version: 66.07.10.p01
glider: 574
mission: 4
dive: 12
start: 9 21 112 9 3 46
data:
$ID,574
$MISSION,4
$DIVE,12
$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,-5443.5522
$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,34
$R_STBD_OVSHOOT,61
$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
$GPS1,210912,084905,-4328.229,-954.611,32,0.8,32,-21.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.2
$GPS2,210912,090325,-4328.330,-954.770,16,0.9,17,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4328.330,-939.889
$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,-112.55,0.000,2,0.000,0.000,66,1978,3215,0,0,0,0,0,0
$GC,141,-0.55,-180.0,3.1,-4.5,19,167,12.57,2.33,-6.90,0.000,4,0.284,0.073,2810,538,3561,0,0,0,0,0,0
$GC,287,-0.49,-180.0,31.0,-14.1,43,292,0.12,2.15,0.00,0.000,6,0.181,0.037,2833,1927,3562,0,0,0,0,0,0
$GC,430,-0.49,-180.0,51.3,-14.1,68,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1927,3562,0,0,0,0,0,0
$GC,575,-0.47,-180.0,72.3,-13.8,93,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1927,3562,0,0,0,0,0,0
$GC,924,-0.47,-180.0,116.7,-11.4,154,931,0.00,0.32,0.00,0.000,4,0.000,0.053,2832,2175,3562,0,0,0,0,0,0
$GC,970,-0.47,-180.0,121.6,-10.0,162,978,0.00,0.32,0.00,0.000,6,0.000,0.059,2832,1950,3562,0,0,0,0,0,0
$GC,1323,-0.47,-180.0,166.8,-13.8,223,1328,0.00,0.55,0.00,0.000,4,0.000,0.060,2832,1582,3562,0,0,0,0,0,0
$GC,1427,-0.47,-180.0,181.0,-13.0,241,1432,0.03,0.55,0.00,0.000,6,0.197,0.044,2839,1960,3562,0,0,0,0,0,0
$GC,1775,-0.47,-180.0,227.0,-12.1,302,1782,0.00,0.62,0.00,0.000,4,0.000,0.057,2839,1555,3563,0,0,0,0,0,0
$GC,1864,-0.47,-180.0,237.5,-12.0,317,1869,0.00,0.57,0.00,0.000,6,0.000,0.044,2838,1948,3562,0,0,0,0,0,0
$GC,2212,-0.47,-180.0,278.3,-11.4,378,2219,0.00,0.68,0.00,0.000,4,0.000,0.057,2838,1514,3562,0,0,0,0,0,0
$GC,2290,-0.47,-180.0,286.3,-10.9,391,2294,0.00,0.65,0.00,0.000,6,0.000,0.042,2836,1952,3563,0,0,0,0,0,0
$GC,2637,-0.47,-180.0,327.9,-12.0,452,2644,0.00,0.85,0.00,0.000,4,0.000,0.057,2836,1410,3563,0,0,0,0,0,0
$GC,2737,-0.47,-180.0,340.2,-12.5,469,2742,0.00,0.80,0.00,0.000,6,0.000,0.041,2833,1946,3563,0,0,0,0,0,0
$GC,3085,-0.47,-180.0,382.9,-11.7,530,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1946,3563,0,0,0,0,0,0
$STATE,3229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3229,begin apogee
$GC,3233,-0.17,0.0,400.1,12.2,555,3380,0.32,0.00,139.85,0.949,6,0.139,0.000,2938,1704,2827,0,0,0,0,0,0
$STATE,3381,end apogee,CONTROL_FINISHED_OK
$STATE,3381,begin climb
$GC,3382,0.55,180.0,408.8,0.0,582,3535,0.73,0.90,144.48,0.952,4,0.103,0.058,3169,1174,2092,0,0,0,0,0,0
$GC,3589,0.52,251.0,402.4,7.3,619,3656,0.00,0.82,58.78,0.910,6,0.000,0.038,3169,1698,1802,0,0,0,0,0,0
