version: 66.07.10.p01
glider: 574
mission: 4
dive: 505
start: 1 19 113 23 17 29
data:
$ID,574
$MISSION,4
$DIVE,505
$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,-7414.8447
$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,24
$R_STBD_OVSHOOT,40
$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,484
$GPS1,190113,224835,-4056.484,-432.197,33,1.2,34,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-77.1
$GPS2,190113,231706,-4056.514,-432.429,39,1.2,39,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4105.867,-425.264
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.67,-107.0,0.0,0.0,0,48,0.00,0.00,-18.98,0.000,2,0.000,0.000,70,1588,1693,0,0,0,0,0,0
$GC,50,-0.67,-107.0,3.1,-1.4,3,130,12.20,2.40,-59.83,0.000,4,0.256,0.079,2755,167,3266,0,0,0,0,0,0
$GC,311,-0.73,-107.0,23.5,-10.6,46,318,0.00,2.25,0.00,0.000,6,0.000,0.038,2755,1576,3266,0,0,0,0,0,0
$GC,389,-0.80,-107.0,32.0,-10.6,59,394,0.10,0.45,0.00,0.000,4,0.103,0.057,2707,1302,3266,0,0,0,0,0,0
$GC,647,-0.73,-107.0,59.7,-10.4,105,655,0.10,0.45,0.00,0.000,6,0.130,0.043,2739,1610,3266,0,0,0,0,0,0
$GC,865,-0.73,-107.0,80.6,-8.1,126,869,0.00,2.42,0.00,0.000,4,0.000,0.061,2739,166,3266,0,0,0,0,0,0
$GC,998,-0.79,-107.0,91.7,-9.2,137,1002,0.00,2.20,0.00,0.000,6,0.000,0.037,2735,1567,3267,0,0,0,0,0,0
$GC,1325,-0.84,-107.0,123.9,-10.8,160,1330,0.08,2.28,0.00,0.000,4,0.125,0.050,2688,2990,3267,0,0,0,0,0,0
$GC,1407,-0.79,-107.0,133.3,-11.2,165,1412,0.12,2.25,0.00,0.000,6,0.146,0.044,2722,1576,3267,0,0,0,0,0,0
$GC,1724,-0.79,-107.0,169.6,-11.4,183,1728,0.00,2.28,0.00,0.000,4,0.000,0.047,2713,2999,3267,0,0,0,0,0,0
$GC,1819,-0.79,-107.0,180.5,-11.3,187,1824,0.00,2.30,0.00,0.000,6,0.000,0.044,2713,1578,3267,0,0,0,0,0,0
$GC,2140,-0.77,-107.0,212.8,-9.8,201,2145,0.08,2.33,0.00,0.000,4,0.181,0.060,2732,170,3268,0,0,0,0,0,0
$GC,2156,-0.77,-107.0,214.4,-9.9,201,2160,0.00,2.20,0.00,0.000,6,0.000,0.033,2729,1592,3267,0,0,0,0,0,0
$GC,2475,-0.79,-107.0,242.7,-8.8,212,2478,0.00,0.35,0.00,0.000,4,0.000,0.048,2728,1861,3268,0,0,0,0,0,0
$GC,2502,-0.82,-107.0,245.4,-9.2,212,2507,0.00,0.47,0.00,0.000,6,0.000,0.051,2728,1555,3267,0,0,0,0,0,0
$GC,2815,-0.86,-107.0,274.3,-9.3,223,2820,0.08,2.25,0.00,0.000,4,0.125,0.060,2692,180,3267,0,0,0,0,0,0
$GC,2982,-0.81,-107.0,291.8,-10.2,228,2987,0.08,2.20,0.00,0.000,6,0.111,0.034,2720,1579,3267,0,0,0,0,0,0
$GC,3317,-0.83,-107.0,324.9,-10.2,239,3322,0.00,2.33,0.00,0.000,4,0.000,0.059,2720,174,3267,0,0,0,0,0,0
