version: 66.07.10.p01
glider: 574
mission: 4
dive: 510
start: 1 21 113 13 10 30
data:
$ID,574
$MISSION,4
$DIVE,510
$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,-7426.5098
$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,28
$R_STBD_OVSHOOT,60
$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,489
$GPS1,210113,130834,-4058.784,-428.612,72,1.2,78,-22.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-71.9
$GPS2,210113,131007,-4058.784,-428.621,19,1.0,20,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4108.136,-421.451
$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,-107.0,0.0,0.0,0,58,0.00,0.00,-30.88,0.000,2,0.000,0.000,71,1597,1968,0,0,0,0,0,0
$GC,61,-0.67,-107.0,3.1,-1.1,5,129,12.45,2.40,-48.30,0.000,4,0.259,0.073,2755,174,3264,0,0,0,0,0,0
$GC,146,-0.48,-107.0,6.0,-4.9,18,154,0.20,2.20,0.00,0.000,6,0.112,0.037,2821,1549,3265,0,0,0,0,0,0
$GC,227,-0.65,-107.0,14.2,-10.4,31,235,0.15,2.38,0.00,0.000,4,0.084,0.051,2753,2993,3266,0,0,0,0,0,0
$GC,285,-0.75,-107.0,21.1,-12.2,40,293,0.03,2.30,0.00,0.000,6,0.100,0.046,2725,1580,3266,0,0,0,0,0,0
$GC,367,-0.75,-107.0,30.0,-10.7,53,371,0.00,2.35,0.00,0.000,4,0.000,0.062,2725,171,3266,0,0,0,0,0,0
$GC,526,-0.77,-107.0,49.9,-12.5,81,532,0.00,2.25,0.00,0.000,6,0.000,0.035,2723,1589,3266,0,0,0,0,0,0
$GC,753,-0.77,-107.0,74.8,-10.5,109,756,0.00,2.03,0.00,0.000,4,0.000,0.059,2723,372,3266,0,0,0,0,0,0
$GC,1014,-0.82,-107.0,102.5,-9.6,131,1018,0.00,1.90,0.00,0.000,6,0.000,0.035,2723,1577,3267,0,0,0,0,0,0
$GC,1338,-0.82,-107.0,135.1,-10.4,152,1342,0.00,2.35,0.00,0.000,4,0.000,0.060,2723,175,3267,0,0,0,0,0,0
$GC,1360,-0.82,-107.0,137.7,-11.3,153,1365,0.00,2.22,0.00,0.000,6,0.000,0.034,2723,1579,3267,0,0,0,0,0,0
$GC,1677,-0.82,-107.0,171.3,-10.8,171,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1580,3267,0,0,0,0,0,0
$GC,1998,-0.82,-107.0,204.6,-10.2,186,2002,0.00,2.35,0.00,0.000,4,0.000,0.060,2723,177,3268,0,0,0,0,0,0
$GC,2255,-0.90,-107.0,229.8,-9.4,193,2261,0.10,2.20,0.00,0.000,6,0.103,0.034,2681,1582,3268,0,0,0,0,0,0
$GC,2568,-0.83,-107.0,261.9,-10.7,204,2573,0.10,2.20,0.00,0.000,4,0.161,0.044,2698,2963,3268,0,0,0,0,0,0
$GC,2622,-0.83,-107.0,267.9,-10.1,205,2628,0.00,2.22,0.00,0.000,6,0.000,0.044,2698,1583,3268,0,0,0,0,0,0
$GC,2936,-0.80,-107.0,301.1,-10.6,216,2941,0.10,2.35,0.00,0.000,4,0.161,0.059,2727,174,3268,0,0,0,0,0,0
$GC,3193,-0.88,-107.0,328.4,-10.4,223,3199,0.10,2.17,0.00,0.000,6,0.104,0.031,2685,1590,3268,0,0,0,0,0,0
