version: 66.07.10.p01
glider: 574
mission: 4
dive: 14
start: 9 21 112 13 40 11
data:
$ID,574
$MISSION,4
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1050
$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,235
$T_MISSION,250
$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,-5449.894
$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,25
$R_STBD_OVSHOOT,63
$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
$GPS1,210912,133300,-4329.762,-953.884,43,1.1,43,-21.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.4
$GPS2,210912,133950,-4329.840,-953.908,15,1.1,16,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4329.840,-939.021
$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,-9.929
$D_GRID,700
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.55,-180.0,0.0,0.0,0,138,0.00,0.00,-112.22,0.000,2,0.000,0.000,66,1967,3225,0,0,0,0,0,0
$GC,140,-0.55,-180.0,3.6,-5.3,19,167,12.40,0.47,-6.22,0.000,4,0.278,0.118,2807,1658,3561,0,0,0,0,0,0
$GC,388,-0.47,-180.0,52.8,-18.0,61,393,0.10,0.40,0.00,0.000,6,0.169,0.051,2838,1930,3562,0,0,0,0,0,0
$GC,531,-0.47,-180.0,70.9,-11.8,86,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1930,3562,0,0,0,0,0,0
$GC,882,-0.47,-180.0,109.4,-10.6,147,887,0.00,1.38,0.00,0.000,4,0.000,0.063,2838,1087,3562,0,0,0,0,0,0
$GC,975,-0.47,-180.0,119.6,-10.6,163,980,0.00,1.33,0.00,0.000,6,0.000,0.042,2834,1936,3563,0,0,0,0,0,0
$GC,1323,-0.47,-180.0,158.6,-11.6,224,1330,0.00,0.73,0.00,0.000,4,0.000,0.060,2834,1478,3563,0,0,0,0,0,0
$GC,1404,-0.47,-180.0,168.0,-12.0,238,1411,0.00,0.73,0.00,0.000,6,0.000,0.044,2831,1961,3562,0,0,0,0,0,0
$GC,1757,-0.47,-180.0,209.7,-11.9,299,1762,0.03,1.08,0.00,0.000,4,0.288,0.060,2842,1295,3563,0,0,0,0,0,0
$GC,1862,-0.47,-180.0,220.9,-10.3,317,1867,0.00,1.00,0.00,0.000,6,0.000,0.043,2838,1945,3563,0,0,0,0,0,0
$GC,2211,-0.47,-180.0,259.2,-10.7,378,2218,0.00,1.17,0.00,0.000,4,0.000,0.060,2838,1209,3563,0,0,0,0,0,0
$GC,2323,-0.47,-180.0,271.8,-11.5,397,2328,0.00,1.15,0.00,0.000,6,0.000,0.042,2835,1957,3563,0,0,0,0,0,0
$GC,2671,-0.47,-180.0,313.2,-11.8,458,2678,0.00,0.38,0.00,0.000,4,0.000,0.060,2835,1707,3563,0,0,0,0,0,0
$GC,2752,-0.47,-180.0,322.7,-11.5,472,2759,0.00,0.35,0.00,0.000,6,0.000,0.050,2833,1963,3564,0,0,0,0,0,0
$GC,3104,-0.47,-180.0,363.5,-11.5,533,3109,0.00,0.40,0.00,0.000,4,0.000,0.060,2833,1696,3564,0,0,0,0,0,0
$GC,3220,-0.47,-180.0,377.0,-11.6,553,3225,0.00,0.35,0.00,0.000,6,0.000,0.050,2833,1947,3564,0,0,0,0,0,0
$GC,3569,-0.47,-180.0,416.5,-10.7,614,3576,0.00,1.42,0.00,0.000,4,0.000,0.061,2833,1056,3564,0,0,0,0,0,0
