version: 66.07.10.p01
glider: 574
mission: 4
dive: 522
start: 1 25 113 16 43 22
data:
$ID,574
$MISSION,4
$DIVE,522
$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,-9881.8398
$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,37
$R_STBD_OVSHOOT,71
$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,501
$GPS1,250113,064735,-4104.292,-417.570,901,99.0,901,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-78.3
$GPS2,250113,064735,-4104.292,-417.570,901,99.0,901,-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,111.7,150258,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.65,-107.0,0.0,0.0,0,42,0.00,0.00,-12.32,0.000,2,0.000,0.000,70,1688,2106,0,0,0,0,0,0
$GC,45,-0.65,-107.0,3.3,-0.0,1,101,13.12,2.40,-33.62,0.000,4,0.269,0.065,2756,3104,3265,0,0,0,0,0,0
$GC,162,-0.65,-107.0,12.9,-10.7,11,166,0.00,2.17,0.00,0.000,6,0.000,0.044,2756,1744,3266,0,0,0,0,0,0
$GC,276,-0.65,-107.0,24.1,-10.0,21,280,0.00,2.20,0.00,0.000,4,0.000,0.050,2756,3101,3267,0,0,0,0,0,0
$GC,342,-0.65,-107.0,30.8,-10.6,26,346,0.00,2.17,0.00,0.000,6,0.000,0.043,2756,1731,3266,0,0,0,0,0,0
$GC,790,-0.65,-107.0,78.1,-10.4,44,793,0.00,0.35,0.00,0.000,4,0.000,0.046,2756,1985,3267,0,0,0,0,0,0
$GC,805,-0.65,-107.0,79.9,-9.8,44,809,0.00,0.40,0.00,0.000,6,0.000,0.052,2756,1724,3267,0,0,0,0,0,0
$GC,1523,-0.65,-107.0,146.5,-9.1,58,1527,0.00,2.20,0.00,0.000,4,0.000,0.047,2756,3102,3268,0,0,0,0,0,0
$GC,1600,-0.65,-107.0,154.3,-10.2,59,1605,0.00,2.17,0.00,0.000,6,0.000,0.041,2756,1746,3267,0,0,0,0,0,0
$GC,2319,-0.65,-107.0,231.0,-11.4,71,2323,0.00,2.33,0.00,0.000,4,0.000,0.058,2756,321,3267,0,0,0,0,0,0
$GC,2515,-0.65,-107.0,254.9,-11.5,74,2520,0.00,2.15,0.00,0.000,6,0.000,0.034,2755,1706,3267,0,0,0,0,0,0
$GC,3245,-0.65,-107.0,332.3,-9.8,86,3248,0.00,0.62,0.00,0.000,4,0.000,0.045,2756,2136,3267,0,0,0,0,0,0
$GC,3272,-0.65,-107.0,335.2,-10.0,86,3276,0.00,0.65,0.00,0.000,6,0.000,0.045,2756,1717,3267,0,0,0,0,0,0
$GC,4040,-0.65,-107.0,406.8,-9.0,99,4043,0.00,0.77,0.00,0.000,4,0.000,0.054,2756,1222,3267,0,0,0,0,0,0
$GC,4247,-0.65,-107.0,426.2,-9.4,102,4251,0.00,0.82,0.00,0.000,6,0.000,0.038,2756,1746,3266,0,0,0,0,0,0
$GC,4977,-0.65,-107.0,501.0,-11.0,114,4981,0.00,2.25,0.00,0.000,4,0.000,0.052,2756,3135,3265,0,0,0,0,0,0
$GC,5099,-0.65,-107.0,515.3,-11.5,115,5105,0.00,2.22,0.00,0.000,6,0.000,0.040,2756,1746,3265,0,0,0,0,0,0
$GC,5834,-0.65,-107.0,597.7,-10.7,128,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1746,3264,0,0,0,0,0,0
$GC,6561,-0.65,-107.0,668.1,-9.2,140,6565,0.00,0.38,0.00,0.000,4,0.000,0.051,2755,2009,3262,0,0,0,0,0,0
$GC,6582,-0.65,-107.0,670.1,-8.8,140,6587,0.00,0.45,0.00,0.000,6,0.000,0.052,2756,1722,3262,0,0,0,0,0,0
$GC,7356,-0.65,-107.0,734.4,-8.0,153,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1722,3262,0,0,0,0,0,0
$GC,8084,-0.65,-107.0,795.7,-8.5,165,8088,0.00,2.28,0.00,0.000,4,0.000,0.050,2756,3129,3260,0,0,0,0,0,0
$GC,8206,-0.65,-107.0,806.8,-9.0,166,8212,0.00,2.25,0.00,0.000,6,0.000,0.042,2756,1742,3260,0,0,0,0,0,0
$GC,8940,-0.65,-107.0,875.6,-9.7,179,8945,0.00,2.25,0.00,0.000,4,0.000,0.050,2756,3129,3259,0,0,0,0,0,0
