version: 66.07.10.p01
glider: 574
mission: 4
dive: 502
start: 1 18 113 23 51 23
data:
$ID,574
$MISSION,4
$DIVE,502
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,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,-7407.8525
$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,1580
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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,481
$GPS1,180113,232535,-4055.924,-434.029,74,1.0,74,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-71.9
$GPS2,180113,235059,-4055.941,-433.860,93,1.0,93,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4105.293,-426.696
$TGT_RADIUS,1852.000
$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,172.6,20000,-12.6,-5.632
$D_GRID,980
$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,-0.67,-107.0,0.0,0.0,0,52,0.00,0.00,-24.48,0.000,2,0.000,0.000,68,1748,1931,0,0,0,0,0,0
$GC,55,-0.67,-107.0,3.2,-1.9,4,117,12.18,2.03,-41.35,0.000,4,0.254,0.063,2753,2983,3265,0,0,0,0,0,0
$GC,204,-0.72,-107.0,18.1,-11.8,28,211,0.00,2.28,0.00,0.000,6,0.000,0.047,2753,1584,3266,0,0,0,0,0,0
$GC,284,-0.76,-107.0,26.6,-10.8,41,291,0.00,1.17,0.00,0.000,4,0.000,0.059,2753,870,3266,0,0,0,0,0,0
$GC,337,-0.81,-107.0,32.6,-10.3,50,343,0.08,1.12,0.00,0.000,6,0.067,0.037,2707,1588,3266,0,0,0,0,0,0
$GC,570,-0.74,-107.0,59.1,-12.6,91,574,0.12,0.00,0.00,0.000,6,0.151,0.000,2742,1588,3266,0,0,0,0,0,0
$GC,790,-0.79,-107.0,84.8,-11.5,112,793,0.00,1.65,0.00,0.000,4,0.000,0.057,2742,594,3266,0,0,0,0,0,0
$GC,941,-0.85,-107.0,101.1,-10.9,125,947,0.08,1.55,0.00,0.000,6,0.065,0.037,2682,1584,3266,0,0,0,0,0,0
$GC,1262,-0.76,-107.0,138.1,-11.5,146,1267,0.17,2.38,0.00,0.000,4,0.145,0.058,2733,169,3266,0,0,0,0,0,0
$GC,1438,-0.80,-107.0,157.6,-11.1,156,1442,0.00,2.17,0.00,0.000,6,0.000,0.034,2729,1581,3267,0,0,0,0,0,0
$GC,1767,-0.84,-107.0,191.2,-9.8,172,1772,0.05,2.35,0.00,0.000,4,0.166,0.057,2698,173,3267,0,0,0,0,0,0
$GC,1908,-0.80,-107.0,205.5,-9.5,178,1912,0.12,2.17,0.00,0.000,6,0.149,0.034,2723,1583,3267,0,0,0,0,0,0
$GC,2231,-0.82,-107.0,233.2,-8.2,189,2235,0.00,2.33,0.00,0.000,4,0.000,0.057,2723,173,3267,0,0,0,0,0,0
$GC,2360,-0.86,-107.0,243.8,-8.2,192,2366,0.05,2.20,0.00,0.000,6,0.160,0.034,2696,1586,3267,0,0,0,0,0,0
$GC,2673,-0.81,-107.0,269.4,-8.5,203,2677,0.08,1.95,0.00,0.000,4,0.187,0.056,2715,405,3267,0,0,0,0,0,0
$GC,2795,-0.81,-107.0,280.5,-9.0,206,2799,0.00,1.83,0.00,0.000,6,0.000,0.035,2714,1577,3267,0,0,0,0,0,0
