version: 66.07.10.p01
glider: 574
mission: 4
dive: 520
start: 1 24 113 21 49 59
data:
$ID,574
$MISSION,4
$DIVE,520
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$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,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,2
$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,-8074.4258
$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,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1735
$C_ROLL_CLIMB,1685
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,40
$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,499
$GPS1,240113,213804,-4103.303,-418.968,39,0.8,44,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-72.4
$GPS2,240113,214934,-4103.294,-418.794,42,1.0,47,-22.6
$SPEED_LIMITS,0.092,0.182
$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,112.4,151949,-11.7,-5.287
$D_GRID,920
$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,-0.65,-107.0,0.0,0.0,0,70,0.00,0.00,-42.35,0.000,2,0.000,0.000,69,1746,1545,0,0,0,0,0,0
$GC,73,-0.65,-107.0,3.1,-1.3,4,155,12.43,2.28,-64.10,0.000,4,0.262,0.065,2753,3130,3263,0,0,0,0,0,0
$GC,415,-0.65,-107.0,33.0,-11.5,33,419,0.00,2.22,0.00,0.000,6,0.000,0.044,2753,1740,3265,0,0,0,0,0,0
$GC,836,-0.65,-107.0,77.5,-10.0,50,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1739,3265,0,0,0,0,0,0
$GC,1565,-0.65,-107.0,156.2,-11.4,64,1569,0.00,1.45,0.00,0.000,4,0.000,0.044,2754,2652,3266,0,0,0,0,0,0
$GC,1823,-0.65,-107.0,185.5,-10.5,67,1827,0.00,1.48,0.00,0.000,6,0.000,0.043,2753,1728,3265,0,0,0,0,0,0
$GC,2562,-0.65,-107.0,257.0,-9.2,80,2566,0.00,1.73,0.00,0.000,4,0.000,0.060,2753,674,3266,0,0,0,0,0,0
$GC,2618,-0.65,-107.0,262.6,-9.5,80,2622,0.00,1.65,0.00,0.000,6,0.000,0.034,2753,1728,3265,0,0,0,0,0,0
$GC,3358,-0.65,-107.0,336.9,-10.0,93,3362,0.00,2.33,0.00,0.000,4,0.000,0.059,2753,332,3266,0,0,0,0,0,0
$GC,3615,-0.65,-107.0,362.3,-9.5,96,3619,0.00,2.20,0.00,0.000,6,0.000,0.034,2753,1731,3266,0,0,0,0,0,0
$GC,4355,-0.65,-107.0,432.4,-10.2,109,4359,0.00,1.48,0.00,0.000,4,0.000,0.045,2753,2668,3265,0,0,0,0,0,0
$GC,4528,-0.65,-107.0,451.7,-10.9,111,4532,0.00,1.50,0.00,0.000,6,0.000,0.041,2753,1723,3265,0,0,0,0,0,0
$GC,5285,-0.65,-107.0,534.2,-10.5,124,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1723,3264,0,0,0,0,0,0
$GC,6012,-0.65,-107.0,607.6,-9.7,136,6017,0.00,2.30,0.00,0.000,4,0.000,0.048,2753,3140,3263,0,0,0,0,0,0
$GC,6270,-0.65,-107.0,634.0,-11.1,139,6276,0.00,2.25,0.00,0.000,6,0.000,0.039,2753,1737,3262,0,0,0,0,0,0
$GC,7004,-0.65,-107.0,713.1,-11.2,152,7008,0.00,1.55,0.00,0.000,4,0.000,0.054,2753,789,3261,0,0,0,0,0,0
$GC,7262,-0.65,-107.0,743.4,-12.4,155,7266,0.00,1.48,0.00,0.000,6,0.000,0.034,2753,1733,3261,0,0,0,0,0,0
$GC,8002,-0.65,-107.0,826.5,-10.8,168,8006,0.00,2.33,0.00,0.000,4,0.000,0.055,2753,324,3260,0,0,0,0,0,0
$GC,8259,-0.65,-107.0,853.6,-9.9,171,8263,0.00,2.22,0.00,0.000,6,0.000,0.034,2753,1732,3260,0,0,0,0,0,0
$STATE,8997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8998,begin apogee
