version: 66.07.10.p01
glider: 573
mission: 4
dive: 9
start: 9 25 112 21 8 9
data:
$ID,573
$MISSION,4
$DIVE,9
$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,-3993.3235
$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,30
$R_STBD_OVSHOOT,42
$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
$GPS1,250912,205805,-4256.275,-1059.663,28,0.9,28,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.9
$GPS2,250912,210749,-4256.215,-1059.670,17,0.8,18,-21.2
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-4256.215,-1044.919
$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,-243.2,0.0,0.0,0,121,0.00,0.00,-95.00,0.000,2,0.000,0.000,91,1815,3395,0,0,0,0,0,0
$GC,123,-0.64,-243.2,3.6,-5.6,16,150,11.45,0.60,-8.70,0.000,4,0.261,0.100,2805,2217,3857,0,0,0,0,0,0
$GC,332,-0.60,-243.2,36.4,-13.6,51,338,0.05,0.65,0.00,0.000,6,0.150,0.050,2823,1786,3858,0,0,0,0,0,0
$GC,566,-0.60,-243.2,64.8,-11.2,92,573,0.00,0.70,0.00,0.000,4,0.000,0.054,2820,2247,3858,0,0,0,0,0,0
$GC,704,-0.60,-243.2,80.4,-11.9,116,711,0.00,0.68,0.00,0.000,6,0.000,0.051,2819,1798,3858,0,0,0,0,0,0
$GC,1056,-0.58,-243.2,119.4,-11.2,177,1061,0.00,1.42,0.00,0.000,4,0.000,0.056,2813,2702,3858,0,0,0,0,0,0
$GC,1194,-0.58,-243.2,135.8,-11.9,201,1200,0.03,1.40,0.00,0.000,6,0.181,0.046,2824,1790,3858,0,0,0,0,0,0
$GC,1542,-0.58,-243.2,177.2,-11.5,262,1549,0.00,1.00,0.00,0.000,4,0.000,0.053,2819,2437,3859,0,0,0,0,0,0
$GC,1654,-0.58,-243.2,189.9,-11.4,281,1659,0.00,0.98,0.00,0.000,6,0.000,0.048,2819,1795,3858,0,0,0,0,0,0
$GC,2001,-0.58,-243.2,228.9,-10.3,342,2008,0.00,1.48,0.00,0.000,4,0.000,0.054,2813,2734,3858,0,0,0,0,0,0
$GC,2136,-0.58,-243.2,243.1,-10.6,365,2141,0.05,1.45,0.00,0.000,6,0.152,0.045,2832,1789,3858,0,0,0,0,0,0
$GC,2479,-0.58,-243.2,278.0,-10.0,426,2486,0.00,1.25,0.00,0.000,4,0.000,0.054,2826,2590,3858,0,0,0,0,0,0
$GC,2599,-0.58,-243.2,289.2,-9.9,447,2605,0.00,1.23,0.00,0.000,6,0.000,0.046,2826,1786,3858,0,0,0,0,0,0
$GC,2945,-0.58,-243.2,324.5,-9.8,508,2950,0.00,1.23,0.00,0.000,4,0.000,0.054,2820,2575,3858,0,0,0,0,0,0
$GC,3064,-0.58,-243.2,335.5,-9.2,529,3068,0.00,1.20,0.00,0.000,6,0.000,0.047,2821,1787,3858,0,0,0,0,0,0
$STATE,3321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3321,begin apogee
$GC,3325,-0.23,0.0,360.4,9.2,575,3522,0.35,0.00,187.38,0.872,6,0.133,0.000,2940,1695,2862,0,0,0,0,0,0
$STATE,3523,end apogee,CONTROL_FINISHED_OK
$STATE,3523,begin climb
$GC,3524,0.64,243.2,367.9,0.0,613,3727,0.88,2.42,193.10,0.844,4,0.106,0.058,3225,304,1870,0,0,0,0,0,0
