version: 66.07.10.p01
glider: 573
mission: 4
dive: 97
start: 10 18 112 12 20 43
data:
$ID,573
$MISSION,4
$DIVE,97
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,400
$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,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,-4590.5581
$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,31
$R_STBD_OVSHOOT,38
$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,76
$GPS1,181012,121407,-4304.931,-836.118,16,1.7,17,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-70.7
$GPS2,181012,121950,-4304.953,-836.031,26,1.1,27,-21.4
$SPEED_LIMITS,0.172,0.239
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.007,-0.239
$KALMAN_X,-97187.3,-223.1,-707.0,214630.9,321.6
$KALMAN_Y,-191992.5,-260.7,-766.3,146382.6,-75.0
$MHEAD_RNG_PITCHd_Wd,199.8,68367,-20.0,-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,-0.91,-121.4,0.0,0.0,0,80,0.00,0.00,-53.95,0.000,2,0.000,0.000,87,1826,2983,0,0,0,0,0,0
$GC,82,-0.91,-121.6,3.3,-2.4,9,108,11.05,2.22,-9.55,0.000,4,0.257,0.069,2711,3221,3358,0,0,0,0,0,0
$GC,286,-0.81,-121.6,34.1,-16.8,43,291,0.17,2.20,0.00,0.000,6,0.172,0.044,2758,1809,3360,0,0,0,0,0,0
$GC,519,-0.76,-121.6,66.6,-14.0,84,527,0.08,0.77,0.00,0.000,4,0.215,0.054,2772,2304,3360,0,0,0,0,0,0
$GC,667,-0.73,-121.6,85.7,-13.1,110,672,0.00,0.75,0.00,0.000,6,0.000,0.048,2773,1808,3360,0,0,0,0,0,0
$GC,999,-0.71,-121.6,128.7,-13.2,144,1003,0.08,1.27,0.00,0.000,4,0.206,0.054,2783,2611,3360,0,0,0,0,0,0
$GC,1152,-0.71,-121.6,147.1,-11.7,153,1156,0.00,1.23,0.00,0.000,6,0.000,0.044,2784,1820,3360,0,0,0,0,0,0
$GC,1483,-0.71,-121.6,188.0,-12.4,174,1486,0.00,1.10,0.00,0.000,4,0.000,0.053,2779,2526,3359,0,0,0,0,0,0
$STATE,1576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1576,begin apogee
$GC,1581,-0.23,0.0,200.1,12.4,179,1676,0.50,0.00,92.20,0.758,6,0.144,0.000,2940,1649,2862,0,0,0,0,0,0
$STATE,1677,end apogee,CONTROL_FINISHED_OK
$STATE,1677,begin climb
$GC,1679,0.91,121.6,205.7,0.0,186,1778,1.12,0.73,92.93,0.737,4,0.103,0.054,3315,1214,2366,0,0,0,0,0,0
$GC,1861,0.92,190.2,198.5,6.2,197,1919,0.00,0.70,54.60,0.725,6,0.000,0.045,3315,1650,2085,0,0,0,0,0,0
$GC,2238,0.96,195.7,165.1,9.6,222,2245,0.00,0.00,4.78,0.547,6,0.000,0.000,3315,1651,2064,0,0,0,0,0,0
$GC,2551,1.00,199.0,135.9,9.8,242,2561,0.08,0.60,4.55,0.480,4,0.128,0.052,3350,2052,2050,0,0,0,0,0,0
$GC,2636,1.00,199.0,127.0,11.4,247,2640,0.00,0.62,0.00,0.000,6,0.000,0.050,3353,1643,2049,0,0,0,0,0,0
$GC,2960,1.00,199.0,90.9,10.4,276,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1643,2049,0,0,0,0,0,0
$GC,3306,1.00,199.0,53.0,11.8,337,3311,0.00,1.20,0.00,0.000,4,0.000,0.051,3353,2409,2048,0,0,0,0,0,0
$GC,3434,0.98,199.0,37.3,11.8,359,3439,0.05,1.17,0.00,0.000,6,0.168,0.046,3341,1652,2047,0,0,0,0,0,0
$GC,3675,0.98,248.0,14.4,7.3,400,3700,0.00,0.00,22.80,0.584,6,0.000,0.000,3342,1652,1849,0,0,0,0,0,0
$GC,3772,0.98,248.0,4.1,12.7,416,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1651,1842,0,0,0,0,0,0
$STATE,3785,end climb,SURFACE_DEPTH_REACHED
$STATE,3786,begin surface coast
$FINISH,1.5,1.026744
$STATE,3811,end surface coast,CONTROL_FINISHED_OK
$STATE,3811,begin surface
$SM_CCo,3886,0.00,0.000,0,0,1837,251.43
$SM_GC,2.42,8.50,0.00,0.00,0.036,0.000,0.000,87,1832,1837,-9.11,0.37,251.43
$IRIDIUM_FIX,-4247.91,-837.38,181012,111103
$TT8_MAMPS,0.026964
$HUMID,41.49
$INTERNAL_PRESSURE,9.17694
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.5,18.552
$10V_AH,10.3,17.519
$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,21.625,16.225,271.850,0.000,0.000,27.726,43.234,177.638,0.000,0.000,29.356,929.037,1507.186,253.223,1498.985,58.549,33.338,719.150,0.000,1217.221,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,71.145,758.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.287,778.961,221.709,74.960,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354344
$DATA_FILE_SIZE,23695,422
$CAP_FILE_SIZE,54021,0
$CFSIZE,2097086464,2081587200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181012,132853,-4305.606,-836.022,172,0.9,173,-21.4