version: 66.07.10.p01
glider: 573
mission: 4
dive: 101
start: 10 18 112 19 54 22
data:
$ID,573
$MISSION,4
$DIVE,101
$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,-4603.8384
$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,39
$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,80
$GPS1,181012,194805,-4308.142,-835.089,85,1.0,85,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-71.1
$GPS2,181012,195330,-4308.145,-835.081,17,1.1,18,-21.4
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.197,-0.136
$KALMAN_X,-99708.7,26.1,-143.1,217630.2,-1021.8
$KALMAN_Y,-194399.4,-126.1,376.0,141596.0,-1374.7
$MHEAD_RNG_PITCHd_Wd,146.0,62359,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.91,-121.6,0.0,0.0,0,69,0.00,0.00,-42.47,0.000,2,0.000,0.000,89,1820,2869,0,0,0,0,0,0
$GC,71,-0.91,-121.6,3.1,-2.0,7,103,10.85,2.25,-13.85,0.000,4,0.256,0.071,2709,3216,3356,0,0,0,0,0,0
$GC,367,-0.80,-121.6,45.4,-15.2,57,373,0.17,2.17,0.00,0.000,6,0.173,0.043,2756,1810,3358,0,0,0,0,0,0
$GC,600,-0.75,-121.6,78.8,-14.8,98,606,0.08,0.62,0.00,0.000,4,0.220,0.054,2770,2220,3358,0,0,0,0,0,0
$GC,812,-0.72,-121.6,106.7,-13.1,130,821,0.08,0.62,0.00,0.000,6,0.191,0.049,2787,1809,3358,0,0,0,0,0,0
$GC,1133,-0.72,-121.6,145.1,-12.0,151,1136,0.00,1.12,0.00,0.000,4,0.000,0.052,2783,2527,3358,0,0,0,0,0,0
$GC,1287,-0.72,-121.6,163.0,-11.6,160,1290,0.00,1.08,0.00,0.000,6,0.000,0.045,2783,1825,3358,0,0,0,0,0,0
$GC,1618,-0.72,-121.6,201.4,-11.7,181,1621,0.00,1.12,0.00,0.000,4,0.000,0.052,2778,2547,3358,0,0,0,0,0,0
$GC,1755,-0.72,-121.6,216.8,-11.0,189,1758,0.00,1.12,0.00,0.000,6,0.000,0.045,2778,1812,3358,0,0,0,0,0,0
$GC,2090,-0.72,-121.6,253.4,-10.5,210,2094,0.00,1.10,0.00,0.000,4,0.000,0.053,2773,2520,3359,0,0,0,0,0,0
$GC,2241,-0.72,-121.6,269.6,-10.8,216,2250,0.05,1.10,0.00,0.000,6,0.223,0.044,2784,1807,3359,0,0,0,0,0,0
$GC,2557,-0.72,-121.6,304.5,-11.5,232,2561,0.00,1.17,0.00,0.000,4,0.000,0.051,2779,2563,3359,0,0,0,0,0,0
$GC,2718,-0.72,-121.6,323.0,-12.0,239,2722,0.00,1.12,0.00,0.000,6,0.000,0.044,2779,1825,3359,0,0,0,0,0,0
$GC,3052,-0.72,-121.6,365.8,-13.3,255,3055,0.00,0.75,0.00,0.000,4,0.000,0.049,2776,2320,3359,0,0,0,0,0,0
$GC,3144,-0.72,-121.6,378.4,-13.7,259,3148,0.00,0.75,0.00,0.000,6,0.000,0.046,2776,1816,3359,0,0,0,0,0,0
$GC,3478,-0.72,-121.6,424.5,-13.3,275,3481,0.00,1.15,0.00,0.000,4,0.000,0.053,2771,2557,3359,0,0,0,0,0,0
$GC,3583,-0.72,-121.6,438.4,-12.6,279,3590,0.08,1.15,0.00,0.000,6,0.194,0.044,2787,1813,3359,0,0,0,0,0,0
$GC,3901,-0.72,-121.6,475.0,-11.1,295,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1813,3359,0,0,0,0,0,0
$STATE,4125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4125,begin apogee
$GC,4129,-0.23,0.0,500.4,11.0,306,4227,0.50,0.00,95.22,0.955,6,0.139,0.000,2947,1642,2862,0,0,0,0,0,0
$STATE,4228,end apogee,CONTROL_FINISHED_OK
$STATE,4228,begin climb
$GC,4229,0.91,121.6,504.9,0.0,309,4334,1.08,1.48,95.93,0.930,4,0.098,0.052,3313,786,2365,0,0,0,0,0,0
$GC,4490,0.92,168.7,491.5,7.4,319,4533,0.00,1.38,38.90,0.910,6,0.000,0.044,3313,1641,2174,0,0,0,0,0,0
