version: 66.07.10.p01
glider: 574
mission: 4
dive: 486
start: 1 13 113 19 3 47
data:
$ID,574
$MISSION,4
$DIVE,486
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,4200
$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,170
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,3
$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,-7363.9639
$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,2980
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1730
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,465
$GPS1,130113,190153,-4055.670,-442.674,41,1.4,42,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-74.8
$GPS2,130113,190324,-4055.668,-442.670,18,1.4,18,-22.6
$SPEED_LIMITS,0.099,0.194
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,128.8,62022,-12.0,-5.690
$D_GRID,990
$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,-0.64,-116.8,0.0,0.0,0,47,0.00,0.00,-19.05,0.000,2,0.000,0.000,71,1743,1648,0,0,0,0,0,0
$GC,49,-0.64,-116.8,3.1,-1.7,3,129,12.32,2.22,-61.15,0.000,4,0.258,0.064,2753,3108,3302,0,0,0,0,0,0
$GC,233,-0.74,-116.8,18.7,-12.6,33,241,0.00,2.22,0.00,0.000,6,0.000,0.046,2753,1733,3304,0,0,0,0,0,0
$GC,314,-0.77,-116.8,27.5,-10.9,46,322,0.08,1.42,0.00,0.000,4,0.122,0.060,2714,877,3304,0,0,0,0,0,0
$GC,373,-0.72,-116.8,35.2,-12.3,56,379,0.10,1.30,0.00,0.000,6,0.129,0.037,2742,1703,3304,0,0,0,0,0,0
$GC,601,-0.74,-116.8,61.5,-11.8,96,605,0.00,0.47,0.00,0.000,4,0.000,0.049,2742,2045,3304,0,0,0,0,0,0
$GC,718,-0.74,-116.8,76.1,-12.8,106,724,0.00,0.52,0.00,0.000,6,0.000,0.050,2742,1713,3304,0,0,0,0,0,0
$GC,1045,-0.78,-116.8,114.1,-10.8,133,1048,0.00,0.62,0.00,0.000,4,0.000,0.057,2742,1316,3305,0,0,0,0,0,0
$GC,1303,-0.86,-116.8,135.0,-6.4,148,1307,0.08,0.65,0.00,0.000,6,0.060,0.040,2696,1742,3305,0,0,0,0,0,0
$GC,1638,-0.79,-116.8,159.2,-8.0,168,1642,0.10,1.00,0.00,0.000,4,0.158,0.056,2724,1145,3305,0,0,0,0,0,0
$GC,1754,-0.79,-116.8,169.0,-8.2,173,1759,0.00,0.93,0.00,0.000,6,0.000,0.037,2722,1733,3305,0,0,0,0,0,0
$GC,2082,-0.79,-116.8,199.7,-9.9,189,2086,0.00,0.57,0.00,0.000,4,0.000,0.048,2719,2131,3305,0,0,0,0,0,0
$GC,2210,-0.76,-116.8,213.1,-10.5,193,2215,0.00,0.62,0.00,0.000,6,0.000,0.047,2719,1728,3306,0,0,0,0,0,0
$GC,2523,-0.73,-116.8,244.6,-10.2,204,2527,0.10,0.88,0.00,0.000,4,0.157,0.041,2744,2294,3306,0,0,0,0,0,0
$GC,2641,-0.79,-116.8,255.8,-9.4,207,2645,0.00,0.88,0.00,0.000,6,0.000,0.047,2744,1737,3306,0,0,0,0,0,0
$GC,2965,-0.83,-116.8,285.1,-9.1,218,2967,0.10,0.00,0.00,0.000,6,0.103,0.000,2695,1737,3307,0,0,0,0,0,0
