version: 66.07.10.p01
glider: 574
mission: 4
dive: 583
start: 2 15 113 6 29 19
data:
$ID,574
$MISSION,4
$DIVE,583
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1000
$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,180
$T_MISSION,200
$T_ABORT,600
$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,-10367.036
$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,28
$R_STBD_OVSHOOT,57
$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,562
$GPS1,150213,061435,-4131.933,-311.920,45,1.5,45,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-67.6
$GPS2,150213,062859,-4131.915,-311.941,38,1.8,38,-22.6
$SPEED_LIMITS,0.225,0.253
$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,198.2,70741,-25.1,-12.963
$D_GRID,700
$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,-1.40,-116.8,0.0,0.0,0,75,0.00,0.00,-46.85,0.000,2,0.000,0.000,68,1715,1641,0,0,0,0,0,0
$GC,78,-1.40,-116.8,3.0,-1.0,5,146,11.00,2.30,-50.35,0.000,4,0.264,0.062,2452,3106,3303,0,0,0,0,0,0
$GC,153,-1.03,-116.8,10.1,-16.7,11,160,0.50,2.28,0.00,0.000,6,0.194,0.044,2576,1712,3304,0,0,0,0,0,0
$GC,268,-1.03,-116.8,28.9,-15.1,22,272,0.00,2.28,0.00,0.000,4,0.000,0.047,2567,3107,3305,0,0,0,0,0,0
$GC,317,-1.03,-116.8,36.3,-13.0,24,322,0.08,2.22,0.00,0.000,6,0.200,0.041,2581,1711,3305,0,0,0,0,0,0
$GC,762,-1.03,-116.8,80.8,-9.8,41,766,0.00,1.45,0.00,0.000,4,0.000,0.054,2581,840,3305,0,0,0,0,0,0
$GC,1020,-1.03,-116.8,109.4,-11.2,46,1024,0.00,1.35,0.00,0.000,6,0.000,0.035,2580,1692,3306,0,0,0,0,0,0
$GC,1760,-1.03,-116.8,202.7,-12.9,59,1764,0.00,1.48,0.00,0.000,4,0.000,0.053,2579,809,3306,0,0,0,0,0,0
$GC,2019,-1.03,-116.8,234.7,-12.5,62,2023,0.00,1.45,0.00,0.000,6,0.000,0.034,2579,1722,3307,0,0,0,0,0,0
$GC,2759,-1.03,-116.8,321.3,-11.4,75,2763,0.00,0.88,0.00,0.000,4,0.000,0.049,2579,1187,3307,0,0,0,0,0,0
$GC,3017,-1.03,-116.8,351.1,-12.3,78,3021,0.00,0.82,0.00,0.000,6,0.000,0.037,2579,1723,3307,0,0,0,0,0,0
$GC,3757,-1.03,-116.8,439.8,-12.4,91,3761,0.00,1.65,0.00,0.000,4,0.000,0.052,2579,738,3307,0,0,0,0,0,0
$GC,4015,-1.03,-116.8,473.1,-13.1,94,4019,0.00,1.55,0.00,0.000,6,0.000,0.035,2578,1707,3306,0,0,0,0,0,0
$GC,4755,-1.03,-116.8,564.1,-12.1,107,4759,0.00,0.47,0.00,0.000,4,0.000,0.047,2578,2044,3305,0,0,0,0,0,0
$GC,4777,-1.03,-116.8,567.2,-13.0,107,4781,0.00,0.52,0.00,0.000,6,0.000,0.046,2578,1710,3305,0,0,0,0,0,0
$GC,5551,-1.03,-116.8,655.3,-11.2,120,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1709,3303,0,0,0,0,0,0
$STATE,6033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6034,begin apogee
$GC,6039,-0.28,0.0,706.0,10.1,128,6141,0.82,0.00,98.72,1.243,6,0.117,0.000,2824,1933,2827,0,0,0,0,0,0
$STATE,6142,end apogee,CONTROL_FINISHED_OK
$STATE,6142,begin climb
$GC,6145,1.40,116.8,711.3,0.0,129,6256,1.65,0.00,104.15,1.239,6,0.061,0.000,3369,1933,2350,0,0,0,0,0,0