$GC,3670,-0.49,-180.0,427.2,-10.6,631,3675,0.00,1.35,0.00,0.000,6,0.000,0.042,2830,1933,3564,0,0,0,0,0,0
$GC,4019,-0.49,-180.0,464.8,-10.4,692,4026,0.00,0.82,0.00,0.000,4,0.000,0.060,2830,1408,3564,0,0,0,0,0,0
$GC,4111,-0.49,-180.0,474.8,-10.8,708,4118,0.00,0.82,0.00,0.000,6,0.000,0.042,2826,1959,3564,0,0,0,0,0,0
$GC,4463,-0.49,-180.0,513.6,-11.5,769,4468,0.00,0.57,0.00,0.000,4,0.000,0.059,2827,1583,3564,0,0,0,0,0,0
$GC,4590,-0.49,-180.0,528.4,-11.8,791,4595,0.00,0.55,0.00,0.000,6,0.000,0.045,2824,1958,3564,0,0,0,0,0,0
$GC,4938,-0.49,-180.0,568.7,-11.2,852,4945,0.00,0.35,0.00,0.000,4,0.000,0.060,2825,1722,3564,0,0,0,0,0,0
$GC,5031,-0.49,-180.0,579.2,-11.2,868,5038,0.00,0.32,0.00,0.000,6,0.000,0.052,2823,1959,3564,0,0,0,0,0,0
$GC,5383,-0.49,-180.0,619.2,-11.1,929,5388,0.05,0.98,0.00,0.000,4,0.242,0.057,2834,1346,3564,0,0,0,0,0,0
$GC,5477,-0.52,-180.0,629.1,-10.3,945,5482,0.00,0.90,0.00,0.000,6,0.000,0.041,2831,1946,3564,0,0,0,0,0,0
$GC,5826,-0.55,-180.0,664.6,-10.2,1006,5833,0.00,1.02,0.00,0.000,4,0.000,0.057,2831,1293,3564,0,0,0,0,0,0
$GC,5916,-0.58,-180.0,673.7,-10.0,1021,5922,0.03,1.00,0.00,0.000,6,0.115,0.040,2810,1959,3564,0,0,0,0,0,0
$STATE,6146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6146,begin apogee
$GC,6150,-0.17,0.0,700.7,12.2,1061,6314,0.40,0.00,157.32,1.296,6,0.141,0.000,2938,1686,2824,0,0,0,0,0,0
$STATE,6315,end apogee,CONTROL_FINISHED_OK
$STATE,6315,begin climb
$GC,6317,0.55,180.0,709.5,0.0,1091,6493,0.73,2.47,163.30,1.225,4,0.097,0.066,3171,305,2085,0,0,0,0,0,0
$GC,6613,0.55,228.7,697.2,8.1,1144,6657,0.00,2.25,38.92,1.065,6,0.000,0.035,3171,1701,1894,0,0,0,0,0,0
$GC,7000,0.56,263.8,664.0,8.6,1212,7040,0.00,0.80,33.25,1.268,4,0.000,0.055,3172,1231,1748,0,0,0,0,0,0
$GC,7066,0.57,466.8,658.6,2.4,1223,7267,0.00,0.75,195.77,1.204,6,0.000,0.037,3171,1716,923,0,0,0,0,0,0
$GC,7611,0.95,466.8,602.2,12.1,1320,7618,0.35,0.00,0.00,0.000,6,0.067,0.000,3308,1722,904,0,0,0,0,0,0
$GC,7964,0.86,466.8,541.4,18.5,1381,7970,0.12,2.15,0.00,0.000,4,0.192,0.045,3279,3093,903,0,0,0,0,0,0
$GC,8039,0.83,466.8,528.6,16.3,1394,8047,0.03,2.22,0.00,0.000,6,0.230,0.050,3278,1715,902,0,0,0,0,0,0
$GC,8392,0.81,466.8,475.7,14.4,1455,8398,0.05,2.33,0.00,0.000,4,0.252,0.068,3274,279,901,0,0,0,0,0,0
$GC,8543,0.81,466.8,454.8,13.7,1481,8548,0.00,2.17,0.00,0.000,6,0.000,0.040,3274,1688,899,0,0,0,0,0,0
$GC,8891,0.79,466.8,406.8,13.0,1542,8899,0.08,2.25,0.00,0.000,4,0.223,0.069,3267,322,899,0,0,0,0,0,0
