version: 66.07.10.p01
glider: 574
mission: 4
dive: 1
start: 9 20 112 14 59 30
data:
$ID,574
$MISSION,4
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,500
$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,15
$T_MISSION,40
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,0
$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,596.31458
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5078.4912
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3007
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$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,-61.017719
$PRESSURE_SLOPE,0.00011710486
$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,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,-1
$GPS1,200912,145525,-4325.754,-954.560,15,1.9,15,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.5
$GPS2,200912,145841,-4325.750,-954.576,14,1.3,14,-21.1
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.325,0.022
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,107.1,154712,-13.9,-10.000
$D_GRID,45
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.48,-243.2,0.0,0.0,0,156,0.00,0.00,-129.68,0.000,2,0.000,0.000,82,1956,3605,0,0,0,0,0,0
$GC,158,-0.48,-243.2,3.4,-7.4,22,184,12.75,2.20,-3.88,0.000,4,0.285,0.067,2832,3317,3821,0,0,0,0,0,0
$GC,292,-0.57,-243.2,24.1,-5.3,44,299,0.00,2.17,0.00,0.000,6,0.000,0.046,2832,1947,3822,0,0,0,0,0,0
$GC,371,-0.57,-243.2,30.9,-10.9,57,376,0.00,1.20,0.00,0.000,4,0.000,0.062,2832,1196,3822,0,0,0,0,0,0
$GC,452,-0.57,-243.2,40.0,-11.0,71,457,0.00,1.12,0.00,0.000,6,0.000,0.044,2831,1915,3822,0,0,0,0,0,0
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,493,-0.17,0.0,45.3,14.3,78,685,0.38,0.00,183.48,0.753,6,0.137,0.000,2949,1915,2827,0,0,0,0,0,0
$STATE,686,end apogee,CONTROL_FINISHED_OK
$STATE,686,begin climb
$GC,687,0.48,243.2,65.0,0.0,113,884,0.62,0.82,187.60,0.726,4,0.085,0.053,3158,1433,1837,0,0,0,0,0,0
$GC,1085,0.50,337.0,55.8,7.4,184,1169,0.00,0.82,74.57,0.712,6,0.000,0.044,3158,1959,1451,0,0,0,0,0,0
$GC,1309,0.60,419.6,38.2,7.7,223,1381,0.12,2.40,65.72,0.700,4,0.096,0.062,3212,544,1115,0,0,0,0,0,0
$GC,1476,0.64,419.6,20.2,11.8,252,1484,0.00,2.25,0.00,0.000,6,0.000,0.039,3212,1942,1109,0,0,0,0,0,0
$GC,1556,0.68,419.6,11.3,11.6,265,1563,0.00,0.28,0.00,0.000,4,0.000,0.068,3212,1765,1108,0,0,0,0,0,0
$STATE,1617,end climb,SURFACE_DEPTH_REACHED
$STATE,1617,begin surface coast
$FINISH,0.1,1.026741
$STATE,1636,end surface coast,CONTROL_FINISHED_OK
$STATE,1636,begin surface
$SM_CCo,1651,78.90,0.576,0,0,395,596.31
$SM_GC,1.17,0.00,0.00,78.90,0.000,0.000,0.576,87,1988,395,-9.11,1.16,596.31
$IRIDIUM_FIX,-4311.50,-953.09,200912,141443
$TT8_MAMPS,0.026964
$HUMID,42.79
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,13.20
$XPDR_PINGS,23
$24V_AH,24.3,5.480
$10V_AH,10.4,2.601
$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,22.750,13.600,511.375,78.900,0.000,0.000,0.000,0.000,5.750,0.000,16.683,445.175,77.655,445.526,807.789,23.687,29.239,930.434,0.000,806.352,0.000,1.017,0.000
$DEVICE_MAMPS,284.580,68.085,752.760,576.045,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.025,616.785,118.580,89.131,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354864
$DATA_FILE_SIZE,16964,278
$CAP_FILE_SIZE,99727,0
$CFSIZE,2097086464,2094825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200912,152953,-4325.860,-954.570,60,1.5,60,-21.1