version: 66.07.10.p01
glider: 574
mission: 4
dive: 507
start: 1 20 113 14 32 32
data:
$ID,574
$MISSION,4
$DIVE,507
$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,-7419.5107
$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,22
$R_STBD_OVSHOOT,58
$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,486
$GPS1,200113,143034,-4057.280,-430.797,50,1.0,56,-22.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-71.0
$GPS2,200113,143209,-4057.269,-430.756,21,1.8,21,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4106.621,-423.590
$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,-107.0,0.0,0.0,0,41,0.00,0.00,-13.27,0.000,2,0.000,0.000,69,1598,1612,0,0,0,0,0,0
$GC,44,-0.67,-107.0,3.0,-2.2,2,129,12.70,2.45,-62.08,0.000,4,0.264,0.074,2753,175,3266,0,0,0,0,0,0
$GC,140,-0.47,-107.0,6.3,-6.1,17,148,0.25,2.20,0.00,0.000,6,0.119,0.037,2826,1554,3266,0,0,0,0,0,0
$GC,221,-0.70,-107.0,14.3,-9.3,30,229,0.20,2.35,0.00,0.000,4,0.073,0.061,2743,176,3267,0,0,0,0,0,0
$GC,361,-0.75,-107.0,29.5,-12.1,53,369,0.00,2.25,0.00,0.000,6,0.000,0.037,2743,1582,3267,0,0,0,0,0,0
$GC,435,-0.75,-107.0,37.8,-10.5,66,442,0.00,0.47,0.00,0.000,4,0.000,0.048,2742,1921,3267,0,0,0,0,0,0
$GC,482,-0.75,-107.0,42.6,-10.4,74,487,0.00,0.55,0.00,0.000,6,0.000,0.054,2742,1572,3267,0,0,0,0,0,0
$GC,710,-0.78,-107.0,64.0,-9.4,111,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1572,3267,0,0,0,0,0,0
$GC,1032,-0.84,-107.0,93.8,-8.9,141,1036,0.10,1.77,0.00,0.000,4,0.105,0.061,2696,497,3268,0,0,0,0,0,0
$GC,1121,-0.76,-107.0,103.0,-9.6,148,1126,0.12,1.70,0.00,0.000,6,0.118,0.034,2730,1584,3267,0,0,0,0,0,0
$GC,1449,-0.79,-107.0,134.7,-10.3,169,1452,0.00,1.83,0.00,0.000,4,0.000,0.057,2730,469,3268,0,0,0,0,0,0
$GC,1572,-0.84,-107.0,147.7,-10.1,176,1576,0.03,1.75,0.00,0.000,6,0.108,0.035,2705,1581,3268,0,0,0,0,0,0
$GC,1890,-0.80,-107.0,180.1,-10.2,192,1894,0.05,1.62,0.00,0.000,4,0.211,0.055,2719,618,3268,0,0,0,0,0,0
$GC,1997,-0.80,-107.0,191.2,-10.3,196,2001,0.00,1.52,0.00,0.000,6,0.000,0.035,2715,1587,3269,0,0,0,0,0,0
$GC,2330,-0.80,-107.0,226.4,-10.6,209,2334,0.00,2.22,0.00,0.000,4,0.000,0.058,2715,238,3269,0,0,0,0,0,0
$GC,2436,-0.80,-107.0,238.2,-11.6,212,2441,0.00,2.12,0.00,0.000,6,0.000,0.034,2715,1586,3269,0,0,0,0,0,0
$GC,2772,-0.82,-107.0,273.3,-10.2,223,2776,0.00,2.33,0.00,0.000,4,0.000,0.057,2715,173,3269,0,0,0,0,0,0
$GC,2889,-0.84,-107.0,285.5,-10.0,226,2893,0.00,2.17,0.00,0.000,6,0.000,0.034,2715,1584,3269,0,0,0,0,0,0
