version: 66.07.10.p01
glider: 574
mission: 4
dive: 518
start: 1 24 113 5 5 42
data:
$ID,574
$MISSION,4
$DIVE,518
$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,-8068.3701
$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,27
$R_STBD_OVSHOOT,38
$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,497
$GPS1,240113,045514,-4102.266,-421.497,108,1.0,110,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-74.9
$GPS2,240113,050519,-4102.246,-421.408,43,1.6,43,-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,113.1,155606,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.67,-107.0,0.0,0.0,0,55,0.00,0.00,-26.75,0.000,2,0.000,0.000,69,1762,1884,0,0,0,0,0,0
$GC,58,-0.67,-107.0,3.3,-1.9,3,119,12.57,2.25,-43.10,0.000,4,0.265,0.063,2744,3146,3264,0,0,0,0,0,0
$GC,203,-0.67,-107.0,14.7,-9.0,15,208,0.08,2.25,0.00,0.000,6,0.171,0.044,2762,1740,3265,0,0,0,0,0,0
$GC,318,-0.67,-107.0,24.9,-8.9,25,322,0.00,2.28,0.00,0.000,4,0.000,0.063,2762,374,3265,0,0,0,0,0,0
$GC,435,-0.67,-107.0,37.0,-10.3,32,440,0.00,2.17,0.00,0.000,6,0.000,0.037,2762,1745,3265,0,0,0,0,0,0
$GC,857,-0.67,-107.0,81.1,-10.4,48,861,0.00,2.35,0.00,0.000,4,0.000,0.060,2762,335,3266,0,0,0,0,0,0
$GC,997,-0.67,-107.0,98.0,-12.1,51,1001,0.00,2.22,0.00,0.000,6,0.000,0.036,2762,1758,3266,0,0,0,0,0,0
$GC,1759,-0.67,-107.0,168.3,-8.7,64,1763,0.00,2.35,0.00,0.000,4,0.000,0.057,2763,337,3266,0,0,0,0,0,0
$GC,1859,-0.67,-107.0,177.8,-10.0,65,1864,0.00,2.22,0.00,0.000,6,0.000,0.035,2762,1746,3267,0,0,0,0,0,0
$GC,2622,-0.67,-107.0,256.1,-10.4,78,2625,0.00,1.00,0.00,0.000,4,0.000,0.044,2760,2406,3267,0,0,0,0,0,0
$GC,2758,-0.67,-107.0,268.7,-8.8,80,2761,0.00,1.05,0.00,0.000,6,0.000,0.042,2760,1736,3267,0,0,0,0,0,0
$GC,3492,-0.67,-107.0,338.2,-10.4,92,3496,0.00,2.15,0.00,0.000,4,0.000,0.059,2760,431,3267,0,0,0,0,0,0
$GC,3615,-0.67,-107.0,351.8,-11.0,93,3621,0.00,2.08,0.00,0.000,6,0.000,0.034,2758,1746,3267,0,0,0,0,0,0
$GC,4349,-0.67,-107.0,430.2,-10.9,106,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1746,3267,0,0,0,0,0,0
$GC,5077,-0.67,-107.0,503.6,-9.6,118,5080,0.00,0.62,0.00,0.000,4,0.000,0.044,2758,2175,3266,0,0,0,0,0,0
$GC,5235,-0.67,-107.0,518.2,-9.3,120,5238,0.00,0.68,0.00,0.000,6,0.000,0.046,2758,1735,3266,0,0,0,0,0,0
$GC,6008,-0.67,-107.0,584.7,-8.8,133,6011,0.00,0.57,0.00,0.000,4,0.000,0.044,2758,2122,3266,0,0,0,0,0,0
$GC,6096,-0.67,-107.0,593.0,-10.0,134,6100,0.00,0.60,0.00,0.000,6,0.000,0.047,2758,1739,3265,0,0,0,0,0,0
$GC,6870,-0.67,-107.0,667.3,-10.0,147,6874,0.00,2.30,0.00,0.000,4,0.000,0.047,2758,3156,3264,0,0,0,0,0,0
$GC,7127,-0.87,-107.0,694.7,-11.5,150,7133,0.17,2.22,0.00,0.000,6,0.079,0.040,2685,1747,3264,0,0,0,0,0,0
$GC,7861,-0.87,-107.0,773.9,-10.6,163,7865,0.00,2.33,0.00,0.000,4,0.000,0.058,2685,343,3263,0,0,0,0,0,0
$GC,7956,-0.87,-107.0,783.7,-9.6,164,7961,0.05,2.22,0.00,0.000,6,0.148,0.033,2696,1757,3263,0,0,0,0,0,0