$GC,4001,0.57,282.8,365.7,8.8,691,4036,0.00,0.40,26.23,0.874,4,0.000,0.050,3169,1975,1673,0,0,0,0,0,0
$GC,4096,0.63,299.3,356.8,9.3,707,4120,0.08,0.43,15.15,0.827,6,0.063,0.057,3211,1703,1606,0,0,0,0,0,0
$GC,4464,0.63,299.3,312.6,12.2,771,4469,0.00,0.45,0.00,0.000,4,0.000,0.061,3213,1404,1600,0,0,0,0,0,0
$GC,4545,0.63,299.3,302.9,11.9,785,4550,0.00,0.43,0.00,0.000,6,0.000,0.042,3213,1705,1600,0,0,0,0,0,0
$GC,4893,0.63,299.3,263.4,11.1,846,4900,0.00,0.75,0.00,0.000,4,0.000,0.059,3213,1236,1599,0,0,0,0,0,0
$GC,4986,0.63,299.3,253.4,10.3,862,4993,0.00,0.68,0.00,0.000,6,0.000,0.039,3213,1696,1598,0,0,0,0,0,0
$GC,5338,0.63,318.6,217.2,9.2,923,5361,0.00,0.98,15.88,0.792,4,0.000,0.060,3213,1096,1527,0,0,0,0,0,0
$GC,5444,0.63,342.8,208.0,9.1,941,5471,0.00,0.90,20.95,0.795,6,0.000,0.037,3213,1698,1430,0,0,0,0,0,0
$GC,5814,0.66,342.8,170.0,11.4,1006,5821,0.00,0.88,0.00,0.000,4,0.000,0.059,3213,1148,1425,0,0,0,0,0,0
$GC,5907,0.69,392.0,161.4,8.1,1022,5952,0.00,0.82,40.67,0.790,6,0.000,0.037,3213,1705,1229,0,0,0,0,0,0
$GC,6295,0.76,531.1,133.9,4.8,1090,6428,0.10,2.47,122.60,0.940,4,0.103,0.067,3255,305,656,0,0,0,0,0,0
$GC,6497,0.84,531.1,111.7,12.6,1126,6504,0.00,2.22,0.00,0.000,6,0.000,0.033,3255,1696,650,0,0,0,0,0,0
$GC,6848,0.84,531.1,62.9,13.1,1187,6853,0.00,2.30,0.00,0.000,4,0.000,0.067,3255,301,647,0,0,0,0,0,0
$GC,6941,0.91,531.1,50.4,13.8,1203,6947,0.12,2.15,0.00,0.000,6,0.093,0.034,3307,1704,645,0,0,0,0,0,0
$GC,7087,0.82,531.1,22.2,22.1,1228,7095,0.15,0.93,0.00,0.000,4,0.180,0.057,3274,1128,645,0,0,0,0,0,0
$GC,7185,0.82,531.1,6.5,13.5,1244,7192,0.00,0.88,0.00,0.000,6,0.000,0.037,3274,1708,645,0,0,0,0,0,0
$STATE,7210,end climb,SURFACE_DEPTH_REACHED
$STATE,7210,begin surface coast
$FINISH,0.5,1.026755
$STATE,7235,end surface coast,CONTROL_FINISHED_OK
$STATE,7235,begin surface
$SM_CCo,7250,27.98,0.580,0,0,396,596.31
$SM_GC,1.38,0.00,0.00,27.98,0.000,0.000,0.580,88,1972,396,-9.10,0.62,596.31
$IRIDIUM_FIX,-4311.50,-953.09,210912,080838
$TT8_MAMPS,0.026964
$HUMID,44.52
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,24.0,7.114
$10V_AH,10.4,3.756
$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,23.050,30.500,584.575,27.975,0.000,131.194,400.402,0.000,0.000,0.000,20.138,2613.059,1244.141,479.945,3712.118,92.676,0.000,1649.057,0.000,3175.132,0.000,1.014,0.000
$DEVICE_MAMPS,283.815,73.440,951.660,579.870,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.372,2182.068,331.073,280.410,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354852
$DATA_FILE_SIZE,73322,1252
$CAP_FILE_SIZE,107799,0
$CFSIZE,2097086464,2092990464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210912,110605,-4328.991,-954.613,27,1.7,27,-21.0