version: 66.07.10.p01
glider: 573
mission: 4
dive: 605
start: 2 15 113 12 21 44
data:
$ID,573
$MISSION,4
$DIVE,605
$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,-6138.3691
$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,28
$R_STBD_OVSHOOT,31
$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,584
$GPS1,150213,121335,-4134.435,-310.861,30,1.2,30,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-65.1
$GPS2,150213,122048,-4134.460,-310.662,16,1.3,16,-22.6
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-311.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.197,0.188
$KALMAN_X,125497.2,692.3,184.4,-128573.0,1314.6
$KALMAN_Y,-79554.5,-64.1,-1321.8,148969.4,583.0
$MHEAD_RNG_PITCHd_Wd,336.3,8273,-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,24,begin dive
$GC,26,-1.05,-165.4,0.0,0.0,0,35,0.00,0.00,-6.60,0.000,2,0.000,0.000,81,1866,884,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,172,10.40,0.57,-115.22,0.000,4,0.212,0.098,2704,2244,3537,0,0,0,0,0,0
$GC,435,-1.11,-165.4,38.9,-12.1,68,442,0.00,0.60,0.00,0.000,6,0.000,0.054,2704,1853,3539,0,0,0,0,0,0
$GC,784,-1.22,-165.4,77.5,-11.4,115,789,0.15,2.28,0.00,0.000,4,0.073,0.059,2607,3265,3540,0,0,0,0,0,0
$GC,1040,-1.22,-165.4,106.4,-10.7,136,1048,0.10,2.22,0.00,0.000,6,0.122,0.045,2643,1862,3540,0,0,0,0,0,0
$GC,1581,-1.22,-165.4,151.1,-9.0,171,1585,0.00,2.28,0.00,0.000,4,0.000,0.055,2643,457,3540,0,0,0,0,0,0
$GC,1636,-1.22,-165.4,157.1,-9.9,174,1644,0.03,2.25,0.00,0.000,6,0.177,0.044,2643,1865,3540,0,0,0,0,0,0
$GC,2163,-1.24,-165.4,218.6,-12.4,206,2167,0.00,2.22,0.00,0.000,4,0.000,0.054,2643,491,3541,0,0,0,0,0,0
$GC,2218,-1.24,-165.4,225.9,-12.6,208,2224,0.00,2.17,0.00,0.000,6,0.000,0.044,2634,1850,3540,0,0,0,0,0,0
$GC,2742,-1.24,-165.4,291.5,-11.9,234,2745,0.00,1.62,0.00,0.000,4,0.000,0.055,2633,859,3540,0,0,0,0,0,0
$GC,2788,-1.24,-165.4,297.3,-12.4,236,2792,0.03,1.60,0.00,0.000,6,0.174,0.046,2637,1860,3540,0,0,0,0,0,0
$STATE,3298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3299,begin apogee
$GC,3306,-0.31,0.0,352.3,9.8,253,3442,0.93,0.00,132.80,0.793,6,0.105,0.000,2942,1560,2862,0,0,0,0,0,0
$STATE,3443,end apogee,CONTROL_FINISHED_OK
$STATE,3443,begin climb
$GC,3445,1.05,165.4,362.3,0.0,257,3586,1.20,2.35,131.75,0.782,4,0.054,0.052,3386,2960,2185,0,0,0,0,0,0
$GC,3839,0.82,484.4,378.9,-2.9,269,4110,0.32,2.20,261.60,0.787,6,0.164,0.043,3308,1557,886,0,0,0,0,0,0
$GC,4632,0.92,514.9,324.4,8.5,295,4666,0.10,1.15,27.52,0.755,4,0.095,0.050,3366,2256,762,0,0,0,0,0,0
$GC,4744,0.94,515.6,313.5,9.7,298,4749,0.05,1.10,0.00,0.000,6,0.130,0.050,3352,1568,758,0,0,0,0,0,0
$GC,5268,1.00,515.6,259.9,11.0,321,5272,0.00,2.30,0.00,0.000,4,0.000,0.060,3363,155,755,0,0,0,0,0,0
$GC,5425,1.04,515.6,242.4,11.2,328,5429,0.00,2.22,0.00,0.000,6,0.000,0.044,3363,1563,754,0,0,0,0,0,0
$GC,5950,1.07,515.6,178.2,12.2,356,5955,0.08,2.28,0.00,0.000,4,0.119,0.062,3419,199,753,0,0,0,0,0,0
$GC,6101,1.02,515.6,158.2,13.1,365,6106,0.15,2.15,0.00,0.000,6,0.146,0.044,3377,1569,753,0,0,0,0,0,0
$GC,6635,1.02,515.6,92.8,11.0,401,6639,0.00,2.33,0.00,0.000,4,0.000,0.060,3388,149,752,0,0,0,0,0,0
$GC,6891,1.02,515.6,65.4,10.5,423,6898,0.03,2.28,0.00,0.000,6,0.162,0.045,3377,1561,752,0,0,0,0,0,0
$GC,7357,1.07,515.6,18.7,12.2,499,7364,0.00,2.35,0.00,0.000,4,0.000,0.062,3388,162,751,0,0,0,0,0,0
$STATE,7499,end climb,SURFACE_DEPTH_REACHED
$STATE,7499,begin surface coast
$FINISH,2.4,1.025925
$STATE,7514,end surface coast,CONTROL_FINISHED_OK
$STATE,7514,begin surface
$SM_CCo,7596,0.00,0.000,0,0,750,518.07
$SM_GC,3.38,8.75,0.00,0.00,0.037,0.000,0.000,79,1855,750,-9.17,-0.17,518.07
$IRIDIUM_FIX,-4117.88,-309.99,150213,090948
$TT8_MAMPS,0.026964
$HUMID,49.37
$INTERNAL_PRESSURE,9.11834
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.7,111.041
$10V_AH,9.9,77.401
$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,22.300,43.775,553.675,0.000,0.000,26.773,38.807,242.105,0.000,0.000,18.477,1235.252,4148.851,517.353,1927.814,205.723,33.376,1223.003,0.000,1638.989,0.000,1.011,0.000
$DEVICE_MAMPS,211.905,97.920,793.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.950,831.669,327.364,71.857,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,33606,525
$CAP_FILE_SIZE,74077,0
$CFSIZE,2097086464,2014707712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150213,142953,-4134.165,-309.637,58,0.9,58,-22.6