version: 66.07.10.p01
glider: 574
mission: 4
dive: 506
start: 1 20 113 6 44 18
data:
$ID,574
$MISSION,4
$DIVE,506
$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,-7417.1802
$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,25
$R_STBD_OVSHOOT,33
$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,485
$GPS1,200113,064223,-4056.676,-431.862,41,1.2,41,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-73.9
$GPS2,200113,064355,-4056.679,-431.848,20,1.2,20,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4106.032,-424.682
$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,-107.0,0.0,0.0,0,47,0.00,0.00,-19.23,0.000,2,0.000,0.000,71,1574,1607,0,0,0,0,0,0
$GC,50,-0.67,-107.0,3.0,-2.6,3,130,12.32,2.35,-58.08,0.000,4,0.259,0.065,2743,2987,3266,0,0,0,0,0,0
$GC,181,-0.67,-107.0,13.9,-13.4,24,188,0.05,2.30,0.00,0.000,6,0.132,0.047,2760,1578,3267,0,0,0,0,0,0
$GC,262,-0.81,-107.0,23.6,-11.9,37,270,0.12,1.95,0.00,0.000,4,0.090,0.063,2705,420,3267,0,0,0,0,0,0
$GC,362,-0.76,-107.0,36.1,-12.2,54,370,0.08,1.83,0.00,0.000,6,0.122,0.037,2730,1575,3267,0,0,0,0,0,0
$GC,593,-0.78,-107.0,61.3,-10.4,94,597,0.00,2.30,0.00,0.000,4,0.000,0.059,2730,182,3267,0,0,0,0,0,0
$GC,716,-0.81,-107.0,73.3,-9.6,104,723,0.00,2.22,0.00,0.000,6,0.000,0.037,2729,1580,3268,0,0,0,0,0,0
$GC,1043,-0.84,-107.0,99.4,-7.6,135,1047,0.08,2.38,0.00,0.000,4,0.127,0.061,2695,175,3268,0,0,0,0,0,0
$GC,1143,-0.80,-107.0,108.7,-9.4,141,1148,0.12,2.20,0.00,0.000,6,0.151,0.036,2722,1580,3268,0,0,0,0,0,0
$GC,1467,-0.80,-107.0,137.4,-10.1,161,1471,0.00,2.10,0.00,0.000,4,0.000,0.059,2722,312,3268,0,0,0,0,0,0
$GC,1573,-0.84,-107.0,149.4,-10.4,167,1578,0.00,1.98,0.00,0.000,6,0.000,0.035,2715,1579,3268,0,0,0,0,0,0
$GC,1907,-0.84,-107.0,186.0,-11.4,184,1911,0.00,2.35,0.00,0.000,4,0.000,0.060,2715,173,3269,0,0,0,0,0,0
$GC,2029,-0.86,-107.0,200.8,-11.7,189,2037,0.00,2.22,0.00,0.000,6,0.000,0.036,2715,1582,3269,0,0,0,0,0,0
$GC,2343,-0.88,-107.0,235.3,-11.0,200,2347,0.05,2.38,0.00,0.000,4,0.167,0.058,2687,173,3270,0,0,0,0,0,0
$GC,2478,-0.83,-107.0,251.3,-11.8,204,2483,0.12,2.17,0.00,0.000,6,0.151,0.034,2712,1586,3270,0,0,0,0,0,0
$GC,2807,-0.83,-107.0,285.7,-10.1,215,2810,0.00,1.67,0.00,0.000,4,0.000,0.057,2712,552,3270,0,0,0,0,0,0
$GC,2942,-0.83,-107.0,299.4,-9.3,219,2946,0.00,1.60,0.00,0.000,6,0.000,0.034,2708,1578,3270,0,0,0,0,0,0
$GC,3283,-0.83,-107.0,328.6,-8.4,230,3287,0.00,1.50,0.00,0.000,4,0.000,0.054,2707,671,3270,0,0,0,0,0,0
