version: 66.07.10.p01
glider: 574
mission: 4
dive: 222
start: 11 15 112 13 38 36
data:
$ID,574
$MISSION,4
$DIVE,222
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,90
$T_MISSION,120
$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,-6307.2739
$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,29
$R_STBD_OVSHOOT,40
$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,201
$GPS1,151112,133259,-4207.256,-714.026,40,1.7,40,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.5
$GPS2,151112,133742,-4207.233,-713.953,19,1.8,19,-22.0
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.209,0.105
$KALMAN_X,-345701.5,367.1,558.1,474548.1,-321.0
$KALMAN_Y,175211.1,-299.0,-589.7,-92114.4,366.5
$MHEAD_RNG_PITCHd_Wd,85.3,92043,-13.9,-7.407
$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,-0.52,-145.6,0.0,0.0,0,122,0.00,0.00,-95.05,0.000,2,0.000,0.000,71,1929,2742,0,0,0,0,0,0
$GC,124,-0.52,-145.9,3.3,-2.2,16,163,12.25,2.25,-16.88,0.000,4,0.262,0.067,2826,3311,3424,0,0,0,0,0,0
$GC,236,-0.57,-145.9,15.0,-8.0,34,244,0.00,2.22,0.00,0.000,6,0.000,0.045,2825,1913,3424,0,0,0,0,0,0
$GC,316,-0.68,-145.9,21.9,-8.3,47,323,0.10,2.33,0.00,0.000,4,0.112,0.067,2780,506,3424,0,0,0,0,0,0
$GC,391,-0.54,-145.9,30.1,-11.8,59,397,0.22,2.17,0.00,0.000,6,0.159,0.038,2832,1913,3424,0,0,0,0,0,0
$GC,626,-0.66,-145.9,49.9,-7.8,100,634,0.10,1.88,0.00,0.000,4,0.107,0.058,2789,767,3424,0,0,0,0,0,0
$GC,675,-0.62,-145.9,54.6,-10.0,108,682,0.08,1.77,0.00,0.000,6,0.155,0.037,2806,1905,3424,0,0,0,0,0,0
$GC,910,-0.67,-145.9,76.0,-8.9,149,914,0.00,0.65,0.00,0.000,4,0.000,0.053,2807,1489,3424,0,0,0,0,0,0
$GC,932,-0.73,-145.9,78.2,-9.3,153,939,0.05,0.65,0.00,0.000,6,0.083,0.040,2777,1928,3424,0,0,0,0,0,0
$GC,1268,-0.73,-145.9,110.7,-9.2,200,1272,0.00,2.15,0.00,0.000,4,0.000,0.048,2768,3314,3424,0,0,0,0,0,0
$GC,1323,-0.67,-145.9,116.5,-10.4,203,1330,0.08,2.20,0.00,0.000,6,0.148,0.042,2791,1909,3424,0,0,0,0,0,0
$GC,1645,-0.69,-145.9,144.8,-9.0,224,1649,0.00,2.17,0.00,0.000,4,0.000,0.049,2783,3301,3424,0,0,0,0,0,0
$GC,1706,-0.69,-145.9,150.9,-9.7,228,1710,0.00,2.15,0.00,0.000,6,0.000,0.041,2783,1910,3424,0,0,0,0,0,0
$GC,2032,-0.69,-145.9,180.8,-9.2,249,2036,0.00,2.17,0.00,0.000,4,0.000,0.047,2775,3313,3424,0,0,0,0,0,0
$GC,2081,-0.66,-145.9,186.0,-9.4,252,2087,0.05,2.17,0.00,0.000,6,0.145,0.040,2792,1916,3424,0,0,0,0,0,0
$STATE,2250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2250,begin apogee
$GC,2255,-0.19,0.0,201.1,8.9,263,2372,0.50,0.00,113.03,1.018,6,0.118,0.000,2952,1630,2827,0,0,0,0,0,0
$STATE,2373,end apogee,CONTROL_FINISHED_OK
$STATE,2373,begin climb
