version: 66.07.10.p01
glider: 573
mission: 4
dive: 8
start: 9 25 112 18 59 26
data:
$ID,573
$MISSION,4
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,-3989.8152
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$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
$GPS1,250912,185135,-4256.740,-1100.751,31,1.0,31,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.8
$GPS2,250912,185906,-4256.696,-1100.788,14,1.7,14,-21.2
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-4256.696,-1046.035
$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,-13.9,-10.000
$D_GRID,360
$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,-0.64,-243.2,0.0,0.0,0,110,0.00,0.00,-83.80,0.000,2,0.000,0.000,92,1794,3187,0,0,0,0,0,0
$GC,112,-0.64,-243.2,3.0,-4.8,14,144,11.43,2.08,-14.32,0.000,4,0.260,0.070,2795,3107,3856,0,0,0,0,0,0
$GC,281,-0.61,-243.2,29.2,-14.7,42,289,0.08,2.08,0.00,0.000,6,0.145,0.044,2821,1786,3857,0,0,0,0,0,0
$GC,360,-0.59,-243.2,39.3,-12.2,55,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1786,3857,0,0,0,0,0,0
$GC,593,-0.59,-243.2,69.3,-12.4,96,600,0.00,0.55,0.00,0.000,4,0.000,0.054,2819,2158,3856,0,0,0,0,0,0
$GC,697,-0.59,-243.2,82.2,-11.9,114,705,0.00,0.55,0.00,0.000,6,0.000,0.052,2819,1787,3856,0,0,0,0,0,0
$GC,1049,-0.57,-243.2,124.3,-12.9,175,1055,0.08,1.17,0.00,0.000,4,0.193,0.054,2832,2533,3856,0,0,0,0,0,0
$GC,1166,-0.57,-243.2,138.0,-11.5,195,1170,0.00,1.12,0.00,0.000,6,0.000,0.047,2833,1800,3857,0,0,0,0,0,0
$GC,1513,-0.57,-243.2,178.9,-11.0,256,1520,0.00,1.08,0.00,0.000,4,0.000,0.053,2827,2495,3856,0,0,0,0,0,0
$GC,1637,-0.57,-243.2,192.3,-11.1,277,1642,0.00,1.08,0.00,0.000,6,0.000,0.047,2827,1791,3856,0,0,0,0,0,0
$GC,1984,-0.57,-243.2,231.8,-11.5,338,1992,0.00,1.50,0.00,0.000,4,0.000,0.054,2820,2746,3856,0,0,0,0,0,0
$GC,2119,-0.57,-243.2,246.3,-11.2,361,2125,0.03,1.45,0.00,0.000,6,0.177,0.045,2832,1799,3856,0,0,0,0,0,0
$GC,2462,-0.57,-243.2,282.0,-9.8,422,2467,0.00,0.68,0.00,0.000,4,0.000,0.053,2829,2254,3856,0,0,0,0,0,0
$GC,2618,-0.57,-243.2,296.9,-9.4,450,2626,0.00,0.68,0.00,0.000,6,0.000,0.049,2829,1796,3856,0,0,0,0,0,0
$GC,2965,-0.57,-243.2,331.5,-10.0,511,2969,0.00,1.17,0.00,0.000,4,0.000,0.054,2823,2556,3856,0,0,0,0,0,0
$GC,3101,-0.57,-243.2,344.6,-9.9,535,3105,0.00,1.15,0.00,0.000,6,0.000,0.047,2823,1799,3856,0,0,0,0,0,0
$STATE,3252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3252,begin apogee
$GC,3256,-0.23,0.0,360.2,10.8,562,3447,0.35,0.00,186.65,0.871,6,0.132,0.000,2942,1690,2862,0,0,0,0,0,0
$STATE,3448,end apogee,CONTROL_FINISHED_OK
$STATE,3448,begin climb
$GC,3449,0.64,243.2,369.1,0.0,599,3651,0.88,1.98,192.60,0.842,4,0.108,0.057,3223,553,1869,0,0,0,0,0,0
