version: 66.07.10.p01
glider: 574
mission: 4
dive: 224
start: 11 15 112 17 58 5
data:
$ID,574
$MISSION,4
$DIVE,224
$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,66
$T_MISSION,81
$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,-6451.3745
$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,73
$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,203
$GPS1,151112,175236,-4206.559,-712.804,30,1.3,31,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-68.0
$GPS2,151112,175711,-4206.528,-712.783,18,1.0,19,-22.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.227,0.129
$KALMAN_X,-345220.7,-316.5,144.5,476777.9,-422.9
$KALMAN_Y,174365.5,-332.2,400.3,-90934.4,43.7
$MHEAD_RNG_PITCHd_Wd,82.4,89990,-18.4,-10.101
$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,-0.69,-145.9,0.0,0.0,0,127,0.00,0.00,-100.35,0.000,2,0.000,0.000,68,1945,2852,0,0,0,0,0,0
$GC,130,-0.69,-145.9,3.1,-2.5,17,162,12.45,2.35,-14.20,0.000,4,0.271,0.073,2780,508,3423,0,0,0,0,0,0
$GC,271,-0.66,-145.9,22.0,-12.9,40,278,0.08,2.15,0.00,0.000,6,0.165,0.041,2794,1864,3424,0,0,0,0,0,0
$GC,351,-0.68,-145.9,30.9,-10.0,53,355,0.00,0.65,0.00,0.000,4,0.000,0.044,2793,2324,3424,0,0,0,0,0,0
$GC,398,-0.73,-145.9,36.1,-11.5,61,403,0.00,0.65,0.00,0.000,6,0.000,0.050,2793,1899,3424,0,0,0,0,0,0
$GC,631,-0.81,-145.9,60.8,-10.5,102,639,0.12,0.98,0.00,0.000,4,0.101,0.059,2746,1296,3424,0,0,0,0,0,0
$GC,696,-0.73,-145.9,68.5,-12.8,113,701,0.10,0.95,0.00,0.000,6,0.166,0.037,2770,1920,3424,0,0,0,0,0,0
$GC,1044,-0.81,-145.9,105.0,-10.0,169,1048,0.08,1.95,0.00,0.000,4,0.142,0.057,2744,703,3423,0,0,0,0,0,0
$GC,1087,-0.69,-145.9,110.6,-12.4,171,1093,0.15,1.88,0.00,0.000,6,0.160,0.038,2780,1907,3423,0,0,0,0,0,0
$GC,1407,-0.77,-145.9,138.8,-8.2,192,1411,0.00,1.65,0.00,0.000,4,0.000,0.058,2781,862,3424,0,0,0,0,0,0
$GC,1476,-0.82,-145.9,145.1,-9.4,196,1481,0.10,1.62,0.00,0.000,6,0.119,0.037,2738,1909,3423,0,0,0,0,0,0
$GC,1809,-0.82,-145.9,178.5,-9.9,217,1813,0.00,2.25,0.00,0.000,4,0.000,0.060,2738,509,3424,0,0,0,0,0,0
$GC,1894,-0.73,-145.9,188.4,-11.8,222,1899,0.17,2.17,0.00,0.000,6,0.179,0.037,2772,1923,3424,0,0,0,0,0,0
$STATE,2031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2031,begin apogee
$GC,2035,-0.19,0.0,200.6,8.4,231,2152,0.57,0.00,113.38,1.034,6,0.122,0.000,2954,1650,2826,0,0,0,0,0,0
$STATE,2153,end apogee,CONTROL_FINISHED_OK
$STATE,2153,begin climb
$GC,2155,0.69,145.9,208.5,0.0,239,2282,0.80,2.20,113.95,1.009,4,0.058,0.061,3249,392,2230,0,0,0,0,0,0
$GC,2406,0.46,212.5,204.8,7.0,254,2467,0.32,2.00,53.60,0.985,6,0.187,0.039,3168,1652,1960,0,0,0,0,0,0
$GC,2794,0.50,277.7,178.8,7.1,279,2851,0.00,0.90,52.38,0.972,4,0.000,0.044,3168,2218,1694,0,0,0,0,0,0
$GC,2913,0.64,320.9,169.6,8.1,285,2953,0.10,0.90,36.10,0.960,6,0.057,0.050,3223,1659,1517,0,0,0,0,0,0
$GC,3280,0.67,344.7,137.0,9.0,309,3305,0.00,2.25,19.88,0.915,4,0.000,0.047,3223,3066,1421,0,0,0,0,0,0
$GC,3395,0.67,360.6,125.9,9.4,315,3414,0.00,2.25,14.60,0.889,6,0.000,0.044,3227,1650,1355,0,0,0,0,0,0
$GC,3733,0.79,380.9,96.2,9.2,340,3759,0.12,2.30,17.35,0.885,4,0.092,0.047,3279,3056,1273,0,0,0,0,0,0
$GC,3819,0.72,380.9,86.3,13.0,355,3824,0.17,2.22,0.00,0.000,6,0.188,0.046,3247,1650,1272,0,0,0,0,0,0
$GC,4163,0.72,380.9,47.7,11.3,416,4170,0.00,0.50,0.00,0.000,4,0.000,0.060,3249,1322,1268,0,0,0,0,0,0
$GC,4211,0.68,380.9,42.5,10.9,424,4218,0.03,0.50,0.00,0.000,6,0.208,0.043,3242,1670,1268,0,0,0,0,0,0
$GC,4452,0.68,380.9,17.4,10.7,465,4459,0.00,0.57,0.00,0.000,4,0.000,0.066,3243,1306,1266,0,0,0,0,0,0
$GC,4491,0.68,380.9,13.3,10.7,471,4498,0.00,0.50,0.00,0.000,6,0.000,0.044,3243,1652,1266,0,0,0,0,0,0
$GC,4570,0.68,380.9,5.9,10.4,484,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1654,1266,0,0,0,0,0,0
$STATE,4595,end climb,SURFACE_DEPTH_REACHED
$STATE,4595,begin surface coast
$FINISH,1.2,1.026478
$STATE,4620,end surface coast,CONTROL_FINISHED_OK
$STATE,4620,begin surface
$SM_CCo,4697,0.00,0.000,0,0,1262,384.13
$SM_GC,2.21,8.98,0.00,0.00,0.073,0.000,0.000,90,1927,1262,-9.10,0.40,384.13
$IRIDIUM_FIX,-4149.58,-713.26,151112,171738
$TT8_MAMPS,0.026964
$HUMID,47.20
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,23.8,52.636
$10V_AH,10.2,38.788
$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,24.350,37.150,421.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.320,1064.124,1779.640,407.177,1461.236,59.497,33.343,1015.446,0.000,1445.065,0.000,1.014,0.000
$DEVICE_MAMPS,270.810,73.440,1033.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.213,911.919,274.301,84.202,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,30321,492
$CAP_FILE_SIZE,88879,0
$CFSIZE,2097086464,2062909440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,191935,-4206.426,-712.658,160,0.9,161,-22.0