$GC,3271,-0.75,-116.8,316.2,-10.4,228,3276,0.15,0.47,0.00,0.000,4,0.145,0.058,2739,1432,3307,0,0,0,0,0,0
$GC,3529,-0.79,-116.8,342.3,-10.1,235,3533,0.00,0.47,0.00,0.000,6,0.000,0.041,2739,1747,3307,0,0,0,0,0,0
$GC,3848,-0.82,-116.8,373.6,-9.7,246,3850,0.08,0.00,0.00,0.000,6,0.125,0.000,2702,1747,3307,0,0,0,0,0,0
$GC,4154,-0.78,-116.8,405.2,-10.1,256,4158,0.10,1.40,0.00,0.000,4,0.159,0.056,2730,915,3307,0,0,0,0,0,0
$GC,4260,-0.84,-116.8,415.1,-8.9,259,4265,0.03,1.25,0.00,0.000,6,0.103,0.037,2705,1710,3308,0,0,0,0,0,0
$GC,4596,-0.81,-116.8,447.7,-10.0,270,4600,0.05,0.55,0.00,0.000,4,0.203,0.047,2716,2084,3308,0,0,0,0,0,0
$GC,4706,-0.81,-116.8,459.0,-10.3,273,4711,0.00,0.57,0.00,0.000,6,0.000,0.048,2716,1719,3308,0,0,0,0,0,0
$GC,5036,-0.81,-116.8,490.6,-9.6,284,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1718,3308,0,0,0,0,0,0
$GC,5343,-0.81,-116.8,520.5,-9.9,294,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1719,3308,0,0,0,0,0,0
$GC,5649,-0.81,-116.8,552.4,-10.8,304,5652,0.00,0.60,0.00,0.000,4,0.000,0.045,2715,2120,3307,0,0,0,0,0,0
$GC,5732,-0.81,-116.8,561.9,-11.4,306,5736,0.00,0.62,0.00,0.000,6,0.000,0.047,2715,1724,3307,0,0,0,0,0,0
$GC,6056,-0.81,-116.8,597.4,-11.0,317,6060,0.00,1.38,0.00,0.000,4,0.000,0.058,2715,891,3306,0,0,0,0,0,0
$GC,6134,-0.83,-116.8,605.9,-10.4,319,6138,0.00,1.33,0.00,0.000,6,0.000,0.037,2715,1727,3306,0,0,0,0,0,0
$GC,6464,-0.83,-116.8,639.3,-10.0,330,6467,0.00,1.58,0.00,0.000,4,0.000,0.057,2715,778,3306,0,0,0,0,0,0
$GC,6558,-0.83,-116.8,648.9,-9.5,332,6564,0.00,1.50,0.00,0.000,6,0.000,0.037,2715,1727,3306,0,0,0,0,0,0
$GC,6871,-0.83,-116.8,677.3,-9.1,343,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1727,3306,0,0,0,0,0,0
$GC,7178,-0.83,-116.8,704.4,-8.8,353,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1727,3305,0,0,0,0,0,0
$GC,7484,-0.83,-116.8,731.4,-9.0,363,7487,0.00,1.27,0.00,0.000,4,0.000,0.055,2715,950,3305,0,0,0,0,0,0
$GC,7586,-0.83,-116.8,740.9,-9.2,366,7590,0.00,1.25,0.00,0.000,6,0.000,0.039,2715,1738,3305,0,0,0,0,0,0
$GC,7926,-0.83,-116.8,773.5,-9.9,377,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1738,3305,0,0,0,0,0,0
$GC,8233,-0.83,-116.8,806.7,-10.9,387,8237,0.00,2.35,0.00,0.000,4,0.000,0.059,2715,325,3305,0,0,0,0,0,0
$GC,8344,-0.86,-116.8,819.0,-10.5,390,8348,0.00,2.20,0.00,0.000,6,0.000,0.035,2715,1733,3305,0,0,0,0,0,0
$GC,8668,-0.86,-116.8,853.3,-10.6,401,8672,0.00,0.82,0.00,0.000,4,0.000,0.054,2715,1226,3305,0,0,0,0,0,0
$GC,8763,-0.88,-116.8,863.5,-10.8,403,8769,0.05,0.77,0.00,0.000,6,0.077,0.041,2683,1727,3305,0,0,0,0,0,0
