version: 66.07.10.p01
glider: 573
mission: 4
dive: 604
start: 2 15 113 10 1 48
data:
$ID,573
$MISSION,4
$DIVE,604
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,700
$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,300
$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,170
$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,200
$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,-6136.0527
$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,3045
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,1860
$C_ROLL_CLIMB,1560
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$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,583
$GPS1,150213,094853,-4134.132,-312.118,44,1.5,45,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-64.6
$GPS2,150213,100052,-4134.283,-311.900,30,1.2,46,-22.6
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-311.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.113,0.248
$KALMAN_X,123263.3,694.6,69.8,-127930.4,1094.1
$KALMAN_Y,-78058.2,-155.6,-871.8,147432.1,-19.4
$MHEAD_RNG_PITCHd_Wd,358.1,8029,-16.7,-9.722
$D_GRID,350
$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,26,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-6.70,0.000,2,0.000,0.000,75,1863,570,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.0,-0.0,1,195,10.20,0.70,-136.65,0.000,4,0.202,0.099,2698,2301,3537,0,0,0,0,0,0
$GC,250,-1.02,-165.4,10.7,-14.0,36,258,0.05,0.70,0.00,0.000,6,0.116,0.054,2719,1852,3538,0,0,0,0,0,0
$GC,332,-1.12,-165.4,21.1,-12.3,49,339,0.10,1.02,0.00,0.000,4,0.096,0.060,2654,2483,3538,0,0,0,0,0,0
$GC,522,-1.12,-165.4,43.6,-9.8,81,528,0.08,1.00,0.00,0.000,6,0.124,0.052,2681,1852,3538,0,0,0,0,0,0
$GC,862,-1.17,-165.4,76.8,-11.1,127,866,0.00,2.30,0.00,0.000,4,0.000,0.060,2671,3274,3538,0,0,0,0,0,0
$GC,1051,-1.28,-165.4,98.2,-11.0,144,1056,0.10,2.20,0.00,0.000,6,0.093,0.047,2605,1859,3538,0,0,0,0,0,0
$GC,1485,-1.22,-165.4,144.7,-10.7,172,1487,0.15,0.00,0.00,0.000,6,0.152,0.000,2648,1858,3538,0,0,0,0,0,0
$GC,2008,-1.22,-165.4,202.5,-11.6,205,2012,0.00,2.30,0.00,0.000,4,0.000,0.057,2648,446,3539,0,0,0,0,0,0
$GC,2080,-1.22,-165.4,211.4,-11.3,208,2084,0.00,2.25,0.00,0.000,6,0.000,0.044,2637,1877,3539,0,0,0,0,0,0
$GC,2609,-1.22,-165.4,270.4,-11.3,234,2613,0.00,2.33,0.00,0.000,4,0.000,0.057,2637,455,3539,0,0,0,0,0,0
$GC,2682,-1.18,-165.4,279.1,-11.9,237,2687,0.12,2.22,0.00,0.000,6,0.154,0.044,2661,1864,3539,0,0,0,0,0,0
$GC,3224,-1.22,-165.4,341.4,-11.8,258,3228,0.00,2.30,0.00,0.000,4,0.000,0.056,2662,455,3539,0,0,0,0,0,0
$STATE,3293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3294,begin apogee
$GC,3301,-0.31,0.0,350.3,11.8,260,3437,0.88,0.00,132.27,0.789,6,0.112,0.000,2940,1563,2862,0,0,0,0,0,0
$STATE,3438,end apogee,CONTROL_FINISHED_OK
$STATE,3438,begin climb
$GC,3440,1.05,165.4,361.6,0.0,264,3582,1.20,2.35,132.27,0.780,4,0.054,0.051,3386,2968,2187,0,0,0,0,0,0
$GC,3835,0.82,473.1,379.6,-2.4,276,4098,0.30,2.22,251.98,0.785,6,0.164,0.045,3314,1548,933,0,0,0,0,0,0
$GC,4626,0.92,473.1,309.0,10.1,302,4631,0.08,1.25,0.00,0.000,4,0.119,0.060,3370,784,923,0,0,0,0,0,0
$GC,4885,0.92,478.4,282.4,9.5,312,4898,0.05,1.23,4.55,0.549,6,0.132,0.045,3350,1555,911,0,0,0,0,0,0
$GC,5412,0.96,478.4,230.2,10.7,338,5416,0.00,2.25,0.00,0.000,4,0.000,0.055,3350,2967,910,0,0,0,0,0,0
$GC,5523,0.99,478.4,217.9,11.5,343,5527,0.00,2.22,0.00,0.000,6,0.000,0.050,3360,1556,910,0,0,0,0,0,0
$GC,6062,1.01,478.4,156.4,10.6,375,6066,0.00,2.28,0.00,0.000,4,0.000,0.054,3360,2967,909,0,0,0,0,0,0
$GC,6202,1.01,478.4,141.4,10.4,383,6208,0.00,2.22,0.00,0.000,6,0.000,0.049,3370,1555,909,0,0,0,0,0,0
$GC,6730,1.01,480.2,91.0,9.6,420,6734,0.00,2.25,0.00,0.000,4,0.000,0.054,3370,2965,908,0,0,0,0,0,0
$GC,6914,1.01,503.0,74.3,8.8,436,6942,0.00,2.25,23.58,0.639,6,0.000,0.049,3380,1554,811,0,0,0,0,0,0
$GC,7390,1.01,517.0,30.9,9.2,507,7408,0.00,2.35,11.32,0.584,4,0.000,0.061,3390,154,753,0,0,0,0,0,0
$GC,7624,1.01,521.8,12.0,9.5,546,7632,0.05,2.25,1.92,0.078,6,0.143,0.044,3373,1554,733,0,0,0,0,0,0
$GC,7706,1.04,521.8,3.3,10.3,559,7713,0.00,0.57,0.00,0.000,4,0.000,0.052,3375,1181,731,0,0,0,0,0,0
$STATE,7720,end climb,SURFACE_DEPTH_REACHED
$STATE,7720,begin surface coast
$FINISH,2.3,1.001673
$STATE,7762,end surface coast,CONTROL_FINISHED_OK
$STATE,7762,begin surface
$SM_CCo,7842,0.00,0.000,0,0,731,522.73
$SM_GC,3.18,8.82,0.00,0.00,0.043,0.000,0.000,84,1866,731,-9.18,0.17,522.73
$IRIDIUM_FIX,-4120.75,-315.90,150213,020258
$TT8_MAMPS,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,9.12811
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.7,110.902
$10V_AH,9.8,77.327
$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,22.175,47.900,557.900,0.000,0.000,29.680,43.668,422.297,0.000,0.000,49.580,1323.663,4152.396,537.018,2276.694,255.056,33.357,1289.521,0.000,1774.202,0.000,1.010,0.000
$DEVICE_MAMPS,201.960,98.685,788.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.949,950.140,352.639,82.043,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354580
$DATA_FILE_SIZE,33547,568
$CAP_FILE_SIZE,84797,0
$CFSIZE,2097086464,2014806016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150213,121335,-4134.435,-310.861,30,1.2,30,-22.6