version: 66.07.10.p01
glider: 574
mission: 4
dive: 530
start: 1 28 113 15 25 40
data:
$ID,574
$MISSION,4
$DIVE,530
$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,-9903.6289
$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,53
$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,509
$GPS1,280113,152257,-4111.346,-401.968,674,3.2,693,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-75.4
$GPS2,280113,152516,-4111.346,-401.925,63,3.0,82,-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,105.7,129315,-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,-22.30,0.000,2,0.000,0.000,68,1694,2028,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.2,-3.0,2,110,12.60,2.38,-35.55,0.000,4,0.259,0.076,2755,336,3265,0,0,0,0,0,0
$GC,366,-0.65,-107.0,35.7,-9.7,27,372,0.00,2.17,0.00,0.000,6,0.000,0.037,2755,1712,3267,0,0,0,0,0,0
$GC,783,-0.65,-107.0,77.7,-10.0,44,787,0.00,2.30,0.00,0.000,4,0.000,0.050,2755,3145,3267,0,0,0,0,0,0
$GC,854,-0.65,-107.0,85.2,-10.0,45,859,0.00,2.25,0.00,0.000,6,0.000,0.041,2755,1745,3267,0,0,0,0,0,0
$GC,1581,-0.65,-107.0,156.5,-10.3,59,1585,0.00,2.25,0.00,0.000,4,0.000,0.047,2755,3145,3268,0,0,0,0,0,0
$GC,1675,-0.65,-107.0,167.3,-11.3,60,1679,0.00,2.28,0.00,0.000,6,0.000,0.041,2755,1731,3268,0,0,0,0,0,0
$GC,2443,-0.65,-107.0,239.1,-8.0,73,2447,0.00,2.30,0.00,0.000,4,0.000,0.047,2755,3152,3268,0,0,0,0,0,0
$GC,2542,-0.65,-107.0,247.8,-8.6,74,2546,0.00,2.28,0.00,0.000,6,0.000,0.039,2755,1735,3268,0,0,0,0,0,0
$GC,3299,-0.65,-107.0,333.5,-13.1,87,3303,0.00,2.28,0.00,0.000,4,0.000,0.046,2755,3146,3268,0,0,0,0,0,0
$GC,3428,-0.65,-107.0,351.2,-13.2,89,3433,0.00,2.25,0.00,0.000,6,0.000,0.038,2755,1721,3268,0,0,0,0,0,0
$GC,4158,-0.65,-107.0,431.6,-9.7,101,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1721,3267,0,0,0,0,0,0
$GC,4885,-0.65,-107.0,488.5,-7.6,113,4889,0.00,0.55,0.00,0.000,4,0.000,0.043,2755,2099,3267,0,0,0,0,0,0
$GC,4907,-0.65,-107.0,490.4,-7.9,113,4911,0.00,0.57,0.00,0.000,6,0.000,0.045,2755,1727,3266,0,0,0,0,0,0
$GC,5680,-0.65,-107.0,569.5,-12.0,126,5684,0.00,1.67,0.00,0.000,4,0.000,0.055,2755,696,3265,0,0,0,0,0,0
$GC,5938,-0.65,-107.0,603.5,-12.8,129,5942,0.00,1.65,0.00,0.000,6,0.000,0.034,2755,1754,3264,0,0,0,0,0,0
$GC,6678,-0.65,-107.0,688.9,-10.5,142,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1754,3262,0,0,0,0,0,0
$GC,7405,-0.65,-107.0,755.8,-9.0,154,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1754,3260,0,0,0,0,0,0
$GC,8133,-0.65,-107.0,828.4,-10.6,166,8136,0.00,0.95,0.00,0.000,4,0.000,0.045,2755,2375,3259,0,0,0,0,0,0
$GC,8171,-0.65,-107.0,832.8,-11.6,166,8175,0.00,0.98,0.00,0.000,6,0.000,0.043,2755,1752,3258,0,0,0,0,0,0
$GC,8928,-0.65,-107.0,919.6,-11.5,179,8932,0.00,0.95,0.00,0.000,4,0.000,0.045,2755,2360,3257,0,0,0,0,0,0
$STATE,8936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8936,begin apogee
$GC,8942,-0.28,0.0,920.9,11.4,179,9038,0.38,0.00,92.75,1.429,6,0.090,0.000,2885,1674,2827,0,0,0,0,0,0
$STATE,9038,end apogee,CONTROL_FINISHED_OK
$STATE,9039,begin loiter
