version: 66.07.10.p01
glider: 574
mission: 4
dive: 579
start: 2 14 113 9 46 41
data:
$ID,574
$MISSION,4
$DIVE,579
$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,440
$T_MISSION,470
$T_ABORT,650
$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,-10356.888
$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,35
$R_STBD_OVSHOOT,34
$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,558
$GPS1,140213,093858,-4132.149,-316.437,40,1.1,43,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-73.2
$GPS2,140213,094621,-4132.118,-316.340,26,1.1,26,-22.6
$SPEED_LIMITS,0.121,0.208
$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,193.3,71085,-14.9,-6.970
$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,-0.83,-116.8,0.0,0.0,0,50,0.00,0.00,-22.45,0.000,2,0.000,0.000,68,1717,1269,0,0,0,0,0,0
$GC,53,-0.83,-116.8,3.1,-2.9,2,142,11.65,1.73,-70.55,0.000,4,0.257,0.062,2636,2753,3304,0,0,0,0,0,0
$GC,183,-0.83,-116.8,12.5,-11.2,13,191,0.00,1.67,0.00,0.000,6,0.000,0.046,2635,1728,3305,0,0,0,0,0,0
$GC,298,-0.83,-116.8,26.2,-12.6,24,302,0.03,1.30,0.00,0.000,4,0.273,0.060,2646,964,3305,0,0,0,0,0,0
$GC,371,-0.83,-116.8,35.9,-11.7,29,375,0.00,1.20,0.00,0.000,6,0.000,0.037,2646,1719,3305,0,0,0,0,0,0
$GC,819,-0.83,-116.8,80.5,-9.6,46,823,0.00,2.38,0.00,0.000,4,0.000,0.057,2646,314,3305,0,0,0,0,0,0
$GC,988,-0.83,-116.8,100.2,-12.1,49,993,0.00,2.22,0.00,0.000,6,0.000,0.036,2646,1726,3306,0,0,0,0,0,0
$GC,1722,-0.83,-116.8,178.1,-10.1,61,1726,0.00,0.70,0.00,0.000,4,0.000,0.049,2646,1290,3307,0,0,0,0,0,0
$GC,1980,-0.83,-116.8,206.0,-10.8,64,1984,0.00,0.70,0.00,0.000,6,0.000,0.037,2646,1735,3308,0,0,0,0,0,0
$GC,2720,-0.83,-116.8,284.0,-10.1,77,2724,0.00,2.40,0.00,0.000,4,0.000,0.057,2646,312,3309,0,0,0,0,0,0
$GC,2892,-0.83,-116.8,301.9,-10.6,79,2897,0.00,2.22,0.00,0.000,6,0.000,0.035,2646,1715,3309,0,0,0,0,0,0
$GC,3644,-0.83,-116.8,384.4,-11.1,92,3648,0.00,2.35,0.00,0.000,4,0.000,0.057,2646,312,3309,0,0,0,0,0,0
$GC,3653,-0.83,-116.8,385.6,-11.0,92,3658,0.00,2.22,0.00,0.000,6,0.000,0.034,2645,1729,3309,0,0,0,0,0,0
$GC,4372,-0.83,-116.8,457.7,-9.9,104,4376,0.00,0.55,0.00,0.000,4,0.000,0.044,2646,2116,3309,0,0,0,0,0,0
$GC,4401,-0.83,-116.8,460.7,-10.0,104,4405,0.00,0.62,0.00,0.000,6,0.000,0.046,2646,1712,3310,0,0,0,0,0,0
$GC,5169,-0.83,-116.8,549.0,-12.4,117,5173,0.00,2.35,0.00,0.000,4,0.000,0.059,2646,311,3309,0,0,0,0,0,0
$GC,5326,-0.83,-116.8,569.1,-12.7,119,5331,0.00,2.20,0.00,0.000,6,0.000,0.033,2646,1726,3309,0,0,0,0,0,0
$GC,6094,-0.83,-116.8,655.8,-10.2,132,6098,0.00,2.38,0.00,0.000,4,0.000,0.055,2646,318,3309,0,0,0,0,0,0
$GC,6224,-0.83,-116.8,668.6,-9.9,134,6228,0.00,2.20,0.00,0.000,6,0.000,0.032,2646,1720,3310,0,0,0,0,0,0
$GC,6953,-0.83,-116.8,738.7,-9.9,146,6957,0.00,2.38,0.00,0.000,4,0.000,0.054,2646,313,3309,0,0,0,0,0,0
$GC,7087,-0.83,-116.8,753.1,-11.1,148,7092,0.00,2.22,0.00,0.000,6,0.000,0.031,2646,1731,3310,0,0,0,0,0,0
$GC,7811,-0.83,-116.8,832.3,-11.3,160,7815,0.00,0.52,0.00,0.000,4,0.000,0.050,2646,1393,3309,0,0,0,0,0,0
$GC,8069,-0.83,-116.8,861.1,-11.0,163,8073,0.00,0.52,0.00,0.000,6,0.000,0.041,2646,1733,3309,0,0,0,0,0,0
$STATE,8686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8686,begin apogee
$GC,8692,-0.28,0.0,923.8,10.0,174,8800,0.57,0.00,104.85,1.403,6,0.099,0.000,2828,1899,2827,0,0,0,0,0,0
$STATE,8800,end apogee,CONTROL_FINISHED_OK
$STATE,8800,begin climb
$GC,8803,0.83,116.8,929.8,0.0,175,8919,1.08,0.50,108.57,1.355,4,0.060,0.042,3185,2194,2352,0,0,0,0,0,0
$GC,8925,0.85,511.6,947.3,-8.9,177,9328,0.00,0.50,393.33,1.366,6,0.000,0.046,3186,1911,740,0,0,0,0,0,0
