version: 66.07.10.p01
glider: 574
mission: 4
dive: 528
start: 1 27 113 21 51 11
data:
$ID,574
$MISSION,4
$DIVE,528
$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,-9897.7734
$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,23
$R_STBD_OVSHOOT,37
$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,507
$GPS1,270113,214929,-4109.789,-406.452,44,1.3,44,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-74.9
$GPS2,270113,215048,-4109.791,-406.433,18,1.3,18,-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,107.3,135270,-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,-107.0,0.0,0.0,0,45,0.00,0.00,-16.62,0.000,2,0.000,0.000,71,1746,1592,0,0,0,0,0,0
$GC,48,-0.65,-107.0,3.2,-2.3,2,126,12.68,2.45,-56.65,0.000,4,0.265,0.076,2758,332,3266,0,0,0,0,0,0
$GC,314,-0.65,-107.0,28.6,-11.6,25,318,0.00,2.22,0.00,0.000,6,0.000,0.040,2758,1729,3267,0,0,0,0,0,0
$GC,436,-0.65,-107.0,40.6,-9.7,31,440,0.00,0.60,0.00,0.000,4,0.000,0.049,2758,2135,3267,0,0,0,0,0,0
$GC,695,-0.65,-107.0,67.5,-10.5,41,699,0.00,0.65,0.00,0.000,6,0.000,0.051,2758,1724,3267,0,0,0,0,0,0
$GC,1416,-0.65,-107.0,153.5,-10.5,56,1420,0.00,2.25,0.00,0.000,4,0.000,0.048,2757,3110,3268,0,0,0,0,0,0
$GC,1674,-0.65,-107.0,178.6,-10.3,59,1679,0.00,2.22,0.00,0.000,6,0.000,0.045,2758,1744,3268,0,0,0,0,0,0
$GC,2408,-0.65,-107.0,255.4,-10.8,72,2412,0.00,2.28,0.00,0.000,4,0.000,0.047,2758,3148,3269,0,0,0,0,0,0
$GC,2665,-0.65,-107.0,283.7,-11.4,75,2671,0.00,2.30,0.00,0.000,6,0.000,0.043,2758,1728,3269,0,0,0,0,0,0
$GC,3400,-0.65,-107.0,357.0,-9.3,88,3404,0.00,2.28,0.00,0.000,4,0.000,0.047,2758,3146,3269,0,0,0,0,0,0
$GC,3657,-0.65,-107.0,380.3,-9.0,91,3662,0.00,2.28,0.00,0.000,6,0.000,0.041,2758,1733,3269,0,0,0,0,0,0
$GC,4391,-0.65,-107.0,445.8,-9.7,104,4395,0.00,0.70,0.00,0.000,4,0.000,0.044,2758,2199,3269,0,0,0,0,0,0
$GC,4570,-0.65,-107.0,464.8,-10.6,106,4574,0.00,0.73,0.00,0.000,6,0.000,0.047,2758,1734,3269,0,0,0,0,0,0
$GC,5321,-0.65,-107.0,544.7,-10.4,119,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1733,3268,0,0,0,0,0,0
$GC,6049,-0.65,-107.0,616.7,-9.6,131,6053,0.00,2.22,0.00,0.000,4,0.000,0.048,2758,3107,3266,0,0,0,0,0,0
$GC,6306,-0.65,-107.0,642.5,-9.7,134,6312,0.00,2.17,0.00,0.000,6,0.000,0.040,2758,1734,3265,0,0,0,0,0,0
$GC,7041,-0.65,-107.0,714.1,-9.5,147,7044,0.00,1.73,0.00,0.000,4,0.000,0.046,2758,2829,3265,0,0,0,0,0,0
$GC,7264,-0.65,-107.0,735.2,-10.0,150,7269,0.00,1.75,0.00,0.000,6,0.000,0.041,2758,1737,3264,0,0,0,0,0,0
$GC,8038,-0.65,-107.0,800.4,-8.2,163,8042,0.00,0.57,0.00,0.000,4,0.000,0.044,2757,2124,3262,0,0,0,0,0,0
$GC,8071,-0.65,-107.0,803.3,-8.8,163,8075,0.00,0.62,0.00,0.000,6,0.000,0.047,2758,1727,3262,0,0,0,0,0,0
$GC,8833,-0.65,-107.0,872.9,-9.9,176,8837,0.00,0.95,0.00,0.000,4,0.000,0.043,2758,2339,3260,0,0,0,0,0,0
$GC,8894,-0.65,-107.0,879.3,-10.0,176,8900,0.00,0.95,0.00,0.000,6,0.000,0.044,2758,1739,3260,0,0,0,0,0,0
$STATE,9323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9323,begin apogee
