version: 66.07.10.p01
glider: 574
mission: 4
dive: 581
start: 2 14 113 21 21 10
data:
$ID,574
$MISSION,4
$DIVE,581
$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,-10361.942
$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,24
$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,560
$GPS1,140213,211324,-4131.938,-314.132,43,1.9,43,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-72.6
$GPS2,140213,212049,-4132.023,-313.905,17,1.9,17,-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,196.0,70799,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.83,-116.8,0.0,0.0,0,49,0.00,0.00,-22.08,0.000,2,0.000,0.000,69,1710,1227,0,0,0,0,0,0
$GC,52,-0.83,-116.8,3.0,-0.8,2,141,11.57,2.30,-68.88,0.000,4,0.255,0.060,2635,3080,3303,0,0,0,0,0,0
$GC,180,-0.83,-116.8,13.2,-14.3,13,185,0.05,2.22,0.00,0.000,6,0.221,0.044,2644,1706,3303,0,0,0,0,0,0
$GC,295,-0.83,-116.8,26.6,-10.7,23,298,0.00,0.55,0.00,0.000,4,0.000,0.055,2645,1355,3304,0,0,0,0,0,0
$GC,351,-0.83,-116.8,33.0,-10.7,27,355,0.00,0.60,0.00,0.000,6,0.000,0.040,2645,1740,3304,0,0,0,0,0,0
$GC,773,-0.83,-116.8,82.2,-12.1,44,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1740,3304,0,0,0,0,0,0
$GC,1481,-0.83,-116.8,164.7,-11.7,57,1485,0.00,2.25,0.00,0.000,4,0.000,0.050,2639,3116,3305,0,0,0,0,0,0
$GC,1549,-0.83,-116.8,172.4,-11.1,58,1553,0.00,2.25,0.00,0.000,6,0.000,0.041,2639,1710,3305,0,0,0,0,0,0
$GC,2273,-0.83,-116.8,252.4,-11.6,70,2277,0.00,2.30,0.00,0.000,4,0.000,0.049,2630,3112,3305,0,0,0,0,0,0
$GC,2350,-0.83,-116.8,262.0,-11.7,71,2355,0.08,2.25,0.00,0.000,6,0.161,0.041,2648,1720,3305,0,0,0,0,0,0
$GC,3074,-0.83,-116.8,345.5,-11.1,83,3078,0.00,0.52,0.00,0.000,4,0.000,0.054,2648,1381,3305,0,0,0,0,0,0
$GC,3331,-0.83,-116.8,374.3,-10.3,86,3336,0.00,0.52,0.00,0.000,6,0.000,0.041,2648,1719,3305,0,0,0,0,0,0
$GC,4072,-0.83,-116.8,458.2,-11.5,99,4076,0.00,2.28,0.00,0.000,4,0.000,0.050,2646,3112,3304,0,0,0,0,0,0
$GC,4128,-0.83,-116.8,464.9,-12.2,99,4132,0.00,2.22,0.00,0.000,6,0.000,0.040,2646,1718,3304,0,0,0,0,0,0
$GC,4862,-0.83,-116.8,551.8,-12.0,111,4866,0.00,2.38,0.00,0.000,4,0.000,0.057,2646,311,3303,0,0,0,0,0,0
$GC,5030,-0.83,-116.8,572.5,-12.0,113,5034,0.00,2.20,0.00,0.000,6,0.000,0.031,2646,1716,3303,0,0,0,0,0,0
$GC,5787,-0.83,-116.8,658.6,-11.3,126,5790,0.00,1.70,0.00,0.000,4,0.000,0.052,2646,692,3301,0,0,0,0,0,0
$GC,5932,-0.83,-116.8,675.5,-11.7,128,5936,0.00,1.62,0.00,0.000,6,0.000,0.033,2646,1717,3300,0,0,0,0,0,0
$GC,6656,-0.83,-116.8,762.5,-12.2,140,6661,0.00,2.40,0.00,0.000,4,0.000,0.056,2646,309,3298,0,0,0,0,0,0
$GC,6756,-0.83,-116.8,775.3,-12.3,141,6761,0.00,2.22,0.00,0.000,6,0.000,0.031,2646,1721,3297,0,0,0,0,0,0
$GC,7513,-0.83,-116.8,861.7,-11.4,154,7517,0.00,2.15,0.00,0.000,4,0.000,0.054,2646,445,3296,0,0,0,0,0,0
$GC,7608,-0.83,-116.8,872.9,-11.9,155,7612,0.00,2.03,0.00,0.000,6,0.000,0.031,2646,1719,3296,0,0,0,0,0,0
$STATE,8065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8066,begin apogee
$GC,8072,-0.28,0.0,922.5,10.9,163,8177,0.60,0.00,102.28,1.401,6,0.106,0.000,2831,1925,2827,0,0,0,0,0,0
$STATE,8178,end apogee,CONTROL_FINISHED_OK
$STATE,8178,begin climb