$GC,9076,-0.83,-116.8,897.0,-10.6,414,9078,0.10,0.00,0.00,0.000,6,0.160,0.000,2710,1728,3305,0,0,0,0,0,0
$GC,9382,-0.83,-116.8,926.1,-9.2,424,9385,0.00,0.73,0.00,0.000,4,0.000,0.054,2710,1281,3305,0,0,0,0,0,0
$GC,9437,-0.83,-116.8,931.3,-9.3,425,9441,0.00,0.73,0.00,0.000,6,0.000,0.041,2710,1740,3305,0,0,0,0,0,0
$GC,9757,-0.83,-116.8,961.3,-9.7,436,9761,0.00,0.50,0.00,0.000,4,0.000,0.050,2708,2089,3305,0,0,0,0,0,0
$GC,9817,-0.83,-116.8,967.8,-10.6,437,9823,0.00,0.57,0.00,0.000,6,0.000,0.050,2708,1726,3305,0,0,0,0,0,0
$STATE,10068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10068,begin apogee
$GC,10073,-0.26,0.0,992.8,10.1,446,10181,0.60,0.00,104.15,1.476,6,0.124,0.000,2888,1630,2827,0,0,0,0,0,0
$STATE,10181,end apogee,CONTROL_FINISHED_OK
$STATE,10181,begin loiter
$GC,10467,-0.25,241.2,1025.7,-7.9,459,10690,0.00,0.57,216.05,1.459,4,0.000,0.057,2888,1320,1843,0,0,0,0,0,0
$GC,10916,-0.30,241.2,1024.1,4.2,473,10919,0.00,0.47,0.00,0.000,6,0.000,0.041,2888,1641,1835,0,0,0,0,0,0
$GC,11251,-0.36,241.2,1010.4,4.0,484,11255,0.10,2.00,0.00,0.000,4,0.118,0.044,2850,2916,1833,0,0,0,0,0,0
$GC,11373,-0.36,241.2,1004.8,4.9,487,11377,0.00,2.05,0.00,0.000,6,0.000,0.045,2850,1649,1832,0,0,0,0,0,0
$GC,11692,-0.34,241.2,990.7,4.7,498,11697,0.08,2.33,0.00,0.000,4,0.194,0.061,2866,233,1832,0,0,0,0,0,0
$GC,11788,-0.27,241.2,985.8,4.5,501,11793,0.12,2.17,0.00,0.000,6,0.162,0.036,2891,1628,1831,0,0,0,0,0,0
$GC,12124,-0.33,241.2,968.3,5.5,512,12126,0.05,0.00,0.00,0.000,6,0.171,0.000,2869,1639,1831,0,0,0,0,0,0
$GC,12429,-0.33,241.2,950.5,5.9,522,12433,0.00,2.25,0.00,0.000,4,0.000,0.046,2863,3041,1831,0,0,0,0,0,0
$GC,12526,-0.30,241.2,944.4,6.6,525,12531,0.08,2.25,0.00,0.000,6,0.177,0.046,2880,1638,1831,0,0,0,0,0,0
$GC,12861,-0.35,241.2,924.3,6.0,536,12865,0.00,1.92,0.00,0.000,4,0.000,0.044,2875,2852,1831,0,0,0,0,0,0
$GC,13057,-0.38,241.2,913.6,5.8,541,13063,0.05,1.95,0.00,0.000,6,0.166,0.046,2852,1634,1831,0,0,0,0,0,0
$GC,13370,-0.34,241.2,898.5,4.7,552,13374,0.08,0.77,0.00,0.000,4,0.196,0.058,2868,1147,1831,0,0,0,0,0,0
$GC,13531,-0.34,241.2,891.3,4.3,556,13537,0.00,0.80,0.00,0.000,6,0.000,0.037,2865,1665,1831,0,0,0,0,0,0
$GC,13844,-0.34,241.2,878.8,3.9,567,13848,0.00,2.10,0.00,0.000,4,0.000,0.061,2865,386,1832,0,0,0,0,0,0
$GC,13950,-0.21,241.2,874.9,3.2,570,13955,0.17,1.92,0.00,0.000,6,0.157,0.037,2910,1637,1831,0,0,0,0,0,0
$GC,14280,-0.29,241.2,864.9,2.8,581,14285,0.08,2.22,0.00,0.000,4,0.127,0.045,2868,3041,1831,0,0,0,0,0,0
