version: 66.07.10.p01
glider: 574
mission: 4
dive: 574
start: 2 13 113 14 3 15
data:
$ID,574
$MISSION,4
$DIVE,574
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$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,160
$T_MISSION,175
$T_ABORT,400
$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,120
$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,2
$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,160
$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,-10345.131
$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,2920
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1720
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$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,0
$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,553
$GPS1,130213,135608,-4132.971,-319.923,79,0.8,79,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-71.6
$GPS2,130213,140254,-4132.877,-319.922,17,1.1,17,-22.6
$SPEED_LIMITS,0.144,0.222
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4210.000,-308.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,189.2,70672,-17.5,-8.333
$D_GRID,400
$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,26,-0.98,-116.8,0.0,0.0,0,65,0.00,0.00,-37.20,0.000,2,0.000,0.000,69,1719,1758,0,0,0,0,0,0
$GC,68,-0.98,-116.8,3.0,-1.4,4,127,11.45,0.00,-41.62,0.000,6,0.259,0.000,2592,1720,3305,0,0,0,0,0,0
$GC,234,-0.98,-116.8,23.4,-12.6,20,238,0.00,1.35,0.00,0.000,4,0.000,0.054,2592,896,3305,0,0,0,0,0,0
$GC,296,-0.98,-116.8,31.3,-11.9,25,301,0.00,1.30,0.00,0.000,6,0.000,0.036,2589,1724,3305,0,0,0,0,0,0
$GC,713,-0.98,-116.8,86.5,-14.7,42,717,0.00,2.22,0.00,0.000,4,0.000,0.048,2579,3122,3305,0,0,0,0,0,0
$GC,768,-0.98,-116.8,94.6,-14.1,43,773,0.10,2.25,0.00,0.000,6,0.160,0.043,2603,1719,3305,0,0,0,0,0,0
$GC,1505,-0.98,-116.8,181.8,-11.5,56,1508,0.00,1.05,0.00,0.000,4,0.000,0.041,2600,2400,3305,0,0,0,0,0,0
$GC,1537,-0.98,-116.8,185.8,-11.0,56,1541,0.00,1.08,0.00,0.000,6,0.000,0.042,2600,1715,3305,0,0,0,0,0,0
$GC,2300,-0.98,-116.8,276.2,-11.4,69,2304,0.00,1.80,0.00,0.000,4,0.000,0.043,2593,2834,3306,0,0,0,0,0,0
$GC,2338,-0.98,-116.8,280.5,-10.9,69,2342,0.00,1.77,0.00,0.000,6,0.000,0.039,2593,1718,3306,0,0,0,0,0,0
$GC,3095,-0.98,-116.8,363.8,-11.7,82,3098,0.00,0.90,0.00,0.000,4,0.000,0.052,2593,1150,3306,0,0,0,0,0,0
$GC,3352,-0.98,-116.8,397.1,-13.1,85,3356,0.00,0.88,0.00,0.000,6,0.000,0.035,2593,1717,3306,0,0,0,0,0,0
$STATE,3423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3423,begin apogee
$GC,3429,-0.28,0.0,406.2,12.8,87,3526,0.77,0.00,93.82,1.039,6,0.112,0.000,2831,1920,2827,0,0,0,0,0,0
$STATE,3527,end apogee,CONTROL_FINISHED_OK
$STATE,3527,begin climb
$GC,3529,0.98,116.8,413.2,0.0,88,3632,1.15,2.47,93.30,1.038,4,0.059,0.057,3247,492,2351,0,0,0,0,0,0
$GC,3718,0.66,511.8,439.2,-10.6,91,4059,0.45,2.20,329.60,1.049,6,0.206,0.037,3140,1893,740,0,0,0,0,0,0
$GC,4812,0.66,523.0,379.8,7.8,109,4827,0.00,2.25,10.10,0.864,4,0.000,0.045,3140,3306,693,0,0,0,0,0,0
$GC,4935,0.66,543.8,370.6,7.3,110,4959,0.00,2.25,19.05,0.950,6,0.000,0.041,3140,1894,609,0,0,0,0,0,0
$GC,5672,0.66,543.8,302.3,10.4,123,5676,0.00,2.25,0.00,0.000,4,0.000,0.045,3140,3308,605,0,0,0,0,0,0
$GC,5694,0.66,543.8,299.8,10.7,123,5698,0.00,2.25,0.00,0.000,6,0.000,0.039,3140,1890,605,0,0,0,0,0,0
$GC,6462,0.66,547.0,228.0,8.2,136,6466,0.00,2.28,0.00,0.000,4,0.000,0.044,3140,3308,605,0,0,0,0,0,0
$GC,6520,0.93,571.8,223.9,7.1,136,6550,0.22,2.22,24.20,0.898,6,0.064,0.041,3230,1902,495,0,0,0,0,0,0
$GC,7263,0.93,571.8,156.0,10.2,149,7267,0.00,2.33,0.00,0.000,4,0.000,0.058,3239,497,492,0,0,0,0,0,0
$GC,7385,0.93,571.8,143.1,10.8,150,7391,0.08,2.20,0.00,0.000,6,0.185,0.034,3224,1914,489,0,0,0,0,0,0
$GC,8123,0.93,571.8,75.5,9.0,165,8126,0.00,1.02,0.00,0.000,4,0.000,0.052,3227,1295,489,0,0,0,0,0,0
$GC,8155,0.93,571.8,72.3,8.4,165,8160,0.00,0.95,0.00,0.000,6,0.000,0.037,3227,1904,489,0,0,0,0,0,0
$STATE,8864,end climb,SURFACE_DEPTH_REACHED
$STATE,8864,begin surface coast
$FINISH,1.5,1.002830
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8976,0.00,0.000,0,0,489,573.75
$SM_GC,2.65,9.12,0.00,0.00,0.055,0.000,0.000,92,1714,489,-8.79,-0.20,573.75
$IRIDIUM_FIX,-4117.88,-318.61,130213,121249
$TT8_MAMPS,0.026964
$HUMID,54.41
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.7,133.829
$10V_AH,9.9,56.239
$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,23.350,39.875,570.075,0.000,0.000,24.587,47.009,226.431,0.000,0.000,19.798,639.702,6923.204,524.027,1161.503,147.712,0.000,1019.012,0.000,867.153,0.000,1.015,0.000
$DEVICE_MAMPS,258.570,72.675,1048.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.101,248.587,96.817,38.850,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354824
$DATA_FILE_SIZE,13642,211
$CAP_FILE_SIZE,58511,0
$CFSIZE,2097086464,2015887360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130213,163405,-4132.570,-319.378,38,1.6,38,-22.6