$GC,9329,-0.28,0.0,922.5,10.0,184,9425,0.40,0.00,92.95,1.428,6,0.094,0.000,2887,1680,2827,0,0,0,0,0,0
$STATE,9426,end apogee,CONTROL_FINISHED_OK
$STATE,9426,begin loiter
$GC,10113,-0.27,234.3,989.0,-7.8,197,10330,0.00,2.35,209.20,1.463,4,0.000,0.057,2888,403,1871,0,0,0,0,0,0
$GC,10583,-0.27,234.3,986.8,4.6,204,10588,0.00,2.05,0.00,0.000,6,0.000,0.036,2888,1692,1861,0,0,0,0,0,0
$GC,11351,-0.27,234.3,952.2,4.3,217,11355,0.00,2.22,0.00,0.000,4,0.000,0.062,2888,369,1858,0,0,0,0,0,0
$GC,11609,-0.27,234.3,942.1,3.0,220,11613,0.00,2.10,0.00,0.000,6,0.000,0.036,2887,1689,1857,0,0,0,0,0,0
$GC,12349,-0.27,234.3,929.7,0.9,233,12353,0.00,2.38,0.00,0.000,4,0.000,0.062,2888,282,1856,0,0,0,0,0,0
$GC,12579,-0.27,234.3,927.5,1.5,236,12583,0.00,2.22,0.00,0.000,6,0.000,0.035,2888,1692,1856,0,0,0,0,0,0
$GC,13341,-0.27,234.3,907.3,3.9,249,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1702,1856,0,0,0,0,0,0
$GC,14068,-0.27,234.3,873.8,4.4,261,14069,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1702,1855,0,0,0,0,0,0
$GC,14795,-0.27,234.3,858.5,1.0,273,14799,0.00,1.10,0.00,0.000,4,0.000,0.045,2885,2397,1855,0,0,0,0,0,0
$GC,15053,-0.27,234.3,857.9,0.7,276,15057,0.00,1.12,0.00,0.000,6,0.000,0.048,2885,1693,1855,0,0,0,0,0,0
$GC,15793,-0.27,234.3,850.8,2.1,289,15797,0.00,1.95,0.00,0.000,4,0.000,0.047,2880,2901,1855,0,0,0,0,0,0
$GC,16050,-0.27,234.3,841.4,4.0,292,16054,0.00,2.00,0.00,0.000,6,0.000,0.045,2880,1681,1855,0,0,0,0,0,0
$GC,16790,-0.27,234.3,806.8,4.8,305,16794,0.00,2.30,0.00,0.000,4,0.000,0.047,2877,3091,1855,0,0,0,0,0,0
$GC,16982,-0.27,234.3,798.6,3.4,307,16987,0.00,2.28,0.00,0.000,6,0.000,0.044,2877,1685,1855,0,0,0,0,0,0
$GC,17716,-0.27,234.3,781.9,1.3,320,17720,0.00,2.38,0.00,0.000,4,0.000,0.062,2877,282,1855,0,0,0,0,0,0
$GC,17973,-0.27,234.3,780.3,0.5,323,17978,0.00,2.25,0.00,0.000,6,0.000,0.036,2877,1686,1855,0,0,0,0,0,0
$GC,18708,-0.27,234.3,775.4,0.9,336,18712,0.00,2.40,0.00,0.000,4,0.000,0.061,2877,279,1855,0,0,0,0,0,0
$GC,18927,-0.27,234.3,772.5,0.5,339,18931,0.00,2.22,0.00,0.000,6,0.000,0.037,2877,1686,1855,0,0,0,0,0,0
$GC,19694,-0.27,234.3,758.8,2.0,352,19698,0.00,2.25,0.00,0.000,4,0.000,0.047,2876,3085,1855,0,0,0,0,0,0
$GC,19866,-0.27,234.3,755.2,2.2,354,19871,0.00,2.28,0.00,0.000,6,0.000,0.044,2875,1689,1855,0,0,0,0,0,0
$STATE,20197,end loiter,LOITER_COMPLETE
$STATE,20197,begin climb
$GC,20199,0.65,107.0,748.9,0.0,360,20205,1.00,2.45,0.00,0.000,4,0.112,0.061,3184,272,1855,0,0,0,0,0,0
$GC,20458,0.35,212.2,744.0,1.8,363,20464,0.35,2.28,0.00,0.000,6,0.184,0.039,3099,1692,1856,0,0,0,0,0,0
$GC,21192,0.35,356.1,739.2,0.5,376,21315,0.00,2.40,112.22,1.329,4,0.000,0.063,3104,370,1374,0,0,0,0,0,0
$GC,21567,0.35,356.1,721.7,6.8,381,21571,0.00,2.10,0.00,0.000,6,0.000,0.037,3104,1689,1364,0,0,0,0,0,0
$GC,22312,0.35,356.1,677.5,6.3,394,22316,0.00,1.67,0.00,0.000,4,0.000,0.046,3104,2737,1362,0,0,0,0,0,0
$GC,22464,0.35,356.1,668.2,6.7,396,22468,0.00,1.70,0.00,0.000,6,0.000,0.050,3104,1683,1360,0,0,0,0,0,0