$GC,3507,-0.82,-107.0,361.2,-10.4,234,3511,0.10,2.38,0.00,0.000,4,0.160,0.057,2713,173,3268,0,0,0,0,0,0
$GC,3764,-0.87,-107.0,387.7,-10.5,241,3769,0.00,2.17,0.00,0.000,6,0.000,0.031,2713,1583,3268,0,0,0,0,0,0
$GC,4077,-0.89,-107.0,419.3,-10.4,252,4082,0.05,2.38,0.00,0.000,4,0.165,0.057,2685,166,3268,0,0,0,0,0,0
$GC,4334,-0.89,-107.0,447.3,-10.8,259,4340,0.00,2.20,0.00,0.000,6,0.000,0.031,2677,1577,3268,0,0,0,0,0,0
$GC,4648,-0.84,-107.0,483.4,-11.5,270,4653,0.12,2.20,0.00,0.000,4,0.153,0.042,2702,2981,3268,0,0,0,0,0,0
$GC,4719,-0.84,-107.0,491.7,-11.1,272,4724,0.00,2.25,0.00,0.000,6,0.000,0.040,2703,1573,3268,0,0,0,0,0,0
$GC,5049,-0.84,-107.0,528.8,-11.4,283,5053,0.00,2.25,0.00,0.000,4,0.000,0.043,2697,2987,3268,0,0,0,0,0,0
$GC,5120,-0.84,-107.0,537.3,-11.8,285,5124,0.00,2.25,0.00,0.000,6,0.000,0.039,2697,1577,3268,0,0,0,0,0,0
$GC,5451,-0.84,-107.0,573.5,-10.9,296,5455,0.00,2.25,0.00,0.000,4,0.000,0.043,2688,2986,3267,0,0,0,0,0,0
$GC,5513,-0.82,-107.0,580.2,-11.0,298,5518,0.10,2.20,0.00,0.000,6,0.149,0.038,2714,1575,3267,0,0,0,0,0,0
$GC,5850,-0.86,-107.0,614.7,-10.2,309,5854,0.00,2.25,0.00,0.000,4,0.000,0.043,2710,2986,3267,0,0,0,0,0,0
$GC,5933,-0.92,-107.0,623.1,-10.1,311,5938,0.08,2.22,0.00,0.000,6,0.124,0.038,2678,1573,3267,0,0,0,0,0,0
$GC,6246,-0.87,-107.0,652.0,-9.0,321,6251,0.08,2.30,0.00,0.000,4,0.190,0.057,2698,178,3266,0,0,0,0,0,0
$GC,6504,-0.94,-107.0,673.4,-7.7,328,6509,0.00,2.20,0.00,0.000,6,0.000,0.033,2689,1589,3265,0,0,0,0,0,0
$GC,6816,-0.94,-107.0,696.8,-7.4,339,6820,0.00,2.20,0.00,0.000,4,0.000,0.044,2683,2979,3265,0,0,0,0,0,0
$GC,6894,-0.94,-107.0,702.7,-8.3,341,6898,0.00,2.20,0.00,0.000,6,0.000,0.040,2683,1576,3265,0,0,0,0,0,0
$GC,7219,-0.91,-107.0,727.4,-8.0,352,7223,0.00,2.30,0.00,0.000,4,0.000,0.057,2683,172,3264,0,0,0,0,0,0
$GC,7475,-0.94,-107.0,749.3,-8.7,359,7481,0.00,2.20,0.00,0.000,6,0.000,0.032,2681,1586,3264,0,0,0,0,0,0
$GC,7789,-0.91,-107.0,779.4,-10.0,370,7792,0.00,2.20,0.00,0.000,4,0.000,0.044,2673,2977,3263,0,0,0,0,0,0
$GC,7878,-0.88,-107.0,789.2,-11.4,372,7884,0.10,2.20,0.00,0.000,6,0.158,0.041,2698,1577,3263,0,0,0,0,0,0
$GC,8190,-0.88,-107.0,822.0,-10.7,383,8194,0.00,2.28,0.00,0.000,4,0.000,0.057,2698,179,3262,0,0,0,0,0,0
$GC,8448,-0.95,-107.0,850.7,-10.8,390,8453,0.08,2.20,0.00,0.000,6,0.132,0.033,2671,1589,3262,0,0,0,0,0,0
$GC,8761,-0.91,-107.0,883.0,-9.9,401,8765,0.05,1.38,0.00,0.000,4,0.218,0.041,2677,2469,3261,0,0,0,0,0,0
