version: 66.07.10.p01
glider: 574
mission: 4
dive: 9
start: 9 21 112 1 44 9
data:
$ID,574
$MISSION,4
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,134
$T_MISSION,150
$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,-5433.9258
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,33
$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
$GPS1,210912,013918,-4327.656,-955.651,12,1.5,12,-21.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.5
$GPS2,210912,014348,-4327.651,-955.657,17,1.6,17,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4327.651,-940.779
$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,111.0,20000,-16.3,-9.950
$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,22,begin dive
$GC,24,-0.55,-180.0,0.0,0.0,0,139,0.00,0.00,-112.93,0.000,2,0.000,0.000,72,1940,3270,0,0,0,0,0,0
$GC,141,-0.55,-180.0,3.3,-4.6,19,168,12.18,2.28,-5.70,0.000,4,0.276,0.077,2813,558,3563,0,0,0,0,0,0
$GC,321,-0.51,-180.0,38.5,-13.0,49,326,0.10,2.17,0.00,0.000,6,0.194,0.043,2828,1956,3564,0,0,0,0,0,0
$GC,464,-0.51,-180.0,54.8,-10.0,74,471,0.00,0.25,0.00,0.000,4,0.000,0.058,2827,2156,3564,0,0,0,0,0,0
$GC,530,-0.51,-180.0,61.7,-10.4,85,535,0.00,0.30,0.00,0.000,6,0.000,0.062,2827,1952,3564,0,0,0,0,0,0
$GC,878,-0.49,-180.0,102.8,-13.2,146,885,0.00,0.57,0.00,0.000,4,0.000,0.063,2828,1575,3564,0,0,0,0,0,0
$GC,960,-0.46,-180.0,114.0,-13.7,160,967,0.05,0.57,0.00,0.000,6,0.170,0.047,2842,1959,3564,0,0,0,0,0,0
$GC,1313,-0.46,-180.0,150.3,-9.2,221,1318,0.00,0.50,0.00,0.000,4,0.000,0.060,2842,1632,3564,0,0,0,0,0,0
$GC,1409,-0.46,-180.0,160.0,-10.3,238,1416,0.00,0.47,0.00,0.000,6,0.000,0.049,2841,1953,3564,0,0,0,0,0,0
$GC,1762,-0.46,-180.0,196.2,-9.5,299,1767,0.00,0.55,0.00,0.000,4,0.000,0.060,2840,1596,3564,0,0,0,0,0,0
$GC,1846,-0.46,-180.0,205.5,-11.0,314,1854,0.00,0.52,0.00,0.000,6,0.000,0.048,2838,1948,3564,0,0,0,0,0,0
$GC,2198,-0.46,-180.0,239.7,-9.8,375,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1949,3564,0,0,0,0,0,0
$GC,2547,-0.46,-180.0,272.2,-8.7,436,2554,0.00,0.77,0.00,0.000,4,0.000,0.059,2838,1455,3564,0,0,0,0,0,0
$GC,2628,-0.46,-180.0,279.8,-9.3,450,2635,0.00,0.75,0.00,0.000,6,0.000,0.044,2835,1949,3564,0,0,0,0,0,0
$GC,2980,-0.46,-180.0,310.3,-8.1,511,2985,0.05,0.60,0.00,0.000,4,0.240,0.060,2846,1569,3565,0,0,0,0,0,0
$GC,3074,-0.49,-180.0,317.2,-7.6,527,3079,0.00,0.57,0.00,0.000,6,0.000,0.047,2845,1956,3565,0,0,0,0,0,0
$GC,3423,-0.52,-180.0,341.8,-6.9,588,3430,0.00,0.57,0.00,0.000,4,0.000,0.059,2845,1580,3565,0,0,0,0,0,0
$GC,3524,-0.55,-180.0,348.8,-7.0,605,3529,0.05,0.55,0.00,0.000,6,0.083,0.047,2813,1953,3565,0,0,0,0,0,0
$GC,3873,-0.53,-180.0,385.3,-11.3,666,3880,0.05,0.30,0.00,0.000,4,0.233,0.068,2824,1752,3565,0,0,0,0,0,0
$GC,3951,-0.53,-180.0,393.8,-10.9,679,3956,0.00,0.28,0.00,0.000,6,0.000,0.057,2824,1954,3565,0,0,0,0,0,0
$STATE,4008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4008,begin apogee
$GC,4012,-0.17,0.0,400.5,11.4,689,4158,0.35,0.00,140.12,0.957,6,0.142,0.000,2936,1701,2826,0,0,0,0,0,0