$GC,3507,-0.83,-107.0,344.4,-10.4,244,3512,0.00,2.20,0.00,0.000,6,0.000,0.033,2715,1581,3267,0,0,0,0,0,0
$GC,3822,-0.83,-107.0,375.8,-10.1,255,3826,0.00,2.33,0.00,0.000,4,0.000,0.057,2715,178,3267,0,0,0,0,0,0
$GC,4052,-0.83,-107.0,398.6,-9.4,262,4056,0.00,2.17,0.00,0.000,6,0.000,0.034,2715,1586,3267,0,0,0,0,0,0
$GC,4387,-0.85,-107.0,431.1,-9.7,273,4391,0.00,2.33,0.00,0.000,4,0.000,0.057,2715,180,3266,0,0,0,0,0,0
$GC,4408,-0.85,-107.0,433.5,-10.0,273,4413,0.00,2.17,0.00,0.000,6,0.000,0.033,2715,1571,3266,0,0,0,0,0,0
$GC,4727,-0.85,-107.0,462.7,-9.2,284,4731,0.00,0.82,0.00,0.000,4,0.000,0.042,2711,2129,3266,0,0,0,0,0,0
$GC,4771,-0.85,-107.0,466.9,-9.4,285,4775,0.00,0.88,0.00,0.000,6,0.000,0.045,2711,1579,3265,0,0,0,0,0,0
$GC,5101,-0.85,-107.0,496.6,-9.1,296,5105,0.00,2.28,0.00,0.000,4,0.000,0.057,2711,181,3265,0,0,0,0,0,0
$GC,5302,-0.85,-107.0,515.4,-9.2,302,5306,0.00,2.20,0.00,0.000,6,0.000,0.033,2703,1583,3264,0,0,0,0,0,0
$GC,5638,-0.82,-107.0,548.7,-10.2,313,5641,0.00,1.23,0.00,0.000,4,0.000,0.054,2703,839,3264,0,0,0,0,0,0
$GC,5749,-0.80,-107.0,560.8,-10.8,316,5754,0.05,1.15,0.00,0.000,6,0.143,0.034,2719,1582,3263,0,0,0,0,0,0
$GC,6079,-0.83,-107.0,597.5,-11.6,327,6083,0.00,2.35,0.00,0.000,4,0.000,0.058,2719,175,3263,0,0,0,0,0,0
$GC,6207,-0.89,-107.0,613.6,-12.7,330,6213,0.08,2.20,0.00,0.000,6,0.125,0.034,2683,1591,3262,0,0,0,0,0,0
$GC,6520,-0.83,-107.0,654.6,-13.3,341,6525,0.10,2.35,0.00,0.000,4,0.163,0.057,2712,175,3262,0,0,0,0,0,0
$GC,6633,-0.86,-107.0,669.2,-12.5,344,6637,0.00,2.17,0.00,0.000,6,0.000,0.033,2705,1581,3262,0,0,0,0,0,0
$GC,6952,-0.86,-107.0,708.6,-12.1,355,6956,0.00,2.33,0.00,0.000,4,0.000,0.057,2705,178,3261,0,0,0,0,0,0
$GC,7058,-0.86,-107.0,721.6,-12.0,358,7062,0.00,2.20,0.00,0.000,6,0.000,0.034,2701,1573,3261,0,0,0,0,0,0
$GC,7388,-0.86,-107.0,757.8,-10.7,369,7391,0.00,1.67,0.00,0.000,4,0.000,0.054,2701,548,3260,0,0,0,0,0,0
$GC,7482,-0.86,-107.0,768.0,-10.2,371,7488,0.00,1.62,0.00,0.000,6,0.000,0.036,2702,1583,3260,0,0,0,0,0,0
$GC,7795,-0.86,-107.0,796.3,-8.8,382,7799,0.00,0.90,0.00,0.000,4,0.000,0.054,2701,1029,3259,0,0,0,0,0,0
$GC,7879,-0.86,-107.0,803.6,-8.4,384,7883,0.00,0.85,0.00,0.000,6,0.000,0.038,2701,1583,3259,0,0,0,0,0,0
$GC,8203,-0.86,-107.0,831.2,-8.6,395,8206,0.00,0.90,0.00,0.000,4,0.000,0.054,2701,1030,3259,0,0,0,0,0,0
$GC,8280,-0.86,-107.0,837.8,-8.1,397,8285,0.00,0.88,0.00,0.000,6,0.000,0.038,2701,1586,3258,0,0,0,0,0,0
