version: 66.07.10.p01
glider: 574
mission: 4
dive: 517
start: 1 23 113 21 3 26
data:
$ID,574
$MISSION,4
$DIVE,517
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,473
$T_MISSION,488
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,10800
$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,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,1
$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,-8066.02
$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,10
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1745
$C_ROLL_CLIMB,1670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,44
$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,496
$GPS1,230113,205557,-4102.080,-422.641,35,4.0,54,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-75.2
$GPS2,230113,210301,-4101.998,-422.668,18,1.9,18,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4103.000,-230.000
$TGT_RADIUS,6000.000
$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,113.3,157370,-12.6,-5.638
$D_GRID,800
$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,25,-0.67,-107.0,0.0,0.0,0,55,0.00,0.00,-27.42,0.000,2,0.000,0.000,69,1730,2040,0,0,0,0,0,0
$GC,58,-0.67,-107.0,3.2,-2.3,3,114,12.45,2.35,-36.38,0.000,4,0.262,0.074,2753,347,3265,0,0,0,0,0,0
$GC,370,-0.67,-107.0,38.0,-11.9,27,376,0.00,2.20,0.00,0.000,6,0.000,0.036,2753,1732,3266,0,0,0,0,0,0
$GC,789,-0.67,-107.0,83.0,-10.8,43,793,0.00,2.30,0.00,0.000,4,0.000,0.058,2753,342,3266,0,0,0,0,0,0
$GC,963,-0.67,-107.0,100.9,-9.7,46,970,0.00,2.25,0.00,0.000,6,0.000,0.037,2754,1750,3266,0,0,0,0,0,0
$GC,1697,-0.67,-107.0,166.5,-9.5,59,1701,0.00,2.25,0.00,0.000,4,0.000,0.050,2747,3156,3267,0,0,0,0,0,0
$GC,1954,-0.67,-107.0,193.6,-10.5,62,1959,0.03,2.25,0.00,0.000,6,0.134,0.043,2760,1754,3267,0,0,0,0,0,0
$GC,2694,-0.67,-107.0,278.9,-11.6,75,2698,0.00,2.33,0.00,0.000,4,0.000,0.060,2759,334,3267,0,0,0,0,0,0
$GC,2951,-0.67,-107.0,305.4,-9.6,78,2956,0.00,2.20,0.00,0.000,6,0.000,0.034,2757,1757,3267,0,0,0,0,0,0
$GC,3685,-0.67,-107.0,371.5,-9.5,91,3688,0.00,1.62,0.00,0.000,4,0.000,0.055,2757,778,3267,0,0,0,0,0,0
$GC,3807,-0.67,-107.0,383.9,-9.7,92,3812,0.00,1.50,0.00,0.000,6,0.000,0.034,2757,1741,3267,0,0,0,0,0,0
$GC,4547,-0.67,-107.0,459.2,-9.8,105,4551,0.00,1.73,0.00,0.000,4,0.000,0.055,2757,704,3267,0,0,0,0,0,0
$GC,4805,-0.67,-107.0,483.9,-9.2,108,4809,0.00,1.62,0.00,0.000,6,0.000,0.034,2757,1740,3267,0,0,0,0,0,0
$GC,5545,-0.67,-107.0,548.8,-9.2,121,5548,0.00,1.45,0.00,0.000,4,0.000,0.054,2757,866,3266,0,0,0,0,0,0
$GC,5662,-0.67,-107.0,560.6,-10.4,122,5666,0.00,1.38,0.00,0.000,6,0.000,0.034,2757,1740,3266,0,0,0,0,0,0
$GC,6407,-0.67,-107.0,642.3,-11.8,135,6411,0.00,2.28,0.00,0.000,4,0.000,0.050,2757,3151,3265,0,0,0,0,0,0
$GC,6429,-0.67,-107.0,645.1,-12.4,135,6433,0.00,2.25,0.00,0.000,6,0.000,0.037,2757,1734,3265,0,0,0,0,0,0
$GC,7197,-0.67,-107.0,730.4,-10.2,148,7201,0.00,2.28,0.00,0.000,4,0.000,0.055,2757,336,3263,0,0,0,0,0,0