$GC,23183,0.35,356.1,625.9,5.7,408,23187,0.00,2.30,0.00,0.000,4,0.000,0.048,3104,3096,1360,0,0,0,0,0,0
$GC,23440,0.35,356.1,611.5,5.4,411,23445,0.00,2.30,0.00,0.000,6,0.000,0.047,3104,1681,1359,0,0,0,0,0,0
$GC,24174,0.35,356.1,571.2,6.2,424,24178,0.00,2.38,0.00,0.000,4,0.000,0.064,3104,277,1359,0,0,0,0,0,0
$GC,24432,0.35,356.1,552.0,6.3,427,24436,0.00,2.28,0.00,0.000,6,0.000,0.038,3104,1686,1359,0,0,0,0,0,0
$GC,25172,0.35,356.1,493.1,7.8,440,25173,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1695,1359,0,0,0,0,0,0
$GC,25899,0.35,356.1,447.5,5.4,452,25903,0.00,2.42,0.00,0.000,4,0.000,0.066,3104,273,1359,0,0,0,0,0,0
$GC,26157,0.35,377.0,434.8,4.6,455,26182,0.00,2.25,18.35,1.066,6,0.000,0.038,3104,1694,1288,0,0,0,0,0,0
$GC,26901,0.35,383.1,401.5,5.1,468,26912,0.00,1.60,6.50,0.851,4,0.000,0.061,3104,758,1265,0,0,0,0,0,0
$GC,27166,0.35,383.1,383.9,7.7,472,27169,0.00,1.45,0.00,0.000,6,0.000,0.037,3104,1682,1264,0,0,0,0,0,0
$GC,27901,0.35,383.1,323.4,8.7,484,27904,0.00,1.10,0.00,0.000,4,0.000,0.059,3104,1028,1264,0,0,0,0,0,0
$GC,28158,0.35,383.1,300.0,10.0,487,28162,0.00,1.02,0.00,0.000,6,0.000,0.037,3104,1686,1264,0,0,0,0,0,0
$GC,28898,0.35,383.1,244.5,6.5,500,28902,0.00,0.88,0.00,0.000,4,0.000,0.058,3104,1159,1264,0,0,0,0,0,0
$GC,29156,0.35,400.7,230.9,4.7,503,29177,0.00,0.80,18.08,0.918,6,0.000,0.038,3104,1686,1192,0,0,0,0,0,0
$GC,29896,0.35,400.7,188.5,6.7,516,29900,0.00,2.38,0.00,0.000,4,0.000,0.064,3104,280,1192,0,0,0,0,0,0
$GC,30153,0.35,400.7,166.9,8.1,519,30158,0.00,2.22,0.00,0.000,6,0.000,0.034,3104,1684,1190,0,0,0,0,0,0
$GC,30887,0.35,400.7,105.8,8.3,532,30891,0.00,1.60,0.00,0.000,4,0.000,0.060,3104,743,1190,0,0,0,0,0,0
$GC,31144,0.35,400.7,87.1,6.2,536,31149,0.00,1.48,0.00,0.000,6,0.000,0.034,3104,1693,1191,0,0,0,0,0,0
$GC,31870,0.36,429.7,55.9,4.3,556,31901,0.00,2.08,26.90,0.822,4,0.000,0.061,3104,450,1076,0,0,0,0,0,0
$GC,32077,0.81,475.0,43.2,3.8,565,32123,0.40,1.90,40.53,0.822,6,0.073,0.034,3245,1699,890,0,0,0,0,0,0
$STATE,32534,end climb,SURFACE_DEPTH_REACHED
$STATE,32535,begin surface coast
$FINISH,1.8,1.026229
$STATE,32570,end surface coast,CONTROL_FINISHED_OK
$STATE,32570,begin surface
$SM_CCo,32647,0.00,0.000,0,0,880,477.59
$SM_GC,2.76,9.05,0.00,0.00,0.058,0.000,0.000,93,1700,880,-8.98,-1.02,477.59
$IRIDIUM_FIX,-4049.28,-411.65,260113,181826
$TT8_MAMPS,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.8,124.598
$10V_AH,9.9,73.464
$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,23.875,114.875,524.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,20.978,1958.881,27052.371,540.304,2973.932,197.354,0.000,1981.334,0.000,2900.453,0.000,1.011,0.000
$DEVICE_MAMPS,264.690,120.870,1463.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.745,291.367,254.366,42.968,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354748
$DATA_FILE_SIZE,36865,603
$CAP_FILE_SIZE,161092,0
$CFSIZE,2097086464,2021654528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280113,065636,-4110.488,-404.692,42,1.1,42,-22.6