$GC,8810,-0.87,-107.0,887.8,-9.7,402,8814,0.05,1.42,0.00,0.000,6,0.138,0.043,2694,1578,3261,0,0,0,0,0,0
$GC,9134,-0.87,-107.0,915.6,-8.6,413,9138,0.00,2.25,0.00,0.000,4,0.000,0.044,2685,2977,3261,0,0,0,0,0,0
$GC,9222,-0.87,-107.0,923.3,-8.6,415,9228,0.00,2.25,0.00,0.000,6,0.000,0.041,2685,1579,3260,0,0,0,0,0,0
$GC,9535,-0.87,-107.0,949.5,-8.4,426,9539,0.00,2.25,0.00,0.000,4,0.000,0.044,2676,2980,3260,0,0,0,0,0,0
$GC,9618,-0.87,-107.0,957.2,-9.3,428,9623,0.05,2.25,0.00,0.000,6,0.129,0.041,2694,1583,3259,0,0,0,0,0,0
$STATE,9904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9904,begin apogee
$GC,9910,-0.26,0.0,982.2,9.1,438,10007,0.65,0.00,93.68,1.462,6,0.122,0.000,2890,1486,2827,0,0,0,0,0,0
$STATE,10007,end apogee,CONTROL_FINISHED_OK
$STATE,10007,begin loiter
$GC,10303,-0.25,240.1,1015.2,-8.5,451,10526,0.00,2.53,214.77,1.463,4,0.000,0.041,2890,2893,1846,0,0,0,0,0,0
$GC,10532,-0.36,240.1,1026.1,2.1,458,10537,0.08,2.42,0.00,0.000,6,0.127,0.041,2866,1520,1845,0,0,0,0,0,0
$GC,10845,-0.40,240.1,1018.1,2.5,468,10849,0.00,2.17,0.00,0.000,4,0.000,0.042,2864,2899,1838,0,0,0,0,0,0
$GC,11047,-0.45,240.1,1013.5,2.2,474,11052,0.10,2.25,0.00,0.000,6,0.119,0.044,2828,1483,1836,0,0,0,0,0,0
$GC,11377,-0.40,240.1,1005.0,2.6,485,11382,0.08,2.25,0.00,0.000,4,0.184,0.041,2836,2900,1835,0,0,0,0,0,0
$GC,11444,-0.38,240.1,1003.5,2.5,487,11448,0.08,2.22,0.00,0.000,6,0.187,0.044,2852,1494,1835,0,0,0,0,0,0
$GC,11773,-0.38,240.1,995.6,2.6,498,11777,0.00,2.25,0.00,0.000,4,0.000,0.043,2850,2904,1835,0,0,0,0,0,0
$GC,11889,-0.38,240.1,992.1,3.1,501,11894,0.00,2.28,0.00,0.000,6,0.000,0.044,2850,1504,1835,0,0,0,0,0,0
$GC,12208,-0.38,240.1,981.2,3.7,512,12212,0.00,2.25,0.00,0.000,4,0.000,0.044,2850,2907,1834,0,0,0,0,0,0
$GC,12341,-0.38,240.1,975.5,4.4,516,12346,0.00,2.28,0.00,0.000,6,0.000,0.044,2850,1482,1834,0,0,0,0,0,0
$GC,12677,-0.38,240.1,961.0,4.3,527,12681,0.00,2.28,0.00,0.000,4,0.000,0.044,2845,2900,1834,0,0,0,0,0,0
$GC,12754,-0.38,240.1,957.6,3.9,529,12758,0.00,2.28,0.00,0.000,6,0.000,0.044,2845,1475,1834,0,0,0,0,0,0
$GC,13079,-0.35,240.1,944.5,4.0,540,13084,0.08,2.17,0.00,0.000,4,0.201,0.060,2861,162,1834,0,0,0,0,0,0
$GC,13100,-0.30,240.1,943.8,3.8,540,13106,0.10,2.10,0.00,0.000,6,0.171,0.034,2878,1510,1834,0,0,0,0,0,0
$GC,13413,-0.35,240.1,932.8,3.3,551,13417,0.00,2.17,0.00,0.000,4,0.000,0.044,2877,2898,1834,0,0,0,0,0,0