$GC,10085,0.85,511.6,882.0,7.7,197,10089,0.00,2.30,0.00,0.000,4,0.000,0.047,3186,3295,732,0,0,0,0,0,0
$GC,10242,0.85,511.6,870.2,8.4,199,10246,0.00,2.28,0.00,0.000,6,0.000,0.041,3187,1900,731,0,0,0,0,0,0
$GC,11004,0.85,511.6,808.0,8.6,212,11008,0.00,2.28,0.00,0.000,4,0.000,0.046,3187,3301,730,0,0,0,0,0,0
$GC,11261,0.85,511.6,784.2,9.7,215,11265,0.00,2.28,0.00,0.000,6,0.000,0.041,3187,1894,730,0,0,0,0,0,0
$GC,12001,0.85,511.6,710.5,9.9,228,12005,0.00,0.95,0.00,0.000,4,0.000,0.057,3187,1316,730,0,0,0,0,0,0
$GC,12045,0.85,511.6,706.1,9.8,228,12049,0.00,0.93,0.00,0.000,6,0.000,0.038,3187,1903,730,0,0,0,0,0,0
$GC,12796,0.85,511.6,638.2,8.6,241,12801,0.00,2.42,0.00,0.000,4,0.000,0.060,3187,493,730,0,0,0,0,0,0
$GC,12880,0.85,511.6,631.0,7.8,242,12884,0.00,2.25,0.00,0.000,6,0.000,0.037,3187,1901,728,0,0,0,0,0,0
$GC,13653,0.85,511.6,566.2,8.3,255,13658,0.00,2.42,0.00,0.000,4,0.000,0.061,3187,495,728,0,0,0,0,0,0
$GC,13726,0.85,511.6,560.0,8.6,256,13730,0.00,2.22,0.00,0.000,6,0.000,0.037,3187,1898,728,0,0,0,0,0,0
$GC,14450,0.85,511.6,494.3,9.4,268,14454,0.00,2.42,0.00,0.000,4,0.000,0.060,3187,492,728,0,0,0,0,0,0
$GC,14550,0.85,511.6,484.7,9.5,269,14554,0.00,2.25,0.00,0.000,6,0.000,0.037,3187,1901,728,0,0,0,0,0,0
$GC,15312,0.85,511.6,415.3,8.9,282,15316,0.00,1.17,0.00,0.000,4,0.000,0.055,3187,1201,728,0,0,0,0,0,0
$GC,15356,0.85,511.6,411.2,8.9,282,15360,0.00,1.12,0.00,0.000,6,0.000,0.038,3188,1912,728,0,0,0,0,0,0
$GC,16107,0.85,511.6,346.1,8.1,295,16111,0.00,0.65,0.00,0.000,4,0.000,0.047,3187,2351,728,0,0,0,0,0,0
$GC,16365,0.85,511.6,322.3,9.2,298,16369,0.00,0.75,0.00,0.000,6,0.000,0.048,3187,1886,728,0,0,0,0,0,0
$GC,17105,0.85,511.6,245.4,10.3,311,17109,0.00,2.38,0.00,0.000,4,0.000,0.060,3187,497,728,0,0,0,0,0,0
$GC,17182,0.85,511.6,237.9,9.0,312,17186,0.00,2.22,0.00,0.000,6,0.000,0.035,3187,1891,728,0,0,0,0,0,0
$GC,17901,0.85,543.7,189.3,5.7,324,17936,0.00,2.33,28.88,0.881,4,0.000,0.047,3188,3305,610,0,0,0,0,0,0
$GC,18054,0.85,562.9,180.5,6.2,326,18078,0.00,2.28,17.85,0.851,6,0.000,0.041,3187,1911,531,0,0,0,0,0,0
$GC,18826,0.85,562.9,110.7,10.7,339,18829,0.00,0.52,0.00,0.000,4,0.000,0.044,3187,2268,528,0,0,0,0,0,0
$GC,18978,0.85,562.9,94.7,9.5,341,18982,0.00,0.57,0.00,0.000,6,0.000,0.049,3187,1898,528,0,0,0,0,0,0
$GC,19702,0.85,562.9,34.1,8.0,366,19705,0.00,1.42,0.00,0.000,4,0.000,0.056,3187,1047,528,0,0,0,0,0,0
$GC,19735,0.85,562.9,31.3,7.9,367,19739,0.00,1.35,0.00,0.000,6,0.000,0.035,3187,1906,527,0,0,0,0,0,0
$STATE,20087,end climb,SURFACE_DEPTH_REACHED
$STATE,20087,begin surface coast
$FINISH,1.7,1.020205
$STATE,20131,end surface coast,CONTROL_FINISHED_OK
$STATE,20131,begin surface
$SM_CCo,20210,0.00,0.000,0,0,525,564.67
$SM_GC,2.76,9.15,0.00,0.00,0.063,0.000,0.000,84,1705,525,-8.80,-0.42,564.67
$IRIDIUM_FIX,-4117.88,-318.61,140213,040419
$TT8_MAMPS,0.026964
$HUMID,53.46
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.1,134.943
$10V_AH,9.8,56.528
$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,22.475,80.350,653.475,0.000,0.000,25.911,47.469,241.038,0.000,0.000,29.112,1254.934,16495.396,615.707,2067.901,222.659,0.000,1549.763,0.000,1730.765,0.000,1.013,0.000
$DEVICE_MAMPS,273.105,61.965,1403.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.983,284.965,176.727,45.517,0.000,0.000,0.000,0.000,0.000,0.000
$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,23545,403
$CAP_FILE_SIZE,110004,0
$CFSIZE,2097086464,2015297536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140213,152435,-4132.258,-315.113,27,1.2,27,-22.6