$GC,3201,-0.84,-107.0,315.7,-9.5,236,3206,0.00,2.35,0.00,0.000,4,0.000,0.057,2715,176,3269,0,0,0,0,0,0
$GC,3333,-0.88,-107.0,328.6,-10.0,240,3338,0.05,2.20,0.00,0.000,6,0.164,0.035,2689,1586,3269,0,0,0,0,0,0
$GC,3668,-0.84,-107.0,362.8,-10.1,251,3672,0.08,1.98,0.00,0.000,4,0.185,0.056,2712,389,3269,0,0,0,0,0,0
$GC,3784,-0.84,-107.0,374.7,-10.0,254,3788,0.00,1.85,0.00,0.000,6,0.000,0.031,2705,1580,3269,0,0,0,0,0,0
$GC,4110,-0.84,-107.0,405.4,-9.5,265,4114,0.00,2.05,0.00,0.000,4,0.000,0.056,2705,332,3269,0,0,0,0,0,0
$GC,4246,-0.84,-107.0,418.9,-9.3,269,4249,0.00,1.92,0.00,0.000,6,0.000,0.033,2702,1588,3269,0,0,0,0,0,0
$GC,4587,-0.84,-107.0,452.4,-10.0,280,4591,0.00,2.35,0.00,0.000,4,0.000,0.055,2702,174,3269,0,0,0,0,0,0
$GC,4704,-0.88,-107.0,464.9,-10.7,283,4708,0.00,2.15,0.00,0.000,6,0.000,0.032,2702,1577,3269,0,0,0,0,0,0
$GC,5023,-0.90,-107.0,496.4,-10.1,294,5027,0.00,2.25,0.00,0.000,4,0.000,0.056,2702,215,3269,0,0,0,0,0,0
$GC,5139,-0.90,-107.0,508.6,-10.1,297,5144,0.00,2.12,0.00,0.000,6,0.000,0.031,2702,1579,3269,0,0,0,0,0,0
$GC,5458,-0.90,-107.0,539.7,-9.9,308,5463,0.00,2.30,0.00,0.000,4,0.000,0.055,2703,177,3269,0,0,0,0,0,0
$GC,5575,-0.90,-107.0,551.6,-9.6,311,5580,0.00,2.20,0.00,0.000,6,0.000,0.033,2702,1576,3268,0,0,0,0,0,0
$GC,5894,-0.90,-107.0,581.8,-9.5,322,5898,0.00,2.05,0.00,0.000,4,0.000,0.054,2702,326,3268,0,0,0,0,0,0
$GC,6005,-0.90,-107.0,592.8,-9.8,325,6009,0.00,1.98,0.00,0.000,6,0.000,0.034,2702,1583,3268,0,0,0,0,0,0
$GC,6336,-0.90,-107.0,626.5,-10.7,336,6339,0.00,1.85,0.00,0.000,4,0.000,0.054,2702,452,3268,0,0,0,0,0,0
$GC,6464,-0.90,-107.0,640.9,-11.3,339,6469,0.00,1.77,0.00,0.000,6,0.000,0.034,2701,1588,3267,0,0,0,0,0,0
$GC,6777,-0.90,-107.0,674.3,-10.8,350,6780,0.00,1.25,0.00,0.000,4,0.000,0.051,2701,827,3267,0,0,0,0,0,0
$GC,6888,-0.90,-107.0,686.4,-10.8,353,6892,0.00,1.17,0.00,0.000,6,0.000,0.034,2702,1587,3267,0,0,0,0,0,0
$GC,7218,-0.90,-107.0,720.7,-10.3,364,7222,0.00,1.55,0.00,0.000,4,0.000,0.054,2702,646,3266,0,0,0,0,0,0
$GC,7320,-0.90,-107.0,731.4,-10.2,367,7324,0.00,1.45,0.00,0.000,6,0.000,0.034,2701,1582,3266,0,0,0,0,0,0
$GC,7661,-0.90,-107.0,763.6,-9.4,378,7665,0.00,0.88,0.00,0.000,4,0.000,0.052,2702,1038,3266,0,0,0,0,0,0
$GC,7789,-0.90,-107.0,775.8,-9.5,381,7795,0.00,0.85,0.00,0.000,6,0.000,0.036,2702,1584,3266,0,0,0,0,0,0
$GC,8102,-0.90,-107.0,805.7,-10.0,392,8106,0.00,1.02,0.00,0.000,4,0.000,0.053,2702,960,3265,0,0,0,0,0,0
