version: 66.07.10.p01
glider: 574
mission: 4
dive: 524
start: 1 26 113 10 5 35
data:
$ID,574
$MISSION,4
$DIVE,524
$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,-9887.8057
$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,33
$R_STBD_OVSHOOT,41
$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,503
$GPS1,260113,100358,-4106.319,-412.628,40,1.3,45,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-76.0
$GPS2,260113,100512,-4106.312,-412.612,16,1.5,16,-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,110.1,143446,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,51,0.00,0.00,-22.83,0.000,2,0.000,0.000,76,1722,1590,0,0,0,0,0,0
$GC,54,-0.65,-107.0,3.1,-1.9,2,135,12.43,2.38,-61.80,0.000,4,0.260,0.076,2758,338,3266,0,0,0,0,0,0
$GC,157,-0.65,-107.0,7.7,-10.1,11,161,0.00,2.20,0.00,0.000,6,0.000,0.038,2758,1728,3267,0,0,0,0,0,0
$GC,271,-0.65,-107.0,19.9,-10.7,21,275,0.00,2.30,0.00,0.000,4,0.000,0.054,2757,3143,3267,0,0,0,0,0,0
$GC,426,-0.65,-107.0,36.8,-10.7,32,430,0.00,2.25,0.00,0.000,6,0.000,0.044,2757,1740,3267,0,0,0,0,0,0
$GC,875,-0.65,-107.0,82.7,-10.4,49,879,0.00,0.60,0.00,0.000,4,0.000,0.056,2757,1359,3268,0,0,0,0,0,0
$GC,1132,-0.65,-107.0,110.3,-10.8,54,1137,0.00,0.62,0.00,0.000,6,0.000,0.038,2757,1767,3268,0,0,0,0,0,0
$GC,1872,-0.65,-107.0,187.6,-9.9,67,1876,0.00,0.77,0.00,0.000,4,0.000,0.054,2757,1287,3269,0,0,0,0,0,0
$GC,2130,-0.65,-107.0,214.1,-10.2,70,2134,0.00,0.70,0.00,0.000,6,0.000,0.037,2757,1737,3269,0,0,0,0,0,0
$GC,2870,-0.65,-107.0,291.1,-10.1,83,2874,0.00,1.77,0.00,0.000,4,0.000,0.048,2757,2871,3270,0,0,0,0,0,0
$GC,3009,-0.65,-107.0,305.1,-10.3,85,3014,0.00,1.83,0.00,0.000,6,0.000,0.043,2757,1736,3270,0,0,0,0,0,0
$GC,3739,-0.65,-107.0,376.8,-9.6,97,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1736,3270,0,0,0,0,0,0
$GC,4467,-0.65,-107.0,451.4,-10.9,109,4471,0.00,2.35,0.00,0.000,4,0.000,0.059,2757,322,3270,0,0,0,0,0,0
$GC,4724,-0.65,-107.0,480.5,-11.3,112,4729,0.00,2.20,0.00,0.000,6,0.000,0.033,2757,1737,3270,0,0,0,0,0,0
$GC,5458,-0.65,-107.0,555.7,-9.7,125,5462,0.00,2.22,0.00,0.000,4,0.000,0.046,2757,3143,3269,0,0,0,0,0,0
$GC,5605,-0.65,-107.0,570.3,-10.4,127,5609,0.00,2.25,0.00,0.000,6,0.000,0.040,2757,1723,3268,0,0,0,0,0,0
$GC,6378,-0.65,-107.0,647.1,-10.4,140,6382,0.00,2.28,0.00,0.000,4,0.000,0.045,2757,3138,3268,0,0,0,0,0,0
$GC,6636,-0.65,-107.0,676.6,-12.5,143,6641,0.00,2.25,0.00,0.000,6,0.000,0.040,2757,1736,3267,0,0,0,0,0,0
$GC,7370,-0.65,-107.0,761.9,-11.4,156,7374,0.00,1.05,0.00,0.000,4,0.000,0.054,2757,1086,3266,0,0,0,0,0,0
$GC,7628,-0.65,-107.0,790.0,-10.7,159,7632,0.00,1.00,0.00,0.000,6,0.000,0.036,2757,1735,3265,0,0,0,0,0,0
$GC,8368,-0.65,-107.0,860.2,-9.4,172,8371,0.00,1.67,0.00,0.000,4,0.000,0.045,2757,2803,3264,0,0,0,0,0,0
$GC,8428,-0.65,-107.0,866.1,-9.3,172,8434,0.00,1.73,0.00,0.000,6,0.000,0.041,2757,1731,3265,0,0,0,0,0,0
$STATE,9040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9040,begin apogee
