version: 66.07.10.p01
glider: 573
mission: 4
dive: 601
start: 2 14 113 21 13 59
data:
$ID,573
$MISSION,4
$DIVE,601
$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,-6129.0088
$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,28
$R_STBD_OVSHOOT,31
$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,580
$GPS1,140213,205429,-4135.751,-314.808,39,1.8,39,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-63.6
$GPS2,140213,211305,-4135.836,-314.357,39,1.3,39,-22.6
$SPEED_LIMITS,0.204,0.290
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-323.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.275,0.095
$KALMAN_X,111235.4,68.8,95.8,-118662.5,3479.2
$KALMAN_Y,-75956.3,-110.1,-548.4,142057.7,-552.7
$MHEAD_RNG_PITCHd_Wd,311.6,16142,-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,-6.55,0.000,2,0.000,0.000,83,1860,567,0,0,0,0,0,0
$GC,38,-1.23,-165.4,3.0,-0.0,1,189,10.12,1.15,-129.00,0.000,4,0.208,0.083,2641,2558,3538,0,0,0,0,0,0
$GC,268,-1.23,-165.4,13.6,-10.5,39,276,0.00,1.12,0.00,0.000,6,0.000,0.052,2641,1857,3539,0,0,0,0,0,0
$GC,349,-1.21,-165.4,23.4,-13.3,52,356,0.05,0.00,0.00,0.000,6,0.218,0.000,2653,1857,3540,0,0,0,0,0,0
$GC,430,-1.27,-165.4,32.7,-9.5,65,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1856,3540,0,0,0,0,0,0
$GC,780,-1.29,-165.4,69.8,-11.5,119,782,0.08,0.00,0.00,0.000,6,0.119,0.000,2607,1856,3539,0,0,0,0,0,0
$GC,1202,-1.27,-165.4,129.2,-15.7,153,1207,0.10,2.30,0.00,0.000,4,0.167,0.059,2623,3269,3539,0,0,0,0,0,0
$GC,1280,-1.27,-165.4,141.6,-15.0,157,1286,0.00,2.22,0.00,0.000,6,0.000,0.047,2623,1856,3539,0,0,0,0,0,0
$GC,1825,-1.27,-165.4,203.4,-10.2,192,1829,0.00,2.28,0.00,0.000,4,0.000,0.059,2613,3264,3539,0,0,0,0,0,0
$GC,1915,-1.27,-165.4,213.4,-11.2,196,1920,0.08,2.22,0.00,0.000,6,0.171,0.046,2632,1850,3540,0,0,0,0,0,0
$GC,2443,-1.27,-165.4,268.6,-10.2,222,2447,0.00,2.28,0.00,0.000,4,0.000,0.058,2621,3268,3540,0,0,0,0,0,0
$GC,2600,-1.27,-165.4,285.3,-10.6,229,2604,0.00,2.22,0.00,0.000,6,0.000,0.046,2622,1856,3539,0,0,0,0,0,0
$GC,3139,-1.27,-165.4,347.8,-11.9,249,3143,0.00,0.52,0.00,0.000,4,0.000,0.056,2619,2207,3539,0,0,0,0,0,0
$GC,3370,-1.27,-165.4,375.2,-11.7,255,3375,0.03,0.52,0.00,0.000,6,0.163,0.054,2630,1859,3539,0,0,0,0,0,0
$GC,3899,-1.31,-165.4,434.8,-10.9,273,3903,0.00,2.25,0.00,0.000,4,0.000,0.059,2619,3265,3538,0,0,0,0,0,0
$GC,4066,-1.31,-165.4,452.8,-10.5,278,4070,0.00,2.22,0.00,0.000,6,0.000,0.047,2619,1854,3538,0,0,0,0,0,0
$GC,4585,-1.31,-165.4,503.1,-9.5,295,4588,0.00,2.03,0.00,0.000,4,0.000,0.058,2610,3115,3537,0,0,0,0,0,0
$GC,4663,-1.31,-165.4,510.7,-9.2,297,4666,0.00,1.98,0.00,0.000,6,0.000,0.047,2610,1859,3537,0,0,0,0,0,0
$GC,5207,-1.31,-165.4,564.6,-10.8,315,5211,0.00,2.30,0.00,0.000,4,0.000,0.059,2600,3269,3536,0,0,0,0,0,0