$GC,13424,-0.41,240.1,932.4,3.2,551,13429,0.10,2.25,0.00,0.000,6,0.111,0.043,2838,1486,1834,0,0,0,0,0,0
$GC,13742,-0.37,240.1,923.3,2.5,562,13747,0.08,2.15,0.00,0.000,4,0.194,0.060,2855,172,1834,0,0,0,0,0,0
$GC,14000,-0.29,240.1,917.0,2.9,569,14006,0.12,2.08,0.00,0.000,6,0.167,0.034,2881,1492,1834,0,0,0,0,0,0
$STATE,14220,end loiter,LOITER_COMPLETE
$STATE,14220,begin climb
$GC,14222,0.67,107.0,913.3,0.0,577,14226,0.98,0.68,0.00,0.000,4,0.113,0.054,3189,1083,1834,0,0,0,0,0,0
$GC,14327,0.41,202.8,911.1,2.2,580,14331,0.25,0.65,0.00,0.000,6,0.173,0.040,3121,1525,1835,0,0,0,0,0,0
$GC,14669,0.31,301.1,904.1,2.1,591,14730,0.15,0.62,56.25,1.409,4,0.184,0.041,3082,1911,1599,0,0,0,0,0,0
$GC,14882,0.37,344.9,896.2,4.1,597,14928,0.00,0.68,42.12,1.388,6,0.000,0.054,3083,1498,1419,0,0,0,0,0,0
$GC,15237,0.53,345.3,877.5,5.6,609,15241,0.20,2.20,0.00,0.000,4,0.078,0.065,3165,172,1413,0,0,0,0,0,0
$GC,15247,0.64,350.3,876.9,5.5,609,15257,0.08,2.03,5.07,0.964,6,0.135,0.036,3192,1497,1398,0,0,0,0,0,0
$GC,15574,0.51,350.3,854.8,6.9,620,15578,0.17,2.22,0.00,0.000,4,0.170,0.064,3156,164,1396,0,0,0,0,0,0
$GC,15584,0.39,350.3,853.8,6.8,620,15588,0.17,2.08,0.00,0.000,6,0.156,0.035,3110,1495,1395,0,0,0,0,0,0
$GC,15908,0.46,350.3,834.4,6.2,631,15912,0.00,2.20,0.00,0.000,4,0.000,0.044,3109,2900,1394,0,0,0,0,0,0
$GC,16165,0.52,350.3,817.3,7.4,638,16171,0.10,2.28,0.00,0.000,6,0.103,0.047,3154,1501,1393,0,0,0,0,0,0
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$STATE,27671,end climb,SURFACE_DEPTH_REACHED
$STATE,27671,begin surface coast
$FINISH,1.7,1.013628
$STATE,27720,end surface coast,CONTROL_FINISHED_OK
$STATE,27720,begin surface
$SM_CCo,27800,0.00,0.000,0,0,1318,369.91
$SM_GC,3.01,8.90,0.00,0.00,0.057,0.000,0.000,86,1578,1318,-8.98,-0.08,369.91
$IRIDIUM_FIX,-4043.58,-431.14,190113,232335
$TT8_MAMPS,0.026964
$HUMID,49.25
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,21.8,120.907
$10V_AH,9.8,71.613
$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
$DEVICE_SECS,27.225,196.375,431.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,23.144,3231.437,19851.211,541.873,3977.389,277.124,0.000,2384.840,0.000,3879.129,0.000,1.013,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.677,728.048,436.300,73.679,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,70319,1186
$CAP_FILE_SIZE,242147,0
$CFSIZE,2097086464,2023981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210113,205628,-4059.158,-428.025,124,1.4,124,-22.6