version: 66.07.10.p01
glider: 574
mission: 4
dive: 533
start: 1 29 113 19 39 48
data:
$ID,574
$MISSION,4
$DIVE,533
$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,-9911.207
$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,28
$R_STBD_OVSHOOT,39
$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,512
$GPS1,290113,192723,-4114.421,-358.821,40,1.4,40,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-74.1
$GPS2,290113,193923,-4114.483,-358.853,41,1.5,41,-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,102.9,125907,-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,-107.0,0.0,0.0,0,40,0.00,0.00,-12.00,0.000,2,0.000,0.000,69,1744,1396,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.0,-0.0,1,132,12.12,2.30,-68.97,0.000,4,0.254,0.063,2754,3131,3264,0,0,0,0,0,0
$GC,228,-0.65,-107.0,15.9,-10.8,17,232,0.00,2.25,0.00,0.000,6,0.000,0.043,2754,1729,3265,0,0,0,0,0,0
$GC,343,-0.65,-107.0,27.3,-9.6,27,347,0.00,2.33,0.00,0.000,4,0.000,0.061,2754,321,3266,0,0,0,0,0,0
$GC,443,-0.65,-107.0,37.5,-9.7,32,451,0.00,2.22,0.00,0.000,6,0.000,0.035,2754,1723,3266,0,0,0,0,0,0
$GC,861,-0.65,-107.0,71.9,-8.8,50,865,0.00,1.55,0.00,0.000,4,0.000,0.047,2754,2694,3266,0,0,0,0,0,0
$GC,908,-0.65,-107.0,76.5,-10.4,51,912,0.00,1.55,0.00,0.000,6,0.000,0.043,2754,1729,3266,0,0,0,0,0,0
$GC,1642,-0.65,-107.0,149.4,-10.0,65,1646,0.00,1.60,0.00,0.000,4,0.000,0.057,2754,761,3267,0,0,0,0,0,0
$GC,1899,-0.65,-107.0,178.6,-11.9,68,1904,0.00,1.55,0.00,0.000,6,0.000,0.034,2754,1750,3267,0,0,0,0,0,0
$GC,2640,-0.65,-107.0,255.7,-9.7,81,2644,0.00,2.22,0.00,0.000,4,0.000,0.048,2754,3140,3267,0,0,0,0,0,0
$GC,2723,-0.65,-107.0,264.0,-9.9,82,2727,0.00,2.25,0.00,0.000,6,0.000,0.038,2754,1735,3267,0,0,0,0,0,0
$GC,3441,-0.65,-107.0,324.8,-8.1,94,3446,0.00,2.33,0.00,0.000,4,0.000,0.056,2754,326,3267,0,0,0,0,0,0
$GC,3654,-0.65,-107.0,344.7,-10.0,97,3658,0.00,2.22,0.00,0.000,6,0.000,0.031,2754,1745,3267,0,0,0,0,0,0
$GC,4373,-0.65,-107.0,419.8,-10.6,109,4377,0.00,2.22,0.00,0.000,4,0.000,0.045,2754,3139,3267,0,0,0,0,0,0
$GC,4524,-0.65,-107.0,437.1,-12.0,111,4529,0.00,2.20,0.00,0.000,6,0.000,0.037,2754,1728,3267,0,0,0,0,0,0
$GC,5298,-0.65,-107.0,512.4,-9.3,124,5302,0.00,2.25,0.00,0.000,4,0.000,0.044,2754,3133,3267,0,0,0,0,0,0
$GC,5382,-0.65,-107.0,520.1,-9.5,125,5386,0.00,2.20,0.00,0.000,6,0.000,0.037,2754,1734,3266,0,0,0,0,0,0
$GC,6150,-0.65,-107.0,588.6,-9.1,138,6154,0.00,2.25,0.00,0.000,4,0.000,0.044,2754,3135,3266,0,0,0,0,0,0
$GC,6268,-0.65,-107.0,600.7,-10.3,139,6272,0.00,2.20,0.00,0.000,6,0.000,0.037,2753,1728,3265,0,0,0,0,0,0
$GC,7008,-0.65,-107.0,678.9,-11.0,152,7011,0.00,1.50,0.00,0.000,4,0.000,0.040,2754,2670,3265,0,0,0,0,0,0
$GC,7085,-0.65,-107.0,688.0,-11.6,153,7089,0.00,1.48,0.00,0.000,6,0.000,0.039,2754,1739,3265,0,0,0,0,0,0
$GC,7810,-0.65,-107.0,761.0,-9.6,165,7813,0.00,1.55,0.00,0.000,4,0.000,0.042,2754,2711,3264,0,0,0,0,0,0
$GC,7883,-0.65,-107.0,767.7,-8.7,166,7887,0.00,1.55,0.00,0.000,6,0.000,0.040,2754,1737,3263,0,0,0,0,0,0
