version: 66.07.10.p01
glider: 574
mission: 4
dive: 16
start: 9 21 112 20 56 17
data:
$ID,574
$MISSION,4
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,850
$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,285
$T_MISSION,300
$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,70
$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,-5456.2871
$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,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,57
$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
$GPS1,210912,204635,-4330.335,-951.176,39,0.8,39,-21.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.3
$GPS2,210912,205555,-4330.315,-951.161,19,1.4,20,-21.0
$SPEED_LIMITS,0.172,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,-4326.622,-937.185
$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,91.0,20000,-16.3,-9.942
$D_GRID,850
$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,23,-0.55,-180.0,0.0,0.0,0,134,0.00,0.00,-107.60,0.000,2,0.000,0.000,65,1946,3063,0,0,0,0,0,0
$GC,136,-0.55,-180.0,3.2,-4.8,18,168,12.45,2.33,-10.23,0.000,4,0.278,0.076,2809,550,3564,0,0,0,0,0,0
$GC,291,-0.50,-180.0,31.6,-14.5,44,299,0.10,2.20,0.00,0.000,6,0.156,0.043,2831,1927,3564,0,0,0,0,0,0
$GC,439,-0.47,-180.0,50.7,-13.8,69,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1933,3564,0,0,0,0,0,0
$GC,582,-0.45,-180.0,69.3,-12.9,94,589,0.10,0.00,0.00,0.000,6,0.186,0.000,2856,1933,3564,0,0,0,0,0,0
$GC,935,-0.49,-180.0,105.2,-10.2,155,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1933,3564,0,0,0,0,0,0
$GC,1284,-0.53,-180.0,139.2,-9.7,216,1291,0.10,0.00,0.00,0.000,6,0.115,0.000,2817,1933,3564,0,0,0,0,0,0
$GC,1636,-0.49,-180.0,183.9,-12.6,277,1641,0.10,0.00,0.00,0.000,6,0.179,0.000,2842,1933,3565,0,0,0,0,0,0
$GC,1985,-0.49,-180.0,219.8,-9.7,338,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3566,0,0,0,0,0,0
$GC,2337,-0.49,-180.0,254.0,-9.5,399,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3565,0,0,0,0,0,0
$GC,2687,-0.51,-180.0,287.9,-9.9,460,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3566,0,0,0,0,0,0
$GC,3039,-0.53,-180.0,322.1,-9.5,521,3044,0.00,0.52,0.00,0.000,4,0.000,0.056,2842,1579,3566,0,0,0,0,0,0
$GC,3143,-0.56,-180.0,332.8,-10.1,539,3149,0.03,0.57,0.00,0.000,6,0.106,0.044,2819,1970,3566,0,0,0,0,0,0
$GC,3492,-0.53,-180.0,375.7,-12.1,600,3500,0.00,1.45,0.00,0.000,4,0.000,0.057,2819,1056,3567,0,0,0,0,0,0
$GC,3582,-0.53,-180.0,385.8,-11.2,615,3587,0.00,1.38,0.00,0.000,6,0.000,0.041,2813,1948,3567,0,0,0,0,0,0
$GC,3930,-0.50,-180.0,427.3,-11.8,676,3938,0.10,0.25,0.00,0.000,4,0.188,0.062,2838,2147,3567,0,0,0,0,0,0
$GC,3998,-0.53,-180.0,434.2,-9.9,687,4003,0.00,0.30,0.00,0.000,6,0.000,0.058,2838,1931,3567,0,0,0,0,0,0
$GC,4347,-0.56,-180.0,468.7,-9.8,748,4353,0.05,0.00,0.00,0.000,6,0.176,0.000,2815,1931,3566,0,0,0,0,0,0
$GC,4699,-0.54,-180.0,511.9,-12.9,809,4704,0.00,0.32,0.00,0.000,4,0.000,0.063,2815,1698,3567,0,0,0,0,0,0
