version: 66.07.10.p01
glider: 573
mission: 4
dive: 603
start: 2 15 113 6 20 48
data:
$ID,573
$MISSION,4
$DIVE,603
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1000
$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,180
$T_MISSION,200
$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,-6133.7197
$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,31
$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,582
$GPS1,150213,060759,-4134.318,-312.943,41,0.9,42,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-67.6
$GPS2,150213,061952,-4134.319,-312.909,38,1.7,53,-22.6
$SPEED_LIMITS,0.225,0.299
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4131.000,-315.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.192,0.229
$KALMAN_X,119831.9,445.7,486.0,-126036.1,1318.4
$KALMAN_Y,-76869.3,-516.0,567.7,145081.3,-863.5
$MHEAD_RNG_PITCHd_Wd,342.7,6796,-21.2,-12.963
$D_GRID,700
$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,23,begin dive
$GC,26,-1.33,-165.4,0.0,0.0,0,35,0.00,0.00,-6.95,0.000,2,0.000,0.000,81,1864,574,0,0,0,0,0,0
$GC,38,-1.33,-165.4,3.1,-0.0,1,172,10.10,1.48,-115.10,0.000,4,0.212,0.074,2615,986,3537,0,0,0,0,0,0
$GC,227,-1.30,-165.4,16.6,-15.9,32,234,0.00,1.42,0.00,0.000,6,0.000,0.048,2609,1862,3539,0,0,0,0,0,0
$GC,308,-1.27,-165.4,27.0,-12.9,45,315,0.10,0.00,0.00,0.000,6,0.182,0.000,2635,1862,3538,0,0,0,0,0,0
$GC,386,-1.31,-165.4,37.1,-12.4,58,393,0.00,0.80,0.00,0.000,4,0.000,0.057,2632,2378,3539,0,0,0,0,0,0
$GC,649,-1.37,-165.4,67.5,-11.2,98,654,0.08,0.82,0.00,0.000,6,0.054,0.054,2579,1852,3539,0,0,0,0,0,0
$GC,1091,-1.37,-165.4,116.0,-11.3,135,1096,0.10,2.33,0.00,0.000,4,0.185,0.059,2593,3277,3539,0,0,0,0,0,0
$GC,1293,-1.40,-165.4,139.1,-11.6,147,1298,0.00,2.20,0.00,0.000,6,0.000,0.046,2594,1858,3540,0,0,0,0,0,0
$GC,1823,-1.40,-165.4,198.5,-11.4,181,1827,0.00,2.20,0.00,0.000,4,0.000,0.056,2594,494,3540,0,0,0,0,0,0
$GC,1872,-1.37,-165.4,204.1,-11.6,184,1877,0.08,2.15,0.00,0.000,6,0.200,0.044,2600,1868,3540,0,0,0,0,0,0
$GC,2406,-1.40,-165.4,268.9,-12.2,210,2410,0.00,0.43,0.00,0.000,4,0.000,0.060,2601,1584,3540,0,0,0,0,0,0
$GC,2434,-1.40,-165.4,272.0,-12.2,211,2437,0.00,0.43,0.00,0.000,6,0.000,0.056,2599,1862,3540,0,0,0,0,0,0
$GC,2971,-1.42,-165.4,341.2,-13.0,232,2975,0.00,0.57,0.00,0.000,4,0.000,0.057,2599,1488,3540,0,0,0,0,0,0
$GC,2993,-1.44,-165.4,344.4,-13.0,232,2997,0.00,0.57,0.00,0.000,6,0.000,0.053,2597,1863,3540,0,0,0,0,0,0
$GC,3527,-1.46,-165.4,406.1,-10.8,250,3531,0.05,1.20,0.00,0.000,4,0.162,0.055,2557,1128,3540,0,0,0,0,0,0
$GC,3562,-1.41,-165.4,410.0,-11.0,251,3566,0.10,1.15,0.00,0.000,6,0.150,0.047,2584,1856,3540,0,0,0,0,0,0
$GC,4087,-1.41,-165.4,462.8,-9.8,268,4091,0.00,2.30,0.00,0.000,4,0.000,0.057,2584,455,3539,0,0,0,0,0,0
$GC,4171,-1.38,-165.4,471.7,-10.6,270,4176,0.10,2.25,0.00,0.000,6,0.184,0.044,2598,1869,3539,0,0,0,0,0,0
$GC,4701,-1.41,-165.4,526.2,-11.3,287,4705,0.00,2.33,0.00,0.000,4,0.000,0.057,2598,454,3538,0,0,0,0,0,0
$GC,4807,-1.41,-165.4,539.2,-11.7,290,4811,0.00,2.25,0.00,0.000,6,0.000,0.044,2588,1867,3538,0,0,0,0,0,0
$GC,5326,-1.41,-165.4,599.4,-11.7,307,5330,0.00,2.33,0.00,0.000,4,0.000,0.058,2588,455,3536,0,0,0,0,0,0
$GC,5450,-1.41,-165.4,614.2,-11.9,310,5455,0.00,2.25,0.00,0.000,6,0.000,0.045,2578,1864,3535,0,0,0,0,0,0
$GC,5977,-1.41,-165.4,672.7,-10.8,328,5981,0.00,2.33,0.00,0.000,4,0.000,0.057,2578,454,3535,0,0,0,0,0,0