$GC,9045,-0.28,0.0,924.2,9.5,183,9142,0.40,0.00,93.88,1.420,6,0.090,0.000,2889,1685,2827,0,0,0,0,0,0
$STATE,9143,end apogee,CONTROL_FINISHED_OK
$STATE,9143,begin loiter
$GC,9829,-0.27,240.9,989.8,-8.1,196,10051,0.00,2.58,214.45,1.440,4,0.000,0.057,2889,283,1844,0,0,0,0,0,0
$GC,10158,-0.27,240.9,995.4,3.7,201,10163,0.00,2.28,0.00,0.000,6,0.000,0.034,2889,1672,1837,0,0,0,0,0,0
$GC,10932,-0.27,240.9,967.7,3.5,214,10936,0.00,2.03,0.00,0.000,4,0.000,0.060,2889,442,1834,0,0,0,0,0,0
$GC,11190,-0.27,240.9,958.3,3.4,217,11194,0.00,1.98,0.00,0.000,6,0.000,0.035,2889,1690,1832,0,0,0,0,0,0
$GC,11930,-0.27,240.9,926.6,4.8,230,11933,0.00,1.83,0.00,0.000,4,0.000,0.059,2889,589,1833,0,0,0,0,0,0
$GC,12187,-0.27,240.9,913.3,5.6,233,12191,0.00,1.73,0.00,0.000,6,0.000,0.035,2889,1681,1833,0,0,0,0,0,0
$GC,12927,-0.27,240.9,881.8,3.3,246,12931,0.00,0.77,0.00,0.000,4,0.000,0.057,2889,1211,1833,0,0,0,0,0,0
$GC,13106,-0.27,240.9,877.2,2.0,248,13110,0.00,0.77,0.00,0.000,6,0.000,0.040,2889,1700,1832,0,0,0,0,0,0
$GC,13857,-0.27,240.9,866.4,1.2,261,13861,0.00,1.20,0.00,0.000,4,0.000,0.046,2889,2466,1832,0,0,0,0,0,0
$GC,14115,-0.27,240.9,862.2,2.5,264,14119,0.00,1.27,0.00,0.000,6,0.000,0.047,2889,1679,1833,0,0,0,0,0,0
$GC,14855,-0.27,240.9,841.4,3.4,277,14859,0.00,2.33,0.00,0.000,4,0.000,0.062,2889,282,1833,0,0,0,0,0,0
$GC,15033,-0.27,240.9,834.8,4.1,279,15037,0.00,2.22,0.00,0.000,6,0.000,0.037,2889,1677,1833,0,0,0,0,0,0
$GC,15784,-0.27,240.9,808.6,3.3,292,15788,0.00,2.38,0.00,0.000,4,0.000,0.062,2889,279,1833,0,0,0,0,0,0
$GC,16025,-0.27,240.9,801.9,2.3,295,16029,0.00,2.25,0.00,0.000,6,0.000,0.036,2889,1688,1833,0,0,0,0,0,0
$GC,16776,-0.27,240.9,786.0,1.8,308,16780,0.00,1.73,0.00,0.000,4,0.000,0.060,2889,654,1834,0,0,0,0,0,0
$GC,17033,-0.27,240.9,782.3,1.2,311,17038,0.00,1.62,0.00,0.000,6,0.000,0.037,2889,1681,1834,0,0,0,0,0,0
$GC,17773,-0.27,240.9,773.8,1.1,324,17777,0.00,1.75,0.00,0.000,4,0.000,0.060,2889,622,1834,0,0,0,0,0,0
$GC,18030,-0.27,240.9,770.7,1.6,327,18034,0.00,1.67,0.00,0.000,6,0.000,0.035,2884,1686,1835,0,0,0,0,0,0
$GC,18770,-0.27,240.9,756.5,2.4,340,18774,0.00,2.40,0.00,0.000,4,0.000,0.062,2884,277,1835,0,0,0,0,0,0
$GC,18966,-0.27,240.9,751.3,2.8,342,18972,0.00,2.25,0.00,0.000,6,0.000,0.035,2878,1683,1835,0,0,0,0,0,0
$GC,19700,-0.27,240.9,731.5,2.5,355,19704,0.00,2.40,0.00,0.000,4,0.000,0.061,2877,272,1836,0,0,0,0,0,0
$STATE,19899,end loiter,LOITER_COMPLETE
$STATE,19900,begin climb
$GC,19902,0.65,107.0,727.2,0.0,358,19908,1.05,2.25,0.00,0.000,6,0.117,0.037,3185,1694,1836,0,0,0,0,0,0
$GC,20628,0.37,235.3,716.8,1.0,370,20633,0.30,2.47,0.00,0.000,4,0.181,0.062,3115,280,1838,0,0,0,0,0,0
$GC,20886,0.38,385.4,714.9,0.3,373,21027,0.00,2.25,135.12,1.305,6,0.000,0.039,3115,1698,1254,0,0,0,0,0,0
$GC,21742,0.38,385.4,660.7,7.4,388,21746,0.00,2.38,0.00,0.000,4,0.000,0.065,3115,280,1241,0,0,0,0,0,0