$GC,9721,-0.26,259.8,995.6,-8.7,192,9957,0.00,0.00,232.20,1.455,6,0.000,0.000,2885,1675,1767,0,0,0,0,0,0
$GC,10686,-0.26,259.8,975.3,3.9,207,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1674,1756,0,0,0,0,0,0
$GC,11414,-0.26,259.8,956.9,2.0,219,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1674,1754,0,0,0,0,0,0
$GC,12141,-0.26,259.8,942.4,2.1,231,12145,0.00,1.77,0.00,0.000,4,0.000,0.047,2881,2762,1753,0,0,0,0,0,0
$GC,12315,-0.26,259.8,938.3,2.6,233,12319,0.00,1.73,0.00,0.000,6,0.000,0.045,2881,1691,1751,0,0,0,0,0,0
$GC,13071,-0.26,259.8,925.1,1.7,246,13075,0.00,2.38,0.00,0.000,4,0.000,0.061,2881,277,1751,0,0,0,0,0,0
$GC,13262,-0.26,259.8,921.2,2.2,248,13268,0.08,2.22,0.00,0.000,6,0.184,0.035,2893,1691,1749,0,0,0,0,0,0
$GC,13996,-0.26,259.8,903.2,2.7,261,14000,0.00,2.25,0.00,0.000,4,0.000,0.047,2890,3090,1749,0,0,0,0,0,0
$GC,14153,-0.26,259.8,899.0,2.6,263,14157,0.00,2.28,0.00,0.000,6,0.000,0.041,2890,1676,1749,0,0,0,0,0,0
$GC,14915,-0.26,259.8,875.0,3.5,276,14919,0.00,2.35,0.00,0.000,4,0.000,0.059,2890,272,1749,0,0,0,0,0,0
$GC,15020,-0.26,259.8,870.9,3.8,277,15025,0.00,2.25,0.00,0.000,6,0.000,0.035,2890,1687,1748,0,0,0,0,0,0
$GC,15777,-0.26,259.8,842.8,3.5,290,15781,0.00,1.85,0.00,0.000,4,0.000,0.045,2890,2852,1748,0,0,0,0,0,0
$GC,16012,-0.26,259.8,835.9,2.7,293,16016,0.00,1.90,0.00,0.000,6,0.000,0.044,2890,1688,1748,0,0,0,0,0,0
$GC,16775,-0.26,259.8,825.7,1.1,306,16779,0.00,2.25,0.00,0.000,4,0.000,0.046,2890,3084,1748,0,0,0,0,0,0
$GC,16932,-0.26,259.8,823.6,1.1,308,16936,0.00,2.25,0.00,0.000,6,0.000,0.042,2889,1683,1748,0,0,0,0,0,0
$GC,17693,-0.26,259.8,803.8,3.5,321,17697,0.00,2.15,0.00,0.000,4,0.000,0.044,2885,3014,1748,0,0,0,0,0,0
$GC,17910,-0.26,259.8,795.2,3.7,324,17915,0.00,2.17,0.00,0.000,6,0.000,0.043,2885,1684,1748,0,0,0,0,0,0
$GC,18629,-0.26,259.8,770.5,3.1,336,18633,0.00,2.28,0.00,0.000,4,0.000,0.045,2878,3086,1748,0,0,0,0,0,0
$GC,18667,-0.26,259.8,769.3,2.4,336,18672,0.00,2.28,0.00,0.000,6,0.000,0.043,2878,1689,1749,0,0,0,0,0,0
$GC,19419,-0.26,259.8,749.9,2.6,349,19423,0.00,2.38,0.00,0.000,4,0.000,0.060,2878,273,1749,0,0,0,0,0,0
$GC,19571,-0.26,259.8,745.4,3.5,351,19575,0.05,2.22,0.00,0.000,6,0.221,0.035,2887,1686,1748,0,0,0,0,0,0
$STATE,19795,end loiter,LOITER_COMPLETE
$STATE,19796,begin climb
$GC,19798,0.65,107.0,738.6,0.0,355,19803,0.95,2.47,0.00,0.000,4,0.111,0.060,3184,276,1749,0,0,0,0,0,0
$GC,20056,0.37,138.6,727.7,4.2,358,20062,0.32,2.25,0.00,0.000,6,0.177,0.039,3105,1684,1749,0,0,0,0,0,0
$GC,20790,0.37,188.6,700.3,3.6,371,20794,0.00,0.70,0.00,0.000,4,0.000,0.059,3107,1260,1749,0,0,0,0,0,0
$GC,20969,0.38,248.4,694.9,3.3,373,20973,0.00,0.68,0.00,0.000,6,0.000,0.041,3107,1698,1750,0,0,0,0,0,0
$GC,21721,0.38,357.0,679.4,1.7,386,21817,0.00,1.77,89.07,1.294,4,0.000,0.047,3106,2745,1371,0,0,0,0,0,0
$GC,22069,0.38,357.0,662.4,5.6,391,22074,0.00,1.73,0.00,0.000,6,0.000,0.048,3110,1688,1365,0,0,0,0,0,0
$GC,22843,0.38,357.0,613.3,6.7,404,22847,0.00,1.20,0.00,0.000,4,0.000,0.044,3111,2442,1363,0,0,0,0,0,0
$GC,22955,0.38,357.0,606.0,6.6,405,22959,0.00,1.23,0.00,0.000,6,0.000,0.049,3114,1687,1363,0,0,0,0,0,0