$GC,4773,-0.51,-180.0,521.2,-12.4,822,4781,0.05,0.38,0.00,0.000,6,0.163,0.047,2829,1974,3567,0,0,0,0,0,0
$GC,5126,-0.51,-180.0,557.9,-10.4,883,5131,0.00,1.08,0.00,0.000,4,0.000,0.055,2830,1288,3566,0,0,0,0,0,0
$GC,5211,-0.51,-180.0,567.0,-10.0,898,5218,0.00,0.98,0.00,0.000,6,0.000,0.039,2826,1940,3567,0,0,0,0,0,0
$GC,5563,-0.51,-180.0,603.4,-10.1,959,5567,0.00,0.35,0.00,0.000,4,0.000,0.058,2826,1700,3566,0,0,0,0,0,0
$GC,5682,-0.51,-180.0,615.7,-10.1,980,5689,0.00,0.35,0.00,0.000,6,0.000,0.047,2825,1957,3565,0,0,0,0,0,0
$GC,6034,-0.51,-180.0,652.7,-10.5,1041,6039,0.00,0.85,0.00,0.000,4,0.000,0.054,2825,1407,3566,0,0,0,0,0,0
$GC,6115,-0.51,-180.0,661.7,-10.9,1055,6120,0.00,0.80,0.00,0.000,6,0.000,0.040,2822,1947,3566,0,0,0,0,0,0
$GC,6463,-0.51,-180.0,701.9,-12.3,1116,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1947,3565,0,0,0,0,0,0
$GC,6814,-0.51,-180.0,741.3,-11.6,1177,6819,0.00,0.40,0.00,0.000,4,0.000,0.058,2822,1676,3564,0,0,0,0,0,0
$GC,6895,-0.51,-180.0,750.8,-11.9,1191,6900,0.00,0.40,0.00,0.000,6,0.000,0.047,2821,1961,3564,0,0,0,0,0,0
$GC,7244,-0.51,-180.0,789.4,-10.7,1252,7251,0.00,0.57,0.00,0.000,4,0.000,0.054,2821,1579,3564,0,0,0,0,0,0
$GC,7310,-0.51,-180.0,796.7,-11.4,1263,7315,0.00,0.52,0.00,0.000,6,0.000,0.043,2818,1947,3564,0,0,0,0,0,0
$GC,7658,-0.51,-180.0,837.4,-11.9,1324,7665,0.05,0.00,0.00,0.000,6,0.235,0.000,2828,1947,3564,0,0,0,0,0,0
$STATE,7780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7781,begin apogee
$GC,7784,-0.17,0.0,850.5,11.0,1345,7938,0.32,0.00,147.90,1.352,6,0.140,0.000,2934,1718,2827,0,0,0,0,0,0
$STATE,7938,end apogee,CONTROL_FINISHED_OK
$STATE,7938,begin climb
$GC,7940,0.55,180.0,859.2,0.0,1373,8105,0.75,1.73,153.68,1.317,4,0.097,0.060,3173,742,2093,0,0,0,0,0,0
$GC,8188,0.52,243.9,852.1,7.6,1417,8249,0.00,1.55,56.20,1.288,6,0.000,0.034,3173,1708,1832,0,0,0,0,0,0
$GC,8592,0.52,299.4,820.3,7.9,1488,8642,0.00,0.00,48.35,1.294,6,0.000,0.000,3173,1708,1606,0,0,0,0,0,0
$GC,8988,0.58,348.5,789.4,8.1,1557,9037,0.00,0.90,43.08,1.274,4,0.000,0.059,3173,1192,1406,0,0,0,0,0,0
$GC,9107,0.68,430.5,780.8,6.9,1578,9191,0.10,0.82,73.70,1.278,6,0.067,0.034,3217,1734,1072,0,0,0,0,0,0
$GC,9537,0.73,430.5,737.4,10.1,1653,9542,0.00,2.33,0.00,0.000,4,0.000,0.066,3221,326,1064,0,0,0,0,0,0
$GC,9622,0.79,430.5,727.5,11.3,1668,9630,0.05,2.17,0.00,0.000,6,0.084,0.035,3249,1704,1061,0,0,0,0,0,0
$GC,9975,0.79,430.5,680.1,13.9,1729,9979,0.00,1.65,0.00,0.000,4,0.000,0.063,3250,708,1061,0,0,0,0,0,0
$GC,10059,0.79,430.5,668.0,14.5,1744,10067,0.00,1.58,0.00,0.000,6,0.000,0.035,3250,1729,1061,0,0,0,0,0,0
$GC,10412,0.79,430.5,620.1,13.7,1805,10417,0.00,1.75,0.00,0.000,4,0.000,0.063,3252,644,1061,0,0,0,0,0,0
$GC,10497,0.79,430.5,607.7,13.9,1820,10505,0.00,1.65,0.00,0.000,6,0.000,0.037,3252,1715,1061,0,0,0,0,0,0
$GC,10850,0.79,430.5,559.3,13.8,1881,10855,0.00,1.67,0.00,0.000,4,0.000,0.063,3253,676,1061,0,0,0,0,0,0
$GC,10935,0.79,430.5,547.2,13.8,1896,10942,0.00,1.62,0.00,0.000,6,0.000,0.037,3253,1730,1061,0,0,0,0,0,0