$GC,8191,-0.90,-107.0,815.1,-10.9,394,8195,0.00,0.95,0.00,0.000,6,0.000,0.036,2701,1572,3264,0,0,0,0,0,0
$GC,8510,-0.90,-107.0,850.7,-11.5,405,8513,0.00,1.62,0.00,0.000,4,0.000,0.054,2702,593,3265,0,0,0,0,0,0
$GC,8611,-0.90,-107.0,862.5,-11.3,408,8615,0.00,1.55,0.00,0.000,6,0.000,0.034,2701,1581,3264,0,0,0,0,0,0
$GC,8954,-0.92,-107.0,902.6,-12.0,419,8958,0.00,0.93,0.00,0.000,4,0.000,0.051,2702,1011,3263,0,0,0,0,0,0
$GC,9043,-0.92,-107.0,913.7,-12.7,421,9048,0.03,0.88,0.00,0.000,6,0.119,0.038,2683,1582,3264,0,0,0,0,0,0
$GC,9362,-0.88,-107.0,950.7,-11.4,432,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1582,3263,0,0,0,0,0,0
$STATE,9635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9635,begin apogee
$GC,9641,-0.26,0.0,980.1,10.3,441,9738,0.70,0.00,94.47,1.461,6,0.127,0.000,2890,1485,2827,0,0,0,0,0,0
$STATE,9739,end apogee,CONTROL_FINISHED_OK
$STATE,9739,begin loiter
$GC,10034,-0.25,218.3,1012.6,-7.8,454,10231,0.00,0.00,194.45,1.437,6,0.000,0.000,2889,1484,1937,0,0,0,0,0,0
$GC,10522,-0.34,218.3,1009.7,3.7,470,10526,0.08,0.85,0.00,0.000,4,0.135,0.041,2863,2024,1929,0,0,0,0,0,0
$GC,10778,-0.36,218.3,1000.4,4.4,477,10782,0.00,0.82,0.00,0.000,6,0.000,0.050,2863,1510,1927,0,0,0,0,0,0
$GC,11097,-0.36,218.3,989.9,3.2,488,11100,0.00,0.70,0.00,0.000,4,0.000,0.058,2863,1062,1927,0,0,0,0,0,0
$GC,11354,-0.36,218.3,982.8,2.6,495,11359,0.00,0.68,0.00,0.000,6,0.000,0.037,2863,1504,1926,0,0,0,0,0,0
$GC,11673,-0.36,218.3,976.3,2.0,506,11677,0.00,2.25,0.00,0.000,4,0.000,0.060,2863,164,1926,0,0,0,0,0,0
$GC,11820,-0.29,218.3,973.7,1.6,510,11825,0.08,2.05,0.00,0.000,6,0.194,0.034,2878,1486,1926,0,0,0,0,0,0
$GC,12138,-0.34,218.3,968.3,1.8,521,12142,0.00,2.25,0.00,0.000,4,0.000,0.044,2877,2905,1926,0,0,0,0,0,0
$GC,12263,-0.40,218.3,965.7,1.8,524,12269,0.10,2.25,0.00,0.000,6,0.115,0.044,2839,1492,1925,0,0,0,0,0,0
$GC,12576,-0.36,218.3,958.1,2.8,535,12580,0.10,1.80,0.00,0.000,4,0.179,0.040,2856,2652,1925,0,0,0,0,0,0
$GC,12834,-0.36,218.3,949.5,3.6,542,12838,0.00,1.85,0.00,0.000,6,0.000,0.045,2856,1500,1925,0,0,0,0,0,0
$GC,13152,-0.36,218.3,938.0,3.7,553,13156,0.00,2.20,0.00,0.000,4,0.000,0.060,2856,169,1925,0,0,0,0,0,0
$GC,13332,-0.29,218.3,930.8,4.6,558,13336,0.12,2.05,0.00,0.000,6,0.164,0.034,2881,1498,1925,0,0,0,0,0,0
$GC,13656,-0.34,218.3,920.0,3.2,569,13660,0.00,2.25,0.00,0.000,4,0.000,0.061,2881,164,1926,0,0,0,0,0,0
$GC,13840,-0.34,218.3,914.7,2.9,574,13844,0.00,2.12,0.00,0.000,6,0.000,0.035,2877,1500,1926,0,0,0,0,0,0