$GC,3405,-0.83,-107.0,339.5,-8.6,233,3410,0.00,1.40,0.00,0.000,6,0.000,0.032,2701,1583,3270,0,0,0,0,0,0
$GC,3724,-0.83,-107.0,368.1,-9.4,244,3728,0.00,1.00,0.00,0.000,4,0.000,0.054,2701,975,3270,0,0,0,0,0,0
$GC,3887,-0.83,-107.0,384.3,-10.0,248,3892,0.00,0.93,0.00,0.000,6,0.000,0.034,2701,1579,3270,0,0,0,0,0,0
$GC,4200,-0.83,-107.0,415.7,-10.4,259,4204,0.00,2.35,0.00,0.000,4,0.000,0.057,2701,171,3270,0,0,0,0,0,0
$GC,4347,-0.83,-107.0,432.0,-11.2,263,4351,0.00,2.15,0.00,0.000,6,0.000,0.032,2701,1577,3270,0,0,0,0,0,0
$GC,4665,-0.83,-107.0,467.4,-11.0,274,4669,0.00,1.38,0.00,0.000,4,0.000,0.054,2701,743,3270,0,0,0,0,0,0
$GC,4823,-0.83,-107.0,485.0,-11.3,278,4826,0.00,1.30,0.00,0.000,6,0.000,0.034,2701,1580,3270,0,0,0,0,0,0
$GC,5141,-0.83,-107.0,520.1,-11.0,289,5144,0.00,1.73,0.00,0.000,4,0.000,0.054,2701,522,3270,0,0,0,0,0,0
$GC,5258,-0.83,-107.0,533.3,-10.9,292,5262,0.00,1.65,0.00,0.000,6,0.000,0.033,2701,1582,3270,0,0,0,0,0,0
$GC,5584,-0.83,-107.0,564.4,-9.4,303,5587,0.00,1.77,0.00,0.000,4,0.000,0.055,2701,501,3270,0,0,0,0,0,0
$GC,5706,-0.83,-107.0,576.5,-10.5,306,5710,0.00,1.67,0.00,0.000,6,0.000,0.033,2701,1576,3270,0,0,0,0,0,0
$GC,6025,-0.83,-107.0,606.5,-9.6,317,6028,0.00,1.65,0.00,0.000,4,0.000,0.054,2701,581,3270,0,0,0,0,0,0
$GC,6131,-0.80,-107.0,616.6,-8.7,320,6135,0.05,1.55,0.00,0.000,6,0.136,0.034,2719,1577,3270,0,0,0,0,0,0
$GC,6466,-0.84,-107.0,645.6,-8.6,331,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1577,3269,0,0,0,0,0,0
$GC,6774,-0.88,-107.0,671.8,-8.6,341,6778,0.08,0.93,0.00,0.000,4,0.129,0.053,2688,1022,3268,0,0,0,0,0,0
$GC,6892,-0.86,-107.0,682.8,-8.7,344,6896,0.03,0.88,0.00,0.000,6,0.185,0.037,2695,1595,3268,0,0,0,0,0,0
$GC,7215,-0.86,-107.0,710.4,-8.5,355,7218,0.00,1.08,0.00,0.000,4,0.000,0.054,2695,940,3269,0,0,0,0,0,0
$GC,7337,-0.86,-107.0,721.1,-8.3,358,7342,0.00,0.98,0.00,0.000,6,0.000,0.035,2692,1580,3268,0,0,0,0,0,0
$GC,7657,-0.86,-107.0,748.3,-8.6,369,7661,0.00,1.48,0.00,0.000,4,0.000,0.054,2692,689,3268,0,0,0,0,0,0
$GC,7769,-0.84,-107.0,758.5,-9.0,372,7773,0.05,1.38,0.00,0.000,6,0.144,0.034,2705,1573,3268,0,0,0,0,0,0
$GC,8098,-0.87,-107.0,786.3,-8.6,383,8102,0.00,0.98,0.00,0.000,4,0.000,0.053,2705,969,3268,0,0,0,0,0,0
$GC,8235,-0.89,-107.0,797.9,-8.5,387,8239,0.00,0.95,0.00,0.000,6,0.000,0.035,2702,1591,3268,0,0,0,0,0,0
$GC,8576,-0.89,-107.0,829.4,-9.4,398,8580,0.00,1.40,0.00,0.000,4,0.000,0.054,2702,743,3267,0,0,0,0,0,0