$GC,2374,0.52,145.9,209.9,0.0,271,2501,0.62,1.92,113.75,0.991,4,0.060,0.046,3180,2745,2231,0,0,0,0,0,0
$GC,2621,0.35,203.6,208.7,5.4,286,2673,0.22,1.75,46.80,0.979,6,0.181,0.045,3130,1662,1996,0,0,0,0,0,0
$GC,2992,0.42,264.1,188.8,5.3,310,3049,0.05,2.45,48.35,0.991,4,0.164,0.064,3161,231,1749,0,0,0,0,0,0
$GC,3123,0.45,281.3,180.1,6.8,318,3144,0.00,2.20,15.12,0.946,6,0.000,0.037,3161,1643,1679,0,0,0,0,0,0
$GC,3470,0.55,297.0,155.8,6.9,340,3491,0.10,2.33,13.35,0.920,4,0.106,0.063,3214,235,1617,0,0,0,0,0,0
$GC,3575,0.44,297.0,146.5,9.1,346,3580,0.20,2.20,0.00,0.000,6,0.160,0.038,3161,1650,1614,0,0,0,0,0,0
$GC,3895,0.57,307.7,123.8,7.0,366,3910,0.10,0.00,10.30,0.883,6,0.109,0.000,3211,1652,1572,0,0,0,0,0,0
$GC,4226,0.55,307.7,97.0,8.1,391,4231,0.08,2.20,0.00,0.000,4,0.180,0.045,3193,3062,1569,0,0,0,0,0,0
$GC,4244,0.55,307.7,95.4,8.2,394,4249,0.00,2.22,0.00,0.000,6,0.000,0.041,3200,1636,1568,0,0,0,0,0,0
$GC,4588,0.57,307.7,69.4,7.5,455,4592,0.00,1.50,0.00,0.000,4,0.000,0.043,3200,2595,1568,0,0,0,0,0,0
$GC,4656,0.57,307.7,64.0,7.8,467,4660,0.00,1.50,0.00,0.000,6,0.000,0.047,3200,1646,1568,0,0,0,0,0,0
$GC,5005,0.57,307.7,37.5,7.7,528,5012,0.00,1.45,0.00,0.000,4,0.000,0.060,3200,740,1567,0,0,0,0,0,0
$GC,5041,0.57,307.7,34.6,7.8,534,5048,0.00,1.40,0.00,0.000,6,0.000,0.036,3200,1657,1567,0,0,0,0,0,0
$GC,5285,0.57,307.7,15.4,8.7,575,5292,0.00,2.33,0.00,0.000,4,0.000,0.063,3200,239,1566,0,0,0,0,0,0
$GC,5353,0.51,307.7,9.5,8.3,586,5361,0.05,2.17,0.00,0.000,6,0.164,0.036,3184,1652,1565,0,0,0,0,0,0
$GC,5434,0.46,307.7,3.5,7.7,599,5442,0.08,0.75,0.00,0.000,4,0.200,0.044,3166,2164,1565,0,0,0,0,0,0
$STATE,5449,end climb,SURFACE_DEPTH_REACHED
$STATE,5449,begin surface coast
$FINISH,1.2,1.023576
$STATE,5492,end surface coast,CONTROL_FINISHED_OK
$STATE,5492,begin surface
$SM_CCo,5568,0.00,0.000,0,0,1560,310.54
$SM_GC,2.28,8.62,0.00,0.00,0.065,0.000,0.000,88,1910,1560,-9.10,-0.08,310.54
$IRIDIUM_FIX,-4152.48,-713.62,151112,131351
$TT8_MAMPS,0.026964
$HUMID,46.33
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.8,52.307
$10V_AH,10.2,38.616
$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,23.550,56.150,360.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.526,1329.036,2134.724,371.138,1734.442,73.372,33.347,1053.256,0.000,1719.421,0.000,1.014,0.000
$DEVICE_MAMPS,261.630,67.320,1018.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.355,1109.777,333.314,108.019,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354484
$DATA_FILE_SIZE,36981,608
$CAP_FILE_SIZE,103021,0
$CFSIZE,2097086464,2063040512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,151327,-4207.151,-713.402,70,5.7,89,-22.0