$STATE,13942,end loiter,LOITER_COMPLETE
$STATE,13942,begin climb
$GC,13944,0.67,107.0,912.3,0.0,578,13950,0.98,2.25,0.00,0.000,4,0.109,0.041,3181,2907,1926,0,0,0,0,0,0
$GC,14203,0.39,172.6,904.5,3.3,585,14209,0.32,2.28,0.00,0.000,6,0.192,0.046,3112,1501,1928,0,0,0,0,0,0
$GC,14516,0.29,241.8,895.3,3.2,596,14543,0.12,1.67,21.88,1.345,4,0.196,0.041,3081,2514,1841,0,0,0,0,0,0
$GC,14679,0.29,269.3,888.6,4.7,600,14710,0.00,1.65,26.90,1.360,6,0.000,0.048,3084,1471,1728,0,0,0,0,0,0
$GC,15046,0.32,275.1,868.8,5.4,612,15055,0.00,0.93,6.10,1.045,4,0.000,0.058,3087,889,1704,0,0,0,0,0,0
$GC,15297,0.36,275.1,854.7,5.8,619,15301,0.00,0.95,0.00,0.000,6,0.000,0.036,3088,1509,1704,0,0,0,0,0,0
$GC,15616,0.39,280.2,837.2,5.4,630,15626,0.00,1.42,6.20,1.029,4,0.000,0.058,3090,646,1684,0,0,0,0,0,0
$GC,15880,0.43,280.2,822.1,6.3,638,15884,0.05,1.33,0.00,0.000,6,0.076,0.034,3121,1500,1684,0,0,0,0,0,0
$GC,16222,0.39,287.1,803.5,5.4,649,16232,0.05,0.00,8.23,1.114,6,0.223,0.000,3112,1512,1656,0,0,0,0,0,0
$GC,16526,0.39,326.8,789.5,4.2,659,16571,0.00,2.33,38.62,1.326,4,0.000,0.065,3118,175,1493,0,0,0,0,0,0
$GC,16808,0.47,335.4,775.8,5.3,667,16823,0.00,2.08,8.40,1.114,6,0.000,0.035,3117,1514,1459,0,0,0,0,0,0
$GC,17131,0.51,351.6,760.2,5.1,678,17153,0.08,1.83,16.77,1.234,4,0.132,0.063,3158,446,1392,0,0,0,0,0,0
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$STATE,27200,end climb,SURFACE_DEPTH_REACHED
$STATE,27200,begin surface coast
$FINISH,1.7,1.016707
$STATE,27232,end surface coast,CONTROL_FINISHED_OK
$STATE,27232,begin surface
$SM_CCo,27310,0.00,0.000,0,0,983,452.33
$SM_GC,2.81,9.02,0.00,0.00,0.057,0.000,0.000,90,1603,983,-8.99,0.65,452.33
$IRIDIUM_FIX,-4040.73,-428.30,190113,222223
$TT8_MAMPS,0.026964
$HUMID,49.80
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.2,120.311
$10V_AH,9.8,71.226
$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,26.625,202.775,517.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,23.597,3210.876,19293.199,638.939,3963.946,282.148,0.000,2493.506,0.000,3870.676,0.000,1.014,0.000
$DEVICE_MAMPS,263.925,85.680,1461.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.561,704.658,426.743,73.680,0.000,0.000,0.000,0.000,0.000,0.000
$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,70217,1169
$CAP_FILE_SIZE,245685,0
$CFSIZE,2097086464,2024472576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200113,220859,-4057.691,-430.224,41,1.3,42,-22.6