version: 66.07.10.p01
glider: 573
mission: 4
dive: 2
start: 9 25 112 12 39 59
data:
$ID,573
$MISSION,4
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,500
$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,33
$T_MISSION,48
$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,250
$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,0
$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,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3881.2444
$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,2864
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,1940
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,36
$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,1000
$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,-1
$GPS1,250912,123456,-4259.315,-1100.120,23,1.3,23,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.7
$GPS2,250912,123907,-4259.256,-1100.150,17,1.3,17,-21.2
$SPEED_LIMITS,0.175,0.327
$TGT_NAME,ACC_573_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,-0.304
$KALMAN_X,-151.7,-151.7,-151.7,138.2,-343.1
$KALMAN_Y,273.5,273.5,273.5,229.1,618.8
$MHEAD_RNG_PITCHd_Wd,179.6,245702,-14.0,-10.101
$D_GRID,100
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.48,-243.2,0.0,0.0,0,110,0.00,0.00,-83.80,0.000,2,0.000,0.000,86,1924,3520,0,0,0,0,0,0
$GC,112,-0.48,-243.2,3.6,-6.9,14,138,11.07,1.20,-6.10,0.000,4,0.264,0.083,2693,2677,3857,0,0,0,0,0,0
$GC,266,-0.30,-243.2,40.8,-19.0,40,274,0.20,1.15,0.00,0.000,6,0.149,0.046,2757,1937,3858,0,0,0,0,0,0
$GC,505,-0.19,-243.2,78.8,-16.3,81,509,0.15,0.00,0.00,0.000,6,0.180,0.000,2797,1936,3858,0,0,0,0,0,0
$STATE,657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,657,begin apogee
$GC,660,-0.17,0.0,100.3,13.3,108,851,0.00,0.00,182.52,0.718,6,0.000,0.000,2797,1936,2862,0,0,0,0,0,0
$STATE,852,end apogee,CONTROL_FINISHED_OK
$STATE,852,begin climb
$GC,853,0.48,243.2,123.3,0.0,143,1051,0.73,1.12,187.68,0.694,4,0.145,0.053,3007,2599,1869,0,0,0,0,0,0
$GC,1115,0.92,385.2,115.4,6.1,190,1236,0.43,1.05,113.10,0.675,6,0.096,0.045,3153,1945,1291,0,0,0,0,0,0
$GC,1580,1.24,385.2,63.6,12.2,272,1588,0.28,2.28,0.00,0.000,4,0.087,0.058,3252,3332,1282,0,0,0,0,0,0
$GC,1845,1.59,385.2,34.7,11.3,318,1853,0.30,2.17,0.00,0.000,6,0.069,0.043,3369,1942,1281,0,0,0,0,0,0
$GC,2089,1.54,385.2,4.3,12.2,359,2096,0.00,1.33,0.00,0.000,4,0.000,0.052,3374,1098,1280,0,0,0,0,0,0
$STATE,2103,end climb,SURFACE_DEPTH_REACHED
$STATE,2103,begin surface coast
$FINISH,0.7,1.026732
$STATE,2128,end surface coast,CONTROL_FINISHED_OK
$STATE,2128,begin surface
$SM_CCo,2204,0.00,0.000,0,0,1275,389.28
$SM_GC,1.52,8.75,0.00,0.00,0.046,0.000,0.000,94,1945,1275,-8.61,0.14,389.28
$IRIDIUM_FIX,-4244.98,-1057.24,250912,121247
$TT8_MAMPS,0.026964
$HUMID,41.45
$INTERNAL_PRESSURE,9.09881
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.2,5.074
$10V_AH,10.4,2.797
$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,21.900,11.625,483.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.991,665.428,253.092,331.608,992.602,34.184,30.181,834.985,0.000,993.323,0.000,1.009,0.000
$DEVICE_MAMPS,263.925,82.620,717.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.696,715.639,147.404,98.431,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,20311,365
$CAP_FILE_SIZE,53944,0
$CFSIZE,2097086464,2094727168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250912,131753,-4258.971,-1100.363,39,1.3,39,-21.2