$GC,3814,0.77,358.0,352.9,6.8,667,3918,0.12,2.28,94.72,0.828,6,0.093,0.043,3278,1701,1401,0,0,0,0,0,0
$GC,4256,0.94,426.4,316.1,8.1,747,4319,0.12,2.38,57.22,0.823,4,0.096,0.059,3340,301,1122,0,0,0,0,0,0
$GC,4420,0.94,426.4,299.6,11.4,777,4426,0.00,2.28,0.00,0.000,6,0.000,0.044,3340,1692,1116,0,0,0,0,0,0
$GC,4766,0.94,426.4,261.8,11.4,838,4772,0.05,1.70,0.00,0.000,4,0.215,0.059,3335,655,1113,0,0,0,0,0,0
$GC,4862,0.94,426.4,250.5,11.2,855,4868,0.00,1.67,0.00,0.000,6,0.000,0.046,3335,1703,1112,0,0,0,0,0,0
$GC,5211,0.96,426.4,211.9,11.8,916,5218,0.00,2.00,0.00,0.000,4,0.000,0.060,3344,481,1111,0,0,0,0,0,0
$GC,5303,0.96,426.4,200.4,12.5,932,5311,0.03,1.92,0.00,0.000,6,0.172,0.045,3334,1700,1111,0,0,0,0,0,0
$GC,5655,0.96,426.4,159.8,11.7,993,5660,0.00,1.77,0.00,0.000,4,0.000,0.060,3342,594,1111,0,0,0,0,0,0
$GC,5771,0.96,426.4,146.5,10.8,1013,5776,0.00,1.73,0.00,0.000,6,0.000,0.045,3342,1705,1110,0,0,0,0,0,0
$GC,6119,0.96,461.8,106.2,9.0,1074,6153,0.00,2.30,28.35,0.737,4,0.000,0.059,3353,294,980,0,0,0,0,0,0
$GC,6251,0.96,461.8,92.4,10.4,1097,6257,0.08,2.22,0.00,0.000,6,0.176,0.045,3335,1703,975,0,0,0,0,0,0
$GC,6601,1.00,461.8,57.8,12.5,1158,6608,0.00,2.00,0.00,0.000,4,0.000,0.060,3343,476,974,0,0,0,0,0,0
$GC,6690,1.00,461.8,45.2,15.1,1173,6695,0.00,1.90,0.00,0.000,6,0.000,0.044,3343,1702,973,0,0,0,0,0,0
$GC,6928,1.02,461.8,18.6,10.8,1214,6935,0.00,1.70,0.00,0.000,4,0.000,0.058,3351,658,973,0,0,0,0,0,0
$GC,7030,1.02,461.8,5.8,13.2,1231,7037,0.00,1.62,0.00,0.000,6,0.000,0.046,3351,1693,973,0,0,0,0,0,0
$STATE,7056,end climb,SURFACE_DEPTH_REACHED
$STATE,7056,begin surface coast
$FINISH,0.7,1.024625
$STATE,7081,end surface coast,CONTROL_FINISHED_OK
$STATE,7081,begin surface
$SM_CCo,7156,0.00,0.000,0,0,969,464.10
$SM_GC,1.87,8.57,0.00,0.00,0.042,0.000,0.000,91,1805,969,-9.10,0.31,464.10
$IRIDIUM_FIX,-4242.04,-1103.02,250912,171741
$TT8_MAMPS,0.026964
$HUMID,42.32
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.1,6.039
$10V_AH,10.4,3.410
$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,21.775,47.425,560.775,0.000,0.000,27.863,39.269,398.797,0.000,0.000,21.025,2342.686,1365.707,439.631,3490.243,88.221,0.000,1551.732,0.000,2993.572,0.000,1.009,0.000
$DEVICE_MAMPS,260.865,100.215,872.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.063,1922.455,468.433,195.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,73553,1239
$CAP_FILE_SIZE,111811,0
$CFSIZE,2097086464,2093875200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250912,230835,-4255.526,-1058.326,39,0.8,39,-21.2