version: 66.07.10.p01
glider: 574
mission: 4
dive: 5
start: 9 20 112 18 54 7
data:
$ID,574
$MISSION,4
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$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,67
$T_MISSION,82
$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,-5169.3091
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,200912,184735,-4326.375,-955.111,53,1.0,53,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.7
$GPS2,200912,185313,-4326.376,-955.137,23,1.3,24,-21.1
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.260,0.117
$KALMAN_X,-1983.6,-683.9,-276.6,2202.3,-754.7
$KALMAN_Y,-1098.3,-343.9,-116.7,407.3,-449.4
$MHEAD_RNG_PITCHd_Wd,86.8,155550,-16.3,-9.950
$D_GRID,200
$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,-180.0,0.0,0.0,0,98,0.00,0.00,-72.00,0.000,2,0.000,0.000,68,1971,3184,0,0,0,0,0,0
$GC,100,-0.55,-180.0,3.0,-4.8,12,127,12.60,2.20,-7.47,0.000,4,0.286,0.069,2799,3353,3563,0,0,0,0,0,0
$GC,275,-0.55,-180.0,28.5,-9.9,41,283,0.05,2.22,0.00,0.000,6,0.158,0.050,2817,1956,3564,0,0,0,0,0,0
$GC,352,-0.51,-180.0,37.3,-11.5,54,360,0.08,0.52,0.00,0.000,4,0.208,0.062,2834,1608,3564,0,0,0,0,0,0
$GC,430,-0.51,-180.0,46.1,-11.6,67,435,0.00,0.50,0.00,0.000,6,0.000,0.045,2833,1947,3564,0,0,0,0,0,0
$GC,572,-0.51,-180.0,61.7,-11.9,92,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1947,3564,0,0,0,0,0,0
$GC,922,-0.51,-180.0,98.5,-11.0,153,927,0.00,1.08,0.00,0.000,4,0.000,0.059,2833,1275,3564,0,0,0,0,0,0
$GC,1004,-0.51,-180.0,107.6,-11.6,167,1009,0.00,1.02,0.00,0.000,6,0.000,0.042,2830,1941,3564,0,0,0,0,0,0
$GC,1351,-0.51,-180.0,151.2,-12.2,228,1358,0.00,0.50,0.00,0.000,4,0.000,0.061,2830,1616,3564,0,0,0,0,0,0
$GC,1428,-0.51,-180.0,160.3,-12.0,241,1433,0.00,0.50,0.00,0.000,6,0.000,0.047,2828,1959,3564,0,0,0,0,0,0
$STATE,1748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1748,begin apogee
$GC,1751,-0.17,0.0,200.1,12.8,297,1894,0.35,0.00,137.25,0.835,6,0.144,0.000,2939,1959,2826,0,0,0,0,0,0
$STATE,1895,end apogee,CONTROL_FINISHED_OK
$STATE,1895,begin climb
$GC,1896,0.55,180.0,208.3,0.0,323,2044,0.73,1.30,141.55,0.861,4,0.106,0.047,3169,2730,2093,0,0,0,0,0,0
$GC,2087,0.52,282.8,203.3,6.1,357,2175,0.00,1.27,83.03,0.795,6,0.000,0.047,3172,1964,1672,0,0,0,0,0,0
$GC,2521,0.59,323.8,170.4,8.4,433,2560,0.05,2.40,33.15,0.757,4,0.163,0.064,3201,527,1506,0,0,0,0,0,0
$GC,2720,0.65,323.8,149.7,10.1,468,2727,0.00,2.25,0.00,0.000,6,0.000,0.041,3201,1939,1499,0,0,0,0,0,0
$GC,3073,0.69,462.2,119.1,4.8,529,3195,0.08,2.45,111.70,0.761,4,0.125,0.066,3236,535,940,0,0,0,0,0,0
$GC,3323,0.75,462.2,93.7,13.3,573,3328,0.00,2.25,0.00,0.000,6,0.000,0.037,3236,1963,933,0,0,0,0,0,0
$GC,3672,0.81,462.2,49.0,11.8,634,3679,0.08,2.35,0.00,0.000,4,0.125,0.063,3273,535,930,0,0,0,0,0,0
$GC,3848,0.81,462.2,22.7,15.8,664,3855,0.00,2.22,0.00,0.000,6,0.000,0.039,3273,1960,928,0,0,0,0,0,0
$GC,3928,0.77,462.2,10.2,13.6,677,3935,0.10,0.98,0.00,0.000,4,0.204,0.059,3253,1352,928,0,0,0,0,0,0
$STATE,3983,end climb,SURFACE_DEPTH_REACHED
$STATE,3983,begin surface coast
$FINISH,0.4,1.011961
$STATE,4014,end surface coast,CONTROL_FINISHED_OK
$STATE,4014,begin surface
$SM_CCo,4090,0.00,0.000,0,0,925,466.55
$SM_GC,1.24,8.88,0.00,0.00,0.067,0.000,0.000,91,1963,925,-9.06,0.37,466.55
$IRIDIUM_FIX,-4311.50,-950.17,200912,171702
$TT8_MAMPS,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,24.2,5.987
$10V_AH,10.4,2.886
$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,22.975,26.975,506.675,0.000,0.000,30.410,44.500,172.274,0.000,0.000,26.229,1402.764,550.268,360.634,2076.713,51.825,33.325,1091.694,0.000,1802.870,0.000,1.015,0.000
$DEVICE_MAMPS,286.110,68.850,861.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.779,1266.682,207.360,170.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354856
$DATA_FILE_SIZE,40321,691
$CAP_FILE_SIZE,64920,0
$CFSIZE,2097086464,2094465024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,200912,200312,-4326.538,-955.126,23,1.4,23,-21.1