$GC,21943,0.38,385.4,645.0,7.3,391,21947,0.00,2.20,0.00,0.000,6,0.000,0.036,3115,1682,1237,0,0,0,0,0,0
$GC,22673,0.38,385.4,591.3,7.1,403,22677,0.00,0.90,0.00,0.000,4,0.000,0.060,3115,1143,1237,0,0,0,0,0,0
$GC,22930,0.38,385.4,574.6,6.8,406,22934,0.00,0.88,0.00,0.000,6,0.000,0.039,3115,1698,1237,0,0,0,0,0,0
$GC,23670,0.38,385.4,528.8,6.4,419,23671,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1697,1237,0,0,0,0,0,0
$GC,24398,0.38,385.4,474.2,8.2,431,24402,0.00,2.42,0.00,0.000,4,0.000,0.064,3119,283,1237,0,0,0,0,0,0
$GC,24655,0.38,385.4,451.2,8.9,434,24661,0.05,2.20,0.00,0.000,6,0.183,0.036,3104,1677,1235,0,0,0,0,0,0
$GC,25389,0.38,385.4,397.6,6.5,447,25393,0.00,2.25,0.00,0.000,4,0.000,0.047,3104,3082,1235,0,0,0,0,0,0
$GC,25646,0.38,385.4,382.2,6.0,450,25651,0.00,2.30,0.00,0.000,6,0.000,0.047,3105,1684,1234,0,0,0,0,0,0
$GC,26380,0.38,385.4,335.8,7.2,463,26384,0.00,1.45,0.00,0.000,4,0.000,0.044,3105,2585,1235,0,0,0,0,0,0
$GC,26587,0.38,385.4,319.4,7.3,466,26591,0.00,1.48,0.00,0.000,6,0.000,0.047,3105,1681,1235,0,0,0,0,0,0
$GC,27317,0.38,385.4,255.3,8.5,478,27321,0.00,1.88,0.00,0.000,4,0.000,0.063,3106,549,1235,0,0,0,0,0,0
$GC,27575,0.38,385.4,237.5,6.0,481,27579,0.00,1.80,0.00,0.000,6,0.000,0.035,3105,1685,1235,0,0,0,0,0,0
$GC,28315,0.38,394.3,203.4,5.0,494,28326,0.00,2.22,6.03,0.718,4,0.000,0.044,3105,3084,1218,0,0,0,0,0,0
$GC,28579,0.38,394.3,185.1,8.4,498,28584,0.00,2.25,0.00,0.000,6,0.000,0.045,3105,1687,1218,0,0,0,0,0,0
$GC,29309,0.38,394.3,129.4,7.6,510,29310,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1687,1218,0,0,0,0,0,0
$GC,30040,0.38,394.3,67.1,7.1,525,30044,0.00,2.40,0.00,0.000,4,0.000,0.064,3105,276,1219,0,0,0,0,0,0
$GC,30298,0.38,394.3,47.9,6.8,533,30304,0.00,2.22,0.00,0.000,6,0.000,0.034,3105,1684,1219,0,0,0,0,0,0
$GC,30726,0.38,394.3,19.8,6.5,561,30729,0.00,1.50,0.00,0.000,4,0.000,0.041,3105,2641,1219,0,0,0,0,0,0
$STATE,30980,end climb,SURFACE_DEPTH_REACHED
$STATE,30980,begin surface coast
$FINISH,1.7,1.001491
$STATE,31050,end surface coast,CONTROL_FINISHED_OK
$STATE,31050,begin surface
$SM_CCo,31129,0.00,0.000,0,0,1218,394.68
$SM_GC,3.04,8.90,0.00,0.00,0.060,0.000,0.000,81,1733,1218,-9.00,-0.06,394.68
$IRIDIUM_FIX,-4049.28,-420.20,250113,060603
$TT8_MAMPS,0.026215
$HUMID,51.22
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,21.9,123.821
$10V_AH,9.8,73.085
$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,23.125,115.100,449.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.076,1913.802,25721.592,494.782,2893.441,179.845,0.000,1869.276,0.000,2821.298,0.000,1.011,0.000
$DEVICE_MAMPS,260.100,156.060,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.586,327.484,249.937,53.131,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354828
$DATA_FILE_SIZE,33622,589
$CAP_FILE_SIZE,154296,0
$CFSIZE,2097086464,2022178816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260113,184536,-4107.118,-411.381,35,1.0,35,-22.6