version: 66.07.10.p01
glider: 574
mission: 4
dive: 577
start: 2 13 113 22 12 53
data:
$ID,574
$MISSION,4
$DIVE,577
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$D_ABORT,1100
$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,500
$T_MISSION,530
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,160
$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,-10352.2
$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,2920
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1720
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,40
$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,556
$GPS1,130213,220535,-4132.422,-318.659,41,1.1,41,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-71.1
$GPS2,130213,221236,-4132.446,-318.565,19,1.1,19,-22.6
$SPEED_LIMITS,0.106,0.199
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4210.000,-308.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,190.8,71046,-13.1,-6.133
$D_GRID,920
$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,26,-0.73,-116.8,0.0,0.0,0,70,0.00,0.00,-42.15,0.000,2,0.000,0.000,69,1698,1537,0,0,0,0,0,0
$GC,73,-0.73,-116.8,3.0,-1.5,4,147,11.95,0.00,-55.17,0.000,6,0.262,0.000,2678,1701,3303,0,0,0,0,0,0
$GC,255,-0.73,-116.8,23.6,-14.9,21,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1701,3304,0,0,0,0,0,0
$GC,368,-0.73,-116.8,37.2,-11.6,29,372,0.00,1.27,0.00,0.000,4,0.000,0.043,2674,2497,3304,0,0,0,0,0,0
$GC,627,-0.73,-116.8,66.3,-10.1,39,631,0.00,1.20,0.00,0.000,6,0.000,0.042,2674,1739,3305,0,0,0,0,0,0
$GC,1389,-0.73,-116.8,148.0,-10.7,55,1392,0.00,2.38,0.00,0.000,4,0.000,0.059,2674,317,3307,0,0,0,0,0,0
$GC,1489,-0.73,-116.8,159.7,-11.6,56,1493,0.00,2.22,0.00,0.000,6,0.000,0.034,2674,1730,3307,0,0,0,0,0,0
$GC,2251,-0.73,-116.8,249.8,-12.3,69,2256,0.00,2.38,0.00,0.000,4,0.000,0.057,2674,317,3308,0,0,0,0,0,0
$GC,2301,-0.73,-116.8,256.2,-12.4,69,2305,0.00,2.22,0.00,0.000,6,0.000,0.033,2674,1737,3308,0,0,0,0,0,0
$GC,3041,-0.73,-116.8,336.0,-10.2,82,3045,0.00,2.38,0.00,0.000,4,0.000,0.057,2674,317,3308,0,0,0,0,0,0
$GC,3230,-0.73,-116.8,355.8,-10.3,84,3235,0.00,2.22,0.00,0.000,6,0.000,0.032,2674,1723,3308,0,0,0,0,0,0
$GC,3971,-0.73,-116.8,433.2,-10.9,97,3974,0.00,1.15,0.00,0.000,4,0.000,0.053,2674,1027,3308,0,0,0,0,0,0
$GC,4003,-0.73,-116.8,437.1,-11.3,97,4007,0.00,1.10,0.00,0.000,6,0.000,0.034,2674,1733,3308,0,0,0,0,0,0
$GC,4766,-0.73,-116.8,525.5,-12.0,110,4770,0.00,2.40,0.00,0.000,4,0.000,0.057,2674,317,3308,0,0,0,0,0,0
$GC,5023,-0.73,-116.8,559.2,-13.8,113,5028,0.00,2.22,0.00,0.000,6,0.000,0.034,2674,1724,3308,0,0,0,0,0,0
$GC,5757,-0.73,-116.8,652.8,-12.5,126,5761,0.00,1.00,0.00,0.000,4,0.000,0.045,2674,2377,3308,0,0,0,0,0,0
$GC,5801,-0.73,-116.8,658.5,-12.5,126,5805,0.00,1.05,0.00,0.000,6,0.000,0.043,2673,1714,3308,0,0,0,0,0,0
$GC,6552,-0.73,-116.8,750.1,-11.9,139,6557,0.00,2.33,0.00,0.000,4,0.000,0.057,2674,314,3308,0,0,0,0,0,0
$GC,6568,-0.73,-116.8,752.2,-11.7,139,6572,0.00,2.20,0.00,0.000,6,0.000,0.032,2674,1727,3308,0,0,0,0,0,0
$GC,7342,-0.73,-116.8,839.3,-11.1,152,7346,0.00,0.52,0.00,0.000,4,0.000,0.047,2674,2092,3307,0,0,0,0,0,0
$GC,7369,-0.73,-116.8,842.6,-11.6,152,7373,0.00,0.60,0.00,0.000,6,0.000,0.046,2674,1711,3307,0,0,0,0,0,0
$STATE,8074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8075,begin apogee
$GC,8080,-0.28,0.0,924.4,11.6,164,8186,0.47,0.00,102.15,1.397,6,0.096,0.000,2828,1914,2826,0,0,0,0,0,0
$STATE,8186,end apogee,CONTROL_FINISHED_OK
$STATE,8186,begin climb
$GC,8189,0.73,116.8,931.1,0.0,165,8302,0.98,0.00,106.80,1.359,6,0.065,0.000,3152,1914,2351,0,0,0,0,0,0
$GC,9036,0.75,510.7,1010.3,-7.8,179,9420,0.00,2.20,373.88,1.413,4,0.000,0.043,3153,3112,744,0,0,0,0,0,0