$STATE,4159,end apogee,CONTROL_FINISHED_OK
$STATE,4159,begin climb
$GC,4160,0.55,180.0,407.6,0.0,716,4309,0.73,0.00,143.40,0.934,6,0.106,0.000,3164,1701,2093,0,0,0,0,0,0
$GC,4654,0.56,264.9,380.7,6.8,803,4731,0.00,1.08,68.68,0.913,4,0.000,0.044,3163,2351,1745,0,0,0,0,0,0
$GC,4791,0.62,322.7,370.3,7.8,827,4848,0.08,1.05,48.22,0.887,6,0.068,0.054,3206,1710,1510,0,0,0,0,0,0
$GC,5193,0.65,345.0,332.4,9.1,897,5217,0.00,1.52,18.88,0.844,4,0.000,0.062,3210,776,1419,0,0,0,0,0,0
$GC,5288,0.68,345.0,323.1,10.3,913,5293,0.00,1.45,0.00,0.000,6,0.000,0.040,3210,1690,1415,0,0,0,0,0,0
$GC,5636,0.71,345.0,287.6,10.1,974,5643,0.05,1.02,0.00,0.000,4,0.167,0.061,3237,1071,1413,0,0,0,0,0,0
$GC,5737,0.71,345.0,276.0,11.9,991,5742,0.00,0.98,0.00,0.000,6,0.000,0.041,3237,1707,1413,0,0,0,0,0,0
$GC,6084,0.71,345.0,233.9,12.7,1052,6091,0.00,1.00,0.00,0.000,4,0.000,0.060,3240,1089,1413,0,0,0,0,0,0
$GC,6174,0.69,345.0,222.6,13.1,1067,6179,0.03,0.93,0.00,0.000,6,0.195,0.038,3231,1709,1412,0,0,0,0,0,0
$GC,6523,0.69,345.0,179.7,12.3,1128,6530,0.00,0.73,0.00,0.000,4,0.000,0.063,3233,1250,1412,0,0,0,0,0,0
$GC,6611,0.69,345.0,169.0,12.8,1143,6616,0.00,0.65,0.00,0.000,6,0.000,0.041,3233,1694,1412,0,0,0,0,0,0
$GC,6959,0.69,345.0,123.1,13.5,1204,6967,0.00,0.88,0.00,0.000,4,0.000,0.062,3236,1149,1412,0,0,0,0,0,0
$GC,7048,0.69,345.0,111.5,12.9,1219,7053,0.00,0.82,0.00,0.000,6,0.000,0.040,3236,1701,1412,0,0,0,0,0,0
$GC,7396,0.69,345.0,63.4,12.3,1280,7403,0.00,0.57,0.00,0.000,4,0.000,0.061,3237,1340,1412,0,0,0,0,0,0
$GC,7489,0.69,345.0,53.7,10.3,1296,7497,0.03,0.52,0.00,0.000,6,0.196,0.042,3229,1711,1412,0,0,0,0,0,0
$GC,7636,0.69,345.0,36.5,13.3,1321,7641,0.00,0.40,0.00,0.000,4,0.000,0.067,3230,1447,1412,0,0,0,0,0,0
$GC,7747,0.69,345.0,20.7,14.5,1340,7754,0.00,0.32,0.00,0.000,6,0.000,0.047,3230,1697,1413,0,0,0,0,0,0
$GC,7826,0.69,345.0,10.1,12.8,1353,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1697,1412,0,0,0,0,0,0
$STATE,7886,end climb,SURFACE_DEPTH_REACHED
$STATE,7886,begin surface coast
$FINISH,0.6,1.015968
$STATE,7917,end surface coast,CONTROL_FINISHED_OK
$STATE,7917,begin surface
$SM_CCo,7992,0.00,0.000,0,0,1406,348.57
$SM_GC,1.63,8.60,0.00,0.00,0.060,0.000,0.000,91,1953,1406,-9.05,0.14,348.57
$IRIDIUM_FIX,-4311.50,-956.01,210912,010109
$TT8_MAMPS,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,24.0,6.607
$10V_AH,10.4,3.306
$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,22.325,27.275,419.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.696,2944.140,1200.599,369.135,3469.079,81.738,0.000,1562.169,0.000,3468.539,0.000,1.016,0.000
$DEVICE_MAMPS,276.165,77.265,957.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,940.444,2383.320,391.624,313.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354828
$DATA_FILE_SIZE,80293,1368
$CAP_FILE_SIZE,154369,0
$CFSIZE,2097086464,2093940736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210912,035835,-4327.711,-954.599,42,1.2,42,-21.0