$GC,8180,0.83,116.8,928.9,0.0,164,8299,1.08,2.75,109.72,1.367,4,0.064,0.053,3193,492,2350,0,0,0,0,0,0
$GC,8372,0.48,557.8,954.4,-10.8,166,8825,0.52,2.45,439.30,1.385,6,0.207,0.034,3083,1894,551,0,0,0,0,0,0
$GC,9581,0.48,557.8,881.4,9.4,186,9586,0.00,2.35,0.00,0.000,4,0.000,0.047,3083,3301,544,0,0,0,0,0,0
$GC,9839,0.48,557.8,855.1,11.0,189,9845,0.00,2.30,0.00,0.000,6,0.000,0.041,3083,1889,543,0,0,0,0,0,0
$GC,10574,0.48,557.8,781.1,10.3,202,10578,0.00,2.33,0.00,0.000,4,0.000,0.047,3083,3302,543,0,0,0,0,0,0
$GC,10704,0.48,557.8,766.8,11.2,204,10708,0.00,2.28,0.00,0.000,6,0.000,0.041,3083,1901,542,0,0,0,0,0,0
$GC,11433,0.48,557.8,692.0,10.4,216,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1900,542,0,0,0,0,0,0
$GC,12160,0.48,557.8,621.0,9.7,228,12164,0.00,0.85,0.00,0.000,4,0.000,0.044,3083,2445,542,0,0,0,0,0,0
$GC,12418,0.48,557.8,595.8,8.8,231,12422,0.00,0.88,0.00,0.000,6,0.000,0.045,3083,1896,542,0,0,0,0,0,0
$GC,13158,0.48,557.8,530.5,8.2,244,13161,0.00,1.23,0.00,0.000,4,0.000,0.042,3083,2655,542,0,0,0,0,0,0
$GC,13415,0.48,557.8,509.4,8.3,247,13419,0.00,1.23,0.00,0.000,6,0.000,0.043,3083,1903,542,0,0,0,0,0,0
$GC,14155,0.48,557.8,450.0,8.5,260,14159,0.00,0.68,0.00,0.000,4,0.000,0.042,3083,2348,542,0,0,0,0,0,0
$GC,14413,0.48,557.8,424.9,10.0,263,14417,0.00,0.73,0.00,0.000,6,0.000,0.044,3083,1894,542,0,0,0,0,0,0
$GC,15153,0.48,557.8,344.0,10.8,276,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1894,542,0,0,0,0,0,0
$GC,15880,0.48,557.8,276.9,8.9,288,15885,0.00,2.40,0.00,0.000,4,0.000,0.062,3083,501,542,0,0,0,0,0,0
$GC,16104,0.48,557.8,255.2,10.1,291,16108,0.00,2.20,0.00,0.000,6,0.000,0.034,3082,1898,541,0,0,0,0,0,0
$GC,16872,0.48,557.8,182.9,9.2,304,16876,0.00,0.55,0.00,0.000,4,0.000,0.054,3083,1556,540,0,0,0,0,0,0
$GC,17130,0.48,557.8,157.7,9.5,307,17134,0.00,0.55,0.00,0.000,6,0.000,0.038,3083,1921,540,0,0,0,0,0,0
$GC,17873,0.48,557.8,85.9,8.8,321,17877,0.00,2.45,0.00,0.000,4,0.000,0.061,3082,507,540,0,0,0,0,0,0
$GC,18130,0.48,558.9,67.3,6.9,326,18138,0.00,2.20,0.00,0.000,6,0.000,0.034,3083,1874,541,0,0,0,0,0,0
$GC,18867,0.48,558.9,6.9,7.6,372,18871,0.00,1.70,0.00,0.000,4,0.000,0.042,3083,2955,542,0,0,0,0,0,0
$STATE,18916,end climb,SURFACE_DEPTH_REACHED
$STATE,18916,begin surface coast
$FINISH,1.8,1.026013
$STATE,18951,end surface coast,CONTROL_FINISHED_OK
$STATE,18951,begin surface
$SM_CCo,19032,0.00,0.000,0,0,541,560.75
$SM_GC,2.85,8.75,0.00,0.00,0.057,0.000,0.000,87,1716,541,-8.80,-0.08,560.75
$IRIDIUM_FIX,-4115.01,-315.57,140213,151515
$TT8_MAMPS,0.026964
$HUMID,52.75
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,21.0,135.475
$10V_AH,9.8,56.661
$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,22.650,71.425,651.300,0.000,0.000,29.468,36.401,257.271,0.000,0.000,19.733,1189.273,15432.013,609.751,2037.694,210.772,0.000,1514.882,0.000,1704.579,0.000,1.014,0.000
$DEVICE_MAMPS,254.745,61.965,1401.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.875,278.454,165.412,43.934,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354832
$DATA_FILE_SIZE,23646,379
$CAP_FILE_SIZE,103525,0
$CFSIZE,2097086464,2015035392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150213,023955,-4132.014,-312.651,37,2.1,56,-22.6