$GC,8610,-0.86,-107.0,866.3,-8.8,408,8614,0.00,0.55,0.00,0.000,4,0.000,0.054,2701,1245,3257,0,0,0,0,0,0
$GC,8678,-0.86,-107.0,872.5,-9.0,410,8682,0.00,0.50,0.00,0.000,6,0.000,0.044,2701,1580,3257,0,0,0,0,0,0
$GC,9021,-0.86,-107.0,905.5,-10.0,421,9024,0.00,1.40,0.00,0.000,4,0.000,0.054,2701,736,3257,0,0,0,0,0,0
$GC,9098,-0.86,-107.0,913.7,-10.6,423,9102,0.00,1.30,0.00,0.000,6,0.000,0.034,2701,1575,3257,0,0,0,0,0,0
$GC,9430,-0.86,-107.0,947.1,-10.4,434,9433,0.00,1.02,0.00,0.000,4,0.000,0.054,2701,951,3256,0,0,0,0,0,0
$GC,9535,-0.86,-107.0,958.6,-10.2,437,9539,0.00,0.98,0.00,0.000,6,0.000,0.037,2701,1582,3257,0,0,0,0,0,0
$STATE,9746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9746,begin apogee
$GC,9752,-0.26,0.0,982.4,11.5,444,9849,0.62,0.00,93.50,1.466,6,0.123,0.000,2887,1491,2827,0,0,0,0,0,0
$STATE,9849,end apogee,CONTROL_FINISHED_OK
$STATE,9850,begin loiter
$GC,10145,-0.25,313.0,1026.1,-11.1,457,10439,0.00,1.40,286.60,1.457,4,0.000,0.038,2887,2261,1550,0,0,0,0,0,0
$GC,10693,-0.34,313.0,1028.4,4.6,474,10698,0.03,1.23,0.00,0.000,6,0.116,0.048,2871,1507,1542,0,0,0,0,0,0
$GC,11025,-0.37,313.0,1010.7,5.7,485,11026,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1507,1539,0,0,0,0,0,0
$GC,11330,-0.41,313.0,990.3,7.1,495,11334,0.08,2.20,0.00,0.000,4,0.138,0.044,2836,2901,1538,0,0,0,0,0,0
$GC,11392,-0.35,313.0,985.5,8.4,497,11397,0.10,2.25,0.00,0.000,6,0.166,0.044,2861,1500,1536,0,0,0,0,0,0
$GC,11729,-0.38,313.0,958.5,8.3,508,11733,0.00,2.20,0.00,0.000,4,0.000,0.060,2860,161,1536,0,0,0,0,0,0
$GC,11806,-0.26,313.0,951.5,9.3,510,11811,0.15,2.08,0.00,0.000,6,0.167,0.034,2889,1512,1534,0,0,0,0,0,0
$GC,12130,-0.31,313.0,926.4,7.7,521,12134,0.00,2.25,0.00,0.000,4,0.000,0.062,2889,170,1534,0,0,0,0,0,0
$GC,12203,-0.26,313.0,921.0,6.5,523,12207,0.00,2.05,0.00,0.000,6,0.000,0.034,2883,1504,1534,0,0,0,0,0,0
$GC,12533,-0.31,313.0,899.8,6.0,534,12537,0.00,2.25,0.00,0.000,4,0.000,0.062,2882,164,1534,0,0,0,0,0,0
$GC,12549,-0.36,313.0,899.0,5.7,534,12552,0.00,2.08,0.00,0.000,6,0.000,0.035,2878,1497,1534,0,0,0,0,0,0
$GC,12867,-0.40,313.0,883.3,4.5,545,12869,0.08,0.00,0.00,0.000,6,0.134,0.000,2844,1508,1534,0,0,0,0,0,0
$GC,13173,-0.37,313.0,871.4,3.5,555,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1508,1534,0,0,0,0,0,0
$GC,13480,-0.35,313.0,860.8,3.5,565,13482,0.08,0.00,0.00,0.000,6,0.188,0.000,2861,1509,1533,0,0,0,0,0,0
$GC,13786,-0.35,313.0,850.3,3.4,575,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1509,1534,0,0,0,0,0,0