$STATE,14361,end loiter,LOITER_COMPLETE
$STATE,14361,begin climb
$GC,14363,0.64,116.8,862.4,0.0,583,14369,1.02,2.25,0.00,0.000,6,0.118,0.045,3177,1636,1832,0,0,0,0,0,0
$GC,14677,0.45,171.0,850.6,3.9,593,14682,0.20,2.35,0.00,0.000,4,0.180,0.063,3135,227,1833,0,0,0,0,0,0
$GC,14884,0.35,222.0,843.7,4.0,599,14889,0.15,2.22,0.00,0.000,6,0.167,0.037,3098,1650,1833,0,0,0,0,0,0
$GC,15209,0.36,304.7,834.3,3.0,610,15273,0.00,1.83,58.90,1.373,4,0.000,0.045,3098,2747,1583,0,0,0,0,0,0
$GC,15380,0.41,328.4,826.7,4.9,615,15410,0.00,1.80,22.67,1.304,6,0.000,0.050,3099,1646,1488,0,0,0,0,0,0
$GC,15742,0.52,344.5,808.1,5.2,627,15762,0.12,0.80,16.05,1.248,4,0.099,0.040,3155,2176,1420,0,0,0,0,0,0
$GC,15863,0.52,363.4,801.3,5.1,630,15887,0.00,0.88,18.98,1.275,6,0.000,0.053,3155,1635,1345,0,0,0,0,0,0
$GC,16213,0.52,363.4,780.8,6.0,642,16217,0.00,1.08,0.00,0.000,4,0.000,0.044,3155,2322,1340,0,0,0,0,0,0
$GC,16308,0.52,363.4,775.3,5.9,644,16313,0.00,1.10,0.00,0.000,6,0.000,0.051,3155,1642,1339,0,0,0,0,0,0
$GC,16621,0.52,363.4,757.1,5.9,655,16625,0.00,0.98,0.00,0.000,4,0.000,0.044,3155,2269,1339,0,0,0,0,0,0
$GC,16710,0.52,377.8,751.7,5.2,657,16729,0.00,1.02,13.65,1.203,6,0.000,0.052,3155,1637,1286,0,0,0,0,0,0
$GC,17061,0.55,377.8,729.2,6.6,669,17065,0.00,1.20,0.00,0.000,4,0.000,0.044,3155,2400,1284,0,0,0,0,0,0
$GC,17202,0.59,377.8,720.1,6.2,673,17206,0.00,1.23,0.00,0.000,6,0.000,0.051,3155,1644,1284,0,0,0,0,0,0
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$STATE,26410,end climb,SURFACE_DEPTH_REACHED
$STATE,26410,begin surface coast
$FINISH,1.8,1.026017
$STATE,26483,end surface coast,CONTROL_FINISHED_OK
$STATE,26483,begin surface
$SM_CCo,26561,0.00,0.000,0,0,1133,415.29
$SM_GC,3.02,8.82,0.00,0.00,0.060,0.000,0.000,88,1749,1133,-8.99,0.65,415.29
$IRIDIUM_FIX,-4040.73,-445.35,130113,111148
$TT8_MAMPS,0.025466
$HUMID,49.60
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,21.9,116.171
$10V_AH,9.8,68.478
$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
$DEVICE_SECS,26.250,127.400,469.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,20.335,3081.876,19138.656,532.057,3622.393,260.372,0.000,2234.663,0.000,3544.638,0.000,1.013,0.000
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$SENSOR_SECS,725.275,740.601,425.449,75.586,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354584
$DATA_FILE_SIZE,66877,1151
$CAP_FILE_SIZE,226674,0
$CFSIZE,2097086464,2027945984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140113,022804,-4054.851,-441.495,56,1.0,62,-22.6