version: 66.07.10.p01
glider: 574
mission: 4
dive: 221
start: 11 15 112 11 28 47
data:
$ID,574
$MISSION,4
$DIVE,221
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6169.0293
$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,27
$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,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,200
$GPS1,151112,111235,-4207.150,-715.715,66,0.9,66,-21.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.7
$GPS2,151112,112736,-4207.204,-715.531,45,1.0,46,-21.9
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.297,0.197
$KALMAN_X,-346635.4,180.7,643.3,473466.4,-259.2
$KALMAN_Y,175990.8,-128.4,-987.1,-92608.1,112.2
$MHEAD_RNG_PITCHd_Wd,78.3,93466,-27.7,-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,-1.03,-145.9,0.0,0.0,0,122,0.00,0.00,-94.75,0.000,2,0.000,0.000,66,1903,2717,0,0,0,0,0,0
$GC,124,-1.03,-145.9,3.0,-1.5,16,162,11.73,2.30,-18.75,0.000,4,0.269,0.072,2671,505,3422,0,0,0,0,0,0
$GC,271,-0.99,-145.9,27.6,-17.7,40,279,0.08,2.22,0.00,0.000,6,0.205,0.038,2682,1921,3422,0,0,0,0,0,0
$GC,350,-0.97,-145.9,41.8,-17.8,53,355,0.08,0.00,0.00,0.000,6,0.236,0.000,2698,1922,3422,0,0,0,0,0,0
$GC,583,-0.97,-145.9,81.5,-16.6,94,588,0.00,0.45,0.00,0.000,4,0.000,0.057,2698,1629,3422,0,0,0,0,0,0
$GC,795,-0.97,-145.9,117.4,-16.0,120,803,0.00,0.45,0.00,0.000,6,0.000,0.043,2698,1934,3421,0,0,0,0,0,0
$GC,1116,-0.97,-145.9,167.4,-16.2,141,1120,0.00,1.00,0.00,0.000,4,0.000,0.054,2700,1307,3422,0,0,0,0,0,0
$GC,1193,-0.97,-145.9,180.7,-15.6,145,1199,0.00,0.93,0.00,0.000,6,0.000,0.038,2697,1903,3422,0,0,0,0,0,0
$GC,1515,-0.97,-145.9,232.8,-16.8,166,1518,0.00,1.75,0.00,0.000,4,0.000,0.057,2698,796,3422,0,0,0,0,0,0
$GC,1609,-0.99,-145.9,249.6,-17.5,171,1615,0.00,1.73,0.00,0.000,6,0.000,0.036,2692,1911,3422,0,0,0,0,0,0
$STATE,1925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1926,begin apogee
$GC,1930,-0.19,0.0,302.0,16.5,187,2048,0.88,0.00,114.05,1.080,6,0.161,0.000,2945,1638,2827,0,0,0,0,0,0
$STATE,2048,end apogee,CONTROL_FINISHED_OK
$STATE,2048,begin climb
$GC,2050,1.03,145.9,311.6,0.0,193,2176,1.15,0.35,116.20,1.079,4,0.059,0.042,3348,1861,2231,0,0,0,0,0,0
$GC,2249,0.84,316.0,315.0,7.9,202,2395,0.28,0.35,140.73,1.052,6,0.217,0.057,3289,1651,1538,0,0,0,0,0,0
$GC,2719,0.87,419.4,259.0,12.6,225,2812,0.00,0.85,85.78,1.018,4,0.000,0.061,3291,1152,1116,0,0,0,0,0,0
$GC,2852,0.96,506.7,240.8,13.8,232,2930,0.05,0.80,72.40,1.001,6,0.082,0.040,3319,1656,761,0,0,0,0,0,0
$GC,3257,1.07,561.4,177.3,16.1,258,3309,0.10,2.28,44.58,0.954,4,0.115,0.046,3358,3042,538,0,0,0,0,0,0
$GC,3376,1.19,590.7,156.1,17.9,265,3409,0.08,2.25,25.12,0.927,6,0.125,0.047,3399,1651,418,0,0,0,0,0,0
$GC,3725,1.22,590.7,81.8,20.2,297,3732,0.00,1.20,0.00,0.000,4,0.000,0.041,3399,2423,413,0,0,0,0,0,0
$GC,3761,1.27,593.8,74.8,19.8,303,3767,0.00,1.25,0.00,0.000,6,0.000,0.048,3405,1641,413,0,0,0,0,0,0
$GC,3912,1.30,602.6,44.7,19.6,329,3925,0.08,2.17,5.03,0.662,4,0.132,0.064,3442,317,395,0,0,0,0,0,0
$GC,3990,1.30,602.6,26.7,23.1,342,3998,0.00,2.08,0.00,0.000,6,0.000,0.038,3442,1642,395,0,0,0,0,0,0
$GC,4071,1.27,602.6,8.0,23.9,355,4078,0.08,0.00,0.00,0.000,6,0.252,0.000,3430,1652,394,0,0,0,0,0,0
$STATE,4090,end climb,SURFACE_DEPTH_REACHED
$STATE,4090,begin surface coast
$FINISH,1.4,1.018487
$STATE,4104,end surface coast,CONTROL_FINISHED_OK
$STATE,4104,begin surface
$SM_CCo,4181,0.00,0.000,0,0,392,597.05
$SM_GC,2.08,9.40,0.00,0.00,0.063,0.000,0.000,89,1934,392,-9.10,0.59,597.05
$IRIDIUM_FIX,-4152.48,-716.50,151112,111120
$TT8_MAMPS,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,9.01849
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,23.2,52.108
$10V_AH,10.2,38.514
$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,23.950,25.225,603.875,0.000,0.000,128.462,400.448,0.000,0.000,0.000,47.708,803.830,1987.632,518.452,1706.618,94.432,33.343,1096.655,0.000,1131.720,0.000,1.012,0.000
$DEVICE_MAMPS,269.280,71.910,1080.180,0.000,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.994,656.886,209.631,48.315,0.000,0.000,0.000,0.000,0.000,0.000
$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,20293,360
$CAP_FILE_SIZE,59420,1
$CFSIZE,2097086464,2062942208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,123936,-4207.405,-714.881,35,1.1,35,-21.9