$GC,8734,-0.92,-107.0,844.3,-10.0,402,8738,0.03,1.30,0.00,0.000,6,0.113,0.035,2683,1577,3267,0,0,0,0,0,0
$GC,9053,-0.89,-107.0,875.1,-9.8,413,9057,0.00,1.55,0.00,0.000,4,0.000,0.053,2683,639,3267,0,0,0,0,0,0
$GC,9148,-0.84,-107.0,884.9,-9.6,415,9154,0.05,1.45,0.00,0.000,6,0.144,0.034,2697,1576,3267,0,0,0,0,0,0
$GC,9461,-0.84,-107.0,914.3,-9.3,426,9465,0.00,0.50,0.00,0.000,4,0.000,0.055,2697,1261,3267,0,0,0,0,0,0
$GC,9529,-0.84,-107.0,920.8,-9.7,428,9533,0.00,0.47,0.00,0.000,6,0.000,0.043,2696,1588,3267,0,0,0,0,0,0
$GC,9871,-0.84,-107.0,954.3,-10.2,439,9875,0.00,1.55,0.00,0.000,4,0.000,0.055,2696,656,3266,0,0,0,0,0,0
$GC,9973,-0.84,-107.0,964.6,-9.8,442,9977,0.00,1.42,0.00,0.000,6,0.000,0.035,2691,1568,3266,0,0,0,0,0,0
$STATE,10128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10128,begin apogee
$GC,10134,-0.26,0.0,980.2,9.9,447,10233,0.68,0.00,95.38,1.467,6,0.127,0.000,2890,1492,2827,0,0,0,0,0,0
$STATE,10233,end apogee,CONTROL_FINISHED_OK
$STATE,10234,begin loiter
$GC,10528,-0.25,221.5,1012.6,-7.9,460,10729,0.00,0.00,198.70,1.453,6,0.000,0.000,2889,1492,1924,0,0,0,0,0,0
$GC,11013,-0.34,221.5,1011.9,3.8,476,11018,0.05,1.20,0.00,0.000,4,0.174,0.057,2871,759,1916,0,0,0,0,0,0
$GC,11271,-0.34,221.5,1002.2,3.4,483,11275,0.00,1.15,0.00,0.000,6,0.000,0.034,2871,1505,1914,0,0,0,0,0,0
$GC,11590,-0.36,221.5,992.5,3.0,494,11594,0.00,2.20,0.00,0.000,4,0.000,0.044,2863,2902,1912,0,0,0,0,0,0
$GC,11821,-0.39,221.5,985.8,3.5,501,11825,0.00,2.22,0.00,0.000,6,0.000,0.044,2863,1505,1911,0,0,0,0,0,0
$GC,12161,-0.39,221.5,975.6,2.9,512,12165,0.00,2.20,0.00,0.000,4,0.000,0.044,2861,2896,1910,0,0,0,0,0,0
$GC,12324,-0.39,221.5,970.5,4.1,517,12328,0.00,2.22,0.00,0.000,6,0.000,0.044,2861,1500,1910,0,0,0,0,0,0
$GC,12659,-0.39,221.5,958.7,3.8,528,12663,0.00,2.22,0.00,0.000,4,0.000,0.043,2853,2900,1910,0,0,0,0,0,0
$GC,12669,-0.39,221.5,958.3,3.7,528,12673,0.00,2.25,0.00,0.000,6,0.000,0.042,2852,1507,1909,0,0,0,0,0,0
$GC,12993,-0.39,221.5,944.1,4.7,539,12997,0.00,1.65,0.00,0.000,4,0.000,0.042,2850,2542,1910,0,0,0,0,0,0
$GC,13250,-0.39,221.5,932.0,4.5,546,13255,0.00,1.70,0.00,0.000,6,0.000,0.047,2850,1497,1909,0,0,0,0,0,0
$GC,13570,-0.37,221.5,917.6,4.4,557,13573,0.00,1.98,0.00,0.000,4,0.000,0.042,2848,2755,1909,0,0,0,0,0,0
$GC,13827,-0.37,221.5,906.3,4.9,564,13831,0.00,2.05,0.00,0.000,6,0.000,0.045,2847,1498,1909,0,0,0,0,0,0