$GC,4841,0.95,206.0,462.6,7.9,336,4876,0.00,0.68,30.95,0.902,4,0.000,0.046,3313,2082,2022,0,0,0,0,0,0
$GC,4961,0.99,221.8,452.0,9.1,341,4981,0.03,0.68,14.55,0.854,6,0.106,0.050,3341,1650,1956,0,0,0,0,0,0
$GC,5302,0.99,221.8,417.7,10.2,358,5305,0.00,1.20,0.00,0.000,4,0.000,0.054,3347,897,1953,0,0,0,0,0,0
$GC,5392,0.99,221.8,408.4,10.2,362,5396,0.00,1.17,0.00,0.000,6,0.000,0.044,3346,1640,1952,0,0,0,0,0,0
$GC,5724,0.99,221.8,375.1,10.1,378,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1641,1950,0,0,0,0,0,0
$GC,6035,0.99,221.8,343.8,10.3,393,6039,0.00,0.40,0.00,0.000,4,0.000,0.061,3348,1373,1950,0,0,0,0,0,0
$GC,6117,0.99,221.8,334.7,10.3,396,6125,0.00,0.43,0.00,0.000,6,0.000,0.052,3349,1651,1950,0,0,0,0,0,0
$GC,6433,0.99,221.8,299.3,11.6,412,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1651,1949,0,0,0,0,0,0
$GC,6744,0.99,221.8,263.5,11.1,427,6748,0.00,0.43,0.00,0.000,4,0.000,0.057,3349,1955,1949,0,0,0,0,0,0
$GC,6849,0.99,221.8,250.6,12.3,431,6855,0.00,0.50,0.00,0.000,6,0.000,0.054,3351,1634,1949,0,0,0,0,0,0
$GC,7173,0.99,221.8,212.5,11.9,452,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1634,1949,0,0,0,0,0,0
$GC,7487,0.99,221.8,174.9,12.4,472,7490,0.00,0.47,0.00,0.000,4,0.000,0.054,3351,1955,1949,0,0,0,0,0,0
$GC,7622,0.99,221.8,158.1,12.1,480,7626,0.00,0.47,0.00,0.000,6,0.000,0.054,3353,1640,1949,0,0,0,0,0,0
$GC,7953,0.99,221.8,118.7,11.9,501,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1640,1948,0,0,0,0,0,0
$GC,8278,0.99,221.8,77.1,12.9,541,8282,0.00,0.77,0.00,0.000,4,0.000,0.051,3353,2153,1949,0,0,0,0,0,0
$GC,8380,0.99,221.8,65.3,11.3,559,8384,0.03,0.77,0.00,0.000,6,0.191,0.049,3347,1646,1949,0,0,0,0,0,0
$GC,8730,0.99,221.8,24.8,10.3,620,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1646,1948,0,0,0,0,0,0
$GC,8809,0.99,221.8,15.7,10.8,633,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1646,1949,0,0,0,0,0,0
$GC,8888,0.99,221.8,6.7,13.8,646,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1646,1949,0,0,0,0,0,0
$STATE,8918,end climb,SURFACE_DEPTH_REACHED
$STATE,8918,begin surface coast
$FINISH,1.5,1.015225
$STATE,8944,end surface coast,CONTROL_FINISHED_OK
$STATE,8944,begin surface
$SM_CCo,8958,11.02,0.540,0,0,1840,250.20
$SM_GC,3.94,0.00,0.00,11.02,0.000,0.000,0.540,91,1829,1840,-9.16,0.28,250.20
$IRIDIUM_FIX,-4250.85,-834.91,181012,171736
$TT8_MAMPS,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.14764
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.3,18.899
$10V_AH,10.3,17.838
$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,21.350,29.775,275.550,11.025,0.000,31.037,45.959,155.418,0.000,0.000,20.501,1583.554,5037.085,314.514,2292.361,76.286,33.333,1051.573,0.000,2020.628,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,71.145,955.485,540.090,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.509,1144.555,390.804,73.041,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,40276,655
$CAP_FILE_SIZE,89745,0
$CFSIZE,2097086464,2081128448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,181012,222523,-4309.356,-834.473,57,1.0,57,-21.4