version: 66.07.10.p01
glider: 574
mission: 4
dive: 11
start: 9 21 112 6 45 21
data:
$ID,574
$MISSION,4
$DIVE,11
$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,-5440.2876
$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,44
$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
$GPS1,210912,062605,-4327.827,-954.350,39,0.9,39,-21.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.0
$GPS2,210912,064500,-4327.907,-954.616,18,1.0,18,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4327.907,-939.737
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.55,-180.0,0.0,0.0,0,141,0.00,0.00,-113.50,0.000,2,0.000,0.000,66,1947,3254,0,0,0,0,0,0
$GC,143,-0.55,-180.0,3.2,-4.1,19,169,12.70,2.25,-5.88,0.000,4,0.287,0.063,2800,3347,3562,0,0,0,0,0,0
$GC,357,-0.55,-180.0,38.1,-11.7,55,363,0.08,2.22,0.00,0.000,6,0.181,0.050,2817,1941,3563,0,0,0,0,0,0
$GC,501,-0.50,-180.0,57.4,-13.8,80,508,0.08,0.77,0.00,0.000,4,0.204,0.060,2835,1449,3563,0,0,0,0,0,0
$GC,590,-0.50,-180.0,69.1,-13.5,95,595,0.00,0.77,0.00,0.000,6,0.000,0.045,2833,1952,3563,0,0,0,0,0,0
$GC,939,-0.48,-180.0,112.6,-14.3,156,946,0.00,0.60,0.00,0.000,4,0.000,0.062,2833,1575,3563,0,0,0,0,0,0
$GC,1051,-0.48,-180.0,129.1,-14.3,175,1056,0.00,0.57,0.00,0.000,6,0.000,0.047,2831,1959,3563,0,0,0,0,0,0
$GC,1399,-0.48,-180.0,178.4,-13.0,236,1406,0.00,0.70,0.00,0.000,4,0.000,0.060,2831,1514,3563,0,0,0,0,0,0
$GC,1488,-0.46,-180.0,190.0,-13.3,251,1494,0.05,0.65,0.00,0.000,6,0.173,0.047,2844,1949,3562,0,0,0,0,0,0
$GC,1837,-0.48,-180.0,233.3,-12.5,312,1845,0.00,0.62,0.00,0.000,4,0.000,0.061,2844,1550,3563,0,0,0,0,0,0
$GC,1926,-0.48,-180.0,244.1,-12.3,327,1931,0.00,0.60,0.00,0.000,6,0.000,0.047,2843,1950,3563,0,0,0,0,0,0
$GC,2276,-0.50,-180.0,285.5,-10.3,388,2283,0.00,1.08,0.00,0.000,4,0.000,0.061,2843,1272,3563,0,0,0,0,0,0
$GC,2423,-0.53,-180.0,300.5,-9.9,413,2428,0.00,1.02,0.00,0.000,6,0.000,0.042,2838,1946,3564,0,0,0,0,0,0
$GC,2772,-0.55,-180.0,335.9,-9.6,474,2779,0.00,0.77,0.00,0.000,4,0.000,0.060,2838,1454,3564,0,0,0,0,0,0
$GC,2851,-0.57,-180.0,343.2,-9.3,487,2856,0.03,0.75,0.00,0.000,6,0.114,0.044,2816,1957,3564,0,0,0,0,0,0
$GC,3200,-0.54,-180.0,383.7,-11.4,548,3207,0.00,0.70,0.00,0.000,4,0.000,0.057,2816,1508,3564,0,0,0,0,0,0
$GC,3313,-0.51,-180.0,396.6,-11.5,567,3319,0.05,0.65,0.00,0.000,6,0.165,0.043,2829,1954,3564,0,0,0,0,0,0
$STATE,3341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3341,begin apogee
$GC,3344,-0.17,0.0,400.0,10.9,572,3493,0.32,0.00,139.73,0.929,6,0.142,0.000,2935,1685,2827,0,0,0,0,0,0
$STATE,3493,end apogee,CONTROL_FINISHED_OK
$STATE,3493,begin climb
$GC,3495,0.55,180.0,406.2,0.0,599,3649,0.75,1.12,143.23,0.907,4,0.105,0.060,3173,1037,2091,0,0,0,0,0,0