$GC,14146,-0.34,221.5,894.4,3.5,575,14151,0.08,2.22,0.00,0.000,4,0.199,0.042,2854,2903,1909,0,0,0,0,0,0
$GC,14353,-0.34,221.5,887.9,3.3,581,14357,0.00,2.30,0.00,0.000,6,0.000,0.044,2854,1495,1908,0,0,0,0,0,0
$STATE,14436,end loiter,LOITER_COMPLETE
$STATE,14436,begin climb
$GC,14438,0.67,107.0,885.6,0.0,584,14443,1.08,2.22,0.00,0.000,4,0.119,0.061,3185,171,1909,0,0,0,0,0,0
$GC,14674,0.39,165.3,877.4,3.6,591,14679,0.30,2.08,0.00,0.000,6,0.185,0.038,3112,1503,1910,0,0,0,0,0,0
$GC,15004,0.30,240.1,868.1,3.0,602,15024,0.12,1.00,15.75,1.300,4,0.190,0.038,3080,2170,1849,0,0,0,0,0,0
$GC,15181,0.30,299.0,862.6,3.5,607,15241,0.00,1.10,56.05,1.388,6,0.000,0.052,3080,1502,1608,0,0,0,0,0,0
$GC,15566,0.40,329.7,844.9,4.5,620,15601,0.08,2.30,28.73,1.344,4,0.125,0.066,3115,170,1482,0,0,0,0,0,0
$GC,15856,0.49,335.8,829.1,5.4,628,15867,0.08,2.08,5.97,1.025,6,0.128,0.036,3146,1510,1458,0,0,0,0,0,0
$GC,16173,0.49,335.8,810.2,6.1,639,16177,0.00,2.20,0.00,0.000,4,0.000,0.044,3146,2896,1457,0,0,0,0,0,0
$GC,16336,0.44,335.8,799.9,6.5,644,16341,0.10,2.28,0.00,0.000,6,0.187,0.049,3124,1492,1455,0,0,0,0,0,0
$GC,16671,0.49,335.8,780.0,6.1,655,16675,0.00,2.20,0.00,0.000,4,0.000,0.065,3131,167,1454,0,0,0,0,0,0
$GC,16930,0.56,340.0,765.1,5.5,662,16940,0.10,2.08,4.80,0.897,6,0.109,0.036,3171,1503,1441,0,0,0,0,0,0
$GC,17271,0.49,340.0,745.4,5.8,674,17276,0.12,2.28,0.00,0.000,4,0.178,0.066,3146,161,1441,0,0,0,0,0,0
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$STATE,27769,end climb,SURFACE_DEPTH_REACHED
$STATE,27769,begin surface coast
$FINISH,1.7,1.025364
$STATE,27806,end surface coast,CONTROL_FINISHED_OK
$STATE,27806,begin surface
$SM_CCo,27885,0.00,0.000,0,0,1274,380.70
$SM_GC,2.96,8.85,0.00,0.00,0.050,0.000,0.000,86,1603,1274,-9.00,0.65,380.70
$IRIDIUM_FIX,-4040.73,-428.30,190113,222223
$TT8_MAMPS,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,22.1,120.117
$10V_AH,9.8,71.099
$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,25.800,204.525,446.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.629,3343.332,19398.324,588.830,4339.309,292.853,0.000,2558.170,0.000,4234.452,0.000,1.013,0.000
$DEVICE_MAMPS,259.335,83.385,1467.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.264,741.161,439.539,76.542,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,70324,1203
$CAP_FILE_SIZE,249771,0
$CFSIZE,2097086464,2024636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200113,143034,-4057.280,-430.797,50,1.0,56,-22.6