version: 66.07.10.p01
glider: 574
mission: 4
dive: 532
start: 1 29 113 9 48 42
data:
$ID,574
$MISSION,4
$DIVE,532
$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,-9908.876
$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,30
$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,511
$GPS1,290113,094659,-4113.841,-400.186,75,1.0,75,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-72.6
$GPS2,290113,094818,-4113.842,-400.161,17,1.0,17,-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,103.5,127516,-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,-107.0,0.0,0.0,0,46,0.00,0.00,-17.40,0.000,2,0.000,0.000,69,1737,1622,0,0,0,0,0,0
$GC,49,-0.65,-107.0,3.1,-1.5,2,127,12.70,2.35,-56.47,0.000,4,0.265,0.065,2752,3133,3265,0,0,0,0,0,0
$GC,282,-0.65,-107.0,23.2,-11.7,22,291,0.03,2.28,0.00,0.000,6,0.135,0.044,2765,1745,3267,0,0,0,0,0,0
$GC,397,-0.65,-107.0,35.0,-10.6,31,401,0.00,2.40,0.00,0.000,4,0.000,0.063,2765,321,3267,0,0,0,0,0,0
$GC,656,-0.65,-107.0,64.7,-11.2,41,662,0.00,2.28,0.00,0.000,6,0.000,0.037,2765,1746,3267,0,0,0,0,0,0
$GC,1392,-0.65,-107.0,145.8,-11.4,57,1396,0.00,2.25,0.00,0.000,4,0.000,0.050,2765,3147,3268,0,0,0,0,0,0
$GC,1568,-0.65,-107.0,164.9,-10.9,59,1573,0.00,2.28,0.00,0.000,6,0.000,0.040,2765,1720,3268,0,0,0,0,0,0
$GC,2319,-0.65,-107.0,239.4,-10.0,72,2323,0.00,1.77,0.00,0.000,4,0.000,0.044,2765,2852,3268,0,0,0,0,0,0
$GC,2447,-0.65,-107.0,253.4,-10.5,73,2453,0.00,1.80,0.00,0.000,6,0.000,0.042,2765,1731,3268,0,0,0,0,0,0
$GC,3182,-0.65,-107.0,333.3,-10.6,86,3185,0.00,1.73,0.00,0.000,4,0.000,0.044,2765,2837,3268,0,0,0,0,0,0
$GC,3271,-0.65,-107.0,342.6,-11.0,87,3275,0.00,1.77,0.00,0.000,6,0.000,0.041,2765,1731,3268,0,0,0,0,0,0
$GC,4044,-0.65,-107.0,415.0,-8.8,100,4049,0.00,2.30,0.00,0.000,4,0.000,0.045,2765,3153,3268,0,0,0,0,0,0
$GC,4212,-0.65,-107.0,430.7,-10.0,102,4216,0.00,2.28,0.00,0.000,6,0.000,0.038,2766,1733,3268,0,0,0,0,0,0
$GC,4969,-0.65,-107.0,511.9,-11.6,115,4973,0.00,2.28,0.00,0.000,4,0.000,0.045,2765,3146,3267,0,0,0,0,0,0
$GC,5169,-0.65,-107.0,536.8,-12.5,118,5174,0.00,2.25,0.00,0.000,6,0.000,0.038,2765,1739,3267,0,0,0,0,0,0
$GC,5899,-0.65,-107.0,617.1,-10.2,130,5903,0.00,2.25,0.00,0.000,4,0.000,0.045,2766,3146,3266,0,0,0,0,0,0
$GC,6101,-0.65,-107.0,635.9,-8.6,133,6105,0.00,2.25,0.00,0.000,6,0.000,0.038,2765,1728,3266,0,0,0,0,0,0
$GC,6831,-0.65,-107.0,694.3,-8.1,145,6834,0.00,2.05,0.00,0.000,4,0.000,0.044,2765,3021,3265,0,0,0,0,0,0
