version: 66.07.10.p01
glider: 574
mission: 4
dive: 4
start: 9 20 112 17 51 55
data:
$ID,574
$MISSION,4
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,65
$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,185
$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,300
$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,-5166.1265
$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,3000
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,200912,174559,-4326.146,-954.905,34,0.9,34,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.9
$GPS2,200912,175102,-4326.142,-954.911,19,1.0,21,-21.1
$SPEED_LIMITS,0.173,0.286
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.274,0.081
$KALMAN_X,-1042.9,-492.8,-340.8,1440.8,-417.7
$KALMAN_Y,-532.3,-235.5,-154.3,203.5,-213.5
$MHEAD_RNG_PITCHd_Wd,94.6,155213,-16.4,-10.000
$D_GRID,150
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.55,-180.0,0.0,0.0,0,110,0.00,0.00,-83.47,0.000,2,0.000,0.000,67,1966,3334,0,0,0,0,0,0
$GC,112,-0.55,-180.0,3.9,-9.0,14,138,12.60,2.22,-4.10,0.000,4,0.286,0.067,2799,3349,3565,0,0,0,0,0,0
$GC,146,0.20,-180.0,17.3,-38.3,19,154,0.85,2.22,0.00,0.000,6,0.152,0.047,3053,1955,3565,0,0,0,0,0,0
$GC,226,-0.21,-180.0,24.6,-10.8,32,234,0.38,2.25,0.00,0.000,4,0.135,0.053,2936,3351,3566,0,0,0,0,0,0
$GC,353,-0.61,-180.0,35.2,-8.6,53,359,0.43,2.17,0.00,0.000,6,0.123,0.043,2803,1948,3566,0,0,0,0,0,0
$GC,498,-0.55,-180.0,50.8,-13.1,78,506,0.08,2.28,0.00,0.000,4,0.189,0.063,2820,547,3565,0,0,0,0,0,0
$GC,657,-0.55,-180.0,66.7,-9.1,105,663,0.00,2.17,0.00,0.000,6,0.000,0.044,2812,1953,3565,0,0,0,0,0,0
$GC,1006,-0.49,-180.0,110.3,-16.0,166,1013,0.10,0.00,0.00,0.000,6,0.188,0.000,2836,1954,3565,0,0,0,0,0,0
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1329,-0.17,0.0,150.4,10.8,222,1471,0.32,0.00,136.15,0.776,6,0.140,0.000,2941,1955,2827,0,0,0,0,0,0
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1473,0.55,180.0,156.3,0.0,248,1622,0.73,0.43,139.02,0.764,4,0.106,0.044,3172,2237,2092,0,0,0,0,0,0
$GC,1636,0.56,288.8,151.9,5.9,277,1728,0.00,0.45,87.38,0.757,6,0.000,0.053,3172,1954,1648,0,0,0,0,0,0
$GC,2072,0.63,355.2,119.0,7.5,354,2134,0.10,2.40,53.47,0.737,4,0.106,0.066,3223,550,1377,0,0,0,0,0,0
$GC,2309,0.67,355.2,91.1,11.5,395,2314,0.00,2.22,0.00,0.000,6,0.000,0.041,3223,1960,1371,0,0,0,0,0,0
$GC,2657,0.67,355.2,56.7,12.1,456,2664,0.00,2.33,0.00,0.000,4,0.000,0.063,3226,545,1369,0,0,0,0,0,0
$GC,2781,0.69,355.2,41.5,13.1,477,2786,0.00,2.15,0.00,0.000,6,0.000,0.038,3226,1952,1368,0,0,0,0,0,0
$GC,2927,0.69,355.2,22.9,10.2,502,2934,0.00,0.95,0.00,0.000,4,0.000,0.056,3226,1358,1368,0,0,0,0,0,0
$GC,3100,0.72,355.2,6.2,10.4,531,3108,0.00,0.93,0.00,0.000,6,0.000,0.040,3226,1965,1368,0,0,0,0,0,0
$STATE,3137,end climb,SURFACE_DEPTH_REACHED
$STATE,3138,begin surface coast
$FINISH,0.4,1.026719
$STATE,3180,end surface coast,CONTROL_FINISHED_OK
$STATE,3181,begin surface
$SM_CCo,3255,0.00,0.000,0,0,1363,358.87
$SM_GC,1.37,8.62,0.00,0.00,0.058,0.000,0.000,93,1972,1363,-9.05,0.59,358.87
$IRIDIUM_FIX,-4308.55,-955.50,200912,161650
$TT8_MAMPS,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,24.2,5.858
$10V_AH,10.4,2.801
$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,24.200,25.175,416.025,0.000,0.000,27.277,41.457,148.195,0.000,0.000,24.089,1103.417,409.940,307.913,1698.708,52.644,32.335,919.771,0.000,1464.596,0.000,1.015,0.000
$DEVICE_MAMPS,286.110,66.555,775.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.445,1055.784,187.992,149.799,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354860
$DATA_FILE_SIZE,30240,544
$CAP_FILE_SIZE,54141,0
$CFSIZE,2097086464,2094596096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200912,184735,-4326.375,-955.111,53,1.0,53,-21.1