version: 66.07.10.p01
glider: 574
mission: 4
dive: 576
start: 2 13 113 19 27 21
data:
$ID,574
$MISSION,4
$DIVE,576
$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,-10349.79
$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,41
$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,555
$GPS1,130213,191953,-4132.199,-319.087,68,1.0,69,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.8
$GPS2,130213,192700,-4132.229,-319.049,21,1.0,21,-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,190.4,71577,-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,-116.8,0.0,0.0,0,60,0.00,0.00,-31.90,0.000,2,0.000,0.000,69,1705,1611,0,0,0,0,0,0
$GC,63,-0.98,-116.8,3.0,-1.7,3,130,11.35,2.33,-49.38,0.000,4,0.256,0.063,2584,3118,3303,0,0,0,0,0,0
$GC,170,-0.98,-116.8,14.4,-14.6,12,178,0.05,2.25,0.00,0.000,6,0.163,0.042,2598,1731,3304,0,0,0,0,0,0
$GC,285,-0.98,-116.8,29.6,-12.6,23,289,0.00,1.45,0.00,0.000,4,0.000,0.056,2598,853,3304,0,0,0,0,0,0
$GC,346,-0.98,-116.8,37.7,-12.6,26,354,0.00,1.35,0.00,0.000,6,0.000,0.033,2594,1715,3304,0,0,0,0,0,0
$GC,783,-0.98,-116.8,93.5,-13.0,42,787,0.00,2.20,0.00,0.000,4,0.000,0.049,2586,3081,3305,0,0,0,0,0,0
$GC,825,-0.98,-116.8,98.1,-11.7,43,830,0.08,2.17,0.00,0.000,6,0.175,0.042,2601,1718,3305,0,0,0,0,0,0
$GC,1592,-0.98,-116.8,185.2,-12.0,56,1596,0.00,2.35,0.00,0.000,4,0.000,0.057,2602,310,3305,0,0,0,0,0,0
$GC,1731,-0.98,-116.8,201.6,-11.7,58,1735,0.00,2.17,0.00,0.000,6,0.000,0.034,2594,1715,3306,0,0,0,0,0,0
$GC,2455,-0.98,-116.8,277.1,-10.6,70,2459,0.00,1.23,0.00,0.000,4,0.000,0.052,2594,973,3306,0,0,0,0,0,0
$GC,2713,-0.98,-116.8,309.1,-13.1,73,2717,0.00,1.17,0.00,0.000,6,0.000,0.034,2592,1722,3306,0,0,0,0,0,0
$STATE,3451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3451,begin apogee
$GC,3457,-0.28,0.0,400.9,11.9,86,3555,0.77,0.00,94.40,1.024,6,0.114,0.000,2828,1910,2827,0,0,0,0,0,0
$STATE,3555,end apogee,CONTROL_FINISHED_OK
$STATE,3555,begin climb
$GC,3558,0.98,116.8,407.4,0.0,87,3661,1.15,2.35,94.47,1.019,4,0.056,0.052,3238,3286,2350,0,0,0,0,0,0
$GC,3768,0.64,503.1,433.6,-10.2,90,4105,0.50,2.22,327.42,1.023,6,0.210,0.041,3131,1896,774,0,0,0,0,0,0
$GC,4839,0.64,529.8,379.3,7.1,108,4869,0.00,2.00,22.52,0.952,4,0.000,0.057,3131,715,667,0,0,0,0,0,0
$GC,5121,0.64,529.8,355.4,8.6,112,5125,0.00,1.85,0.00,0.000,6,0.000,0.034,3131,1890,662,0,0,0,0,0,0
$GC,5840,0.64,529.8,287.8,9.5,124,5844,0.00,2.25,0.00,0.000,4,0.000,0.047,3131,3297,661,0,0,0,0,0,0
$GC,6097,0.64,529.8,263.3,8.9,127,6102,0.00,2.25,0.00,0.000,6,0.000,0.041,3131,1912,661,0,0,0,0,0,0
$GC,6838,0.64,554.9,205.8,7.1,140,6867,0.00,2.42,22.33,0.877,4,0.000,0.063,3131,495,564,0,0,0,0,0,0
$GC,7120,0.64,561.6,183.2,8.0,144,7132,0.00,2.20,6.78,0.750,6,0.000,0.033,3131,1906,536,0,0,0,0,0,0
$GC,7895,0.64,561.6,116.5,9.5,157,7899,0.00,1.25,0.00,0.000,4,0.000,0.056,3131,1156,535,0,0,0,0,0,0
$GC,8153,0.64,561.6,91.1,9.7,161,8157,0.00,1.17,0.00,0.000,6,0.000,0.034,3131,1902,535,0,0,0,0,0,0
$GC,8887,0.64,575.0,24.9,7.7,192,8899,0.00,1.08,7.07,0.649,4,0.000,0.041,3131,2595,482,0,0,0,0,0,0
$GC,9159,0.64,604.8,8.6,6.9,215,9178,0.00,1.12,10.60,0.634,6,0.000,0.047,3131,1894,395,0,0,0,0,0,0
$STATE,9272,end climb,SURFACE_DEPTH_REACHED
$STATE,9272,begin surface coast
$FINISH,1.6,1.020676
$STATE,9338,end surface coast,CONTROL_FINISHED_OK
$STATE,9338,begin surface
$SM_CCo,9417,0.00,0.000,0,0,390,597.54
$SM_GC,2.63,8.73,0.00,0.00,0.055,0.000,0.000,91,1702,390,-8.80,-0.51,597.54
$IRIDIUM_FIX,-4120.75,-712.86,130213,131332
$TT8_MAMPS,0.026964
$HUMID,53.81
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,22.3,134.177
$10V_AH,9.8,56.325
$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,22.625,41.375,585.600,0.000,0.000,31.698,39.026,239.279,0.000,0.000,24.129,731.908,6963.736,534.408,1458.245,167.303,0.000,1142.155,0.000,1146.436,0.000,1.015,0.000
$DEVICE_MAMPS,256.275,63.495,1023.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.316,308.143,111.389,49.036,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354816
$DATA_FILE_SIZE,13665,232
$CAP_FILE_SIZE,66944,0
$CFSIZE,2097086464,2015657984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130213,220535,-4132.422,-318.659,41,1.1,41,-22.6