$STATE,8176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8176,begin apogee
$GC,8182,-0.26,0.0,805.5,9.9,168,8278,0.62,0.00,92.70,1.342,6,0.111,0.000,2890,1657,2827,0,0,0,0,0,0
$STATE,8278,end apogee,CONTROL_FINISHED_OK
$STATE,8278,begin loiter
$GC,8966,-0.25,242.0,872.9,-8.6,181,9182,0.00,1.58,209.90,1.366,4,0.000,0.053,2890,760,1839,0,0,0,0,0,0
$GC,9436,-0.25,242.0,875.6,3.9,188,9440,0.00,1.42,0.00,0.000,6,0.000,0.033,2890,1671,1832,0,0,0,0,0,0
$GC,10204,-0.25,242.0,850.2,3.3,201,10208,0.00,1.40,0.00,0.000,4,0.000,0.055,2890,829,1829,0,0,0,0,0,0
$GC,10461,-0.25,242.0,841.0,4.0,204,10465,0.00,1.30,0.00,0.000,6,0.000,0.034,2890,1670,1828,0,0,0,0,0,0
$GC,11201,-0.25,242.0,815.9,3.3,217,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1670,1828,0,0,0,0,0,0
$GC,11928,-0.25,242.0,794.5,2.7,229,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1670,1828,0,0,0,0,0,0
$GC,12656,-0.25,242.0,772.3,3.3,241,12660,0.00,2.22,0.00,0.000,4,0.000,0.046,2890,3071,1827,0,0,0,0,0,0
$GC,12818,-0.25,242.0,766.3,3.4,243,12822,0.00,2.25,0.00,0.000,6,0.000,0.043,2890,1682,1827,0,0,0,0,0,0
$GC,13580,-0.25,242.0,746.0,2.1,256,13584,0.00,2.22,0.00,0.000,4,0.000,0.044,2888,3067,1827,0,0,0,0,0,0
$GC,13697,-0.25,242.0,743.9,1.8,257,13701,0.00,2.28,0.00,0.000,6,0.000,0.042,2888,1661,1827,0,0,0,0,0,0
$GC,14437,-0.25,242.0,732.2,1.6,270,14441,0.00,2.33,0.00,0.000,4,0.000,0.060,2888,262,1827,0,0,0,0,0,0
$GC,14554,-0.25,242.0,729.8,2.5,271,14559,0.08,2.20,0.00,0.000,6,0.179,0.034,2897,1677,1827,0,0,0,0,0,0
$GC,15299,-0.25,242.0,708.9,3.4,284,15303,0.00,2.22,0.00,0.000,4,0.000,0.044,2890,3074,1827,0,0,0,0,0,0
$GC,15556,-0.25,242.0,699.6,3.5,287,15561,0.00,2.25,0.00,0.000,6,0.000,0.043,2890,1668,1827,0,0,0,0,0,0
$GC,16290,-0.25,242.0,672.5,3.7,300,16294,0.00,2.25,0.00,0.000,4,0.000,0.045,2886,3076,1827,0,0,0,0,0,0
$GC,16491,-0.25,242.0,665.5,3.7,303,16496,0.00,2.28,0.00,0.000,6,0.000,0.043,2886,1674,1827,0,0,0,0,0,0
$GC,17221,-0.25,242.0,646.9,2.1,315,17225,0.00,2.25,0.00,0.000,4,0.000,0.044,2878,3070,1828,0,0,0,0,0,0
$GC,17472,-0.25,242.0,641.4,2.5,318,17477,0.05,2.28,0.00,0.000,6,0.133,0.042,2894,1670,1829,0,0,0,0,0,0
$GC,18217,-0.25,242.0,619.8,3.2,331,18221,0.00,2.25,0.00,0.000,4,0.000,0.045,2890,3076,1829,0,0,0,0,0,0
$GC,18474,-0.25,242.0,610.6,3.2,334,18480,0.00,2.25,0.00,0.000,6,0.000,0.042,2890,1668,1830,0,0,0,0,0,0
$STATE,19085,end loiter,LOITER_COMPLETE
$STATE,19085,begin climb
$GC,19087,0.67,107.0,594.7,0.0,345,19093,0.95,2.42,0.00,0.000,4,0.110,0.059,3188,262,1830,0,0,0,0,0,0
$GC,19346,0.40,206.2,589.6,2.1,348,19352,0.30,2.22,0.00,0.000,6,0.184,0.038,3114,1663,1832,0,0,0,0,0,0
$GC,20080,0.40,332.8,581.6,1.1,361,20170,0.00,1.98,82.75,1.224,4,0.000,0.060,3117,547,1468,0,0,0,0,0,0
$GC,20423,0.40,332.8,565.1,6.4,366,20427,0.00,1.77,0.00,0.000,6,0.000,0.037,3118,1670,1461,0,0,0,0,0,0
