version: 66.07.10.p01
glider: 573
mission: 4
dive: 606
start: 2 15 113 14 47 19
data:
$ID,573
$MISSION,4
$DIVE,606
$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,-6140.6934
$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,29
$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,585
$GPS1,150213,142953,-4134.165,-309.637,58,0.9,58,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-65.9
$GPS2,150213,144623,-4134.053,-309.316,45,1.4,45,-22.6
$SPEED_LIMITS,0.168,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-311.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.231,0.145
$KALMAN_X,128214.0,677.6,543.3,-129793.7,1270.5
$KALMAN_Y,-80987.3,15.7,-462.1,150203.1,238.6
$MHEAD_RNG_PITCHd_Wd,324.8,7861,-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,-6.60,0.000,2,0.000,0.000,79,1854,903,0,0,0,0,0,0
$GC,38,-1.05,-165.4,3.1,-0.0,1,166,10.62,2.00,-109.30,0.000,4,0.217,0.070,2691,3092,3535,0,0,0,0,0,0
$GC,245,-1.11,-165.4,18.2,-13.0,35,253,0.00,1.95,0.00,0.000,6,0.000,0.045,2690,1861,3537,0,0,0,0,0,0
$GC,326,-1.15,-165.4,28.6,-12.6,48,333,0.00,0.45,0.00,0.000,4,0.000,0.059,2690,1558,3537,0,0,0,0,0,0
$GC,348,-1.20,-165.4,31.2,-12.5,51,354,0.05,0.47,0.00,0.000,6,0.065,0.055,2643,1866,3537,0,0,0,0,0,0
$GC,689,-1.18,-165.4,74.4,-12.0,101,693,0.08,0.93,0.00,0.000,4,0.181,0.057,2658,2452,3537,0,0,0,0,0,0
$GC,948,-1.22,-165.4,105.9,-12.2,123,952,0.00,0.93,0.00,0.000,6,0.000,0.050,2658,1859,3537,0,0,0,0,0,0
$GC,1478,-1.26,-165.4,164.7,-10.7,157,1482,0.00,1.25,0.00,0.000,4,0.000,0.054,2658,1075,3537,0,0,0,0,0,0
$GC,1523,-1.28,-165.4,170.2,-11.2,159,1529,0.03,1.25,0.00,0.000,6,0.093,0.046,2612,1860,3537,0,0,0,0,0,0
$GC,2066,-1.25,-165.4,235.2,-12.7,190,2071,0.10,2.30,0.00,0.000,4,0.170,0.056,2640,455,3537,0,0,0,0,0,0
$GC,2133,-1.21,-165.4,243.9,-12.0,193,2138,0.10,2.22,0.00,0.000,6,0.165,0.044,2655,1862,3537,0,0,0,0,0,0
$GC,2681,-1.23,-165.4,308.1,-11.4,219,2684,0.00,2.12,0.00,0.000,4,0.000,0.054,2656,543,3537,0,0,0,0,0,0
$GC,2736,-1.23,-165.4,314.9,-12.9,220,2740,0.00,2.05,0.00,0.000,6,0.000,0.044,2646,1861,3537,0,0,0,0,0,0
$STATE,3052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3052,begin apogee
$GC,3058,-0.31,0.0,350.8,11.3,231,3194,0.90,0.00,131.95,0.793,6,0.106,0.000,2942,1561,2862,0,0,0,0,0,0
$STATE,3194,end apogee,CONTROL_FINISHED_OK
$STATE,3195,begin climb
$GC,3197,1.05,165.4,362.7,0.0,235,3337,1.20,1.55,131.50,0.780,4,0.052,0.054,3396,654,2186,0,0,0,0,0,0
$GC,3423,0.82,530.2,379.4,-4.7,242,3732,0.22,1.45,300.55,0.780,6,0.153,0.043,3315,1560,699,0,0,0,0,0,0
$GC,4271,0.94,545.4,320.2,9.1,270,4291,0.10,2.38,13.23,0.715,4,0.094,0.063,3390,163,638,0,0,0,0,0,0
$GC,4397,0.94,545.4,307.6,10.1,273,4403,0.15,2.22,0.00,0.000,6,0.136,0.045,3346,1560,636,0,0,0,0,0,0
$GC,4933,1.01,545.4,251.9,10.8,298,4937,0.08,2.25,0.00,0.000,4,0.120,0.063,3403,203,634,0,0,0,0,0,0
$GC,5023,1.01,545.4,241.4,11.1,302,5028,0.12,2.15,0.00,0.000,6,0.147,0.044,3368,1561,634,0,0,0,0,0,0
$GC,5552,1.05,545.4,182.8,10.6,330,5556,0.00,0.60,0.00,0.000,4,0.000,0.061,3371,1185,633,0,0,0,0,0,0
$GC,5799,1.10,545.4,156.6,11.0,344,5807,0.05,0.57,0.00,0.000,6,0.065,0.051,3416,1555,633,0,0,0,0,0,0
$GC,6332,1.07,545.4,94.2,12.5,380,6336,0.10,1.02,0.00,0.000,4,0.164,0.059,3394,945,632,0,0,0,0,0,0
$GC,6592,1.07,545.4,62.8,13.2,403,6596,0.00,0.98,0.00,0.000,6,0.000,0.047,3395,1557,632,0,0,0,0,0,0
$GC,7063,1.01,585.0,13.7,8.2,482,7089,0.10,2.35,20.50,0.549,4,0.168,0.063,3378,156,476,0,0,0,0,0,0
$GC,7153,1.09,585.0,3.2,13.4,496,7160,0.00,2.30,0.00,0.000,6,0.000,0.049,3378,1561,470,0,0,0,0,0,0
$STATE,7166,end climb,SURFACE_DEPTH_REACHED
$STATE,7166,begin surface coast
$FINISH,2.3,1.014708
$STATE,7198,end surface coast,CONTROL_FINISHED_OK
$STATE,7198,begin surface
$SM_CCo,7276,0.00,0.000,0,0,468,587.24
$SM_GC,3.14,8.82,0.00,0.00,0.044,0.000,0.000,82,1868,468,-9.16,0.23,587.24
$IRIDIUM_FIX,-4117.88,-309.99,150213,141438
$TT8_MAMPS,0.026964
$HUMID,49.29
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.8,111.208
$10V_AH,9.9,77.479
$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,22.825,38.700,597.725,0.000,0.000,82.027,128.802,467.422,0.000,0.000,47.743,1189.103,4039.511,538.920,2265.741,240.219,33.339,1237.741,0.000,1570.456,0.000,1.009,0.000
$DEVICE_MAMPS,217.260,69.615,792.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.410,814.424,315.216,67.095,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354584
$DATA_FILE_SIZE,30314,503
$CAP_FILE_SIZE,82896,0
$CFSIZE,2097086464,2014642176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150213,164953,-4133.423,-308.680,43,1.4,43,-22.6