version: 66.07.10.p01
glider: 573
mission: 4
dive: 99
start: 10 18 112 14 49 42
data:
$ID,573
$MISSION,4
$DIVE,99
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,167
$T_MISSION,182
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4597.272
$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,34
$R_STBD_OVSHOOT,37
$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,78
$GPS1,181012,144129,-4306.152,-835.990,46,0.9,47,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-70.6
$GPS2,181012,144850,-4306.153,-835.935,18,0.9,20,-21.4
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.062,-0.231
$KALMAN_X,-97900.0,-184.7,55.2,214678.2,120.9
$KALMAN_Y,-192791.2,-351.5,-195.5,144475.3,175.2
$MHEAD_RNG_PITCHd_Wd,186.4,66220,-20.0,-9.980
$D_GRID,500
$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,23,begin dive
$GC,24,-0.92,-121.4,0.0,0.0,0,75,0.00,0.00,-48.38,0.000,2,0.000,0.000,92,1823,3033,0,0,0,0,0,0
$GC,77,-0.92,-121.6,3.2,-2.1,8,103,11.07,2.25,-7.82,0.000,4,0.259,0.070,2709,3213,3356,0,0,0,0,0,0
$GC,358,-0.80,-121.6,52.8,-15.6,56,365,0.12,2.20,0.00,0.000,6,0.160,0.043,2756,1810,3357,0,0,0,0,0,0
$GC,594,-0.75,-121.6,85.9,-14.1,97,599,0.10,0.65,0.00,0.000,4,0.203,0.054,2777,2235,3357,0,0,0,0,0,0
$GC,754,-0.75,-121.6,107.4,-13.3,120,762,0.00,0.65,0.00,0.000,6,0.000,0.048,2777,1810,3357,0,0,0,0,0,0
$GC,1075,-0.75,-121.6,147.4,-12.4,141,1078,0.00,0.98,0.00,0.000,4,0.000,0.054,2773,2439,3356,0,0,0,0,0,0
$GC,1236,-0.75,-121.6,168.3,-12.8,150,1244,0.00,0.98,0.00,0.000,6,0.000,0.045,2773,1808,3356,0,0,0,0,0,0
$GC,1558,-0.72,-121.6,209.6,-12.9,171,1562,0.03,1.05,0.00,0.000,4,0.276,0.052,2777,2476,3356,0,0,0,0,0,0
$GC,1679,-0.72,-121.6,225.3,-12.2,178,1684,0.00,1.02,0.00,0.000,6,0.000,0.044,2777,1813,3356,0,0,0,0,0,0
$GC,2005,-0.72,-121.6,265.7,-12.5,197,2009,0.00,1.25,0.00,0.000,4,0.000,0.054,2771,2611,3356,0,0,0,0,0,0
$GC,2142,-0.72,-121.6,283.2,-12.5,203,2147,0.03,1.20,0.00,0.000,6,0.193,0.044,2780,1827,3356,0,0,0,0,0,0
$GC,2476,-0.72,-121.6,325.0,-12.2,219,2480,0.00,0.45,0.00,0.000,4,0.000,0.054,2779,2139,3356,0,0,0,0,0,0
$GC,2704,-0.72,-121.6,353.4,-12.6,229,2707,0.00,0.47,0.00,0.000,6,0.000,0.050,2779,1809,3356,0,0,0,0,0,0
$GC,3037,-0.72,-121.6,397.4,-13.4,245,3041,0.00,1.20,0.00,0.000,4,0.000,0.053,2773,2580,3357,0,0,0,0,0,0
$GC,3150,-0.72,-121.6,412.6,-13.2,250,3154,0.00,1.15,0.00,0.000,6,0.000,0.045,2773,1827,3356,0,0,0,0,0,0
$GC,3482,-0.72,-121.6,454.7,-12.4,266,3486,0.00,0.70,0.00,0.000,4,0.000,0.052,2770,2296,3356,0,0,0,0,0,0
$GC,3663,-0.72,-121.6,477.1,-12.5,274,3667,0.03,0.73,0.00,0.000,6,0.190,0.047,2779,1808,3357,0,0,0,0,0,0
$STATE,3870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3870,begin apogee
$GC,3874,-0.23,0.0,502.2,12.3,284,3972,0.52,0.00,94.93,0.949,6,0.142,0.000,2946,1650,2862,0,0,0,0,0,0
$STATE,3973,end apogee,CONTROL_FINISHED_OK
$STATE,3973,begin climb
$GC,3974,0.92,121.6,507.8,0.0,287,4076,1.10,0.73,96.07,0.929,4,0.099,0.054,3315,1217,2366,0,0,0,0,0,0