$STATE,6007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6007,begin apogee
$GC,6015,-0.31,0.0,676.7,11.5,329,6159,1.20,0.00,137.55,1.027,6,0.134,0.000,2938,1568,2862,0,0,0,0,0,0
$STATE,6160,end apogee,CONTROL_FINISHED_OK
$STATE,6160,begin climb
$GC,6163,1.33,165.4,688.5,0.0,334,6311,1.52,2.33,139.45,1.006,4,0.053,0.051,3485,2959,2186,0,0,0,0,0,0
$GC,6368,1.07,448.6,699.2,-1.9,340,6623,0.40,2.25,242.25,1.001,6,0.185,0.044,3391,1558,1032,0,0,0,0,0,0
$GC,7143,1.07,533.6,639.1,8.5,366,7227,0.00,2.45,77.45,0.984,4,0.000,0.063,3401,160,685,0,0,0,0,0,0
$GC,7433,1.14,583.9,610.5,10.3,374,7484,0.00,2.25,45.58,0.959,6,0.000,0.046,3401,1558,480,0,0,0,0,0,0
$GC,8017,1.25,591.0,541.5,12.6,394,8029,0.12,2.33,5.88,0.759,4,0.084,0.064,3472,165,453,0,0,0,0,0,0
$GC,8174,1.25,591.0,519.3,14.5,398,8180,0.10,2.20,0.00,0.000,6,0.170,0.045,3446,1561,452,0,0,0,0,0,0
$GC,8702,1.31,591.0,448.4,13.0,416,8706,0.00,1.77,0.00,0.000,4,0.000,0.064,3454,486,451,0,0,0,0,0,0
$GC,8844,1.34,598.8,431.0,12.6,420,8859,0.05,1.70,8.65,0.780,6,0.164,0.047,3483,1560,419,0,0,0,0,0,0
$GC,9392,1.34,627.1,365.6,11.5,438,9402,0.00,1.35,3.92,0.532,4,0.000,0.064,3489,769,409,0,0,0,0,0,0
$GC,9655,1.34,645.7,334.6,12.0,445,9660,0.00,1.27,0.00,0.000,6,0.000,0.049,3489,1557,408,0,0,0,0,0,0
$GC,10177,1.32,645.7,269.5,13.1,466,10182,0.08,2.35,0.00,0.000,4,0.203,0.067,3483,157,407,0,0,0,0,0,0
$GC,10435,1.32,663.1,236.1,12.0,477,10443,0.00,2.30,0.08,0.106,6,0.000,0.047,3483,1567,407,0,0,0,0,0,0
$GC,10972,1.32,666.1,170.9,12.8,507,10976,0.00,2.35,0.00,0.000,4,0.000,0.065,3493,155,407,0,0,0,0,0,0
$GC,11230,1.29,666.1,135.6,14.1,522,11237,0.08,2.28,0.00,0.000,6,0.151,0.048,3468,1554,407,0,0,0,0,0,0
$GC,11761,1.29,681.9,70.0,12.1,564,11765,0.00,2.28,0.00,0.000,4,0.000,0.056,3468,2966,407,0,0,0,0,0,0
$GC,11899,1.29,696.6,53.3,12.2,580,11906,0.03,2.28,0.00,0.000,6,0.194,0.051,3469,1567,407,0,0,0,0,0,0
$GC,12013,1.29,604.5,39.0,12.8,599,12018,0.00,1.27,0.00,0.000,4,0.000,0.063,3474,797,407,0,0,0,0,0,0
$GC,12107,1.29,610.9,26.6,12.6,615,12114,0.00,1.23,0.00,0.000,6,0.000,0.049,3475,1560,407,0,0,0,0,0,0
$GC,12188,1.31,610.9,15.8,13.5,628,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,1560,407,0,0,0,0,0,0
$GC,12268,1.24,655.0,7.0,10.7,641,12276,0.12,0.73,0.00,0.000,4,0.169,0.064,3444,1128,407,0,0,0,0,0,0
$STATE,12301,end climb,SURFACE_DEPTH_REACHED
$STATE,12301,begin surface coast
$FINISH,2.5,1.025605
$STATE,12326,end surface coast,CONTROL_FINISHED_OK
$STATE,12326,begin surface
$SM_CCo,12405,0.00,0.000,0,0,405,602.45
$SM_GC,3.30,8.95,0.00,0.00,0.037,0.000,0.000,76,1862,405,-9.18,0.08,602.45
$IRIDIUM_FIX,-4120.75,-315.90,150213,020258
$TT8_MAMPS,0.026964
$HUMID,51.29
$INTERNAL_PRESSURE,9.04021
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,23.4,110.752
$10V_AH,9.8,77.244
$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,23.350,73.725,660.800,0.000,0.000,30.082,44.767,410.154,0.500,0.000,55.598,1612.857,8057.231,649.063,2489.748,291.602,33.357,1584.741,0.000,1982.663,0.000,1.010,0.000
$DEVICE_MAMPS,211.905,74.205,1026.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.793,754.973,430.243,62.336,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,40355,650
$CAP_FILE_SIZE,115857,1
$CFSIZE,2097086464,2014904320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150213,094853,-4134.132,-312.118,44,1.5,45,-22.6