version: 66.07.10.p01
glider: 574
mission: 4
dive: 6
start: 9 20 112 20 9 53
data:
$ID,574
$MISSION,4
$DIVE,6
$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,-5172.5542
$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,19
$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
$GPS1,200912,200312,-4326.538,-955.126,23,1.4,23,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.6
$GPS2,200912,200859,-4326.542,-955.175,31,1.0,31,-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,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,82.9,155624,-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,-180.0,0.0,0.0,0,122,0.00,0.00,-95.10,0.000,2,0.000,0.000,65,1963,3362,0,0,0,0,0,0
$GC,124,-0.55,-180.0,3.8,-6.3,16,150,12.65,2.22,-3.60,0.000,4,0.287,0.066,2800,3350,3565,0,0,0,0,0,0
$GC,308,-0.55,-180.0,40.4,-10.2,47,314,0.08,2.22,0.00,0.000,6,0.185,0.050,2818,1946,3566,0,0,0,0,0,0
$GC,452,-0.51,-180.0,54.5,-10.6,72,459,0.00,0.47,0.00,0.000,4,0.000,0.063,2818,1630,3565,0,0,0,0,0,0
$GC,534,-0.47,-180.0,64.2,-12.8,86,541,0.08,0.47,0.00,0.000,6,0.169,0.048,2840,1950,3565,0,0,0,0,0,0
$GC,886,-0.47,-180.0,111.8,-12.6,147,891,0.00,0.65,0.00,0.000,4,0.000,0.058,2840,1527,3565,0,0,0,0,0,0
$GC,960,-0.47,-180.0,120.8,-10.6,160,967,0.00,0.65,0.00,0.000,6,0.000,0.046,2838,1956,3565,0,0,0,0,0,0
$GC,1312,-0.47,-180.0,168.3,-12.1,221,1317,0.00,0.65,0.00,0.000,4,0.000,0.060,2838,1540,3565,0,0,0,0,0,0
$GC,1405,-0.47,-180.0,179.4,-12.2,237,1409,0.00,0.62,0.00,0.000,6,0.000,0.047,2836,1956,3565,0,0,0,0,0,0
$STATE,1569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1569,begin apogee
$GC,1572,-0.17,0.0,200.3,12.0,266,1713,0.32,0.00,137.25,0.822,6,0.145,0.000,2940,1956,2827,0,0,0,0,0,0
$STATE,1714,end apogee,CONTROL_FINISHED_OK
$STATE,1714,begin climb
$GC,1715,0.55,180.0,209.4,0.0,292,1865,0.73,0.57,140.45,0.815,4,0.106,0.044,3168,2326,2093,0,0,0,0,0,0
$GC,1878,0.56,315.0,207.5,4.9,321,1993,0.00,0.62,108.95,0.804,6,0.000,0.050,3169,1939,1542,0,0,0,0,0,0
$GC,2337,0.67,401.1,176.5,6.8,402,2414,0.12,2.35,69.82,0.777,4,0.093,0.049,3223,3353,1190,0,0,0,0,0,0
$GC,2491,0.73,401.1,159.6,12.0,429,2496,0.00,2.25,0.00,0.000,6,0.000,0.046,3223,1957,1187,0,0,0,0,0,0
$GC,2840,0.78,401.1,117.6,12.4,490,2848,0.10,2.22,0.00,0.000,4,0.103,0.050,3265,3340,1184,0,0,0,0,0,0
$GC,2930,0.76,401.1,104.5,15.4,505,2936,0.08,2.20,0.00,0.000,6,0.217,0.046,3252,1940,1183,0,0,0,0,0,0
$GC,3279,0.76,401.1,50.2,15.4,566,3286,0.00,2.28,0.00,0.000,4,0.000,0.064,3253,538,1183,0,0,0,0,0,0
$GC,3454,0.76,404.0,27.0,9.8,596,3461,0.00,2.17,0.00,0.000,6,0.000,0.037,3252,1943,1181,0,0,0,0,0,0
$GC,3534,0.74,404.0,18.9,10.4,609,3542,0.05,0.45,0.00,0.000,4,0.254,0.060,3244,1659,1181,0,0,0,0,0,0
$STATE,3671,end climb,SURFACE_DEPTH_REACHED
$STATE,3672,begin surface coast
$FINISH,0.4,1.026608
$STATE,3697,end surface coast,CONTROL_FINISHED_OK
$STATE,3697,begin surface
$SM_CCo,3772,0.00,0.000,0,0,1176,404.74
$SM_GC,1.41,8.75,0.00,0.00,0.065,0.000,0.000,95,1970,1176,-9.04,0.57,404.74
$IRIDIUM_FIX,-4311.50,-956.01,200912,181840
$TT8_MAMPS,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,24.1,6.105
$10V_AH,10.5,2.964
$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,22.950,23.575,456.475,0.000,0.000,24.476,43.047,180.163,0.000,0.000,34.044,1290.271,501.662,337.280,1951.217,50.611,33.328,1027.181,0.000,1670.968,0.000,1.016,0.000
$DEVICE_MAMPS,286.875,65.790,822.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.588,1180.911,196.062,160.259,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354840
$DATA_FILE_SIZE,36950,636
$CAP_FILE_SIZE,60982,0
$CFSIZE,2097086464,2094366720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200912,211352,-4326.711,-955.312,35,1.0,35,-21.1