version: 66.07.10.p01
glider: 574
mission: 4
dive: 7
start: 9 20 112 21 24 21
data:
$ID,574
$MISSION,4
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,260
$D_ABORT,300
$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,87
$T_MISSION,102
$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,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,300
$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,-5175.7422
$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,3000
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,41
$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,-1
$GPS1,200912,211352,-4326.711,-955.312,35,1.0,35,-21.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.9
$GPS2,200912,212400,-4326.730,-955.342,18,1.4,19,-21.1
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4326.730,-940.468
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,111.1,20000,-16.3,-9.962
$D_GRID,260
$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,-0.55,-180.0,0.0,0.0,0,110,0.00,0.00,-83.70,0.000,2,0.000,0.000,65,1969,3322,0,0,0,0,0,0
$GC,112,-0.55,-180.0,3.6,-5.6,14,138,12.68,2.22,-4.53,0.000,4,0.285,0.068,2802,3346,3564,0,0,0,0,0,0
$GC,274,-0.55,-180.0,34.4,-12.5,41,280,0.08,2.22,0.00,0.000,6,0.181,0.050,2820,1940,3564,0,0,0,0,0,0
$GC,418,-0.52,-180.0,50.9,-11.7,66,425,0.00,0.45,0.00,0.000,4,0.000,0.061,2820,1639,3565,0,0,0,0,0,0
$GC,507,-0.48,-180.0,60.2,-10.7,81,513,0.05,0.47,0.00,0.000,6,0.177,0.050,2834,1959,3565,0,0,0,0,0,0
$GC,857,-0.48,-180.0,93.8,-8.4,142,864,0.00,0.98,0.00,0.000,4,0.000,0.062,2835,1353,3565,0,0,0,0,0,0
$GC,946,-0.48,-180.0,103.9,-12.3,157,951,0.00,0.93,0.00,0.000,6,0.000,0.050,2833,1939,3565,0,0,0,0,0,0
$GC,1294,-0.48,-180.0,150.0,-14.2,218,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1939,3565,0,0,0,0,0,0
$GC,1645,-0.48,-180.0,190.9,-10.2,279,1650,0.00,0.55,0.00,0.000,4,0.000,0.060,2833,1584,3565,0,0,0,0,0,0
$GC,1761,-0.48,-180.0,203.8,-10.9,299,1766,0.00,0.55,0.00,0.000,6,0.000,0.047,2832,1953,3565,0,0,0,0,0,0
$GC,2108,-0.48,-180.0,240.0,-10.8,360,2116,0.00,0.70,0.00,0.000,4,0.000,0.060,2832,1509,3565,0,0,0,0,0,0
$GC,2201,-0.48,-180.0,249.9,-10.8,376,2208,0.00,0.68,0.00,0.000,6,0.000,0.047,2830,1954,3565,0,0,0,0,0,0
$STATE,2301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2301,begin apogee
$GC,2304,-0.17,0.0,260.1,10.2,393,2446,0.35,0.00,137.77,0.864,6,0.138,0.000,2943,1955,2827,0,0,0,0,0,0
$STATE,2447,end apogee,CONTROL_FINISHED_OK
$STATE,2447,begin climb
$GC,2448,0.55,180.0,264.7,0.0,419,2596,0.73,0.32,141.07,0.836,4,0.103,0.057,3173,2167,2092,0,0,0,0,0,0
$GC,2616,0.53,238.0,257.7,7.8,449,2672,0.00,0.35,47.90,0.840,6,0.000,0.055,3173,1942,1854,0,0,0,0,0,0
$GC,3018,0.57,295.4,224.3,7.8,519,3074,0.00,2.38,46.42,0.790,4,0.000,0.064,3174,552,1620,0,0,0,0,0,0
$GC,3172,0.65,392.0,213.6,6.4,546,3260,0.08,2.22,78.93,0.789,6,0.068,0.037,3215,1945,1227,0,0,0,0,0,0
$GC,3605,0.70,410.7,174.1,9.3,622,3627,0.00,2.35,15.38,0.717,4,0.000,0.063,3216,550,1151,0,0,0,0,0,0
$GC,3750,0.77,410.7,159.2,11.3,647,3756,0.10,2.17,0.00,0.000,6,0.106,0.035,3257,1957,1148,0,0,0,0,0,0
$GC,4100,0.75,410.7,113.1,11.0,708,4107,0.08,2.30,0.00,0.000,4,0.223,0.061,3250,553,1146,0,0,0,0,0,0
$GC,4228,0.75,410.7,97.0,14.1,730,4235,0.00,2.17,0.00,0.000,6,0.000,0.037,3250,1948,1145,0,0,0,0,0,0
$GC,4580,0.75,410.7,54.6,11.3,791,4585,0.00,2.25,0.00,0.000,4,0.000,0.062,3252,546,1145,0,0,0,0,0,0
$GC,4720,0.77,410.7,37.2,11.6,815,4725,0.00,2.15,0.00,0.000,6,0.000,0.037,3252,1952,1145,0,0,0,0,0,0
$GC,4867,0.77,410.7,17.0,12.6,840,4874,0.00,1.08,0.00,0.000,4,0.000,0.055,3253,1275,1145,0,0,0,0,0,0
$GC,4976,0.77,410.7,3.9,11.9,858,4983,0.00,1.05,0.00,0.000,6,0.000,0.038,3253,1966,1144,0,0,0,0,0,0
$STATE,4990,end climb,SURFACE_DEPTH_REACHED
$STATE,4990,begin surface coast
$FINISH,0.4,1.001541
$STATE,5020,end surface coast,CONTROL_FINISHED_OK
$STATE,5021,begin surface
$SM_CCo,5095,0.00,0.000,0,0,1141,413.57
$SM_GC,1.34,8.80,0.00,0.00,0.067,0.000,0.000,89,1973,1141,-9.06,0.65,413.57
$IRIDIUM_FIX,-4308.55,-958.93,200912,212154
$TT8_MAMPS,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,24.2,6.236
$10V_AH,10.5,3.068
$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,22.925,30.550,467.475,0.000,0.000,58.884,84.853,264.152,0.000,0.000,20.678,1801.059,776.297,356.432,2707.073,75.493,0.000,1201.859,0.000,2232.651,0.000,1.015,0.000
$DEVICE_MAMPS,285.345,68.085,864.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.988,1550.108,245.612,206.640,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354868
$DATA_FILE_SIZE,50287,865
$CAP_FILE_SIZE,79429,0
$CFSIZE,2097086464,2094235648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200912,225007,-4327.197,-955.162,18,0.9,19,-21.1