$GC,3114,-0.84,-107.0,311.8,-10.7,217,3119,0.00,2.33,0.00,0.000,4,0.000,0.057,2714,173,3266,0,0,0,0,0,0
$GC,3292,-0.84,-107.0,331.6,-10.6,222,3297,0.00,2.20,0.00,0.000,6,0.000,0.034,2711,1582,3266,0,0,0,0,0,0
$GC,3617,-0.84,-107.0,367.7,-11.5,233,3621,0.00,2.33,0.00,0.000,4,0.000,0.056,2711,169,3266,0,0,0,0,0,0
$GC,3800,-0.84,-107.0,388.6,-11.2,238,3804,0.00,2.20,0.00,0.000,6,0.000,0.034,2709,1575,3266,0,0,0,0,0,0
$GC,4119,-0.84,-107.0,420.5,-9.8,249,4123,0.00,2.20,0.00,0.000,4,0.000,0.044,2698,2981,3265,0,0,0,0,0,0
$GC,4184,-0.84,-107.0,426.9,-9.4,251,4189,0.00,2.22,0.00,0.000,6,0.000,0.038,2698,1580,3265,0,0,0,0,0,0
$GC,4520,-0.84,-107.0,459.7,-10.2,262,4524,0.00,2.22,0.00,0.000,4,0.000,0.043,2690,2984,3265,0,0,0,0,0,0
$GC,4570,-0.82,-107.0,464.9,-10.3,263,4575,0.10,2.17,0.00,0.000,6,0.153,0.038,2716,1578,3264,0,0,0,0,0,0
$GC,4884,-0.85,-107.0,495.5,-10.0,273,4887,0.00,1.67,0.00,0.000,4,0.000,0.041,2713,2653,3264,0,0,0,0,0,0
$GC,4927,-0.85,-107.0,500.3,-9.9,274,4932,0.00,1.70,0.00,0.000,6,0.000,0.040,2713,1577,3263,0,0,0,0,0,0
$GC,5258,-0.87,-107.0,533.7,-10.3,285,5262,0.00,2.25,0.00,0.000,4,0.000,0.044,2706,2988,3263,0,0,0,0,0,0
$GC,5320,-0.87,-107.0,540.3,-10.2,287,5324,0.00,2.20,0.00,0.000,6,0.000,0.038,2707,1576,3263,0,0,0,0,0,0
$GC,5661,-0.91,-107.0,575.8,-10.2,298,5665,0.05,2.15,0.00,0.000,4,0.171,0.044,2674,2920,3262,0,0,0,0,0,0
$GC,5710,-0.83,-107.0,581.3,-11.2,299,5715,0.15,2.10,0.00,0.000,6,0.145,0.039,2714,1571,3261,0,0,0,0,0,0
$GC,6023,-0.86,-107.0,613.4,-10.3,309,6027,0.00,2.25,0.00,0.000,4,0.000,0.043,2709,2983,3261,0,0,0,0,0,0
$GC,6123,-0.90,-107.0,623.8,-10.5,312,6127,0.03,2.20,0.00,0.000,6,0.233,0.039,2687,1577,3260,0,0,0,0,0,0
$GC,6458,-0.87,-107.0,658.5,-10.4,323,6462,0.00,2.30,0.00,0.000,4,0.000,0.057,2687,177,3260,0,0,0,0,0,0
$GC,6636,-0.83,-107.0,678.1,-10.6,328,6640,0.12,2.15,0.00,0.000,6,0.152,0.032,2713,1582,3260,0,0,0,0,0,0
$GC,6961,-0.83,-107.0,710.9,-10.2,339,6965,0.00,2.33,0.00,0.000,4,0.000,0.056,2714,174,3258,0,0,0,0,0,0
$GC,7101,-0.86,-107.0,725.5,-9.9,343,7105,0.00,2.17,0.00,0.000,6,0.000,0.033,2714,1589,3258,0,0,0,0,0,0
$GC,7425,-0.86,-107.0,757.6,-10.1,354,7429,0.00,2.35,0.00,0.000,4,0.000,0.056,2713,173,3257,0,0,0,0,0,0
$GC,7579,-0.89,-107.0,773.2,-10.7,358,7584,0.08,2.17,0.00,0.000,6,0.128,0.034,2684,1584,3257,0,0,0,0,0,0
$GC,7892,-0.83,-107.0,805.0,-9.9,368,7897,0.10,2.30,0.00,0.000,4,0.171,0.056,2712,212,3256,0,0,0,0,0,0
$GC,7988,-0.87,-107.0,814.0,-9.7,371,7992,0.00,2.12,0.00,0.000,6,0.000,0.035,2712,1576,3256,0,0,0,0,0,0
