version: 66.07.10.p01
glider: 574
mission: 4
dive: 220
start: 11 15 112 10 0 12
data:
$ID,574
$MISSION,4
$DIVE,220
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,150
$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,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,250
$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,-6165.5942
$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,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,53
$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,1
$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,199
$GPS1,151112,095427,-4207.011,-716.036,14,1.2,16,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-68.6
$GPS2,151112,095901,-4207.014,-715.992,15,1.2,17,-21.9
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.251,0.253
$KALMAN_X,-346619.9,593.8,350.9,472705.5,-176.2
$KALMAN_Y,176826.5,-54.9,-945.8,-93213.6,-124.1
$MHEAD_RNG_PITCHd_Wd,66.7,93641,-27.8,-20.000
$D_GRID,300
$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,-1.04,-145.9,0.0,0.0,0,122,0.00,0.00,-94.90,0.000,2,0.000,0.000,72,1927,2752,0,0,0,0,0,0
$GC,124,-1.04,-145.9,3.3,-2.7,16,162,11.68,2.22,-16.38,0.000,4,0.269,0.064,2661,3301,3423,0,0,0,0,0,0
$GC,271,-1.04,-145.9,26.5,-15.9,40,278,0.05,2.22,0.00,0.000,6,0.197,0.047,2674,1909,3424,0,0,0,0,0,0
$GC,350,-0.99,-145.9,39.5,-17.0,53,356,0.08,0.55,0.00,0.000,4,0.239,0.057,2691,1546,3424,0,0,0,0,0,0
$GC,436,-0.99,-145.9,53.7,-16.1,68,443,0.00,0.52,0.00,0.000,6,0.000,0.040,2690,1908,3424,0,0,0,0,0,0
$GC,670,-0.99,-145.9,91.3,-15.6,109,674,0.00,2.08,0.00,0.000,4,0.000,0.057,2692,619,3424,0,0,0,0,0,0
$GC,764,-0.99,-145.9,107.0,-15.8,121,769,0.00,2.00,0.00,0.000,6,0.000,0.037,2684,1898,3424,0,0,0,0,0,0
$GC,1084,-0.99,-145.9,157.2,-16.1,142,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1898,3424,0,0,0,0,0,0
$GC,1395,-0.99,-145.9,205.3,-15.0,162,1399,0.00,1.33,0.00,0.000,4,0.000,0.054,2685,1070,3424,0,0,0,0,0,0
$GC,1490,-0.99,-145.9,220.2,-15.7,167,1495,0.00,1.33,0.00,0.000,6,0.000,0.036,2680,1927,3424,0,0,0,0,0,0
$GC,1808,-0.99,-145.9,271.5,-16.5,186,1812,0.00,0.62,0.00,0.000,4,0.000,0.051,2680,1522,3425,0,0,0,0,0,0
$GC,1857,-0.99,-145.9,280.2,-16.5,188,1862,0.00,0.62,0.00,0.000,6,0.000,0.039,2678,1934,3424,0,0,0,0,0,0
$STATE,1958,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1958,begin apogee
$GC,1963,-0.19,0.0,296.6,16.7,193,2081,0.95,0.00,114.45,1.080,6,0.166,0.000,2950,1629,2826,0,0,0,0,0,0
$STATE,2081,end apogee,CONTROL_FINISHED_OK
$STATE,2082,begin climb
$GC,2083,1.04,145.9,306.0,0.0,199,2209,1.12,1.05,115.70,1.053,4,0.057,0.043,3346,2250,2232,0,0,0,0,0,0
$GC,2349,0.84,314.8,303.4,8.0,211,2493,0.25,0.95,137.70,1.036,6,0.212,0.047,3289,1665,1542,0,0,0,0,0,0
$GC,2805,0.87,422.2,249.8,12.3,233,2898,0.00,0.65,89.55,1.030,4,0.000,0.062,3291,1288,1105,0,0,0,0,0,0
$GC,2943,0.96,510.6,231.3,13.7,242,3021,0.05,0.55,73.20,1.017,6,0.080,0.043,3319,1645,745,0,0,0,0,0,0
$GC,3348,1.08,568.0,168.5,15.9,268,3401,0.12,2.28,46.78,0.978,4,0.103,0.045,3366,3040,509,0,0,0,0,0,0
$GC,3468,1.18,583.8,145.4,18.9,275,3491,0.00,2.25,13.77,0.883,6,0.000,0.046,3375,1650,447,0,0,0,0,0,0
$GC,3810,1.27,598.8,78.3,18.9,309,3826,0.12,1.35,11.20,0.834,4,0.099,0.039,3422,2546,394,0,0,0,0,0,0
$GC,3859,1.27,598.8,67.5,22.0,318,3867,0.00,1.45,0.00,0.000,6,0.000,0.047,3428,1645,394,0,0,0,0,0,0
$GC,3906,1.27,596.3,57.4,22.1,326,3914,0.00,0.90,0.00,0.000,4,0.000,0.060,3432,1079,394,0,0,0,0,0,0
$GC,3973,1.27,596.3,42.4,23.4,337,3978,0.00,0.88,0.00,0.000,6,0.000,0.039,3432,1655,393,0,0,0,0,0,0
$STATE,4154,end climb,SURFACE_DEPTH_REACHED
$STATE,4154,begin surface coast
$FINISH,1.3,1.014217
$STATE,4167,end surface coast,CONTROL_FINISHED_OK
$STATE,4167,begin surface
$SM_CCo,4244,0.00,0.000,0,0,389,597.79
$SM_GC,2.15,9.40,0.00,0.00,0.063,0.000,0.000,88,1903,389,-9.10,-0.25,597.79
$IRIDIUM_FIX,-4155.38,-713.99,151112,090911
$TT8_MAMPS,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.01849
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,23.4,51.911
$10V_AH,10.2,38.456
$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,23.825,26.650,602.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.417,822.766,1774.208,531.431,1155.962,49.340,33.351,1091.808,0.000,1142.156,0.000,1.012,0.000
$DEVICE_MAMPS,269.280,64.260,1080.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.673,679.975,215.196,50.203,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,23614,370
$CAP_FILE_SIZE,71540,1
$CFSIZE,2097086464,2063302656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,111235,-4207.150,-715.715,66,0.9,66,-21.9