$GC,9003,-0.28,0.0,920.8,9.0,184,9099,0.43,0.00,92.80,1.413,6,0.090,0.000,2893,1668,2827,0,0,0,0,0,0
$STATE,9100,end apogee,CONTROL_FINISHED_OK
$STATE,9100,begin loiter
$GC,9787,-0.27,253.2,986.2,-8.5,197,10020,0.00,2.53,223.95,1.420,4,0.000,0.043,2892,3085,1794,0,0,0,0,0,0
$GC,10271,-0.27,253.2,986.6,4.6,204,10276,0.00,2.25,0.00,0.000,6,0.000,0.042,2892,1689,1785,0,0,0,0,0,0
$GC,11023,-0.27,253.2,946.8,5.9,217,11027,0.00,2.15,0.00,0.000,4,0.000,0.059,2892,369,1781,0,0,0,0,0,0
$GC,11280,-0.27,253.2,930.4,6.5,220,11284,0.00,2.08,0.00,0.000,6,0.000,0.034,2892,1685,1780,0,0,0,0,0,0
$GC,12020,-0.27,253.2,885.6,5.7,233,12024,0.00,2.35,0.00,0.000,4,0.000,0.060,2892,277,1779,0,0,0,0,0,0
$GC,12166,-0.27,253.2,878.5,4.8,235,12170,0.00,2.20,0.00,0.000,6,0.000,0.034,2892,1689,1778,0,0,0,0,0,0
$GC,12939,-0.27,253.2,852.4,3.1,248,12942,0.00,2.00,0.00,0.000,4,0.000,0.058,2892,474,1778,0,0,0,0,0,0
$GC,13196,-0.27,253.2,844.8,3.4,251,13200,0.00,1.90,0.00,0.000,6,0.000,0.034,2892,1681,1777,0,0,0,0,0,0
$GC,13936,-0.27,253.2,817.8,4.1,264,13940,0.00,0.43,0.00,0.000,4,0.000,0.058,2892,1410,1778,0,0,0,0,0,0
$GC,14193,-0.27,253.2,806.2,5.2,267,14198,0.00,0.45,0.00,0.000,6,0.000,0.043,2891,1705,1777,0,0,0,0,0,0
$GC,14933,-0.27,253.2,778.7,3.1,280,14937,0.00,0.52,0.00,0.000,4,0.000,0.047,2891,2074,1777,0,0,0,0,0,0
$GC,15191,-0.27,253.2,772.2,2.3,283,15195,0.00,0.65,0.00,0.000,6,0.000,0.050,2891,1665,1777,0,0,0,0,0,0
$GC,15931,-0.27,253.2,754.6,2.5,296,15935,0.00,2.30,0.00,0.000,4,0.000,0.060,2891,284,1777,0,0,0,0,0,0
$GC,16103,-0.27,253.2,749.5,3.2,298,16108,0.00,2.20,0.00,0.000,6,0.000,0.034,2891,1676,1776,0,0,0,0,0,0
$GC,16855,-0.27,253.2,725.1,3.3,311,16859,0.00,2.35,0.00,0.000,4,0.000,0.061,2891,286,1776,0,0,0,0,0,0
$GC,17044,-0.27,253.2,718.2,3.8,313,17050,0.00,2.22,0.00,0.000,6,0.000,0.036,2891,1683,1776,0,0,0,0,0,0
$GC,17779,-0.27,253.2,693.5,3.4,326,17783,0.00,2.28,0.00,0.000,4,0.000,0.048,2889,3095,1775,0,0,0,0,0,0
$GC,17822,-0.27,253.2,692.0,2.7,326,17826,0.00,2.28,0.00,0.000,6,0.000,0.044,2889,1682,1776,0,0,0,0,0,0
$GC,18573,-0.27,253.2,664.5,3.8,339,18577,0.00,2.38,0.00,0.000,4,0.000,0.062,2889,273,1776,0,0,0,0,0,0
$GC,18752,-0.27,253.2,658.0,4.0,341,18756,0.00,2.28,0.00,0.000,6,0.000,0.037,2889,1692,1776,0,0,0,0,0,0
$GC,19498,-0.27,253.2,635.1,2.9,354,19502,0.00,2.40,0.00,0.000,4,0.000,0.062,2889,277,1776,0,0,0,0,0,0
$GC,19676,-0.27,253.2,629.6,3.4,356,19680,0.00,2.25,0.00,0.000,6,0.000,0.035,2882,1685,1776,0,0,0,0,0,0
$STATE,19879,end loiter,LOITER_COMPLETE
$STATE,19880,begin climb
$GC,19882,0.65,107.0,623.7,0.0,360,19887,0.95,2.30,0.00,0.000,4,0.112,0.044,3176,3088,1776,0,0,0,0,0,0
$GC,20084,0.39,173.1,616.6,3.1,363,20089,0.30,2.28,0.00,0.000,6,0.179,0.045,3112,1684,1776,0,0,0,0,0,0
$GC,20809,0.39,235.8,594.0,3.2,375,20810,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1684,1776,0,0,0,0,0,0
$GC,21535,0.39,322.1,575.9,2.4,387,21601,0.00,1.40,60.75,1.213,4,0.000,0.057,3117,845,1513,0,0,0,0,0,0
$GC,21854,0.39,322.1,561.0,5.5,391,21859,0.00,1.35,0.00,0.000,6,0.000,0.039,3117,1692,1507,0,0,0,0,0,0
