version: 66.07.10.p01
glider: 574
mission: 4
dive: 529
start: 1 28 113 7 8 54
data:
$ID,574
$MISSION,4
$DIVE,529
$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,-9900.1055
$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,26
$R_STBD_OVSHOOT,55
$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,508
$GPS1,280113,065636,-4110.488,-404.692,42,1.1,42,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-73.5
$GPS2,280113,070829,-4110.541,-404.545,45,1.4,45,-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,106.6,132784,-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,26,-0.65,-107.0,0.0,0.0,0,50,0.00,0.00,-22.50,0.000,2,0.000,0.000,68,1698,1470,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.0,-3.1,2,132,12.73,2.30,-60.25,0.000,4,0.270,0.078,2760,329,3264,0,0,0,0,0,0
$GC,228,-0.65,-107.0,18.1,-10.9,17,236,0.00,2.20,0.00,0.000,6,0.000,0.037,2757,1707,3266,0,0,0,0,0,0
$GC,344,-0.65,-107.0,30.4,-10.5,28,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1707,3266,0,0,0,0,0,0
$GC,753,-0.65,-107.0,68.1,-8.1,46,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1708,3266,0,0,0,0,0,0
$GC,1482,-0.65,-107.0,143.0,-11.5,61,1486,0.00,2.35,0.00,0.000,4,0.000,0.052,2758,3156,3267,0,0,0,0,0,0
$GC,1548,-0.65,-107.0,151.2,-12.1,62,1552,0.00,2.30,0.00,0.000,6,0.000,0.042,2758,1733,3267,0,0,0,0,0,0
$GC,2278,-0.65,-107.0,226.3,-9.7,74,2281,0.00,0.65,0.00,0.000,4,0.000,0.057,2758,1319,3267,0,0,0,0,0,0
$GC,2535,-0.65,-107.0,251.5,-9.6,77,2540,0.00,0.68,0.00,0.000,6,0.000,0.039,2758,1761,3266,0,0,0,0,0,0
$GC,3275,-0.65,-107.0,319.6,-9.2,90,3279,0.00,2.20,0.00,0.000,4,0.000,0.050,2758,3128,3267,0,0,0,0,0,0
$GC,3341,-0.65,-107.0,326.4,-9.4,91,3346,0.00,2.25,0.00,0.000,6,0.000,0.040,2758,1729,3266,0,0,0,0,0,0
$GC,4072,-0.65,-107.0,399.0,-10.2,103,4076,0.00,2.33,0.00,0.000,4,0.000,0.060,2758,329,3266,0,0,0,0,0,0
$GC,4240,-0.65,-107.0,417.5,-10.7,105,4244,0.00,2.17,0.00,0.000,6,0.000,0.036,2757,1725,3266,0,0,0,0,0,0
$GC,4991,-0.65,-107.0,494.3,-9.3,118,4995,0.00,2.33,0.00,0.000,4,0.000,0.058,2758,326,3265,0,0,0,0,0,0
$GC,5137,-0.65,-107.0,507.0,-8.4,120,5141,0.00,2.22,0.00,0.000,6,0.000,0.036,2758,1742,3265,0,0,0,0,0,0
$GC,5910,-0.65,-107.0,558.8,-6.7,133,5913,0.00,1.50,0.00,0.000,4,0.000,0.057,2758,845,3263,0,0,0,0,0,0
$GC,6107,-0.65,-107.0,574.0,-8.3,135,6112,0.00,1.42,0.00,0.000,6,0.000,0.037,2758,1741,3262,0,0,0,0,0,0
$GC,6841,-0.65,-107.0,647.6,-11.1,148,6844,0.00,0.93,0.00,0.000,4,0.000,0.046,2758,2348,3261,0,0,0,0,0,0
$GC,6874,-0.65,-107.0,651.6,-11.6,148,6877,0.00,0.98,0.00,0.000,6,0.000,0.046,2757,1731,3261,0,0,0,0,0,0
$GC,7636,-0.65,-107.0,735.7,-10.4,161,7640,0.00,1.23,0.00,0.000,4,0.000,0.044,2758,2507,3259,0,0,0,0,0,0
$GC,7669,-0.65,-107.0,739.1,-10.1,161,7673,0.00,1.25,0.00,0.000,6,0.000,0.044,2758,1726,3259,0,0,0,0,0,0
$GC,8431,-0.65,-107.0,803.3,-7.9,174,8435,0.00,2.30,0.00,0.000,4,0.000,0.047,2757,3139,3258,0,0,0,0,0,0
$GC,8532,-0.65,-107.0,811.5,-8.3,175,8536,0.00,2.22,0.00,0.000,6,0.000,0.039,2757,1728,3257,0,0,0,0,0,0
$GC,9282,-0.65,-107.0,872.5,-8.9,188,9286,0.00,2.28,0.00,0.000,4,0.000,0.047,2758,3133,3256,0,0,0,0,0,0
