version: 66.07.10.p01
glider: 574
mission: 4
dive: 578
start: 2 14 113 4 18 32
data:
$ID,574
$MISSION,4
$DIVE,578
$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,-10354.521
$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,34
$R_STBD_OVSHOOT,38
$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,557
$GPS1,140213,041037,-4132.787,-316.949,69,1.4,69,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-71.8
$GPS2,140213,041815,-4132.721,-316.864,25,1.4,25,-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,192.6,70105,-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,25,-0.73,-116.8,0.0,0.0,0,55,0.00,0.00,-27.42,0.000,2,0.000,0.000,68,1725,1467,0,0,0,0,0,0
$GC,58,-0.73,-116.8,3.1,-1.4,3,140,11.70,0.55,-66.75,0.000,4,0.255,0.105,2673,2061,3304,0,0,0,0,0,0
$GC,401,-0.73,-116.8,32.8,-10.8,32,404,0.00,0.52,0.00,0.000,6,0.000,0.054,2673,1728,3305,0,0,0,0,0,0
$GC,849,-0.73,-116.8,77.0,-9.7,50,853,0.00,2.28,0.00,0.000,4,0.000,0.048,2672,3122,3306,0,0,0,0,0,0
$GC,1106,-0.73,-116.8,108.7,-13.3,55,1111,0.00,2.28,0.00,0.000,6,0.000,0.044,2673,1725,3306,0,0,0,0,0,0
$GC,1840,-0.73,-116.8,206.3,-11.8,68,1844,0.00,1.85,0.00,0.000,4,0.000,0.044,2673,2874,3308,0,0,0,0,0,0
$GC,2098,-0.73,-116.8,232.8,-10.0,71,2102,0.00,1.88,0.00,0.000,6,0.000,0.043,2673,1722,3308,0,0,0,0,0,0
$GC,2838,-0.73,-116.8,312.3,-11.8,84,2842,0.00,2.40,0.00,0.000,4,0.000,0.061,2673,308,3309,0,0,0,0,0,0
$GC,3095,-0.73,-116.8,346.0,-13.4,87,3101,0.00,2.25,0.00,0.000,6,0.000,0.033,2673,1735,3309,0,0,0,0,0,0
$GC,3829,-0.73,-116.8,441.9,-12.5,100,3834,0.00,2.42,0.00,0.000,4,0.000,0.058,2673,311,3308,0,0,0,0,0,0
$GC,4087,-0.73,-116.8,471.0,-10.9,103,4092,0.00,2.22,0.00,0.000,6,0.000,0.034,2673,1721,3308,0,0,0,0,0,0
$GC,4821,-0.73,-116.8,541.2,-9.3,116,4825,0.00,1.33,0.00,0.000,4,0.000,0.053,2673,928,3308,0,0,0,0,0,0
$GC,5079,-0.73,-116.8,566.9,-9.9,119,5083,0.00,1.25,0.00,0.000,6,0.000,0.036,2673,1714,3306,0,0,0,0,0,0
$GC,5819,-0.73,-116.8,657.9,-13.2,132,5823,0.00,2.40,0.00,0.000,4,0.000,0.057,2673,303,3305,0,0,0,0,0,0
$GC,6076,-0.73,-116.8,693.4,-12.9,135,6081,0.00,2.25,0.00,0.000,6,0.000,0.034,2673,1727,3304,0,0,0,0,0,0
$GC,6810,-0.73,-116.8,783.4,-11.6,148,6815,0.00,2.42,0.00,0.000,4,0.000,0.057,2673,301,3304,0,0,0,0,0,0
$GC,7068,-0.73,-116.8,812.1,-10.4,151,7073,0.00,2.22,0.00,0.000,6,0.000,0.031,2673,1726,3303,0,0,0,0,0,0
$GC,7802,-0.73,-116.8,889.9,-10.7,164,7806,0.00,0.82,0.00,0.000,4,0.000,0.050,2673,1216,3302,0,0,0,0,0,0
$GC,8060,-0.73,-116.8,918.9,-11.9,167,8064,0.00,0.80,0.00,0.000,6,0.000,0.037,2673,1731,3302,0,0,0,0,0,0
$STATE,8070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8070,begin apogee
$GC,8076,-0.28,0.0,920.0,10.8,168,8182,0.50,0.00,102.30,1.402,6,0.096,0.000,2833,1916,2827,0,0,0,0,0,0
$STATE,8182,end apogee,CONTROL_FINISHED_OK
$STATE,8182,begin climb
$GC,8185,0.73,116.8,926.4,0.0,169,8303,0.98,2.50,108.85,1.375,4,0.066,0.046,3153,3286,2350,0,0,0,0,0,0
$GC,8398,0.39,531.1,951.7,-8.6,171,8820,0.52,2.45,409.85,1.371,6,0.205,0.037,3054,1885,660,0,0,0,0,0,0
