version: 66.07.10.p01
glider: 574
mission: 4
dive: 13
start: 9 21 112 11 21 52
data:
$ID,574
$MISSION,4
$DIVE,13
$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,-5446.686
$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,33
$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
$GPS1,210912,110605,-4328.991,-954.613,27,1.7,27,-21.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.1
$GPS2,210912,112131,-4329.125,-954.762,18,1.8,18,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4329.125,-939.878
$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,-112.65,0.000,2,0.000,0.000,71,1977,3208,0,0,0,0,0,0
$GC,141,-0.55,-180.0,3.2,-4.5,19,167,12.73,0.80,-6.95,0.000,4,0.285,0.092,2813,1471,3562,0,0,0,0,0,0
$GC,246,-0.48,-180.0,25.8,-15.2,36,254,0.08,0.73,0.00,0.000,6,0.170,0.044,2834,1939,3563,0,0,0,0,0,0
$GC,325,-0.48,-180.0,35.9,-12.0,49,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1939,3563,0,0,0,0,0,0
$GC,467,-0.48,-180.0,52.5,-11.0,74,474,0.00,0.73,0.00,0.000,4,0.000,0.060,2835,1488,3563,0,0,0,0,0,0
$GC,548,-0.46,-180.0,62.1,-12.4,88,556,0.03,0.70,0.00,0.000,6,0.198,0.044,2842,1946,3563,0,0,0,0,0,0
$GC,901,-0.46,-180.0,109.2,-12.8,149,906,0.00,0.75,0.00,0.000,4,0.000,0.059,2841,1475,3563,0,0,0,0,0,0
$GC,974,-0.46,-180.0,118.6,-13.1,162,982,0.00,0.73,0.00,0.000,6,0.000,0.044,2839,1950,3563,0,0,0,0,0,0
$GC,1327,-0.46,-180.0,151.5,-8.5,223,1332,0.00,0.70,0.00,0.000,4,0.000,0.060,2840,1499,3563,0,0,0,0,0,0
$GC,1431,-0.46,-180.0,160.5,-9.1,241,1436,0.00,0.70,0.00,0.000,6,0.000,0.043,2837,1964,3563,0,0,0,0,0,0
$GC,1779,-0.46,-180.0,194.2,-10.3,302,1786,0.00,1.17,0.00,0.000,4,0.000,0.059,2836,1229,3563,0,0,0,0,0,0
$GC,1880,-0.46,-180.0,206.0,-12.5,319,1885,0.03,1.10,0.00,0.000,6,0.198,0.041,2842,1946,3563,0,0,0,0,0,0
$GC,2228,-0.46,-180.0,242.4,-10.8,380,2235,0.00,0.80,0.00,0.000,4,0.000,0.058,2842,1440,3563,0,0,0,0,0,0
$GC,2329,-0.46,-180.0,252.4,-10.0,397,2334,0.00,0.77,0.00,0.000,6,0.000,0.041,2839,1957,3562,0,0,0,0,0,0
$GC,2676,-0.46,-180.0,287.3,-10.4,458,2683,0.00,1.50,0.00,0.000,4,0.000,0.060,2839,1023,3563,0,0,0,0,0,0
$GC,2781,-0.48,-180.0,297.8,-10.2,476,2788,0.00,1.42,0.00,0.000,6,0.000,0.041,2834,1947,3563,0,0,0,0,0,0
$GC,3133,-0.48,-180.0,331.2,-9.5,537,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1948,3563,0,0,0,0,0,0
$GC,3480,-0.48,-180.0,366.1,-10.5,598,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1947,3563,0,0,0,0,0,0
$STATE,3807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3808,begin apogee
$GC,3811,-0.17,0.0,400.3,10.3,655,3966,0.32,0.00,148.57,1.110,6,0.138,0.000,2938,1693,2823,0,0,0,0,0,0
$STATE,3966,end apogee,CONTROL_FINISHED_OK
$STATE,3966,begin climb
$GC,3968,0.55,180.0,407.7,0.0,683,4115,0.70,1.10,141.52,0.948,4,0.103,0.041,3160,2349,2093,0,0,0,0,0,0