$GC,9365,-0.65,-107.0,881.4,-10.6,189,9369,0.00,2.25,0.00,0.000,6,0.000,0.040,2758,1706,3256,0,0,0,0,0,0
$STATE,9773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9773,begin apogee
$GC,9778,-0.28,0.0,925.9,11.2,196,9874,0.40,0.00,92.40,1.431,6,0.083,0.000,2891,1706,2827,0,0,0,0,0,0
$STATE,9874,end apogee,CONTROL_FINISHED_OK
$STATE,9874,begin loiter
$GC,10563,-0.26,334.7,1015.1,-11.2,209,10879,0.00,2.58,307.25,1.470,4,0.000,0.043,2891,3088,1461,0,0,0,0,0,0
$GC,10932,-0.26,334.7,1027.5,4.8,215,10937,0.00,2.47,0.00,0.000,6,0.000,0.041,2891,1688,1458,0,0,0,0,0,0
$GC,11663,-0.26,334.7,990.3,5.5,227,11667,0.00,2.25,0.00,0.000,4,0.000,0.045,2891,3089,1452,0,0,0,0,0,0
$GC,11723,-0.26,334.7,986.9,6.0,227,11729,0.00,2.25,0.00,0.000,6,0.000,0.042,2891,1681,1450,0,0,0,0,0,0
$GC,12458,-0.26,334.7,945.7,5.9,240,12462,0.00,2.33,0.00,0.000,4,0.000,0.060,2890,280,1449,0,0,0,0,0,0
$GC,12574,-0.26,334.7,938.5,5.2,241,12578,0.00,2.22,0.00,0.000,6,0.000,0.034,2891,1684,1447,0,0,0,0,0,0
$GC,13314,-0.26,334.7,896.1,5.9,254,13318,0.00,1.55,0.00,0.000,4,0.000,0.044,2891,2664,1447,0,0,0,0,0,0
$GC,13461,-0.26,334.7,887.7,5.9,256,13464,0.00,1.60,0.00,0.000,6,0.000,0.047,2891,1684,1447,0,0,0,0,0,0
$GC,14184,-0.26,334.7,848.8,5.6,268,14188,0.00,2.38,0.00,0.000,4,0.000,0.062,2891,272,1447,0,0,0,0,0,0
$GC,14217,-0.26,334.7,846.9,5.9,268,14221,0.00,2.25,0.00,0.000,6,0.000,0.036,2891,1683,1446,0,0,0,0,0,0
$GC,14974,-0.26,334.7,796.8,7.5,281,14978,0.00,2.20,0.00,0.000,4,0.000,0.046,2891,3063,1446,0,0,0,0,0,0
$GC,15120,-0.26,334.7,786.0,7.0,283,15124,0.00,2.22,0.00,0.000,6,0.000,0.045,2890,1684,1446,0,0,0,0,0,0
$GC,15838,-0.26,334.7,735.2,6.5,295,15842,0.00,2.30,0.00,0.000,4,0.000,0.046,2889,3093,1445,0,0,0,0,0,0
$GC,15997,-0.26,334.7,725.5,5.7,297,16001,0.00,2.28,0.00,0.000,6,0.000,0.044,2889,1686,1445,0,0,0,0,0,0
$GC,16759,-0.26,334.7,687.2,4.7,310,16763,0.00,1.80,0.00,0.000,4,0.000,0.060,2889,619,1446,0,0,0,0,0,0
$GC,16971,-0.26,334.7,677.5,4.9,313,16975,0.00,1.70,0.00,0.000,6,0.000,0.036,2889,1687,1445,0,0,0,0,0,0
$GC,17696,-0.26,334.7,643.8,5.4,325,17699,0.00,0.70,0.00,0.000,4,0.000,0.045,2886,2164,1445,0,0,0,0,0,0
$GC,17955,-0.26,334.7,627.6,6.1,328,17958,0.00,0.77,0.00,0.000,6,0.000,0.051,2886,1679,1445,0,0,0,0,0,0
$GC,18694,-0.26,334.7,577.7,6.4,341,18698,0.00,2.30,0.00,0.000,4,0.000,0.047,2878,3092,1445,0,0,0,0,0,0
$GC,18788,-0.26,334.7,572.2,5.0,342,18793,0.08,2.30,0.00,0.000,6,0.173,0.044,2893,1678,1445,0,0,0,0,0,0
$GC,19550,-0.26,334.7,533.8,4.6,355,19554,0.00,2.03,0.00,0.000,4,0.000,0.061,2893,469,1445,0,0,0,0,0,0
$GC,19808,-0.26,334.7,520.9,4.5,358,19812,0.00,1.92,0.00,0.000,6,0.000,0.035,2891,1682,1445,0,0,0,0,0,0
$GC,20548,-0.26,334.7,482.9,5.4,371,20552,0.00,2.40,0.00,0.000,4,0.000,0.063,2890,279,1445,0,0,0,0,0,0
$GC,20610,-0.26,334.7,479.4,6.2,372,20614,0.00,2.22,0.00,0.000,6,0.000,0.035,2890,1690,1445,0,0,0,0,0,0
$STATE,20634,end loiter,LOITER_COMPLETE
$STATE,20635,begin climb
$GC,20637,0.65,107.0,477.7,0.0,372,20642,0.93,2.30,0.00,0.000,4,0.106,0.045,3176,3093,1445,0,0,0,0,0,0
$GC,20799,0.65,107.0,467.2,6.7,374,20805,0.00,2.33,0.00,0.000,6,0.000,0.046,3183,1684,1445,0,0,0,0,0,0
