version: 66.07.10.p01
glider: 574
mission: 4
dive: 523
start: 1 26 113 1 53 37
data:
$ID,574
$MISSION,4
$DIVE,523
$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,-9885.4746
$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,25
$R_STBD_OVSHOOT,35
$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,502
$GPS1,260113,014135,-4105.840,-414.462,33,1.1,33,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-75.5
$GPS2,260113,015312,-4105.878,-414.500,19,1.1,19,-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,110.5,146049,-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,-107.0,0.0,0.0,0,55,0.00,0.00,-27.45,0.000,2,0.000,0.000,69,1739,1725,0,0,0,0,0,0
$GC,58,-0.65,-107.0,3.3,-1.7,3,136,12.82,2.35,-53.92,0.000,4,0.272,0.066,2756,3134,3266,0,0,0,0,0,0
$GC,395,-0.65,-107.0,35.0,-11.1,30,402,0.00,2.30,0.00,0.000,6,0.000,0.048,2756,1734,3267,0,0,0,0,0,0
$GC,835,-0.65,-107.0,69.7,-7.6,49,838,0.00,0.43,0.00,0.000,4,0.000,0.048,2756,2030,3268,0,0,0,0,0,0
$GC,1041,-0.65,-107.0,86.4,-8.0,53,1045,0.00,0.50,0.00,0.000,6,0.000,0.053,2755,1716,3268,0,0,0,0,0,0
$GC,1768,-0.65,-107.0,161.1,-11.3,67,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1716,3268,0,0,0,0,0,0
$GC,2495,-0.65,-107.0,241.8,-10.2,79,2499,0.00,2.33,0.00,0.000,4,0.000,0.050,2756,3142,3269,0,0,0,0,0,0
$GC,2752,-0.65,-107.0,267.8,-10.5,82,2757,0.00,2.22,0.00,0.000,6,0.000,0.043,2756,1746,3269,0,0,0,0,0,0
$GC,3486,-0.65,-107.0,348.6,-11.6,95,3490,0.00,2.40,0.00,0.000,4,0.000,0.063,2756,318,3268,0,0,0,0,0,0
$GC,3743,-0.65,-107.0,378.5,-11.5,98,3749,0.00,2.25,0.00,0.000,6,0.000,0.035,2756,1742,3269,0,0,0,0,0,0
$GC,4478,-0.65,-107.0,456.4,-10.4,111,4482,0.00,2.40,0.00,0.000,4,0.000,0.060,2756,319,3268,0,0,0,0,0,0
$GC,4701,-0.65,-107.0,480.2,-10.8,114,4705,0.00,2.22,0.00,0.000,6,0.000,0.034,2756,1731,3268,0,0,0,0,0,0
$GC,5469,-0.65,-107.0,558.7,-10.7,127,5473,0.00,1.45,0.00,0.000,4,0.000,0.044,2755,2654,3266,0,0,0,0,0,0
$GC,5537,-0.65,-107.0,566.3,-11.0,128,5541,0.00,1.48,0.00,0.000,6,0.000,0.044,2756,1728,3266,0,0,0,0,0,0
$GC,6272,-0.65,-107.0,649.0,-11.1,140,6277,0.00,2.33,0.00,0.000,4,0.000,0.060,2756,333,3265,0,0,0,0,0,0
$GC,6384,-0.65,-107.0,661.7,-11.9,141,6388,0.00,2.22,0.00,0.000,6,0.000,0.036,2756,1734,3265,0,0,0,0,0,0
$GC,7129,-0.65,-107.0,736.8,-9.5,154,7133,0.00,2.15,0.00,0.000,4,0.000,0.058,2756,442,3263,0,0,0,0,0,0
$GC,7252,-0.65,-107.0,748.8,-9.8,155,7257,0.00,2.05,0.00,0.000,6,0.000,0.035,2756,1732,3263,0,0,0,0,0,0
$GC,7986,-0.65,-107.0,816.5,-9.5,168,7990,0.00,0.93,0.00,0.000,4,0.000,0.054,2755,1163,3262,0,0,0,0,0,0
$GC,8244,-0.65,-107.0,843.2,-10.6,171,8248,0.00,0.90,0.00,0.000,6,0.000,0.042,2756,1737,3261,0,0,0,0,0,0
$STATE,8982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8982,begin apogee