$GC,4169,0.53,258.2,400.8,7.0,719,4240,0.00,1.05,64.47,0.916,6,0.000,0.050,3161,1711,1775,0,0,0,0,0,0
$GC,4584,0.60,356.3,371.5,6.3,792,4672,0.10,2.05,80.57,0.893,4,0.106,0.065,3206,498,1374,0,0,0,0,0,0
$GC,4741,0.66,376.5,357.5,9.2,820,4764,0.00,1.92,17.58,0.840,6,0.000,0.035,3206,1701,1291,0,0,0,0,0,0
$GC,5108,0.71,389.9,324.0,9.5,884,5127,0.08,1.90,12.55,1.055,4,0.126,0.060,3241,573,1237,0,0,0,0,0,0
$GC,5175,0.71,389.9,316.7,11.9,895,5180,0.00,1.75,0.00,0.000,6,0.000,0.036,3241,1702,1234,0,0,0,0,0,0
$GC,5522,0.71,389.9,276.4,11.3,956,5529,0.00,1.15,0.00,0.000,4,0.000,0.060,3241,999,1233,0,0,0,0,0,0
$GC,5622,0.71,389.9,264.7,11.8,973,5627,0.00,1.08,0.00,0.000,6,0.000,0.037,3241,1705,1232,0,0,0,0,0,0
$GC,5970,0.71,389.9,224.6,11.8,1034,5977,0.00,2.05,0.00,0.000,4,0.000,0.063,3241,450,1231,0,0,0,0,0,0
$GC,6059,0.71,389.9,214.1,12.5,1049,6065,0.00,1.90,0.00,0.000,6,0.000,0.035,3241,1701,1231,0,0,0,0,0,0
$GC,6408,0.69,389.9,165.7,13.7,1110,6415,0.08,1.15,0.00,0.000,4,0.216,0.062,3230,996,1231,0,0,0,0,0,0
$GC,6478,0.69,389.9,156.5,13.1,1122,6485,0.00,1.08,0.00,0.000,6,0.000,0.037,3230,1708,1231,0,0,0,0,0,0
$GC,6830,0.69,389.9,111.5,12.9,1183,6835,0.00,1.85,0.00,0.000,4,0.000,0.063,3234,553,1231,0,0,0,0,0,0
$GC,6912,0.72,389.9,101.1,11.8,1197,6917,0.00,1.73,0.00,0.000,6,0.000,0.034,3234,1706,1230,0,0,0,0,0,0
$GC,7259,0.72,389.9,56.8,12.7,1258,7266,0.00,1.35,0.00,0.000,4,0.000,0.060,3237,871,1230,0,0,0,0,0,0
$GC,7349,0.74,389.9,44.7,14.6,1273,7354,0.00,1.25,0.00,0.000,6,0.000,0.034,3236,1701,1231,0,0,0,0,0,0
$GC,7494,0.74,389.9,25.6,13.4,1298,7501,0.00,0.45,0.00,0.000,4,0.000,0.060,3237,1406,1231,0,0,0,0,0,0
$GC,7602,0.74,389.9,10.0,14.6,1316,7609,0.00,0.43,0.00,0.000,6,0.000,0.044,3236,1711,1231,0,0,0,0,0,0
$STATE,7657,end climb,SURFACE_DEPTH_REACHED
$STATE,7657,begin surface coast
$FINISH,0.4,1.026893
$STATE,7683,end surface coast,CONTROL_FINISHED_OK
$STATE,7683,begin surface
$SM_CCo,7698,93.90,0.630,0,0,395,596.31
$SM_GC,1.27,0.00,0.00,93.90,0.000,0.000,0.630,85,1969,395,-9.09,0.51,596.31
$IRIDIUM_FIX,-4314.46,-953.60,210912,090927
$TT8_MAMPS,0.026964
$HUMID,43.77
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,24.0,7.309
$10V_AH,10.4,3.913
$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,22.825,38.550,465.275,93.900,0.000,27.019,38.844,765.108,0.000,0.000,20.982,2838.029,1095.114,479.870,4215.692,93.231,0.000,1660.238,0.000,3371.791,0.000,1.015,0.000
$DEVICE_MAMPS,285.345,91.800,1110.015,629.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.423,2317.000,370.647,303.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354740
$DATA_FILE_SIZE,80278,1329
$CAP_FILE_SIZE,122685,0
$CFSIZE,2097086464,2093449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210912,133300,-4329.762,-953.884,43,1.1,43,-21.0