$GC,5404,-1.28,-165.4,587.2,-12.1,321,5409,0.12,2.25,0.00,0.000,6,0.151,0.047,2634,1851,3535,0,0,0,0,0,0
$GC,5925,-1.33,-165.4,652.4,-12.7,338,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1851,3534,0,0,0,0,0,0
$GC,6444,-1.37,-165.4,713.3,-11.1,355,6448,0.10,0.82,0.00,0.000,4,0.098,0.057,2578,2369,3532,0,0,0,0,0,0
$GC,6702,-1.33,-165.4,743.1,-11.4,362,6706,0.10,0.80,0.00,0.000,6,0.141,0.053,2611,1859,3532,0,0,0,0,0,0
$GC,7234,-1.33,-165.4,799.8,-10.8,380,7238,0.00,2.30,0.00,0.000,4,0.000,0.061,2601,3273,3530,0,0,0,0,0,0
$GC,7346,-1.33,-165.4,812.2,-10.9,383,7351,0.05,2.25,0.00,0.000,6,0.201,0.049,2613,1860,3530,0,0,0,0,0,0
$GC,7878,-1.33,-165.4,872.4,-12.0,401,7882,0.00,2.30,0.00,0.000,4,0.000,0.061,2604,3263,3529,0,0,0,0,0,0
$GC,7978,-1.33,-165.4,884.8,-12.2,404,7983,0.00,2.25,0.00,0.000,6,0.000,0.050,2604,1860,3528,0,0,0,0,0,0
$GC,8498,-1.33,-165.4,949.4,-12.8,421,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1860,3526,0,0,0,0,0,0
$GC,8804,-1.33,-165.4,990.0,-13.2,431,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1860,3525,0,0,0,0,0,0
$STATE,8832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8833,begin apogee
$GC,8838,-0.31,0.0,994.0,13.2,432,8984,1.10,0.00,141.95,1.252,6,0.122,0.000,2945,1560,2862,0,0,0,0,0,0
$STATE,8985,end apogee,CONTROL_FINISHED_OK
$STATE,8985,begin climb
$GC,8988,1.23,165.4,1010.4,0.0,437,9145,1.40,0.93,148.30,1.229,4,0.054,0.047,3445,2100,2185,0,0,0,0,0,0
$GC,9397,0.99,487.3,1033.6,-3.6,449,9699,0.28,0.88,294.20,1.234,6,0.172,0.055,3371,1556,875,0,0,0,0,0,0
$GC,10020,1.02,509.0,982.4,10.8,470,10046,0.00,2.35,20.85,1.151,4,0.000,0.057,3370,2971,786,0,0,0,0,0,0
$GC,10149,1.05,509.0,966.6,12.6,473,10153,0.00,2.30,0.00,0.000,6,0.000,0.051,3381,1554,783,0,0,0,0,0,0
$GC,10484,1.09,509.0,925.3,12.4,484,10487,0.00,1.10,0.00,0.000,4,0.000,0.063,3385,888,781,0,0,0,0,0,0
$GC,10573,1.13,509.0,914.0,12.9,486,10578,0.03,1.08,0.00,0.000,6,0.097,0.047,3413,1555,780,0,0,0,0,0,0
$GC,10892,1.13,509.0,873.8,12.4,497,10895,0.00,1.27,0.00,0.000,4,0.000,0.065,3419,797,780,0,0,0,0,0,0
$GC,10975,1.13,509.4,863.3,11.8,499,10979,0.00,1.23,0.00,0.000,6,0.000,0.048,3419,1558,780,0,0,0,0,0,0
$GC,11514,1.13,525.9,802.0,11.0,517,11535,0.00,2.08,16.42,1.080,4,0.000,0.067,3429,369,717,0,0,0,0,0,0
$GC,11621,1.10,525.9,789.8,12.1,520,11625,0.12,1.92,0.00,0.000,6,0.164,0.047,3397,1566,715,0,0,0,0,0,0
$GC,12166,1.13,530.7,727.8,11.6,538,12175,0.00,0.55,5.43,0.815,4,0.000,0.061,3398,1231,698,0,0,0,0,0,0
$GC,12244,1.16,544.8,718.9,11.1,540,12265,0.00,0.52,15.98,1.035,6,0.000,0.054,3398,1564,639,0,0,0,0,0,0
$GC,12788,1.21,553.2,656.7,11.4,558,12803,0.10,1.10,8.55,0.915,4,0.102,0.065,3452,931,606,0,0,0,0,0,0