$GC,4143,0.92,201.0,502.9,5.6,292,4214,0.00,0.70,65.60,0.916,6,0.000,0.045,3315,1651,2041,0,0,0,0,0,0
$GC,4532,0.96,214.7,469.0,9.2,311,4547,0.00,0.50,11.77,0.838,4,0.000,0.060,3317,1346,1986,0,0,0,0,0,0
$GC,4620,1.01,220.8,460.7,9.6,314,4630,0.08,0.47,6.50,0.743,6,0.127,0.051,3351,1651,1962,0,0,0,0,0,0
$GC,4946,1.01,220.8,426.5,10.8,330,4949,0.00,0.55,0.00,0.000,4,0.000,0.057,3354,1294,1960,0,0,0,0,0,0
$GC,5029,1.01,220.8,417.4,10.9,333,5034,0.00,0.55,0.00,0.000,6,0.000,0.049,3354,1645,1959,0,0,0,0,0,0
$GC,5346,1.01,220.8,382.6,11.6,349,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1645,1958,0,0,0,0,0,0
$GC,5653,1.01,220.8,346.0,12.1,364,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1645,1957,0,0,0,0,0,0
$GC,5965,1.01,220.8,308.9,11.4,379,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1645,1957,0,0,0,0,0,0
$GC,6272,1.01,220.8,272.4,12.0,394,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1645,1956,0,0,0,0,0,0
$GC,6590,1.01,220.8,235.8,11.6,411,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1645,1956,0,0,0,0,0,0
$GC,6902,1.01,220.8,200.3,11.5,431,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1645,1957,0,0,0,0,0,0
$GC,7215,1.01,220.8,164.3,11.6,451,7218,0.00,0.45,0.00,0.000,4,0.000,0.054,3354,1969,1956,0,0,0,0,0,0
$GC,7318,1.01,220.8,151.7,12.2,457,7321,0.00,0.47,0.00,0.000,6,0.000,0.055,3356,1651,1956,0,0,0,0,0,0
$GC,7647,1.01,220.8,110.5,12.3,478,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1651,1956,0,0,0,0,0,0
$GC,7978,1.01,220.8,69.9,12.6,526,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1651,1956,0,0,0,0,0,0
$GC,8327,1.01,220.8,27.2,10.8,587,8334,0.00,0.98,0.00,0.000,4,0.000,0.050,3356,2288,1956,0,0,0,0,0,0
$GC,8436,1.01,220.8,14.3,14.6,605,8443,0.03,0.98,0.00,0.000,6,0.201,0.048,3351,1653,1956,0,0,0,0,0,0
$GC,8515,1.01,220.8,4.3,13.8,618,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1653,1956,0,0,0,0,0,0
$STATE,8528,end climb,SURFACE_DEPTH_REACHED
$STATE,8529,begin surface coast
$FINISH,1.6,1.026041
$STATE,8554,end surface coast,CONTROL_FINISHED_OK
$STATE,8554,begin surface
$SM_CCo,8569,11.75,0.540,0,0,1840,250.20
$SM_GC,3.70,0.00,0.00,11.75,0.000,0.000,0.540,91,1819,1840,-9.16,0.00,250.20
$IRIDIUM_FIX,-4247.91,-837.38,181012,131303
$TT8_MAMPS,0.026964
$HUMID,42.67
$INTERNAL_PRESSURE,9.1574
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.3,18.722
$10V_AH,10.4,17.663
$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,21.550,23.775,274.875,11.750,0.000,27.857,41.352,276.202,0.000,0.000,22.383,1499.535,4870.227,307.163,2278.900,80.139,33.333,997.552,0.000,1896.468,0.000,1.427,0.000
$DEVICE_MAMPS,276.165,69.615,949.365,540.090,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.694,1072.072,372.537,67.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,36905,624
$CAP_FILE_SIZE,86760,0
$CFSIZE,2097086464,2081325056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,181012,171429,-4307.430,-836.060,72,1.1,72,-21.4