$GC,6996,1.09,417.8,793.2,-9.4,143,7282,0.40,2.58,274.62,1.295,4,0.238,0.047,3280,3283,1123,0,0,0,0,0,0
$GC,7416,1.09,472.9,783.4,8.9,149,7477,0.08,2.42,54.80,1.222,6,0.247,0.037,3280,1909,899,0,0,0,0,0,0
$GC,8218,1.09,514.3,705.0,9.9,163,8262,0.00,2.45,37.42,1.197,4,0.000,0.057,3288,496,729,0,0,0,0,0,0
$GC,8335,1.09,518.1,691.6,12.7,164,8347,0.08,2.22,4.45,0.775,6,0.233,0.037,3278,1883,713,0,0,0,0,0,0
$GC,9075,1.09,524.8,601.3,12.5,177,9083,0.00,0.00,6.93,0.932,6,0.000,0.000,3278,1883,687,0,0,0,0,0,0
$GC,9802,1.10,557.2,518.4,10.6,189,9837,0.00,1.10,30.27,1.112,4,0.000,0.049,3280,1234,554,0,0,0,0,0,0
$GC,9882,1.10,595.2,510.0,10.1,190,9922,0.00,1.08,34.20,1.119,6,0.000,0.038,3280,1906,399,0,0,0,0,0,0
$GC,10657,1.10,634.8,431.2,10.0,203,10661,0.00,2.40,0.00,0.000,4,0.000,0.057,3290,488,394,0,0,0,0,0,0
$GC,10706,1.10,660.8,425.8,11.0,203,10711,0.08,2.28,0.00,0.000,6,0.219,0.037,3278,1910,393,0,0,0,0,0,0
$GC,11440,1.10,679.1,343.4,11.6,215,11445,0.00,2.38,0.00,0.000,4,0.000,0.057,3286,494,393,0,0,0,0,0,0
$GC,11490,1.10,692.6,337.1,12.0,215,11494,0.00,2.25,0.00,0.000,6,0.000,0.035,3286,1906,392,0,0,0,0,0,0
$GC,12048,1.10,625.8,275.4,10.8,225,12052,0.00,2.28,0.00,0.000,4,0.000,0.049,3286,3297,392,0,0,0,0,0,0
$GC,12246,1.10,665.6,255.0,10.0,228,12251,0.10,2.25,0.00,0.000,6,0.207,0.040,3277,1895,393,0,0,0,0,0,0
$GC,12983,1.10,696.8,180.6,10.7,240,12987,0.00,2.30,0.00,0.000,4,0.000,0.046,3277,3298,393,0,0,0,0,0,0
$GC,13186,1.10,709.6,156.5,12.0,243,13190,0.00,2.25,0.00,0.000,6,0.000,0.040,3284,1901,393,0,0,0,0,0,0
$GC,13920,1.11,742.3,68.1,10.5,257,13924,0.00,2.30,0.00,0.000,4,0.000,0.046,3283,3304,393,0,0,0,0,0,0
$GC,14042,1.11,798.3,56.1,8.8,260,14050,0.05,2.28,0.00,0.000,6,0.187,0.038,3281,1903,394,0,0,0,0,0,0
$GC,14469,1.11,815.5,8.7,11.7,289,14473,0.00,2.12,0.00,0.000,4,0.000,0.045,3281,3204,394,0,0,0,0,0,0
$STATE,14521,end climb,SURFACE_DEPTH_REACHED
$STATE,14521,begin surface coast
$FINISH,1.7,1.026117
$STATE,14546,end surface coast,CONTROL_FINISHED_OK
$STATE,14546,begin surface
$SM_CCo,14627,0.00,0.000,0,0,393,597.05
$SM_GC,2.76,9.43,0.00,0.00,0.064,0.000,0.000,87,1715,393,-8.79,-0.14,597.05
$IRIDIUM_FIX,-4115.01,-312.70,150213,060649
$TT8_MAMPS,0.026964
$HUMID,54.37
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.4,135.973
$10V_AH,9.8,56.763
$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,24.250,60.425,645.575,0.000,0.000,59.648,120.627,440.892,0.000,0.000,40.582,928.370,11822.406,600.984,1911.516,236.181,0.000,1319.381,0.000,1263.981,0.000,1.014,0.000
$DEVICE_MAMPS,263.925,61.965,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,202.719,222.077,127.077,32.808,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354836
$DATA_FILE_SIZE,16967,295
$CAP_FILE_SIZE,90568,1
$CFSIZE,2097086464,2014838784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150213,103422,-4131.883,-311.156,23,0.9,41,-22.6