$GC,12900,1.17,553.2,643.2,12.0,561,12904,0.08,1.02,0.00,0.000,6,0.148,0.047,3426,1565,605,0,0,0,0,0,0
$GC,13445,1.17,583.5,585.1,10.3,579,13479,0.00,1.52,30.05,1.004,4,0.000,0.063,3433,651,483,0,0,0,0,0,0
$GC,13577,1.18,620.2,571.6,10.0,583,13601,0.00,1.48,17.90,0.954,6,0.000,0.050,3433,1551,409,0,0,0,0,0,0
$GC,14130,1.20,620.2,507.3,12.8,601,14134,0.00,2.38,0.00,0.000,4,0.000,0.069,3443,150,401,0,0,0,0,0,0
$GC,14259,1.20,620.2,489.4,14.8,605,14263,0.00,2.30,0.00,0.000,6,0.000,0.049,3443,1571,401,0,0,0,0,0,0
$GC,14777,1.20,620.2,414.1,15.0,622,14782,0.00,2.38,0.00,0.000,4,0.000,0.068,3454,156,400,0,0,0,0,0,0
$GC,14979,1.20,620.2,383.8,15.2,628,14984,0.10,2.28,0.00,0.000,6,0.161,0.048,3428,1565,400,0,0,0,0,0,0
$GC,15525,1.24,640.0,316.4,10.8,646,15530,0.00,2.38,0.00,0.000,4,0.000,0.068,3439,153,400,0,0,0,0,0,0
$GC,15657,1.24,669.2,302.6,10.4,650,15662,0.00,2.30,0.00,0.000,6,0.000,0.049,3439,1571,400,0,0,0,0,0,0
$GC,16182,1.24,686.4,248.8,11.0,675,16186,0.00,2.40,0.00,0.000,4,0.000,0.067,3450,153,400,0,0,0,0,0,0
$GC,16316,1.24,686.4,233.0,12.6,681,16320,0.00,2.28,0.00,0.000,6,0.000,0.048,3450,1563,400,0,0,0,0,0,0
$GC,16854,1.24,686.4,162.5,14.4,711,16858,0.00,2.38,0.00,0.000,4,0.000,0.066,3461,157,400,0,0,0,0,0,0
$GC,17021,1.24,686.4,138.0,16.9,721,17026,0.08,2.28,0.00,0.000,6,0.179,0.047,3442,1567,400,0,0,0,0,0,0
$GC,17552,1.24,692.0,73.4,11.5,762,17556,0.00,2.35,0.00,0.000,4,0.000,0.065,3453,158,399,0,0,0,0,0,0
$GC,17737,1.24,712.9,52.4,10.8,783,17742,0.00,2.28,0.00,0.000,6,0.000,0.047,3453,1568,400,0,0,0,0,0,0
$GC,18010,1.21,627.8,21.9,10.5,830,18018,0.08,2.40,0.00,0.000,4,0.190,0.065,3445,160,400,0,0,0,0,0,0
$STATE,18173,end climb,SURFACE_DEPTH_REACHED
$STATE,18173,begin surface coast
$FINISH,2.5,1.011951
$STATE,18204,end surface coast,CONTROL_FINISHED_OK
$STATE,18204,begin surface
$SM_CCo,18285,0.00,0.000,0,0,399,604.41
$SM_GC,3.26,8.80,0.00,0.00,0.029,0.000,0.000,78,1864,399,-9.18,0.11,604.41
$IRIDIUM_FIX,-4120.75,-315.90,140213,202022
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,9.03045
$TCM_TEMP,15.90
$XPDR_PINGS,1
$24V_AH,22.2,110.321
$10V_AH,9.8,77.066
$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,22.975,95.575,699.625,0.000,0.000,90.758,152.258,515.834,0.250,0.000,41.782,2195.971,12733.968,675.887,3393.374,378.991,33.362,1904.398,0.000,2634.190,0.000,1.010,0.000
$DEVICE_MAMPS,218.025,83.385,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,579.529,836.888,589.042,72.824,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354488
$DATA_FILE_SIZE,50332,862
$CAP_FILE_SIZE,154322,1
$CFSIZE,2097086464,2015133696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150213,022004,-4135.197,-313.479,44,1.9,44,-22.6