version: 66.07.10.p01
glider: 574
mission: 4
dive: 223
start: 11 15 112 15 29 58
data:
$ID,574
$MISSION,4
$DIVE,223
$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,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,-6310.8105
$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,33
$R_STBD_OVSHOOT,43
$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,202
$GPS1,151112,151327,-4207.151,-713.402,70,5.7,89,-22.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.1
$GPS2,151112,152904,-4207.014,-713.304,61,0.9,76,-22.0
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.201,0.121
$KALMAN_X,-345426.6,-110.4,525.8,475688.4,-402.9
$KALMAN_Y,174623.0,-396.3,-20.9,-91598.1,145.4
$MHEAD_RNG_PITCHd_Wd,81.1,91142,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.8,0.0,0.0,0,81,0.00,0.00,-53.83,0.000,2,0.000,0.000,66,1901,2863,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.3,-2.0,9,115,12.65,2.30,-13.18,0.000,4,0.270,0.078,2831,512,3422,0,0,0,0,0,0
$GC,189,-0.50,-145.9,15.1,-7.8,26,197,0.05,2.20,0.00,0.000,6,0.158,0.038,2841,1904,3423,0,0,0,0,0,0
$GC,270,-0.63,-145.9,21.2,-7.7,39,278,0.10,1.90,0.00,0.000,4,0.113,0.053,2796,3086,3423,0,0,0,0,0,0
$GC,333,-0.67,-145.9,27.0,-9.3,49,340,0.00,1.85,0.00,0.000,6,0.000,0.044,2796,1914,3423,0,0,0,0,0,0
$GC,411,-0.67,-145.9,34.4,-9.3,62,417,0.00,2.30,0.00,0.000,4,0.000,0.060,2796,504,3423,0,0,0,0,0,0
$GC,500,-0.58,-145.9,43.3,-10.6,77,506,0.12,2.20,0.00,0.000,6,0.169,0.037,2821,1927,3423,0,0,0,0,0,0
$GC,736,-0.68,-145.9,62.1,-7.7,118,742,0.08,1.50,0.00,0.000,4,0.132,0.055,2789,1006,3423,0,0,0,0,0,0
$GC,771,-0.68,-145.9,65.2,-8.5,124,776,0.00,1.42,0.00,0.000,6,0.000,0.036,2783,1924,3423,0,0,0,0,0,0
$GC,1114,-0.68,-145.9,93.9,-8.0,185,1118,0.00,2.17,0.00,0.000,4,0.000,0.050,2775,3322,3423,0,0,0,0,0,0
$GC,1127,-0.68,-145.9,94.7,-7.9,187,1132,0.08,2.17,0.00,0.000,6,0.181,0.040,2791,1908,3422,0,0,0,0,0,0
$GC,1457,-0.71,-145.9,122.3,-8.5,215,1460,0.00,1.50,0.00,0.000,4,0.000,0.057,2792,969,3423,0,0,0,0,0,0
$GC,1526,-0.71,-145.9,128.4,-8.7,219,1530,0.00,1.45,0.00,0.000,6,0.000,0.034,2786,1917,3423,0,0,0,0,0,0
$GC,1857,-0.71,-145.9,157.5,-8.7,240,1861,0.00,2.25,0.00,0.000,4,0.000,0.057,2786,509,3423,0,0,0,0,0,0
$GC,1945,-0.62,-145.9,167.0,-11.2,245,1952,0.08,2.17,0.00,0.000,6,0.152,0.036,2805,1915,3423,0,0,0,0,0,0
$GC,2267,-0.67,-145.9,194.0,-8.4,266,2271,0.00,2.15,0.00,0.000,4,0.000,0.047,2795,3308,3423,0,0,0,0,0,0
$STATE,2331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2331,begin apogee
$GC,2338,-0.19,0.0,200.1,8.6,270,2454,0.45,0.00,112.90,1.012,6,0.120,0.000,2943,1653,2827,0,0,0,0,0,0
$STATE,2455,end apogee,CONTROL_FINISHED_OK
$STATE,2455,begin climb
