version: 66.07.10.p01
glider: 573
mission: 4
dive: 7
start: 9 25 112 17 43 16
data:
$ID,573
$MISSION,4
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,67
$T_MISSION,82
$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,-3986.6785
$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,40
$R_STBD_OVSHOOT,40
$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
$GPS1,250912,173059,-4257.112,-1100.857,40,1.2,40,-21.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.2
$GPS2,250912,174255,-4257.018,-1100.968,18,1.2,19,-21.2
$SPEED_LIMITS,0.172,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,-4257.018,-1046.214
$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,-13.8,-9.950
$D_GRID,200
$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,23,-0.64,-243.2,0.0,0.0,0,116,0.00,0.00,-89.95,0.000,2,0.000,0.000,81,1804,3370,0,0,0,0,0,0
$GC,118,-0.64,-243.2,3.5,-6.1,15,144,11.65,2.15,-9.27,0.000,4,0.265,0.070,2796,3156,3856,0,0,0,0,0,0
$GC,281,-0.61,-243.2,29.6,-12.6,42,289,0.08,2.12,0.00,0.000,6,0.148,0.044,2822,1802,3857,0,0,0,0,0,0
$GC,360,-0.59,-243.2,39.1,-12.1,55,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1802,3857,0,0,0,0,0,0
$GC,593,-0.59,-243.2,67.0,-11.5,96,600,0.00,0.25,0.00,0.000,4,0.000,0.064,2821,1986,3856,0,0,0,0,0,0
$GC,857,-0.59,-243.2,97.9,-11.8,142,864,0.00,0.28,0.00,0.000,6,0.000,0.064,2821,1787,3856,0,0,0,0,0,0
$GC,1210,-0.57,-243.2,139.3,-11.6,203,1215,0.05,1.58,0.00,0.000,4,0.227,0.056,2825,2776,3857,0,0,0,0,0,0
$GC,1338,-0.57,-243.2,153.5,-11.0,225,1343,0.00,1.52,0.00,0.000,6,0.000,0.045,2825,1787,3856,0,0,0,0,0,0
$GC,1687,-0.57,-243.2,193.8,-11.9,286,1694,0.00,1.02,0.00,0.000,4,0.000,0.053,2821,2448,3856,0,0,0,0,0,0
$STATE,1744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1744,begin apogee
$GC,1749,-0.23,0.0,200.6,11.5,296,1941,0.35,0.00,183.25,0.772,6,0.134,0.000,2938,1800,2864,0,0,0,0,0,0
$STATE,1941,end apogee,CONTROL_FINISHED_OK
$STATE,1941,begin climb
$GC,1943,0.64,243.2,211.4,0.0,331,2141,0.88,1.88,190.25,0.741,4,0.110,0.052,3222,678,1870,0,0,0,0,0,0
$GC,2212,0.79,365.9,199.7,6.6,379,2324,0.15,1.83,99.15,0.726,6,0.081,0.044,3289,1805,1368,0,0,0,0,0,0
$GC,2669,0.92,424.1,161.9,8.3,459,2725,0.10,0.32,47.70,0.718,4,0.110,0.063,3340,1597,1132,0,0,0,0,0,0
$GC,2842,1.06,424.1,145.5,10.0,489,2848,0.05,0.32,0.00,0.000,6,0.074,0.059,3374,1817,1126,0,0,0,0,0,0
$GC,3191,1.13,424.1,107.6,11.3,550,3198,0.00,2.22,0.00,0.000,4,0.000,0.058,3374,3198,1123,0,0,0,0,0,0
$GC,3261,1.07,424.1,97.4,15.5,562,3269,0.03,2.17,0.00,0.000,6,0.178,0.045,3374,1819,1123,0,0,0,0,0,0
$GC,3615,1.03,424.1,46.3,14.6,623,3620,0.08,2.25,0.00,0.000,4,0.196,0.056,3366,397,1122,0,0,0,0,0,0
$GC,3802,1.00,424.1,20.0,14.5,655,3809,0.05,2.22,0.00,0.000,6,0.144,0.044,3348,1810,1122,0,0,0,0,0,0
$GC,3882,1.00,424.1,9.0,13.6,668,3889,0.00,0.65,0.00,0.000,4,0.000,0.058,3351,1388,1122,0,0,0,0,0,0
$STATE,3930,end climb,SURFACE_DEPTH_REACHED
$STATE,3931,begin surface coast
$FINISH,0.6,1.026636
$STATE,3961,end surface coast,CONTROL_FINISHED_OK
$STATE,3961,begin surface
$SM_CCo,4036,0.00,0.000,0,0,1119,427.31
$SM_GC,1.41,8.65,0.00,0.00,0.047,0.000,0.000,98,1794,1119,-9.08,0.03,427.31
$IRIDIUM_FIX,-4239.11,-1059.57,250912,161603
$TT8_MAMPS,0.026964
$HUMID,42.32
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.2,5.727
$10V_AH,10.4,3.148
$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,22.100,24.425,520.350,0.000,0.000,53.349,83.364,403.931,0.000,0.000,21.913,1362.605,597.482,376.410,2359.242,68.170,0.000,1117.143,0.000,1782.765,0.000,1.010,0.000
$DEVICE_MAMPS,264.690,69.615,771.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.253,1256.343,259.350,168.110,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,40324,681
$CAP_FILE_SIZE,72044,0
$CFSIZE,2097086464,2094170112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250912,185135,-4256.740,-1100.751,31,1.0,31,-21.2