$GC,8613,-0.65,-107.0,834.0,-9.3,178,8616,0.00,2.25,0.00,0.000,4,0.000,0.044,2754,3140,3262,0,0,0,0,0,0
$GC,8776,-0.65,-107.0,849.6,-9.2,180,8780,0.00,2.25,0.00,0.000,6,0.000,0.039,2754,1728,3262,0,0,0,0,0,0
$STATE,9536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9536,begin apogee
$GC,9541,-0.28,0.0,924.9,10.5,193,9638,0.43,0.00,94.03,1.430,6,0.080,0.000,2898,1685,2827,0,0,0,0,0,0
$STATE,9639,end apogee,CONTROL_FINISHED_OK
$STATE,9639,begin loiter
$GC,10325,-0.26,303.1,1005.3,-10.1,206,10608,0.00,2.58,274.23,1.435,4,0.000,0.041,2895,3082,1590,0,0,0,0,0,0
$GC,10663,-0.26,303.1,1016.1,4.8,211,10668,0.00,2.47,0.00,0.000,6,0.000,0.041,2895,1685,1585,0,0,0,0,0,0
$GC,11420,-0.26,303.1,982.4,4.6,224,11424,0.00,1.88,0.00,0.000,4,0.000,0.058,2895,521,1579,0,0,0,0,0,0
$GC,11677,-0.26,303.1,969.2,4.9,227,11682,0.00,1.83,0.00,0.000,6,0.000,0.034,2892,1678,1577,0,0,0,0,0,0
$GC,12418,-0.26,303.1,931.6,5.3,240,12421,0.00,0.95,0.00,0.000,4,0.000,0.057,2892,1102,1576,0,0,0,0,0,0
$GC,12675,-0.26,303.1,916.7,6.0,243,12679,0.00,0.90,0.00,0.000,6,0.000,0.037,2892,1689,1576,0,0,0,0,0,0
$GC,13415,-0.26,303.1,872.7,6.0,256,13419,0.00,1.05,0.00,0.000,4,0.000,0.042,2891,2374,1576,0,0,0,0,0,0
$GC,13650,-0.26,303.1,859.6,4.7,259,13654,0.00,1.10,0.00,0.000,6,0.000,0.047,2891,1683,1575,0,0,0,0,0,0
$GC,14413,-0.26,303.1,828.0,3.5,272,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1684,1575,0,0,0,0,0,0
$GC,15140,-0.26,303.1,804.1,3.4,284,15144,0.00,2.38,0.00,0.000,4,0.000,0.060,2890,274,1575,0,0,0,0,0,0
$GC,15307,-0.26,303.1,797.3,3.9,286,15311,0.00,2.25,0.00,0.000,6,0.000,0.035,2891,1682,1574,0,0,0,0,0,0
$GC,16064,-0.26,303.1,759.7,5.9,299,16068,0.00,2.28,0.00,0.000,4,0.000,0.046,2882,3098,1574,0,0,0,0,0,0
$GC,16120,-0.26,303.1,756.3,6.8,299,16124,0.00,2.28,0.00,0.000,6,0.000,0.044,2881,1686,1574,0,0,0,0,0,0
$GC,16854,-0.26,303.1,712.4,6.1,311,16858,0.00,2.25,0.00,0.000,4,0.000,0.045,2873,3087,1574,0,0,0,0,0,0
$GC,16864,-0.26,303.1,711.6,6.2,311,16868,0.08,2.28,0.00,0.000,6,0.172,0.041,2889,1689,1574,0,0,0,0,0,0
$GC,17582,-0.26,303.1,671.5,4.9,323,17586,0.00,2.38,0.00,0.000,4,0.000,0.062,2889,282,1574,0,0,0,0,0,0
$GC,17712,-0.26,303.1,665.6,5.0,325,17716,0.00,2.22,0.00,0.000,6,0.000,0.035,2889,1692,1574,0,0,0,0,0,0
$GC,18442,-0.26,303.1,636.8,4.2,337,18443,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1702,1574,0,0,0,0,0,0
$GC,19169,-0.26,303.1,598.7,5.7,349,19173,0.00,2.40,0.00,0.000,4,0.000,0.060,2889,282,1574,0,0,0,0,0,0
$GC,19387,-0.26,303.1,585.5,5.5,352,19391,0.00,2.22,0.00,0.000,6,0.000,0.035,2889,1679,1574,0,0,0,0,0,0
$GC,20160,-0.26,303.1,548.2,4.2,365,20164,0.00,2.28,0.00,0.000,4,0.000,0.045,2880,3095,1574,0,0,0,0,0,0
$GC,20272,-0.26,303.1,544.0,3.7,366,20276,0.00,2.30,0.00,0.000,6,0.000,0.044,2880,1677,1574,0,0,0,0,0,0
$STATE,20409,end loiter,LOITER_COMPLETE
$STATE,20409,begin climb
$GC,20411,0.65,107.0,539.0,0.0,369,20417,0.98,2.40,0.00,0.000,4,0.115,0.060,3181,279,1574,0,0,0,0,0,0
$GC,20669,0.66,133.3,527.4,4.4,372,20675,0.00,2.25,0.00,0.000,6,0.000,0.039,3181,1687,1576,0,0,0,0,0,0