$GC,3732,0.55,240.5,396.4,7.7,641,3788,0.00,1.05,49.30,0.887,6,0.000,0.037,3172,1697,1848,0,0,0,0,0,0
$GC,4134,0.56,289.7,363.4,8.1,711,4179,0.00,0.95,40.47,0.884,4,0.000,0.055,3172,1106,1647,0,0,0,0,0,0
$GC,4239,0.63,355.1,355.4,7.5,729,4300,0.05,0.93,55.10,0.881,6,0.076,0.036,3204,1706,1379,0,0,0,0,0,0
$GC,4644,0.68,388.4,318.3,8.7,800,4677,0.00,0.88,27.42,0.848,4,0.000,0.059,3206,1188,1243,0,0,0,0,0,0
$GC,4755,0.75,430.3,309.2,8.4,819,4800,0.08,0.77,35.97,0.851,6,0.068,0.036,3247,1711,1071,0,0,0,0,0,0
$GC,5145,0.75,430.3,265.5,11.5,887,5150,0.00,2.33,0.00,0.000,4,0.000,0.067,3250,301,1065,0,0,0,0,0,0
$GC,5227,0.77,430.3,254.9,13.0,901,5232,0.00,2.12,0.00,0.000,6,0.000,0.035,3250,1680,1062,0,0,0,0,0,0
$GC,5574,0.77,430.3,213.1,11.5,962,5582,0.00,1.30,0.00,0.000,4,0.000,0.060,3250,886,1062,0,0,0,0,0,0
$GC,5667,0.77,430.3,202.1,12.0,978,5674,0.00,1.25,0.00,0.000,6,0.000,0.034,3250,1711,1062,0,0,0,0,0,0
$GC,6019,0.77,430.3,160.6,14.1,1039,6024,0.00,2.30,0.00,0.000,4,0.000,0.065,3250,294,1061,0,0,0,0,0,0
$GC,6101,0.80,430.3,150.0,13.8,1053,6106,0.00,2.12,0.00,0.000,6,0.000,0.034,3250,1694,1060,0,0,0,0,0,0
$GC,6451,0.82,430.3,110.2,10.2,1114,6458,0.00,1.25,0.00,0.000,4,0.000,0.060,3251,920,1060,0,0,0,0,0,0
$GC,6540,0.84,430.3,99.9,11.1,1129,6545,0.03,1.17,0.00,0.000,6,0.104,0.034,3273,1706,1060,0,0,0,0,0,0
$GC,6888,0.80,430.3,53.0,13.2,1190,6896,0.08,2.28,0.00,0.000,4,0.208,0.065,3263,306,1060,0,0,0,0,0,0
$GC,6989,0.80,430.3,40.0,13.5,1207,6995,0.00,2.10,0.00,0.000,6,0.000,0.035,3264,1691,1059,0,0,0,0,0,0
$GC,7136,0.80,430.3,19.1,14.7,1232,7143,0.00,0.38,0.00,0.000,4,0.000,0.062,3263,1445,1059,0,0,0,0,0,0
$STATE,7249,end climb,SURFACE_DEPTH_REACHED
$STATE,7250,begin surface coast
$FINISH,0.6,1.013405
$STATE,7269,end surface coast,CONTROL_FINISHED_OK
$STATE,7269,begin surface
$SM_CCo,7284,73.80,0.608,0,0,395,596.31
$SM_GC,1.44,0.00,0.00,73.80,0.000,0.000,0.608,90,1976,395,-9.08,0.74,596.31
$IRIDIUM_FIX,-4311.50,-956.01,210912,060607
$TT8_MAMPS,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,24.0,6.937
$10V_AH,10.4,3.611
$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,22.975,40.250,491.225,73.800,0.000,140.987,318.834,301.790,0.000,0.000,21.181,2664.067,1253.026,476.707,3981.717,121.064,0.000,1612.331,0.000,3193.226,0.000,1.015,0.000
$DEVICE_MAMPS,286.875,66.555,929.475,608.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.855,2191.787,352.822,285.792,0.000,0.000,0.000,0.000,0.000,0.000
$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,73588,1254
$CAP_FILE_SIZE,114758,0
$CFSIZE,2097086464,2093318144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210912,084905,-4328.229,-954.611,32,0.8,32,-21.0