$GC,8323,-0.89,-107.0,843.6,-8.8,382,8328,0.05,2.35,0.00,0.000,4,0.168,0.057,2687,173,3255,0,0,0,0,0,0
$GC,8435,-0.86,-107.0,854.0,-8.9,385,8440,0.10,2.20,0.00,0.000,6,0.165,0.034,2704,1591,3254,0,0,0,0,0,0
$GC,8759,-0.86,-107.0,881.0,-8.3,396,8763,0.00,2.33,0.00,0.000,4,0.000,0.056,2704,176,3254,0,0,0,0,0,0
$GC,8875,-0.86,-107.0,891.1,-8.8,399,8879,0.00,2.20,0.00,0.000,6,0.000,0.034,2703,1574,3254,0,0,0,0,0,0
$GC,9194,-0.86,-107.0,917.7,-8.6,410,9198,0.00,2.33,0.00,0.000,4,0.000,0.057,2702,172,3253,0,0,0,0,0,0
$GC,9282,-0.86,-107.0,926.2,-8.9,412,9288,0.00,2.22,0.00,0.000,6,0.000,0.034,2702,1577,3253,0,0,0,0,0,0
$GC,9595,-0.86,-107.0,955.1,-9.3,423,9599,0.00,1.25,0.00,0.000,4,0.000,0.053,2702,817,3253,0,0,0,0,0,0
$GC,9679,-0.84,-107.0,963.3,-10.6,425,9683,0.00,1.17,0.00,0.000,6,0.000,0.037,2701,1577,3253,0,0,0,0,0,0
$STATE,9878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9878,begin apogee
$GC,9884,-0.26,0.0,982.4,9.6,432,9980,0.62,0.00,92.72,1.463,6,0.126,0.000,2887,1501,2827,0,0,0,0,0,0
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin loiter
$GC,10277,-0.25,230.0,1016.0,-8.2,445,10489,0.00,1.08,205.95,1.457,4,0.000,0.038,2887,2101,1889,0,0,0,0,0,0
$GC,10743,-0.34,230.0,1015.1,3.6,459,10747,0.03,0.98,0.00,0.000,6,0.110,0.049,2871,1497,1881,0,0,0,0,0,0
$GC,11067,-0.38,230.0,1002.4,4.0,470,11071,0.00,2.17,0.00,0.000,4,0.000,0.060,2870,174,1878,0,0,0,0,0,0
$GC,11156,-0.34,230.0,998.6,4.2,472,11161,0.00,2.05,0.00,0.000,6,0.000,0.034,2863,1496,1876,0,0,0,0,0,0
$GC,11469,-0.34,230.0,987.3,3.6,483,11473,0.00,2.22,0.00,0.000,4,0.000,0.045,2862,2905,1876,0,0,0,0,0,0
$GC,11610,-0.38,230.0,981.8,4.0,487,11614,0.00,2.25,0.00,0.000,6,0.000,0.045,2862,1504,1876,0,0,0,0,0,0
$GC,11933,-0.38,230.0,968.4,4.3,498,11937,0.00,2.22,0.00,0.000,4,0.000,0.043,2854,2904,1876,0,0,0,0,0,0
$GC,12106,-0.41,230.0,960.7,4.7,503,12110,0.00,2.25,0.00,0.000,6,0.000,0.044,2854,1501,1875,0,0,0,0,0,0
$GC,12436,-0.38,230.0,945.9,4.5,514,12440,0.00,2.22,0.00,0.000,4,0.000,0.044,2848,2906,1875,0,0,0,0,0,0
$GC,12587,-0.38,230.0,939.1,4.1,518,12591,0.00,2.25,0.00,0.000,6,0.000,0.044,2848,1494,1874,0,0,0,0,0,0
$GC,12900,-0.35,230.0,926.3,3.9,528,12905,0.05,2.17,0.00,0.000,4,0.231,0.060,2861,172,1874,0,0,0,0,0,0
$GC,12955,-0.31,230.0,924.3,3.6,529,12961,0.10,2.08,0.00,0.000,6,0.175,0.034,2876,1503,1873,0,0,0,0,0,0
$GC,13268,-0.34,230.0,915.2,2.5,540,13272,0.00,2.20,0.00,0.000,4,0.000,0.044,2868,2901,1873,0,0,0,0,0,0
