version: 66.07.10.p01
glider: 573
mission: 4
dive: 96
start: 10 18 112 11 51 5
data:
$ID,573
$MISSION,4
$DIVE,96
$D_SURF,3
$D_FLARE,3
$D_TGT,50
$D_ABORT,100
$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,17
$T_MISSION,32
$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,125
$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,1
$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,-4587.3105
$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,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,1050
$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,75
$GPS1,181012,114359,-4304.677,-836.114,56,1.4,57,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.0
$GPS2,181012,115013,-4304.713,-836.093,24,1.2,25,-21.4
$SPEED_LIMITS,0.170,0.238
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.057,-0.239
$KALMAN_X,-97159.8,-241.1,-742.0,214573.8,30.3
$KALMAN_Y,-191844.6,-233.3,-758.9,146645.5,-18.2
$MHEAD_RNG_PITCHd_Wd,188.1,68815,-19.0,-9.804
$D_GRID,50
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.87,-121.6,0.0,0.0,0,75,0.00,0.00,-48.47,0.000,2,0.000,0.000,94,1825,3009,0,0,0,0,0,0
$GC,77,-0.87,-121.6,3.3,-2.0,8,103,10.75,2.22,-8.98,0.000,4,0.246,0.071,2727,3222,3358,0,0,0,0,0,0
$GC,275,-0.78,-121.6,35.2,-14.8,41,281,0.15,2.17,0.00,0.000,6,0.176,0.043,2766,1826,3360,0,0,0,0,0,0
$STATE,390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,390,begin apogee
$GC,394,-0.23,0.0,50.4,13.0,61,493,0.55,0.00,90.65,0.670,6,0.148,0.000,2940,1640,2863,0,0,0,0,0,0
$STATE,495,end apogee,CONTROL_FINISHED_OK
$STATE,495,begin climb
$GC,496,0.87,121.6,57.6,0.0,79,596,1.08,1.23,91.62,0.649,4,0.103,0.050,3302,908,2365,0,0,0,0,0,0
$GC,667,0.87,207.3,52.6,5.5,109,739,0.00,1.20,66.90,0.639,6,0.000,0.043,3302,1649,2015,0,0,0,0,0,0
$GC,970,0.92,236.4,28.6,8.3,162,990,0.00,0.47,15.07,0.593,4,0.000,0.047,3302,1969,1897,0,0,0,0,0,0
$GC,1068,0.98,243.7,19.2,9.4,178,1077,0.08,0.50,2.95,0.310,6,0.061,0.054,3348,1648,1867,0,0,0,0,0,0
$GC,1150,0.98,293.2,12.0,7.3,191,1175,0.00,0.00,23.20,0.544,6,0.000,0.000,3348,1648,1665,0,0,0,0,0,0
$STATE,1227,end climb,SURFACE_DEPTH_REACHED
$STATE,1227,begin surface coast
$FINISH,1.4,1.026737
$STATE,1258,end surface coast,CONTROL_FINISHED_OK
$STATE,1259,begin surface
$SM_CCo,1334,0.00,0.000,0,0,1651,297.05
$SM_GC,2.52,8.65,0.00,0.00,0.036,0.000,0.000,92,1826,1651,-9.09,0.20,297.05
$IRIDIUM_FIX,-4250.85,-834.91,181012,111143
$TT8_MAMPS,0.026215
$HUMID,40.74
$INTERNAL_PRESSURE,9.1574
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,24.5,18.482
$10V_AH,10.4,17.462
$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,21.250,8.350,290.400,0.000,0.000,26.140,39.545,212.337,0.000,0.000,27.837,420.516,135.085,201.541,926.453,41.470,33.341,516.340,0.000,621.819,0.000,1.009,0.000
$DEVICE_MAMPS,245.565,71.145,670.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,144.574,482.061,98.059,55.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,10333,209
$CAP_FILE_SIZE,31250,0
$CFSIZE,2097086464,2081718272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181012,121407,-4304.931,-836.118,16,1.7,17,-21.4