version: 66.07.10.p01
glider: 574
mission: 4
dive: 10
start: 9 21 112 4 13 21
data:
$ID,574
$MISSION,4
$DIVE,10
$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,596.31458
$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,-5437.0425
$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,24
$R_STBD_OVSHOOT,50
$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
$GPS1,210912,035835,-4327.711,-954.599,42,1.2,42,-21.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.3
$GPS2,210912,041300,-4327.695,-954.703,13,1.8,13,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4327.695,-939.825
$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,-180.0,0.0,0.0,0,98,0.00,0.00,-72.22,0.000,2,0.000,0.000,65,1953,3195,0,0,0,0,0,0
$GC,100,-0.55,-180.0,3.2,-4.1,12,127,12.35,2.20,-7.25,0.000,4,0.279,0.065,2803,3339,3561,0,0,0,0,0,0
$GC,290,-0.55,-180.0,33.4,-11.5,44,296,0.00,2.22,0.00,0.000,6,0.000,0.052,2803,1949,3561,0,0,0,0,0,0
$GC,436,-0.47,-180.0,56.8,-17.4,69,442,0.15,0.62,0.00,0.000,4,0.169,0.058,2843,1543,3561,0,0,0,0,0,0
$GC,541,-0.47,-180.0,69.9,-11.4,87,546,0.00,0.60,0.00,0.000,6,0.000,0.046,2841,1943,3561,0,0,0,0,0,0
$GC,888,-0.47,-180.0,109.7,-11.4,148,896,0.00,0.75,0.00,0.000,4,0.000,0.059,2841,1469,3561,0,0,0,0,0,0
$GC,977,-0.47,-180.0,119.2,-11.6,163,982,0.00,0.73,0.00,0.000,6,0.000,0.043,2838,1950,3561,0,0,0,0,0,0
$GC,1326,-0.47,-180.0,157.2,-9.1,224,1333,0.00,0.47,0.00,0.000,4,0.000,0.063,2838,1636,3561,0,0,0,0,0,0
$GC,1426,-0.47,-180.0,168.8,-11.3,241,1431,0.00,0.45,0.00,0.000,6,0.000,0.047,2837,1947,3561,0,0,0,0,0,0
$GC,1774,-0.47,-180.0,210.7,-12.6,302,1781,0.00,0.98,0.00,0.000,4,0.000,0.060,2837,1336,3561,0,0,0,0,0,0
$GC,1862,-0.47,-180.0,220.8,-11.7,317,1868,0.00,0.93,0.00,0.000,6,0.000,0.042,2833,1945,3561,0,0,0,0,0,0
$GC,2211,-0.47,-180.0,259.8,-11.3,378,2218,0.03,0.38,0.00,0.000,4,0.279,0.063,2843,1702,3562,0,0,0,0,0,0
$GC,2346,-0.47,-180.0,273.1,-9.7,401,2351,0.00,0.35,0.00,0.000,6,0.000,0.050,2842,1954,3562,0,0,0,0,0,0
$GC,2695,-0.50,-180.0,304.2,-9.3,462,2702,0.00,1.02,0.00,0.000,4,0.000,0.057,2842,1300,3562,0,0,0,0,0,0
$GC,2796,-0.53,-180.0,312.8,-8.5,479,2801,0.00,0.98,0.00,0.000,6,0.000,0.042,2838,1940,3562,0,0,0,0,0,0
$GC,3144,-0.55,-180.0,343.7,-9.0,540,3151,0.00,1.40,0.00,0.000,4,0.000,0.060,2838,1064,3562,0,0,0,0,0,0
$GC,3245,-0.58,-180.0,352.1,-8.4,557,3251,0.03,1.35,0.00,0.000,6,0.109,0.041,2813,1950,3562,0,0,0,0,0,0
$GC,3594,-0.55,-180.0,391.6,-11.0,618,3602,0.00,0.40,0.00,0.000,4,0.000,0.061,2813,1681,3563,0,0,0,0,0,0
$STATE,3663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3664,begin apogee
$GC,3667,-0.17,0.0,400.0,12.4,630,3815,0.40,0.00,139.20,0.940,6,0.139,0.000,2940,1681,2827,0,0,0,0,0,0
$STATE,3815,end apogee,CONTROL_FINISHED_OK
$STATE,3816,begin climb
