,63.309,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,50290,833
$CAP_FILE_SIZE,145961,0
$CFSIZE,2097086464,2015395840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140213,153935,-4136.511,-316.021,27,1.6,27,-22.6