$GC,7454,-0.67,-107.0,754.0,-8.5,151,7459,0.00,2.22,0.00,0.000,6,0.000,0.034,2757,1747,3263,0,0,0,0,0,0
$STATE,8126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8126,begin apogee
$GC,8131,-0.26,0.0,802.2,6.9,163,8227,0.43,0.00,92.43,1.341,6,0.089,0.000,2898,1665,2827,0,0,0,0,0,0
$STATE,8227,end apogee,CONTROL_FINISHED_OK
$STATE,8227,begin loiter
$GC,8915,-0.25,238.1,859.6,-8.5,176,9131,0.00,1.88,206.62,1.366,4,0.000,0.041,2896,2716,1856,0,0,0,0,0,0
$GC,9384,-0.25,238.1,866.2,2.8,183,9388,0.00,1.65,0.00,0.000,6,0.000,0.043,2897,1662,1847,0,0,0,0,0,0
$GC,10157,-0.25,238.1,841.1,3.5,196,10161,0.00,2.25,0.00,0.000,4,0.000,0.044,2890,3071,1844,0,0,0,0,0,0
$GC,10167,-0.25,238.1,840.7,3.5,196,10171,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1678,1843,0,0,0,0,0,0
$GC,10885,-0.25,238.1,814.4,4.0,208,10890,0.00,2.33,0.00,0.000,4,0.000,0.058,2890,263,1843,0,0,0,0,0,0
$GC,11092,-0.25,238.1,805.7,3.9,211,11097,0.00,2.20,0.00,0.000,6,0.000,0.033,2890,1681,1841,0,0,0,0,0,0
$GC,11817,-0.25,238.1,778.9,3.5,223,11821,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,258,1841,0,0,0,0,0,0
$GC,11945,-0.25,238.1,774.7,3.0,224,11950,0.00,2.22,0.00,0.000,6,0.000,0.033,2890,1675,1841,0,0,0,0,0,0
$GC,12679,-0.25,238.1,756.9,2.3,237,12683,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,258,1841,0,0,0,0,0,0
$GC,12801,-0.25,238.1,754.0,2.7,238,12806,0.00,2.22,0.00,0.000,6,0.000,0.033,2890,1670,1841,0,0,0,0,0,0
$GC,13535,-0.25,238.1,733.2,3.2,251,13540,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,255,1841,0,0,0,0,0,0
$GC,13742,-0.25,238.1,725.9,3.8,254,13746,0.00,2.22,0.00,0.000,6,0.000,0.033,2890,1668,1841,0,0,0,0,0,0
$GC,14467,-0.25,238.1,702.5,3.2,266,14471,0.00,2.25,0.00,0.000,4,0.000,0.045,2881,3077,1841,0,0,0,0,0,0
$GC,14707,-0.25,238.1,695.1,2.7,269,14711,0.00,2.28,0.00,0.000,6,0.000,0.042,2881,1670,1841,0,0,0,0,0,0
$GC,15458,-0.25,238.1,674.4,3.0,282,15463,0.08,2.35,0.00,0.000,4,0.184,0.059,2901,258,1841,0,0,0,0,0,0
$GC,15682,-0.25,238.1,667.3,3.5,285,15686,0.00,2.22,0.00,0.000,6,0.000,0.033,2895,1670,1841,0,0,0,0,0,0
$GC,16450,-0.25,238.1,641.1,3.7,298,16454,0.00,2.25,0.00,0.000,4,0.000,0.045,2891,3078,1841,0,0,0,0,0,0
$GC,16707,-0.25,238.1,631.7,2.6,301,16711,0.00,2.28,0.00,0.000,6,0.000,0.042,2890,1675,1842,0,0,0,0,0,0
$GC,17447,-0.25,238.1,611.7,2.4,314,17451,0.00,2.35,0.00,0.000,4,0.000,0.060,2891,262,1842,0,0,0,0,0,0
$GC,17643,-0.25,238.1,607.1,1.7,317,17647,0.00,2.20,0.00,0.000,6,0.000,0.034,2891,1669,1842,0,0,0,0,0,0
$GC,18373,-0.25,238.1,590.4,2.4,329,18377,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,261,1843,0,0,0,0,0,0
$GC,18613,-0.25,238.1,584.6,2.3,332,18617,0.00,2.22,0.00,0.000,6,0.000,0.034,2891,1668,1843,0,0,0,0,0,0
$STATE,18998,end loiter,LOITER_COMPLETE
$STATE,18998,begin climb
$GC,19000,0.67,107.0,578.1,0.0,339,19006,0.93,2.42,0.00,0.000,4,0.109,0.060,3183,259,1843,0,0,0,0,0,0