$GC,9503,0.75,510.7,993.7,8.7,186,9508,0.00,2.17,0.00,0.000,6,0.000,0.040,3154,1910,742,0,0,0,0,0,0
$GC,10255,0.75,510.7,928.3,8.2,199,10259,0.00,2.15,0.00,0.000,4,0.000,0.044,3154,3236,738,0,0,0,0,0,0
$GC,10491,0.75,510.7,909.2,7.7,202,10496,0.00,2.17,0.00,0.000,6,0.000,0.041,3154,1888,737,0,0,0,0,0,0
$GC,11248,0.75,510.7,841.6,9.5,215,11252,0.00,2.28,0.00,0.000,4,0.000,0.045,3154,3290,736,0,0,0,0,0,0
$GC,11379,0.75,510.7,828.4,10.7,217,11383,0.00,2.22,0.00,0.000,6,0.000,0.041,3160,1894,736,0,0,0,0,0,0
$GC,12108,0.75,510.7,758.6,8.9,229,12112,0.00,0.85,0.00,0.000,4,0.000,0.041,3160,2445,736,0,0,0,0,0,0
$GC,12169,0.75,510.7,753.6,8.3,229,12174,0.00,0.88,0.00,0.000,6,0.000,0.047,3159,1896,736,0,0,0,0,0,0
$GC,12903,0.75,510.7,699.1,7.3,242,12907,0.00,2.28,0.00,0.000,4,0.000,0.047,3160,3298,736,0,0,0,0,0,0
$GC,13161,0.75,510.7,680.2,7.0,245,13166,0.00,2.28,0.00,0.000,6,0.000,0.042,3160,1899,736,0,0,0,0,0,0
$GC,13895,0.75,510.7,617.9,9.3,258,13899,0.00,2.30,0.00,0.000,4,0.000,0.047,3160,3298,736,0,0,0,0,0,0
$GC,14153,0.75,510.7,592.6,10.1,261,14158,0.00,2.28,0.00,0.000,6,0.000,0.041,3159,1894,736,0,0,0,0,0,0
$GC,14887,0.75,510.7,522.1,9.2,274,14891,0.00,2.38,0.00,0.000,4,0.000,0.062,3160,496,736,0,0,0,0,0,0
$GC,14981,0.75,510.7,513.7,9.0,275,14985,0.00,2.20,0.00,0.000,6,0.000,0.036,3160,1885,734,0,0,0,0,0,0
$GC,15749,0.75,510.7,451.6,8.0,288,15753,0.00,2.40,0.00,0.000,4,0.000,0.061,3160,492,734,0,0,0,0,0,0
$GC,15860,0.75,510.7,442.2,8.2,289,15864,0.00,2.28,0.00,0.000,6,0.000,0.036,3160,1912,733,0,0,0,0,0,0
$GC,16605,0.75,510.7,380.2,8.3,302,16610,0.00,2.42,0.00,0.000,4,0.000,0.061,3160,500,734,0,0,0,0,0,0
$GC,16718,0.75,510.7,370.2,9.0,303,16722,0.00,2.25,0.00,0.000,6,0.000,0.036,3159,1905,733,0,0,0,0,0,0
$GC,17458,0.75,510.7,304.1,9.1,316,17462,0.00,2.42,0.00,0.000,4,0.000,0.062,3159,501,734,0,0,0,0,0,0
$GC,17563,0.75,510.7,294.6,8.4,317,17567,0.00,2.22,0.00,0.000,6,0.000,0.035,3160,1910,733,0,0,0,0,0,0
$GC,18314,0.75,510.7,231.0,8.1,330,18318,0.00,0.73,0.00,0.000,4,0.000,0.053,3160,1465,734,0,0,0,0,0,0
$GC,18369,0.75,510.7,226.4,8.0,330,18374,0.00,0.70,0.00,0.000,6,0.000,0.041,3159,1910,734,0,0,0,0,0,0
$GC,19109,0.75,510.7,169.7,7.5,343,19112,0.00,0.68,0.00,0.000,4,0.000,0.045,3160,2365,734,0,0,0,0,0,0
$GC,19366,0.75,510.7,148.5,8.1,346,19370,0.00,0.75,0.00,0.000,6,0.000,0.047,3160,1896,733,0,0,0,0,0,0
$GC,20089,0.75,510.7,96.8,6.8,359,20090,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1896,734,0,0,0,0,0,0
$GC,20803,0.75,510.7,40.2,6.6,383,20805,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1896,735,0,0,0,0,0,0
$GC,21225,0.75,510.7,5.6,8.5,415,21229,0.00,2.40,0.00,0.000,4,0.000,0.061,3160,496,735,0,0,0,0,0,0
$STATE,21255,end climb,SURFACE_DEPTH_REACHED
$STATE,21255,begin surface coast
$FINISH,1.9,1.026342
$STATE,21279,end surface coast,CONTROL_FINISHED_OK
$STATE,21279,begin surface
$SM_CCo,21359,0.00,0.000,0,0,734,513.16
$SM_GC,2.89,8.93,0.00,0.00,0.050,0.000,0.000,88,1729,734,-8.81,0.25,513.16
$IRIDIUM_FIX,-4117.88,-315.74,130213,191927
$TT8_MAMPS,0.026964
$HUMID,53.42
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,18.20
$XPDR_PINGS,0
$24V_AH,21.3,134.423
$10V_AH,9.9,56.391
$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,22.325,80.975,582.825,0.000,0.000,25.422,46.018,230.644,0.000,0.000,21.305,1262.912,17762.586,581.704,1970.178,208.408,0.000,1465.398,0.000,1654.912,0.000,1.014,0.000
$DEVICE_MAMPS,261.630,61.965,1412.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.220,271.723,182.955,41.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354820
$DATA_FILE_SIZE,23697,419
$CAP_FILE_SIZE,105284,0
$CFSIZE,2097086464,2015526912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140213,041037,-4132.787,-316.949,69,1.4,69,-22.6