$GC,23706,0.38,357.0,562.4,5.3,418,23707,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1686,1363,0,0,0,0,0,0
$GC,24433,0.38,357.0,523.9,5.4,430,24435,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1686,1363,0,0,0,0,0,0
$GC,25161,0.38,357.0,481.8,6.2,442,25164,0.00,0.68,0.00,0.000,4,0.000,0.059,3114,1263,1365,0,0,0,0,0,0
$GC,25418,0.38,357.0,464.7,6.6,445,25422,0.00,0.65,0.00,0.000,6,0.000,0.041,3114,1690,1366,0,0,0,0,0,0
$GC,26158,0.38,357.0,415.9,6.4,458,26162,0.00,2.15,0.00,0.000,4,0.000,0.062,3114,425,1367,0,0,0,0,0,0
$GC,26416,0.38,357.0,400.8,5.8,461,26421,0.00,2.00,0.00,0.000,6,0.000,0.035,3114,1682,1367,0,0,0,0,0,0
$GC,27150,0.38,369.3,366.1,4.9,474,27170,0.00,2.42,13.65,0.987,4,0.000,0.063,3114,276,1320,0,0,0,0,0,0
$GC,27423,0.38,369.3,349.6,6.6,478,27427,0.00,2.22,0.00,0.000,6,0.000,0.035,3114,1682,1319,0,0,0,0,0,0
$GC,28153,0.38,369.3,302.6,6.1,490,28157,0.00,2.25,0.00,0.000,4,0.000,0.046,3114,3084,1319,0,0,0,0,0,0
$GC,28410,0.38,382.3,288.2,4.9,493,28430,0.00,2.28,13.15,0.922,6,0.000,0.045,3114,1680,1269,0,0,0,0,0,0
$GC,29149,0.38,382.3,248.3,5.4,506,29153,0.00,0.47,0.00,0.000,4,0.000,0.060,3114,1374,1268,0,0,0,0,0,0
$GC,29407,0.38,382.3,233.2,5.8,509,29411,0.00,0.50,0.00,0.000,6,0.000,0.040,3115,1701,1268,0,0,0,0,0,0
$GC,30147,0.38,382.3,190.4,6.1,522,30151,0.00,2.42,0.00,0.000,4,0.000,0.062,3114,279,1268,0,0,0,0,0,0
$GC,30403,0.38,382.3,170.8,7.1,525,30409,0.00,2.20,0.00,0.000,6,0.000,0.033,3114,1674,1269,0,0,0,0,0,0
$GC,31138,0.38,382.3,120.5,5.6,538,31142,0.00,0.90,0.00,0.000,4,0.000,0.057,3114,1128,1269,0,0,0,0,0,0
$GC,31396,0.38,398.8,107.4,4.7,541,31417,0.00,0.85,17.40,0.826,6,0.000,0.037,3114,1683,1201,0,0,0,0,0,0
$GC,32160,0.38,398.8,61.9,6.8,559,32164,0.00,2.40,0.00,0.000,4,0.000,0.063,3114,274,1200,0,0,0,0,0,0
$GC,32414,0.39,446.3,48.4,3.7,569,32466,0.00,2.20,43.05,0.831,6,0.000,0.032,3114,1691,1007,0,0,0,0,0,0
$GC,32887,0.39,446.3,13.8,8.0,601,32891,0.00,0.75,0.00,0.000,4,0.000,0.057,3114,1233,1001,0,0,0,0,0,0
$STATE,33027,end climb,SURFACE_DEPTH_REACHED
$STATE,33029,begin surface coast
$FINISH,1.8,1.015841
$STATE,33074,end surface coast,CONTROL_FINISHED_OK
$STATE,33075,begin surface
$SM_CCo,33153,0.00,0.000,0,0,996,449.14
$SM_GC,2.85,8.73,0.00,0.00,0.059,0.000,0.000,85,1740,996,-8.99,0.17,449.14
$IRIDIUM_FIX,-4049.28,-411.65,260113,181826
$TT8_MAMPS,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.8,124.979
$10V_AH,9.9,73.655
$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,23.100,110.250,501.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,84.915,1929.094,27940.529,499.166,2732.814,191.989,0.000,1807.408,0.000,2609.846,0.000,1.015,0.000
$DEVICE_MAMPS,258.570,76.500,1455.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.060,298.328,256.085,47.110,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354800
$DATA_FILE_SIZE,36910,617
$CAP_FILE_SIZE,151967,0
$CFSIZE,2097086464,2021392384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290113,003929,-4113.035,-400.987,41,1.1,41,-22.6