$GC,13491,-0.38,230.0,909.9,2.7,546,13497,0.00,2.22,0.00,0.000,6,0.000,0.044,2868,1501,1873,0,0,0,0,0,0
$GC,13804,-0.38,230.0,904.7,1.6,557,13808,0.00,2.25,0.00,0.000,4,0.000,0.043,2861,2908,1873,0,0,0,0,0,0
$GC,13909,-0.38,230.0,902.5,2.0,560,13913,0.00,2.30,0.00,0.000,6,0.000,0.044,2862,1498,1873,0,0,0,0,0,0
$STATE,14176,end loiter,LOITER_COMPLETE
$STATE,14176,begin climb
$GC,14178,0.67,107.0,896.9,0.0,569,14184,1.05,2.28,0.00,0.000,4,0.116,0.061,3186,160,1873,0,0,0,0,0,0
$GC,14377,0.41,149.7,889.5,4.1,575,14381,0.28,2.10,0.00,0.000,6,0.181,0.037,3118,1501,1874,0,0,0,0,0,0
$GC,14713,0.32,179.0,875.8,4.6,586,14718,0.12,1.55,0.00,0.000,4,0.186,0.041,3086,2505,1874,0,0,0,0,0,0
$GC,14971,0.28,202.8,862.9,4.8,593,14976,0.08,1.65,0.00,0.000,6,0.199,0.050,3076,1470,1874,0,0,0,0,0,0
$GC,15291,0.28,227.2,847.1,4.8,604,15292,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1470,1874,0,0,0,0,0,0
$GC,15596,0.28,274.8,833.6,3.9,614,15638,0.00,0.00,40.33,1.353,6,0.000,0.000,3076,1470,1705,0,0,0,0,0,0
$GC,15933,0.36,307.6,818.3,4.5,625,15969,0.05,1.83,31.45,1.326,4,0.167,0.063,3101,411,1571,0,0,0,0,0,0
$GC,16172,0.45,331.6,806.3,4.8,632,16201,0.08,1.67,22.60,1.297,6,0.127,0.037,3131,1520,1475,0,0,0,0,0,0
$GC,16531,0.45,348.1,788.0,5.0,644,16549,0.00,0.00,16.30,1.245,6,0.000,0.000,3131,1520,1408,0,0,0,0,0,0
$GC,16838,0.49,355.3,771.7,5.4,654,16852,0.00,2.17,8.12,1.092,4,0.000,0.066,3131,237,1377,0,0,0,0,0,0
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$STATE,27023,end climb,SURFACE_DEPTH_REACHED
$STATE,27024,begin surface coast
$FINISH,1.7,1.011102
$STATE,27078,end surface coast,CONTROL_FINISHED_OK
$STATE,27078,begin surface
$SM_CCo,27157,0.00,0.000,0,0,1206,397.62
$SM_GC,2.84,8.95,0.00,0.00,0.054,0.000,0.000,82,1598,1206,-9.00,0.51,397.62
$IRIDIUM_FIX,-4040.73,-433.75,180113,232324
$TT8_MAMPS,0.026964
$HUMID,49.80
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,22.0,119.320
$10V_AH,9.9,70.567
$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
$DEVICE_SECS,26.800,211.925,456.175,0.000,0.000,58.865,75.760,980.568,0.000,0.000,96.309,3202.743,19248.369,557.323,5201.659,457.676,0.000,2412.666,0.000,3917.978,0.000,1.015,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.779,705.463,423.889,72.095,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354560
$DATA_FILE_SIZE,66981,1153
$CAP_FILE_SIZE,262884,0
$CFSIZE,2097086464,2025259008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,190113,072505,-4055.740,-433.616,30,1.7,30,-22.6