$GC,8987,-0.28,0.0,921.5,10.5,184,9083,0.43,0.00,93.15,1.420,6,0.092,0.000,2895,1678,2827,0,0,0,0,0,0
$STATE,9084,end apogee,CONTROL_FINISHED_OK
$STATE,9084,begin loiter
$GC,9771,-0.27,249.5,990.8,-8.3,197,10003,0.00,2.30,222.00,1.432,4,0.000,0.060,2895,454,1809,0,0,0,0,0,0
$GC,10255,-0.27,249.5,988.1,4.6,204,10259,0.00,1.95,0.00,0.000,6,0.000,0.037,2893,1682,1800,0,0,0,0,0,0
$GC,11012,-0.27,249.5,950.8,4.6,217,11016,0.00,2.35,0.00,0.000,4,0.000,0.063,2892,280,1796,0,0,0,0,0,0
$GC,11159,-0.27,249.5,944.7,3.5,219,11163,0.00,2.22,0.00,0.000,6,0.000,0.037,2892,1690,1795,0,0,0,0,0,0
$GC,11877,-0.27,249.5,927.4,1.7,231,11881,0.00,2.38,0.00,0.000,4,0.000,0.063,2892,283,1794,0,0,0,0,0,0
$GC,12043,-0.27,249.5,926.1,0.5,233,12048,0.00,2.22,0.00,0.000,6,0.000,0.037,2891,1681,1793,0,0,0,0,0,0
$GC,12800,-0.27,249.5,918.2,1.9,246,12805,0.00,2.35,0.00,0.000,4,0.000,0.063,2892,286,1793,0,0,0,0,0,0
$GC,12901,-0.27,249.5,914.9,2.9,247,12905,0.00,2.22,0.00,0.000,6,0.000,0.037,2892,1698,1792,0,0,0,0,0,0
$GC,13657,-0.27,249.5,880.9,5.2,260,13661,0.00,2.08,0.00,0.000,4,0.000,0.048,2889,2998,1792,0,0,0,0,0,0
$GC,13915,-0.27,249.5,867.1,5.2,263,13919,0.00,2.10,0.00,0.000,6,0.000,0.046,2889,1690,1791,0,0,0,0,0,0
$GC,14655,-0.27,249.5,843.8,2.2,276,14659,0.00,2.38,0.00,0.000,4,0.000,0.063,2889,274,1791,0,0,0,0,0,0
$GC,14839,-0.27,249.5,840.7,1.7,278,14843,0.00,2.25,0.00,0.000,6,0.000,0.037,2884,1682,1791,0,0,0,0,0,0
$GC,15579,-0.27,249.5,831.1,1.7,291,15583,0.00,2.25,0.00,0.000,4,0.000,0.048,2875,3089,1791,0,0,0,0,0,0
$GC,15680,-0.27,249.5,828.9,2.3,292,15684,0.08,2.28,0.00,0.000,6,0.168,0.045,2891,1682,1791,0,0,0,0,0,0
$GC,16430,-0.27,249.5,799.8,4.8,305,16433,0.00,0.80,0.00,0.000,4,0.000,0.046,2891,2198,1791,0,0,0,0,0,0
$GC,16689,-0.27,249.5,786.5,4.0,308,16692,0.00,0.82,0.00,0.000,6,0.000,0.051,2891,1683,1791,0,0,0,0,0,0
$GC,17428,-0.27,249.5,751.3,4.2,321,17432,0.00,2.38,0.00,0.000,4,0.000,0.063,2891,276,1791,0,0,0,0,0,0
$GC,17575,-0.27,249.5,745.5,3.9,323,17580,0.00,2.25,0.00,0.000,6,0.000,0.037,2891,1695,1791,0,0,0,0,0,0
$GC,18348,-0.27,249.5,722.3,3.1,336,18352,0.00,2.17,0.00,0.000,4,0.000,0.063,2891,414,1791,0,0,0,0,0,0
$GC,18606,-0.27,249.5,712.9,3.8,339,18611,0.00,2.03,0.00,0.000,6,0.000,0.037,2891,1682,1791,0,0,0,0,0,0
$GC,19340,-0.27,249.5,685.5,3.8,352,19344,0.00,0.57,0.00,0.000,4,0.000,0.060,2891,1328,1791,0,0,0,0,0,0
$GC,19530,-0.27,249.5,677.5,3.6,354,19534,0.00,0.57,0.00,0.000,6,0.000,0.042,2890,1698,1791,0,0,0,0,0,0
$STATE,19844,end loiter,LOITER_COMPLETE
$STATE,19844,begin climb
$GC,19846,0.65,107.0,666.3,0.0,360,19850,0.93,1.27,0.00,0.000,4,0.110,0.041,3179,2503,1791,0,0,0,0,0,0
$GC,20059,0.39,164.1,659.6,3.4,363,20063,0.28,1.33,0.00,0.000,6,0.170,0.051,3112,1692,1791,0,0,0,0,0,0
$GC,20783,0.39,295.2,650.4,0.9,375,20826,0.00,0.00,40.95,1.247,6,0.000,0.000,3112,1692,1622,0,0,0,0,0,0