$GC,2456,0.52,145.9,208.3,0.0,278,2577,0.68,1.77,113.43,0.985,4,0.061,0.044,3185,2715,2231,0,0,0,0,0,0
$GC,2707,0.33,206.4,205.7,5.3,292,2763,0.22,1.73,48.85,0.971,6,0.168,0.046,3130,1661,1985,0,0,0,0,0,0
$GC,3090,0.39,247.7,183.3,6.0,317,3130,0.00,1.52,33.25,0.974,4,0.000,0.063,3131,764,1816,0,0,0,0,0,0
$GC,3175,0.51,292.8,178.0,5.9,322,3220,0.10,1.40,37.25,0.972,6,0.057,0.033,3184,1660,1635,0,0,0,0,0,0
$GC,3532,0.54,292.8,149.5,8.3,345,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1660,1629,0,0,0,0,0,0
$GC,3845,0.59,292.8,124.1,8.1,365,3849,0.03,2.17,0.00,0.000,4,0.248,0.046,3213,3050,1628,0,0,0,0,0,0
$GC,3928,0.48,292.8,115.7,9.4,370,3933,0.17,2.22,0.00,0.000,6,0.157,0.044,3171,1647,1626,0,0,0,0,0,0
$GC,4254,0.56,301.6,91.3,7.1,404,4270,0.08,2.22,7.88,0.836,4,0.127,0.061,3213,241,1596,0,0,0,0,0,0
$GC,4343,0.46,301.6,83.9,8.7,420,4350,0.15,2.17,0.00,0.000,6,0.151,0.036,3168,1644,1595,0,0,0,0,0,0
$GC,4692,0.59,323.6,60.7,6.7,481,4719,0.10,2.20,19.65,0.897,4,0.111,0.063,3215,329,1506,0,0,0,0,0,0
$GC,4779,0.53,323.6,54.1,8.1,496,4786,0.08,2.08,0.00,0.000,6,0.150,0.036,3191,1660,1503,0,0,0,0,0,0
$GC,5018,0.63,323.6,36.8,7.5,537,5023,0.08,2.15,0.00,0.000,4,0.127,0.041,3228,3051,1501,0,0,0,0,0,0
$GC,5101,0.51,323.6,29.2,9.3,551,5108,0.17,2.22,0.00,0.000,6,0.154,0.044,3185,1646,1501,0,0,0,0,0,0
$GC,5182,0.57,323.6,22.6,8.0,564,5189,0.00,0.57,0.00,0.000,4,0.000,0.060,3185,1273,1500,0,0,0,0,0,0
$GC,5209,0.63,323.6,20.3,8.7,568,5217,0.05,0.57,0.00,0.000,6,0.076,0.040,3221,1665,1500,0,0,0,0,0,0
$GC,5290,0.58,323.6,13.3,8.8,581,5298,0.08,0.40,0.00,0.000,4,0.185,0.060,3205,1411,1500,0,0,0,0,0,0
$GC,5336,0.53,323.6,9.5,8.3,588,5344,0.05,0.32,0.00,0.000,6,0.161,0.048,3189,1651,1500,0,0,0,0,0,0
$STATE,5403,end climb,SURFACE_DEPTH_REACHED
$STATE,5403,begin surface coast
$FINISH,1.2,1.013465
$STATE,5435,end surface coast,CONTROL_FINISHED_OK
$STATE,5436,begin surface
$SM_CCo,5452,124.00,0.184,0,0,395,596.31
$SM_GC,2.06,0.00,0.00,124.00,0.000,0.000,0.184,88,1941,395,-9.12,0.79,596.31
$IRIDIUM_FIX,-4149.58,-713.26,151112,151516
$TT8_MAMPS,0.026964
$HUMID,45.19
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.8,52.439
$10V_AH,10.2,38.701
$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,24.300,58.275,373.200,124.000,0.000,143.011,401.023,0.000,0.000,0.000,79.447,1322.660,2296.336,484.319,2314.372,105.171,33.349,1158.098,0.000,1700.029,0.000,1.014,0.000
$DEVICE_MAMPS,270.045,78.030,1012.095,184.365,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.459,1076.696,324.164,108.296,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354556
$DATA_FILE_SIZE,36983,604
$CAP_FILE_SIZE,81618,0
$CFSIZE,2097086464,2062843904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,170405,-4206.812,-713.046,35,1.1,35,-22.0