$GC,21533,0.65,107.0,420.8,5.9,387,21537,0.00,0.47,0.00,0.000,4,0.000,0.062,3185,1379,1445,0,0,0,0,0,0
$GC,21669,0.65,107.0,412.9,5.7,389,21673,0.00,0.47,0.00,0.000,6,0.000,0.045,3185,1694,1446,0,0,0,0,0,0
$GC,22404,0.65,107.0,363.6,7.4,401,22408,0.00,0.50,0.00,0.000,4,0.000,0.058,3186,1385,1446,0,0,0,0,0,0
$GC,22521,0.65,107.0,354.9,7.8,402,22525,0.00,0.47,0.00,0.000,6,0.000,0.045,3186,1690,1446,0,0,0,0,0,0
$GC,23267,0.66,110.2,310.8,5.2,415,23268,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1690,1446,0,0,0,0,0,0
$GC,23994,0.66,110.2,270.7,6.0,427,23998,0.00,0.62,0.00,0.000,4,0.000,0.047,3186,2112,1447,0,0,0,0,0,0
$GC,24191,0.66,110.2,257.0,7.1,429,24196,0.00,0.70,0.00,0.000,6,0.000,0.052,3186,1676,1447,0,0,0,0,0,0
$GC,24925,0.66,110.2,204.5,6.3,442,24929,0.00,0.47,0.00,0.000,4,0.000,0.060,3186,1371,1447,0,0,0,0,0,0
$GC,25020,0.66,113.3,199.4,5.2,443,25024,0.00,0.47,0.00,0.000,6,0.000,0.044,3186,1690,1448,0,0,0,0,0,0
$GC,25788,0.66,122.8,161.2,5.0,456,25792,0.00,0.98,0.00,0.000,4,0.000,0.044,3186,2330,1449,0,0,0,0,0,0
$GC,25927,0.66,122.8,154.0,5.9,458,25931,0.00,1.02,0.00,0.000,6,0.000,0.048,3186,1688,1448,0,0,0,0,0,0
$GC,26657,0.66,127.6,112.4,5.1,470,26658,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1688,1450,0,0,0,0,0,0
$GC,27368,0.66,127.6,71.8,7.3,485,27372,0.00,0.43,0.00,0.000,4,0.000,0.046,3186,1986,1449,0,0,0,0,0,0
$GC,27424,0.66,127.6,67.6,6.3,486,27428,0.00,0.50,0.00,0.000,6,0.000,0.053,3186,1677,1449,0,0,0,0,0,0
$GC,28158,0.66,138.7,35.0,4.9,518,28162,0.00,0.95,0.00,0.000,4,0.000,0.057,3186,1090,1450,0,0,0,0,0,0
$GC,28286,0.66,166.1,28.4,4.4,524,28289,0.00,0.93,0.00,0.000,6,0.000,0.037,3186,1692,1450,0,0,0,0,0,0
$GC,28406,0.66,220.4,24.1,3.5,535,28407,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1692,1450,0,0,0,0,0,0
$GC,28512,0.66,261.4,19.5,3.9,545,28516,0.00,0.55,0.00,0.000,4,0.000,0.055,3186,1349,1450,0,0,0,0,0,0
$GC,28778,0.66,261.4,3.8,6.5,568,28782,0.00,0.50,0.00,0.000,6,0.000,0.041,3187,1697,1452,0,0,0,0,0,0
$STATE,28790,end climb,SURFACE_DEPTH_REACHED
$STATE,28790,begin surface coast
$FINISH,1.7,1.001765
$STATE,28834,end surface coast,CONTROL_FINISHED_OK
$STATE,28834,begin surface
$SM_CCo,28912,0.00,0.000,0,0,1448,338.02
$SM_GC,3.12,9.15,0.00,0.00,0.057,0.000,0.000,91,1700,1448,-8.98,-0.99,338.02
$IRIDIUM_FIX,-4049.28,-411.65,260113,181826
$TT8_MAMPS,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,9.17475
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,21.3,124.793
$10V_AH,9.9,73.553
$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,23.275,104.025,399.650,0.000,0.000,31.051,42.881,434.713,0.000,0.000,47.597,1775.569,24240.574,451.831,2863.374,294.369,0.000,1592.083,0.000,2301.967,0.000,1.015,0.000
$DEVICE_MAMPS,270.045,78.030,1469.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.650,384.292,248.846,62.376,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354776
$DATA_FILE_SIZE,33531,573
$CAP_FILE_SIZE,146991,0
$CFSIZE,2097086464,2021523456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,280113,152257,-4111.346,-401.968,674,3.2,693,-22.6