$STATE,14059,end loiter,LOITER_COMPLETE
$STATE,14059,begin climb
$GC,14061,0.67,107.0,838.5,0.0,584,14067,1.02,2.28,0.00,0.000,4,0.113,0.062,3186,175,1533,0,0,0,0,0,0
$GC,14151,0.52,118.0,833.5,5.2,586,14157,0.15,2.08,0.00,0.000,6,0.172,0.039,3150,1505,1534,0,0,0,0,0,0
$GC,14464,0.47,118.0,814.6,6.7,597,14466,0.08,0.00,0.00,0.000,6,0.212,0.000,3134,1516,1534,0,0,0,0,0,0
$GC,14770,0.47,118.0,793.8,6.9,607,14773,0.00,1.55,0.00,0.000,4,0.000,0.062,3139,589,1534,0,0,0,0,0,0
$GC,14911,0.45,118.0,784.3,6.9,611,14915,0.03,1.42,0.00,0.000,6,0.162,0.037,3130,1498,1534,0,0,0,0,0,0
$GC,15245,0.45,118.0,760.6,7.1,622,15249,0.00,0.90,0.00,0.000,4,0.000,0.060,3132,956,1534,0,0,0,0,0,0
$GC,15469,0.45,118.0,744.6,7.1,628,15473,0.00,0.88,0.00,0.000,6,0.000,0.040,3132,1513,1534,0,0,0,0,0,0
$GC,15789,0.45,118.0,723.3,6.5,639,15793,0.00,1.38,0.00,0.000,4,0.000,0.062,3132,693,1534,0,0,0,0,0,0
$GC,15917,0.45,118.0,715.3,5.7,642,15923,0.00,1.25,0.00,0.000,6,0.000,0.038,3132,1493,1534,0,0,0,0,0,0
$GC,16231,0.45,126.6,698.6,5.3,653,16234,0.00,1.10,0.00,0.000,4,0.000,0.062,3132,839,1534,0,0,0,0,0,0
$GC,16437,0.45,126.6,687.2,5.9,659,16442,0.00,1.02,0.00,0.000,6,0.000,0.039,3132,1493,1534,0,0,0,0,0,0
$GC,16773,0.45,126.6,667.4,6.4,670,16777,0.00,1.17,0.00,0.000,4,0.000,0.062,3132,791,1534,0,0,0,0,0,0
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$STATE,26505,end climb,SURFACE_DEPTH_REACHED
$STATE,26505,begin surface coast
$FINISH,1.8,1.023129
$STATE,26538,end surface coast,CONTROL_FINISHED_OK
$STATE,26538,begin surface
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$SM_GC,2.80,8.98,0.00,0.00,0.054,0.000,0.000,91,1578,1120,-8.99,-0.06,418.72
$IRIDIUM_FIX,-4040.73,-428.30,190113,222223
$TT8_MAMPS,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,21.5,119.940
$10V_AH,9.8,70.966
$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
$DEVICE_SECS,25.250,194.525,475.650,0.000,0.000,80.994,140.423,1004.134,0.000,0.000,42.116,3121.791,19044.570,583.729,5113.734,448.788,0.000,2352.541,0.000,3715.568,0.000,1.016,0.000
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$SENSOR_SECS,720.901,711.792,415.811,72.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354496
$DATA_FILE_SIZE,66915,1150
$CAP_FILE_SIZE,251742,0
$CFSIZE,2097086464,2024800256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,200113,064223,-4056.676,-431.862,41,1.2,41,-22.6