$GC,9063,-0.65,-107.0,887.3,-8.8,180,9068,0.00,2.28,0.00,0.000,6,0.000,0.043,2755,1727,3259,0,0,0,0,0,0
$STATE,9432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9432,begin apogee
$GC,9437,-0.28,0.0,920.1,8.7,187,9534,0.40,0.00,93.62,1.420,6,0.087,0.000,2888,1685,2827,0,0,0,0,0,0
$STATE,9534,end apogee,CONTROL_FINISHED_OK
$STATE,9534,begin loiter
$GC,10221,-0.27,225.8,978.4,-7.5,200,10428,0.00,2.50,198.90,1.431,4,0.000,0.048,2885,3081,1906,0,0,0,0,0,0
$GC,10669,-0.27,225.8,981.7,3.2,207,10674,0.00,2.28,0.00,0.000,6,0.000,0.045,2885,1682,1898,0,0,0,0,0,0
$GC,11399,-0.27,225.8,962.9,2.8,219,11403,0.00,2.33,0.00,0.000,4,0.000,0.060,2885,271,1894,0,0,0,0,0,0
$GC,11630,-0.27,225.8,955.4,3.3,222,11634,0.00,2.22,0.00,0.000,6,0.000,0.038,2885,1682,1893,0,0,0,0,0,0
$GC,12392,-0.27,225.8,928.7,3.4,235,12396,0.00,2.25,0.00,0.000,4,0.000,0.048,2876,3085,1892,0,0,0,0,0,0
$GC,12598,-0.27,225.8,923.2,2.8,238,12603,0.00,2.28,0.00,0.000,6,0.000,0.045,2876,1689,1891,0,0,0,0,0,0
$GC,13328,-0.27,225.8,914.9,0.5,250,13333,0.05,2.35,0.00,0.000,4,0.213,0.060,2888,273,1891,0,0,0,0,0,0
$GC,13574,-0.27,225.8,913.8,0.5,253,13579,0.00,2.28,0.00,0.000,6,0.000,0.039,2883,1687,1890,0,0,0,0,0,0
$GC,14320,-0.27,225.8,906.1,1.4,266,14324,0.00,2.40,0.00,0.000,4,0.000,0.062,2883,272,1890,0,0,0,0,0,0
$GC,14509,-0.27,225.8,902.2,2.2,268,14515,0.00,2.28,0.00,0.000,6,0.000,0.038,2878,1688,1889,0,0,0,0,0,0
$GC,15243,-0.27,225.8,883.1,2.8,281,15247,0.00,2.25,0.00,0.000,4,0.000,0.049,2870,3087,1889,0,0,0,0,0,0
$GC,15484,-0.27,225.8,876.6,2.2,284,15489,0.10,2.28,0.00,0.000,6,0.154,0.046,2894,1678,1889,0,0,0,0,0,0
$GC,16240,-0.27,225.8,865.5,0.9,297,16244,0.00,2.35,0.00,0.000,4,0.000,0.060,2894,274,1889,0,0,0,0,0,0
$GC,16498,-0.27,225.8,864.0,0.2,300,16503,0.00,2.25,0.00,0.000,6,0.000,0.039,2891,1686,1889,0,0,0,0,0,0
$GC,17232,-0.27,225.8,855.0,2.0,313,17236,0.00,1.73,0.00,0.000,4,0.000,0.060,2891,641,1889,0,0,0,0,0,0
$GC,17489,-0.27,225.8,847.9,3.0,316,17494,0.00,1.67,0.00,0.000,6,0.000,0.040,2890,1684,1889,0,0,0,0,0,0
$GC,18229,-0.27,225.8,824.9,2.8,329,18233,0.00,2.00,0.00,0.000,4,0.000,0.061,2889,501,1889,0,0,0,0,0,0
$GC,18486,-0.27,225.8,818.6,1.8,332,18491,0.00,1.90,0.00,0.000,6,0.000,0.038,2885,1687,1889,0,0,0,0,0,0
$GC,19226,-0.27,225.8,809.8,0.7,345,19228,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1695,1889,0,0,0,0,0,0
$GC,19954,-0.27,225.8,806.7,0.4,357,19955,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1695,1889,0,0,0,0,0,0
$STATE,20316,end loiter,LOITER_COMPLETE
$STATE,20316,begin climb
$GC,20318,0.65,107.0,804.9,0.0,363,20322,0.93,0.50,0.00,0.000,4,0.103,0.055,3182,1400,1890,0,0,0,0,0,0
$GC,20575,0.37,238.9,801.7,0.9,366,20590,0.28,0.45,10.77,1.182,6,0.176,0.049,3108,1704,1852,0,0,0,0,0,0
$GC,21320,0.37,311.0,782.5,2.9,379,21395,0.00,1.73,68.35,1.349,4,0.000,0.050,3108,2707,1558,0,0,0,0,0,0
$GC,21633,0.37,311.0,765.1,6.5,383,21637,0.00,1.67,0.00,0.000,6,0.000,0.050,3113,1671,1554,0,0,0,0,0,0
$GC,22379,0.37,316.0,724.2,5.1,396,22389,0.00,2.28,5.28,0.929,4,0.000,0.050,3112,3078,1537,0,0,0,0,0,0