$GC,21509,0.39,295.2,618.4,5.8,387,21513,0.00,2.38,0.00,0.000,4,0.000,0.065,3119,270,1617,0,0,0,0,0,0
$GC,21766,0.39,295.2,599.4,7.4,390,21770,0.00,2.25,0.00,0.000,6,0.000,0.041,3119,1667,1615,0,0,0,0,0,0
$GC,22506,0.39,295.2,536.0,8.6,403,22510,0.00,2.30,0.00,0.000,4,0.000,0.050,3119,3091,1615,0,0,0,0,0,0
$GC,22708,0.39,295.2,522.1,6.2,406,22713,0.00,2.30,0.00,0.000,6,0.000,0.049,3119,1683,1614,0,0,0,0,0,0
$GC,23438,0.40,401.6,500.0,1.7,418,23544,0.00,2.47,97.22,1.169,4,0.000,0.066,3119,281,1189,0,0,0,0,0,0
$GC,23550,0.40,444.5,496.8,3.9,419,23596,0.00,2.30,40.75,1.112,6,0.000,0.037,3119,1695,1013,0,0,0,0,0,0
$GC,24347,0.40,444.5,433.1,10.1,433,24351,0.00,2.22,0.00,0.000,4,0.000,0.047,3119,3085,1003,0,0,0,0,0,0
$GC,24469,0.40,444.5,419.4,10.8,434,24475,0.00,2.28,0.00,0.000,6,0.000,0.047,3119,1687,1001,0,0,0,0,0,0
$GC,25204,0.40,444.5,346.8,8.9,447,25207,0.00,1.25,0.00,0.000,4,0.000,0.061,3119,931,1000,0,0,0,0,0,0
$GC,25461,0.40,444.5,327.2,6.6,450,25465,0.00,1.17,0.00,0.000,6,0.000,0.037,3119,1686,998,0,0,0,0,0,0
$GC,26201,0.40,444.5,266.6,9.2,463,26205,0.00,0.90,0.00,0.000,4,0.000,0.043,3119,2286,998,0,0,0,0,0,0
$GC,26290,0.40,444.5,257.5,11.8,464,26294,0.00,0.98,0.00,0.000,6,0.000,0.050,3119,1680,998,0,0,0,0,0,0
$GC,27063,0.40,444.5,177.6,9.1,477,27067,0.00,2.22,0.00,0.000,4,0.000,0.064,3119,358,998,0,0,0,0,0,0
$GC,27321,0.40,444.5,156.3,7.8,480,27327,0.00,2.08,0.00,0.000,6,0.000,0.034,3119,1676,997,0,0,0,0,0,0
$GC,28038,0.40,444.5,95.1,9.3,493,28042,0.00,2.25,0.00,0.000,4,0.000,0.047,3119,3083,997,0,0,0,0,0,0
$GC,28295,0.40,444.5,70.9,8.0,498,28303,0.00,2.28,0.00,0.000,6,0.000,0.045,3120,1688,997,0,0,0,0,0,0
$GC,29028,0.40,444.5,17.5,8.4,537,29032,0.00,0.73,0.00,0.000,4,0.000,0.042,3119,2169,997,0,0,0,0,0,0
$STATE,29214,end climb,SURFACE_DEPTH_REACHED
$STATE,29214,begin surface coast
$FINISH,1.8,1.003013
$STATE,29262,end surface coast,CONTROL_FINISHED_OK
$STATE,29262,begin surface
$SM_CCo,29340,0.00,0.000,0,0,995,449.38
$SM_GC,2.94,8.90,0.00,0.00,0.060,0.000,0.000,87,1724,995,-8.99,-0.31,449.38
$IRIDIUM_FIX,-4049.28,-420.20,250113,060603
$TT8_MAMPS,0.026964
$HUMID,51.18
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.9,123.645
$10V_AH,9.8,72.994
$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,23.425,111.600,494.075,0.000,0.000,30.868,42.983,441.712,0.000,0.000,22.853,1782.300,24338.650,535.381,3079.105,303.034,0.000,1793.004,0.000,2530.248,0.000,1.014,0.000
$DEVICE_MAMPS,271.575,93.330,1432.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.026,307.844,234.845,48.070,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354804
$DATA_FILE_SIZE,33594,557
$CAP_FILE_SIZE,151903,0
$CFSIZE,2097086464,2022309888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,260113,100358,-4106.319,-412.628,40,1.3,45,-22.6