version: 66.07.10.p01
glider: 574
mission: 4
dive: 575
start: 2 13 113 16 41 11
data:
$ID,574
$MISSION,4
$DIVE,575
$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,-10347.465
$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,27
$R_STBD_OVSHOOT,42
$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,554
$GPS1,130213,163405,-4132.570,-319.378,38,1.6,38,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-73.9
$GPS2,130213,164049,-4131.315,-318.598,18,1.4,19,-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,191.1,73106,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.98,-116.8,0.0,0.0,0,79,0.00,0.00,-52.00,0.000,2,0.000,0.000,68,1708,1871,0,0,0,0,0,0
$GC,82,-0.98,-116.8,3.3,-1.7,5,139,11.38,0.95,-37.53,0.000,4,0.258,0.073,2590,2304,3303,0,0,0,0,0,0
$GC,200,-0.98,-116.8,17.9,-14.4,15,204,0.00,0.95,0.00,0.000,6,0.000,0.050,2590,1715,3304,0,0,0,0,0,0
$GC,330,-0.98,-116.8,35.4,-12.5,25,334,0.00,1.55,0.00,0.000,4,0.000,0.059,2590,783,3304,0,0,0,0,0,0
$GC,443,-0.98,-116.8,49.2,-12.4,30,448,0.05,1.48,0.00,0.000,6,0.167,0.034,2598,1719,3305,0,0,0,0,0,0
$GC,876,-0.98,-116.8,96.4,-10.6,43,880,0.00,1.77,0.00,0.000,4,0.000,0.046,2592,2823,3305,0,0,0,0,0,0
$GC,914,-0.98,-116.8,101.0,-10.6,43,919,0.00,1.80,0.00,0.000,6,0.000,0.043,2592,1711,3305,0,0,0,0,0,0
$GC,1648,-0.98,-116.8,190.9,-13.5,56,1652,0.00,2.30,0.00,0.000,4,0.000,0.047,2585,3128,3306,0,0,0,0,0,0
$GC,1709,-0.98,-116.8,199.5,-13.9,56,1715,0.08,2.25,0.00,0.000,6,0.164,0.041,2602,1709,3306,0,0,0,0,0,0
$GC,2443,-0.98,-116.8,299.7,-13.1,69,2447,0.00,2.30,0.00,0.000,4,0.000,0.047,2595,3125,3307,0,0,0,0,0,0
$GC,2487,-0.98,-116.8,305.5,-12.5,69,2491,0.00,2.22,0.00,0.000,6,0.000,0.040,2595,1712,3307,0,0,0,0,0,0
$GC,3233,-0.98,-116.8,396.6,-11.9,82,3237,0.00,1.27,0.00,0.000,4,0.000,0.041,2593,2515,3307,0,0,0,0,0,0
$STATE,3258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3258,begin apogee
$GC,3264,-0.28,0.0,400.0,10.9,82,3361,0.75,0.00,93.47,1.021,6,0.120,0.000,2823,1880,2827,0,0,0,0,0,0
$STATE,3362,end apogee,CONTROL_FINISHED_OK
$STATE,3362,begin climb
$GC,3364,0.98,116.8,409.6,0.0,84,3463,1.17,0.00,94.12,1.024,6,0.061,0.000,3235,1880,2351,0,0,0,0,0,0
$GC,4154,1.00,488.2,481.3,-9.5,97,4476,0.00,2.50,313.42,1.080,4,0.000,0.047,3235,3273,836,0,0,0,0,0,0
$GC,4559,1.00,490.2,474.5,8.2,103,4564,0.00,2.30,0.00,0.000,6,0.000,0.039,3245,1912,832,0,0,0,0,0,0
$GC,5311,1.00,490.2,407.1,9.1,116,5314,0.00,1.20,0.00,0.000,4,0.000,0.054,3250,1169,829,0,0,0,0,0,0
$GC,5354,1.00,490.2,402.6,9.8,116,5359,0.00,1.15,0.00,0.000,6,0.000,0.036,3250,1906,826,0,0,0,0,0,0
$GC,6106,1.00,490.2,323.5,11.1,129,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1905,826,0,0,0,0,0,0
$GC,6833,1.00,490.2,242.5,11.4,141,6837,0.00,2.40,0.00,0.000,4,0.000,0.057,3254,485,826,0,0,0,0,0,0
$GC,6934,1.00,490.2,230.3,11.9,142,6938,0.00,2.22,0.00,0.000,6,0.000,0.035,3254,1893,824,0,0,0,0,0,0
$GC,7690,1.00,490.2,153.6,9.5,155,7694,0.00,2.35,0.00,0.000,4,0.000,0.055,3262,492,824,0,0,0,0,0,0
$GC,7745,1.00,490.2,148.5,9.0,155,7751,0.10,2.20,0.00,0.000,6,0.217,0.035,3244,1903,823,0,0,0,0,0,0
$GC,8482,1.00,490.2,78.7,12.5,169,8486,0.00,1.00,0.00,0.000,4,0.000,0.050,3247,1292,823,0,0,0,0,0,0
$GC,8515,1.00,490.2,74.5,11.4,169,8519,0.00,0.98,0.00,0.000,6,0.000,0.037,3247,1915,823,0,0,0,0,0,0
$GC,9255,1.00,490.2,8.4,8.5,211,9259,0.00,0.68,0.00,0.000,4,0.000,0.045,3247,2372,823,0,0,0,0,0,0
$GC,9283,1.00,505.3,6.1,7.6,213,9293,0.00,0.75,7.43,0.588,6,0.000,0.044,3249,1889,766,0,0,0,0,0,0
$STATE,9316,end climb,SURFACE_DEPTH_REACHED
$STATE,9317,begin surface coast
$FINISH,1.6,1.016768
$STATE,9339,end surface coast,CONTROL_FINISHED_OK
$STATE,9339,begin surface
$SM_CCo,9418,0.00,0.000,0,0,763,506.54
$SM_GC,2.80,9.23,0.00,0.00,0.060,0.000,0.000,85,1708,763,-8.81,-0.34,506.54
$IRIDIUM_FIX,-4120.75,-712.86,130213,131332
$TT8_MAMPS,0.026964
$HUMID,53.54
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.4,133.996
$10V_AH,9.8,56.277
$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,22.750,39.825,508.450,0.000,0.000,27.366,40.711,221.206,0.000,0.000,21.351,633.193,7508.664,483.924,1055.867,152.654,0.000,937.325,0.000,775.788,0.000,1.013,0.000
$DEVICE_MAMPS,257.805,73.440,1080.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,149.608,241.840,101.653,37.894,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354856
$DATA_FILE_SIZE,13611,218
$CAP_FILE_SIZE,56499,0
$CFSIZE,2097086464,2015789056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,130213,191953,-4132.199,-319.087,68,1.0,69,-22.6