version: 66.07.10.p01
glider: 574
mission: 4
dive: 580
start: 2 14 113 15 32 43
data:
$ID,574
$MISSION,4
$DIVE,580
$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,-10359.288
$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,43
$R_STBD_OVSHOOT,44
$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,559
$GPS1,140213,152435,-4132.258,-315.113,27,1.2,27,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.1
$GPS2,140213,153223,-4132.206,-315.086,41,1.0,41,-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,194.7,70667,-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,-22.35,0.000,2,0.000,0.000,69,1702,1126,0,0,0,0,0,0
$GC,53,-0.83,-116.8,3.0,-1.2,2,153,11.52,1.92,-77.70,0.000,4,0.255,0.065,2633,2840,3304,0,0,0,0,0,0
$GC,192,-0.83,-116.8,12.0,-11.4,14,197,0.08,1.77,0.00,0.000,6,0.170,0.047,2650,1733,3305,0,0,0,0,0,0
$GC,313,-0.83,-116.8,25.7,-11.5,25,317,0.00,2.30,0.00,0.000,4,0.000,0.062,2650,378,3305,0,0,0,0,0,0
$GC,453,-0.83,-116.8,42.4,-11.1,32,457,0.00,2.12,0.00,0.000,6,0.000,0.035,2647,1701,3305,0,0,0,0,0,0
$GC,896,-0.83,-116.8,95.1,-12.0,47,900,0.00,0.62,0.00,0.000,4,0.000,0.053,2647,1316,3306,0,0,0,0,0,0
$GC,1153,-0.83,-116.8,122.5,-10.2,51,1158,0.00,0.68,0.00,0.000,6,0.000,0.037,2647,1746,3306,0,0,0,0,0,0
$GC,1893,-0.83,-116.8,199.2,-10.6,64,1897,0.00,0.62,0.00,0.000,4,0.000,0.045,2647,2176,3308,0,0,0,0,0,0
$GC,1915,-0.83,-116.8,201.8,-10.6,64,1919,0.00,0.75,0.00,0.000,6,0.000,0.044,2646,1704,3308,0,0,0,0,0,0
$GC,2689,-0.83,-116.8,288.8,-11.7,77,2693,0.00,2.35,0.00,0.000,4,0.000,0.061,2647,319,3308,0,0,0,0,0,0
$GC,2946,-0.83,-116.8,319.5,-11.7,80,2951,0.00,2.20,0.00,0.000,6,0.000,0.036,2647,1714,3308,0,0,0,0,0,0
$GC,3680,-0.83,-116.8,391.1,-9.1,93,3684,0.00,2.38,0.00,0.000,4,0.000,0.057,2647,322,3308,0,0,0,0,0,0
$GC,3938,-0.83,-116.8,416.6,-10.1,96,3943,0.00,2.22,0.00,0.000,6,0.000,0.034,2647,1723,3308,0,0,0,0,0,0
$GC,4672,-0.83,-116.8,498.4,-11.8,109,4676,0.00,0.95,0.00,0.000,4,0.000,0.051,2647,1147,3307,0,0,0,0,0,0
$GC,4930,-0.83,-116.8,528.8,-11.7,112,4934,0.00,0.90,0.00,0.000,6,0.000,0.036,2647,1728,3306,0,0,0,0,0,0
$GC,5670,-0.83,-116.8,607.5,-10.0,125,5674,0.00,2.40,0.00,0.000,4,0.000,0.057,2647,317,3304,0,0,0,0,0,0
$GC,5865,-0.83,-116.8,626.4,-9.1,127,5871,0.00,2.20,0.00,0.000,6,0.000,0.034,2647,1724,3305,0,0,0,0,0,0
$GC,6599,-0.83,-116.8,701.0,-11.4,140,6603,0.00,1.58,0.00,0.000,4,0.000,0.054,2647,786,3303,0,0,0,0,0,0
$GC,6857,-0.83,-116.8,734.0,-12.3,143,6861,0.00,1.50,0.00,0.000,6,0.000,0.037,2646,1719,3303,0,0,0,0,0,0
$GC,7597,-0.83,-116.8,822.6,-11.1,156,7601,0.00,2.33,0.00,0.000,4,0.000,0.050,2646,3125,3301,0,0,0,0,0,0
$GC,7641,-0.83,-116.8,827.7,-11.2,156,7645,0.00,2.22,0.00,0.000,6,0.000,0.037,2646,1724,3301,0,0,0,0,0,0
$GC,8387,-0.83,-116.8,893.1,-8.0,169,8391,0.00,2.30,0.00,0.000,4,0.000,0.047,2647,3124,3299,0,0,0,0,0,0
$GC,8431,-0.83,-116.8,896.8,-7.6,169,8435,0.00,2.22,0.00,0.000,6,0.000,0.037,2646,1716,3300,0,0,0,0,0,0
$STATE,8755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8755,begin apogee
$GC,8761,-0.28,0.0,924.6,8.6,175,8867,0.57,0.00,102.22,1.392,6,0.099,0.000,2828,1924,2826,0,0,0,0,0,0
$STATE,8867,end apogee,CONTROL_FINISHED_OK
$STATE,8867,begin climb
$GC,8870,0.83,116.8,930.0,0.0,176,8988,1.10,2.30,109.40,1.366,4,0.068,0.046,3182,3163,2350,0,0,0,0,0,0