$GC,22588,0.39,322.1,520.0,5.7,404,22592,0.00,2.38,0.00,0.000,4,0.000,0.063,3117,280,1506,0,0,0,0,0,0
$GC,22845,0.39,322.1,505.1,5.8,407,22850,0.00,2.25,0.00,0.000,6,0.000,0.038,3116,1678,1505,0,0,0,0,0,0
$GC,23579,0.39,334.4,467.9,4.9,420,23596,0.00,2.28,11.32,1.004,4,0.000,0.045,3117,3091,1462,0,0,0,0,0,0
$GC,23847,0.39,334.4,452.8,5.7,424,23852,0.00,2.28,0.00,0.000,6,0.000,0.047,3117,1693,1462,0,0,0,0,0,0
$GC,24577,0.39,334.4,404.6,7.0,436,24581,0.00,2.38,0.00,0.000,4,0.000,0.064,3117,277,1462,0,0,0,0,0,0
$GC,24835,0.39,334.4,387.6,7.0,439,24840,0.00,2.28,0.00,0.000,6,0.000,0.037,3117,1694,1461,0,0,0,0,0,0
$GC,25569,0.39,334.7,348.1,5.3,452,25573,0.00,2.25,0.00,0.000,4,0.000,0.047,3117,3098,1460,0,0,0,0,0,0
$GC,25827,0.39,334.7,333.3,6.1,455,25831,0.00,2.28,0.00,0.000,6,0.000,0.046,3117,1681,1460,0,0,0,0,0,0
$GC,26567,0.39,334.7,287.2,6.6,468,26568,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1681,1461,0,0,0,0,0,0
$GC,27295,0.40,349.8,246.7,4.8,480,27315,0.00,2.33,15.68,0.903,4,0.000,0.061,3117,279,1400,0,0,0,0,0,0
$GC,27568,0.40,351.6,233.0,5.2,484,27572,0.00,2.22,0.00,0.000,6,0.000,0.034,3117,1697,1397,0,0,0,0,0,0
$GC,28292,0.40,351.6,193.1,6.0,496,28296,0.00,0.47,0.00,0.000,4,0.000,0.058,3117,1399,1397,0,0,0,0,0,0
$GC,28549,0.40,351.6,178.4,5.6,499,28553,0.00,0.45,0.00,0.000,6,0.000,0.041,3117,1702,1397,0,0,0,0,0,0
$GC,29289,0.40,354.5,140.2,5.2,512,29299,0.00,1.33,5.60,0.659,4,0.000,0.041,3117,2562,1380,0,0,0,0,0,0
$GC,29445,0.40,354.5,130.6,6.2,514,29449,0.00,1.42,0.00,0.000,6,0.000,0.047,3117,1683,1380,0,0,0,0,0,0
$GC,30202,0.40,354.5,80.3,6.5,529,30206,0.00,2.35,0.00,0.000,4,0.000,0.064,3117,283,1380,0,0,0,0,0,0
$GC,30459,0.40,369.3,66.4,4.8,534,30480,0.00,2.17,14.55,0.773,6,0.000,0.034,3117,1681,1321,0,0,0,0,0,0
$GC,31208,0.40,369.3,25.8,5.8,569,31212,0.00,2.38,0.00,0.000,4,0.000,0.063,3117,274,1320,0,0,0,0,0,0
$GC,31469,0.40,369.3,8.7,6.4,591,31477,0.00,2.20,0.00,0.000,6,0.000,0.032,3117,1681,1318,0,0,0,0,0,0
$STATE,31561,end climb,SURFACE_DEPTH_REACHED
$STATE,31561,begin surface coast
$FINISH,1.7,1.025654
$STATE,31605,end surface coast,CONTROL_FINISHED_OK
$STATE,31605,begin surface
$SM_CCo,31683,0.00,0.000,0,0,1315,370.89
$SM_GC,2.94,8.82,0.00,0.00,0.060,0.000,0.000,89,1690,1315,-8.98,-1.24,370.89
$IRIDIUM_FIX,-4049.28,-419.98,240113,131315
$TT8_MAMPS,0.026964
$HUMID,50.23
$INTERNAL_PRESSURE,9.15522
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,21.9,123.091
$10V_AH,9.8,72.675
$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,22.925,115.950,424.650,0.000,0.000,28.246,41.725,413.713,0.000,0.000,49.750,1941.841,26266.211,485.958,3359.356,304.964,0.000,1857.764,0.000,2811.670,0.000,1.015,0.000
$DEVICE_MAMPS,262.395,90.270,1419.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.392,347.475,259.404,54.118,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354824
$DATA_FILE_SIZE,36905,604
$CAP_FILE_SIZE,164227,0
$CFSIZE,2097086464,2022670336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,250113,063907,-4104.266,-417.557,28,1.7,28,-22.6