version: 66.07.10.p01
glider: 573
mission: 4
dive: 4
start: 9 25 112 14 44 58
data:
$ID,573
$MISSION,4
$DIVE,4
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-3976.9653
$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,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,1794
$C_ROLL_CLIMB,1808
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,37
$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
$GPS1,250912,143723,-4258.180,-1100.763,71,1.1,71,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.6
$GPS2,250912,144436,-4258.097,-1100.824,17,1.4,17,-21.2
$SPEED_LIMITS,0.175,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,-4258.097,-1046.066
$TGT_RADIUS,1852.000
$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,111.2,20000,-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,-0.65,-243.2,0.0,0.0,0,116,0.00,0.00,-89.43,0.000,2,0.000,0.000,91,1813,3531,0,0,0,0,0,0
$GC,118,-0.65,-243.2,3.8,-7.6,15,144,11.57,2.22,-5.78,0.000,4,0.264,0.070,2794,3191,3858,0,0,0,0,0,0
$GC,331,-0.62,-243.2,39.7,-12.2,51,338,0.10,2.17,0.00,0.000,6,0.173,0.043,2820,1784,3859,0,0,0,0,0,0
$GC,566,-0.62,-243.2,66.8,-11.6,92,573,0.00,0.43,0.00,0.000,4,0.000,0.056,2819,2080,3859,0,0,0,0,0,0
$GC,735,-0.62,-243.2,86.8,-11.9,121,740,0.00,0.43,0.00,0.000,6,0.000,0.055,2819,1786,3858,0,0,0,0,0,0
$STATE,841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,841,begin apogee
$GC,844,-0.23,0.0,100.1,12.0,140,1036,0.38,0.00,182.45,0.710,6,0.135,0.000,2943,1786,2861,0,0,0,0,0,0
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1038,0.65,243.2,110.2,0.0,175,1236,0.85,2.35,187.25,0.680,4,0.105,0.055,3221,423,1868,0,0,0,0,0,0
$GC,1311,0.80,385.1,98.9,6.1,224,1432,0.12,2.28,112.62,0.667,6,0.055,0.043,3287,1813,1291,0,0,0,0,0,0
$GC,1775,0.94,435.8,60.0,8.7,306,1827,0.10,2.38,41.35,0.659,4,0.111,0.057,3344,416,1083,0,0,0,0,0,0
$GC,1886,0.96,435.8,49.2,10.6,325,1892,0.00,2.22,0.00,0.000,6,0.000,0.044,3345,1806,1079,0,0,0,0,0,0
$GC,2123,0.96,435.8,22.1,10.6,366,2130,0.00,1.67,0.00,0.000,4,0.000,0.056,3351,789,1076,0,0,0,0,0,0
$GC,2255,0.96,435.8,6.9,12.2,388,2263,0.05,1.62,0.00,0.000,6,0.151,0.045,3334,1814,1075,0,0,0,0,0,0
$STATE,2287,end climb,SURFACE_DEPTH_REACHED
$STATE,2287,begin surface coast
$FINISH,0.7,1.026727
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2312,begin surface
$SM_CCo,2387,0.00,0.000,0,0,1071,439.33
$SM_GC,1.39,8.75,0.00,0.00,0.050,0.000,0.000,98,1816,1071,-9.08,0.59,439.33
$IRIDIUM_FIX,-4244.98,-1054.35,250912,131330
$TT8_MAMPS,0.026964
$HUMID,40.86
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.3,5.342
$10V_AH,10.4,2.919
$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,21.925,17.775,523.675,0.000,0.000,31.444,39.295,274.820,0.000,0.000,20.444,720.589,265.269,360.667,1445.772,44.130,0.000,907.386,0.000,1081.108,0.000,1.008,0.000
$DEVICE_MAMPS,263.925,70.380,709.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.365,785.064,160.652,109.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,23619,397
$CAP_FILE_SIZE,46276,0
$CFSIZE,2097086464,2094530560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250912,152623,-4257.814,-1100.787,67,1.1,67,-21.2