$GC,19259,0.40,225.7,574.0,1.4,342,19265,0.28,2.25,0.00,0.000,6,0.184,0.038,3116,1672,1844,0,0,0,0,0,0
$GC,19993,0.41,365.0,569.2,0.7,355,20116,0.00,1.88,115.65,1.222,4,0.000,0.057,3118,590,1337,0,0,0,0,0,0
$GC,20368,0.41,365.0,550.7,5.6,360,20372,0.00,1.70,0.00,0.000,6,0.000,0.034,3118,1672,1327,0,0,0,0,0,0
$GC,21114,0.41,365.0,497.0,7.9,373,21117,0.00,0.60,0.00,0.000,4,0.000,0.046,3118,2085,1325,0,0,0,0,0,0
$GC,21174,0.41,365.0,492.0,8.5,373,21180,0.00,0.70,0.00,0.000,6,0.000,0.051,3118,1658,1325,0,0,0,0,0,0
$GC,21909,0.41,365.0,436.2,7.2,386,21913,0.00,2.20,0.00,0.000,4,0.000,0.045,3118,3023,1324,0,0,0,0,0,0
$GC,22071,0.41,365.0,425.0,6.1,388,22076,0.00,2.17,0.00,0.000,6,0.000,0.045,3118,1673,1324,0,0,0,0,0,0
$GC,22834,0.41,396.1,384.7,4.5,401,22868,0.00,2.35,27.12,1.051,4,0.000,0.044,3118,3078,1212,0,0,0,0,0,0
$GC,23121,0.41,400.1,369.1,5.5,405,23131,0.00,2.28,4.65,0.707,6,0.000,0.044,3118,1662,1195,0,0,0,0,0,0
$GC,23894,0.41,400.1,310.8,8.6,418,23895,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1662,1194,0,0,0,0,0,0
$GC,24622,0.41,400.1,249.1,8.0,430,24625,0.00,0.70,0.00,0.000,4,0.000,0.040,3118,2125,1195,0,0,0,0,0,0
$GC,24761,0.41,400.1,238.7,6.7,432,24765,0.00,0.75,0.00,0.000,6,0.000,0.049,3118,1665,1194,0,0,0,0,0,0
$GC,25491,0.41,400.1,186.1,7.8,444,25495,0.00,2.28,0.00,0.000,4,0.000,0.044,3118,3079,1194,0,0,0,0,0,0
$GC,25748,0.41,400.1,161.9,9.8,447,25754,0.00,2.25,0.00,0.000,6,0.000,0.043,3118,1668,1194,0,0,0,0,0,0
$GC,26482,0.41,400.1,98.8,6.8,460,26483,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1668,1194,0,0,0,0,0,0
$GC,27213,0.41,400.1,58.8,6.3,478,27217,0.00,1.38,0.00,0.000,4,0.000,0.038,3118,2542,1194,0,0,0,0,0,0
$GC,27354,0.41,400.1,48.7,6.0,484,27358,0.00,1.40,0.00,0.000,6,0.000,0.044,3118,1671,1194,0,0,0,0,0,0
$GC,27782,0.41,400.1,15.5,6.8,513,27785,0.00,0.68,0.00,0.000,4,0.000,0.057,3118,1243,1194,0,0,0,0,0,0
$STATE,28002,end climb,SURFACE_DEPTH_REACHED
$STATE,28002,begin surface coast
$FINISH,1.7,1.013885
$STATE,28083,end surface coast,CONTROL_FINISHED_OK
$STATE,28083,begin surface
$SM_CCo,28162,0.00,0.000,0,0,1191,401.30
$SM_GC,2.84,8.73,0.00,0.00,0.054,0.000,0.000,86,1755,1191,-8.98,0.28,401.30
$IRIDIUM_FIX,-4049.28,-423.05,230113,121224
$TT8_MAMPS,0.026964
$HUMID,50.35
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.4,122.515
$10V_AH,9.8,72.396
$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,22.900,114.475,446.475,0.000,0.000,28.572,37.649,222.165,0.000,0.000,22.221,1729.524,23323.059,480.307,2836.732,219.466,0.000,1702.100,0.000,2488.103,0.000,1.014,0.000
$DEVICE_MAMPS,262.395,81.090,1366.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.337,320.960,231.448,50.284,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354740
$DATA_FILE_SIZE,30264,539
$CAP_FILE_SIZE,143980,0
$CFSIZE,2097086464,2023129088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240113,045514,-4102.266,-421.497,108,1.0,110,-22.6