$GC,11288,0.79,430.5,499.2,13.1,1957,11293,0.00,2.15,0.00,0.000,4,0.000,0.067,3253,392,1061,0,0,0,0,0,0
$GC,11373,0.79,430.5,487.4,13.5,1972,11380,0.00,2.05,0.00,0.000,6,0.000,0.037,3253,1717,1061,0,0,0,0,0,0
$GC,11726,0.79,430.5,440.9,13.7,2033,11731,0.00,1.10,0.00,0.000,4,0.000,0.061,3253,1034,1061,0,0,0,0,0,0
$GC,11823,0.79,430.5,428.4,12.1,2050,11830,0.00,1.05,0.00,0.000,6,0.000,0.036,3253,1735,1062,0,0,0,0,0,0
$GC,12175,0.79,430.5,384.4,12.9,2111,12180,0.00,1.85,0.00,0.000,4,0.000,0.064,3253,569,1063,0,0,0,0,0,0
$GC,12260,0.79,430.5,373.2,13.0,2126,12267,0.00,1.75,0.00,0.000,6,0.000,0.035,3253,1718,1063,0,0,0,0,0,0
$GC,12613,0.79,430.5,328.9,12.9,2187,12618,0.00,1.83,0.00,0.000,4,0.000,0.063,3253,580,1063,0,0,0,0,0,0
$GC,12706,0.79,430.5,317.2,12.5,2203,12711,0.00,1.70,0.00,0.000,6,0.000,0.035,3253,1729,1063,0,0,0,0,0,0
$GC,13053,0.79,430.5,273.5,12.8,2264,13060,0.00,1.88,0.00,0.000,4,0.000,0.063,3253,566,1064,0,0,0,0,0,0
$GC,13142,0.79,430.5,263.0,12.3,2279,13147,0.00,1.73,0.00,0.000,6,0.000,0.034,3253,1718,1064,0,0,0,0,0,0
$GC,13491,0.77,430.5,219.6,13.0,2340,13498,0.00,2.28,0.00,0.000,4,0.000,0.067,3253,325,1064,0,0,0,0,0,0
$GC,13572,0.77,430.5,209.3,12.1,2354,13580,0.00,2.12,0.00,0.000,6,0.000,0.035,3253,1715,1064,0,0,0,0,0,0
$GC,13926,0.73,430.5,162.2,14.4,2415,13932,0.08,1.62,0.00,0.000,4,0.211,0.061,3240,716,1065,0,0,0,0,0,0
$GC,14020,0.76,430.5,149.8,12.6,2431,14026,0.00,1.52,0.00,0.000,6,0.000,0.033,3240,1732,1065,0,0,0,0,0,0
$GC,14369,0.78,430.5,105.9,11.8,2492,14376,0.00,1.38,0.00,0.000,4,0.000,0.061,3240,878,1066,0,0,0,0,0,0
$GC,14470,0.81,430.5,94.9,11.3,2509,14475,0.00,1.25,0.00,0.000,6,0.000,0.032,3240,1724,1066,0,0,0,0,0,0
$GC,14818,0.83,430.5,52.5,11.8,2570,14826,0.08,1.40,0.00,0.000,4,0.131,0.059,3275,855,1067,0,0,0,0,0,0
$GC,14920,0.78,430.5,37.7,16.4,2587,14925,0.05,1.30,0.00,0.000,6,0.180,0.036,3259,1717,1067,0,0,0,0,0,0
$GC,15067,0.74,430.5,15.5,15.2,2612,15075,0.08,0.55,0.00,0.000,4,0.220,0.060,3243,1367,1067,0,0,0,0,0,0
$STATE,15163,end climb,SURFACE_DEPTH_REACHED
$STATE,15163,begin surface coast
$FINISH,1.0,1.026726
$STATE,15195,end surface coast,CONTROL_FINISHED_OK
$STATE,15195,begin surface
$SM_CCo,15210,77.30,0.698,0,0,395,596.31
$SM_GC,1.47,0.00,0.00,77.30,0.000,0.000,0.698,87,1942,395,-9.09,-0.23,596.31
$IRIDIUM_FIX,-4317.42,-950.68,210912,171736
$TT8_MAMPS,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.00873
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,23.5,7.969
$10V_AH,10.4,4.675
$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,23.250,67.175,522.900,77.300,0.000,23.008,40.094,376.006,0.000,0.000,22.380,5736.713,2314.683,557.997,7020.299,206.640,0.000,2633.961,0.000,6595.693,0.000,1.015,0.000
$DEVICE_MAMPS,277.695,76.500,1351.755,698.445,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1818.802,4468.219,670.911,575.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354796
$DATA_FILE_SIZE,153266,2633
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