$GC,22642,0.37,316.0,710.7,5.6,400,22647,0.08,2.28,0.00,0.000,6,0.197,0.047,3105,1674,1537,0,0,0,0,0,0
$GC,23373,0.37,316.0,668.9,6.3,412,23377,0.00,2.30,0.00,0.000,4,0.000,0.050,3105,3080,1537,0,0,0,0,0,0
$GC,23630,0.37,316.0,651.3,5.5,415,23636,0.00,2.30,0.00,0.000,6,0.000,0.048,3105,1661,1536,0,0,0,0,0,0
$GC,24365,0.37,328.0,609.7,4.9,428,24384,0.00,2.12,12.60,1.109,4,0.000,0.065,3105,424,1488,0,0,0,0,0,0
$GC,24637,0.37,374.1,597.4,3.7,432,24687,0.00,1.98,44.47,1.212,6,0.000,0.041,3105,1682,1300,0,0,0,0,0,0
$GC,25421,0.37,374.1,548.8,7.4,445,25422,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1682,1293,0,0,0,0,0,0
$GC,26149,0.37,374.1,482.1,9.5,457,26152,0.00,2.12,0.00,0.000,4,0.000,0.066,3105,428,1292,0,0,0,0,0,0
$GC,26406,0.37,374.1,458.9,8.7,460,26411,0.00,2.00,0.00,0.000,6,0.000,0.038,3105,1678,1289,0,0,0,0,0,0
$GC,27147,0.38,398.8,414.3,4.5,473,27172,0.00,0.85,21.88,1.056,4,0.000,0.046,3105,2211,1201,0,0,0,0,0,0
$GC,27425,0.38,444.8,402.8,3.8,477,27474,0.00,0.85,43.20,1.075,6,0.000,0.054,3105,1683,1013,0,0,0,0,0,0
$GC,28205,0.38,444.8,347.7,8.7,490,28209,0.00,2.35,0.00,0.000,4,0.000,0.066,3105,278,1006,0,0,0,0,0,0
$GC,28462,0.38,444.8,320.0,10.0,493,28467,0.00,2.25,0.00,0.000,6,0.000,0.037,3105,1690,1002,0,0,0,0,0,0
$GC,29196,0.38,444.8,242.4,10.0,506,29200,0.00,1.77,0.00,0.000,4,0.000,0.046,3104,2813,1001,0,0,0,0,0,0
$GC,29454,0.38,444.8,219.2,7.5,509,29458,0.00,1.85,0.00,0.000,6,0.000,0.049,3105,1687,1001,0,0,0,0,0,0
$GC,30194,0.38,444.8,165.1,7.0,522,30198,0.00,2.28,0.00,0.000,4,0.000,0.047,3104,3087,1001,0,0,0,0,0,0
$GC,30237,0.38,444.8,162.0,6.7,522,30241,0.00,2.30,0.00,0.000,6,0.000,0.047,3105,1670,1001,0,0,0,0,0,0
$GC,30983,0.38,444.8,96.1,9.4,535,30987,0.00,2.35,0.00,0.000,4,0.000,0.067,3105,279,1001,0,0,0,0,0,0
$GC,31240,0.38,444.8,74.1,7.5,540,31248,0.00,2.22,0.00,0.000,6,0.000,0.035,3105,1686,1000,0,0,0,0,0,0
$GC,31974,0.38,444.8,13.7,7.9,581,31978,0.00,2.40,0.00,0.000,4,0.000,0.066,3105,278,1000,0,0,0,0,0,0
$STATE,32109,end climb,SURFACE_DEPTH_REACHED
$STATE,32109,begin surface coast
$FINISH,1.9,1.013056
$STATE,32143,end surface coast,CONTROL_FINISHED_OK
$STATE,32143,begin surface
$SM_CCo,32223,0.00,0.000,0,0,997,448.65
$SM_GC,3.01,8.88,0.00,0.00,0.060,0.000,0.000,85,1742,997,-8.99,0.20,448.65
$IRIDIUM_FIX,-4046.43,-419.98,240113,212139
$TT8_MAMPS,0.026964
$HUMID,51.18
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,22.3,123.429
$10V_AH,9.8,72.903
$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,23.825,120.925,499.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,900.988,1917.593,26916.486,516.999,3640.347,185.659,0.000,1853.250,0.000,2687.204,0.000,1.016,0.000
$DEVICE_MAMPS,268.515,155.295,1431.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.439,278.195,250.975,45.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354784
$DATA_FILE_SIZE,33813,595
$CAP_FILE_SIZE,157072,0
$CFSIZE,2097086464,2022440960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260113,014135,-4105.840,-414.462,33,1.1,33,-22.6