$GC,8970,0.79,466.8,397.0,12.5,1555,8975,0.00,2.12,0.00,0.000,6,0.000,0.039,3267,1702,899,0,0,0,0,0,0
$GC,9318,0.79,466.8,352.5,13.0,1616,9325,0.00,2.33,0.00,0.000,4,0.000,0.068,3269,291,899,0,0,0,0,0,0
$GC,9407,0.79,466.8,340.8,13.2,1631,9412,0.00,2.17,0.00,0.000,6,0.000,0.038,3268,1708,898,0,0,0,0,0,0
$GC,9756,0.76,466.8,289.2,15.3,1692,9764,0.10,2.33,0.00,0.000,4,0.207,0.069,3254,291,898,0,0,0,0,0,0
$GC,9869,0.76,466.8,274.0,14.3,1711,9874,0.00,2.15,0.00,0.000,6,0.000,0.037,3254,1700,899,0,0,0,0,0,0
$GC,10218,0.79,466.8,225.6,14.1,1772,10225,0.00,1.65,0.00,0.000,4,0.000,0.063,3255,680,899,0,0,0,0,0,0
$GC,10299,0.79,466.8,213.8,14.5,1786,10307,0.00,1.55,0.00,0.000,6,0.000,0.034,3255,1707,899,0,0,0,0,0,0
$GC,10651,0.79,466.8,162.2,15.6,1847,10656,0.00,2.30,0.00,0.000,4,0.000,0.067,3255,284,899,0,0,0,0,0,0
$GC,10756,0.82,466.8,147.4,14.4,1865,10762,0.00,2.15,0.00,0.000,6,0.000,0.035,3255,1707,898,0,0,0,0,0,0
$GC,11104,0.82,466.8,98.2,13.7,1926,11111,0.00,2.33,0.00,0.000,4,0.000,0.067,3255,284,899,0,0,0,0,0,0
$GC,11206,0.85,466.8,84.1,15.3,1943,11211,0.00,2.15,0.00,0.000,6,0.000,0.034,3255,1711,899,0,0,0,0,0,0
$GC,11554,0.85,466.8,36.6,13.9,2004,11561,0.00,2.33,0.00,0.000,4,0.000,0.067,3255,288,899,0,0,0,0,0,0
$GC,11637,0.85,466.8,26.4,13.1,2018,11645,0.00,2.15,0.00,0.000,6,0.000,0.035,3255,1699,900,0,0,0,0,0,0
$GC,11717,0.85,466.8,12.9,16.5,2031,11724,0.03,0.00,0.00,0.000,6,0.242,0.000,3278,1707,900,0,0,0,0,0,0
$STATE,11784,end climb,SURFACE_DEPTH_REACHED
$STATE,11784,begin surface coast
$FINISH,0.6,1.026724
$STATE,11804,end surface coast,CONTROL_FINISHED_OK
$STATE,11804,begin surface
$SM_CCo,11819,56.67,0.594,0,0,395,596.31
$SM_GC,1.36,0.00,0.00,56.67,0.000,0.000,0.594,85,1975,395,-9.10,0.71,596.31
$IRIDIUM_FIX,-4314.46,-953.60,210912,090927
$TT8_MAMPS,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.00873
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.6,7.539
$10V_AH,10.4,4.139
$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,23.300,66.900,588.575,56.675,0.000,26.542,41.699,245.290,0.000,0.000,18.947,4385.426,1753.849,547.307,5433.090,168.529,0.000,2255.802,0.000,5135.162,0.000,1.013,0.000
$DEVICE_MAMPS,288.405,117.810,1295.910,594.405,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1406.670,3479.664,534.715,445.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354772
$DATA_FILE_SIZE,123489,2045
$CAP_FILE_SIZE,166532,0
$CFSIZE,2097086464,2093219840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210912,165905,-4330.307,-952.516,25,1.4,25,-21.0