$GC,6925,-0.65,-107.0,702.7,-8.4,146,6929,0.00,2.08,0.00,0.000,6,0.000,0.039,2765,1728,3264,0,0,0,0,0,0
$GC,7694,-0.65,-107.0,778.3,-10.7,159,7698,0.00,2.28,0.00,0.000,4,0.000,0.045,2765,3145,3262,0,0,0,0,0,0
$GC,7851,-0.65,-107.0,795.7,-11.2,161,7855,0.00,2.25,0.00,0.000,6,0.000,0.038,2765,1727,3262,0,0,0,0,0,0
$GC,8618,-0.65,-107.0,874.3,-9.3,174,8622,0.00,2.28,0.00,0.000,4,0.000,0.044,2765,3150,3260,0,0,0,0,0,0
$GC,8858,-0.65,-107.0,896.2,-9.1,177,8862,0.00,2.28,0.00,0.000,6,0.000,0.038,2765,1737,3260,0,0,0,0,0,0
$STATE,9183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9183,begin apogee
$GC,9189,-0.28,0.0,922.0,7.9,183,9284,0.38,0.00,93.03,1.434,6,0.086,0.000,2891,1676,2827,0,0,0,0,0,0
$STATE,9285,end apogee,CONTROL_FINISHED_OK
$STATE,9285,begin loiter
$GC,9973,-0.27,229.3,977.0,-7.7,196,10183,0.00,1.00,202.45,1.444,4,0.000,0.037,2891,2233,1892,0,0,0,0,0,0
$GC,10435,-0.27,229.3,983.3,1.8,203,10440,0.00,0.90,0.00,0.000,6,0.000,0.045,2891,1669,1884,0,0,0,0,0,0
$GC,11154,-0.27,229.3,974.4,1.2,215,11158,0.00,2.17,0.00,0.000,4,0.000,0.044,2890,3025,1880,0,0,0,0,0,0
$GC,11412,-0.27,229.3,970.1,1.9,218,11416,0.00,2.15,0.00,0.000,6,0.000,0.042,2890,1695,1879,0,0,0,0,0,0
$GC,12152,-0.27,229.3,949.2,3.3,231,12156,0.00,2.35,0.00,0.000,4,0.000,0.058,2890,279,1878,0,0,0,0,0,0
$GC,12189,-0.27,229.3,948.0,2.9,231,12194,0.00,2.22,0.00,0.000,6,0.000,0.034,2890,1696,1877,0,0,0,0,0,0
$GC,12941,-0.27,229.3,927.4,2.2,244,12945,0.00,2.22,0.00,0.000,4,0.000,0.047,2890,3085,1876,0,0,0,0,0,0
$GC,13198,-0.27,229.3,922.9,1.9,247,13203,0.00,2.25,0.00,0.000,6,0.000,0.043,2889,1685,1876,0,0,0,0,0,0
$GC,13932,-0.27,229.3,908.2,2.3,260,13936,0.00,2.03,0.00,0.000,4,0.000,0.059,2889,485,1876,0,0,0,0,0,0
$GC,14190,-0.27,229.3,901.8,2.8,263,14194,0.00,1.90,0.00,0.000,6,0.000,0.036,2889,1679,1876,0,0,0,0,0,0
$GC,14930,-0.27,229.3,885.7,1.9,276,14933,0.00,1.62,0.00,0.000,4,0.000,0.058,2889,719,1876,0,0,0,0,0,0
$GC,15187,-0.27,229.3,882.2,1.1,279,15191,0.00,1.55,0.00,0.000,6,0.000,0.036,2889,1694,1876,0,0,0,0,0,0
$GC,15927,-0.27,229.3,877.7,0.5,292,15931,0.00,0.88,0.00,0.000,4,0.000,0.057,2889,1168,1876,0,0,0,0,0,0
$GC,16186,-0.27,229.3,876.9,0.4,295,16190,0.00,0.82,0.00,0.000,6,0.000,0.039,2888,1697,1876,0,0,0,0,0,0
$GC,16925,-0.27,229.3,873.9,0.6,308,16929,0.00,0.68,0.00,0.000,4,0.000,0.057,2888,1291,1876,0,0,0,0,0,0
$GC,17182,-0.27,229.3,871.4,1.5,311,17187,0.00,0.62,0.00,0.000,6,0.000,0.041,2888,1688,1876,0,0,0,0,0,0