$GC,3817,0.55,180.0,406.9,0.0,657,3971,0.70,2.42,143.25,0.917,4,0.098,0.064,3171,297,2093,0,0,0,0,0,0
$GC,4092,0.55,223.1,394.6,8.3,706,4132,0.00,2.25,35.67,0.879,6,0.000,0.037,3171,1695,1917,0,0,0,0,0,0
$GC,4478,0.56,262.9,361.6,8.5,773,4515,0.00,0.00,33.00,0.868,6,0.000,0.000,3171,1695,1753,0,0,0,0,0,0
$GC,4859,0.60,305.7,329.0,8.4,840,4900,0.08,0.40,35.75,0.864,4,0.126,0.053,3206,1433,1579,0,0,0,0,0,0
$GC,4975,0.60,305.7,316.8,10.5,860,4982,0.00,0.40,0.00,0.000,6,0.000,0.044,3206,1718,1574,0,0,0,0,0,0
$GC,5326,0.60,305.7,277.6,10.7,921,5331,0.00,1.75,0.00,0.000,4,0.000,0.062,3210,630,1571,0,0,0,0,0,0
$GC,5419,0.60,305.7,267.6,10.5,937,5424,0.05,1.62,0.00,0.000,6,0.222,0.036,3200,1683,1570,0,0,0,0,0,0
$GC,5768,0.63,358.6,234.6,8.0,998,5819,0.00,0.98,42.65,0.822,4,0.000,0.059,3200,1099,1364,0,0,0,0,0,0
$GC,5894,0.70,423.8,225.0,7.5,1020,5957,0.05,0.93,54.42,0.811,6,0.076,0.035,3231,1710,1097,0,0,0,0,0,0
$GC,6302,0.75,423.8,185.3,10.8,1091,6307,0.00,2.12,0.00,0.000,4,0.000,0.064,3237,400,1088,0,0,0,0,0,0
$GC,6383,0.79,423.8,176.2,12.0,1105,6388,0.00,1.98,0.00,0.000,6,0.000,0.034,3237,1691,1087,0,0,0,0,0,0
$GC,6732,0.81,423.8,136.2,12.3,1166,6740,0.08,1.45,0.00,0.000,4,0.127,0.060,3270,800,1086,0,0,0,0,0,0
$GC,6822,0.77,423.8,123.9,15.4,1181,6828,0.08,1.38,0.00,0.000,6,0.167,0.035,3247,1708,1086,0,0,0,0,0,0
$GC,7171,0.77,423.8,75.6,12.6,1242,7178,0.00,2.08,0.00,0.000,4,0.000,0.064,3250,434,1086,0,0,0,0,0,0
$GC,7260,0.80,423.8,65.5,11.9,1257,7266,0.00,1.90,0.00,0.000,6,0.000,0.034,3250,1695,1084,0,0,0,0,0,0
$GC,7611,0.80,423.8,24.1,13.3,1318,7618,0.00,1.73,0.00,0.000,4,0.000,0.063,3253,632,1085,0,0,0,0,0,0
$GC,7702,0.80,423.8,11.8,13.2,1333,7709,0.00,1.62,0.00,0.000,6,0.000,0.034,3253,1707,1085,0,0,0,0,0,0
$STATE,7774,end climb,SURFACE_DEPTH_REACHED
$STATE,7775,begin surface coast
$FINISH,0.6,1.021402
$STATE,7800,end surface coast,CONTROL_FINISHED_OK
$STATE,7800,begin surface
$SM_CCo,7815,76.25,0.591,0,0,395,596.31
$SM_GC,1.33,0.00,0.00,76.25,0.000,0.000,0.591,87,1949,395,-9.09,-0.03,596.31
$IRIDIUM_FIX,-4314.46,-953.09,210912,040420
$TT8_MAMPS,0.026964
$HUMID,44.25
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,24.1,6.763
$10V_AH,10.4,3.462
$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,22.750,41.150,483.950,76.250,0.000,136.446,400.437,0.000,0.000,0.000,15.914,2892.240,1351.842,457.966,3953.886,100.793,0.000,1632.138,0.000,3419.458,0.000,1.015,0.000
$DEVICE_MAMPS,279.225,65.025,940.185,591.345,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.079,2350.069,372.749,308.015,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354900
$DATA_FILE_SIZE,80219,1349
$CAP_FILE_SIZE,114275,0
$CFSIZE,2097086464,2093613056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210912,062605,-4327.827,-954.350,39,0.9,39,-21.0