$GC,3707,0.78,349.8,356.5,7.1,648,3802,0.10,1.88,87.85,0.825,6,0.057,0.042,3279,1690,1435,0,0,0,0,0,0
$GC,4137,0.94,435.6,322.0,7.6,726,4216,0.12,2.38,71.65,0.823,4,0.097,0.056,3334,3108,1085,0,0,0,0,0,0
$GC,4274,0.94,435.6,309.3,11.1,751,4279,0.08,2.28,0.00,0.000,6,0.187,0.046,3328,1702,1080,0,0,0,0,0,0
$GC,4616,0.97,446.8,275.7,9.7,812,4632,0.00,2.35,9.07,0.731,4,0.000,0.060,3338,293,1040,0,0,0,0,0,0
$GC,4749,0.97,446.8,261.1,10.3,836,4755,0.00,2.28,0.00,0.000,6,0.000,0.044,3338,1706,1039,0,0,0,0,0,0
$GC,5098,1.00,446.8,223.4,11.1,897,5103,0.00,1.98,0.00,0.000,4,0.000,0.060,3347,487,1037,0,0,0,0,0,0
$GC,5190,1.00,446.8,212.8,11.4,913,5196,0.00,1.90,0.00,0.000,6,0.000,0.045,3347,1704,1037,0,0,0,0,0,0
$GC,5538,1.00,446.8,172.6,11.0,974,5545,0.00,2.30,0.00,0.000,4,0.000,0.060,3357,300,1036,0,0,0,0,0,0
$GC,5638,1.00,446.8,160.2,13.2,991,5643,0.00,2.20,0.00,0.000,6,0.000,0.044,3357,1707,1036,0,0,0,0,0,0
$GC,5986,1.00,446.8,116.4,13.3,1052,5993,0.00,2.30,0.00,0.000,4,0.000,0.060,3367,297,1036,0,0,0,0,0,0
$GC,6121,0.97,446.8,98.1,14.2,1075,6127,0.12,2.17,0.00,0.000,6,0.158,0.044,3332,1703,1035,0,0,0,0,0,0
$GC,6469,1.00,446.8,59.8,12.1,1136,6476,0.00,2.22,0.00,0.000,4,0.000,0.060,3342,332,1035,0,0,0,0,0,0
$GC,6558,1.00,446.8,48.9,13.6,1151,6563,0.00,2.12,0.00,0.000,6,0.000,0.044,3342,1702,1035,0,0,0,0,0,0
$GC,6796,1.00,446.8,21.1,11.1,1192,6803,0.00,1.62,0.00,0.000,4,0.000,0.058,3350,684,1035,0,0,0,0,0,0
$GC,6905,1.00,446.8,9.5,10.0,1210,6912,0.00,1.58,0.00,0.000,6,0.000,0.044,3349,1697,1035,0,0,0,0,0,0
$STATE,6960,end climb,SURFACE_DEPTH_REACHED
$STATE,6960,begin surface coast
$FINISH,0.8,1.026121
$STATE,6985,end surface coast,CONTROL_FINISHED_OK
$STATE,6985,begin surface
$SM_CCo,7060,0.00,0.000,0,0,1033,448.65
$SM_GC,1.63,8.52,0.00,0.00,0.043,0.000,0.000,95,1813,1033,-9.09,0.57,448.65
$IRIDIUM_FIX,-4242.04,-1103.02,250912,171741
$TT8_MAMPS,0.026964
$HUMID,42.79
$INTERNAL_PRESSURE,9.07928
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.1,5.878
$10V_AH,10.4,3.277
$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,21.775,50.150,547.825,0.000,0.000,26.632,37.561,298.848,0.000,0.000,17.436,2311.587,1342.377,430.809,3338.548,98.487,0.000,1523.391,0.000,2956.250,0.000,1.008,0.000
$DEVICE_MAMPS,260.100,83.385,871.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.524,1889.247,457.637,193.220,0.000,0.000,0.000,0.000,0.000,0.000
$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,73531,1223
$CAP_FILE_SIZE,108688,0
$CFSIZE,2097086464,2094006272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250912,205805,-4256.275,-1059.663,28,0.9,28,-21.2