$GC,17923,-0.27,229.3,861.1,1.2,324,17926,0.00,1.88,0.00,0.000,4,0.000,0.046,2880,2860,1876,0,0,0,0,0,0
$GC,18180,-0.27,229.3,859.0,1.2,327,18184,0.00,1.92,0.00,0.000,6,0.000,0.045,2880,1682,1876,0,0,0,0,0,0
$GC,18921,-0.27,246.1,860.0,-0.6,340,18940,0.00,2.33,13.82,1.280,4,0.000,0.047,2874,3080,1823,0,0,0,0,0,0
$GC,19091,-0.27,246.1,859.2,0.3,342,19096,0.08,2.28,0.00,0.000,6,0.168,0.043,2891,1683,1823,0,0,0,0,0,0
$GC,19848,-0.27,246.1,850.4,1.6,355,19852,0.00,2.35,0.00,0.000,4,0.000,0.059,2891,280,1823,0,0,0,0,0,0
$STATE,20046,end loiter,LOITER_COMPLETE
$STATE,20046,begin climb
$GC,20049,0.65,107.0,845.8,0.0,358,20054,0.98,2.22,0.00,0.000,6,0.107,0.035,3183,1687,1821,0,0,0,0,0,0
$GC,20775,0.36,168.7,823.3,3.2,370,20780,0.28,2.35,0.00,0.000,4,0.186,0.059,3117,321,1822,0,0,0,0,0,0
$GC,21032,0.37,230.1,816.0,3.2,373,21038,0.08,2.17,0.00,0.000,6,0.197,0.037,3102,1696,1822,0,0,0,0,0,0
$GC,21767,0.37,330.2,800.4,1.9,386,21851,0.00,0.55,79.97,1.374,4,0.000,0.041,3102,2052,1481,0,0,0,0,0,0
$GC,21961,0.37,330.2,791.9,6.3,389,21964,0.00,0.60,0.00,0.000,6,0.000,0.054,3102,1681,1477,0,0,0,0,0,0
$GC,22696,0.37,330.2,750.5,5.9,401,22699,0.00,2.05,0.00,0.000,4,0.000,0.063,3103,437,1473,0,0,0,0,0,0
$GC,22953,0.37,330.2,734.2,5.4,404,22957,0.00,1.98,0.00,0.000,6,0.000,0.037,3102,1682,1471,0,0,0,0,0,0
$GC,23693,0.37,330.2,691.2,5.4,417,23697,0.00,2.40,0.00,0.000,4,0.000,0.065,3102,275,1471,0,0,0,0,0,0
$GC,23951,0.37,366.8,678.9,4.1,420,23991,0.00,2.25,34.30,1.268,6,0.000,0.038,3102,1693,1330,0,0,0,0,0,0
$GC,24748,0.37,366.8,637.1,5.5,434,24752,0.00,2.22,0.00,0.000,4,0.000,0.047,3102,3084,1325,0,0,0,0,0,0
$GC,25000,0.37,375.5,622.7,5.0,437,25015,0.00,2.28,7.90,1.032,6,0.000,0.046,3104,1679,1295,0,0,0,0,0,0
$GC,25745,0.37,375.5,578.9,6.1,450,25749,0.00,2.35,0.00,0.000,4,0.000,0.063,3104,279,1295,0,0,0,0,0,0
$GC,26002,0.37,375.5,562.4,6.8,453,26008,0.00,2.22,0.00,0.000,6,0.000,0.035,3104,1675,1293,0,0,0,0,0,0
$GC,26736,0.37,375.5,515.2,6.4,466,26740,0.00,1.27,0.00,0.000,4,0.000,0.044,3104,2489,1293,0,0,0,0,0,0
$GC,26831,0.37,375.5,509.0,6.3,467,26835,0.00,1.30,0.00,0.000,6,0.000,0.049,3105,1689,1293,0,0,0,0,0,0
$GC,27599,0.37,375.5,457.0,6.9,480,27603,0.00,2.25,0.00,0.000,4,0.000,0.045,3104,3085,1293,0,0,0,0,0,0
$GC,27788,0.37,375.5,443.3,8.8,482,27793,0.00,2.30,0.00,0.000,6,0.000,0.044,3104,1670,1293,0,0,0,0,0,0
$GC,28528,0.37,375.5,391.1,6.9,495,28533,0.00,2.30,0.00,0.000,4,0.000,0.045,3104,3085,1293,0,0,0,0,0,0