$GC,21404,0.66,176.5,498.0,3.8,385,21407,0.00,0.43,0.00,0.000,4,0.000,0.050,3181,1994,1575,0,0,0,0,0,0
$GC,21622,0.66,197.4,488.6,4.6,388,21626,0.00,0.52,0.00,0.000,6,0.000,0.053,3183,1669,1575,0,0,0,0,0,0
$GC,22341,0.66,197.4,448.9,6.2,400,22342,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1669,1575,0,0,0,0,0,0
$GC,23068,0.66,197.4,402.1,6.1,412,23072,0.00,0.55,0.00,0.000,4,0.000,0.059,3186,1317,1576,0,0,0,0,0,0
$GC,23227,0.66,221.6,393.8,4.5,414,23230,0.00,0.57,0.00,0.000,6,0.000,0.043,3186,1697,1576,0,0,0,0,0,0
$GC,24000,0.66,251.6,361.3,4.3,427,24004,0.00,1.25,0.00,0.000,4,0.000,0.056,3191,952,1576,0,0,0,0,0,0
$GC,24123,0.66,266.2,355.3,4.8,428,24126,0.00,1.15,0.00,0.000,6,0.000,0.037,3191,1682,1577,0,0,0,0,0,0
$GC,24862,0.66,266.2,306.0,7.6,441,24866,0.00,1.83,0.00,0.000,4,0.000,0.044,3191,2828,1577,0,0,0,0,0,0
$GC,24998,0.66,266.2,295.5,6.3,443,25001,0.00,1.83,0.00,0.000,6,0.000,0.044,3199,1692,1578,0,0,0,0,0,0
$GC,25734,0.66,295.0,253.9,4.3,455,25735,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1692,1579,0,0,0,0,0,0
$GC,26460,0.67,359.2,231.9,3.1,467,26516,0.00,2.30,50.62,0.965,4,0.000,0.044,3199,3092,1362,0,0,0,0,0,0
$GC,26623,0.67,362.7,223.6,5.2,468,26632,0.00,2.28,4.35,0.628,6,0.000,0.041,3209,1680,1347,0,0,0,0,0,0
$GC,27378,0.67,362.7,170.0,7.5,481,27382,0.00,0.80,0.00,0.000,4,0.000,0.057,3209,1175,1345,0,0,0,0,0,0
$GC,27456,0.67,362.7,164.8,6.4,482,27460,0.00,0.80,0.00,0.000,6,0.000,0.037,3209,1693,1344,0,0,0,0,0,0
$GC,28180,0.67,362.7,109.7,9.5,494,28181,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1693,1344,0,0,0,0,0,0
$GC,28913,0.67,429.2,64.5,3.1,511,28977,0.00,1.85,58.55,0.851,4,0.000,0.041,3209,2828,1077,0,0,0,0,0,0
$GC,29045,0.67,429.2,56.5,7.5,515,29049,0.08,1.83,0.00,0.000,6,0.194,0.042,3199,1674,1074,0,0,0,0,0,0
$GC,29474,0.67,429.2,23.2,7.2,539,29477,0.00,0.88,0.00,0.000,4,0.000,0.054,3202,1121,1070,0,0,0,0,0,0
$GC,29615,0.67,429.2,12.0,7.8,551,29618,0.00,0.85,0.00,0.000,6,0.000,0.035,3202,1688,1069,0,0,0,0,0,0
$STATE,29733,end climb,SURFACE_DEPTH_REACHED
$STATE,29733,begin surface coast
$FINISH,1.8,1.005961
$STATE,29766,end surface coast,CONTROL_FINISHED_OK
$STATE,29766,begin surface
$SM_CCo,29844,0.00,0.000,0,0,1066,431.97
$SM_GC,3.08,8.88,0.00,0.00,0.054,0.000,0.000,89,1701,1066,-8.98,-0.99,431.97
$IRIDIUM_FIX,-4057.83,-400.45,290113,000002
$TT8_MAMPS,0.026964
$HUMID,50.43
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.5,125.580
$10V_AH,9.8,73.943
$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,22.550,112.925,481.775,0.000,0.000,29.760,38.275,450.871,0.000,0.000,43.709,1774.016,25113.637,503.958,2876.392,294.578,0.000,1680.550,0.000,2309.871,0.000,1.014,0.000
$DEVICE_MAMPS,253.980,153.000,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.785,311.275,239.457,47.751,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354732
$DATA_FILE_SIZE,33619,565
$CAP_FILE_SIZE,148960,0
$CFSIZE,2097086464,2020999168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,300113,035829,-4115.478,-356.545,40,1.5,41,-22.6