$GC,9588,0.39,531.1,875.0,8.8,191,9592,0.00,2.08,0.00,0.000,4,0.000,0.044,3054,3156,655,0,0,0,0,0,0
$GC,9846,0.39,531.1,852.1,9.4,194,9850,0.00,2.05,0.00,0.000,6,0.000,0.040,3054,1905,655,0,0,0,0,0,0
$GC,10586,0.39,531.1,785.2,9.8,207,10590,0.00,2.25,0.00,0.000,4,0.000,0.044,3054,3301,654,0,0,0,0,0,0
$GC,10770,0.39,531.1,764.9,10.7,209,10775,0.00,2.30,0.00,0.000,6,0.000,0.041,3054,1895,654,0,0,0,0,0,0
$GC,11510,0.39,531.1,681.4,11.3,222,11514,0.00,2.35,0.00,0.000,4,0.000,0.059,3054,496,655,0,0,0,0,0,0
$GC,11767,0.39,531.1,652.5,10.4,225,11773,0.00,2.20,0.00,0.000,6,0.000,0.034,3054,1891,654,0,0,0,0,0,0
$GC,12501,0.39,531.1,583.3,8.7,238,12505,0.00,1.48,0.00,0.000,4,0.000,0.043,3054,2821,654,0,0,0,0,0,0
$GC,12759,0.39,531.1,560.3,8.3,241,12763,0.00,1.50,0.00,0.000,6,0.000,0.044,3054,1910,654,0,0,0,0,0,0
$GC,13499,0.39,531.1,497.3,8.7,254,13503,0.00,2.28,0.00,0.000,4,0.000,0.047,3054,3298,655,0,0,0,0,0,0
$GC,13756,0.39,531.1,472.0,10.0,257,13760,0.00,2.28,0.00,0.000,6,0.000,0.041,3054,1892,656,0,0,0,0,0,0
$GC,14496,0.39,531.1,405.1,8.3,270,14500,0.00,1.15,0.00,0.000,4,0.000,0.041,3054,2612,657,0,0,0,0,0,0
$GC,14754,0.39,531.1,384.7,7.5,273,14758,0.00,1.15,0.00,0.000,6,0.000,0.044,3054,1908,657,0,0,0,0,0,0
$GC,15494,0.39,531.1,321.5,9.0,286,15495,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1907,658,0,0,0,0,0,0
$GC,16221,0.39,531.1,253.4,9.2,298,16225,0.00,2.42,0.00,0.000,4,0.000,0.062,3054,496,660,0,0,0,0,0,0
$GC,16373,0.39,531.1,239.1,9.5,300,16377,0.00,2.22,0.00,0.000,6,0.000,0.037,3054,1895,661,0,0,0,0,0,0
$GC,17140,0.39,531.1,175.4,8.4,313,17144,0.00,2.00,0.00,0.000,4,0.000,0.060,3054,743,661,0,0,0,0,0,0
$GC,17397,0.39,531.1,150.2,10.8,316,17401,0.00,1.88,0.00,0.000,6,0.000,0.036,3054,1904,661,0,0,0,0,0,0
$GC,18118,0.39,531.1,81.4,8.2,330,18122,0.00,0.65,0.00,0.000,4,0.000,0.044,3054,2346,662,0,0,0,0,0,0
$GC,18376,0.39,531.1,62.2,8.4,335,18380,0.00,0.73,0.00,0.000,6,0.000,0.047,3054,1889,662,0,0,0,0,0,0
$STATE,19036,end climb,SURFACE_DEPTH_REACHED
$STATE,19036,begin surface coast
$FINISH,1.7,1.005501
$STATE,19069,end surface coast,CONTROL_FINISHED_OK
$STATE,19069,begin surface
$SM_CCo,19147,0.00,0.000,0,0,663,530.82
$SM_GC,2.84,8.65,0.00,0.00,0.050,0.000,0.000,86,1719,663,-8.79,-0.03,530.82
$IRIDIUM_FIX,-4117.88,-324.35,130213,222212
$TT8_MAMPS,0.026964
$HUMID,52.79
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,21.1,134.681
$10V_AH,9.8,56.461
$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,22.350,70.550,621.000,0.000,0.000,30.599,46.783,250.949,0.000,0.000,27.371,1240.195,15230.142,586.701,2331.670,216.609,0.000,1593.494,0.000,1972.576,0.000,1.014,0.000
$DEVICE_MAMPS,254.745,104.805,1402.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.620,288.233,168.875,45.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354780
$DATA_FILE_SIZE,23673,383
$CAP_FILE_SIZE,108974,0
$CFSIZE,2097086464,2015428608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140213,093858,-4132.149,-316.437,40,1.1,43,-22.6