version: 66.07.10.p01
glider: 574
mission: 4
dive: 225
start: 11 15 112 19 35 1
data:
$ID,574
$MISSION,4
$DIVE,225
$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,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,-6455.4458
$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,26
$R_STBD_OVSHOOT,49
$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,204
$GPS1,151112,191935,-4206.426,-712.658,160,0.9,161,-22.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-70.6
$GPS2,151112,193406,-4206.355,-712.668,15,1.2,16,-22.0
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.195,0.174
$KALMAN_X,-345332.6,-423.1,-317.4,477619.8,-371.9
$KALMAN_Y,174088.6,-268.6,469.6,-90464.9,-220.7
$MHEAD_RNG_PITCHd_Wd,70.4,89644,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.17,0.000,2,0.000,0.000,67,1922,2710,0,0,0,0,0,0
$GC,89,-0.69,-145.9,3.1,-2.6,10,127,12.45,2.33,-18.40,0.000,4,0.272,0.070,2781,494,3422,0,0,0,0,0,0
$GC,194,-0.69,-145.9,16.0,-10.5,27,202,0.03,2.20,0.00,0.000,6,0.214,0.036,2779,1894,3422,0,0,0,0,0,0
$GC,274,-0.69,-145.9,24.8,-13.8,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1894,3422,0,0,0,0,0,0
$GC,353,-0.67,-145.9,32.8,-10.1,53,359,0.05,0.32,0.00,0.000,4,0.259,0.053,2790,2134,3423,0,0,0,0,0,0
$GC,413,-0.71,-145.9,39.3,-10.2,63,418,0.00,0.35,0.00,0.000,6,0.000,0.056,2790,1895,3423,0,0,0,0,0,0
$GC,647,-0.81,-145.9,61.5,-9.3,104,652,0.12,2.22,0.00,0.000,4,0.108,0.063,2745,520,3423,0,0,0,0,0,0
$GC,693,-0.69,-145.9,66.8,-12.8,112,699,0.20,2.17,0.00,0.000,6,0.175,0.037,2786,1929,3422,0,0,0,0,0,0
$GC,1039,-0.78,-145.9,98.0,-8.4,173,1044,0.08,0.90,0.00,0.000,4,0.136,0.044,2755,2527,3423,0,0,0,0,0,0
$GC,1100,-0.82,-145.9,104.2,-9.6,179,1105,0.00,0.93,0.00,0.000,6,0.000,0.045,2755,1927,3422,0,0,0,0,0,0
$GC,1420,-0.85,-145.9,135.9,-10.2,200,1424,0.00,0.95,0.00,0.000,4,0.000,0.042,2751,2549,3423,0,0,0,0,0,0
$GC,1475,-0.85,-145.9,141.2,-10.0,203,1479,0.00,1.00,0.00,0.000,6,0.000,0.044,2751,1903,3422,0,0,0,0,0,0
$GC,1805,-0.87,-145.9,176.1,-10.3,224,1809,0.00,2.20,0.00,0.000,4,0.000,0.048,2741,3318,3423,0,0,0,0,0,0
$GC,1861,-0.83,-145.9,182.6,-11.6,227,1867,0.00,2.20,0.00,0.000,6,0.000,0.042,2741,1913,3422,0,0,0,0,0,0
$STATE,2024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2024,begin apogee
$GC,2029,-0.19,0.0,200.6,11.0,238,2145,0.68,0.00,113.12,1.024,6,0.136,0.000,2946,1642,2827,0,0,0,0,0,0
$STATE,2146,end apogee,CONTROL_FINISHED_OK
$STATE,2146,begin climb
$GC,2148,0.69,145.9,209.7,0.0,246,2268,0.82,0.45,114.18,1.008,4,0.063,0.048,3237,1911,2231,0,0,0,0,0,0
$GC,2346,0.51,246.6,211.5,5.4,257,2433,0.22,0.43,81.45,0.991,6,0.183,0.054,3185,1655,1820,0,0,0,0,0,0
$GC,2745,0.56,303.3,183.7,7.5,283,2795,0.00,1.12,45.95,0.972,4,0.000,0.060,3187,965,1589,0,0,0,0,0,0
$GC,2826,0.66,333.7,176.9,8.7,288,2858,0.08,1.10,25.98,0.949,6,0.062,0.039,3229,1656,1465,0,0,0,0,0,0
$GC,3170,0.70,339.6,142.3,9.8,310,3180,0.00,1.15,5.68,0.775,4,0.000,0.043,3229,2398,1441,0,0,0,0,0,0
$GC,3224,0.74,340.4,136.7,10.1,313,3229,0.00,1.20,0.00,0.000,6,0.000,0.050,3234,1650,1440,0,0,0,0,0,0
$GC,3550,0.79,364.5,105.1,9.0,334,3578,0.10,2.22,21.92,0.894,4,0.106,0.046,3276,3051,1341,0,0,0,0,0,0
$GC,3661,0.69,364.5,91.8,12.2,348,3669,0.15,2.25,0.00,0.000,6,0.177,0.047,3244,1656,1338,0,0,0,0,0,0
$GC,4011,0.74,364.5,55.8,10.1,409,4016,0.00,2.20,0.00,0.000,4,0.000,0.045,3244,3055,1335,0,0,0,0,0,0
$GC,4093,0.71,364.5,46.6,11.1,423,4098,0.00,2.22,0.00,0.000,6,0.000,0.044,3253,1636,1334,0,0,0,0,0,0
$GC,4332,0.68,364.5,20.9,10.2,464,4340,0.10,0.25,0.00,0.000,4,0.211,0.070,3231,1463,1334,0,0,0,0,0,0
$GC,4377,0.68,364.5,16.0,10.3,471,4384,0.00,0.28,0.00,0.000,6,0.000,0.051,3231,1672,1334,0,0,0,0,0,0
$GC,4457,0.68,364.5,7.6,10.6,484,4464,0.00,0.55,0.00,0.000,4,0.000,0.059,3234,1308,1333,0,0,0,0,0,0
$STATE,4506,end climb,SURFACE_DEPTH_REACHED
$STATE,4506,begin surface coast
$FINISH,1.4,1.026601
$STATE,4519,end surface coast,CONTROL_FINISHED_OK
$STATE,4519,begin surface
$SM_CCo,4536,105.47,0.185,0,0,395,596.31
$SM_GC,2.01,0.00,0.00,105.47,0.000,0.000,0.185,82,1910,395,-9.13,-0.08,596.31
$IRIDIUM_FIX,-4152.48,-710.38,151112,191921
$TT8_MAMPS,0.026964
$HUMID,45.94
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,23.8,52.777
$10V_AH,10.2,38.860
$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,23.875,34.525,408.275,105.475,0.000,139.664,401.047,0.000,0.000,0.000,18.521,1080.781,1916.459,488.561,1948.008,91.547,33.349,1063.373,0.000,1399.910,0.000,1.014,0.000
$DEVICE_MAMPS,271.575,70.380,1023.570,185.130,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.040,888.620,270.420,87.655,0.000,0.000,0.000,0.000,0.000,0.000
$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,30335,494
$CAP_FILE_SIZE,68352,0
$CFSIZE,2097086464,2062680064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151112,205335,-4206.252,-712.756,37,1.0,37,-22.0