$GC,28786,0.37,375.5,372.9,7.3,498,28791,0.00,2.28,0.00,0.000,6,0.000,0.044,3104,1679,1293,0,0,0,0,0,0
$GC,29520,0.37,375.5,322.6,6.6,511,29524,0.00,2.28,0.00,0.000,4,0.000,0.044,3104,3084,1293,0,0,0,0,0,0
$GC,29705,0.37,380.3,311.7,5.1,513,29716,0.00,2.28,5.80,0.780,6,0.000,0.044,3104,1681,1276,0,0,0,0,0,0
$GC,30444,0.38,403.8,280.1,4.5,526,30474,0.00,2.33,23.83,0.979,4,0.000,0.044,3104,3087,1179,0,0,0,0,0,0
$GC,30688,0.38,403.8,264.7,7.0,529,30692,0.00,2.25,0.00,0.000,6,0.000,0.043,3105,1681,1178,0,0,0,0,0,0
$GC,31439,0.38,403.8,205.7,8.1,542,31443,0.00,2.28,0.00,0.000,4,0.000,0.043,3104,3091,1177,0,0,0,0,0,0
$GC,31696,0.38,407.8,189.0,5.2,545,31706,0.00,2.28,4.38,0.610,6,0.000,0.043,3104,1681,1164,0,0,0,0,0,0
$GC,32436,0.38,407.8,146.4,6.4,558,32440,0.00,2.28,0.00,0.000,4,0.000,0.043,3104,3093,1165,0,0,0,0,0,0
$GC,32514,0.38,407.8,141.1,6.2,559,32518,0.00,2.30,0.00,0.000,6,0.000,0.042,3104,1668,1164,0,0,0,0,0,0
$GC,33256,0.38,407.8,84.6,7.3,573,33260,0.00,1.65,0.00,0.000,4,0.000,0.040,3104,2701,1165,0,0,0,0,0,0
$GC,33385,0.38,425.2,76.3,4.7,575,33407,0.00,1.65,17.30,0.803,6,0.000,0.044,3104,1684,1092,0,0,0,0,0,0
$GC,34127,0.38,425.2,30.6,5.5,604,34131,0.00,2.22,0.00,0.000,4,0.000,0.041,3104,3091,1091,0,0,0,0,0,0
$GC,34389,0.38,425.2,13.7,9.2,626,34396,0.00,2.28,0.00,0.000,6,0.000,0.041,3104,1685,1091,0,0,0,0,0,0
$GC,34504,0.38,425.2,5.4,8.8,637,34505,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1685,1091,0,0,0,0,0,0
$STATE,34534,end climb,SURFACE_DEPTH_REACHED
$STATE,34534,begin surface coast
$FINISH,1.9,1.002606
$STATE,34567,end surface coast,CONTROL_FINISHED_OK
$STATE,34567,begin surface
$SM_CCo,34645,0.00,0.000,0,0,1086,427.06
$SM_GC,2.93,8.75,0.00,0.00,0.057,0.000,0.000,89,1747,1086,-8.98,0.34,427.06
$IRIDIUM_FIX,-4054.98,-406.16,280113,060612
$TT8_MAMPS,0.026964
$HUMID,50.59
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.9,125.372
$10V_AH,9.8,73.855
$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,23.250,147.375,482.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,20.605,2119.188,28648.725,527.278,3206.864,220.445,0.000,2071.631,0.000,3131.601,0.000,1.014,0.000
$DEVICE_MAMPS,265.455,120.105,1443.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.643,321.118,272.605,49.975,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354760
$DATA_FILE_SIZE,37038,643
$CAP_FILE_SIZE,176899,0
$CFSIZE,2097086464,2021097472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290113,192723,-4114.421,-358.821,40,1.4,40,-22.6