$GC,9106,0.52,532.6,958.5,-9.7,178,9530,0.47,2.20,413.55,1.389,6,0.207,0.038,3093,1896,654,0,0,0,0,0,0
$GC,10272,0.52,532.6,901.6,7.5,198,10276,0.00,2.40,0.00,0.000,4,0.000,0.059,3093,500,647,0,0,0,0,0,0
$GC,10529,0.52,532.6,879.7,8.9,201,10534,0.00,2.22,0.00,0.000,6,0.000,0.034,3093,1893,643,0,0,0,0,0,0
$GC,11263,0.52,532.6,817.0,8.7,214,11267,0.00,2.38,0.00,0.000,4,0.000,0.058,3093,499,643,0,0,0,0,0,0
$GC,11520,0.52,532.6,792.8,9.0,217,11524,0.00,2.22,0.00,0.000,6,0.000,0.033,3093,1903,642,0,0,0,0,0,0
$GC,12260,0.52,532.6,725.6,8.7,230,12264,0.00,2.28,0.00,0.000,4,0.000,0.047,3093,3304,642,0,0,0,0,0,0
$GC,12371,0.52,532.6,715.7,9.0,231,12375,0.00,2.30,0.00,0.000,6,0.000,0.041,3093,1901,642,0,0,0,0,0,0
$GC,13122,0.52,532.6,647.8,9.5,244,13126,0.00,2.38,0.00,0.000,4,0.000,0.059,3093,496,642,0,0,0,0,0,0
$GC,13144,0.52,532.6,645.5,10.2,244,13148,0.00,2.25,0.00,0.000,6,0.000,0.034,3093,1910,642,0,0,0,0,0,0
$GC,13906,0.52,532.6,574.0,9.1,257,13910,0.00,2.28,0.00,0.000,4,0.000,0.047,3093,3302,642,0,0,0,0,0,0
$GC,13963,0.52,532.6,568.9,8.8,257,13967,0.00,2.25,0.00,0.000,6,0.000,0.041,3093,1900,642,0,0,0,0,0,0
$GC,14697,0.52,532.6,505.9,8.6,269,14701,0.00,2.33,0.00,0.000,4,0.000,0.047,3093,3301,642,0,0,0,0,0,0
$GC,14827,0.52,532.6,494.3,9.1,271,14831,0.00,2.25,0.00,0.000,6,0.000,0.041,3093,1901,642,0,0,0,0,0,0
$GC,15556,0.52,532.6,436.8,7.6,283,15559,0.00,0.93,0.00,0.000,4,0.000,0.042,3093,2489,642,0,0,0,0,0,0
$GC,15768,0.52,532.6,420.6,7.3,286,15772,0.00,0.95,0.00,0.000,6,0.000,0.045,3093,1893,642,0,0,0,0,0,0
$GC,16493,0.52,532.6,357.8,9.4,298,16496,0.00,0.93,0.00,0.000,4,0.000,0.041,3093,2485,642,0,0,0,0,0,0
$GC,16750,0.52,532.6,331.1,11.0,301,16755,0.00,0.93,0.00,0.000,6,0.000,0.044,3093,1906,642,0,0,0,0,0,0
$GC,17490,0.52,532.6,249.9,11.0,314,17494,0.00,1.35,0.00,0.000,4,0.000,0.057,3093,1105,642,0,0,0,0,0,0
$GC,17748,0.52,532.6,221.4,10.3,317,17752,0.00,1.25,0.00,0.000,6,0.000,0.036,3093,1892,642,0,0,0,0,0,0
$GC,18488,0.52,532.6,149.1,9.2,330,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1892,643,0,0,0,0,0,0
$GC,19218,0.52,532.6,87.0,8.3,343,19219,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1892,644,0,0,0,0,0,0
$GC,19937,0.52,537.7,28.0,6.8,371,19944,0.00,2.33,1.55,0.174,4,0.000,0.046,3093,3301,635,0,0,0,0,0,0
$GC,20201,0.52,537.7,6.8,7.9,393,20208,0.00,2.28,0.00,0.000,6,0.000,0.040,3093,1903,635,0,0,0,0,0,0
$STATE,20250,end climb,SURFACE_DEPTH_REACHED
$STATE,20250,begin surface coast
$FINISH,1.7,1.008297
$STATE,20283,end surface coast,CONTROL_FINISHED_OK
$STATE,20284,begin surface
$SM_CCo,20362,0.00,0.000,0,0,636,537.44
$SM_GC,2.91,8.80,0.00,0.00,0.056,0.000,0.000,82,1714,636,-8.80,-0.17,537.44
$IRIDIUM_FIX,-4115.01,-321.31,140213,090943
$TT8_MAMPS,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.1,135.204
$10V_AH,9.8,56.596
$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,22.550,82.100,626.725,0.000,0.000,29.049,38.999,254.636,0.000,0.000,43.403,1264.618,16553.344,602.811,2191.359,220.602,0.000,1571.186,0.000,1827.403,0.000,1.014,0.000
$DEVICE_MAMPS,254.745,68.850,1391.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.291,281.592,172.467,43.932,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354768
$DATA_FILE_SIZE,23623,401
$CAP_FILE_SIZE,111101,0
$CFSIZE,2097086464,2015166464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140213,211324,-4131.938,-314.132,43,1.9,43,-22.6