$GC,21142,0.40,332.8,513.9,7.8,378,21146,0.00,2.25,0.00,0.000,4,0.000,0.047,3118,3081,1459,0,0,0,0,0,0
$GC,21399,0.40,332.8,492.8,8.4,381,21403,0.00,2.30,0.00,0.000,6,0.000,0.044,3118,1671,1457,0,0,0,0,0,0
$GC,22139,0.40,332.8,442.6,6.4,394,22143,0.00,2.35,0.00,0.000,4,0.000,0.062,3118,262,1458,0,0,0,0,0,0
$GC,22396,0.40,333.5,426.3,5.6,397,22402,0.00,2.20,0.00,0.000,6,0.000,0.034,3118,1681,1456,0,0,0,0,0,0
$GC,23130,0.40,333.5,376.9,7.3,410,23134,0.00,2.22,0.00,0.000,4,0.000,0.045,3118,3070,1457,0,0,0,0,0,0
$GC,23388,0.40,333.5,356.5,8.6,413,23393,0.00,2.30,0.00,0.000,6,0.000,0.045,3118,1660,1456,0,0,0,0,0,0
$GC,24122,0.40,333.5,310.1,5.8,426,24126,0.00,2.28,0.00,0.000,4,0.000,0.045,3117,3071,1457,0,0,0,0,0,0
$GC,24379,0.40,354.0,294.8,4.9,429,24404,0.00,2.28,19.23,0.959,6,0.000,0.044,3118,1663,1382,0,0,0,0,0,0
$GC,25117,0.40,354.0,252.2,5.7,442,25121,0.00,2.28,0.00,0.000,4,0.000,0.044,3118,3081,1381,0,0,0,0,0,0
$GC,25375,0.40,354.0,234.5,6.7,445,25381,0.00,2.30,0.00,0.000,6,0.000,0.043,3118,1666,1380,0,0,0,0,0,0
$GC,26109,0.40,354.0,177.0,8.3,458,26114,0.00,2.35,0.00,0.000,4,0.000,0.062,3118,263,1380,0,0,0,0,0,0
$GC,26172,0.40,354.0,171.7,7.8,459,26176,0.00,2.20,0.00,0.000,6,0.000,0.031,3118,1682,1379,0,0,0,0,0,0
$GC,26901,0.40,354.0,119.8,6.4,471,26905,0.00,2.40,0.00,0.000,4,0.000,0.060,3118,263,1380,0,0,0,0,0,0
$GC,27158,0.41,376.9,104.9,4.8,474,27184,0.00,2.17,21.35,0.830,6,0.000,0.031,3118,1681,1290,0,0,0,0,0,0
$GC,27917,0.41,376.9,53.9,6.4,494,27921,0.00,2.35,0.00,0.000,4,0.000,0.061,3118,262,1287,0,0,0,0,0,0
$GC,28176,0.41,376.9,38.0,6.6,505,28182,0.00,2.17,0.00,0.000,6,0.000,0.031,3117,1661,1286,0,0,0,0,0,0
$GC,28606,0.41,376.9,11.9,6.1,539,28610,0.00,2.35,0.00,0.000,4,0.000,0.061,3118,263,1286,0,0,0,0,0,0
$GC,28648,0.41,376.9,9.2,5.9,542,28652,0.00,2.17,0.00,0.000,6,0.000,0.031,3118,1681,1285,0,0,0,0,0,0
$STATE,28750,end climb,SURFACE_DEPTH_REACHED
$STATE,28750,begin surface coast
$FINISH,1.8,1.021930
$STATE,28805,end surface coast,CONTROL_FINISHED_OK
$STATE,28805,begin surface
$SM_CCo,28882,0.00,0.000,0,0,1281,378.98
$SM_GC,2.96,8.82,0.00,0.00,0.058,0.000,0.000,91,1694,1281,-8.98,-1.44,378.98
$IRIDIUM_FIX,-4049.28,-420.20,240113,040404
$TT8_MAMPS,0.026964
$HUMID,50.31
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.4,122.690
$10V_AH,9.8,72.487
$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,23.700,122.625,425.925,0.000,0.000,57.083,120.177,207.840,0.000,0.000,46.112,1787.028,23982.012,471.852,3020.906,226.465,0.000,1716.652,0.000,2548.581,0.000,1.014,0.000
$DEVICE_MAMPS,265.455,74.205,1365.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.206,334.295,236.854,54.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,33460,556
$CAP_FILE_SIZE,150922,0
$CFSIZE,2097086464,2022965248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240113,130823,-4102.724,-420.481,42,1.4,43,-22.6